openmv小车巡线代码 Python代码

OpenMV是一款专为微嵌入式计算机设计的开源机器视觉库，常用于简单的物联网项目，包括机器人巡线。在Python环境下，OpenMV提供了一些方便的函数来处理图像并实现巡线功能。

下面是一个基本的OpenMV Python代码示例，用于检测黑色线条（假设传感器已经对白线进行了设置）：

import sensor, image, time

# 初始化相机模块
sensor.reset() # Reset and initialize the camera module
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (for color)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)

# 设置滤波器和线检测参数
threshold = 150 # 黑线与背景像素阈值
line_width = 10 # 线条检测宽度

while True:
    img = sensor.snapshot() # Take a picture
    img.draw_rectangle((0, 0), (sensor.width(), sensor.height()), color=(0, 255, 0)) # Draw a rectangle around the image for reference
    edges = img.edges(threshold=threshold) # Find edges in the image
    lines = edges.hough_lines(line_width=line_width, threshold=10, min_line_length=100, max_line_gap=20) # Perform Hough transform on edges to find lines
    if lines is not None:
        for line in lines:
            x1, y1, x2, y2 = line
            img.line([(x1, y1), (x2, y2)], color=(255, 0, 0)) # Draw detected line
            # 根据需要添加巡线逻辑，例如判断是否超出预设区域
    img.show()