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1. 沿中心实线运动
1.1 循迹程序
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# The program will call the MiPi camera to capture image in real time, recognize soid yellow lines, and move along them.
#########################
import cv2
import numpy as np
import time
from SunriseRobotLib import Mipi_Camera
from SunriseRobotLib import SunriseRobot
# 创建SunriseRobot对象 bot
bot = SunriseRobot()
# 初始化摄像头
width = 320
height = 240
g_camera = Mipi_Camera(width, height, debug=True)
if g_camera.isOpened():
print("Open Camera OK!")
else:
print("Fail To Open Camera!")
# 定义小车的速度和阈值
v_x = 0.3 # 小车纵向速度
v_y = 0.2 # 小车横向速度
v_z = 0.1 # 小车旋转速度
threshold = 20 # 阈值
# 定义变量来判断是否按下空格键
stopped = False
try:
while g_camera.isOpened():
ret, frame = g_camera.read()
if not ret:
print("Camera Read Fail!")
break
# 将图像转换为HSV颜色空间
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# 定义黄色阈值范围
lower_yellow = np.array([20, 100, 100])
upper_yellow = np.array([30, 255, 255])
# 根据阈值创建掩模
yellow_mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
# 形态学操作,去除小的噪声
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
yellow_mask = cv2.morphologyEx(yellow_mask, cv2.MORPH_OPEN, kernel)
# 填充小的空洞
yellow_mask = cv2.morphologyEx(yellow_mask, cv2.MORPH_CLOSE, kernel)
# 找到黄色区域的轮廓
contours, hierarchy = cv2.findContours(yellow_mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# 在图像上画出黄色区域的轮廓
cv2.drawContours(frame, contours, -1, (0, 255, 0), 2)
# 判断是否检测到黄色区域
if len(contours) > 0:
# 计算黄色区域的质心
M = cv2.moments(contours[0])
if M["m00"] > 0:
cx = int(M["m10"] / M["m00"])
cy =