RobotApi.ubtStartRobotAction("for", 5) # 待调
# 矫正方位
if __name__ == "__main__":
camera = PiCamera()
camera.resolution = (480, 320)
camera.framerate = 25
flag = 0
start = time.time()
with picamera.array.PiRGBArray(camera, size=(480, 320)) as output:
for frame in camera.capture_continuous(output,
format="bgr",
use_video_port=True):
frame = frame.array
frame = color_detection.balanced(frame)
if color_detection.find_yellow(frame):
flag = 1
print "find yellow"
elif flag == 1:
print "start forward"
RobotApi.ubtStartRobotAction("first", 1)
RobotApi.ubtStartRobotAction("for", 6)
break
else:
print "find nothing"
end = time.time()
if end - start >= 20:
print "time out"
break
output.truncate(0)
import glob
import color_detection
fs = glob.glob('/home/pi/Desktop/test0816/*.jpg')
for f in fs:
if 'balance' in f:
img = color_detection.cv2.imread(f)
balance = color_detection.balanced(img)
color_detection.cv2.imwrite(f, balance)
print fs