chatGPT答: |
8v6.cn |
**完整程序:**
```python
# Importing necessary libraries
import numpy as np
import cv2
import matplotlib.pyplot as plt
import time
# Setting up the parameters for camera and sensor
HORIZON = 0.57
CAMERA_HEIGHT_OFFSET = 0.50
PIXEL_RESOLUTION = 0.004
MOTOR_ACTIVATION_DISTANCE = 0.05
# Initializing camera and sensor
camera = cv2.VideoCapture(0)
sensor = cv2.imread("sensor.jpg")
# Function to calculate the distance between two points
def distance_between_points(x,y):
return np.sqrt((x[0]-y[0])**2 + (x[1]-y[1])**2)
# Function to draw the route and activate motor
def control_motor(h_offset, p_res, motor_a_distance, motor_position, motor_speed):
# Get the state of the motor
motor_state = 0
for i in range(len(motor_position)):
if distance_between_points((motor_position[i][0]*h_offset, motor_position[i][1]*h_offset), (0,0)) < motor_a_distance:
motor_state = 1
# Draw the route
for i in range(len(motor_position)):
plt.scatter(motor_position[i][0]*h_offset, motor_position[i][1]*h_offset, color='green')
if i > 0:
plt.plot([motor_position[i-1][0]*h_offset, motor_position[i][0]*h_offset], [motor_position[i-1][1]*h_offset, motor_position[i][1]*h_offset], color='green')
# Activate the motor
if motor_state == 1:
motor_speed += 0.01
# Return the updated motor position, speed and state
return motor_position, motor_speed, motor_state
# Initializing the motor
motor_position = np.array([[0,0]])
motor_speed = 0
# Main loop
while(True):
ret, frame = camera.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
edge = cv2.Canny(gray,100,200)
edge_points = cv2.findNonZero(edge)
# Calculate the new motor position
motor_position = motor_position + motor_speed*np.array([[1,0]])
new_points, motor_speed, motor_state = control_motor(HORIZON, PIXEL_RESOLUTION, MOTOR_ACTIVATION_DISTANCE, motor_position, motor_speed)
motor_position = new_points
# Plot the image
plt.imshow(edge)
plt.scatter(edge_points[:,0],edge_points[:,1], color='red')
# Update the figure
plt.pause(0.001)
plt.clf()
# Break loop if "Q" is pressed
k = cv2.waitKey(30) & 0xff
if k == ord("q"):
break
# Release camera
camera.release()
cv2.destroyAllWindows()
```
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