k210識別直線

import sensor
import image
import lcd
import time

THRESHOLD = (5, 70, -23, 15, -57, 0)
clock = time.clock()
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
#sensor.set_vflip(1)			#開啟圖像反轉
sensor.set_vflip(0)				#關閉圖像反轉
sensor.run(1)
sensor.skip_frames(30)
min_degree = 0
max_degree = 179

while True:
    clock.tick()
    img = sensor.snapshot()
    for l in img.find_lines(threshold = 2000, theta_margin = 25, rho_margin = 25):
            if (min_degree <= l.theta()) and (l.theta() <= max_degree):
                img.draw_line(l.line(), color = (255, 0, 0))
    lcd.display(img)