otonom_araba_kod_6

.py

for frame in camera.capture_continuous(rawCapture,format="bgr",use_video_port=True):
    t1=time.time()
    img=frame.array
    gray=cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    if stop_sign_detect(gray)==False:
        lines,witdh=cizgi_bul(gray)
        a=egim_bul(lines,witdh)
        if a=='ileri':
            mc.forwardDrive()
        elif a=='sola':
            mc.forwardTurnLeft()
        elif a=='saga':
            mc.forwardTurnRight()

    else:
        mc.allStop()
        print('Stop Algılandı.')
    t2=time.time()
    print(1/(t2-t1),'FPS')
    rawCapture.truncate(0)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        cv2.destroyAllWindows()