maixpy_find_lines.py

import sensor, lcd, image
import time

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(0)
sensor.run(1)
sensor.skip_frames()
lcd.init(freq=15000000)

min_degree = 0
max_degree = 179

while(True):
    img = sensor.snapshot()
    img.lens_corr(1.06,zoom=1.0)
    for l in img.find_lines(threshold = 2500, 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)