import sensor image timeimport lcdfrom Maix import GPIOfrom fpioa_manager import fmimport utime#from pyb import UART#uart = UART3 115200#颜色ROI阈值#THRESHOLD = 0 44 -6 44 -50 6 # Grayscale threshold for

This code is for line detection using a camera module. The code initializes the camera, sets the pixel format and frame size, and sets the auto white balance. It then registers the GPIO pins for LED control and initializes the LCD display. The code also defines the color threshold for detecting the line and defines the regions of interest (ROIs) for line detection.

The main loop of the code captures an image from the camera, applies lens correction and binary thresholding to the image, and then draws rectangles around the ROIs. The code then calls a function called "tongji()" to perform line detection. The function calculates the mode of the grayscale values in each ROI and determines if the line is present based on the grayscale threshold. The function also updates the variables a_1 to a_20 based on the line detection results.

The code then calculates the sum of a_1 to a_9 and stores it in variable s1. If s1 is greater than or equal to 5, it means that the line is detected. The code checks if the previous sum was less than 5 and increments the variable ans if it is. If ans is equal to 2, it means that the line has been detected twice and the LED_D is turned on.

The code also checks for specific line patterns in variables s2 and s3 and turns on the LED_C and LED_D accordingly. The image is then displayed on the LCD screen.