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Implement real-time line detection application with Streamlit and OpenCV. Features include webcam input, interactive HSV color adjustment, multiple line detection algorithms (Hough, Adaptive Hough, Rotated Rectangle, Fit Ellipse, RANSAC), customizable region of interest, and confidence estimation. Includes necessary modules for color detection, line detection, and PID control.
1b7bc37
unverified
| import time | |
| import math | |
| class PIDController: | |
| def __init__( | |
| self, kp=1.0, ki=0.0, kd=0.0, setpoint=0.0, min_output=-100, max_output=100 | |
| ): | |
| # PID constants | |
| self.kp = kp # Proportional gain | |
| self.ki = ki # Integral gain | |
| self.kd = kd # Derivative gain | |
| # Control variables | |
| self.setpoint = setpoint # Desired target value | |
| self.prev_error = 0.0 # Previous error for derivative calculation | |
| self.integral = 0.0 # Accumulated error for integral calculation | |
| self.last_time = time.time() # Time of last update | |
| self.last_input = float("nan") # Store the last process variable | |
| # Output constraints | |
| self.min_output = min_output | |
| self.max_output = max_output | |
| # For visualization/debugging | |
| self.p_term = 0.0 | |
| self.i_term = 0.0 | |
| self.d_term = 0.0 | |
| def compute(self, process_variable): | |
| """Calculate PID output value based on current process variable""" | |
| # Store the current input value | |
| self.last_input = process_variable | |
| # Handle non-numeric or invalid input | |
| if math.isnan(process_variable): | |
| return 0.0, 0.0, 0.0, 0.0 | |
| # Calculate time delta | |
| current_time = time.time() | |
| dt = current_time - self.last_time | |
| if dt <= 0: | |
| dt = 0.001 # Avoid division by zero | |
| # Calculate error | |
| error = self.setpoint - process_variable | |
| # Proportional term | |
| self.p_term = self.kp * error | |
| # Integral term - with anti-windup | |
| self.integral += error * dt | |
| self.i_term = self.ki * self.integral | |
| # Derivative term - on measurement, not error | |
| if dt > 0: | |
| self.d_term = self.kd * (error - self.prev_error) / dt | |
| else: | |
| self.d_term = 0.0 | |
| # Calculate output | |
| output = self.p_term + self.i_term + self.d_term | |
| # Constrain output | |
| output = max(self.min_output, min(self.max_output, output)) | |
| # Save state | |
| self.prev_error = error | |
| self.last_time = current_time | |
| return output, self.p_term, self.i_term, self.d_term | |
| def reset(self): | |
| """Reset the controller state""" | |
| self.prev_error = 0.0 | |
| self.integral = 0.0 | |
| self.last_time = time.time() | |
| self.p_term = 0.0 | |
| self.i_term = 0.0 | |
| self.d_term = 0.0 | |
| self.last_input = float("nan") # Reset the last input to NaN | |