本期讲解如何使用OpenCV以及Numpy来分析画面中的黑线或白线的所在位置，从而实现机器视觉来巡线。
我们可以从黑色背景上寻白线也可以从白色背景上寻黑线
你可以将这个功能应用在你自己的机器人上面
所需代码：CVline:#!/usr/bin/env/python3#Filename:#Date:2019/12/23importcv2importzmqimportbase64importpicamerafromimportPiRGBArrayimportnumpyasnpIP=192.168.3.11camera=()=(640,480)=20rawCapture=PiRGBArray(camera,size=(640,480))context=()footage_socket=()footage_(tcp://%s:5555%IP)print(IP)linePos_1=380linePos_2=430lineColorSet=255forframein_continuous(rawCapture,format=bgr,use_video_port=True):frame_image=_findline=(frame_image,_BGR2GRAY)retval,frame_findline=(frame_findline,0,255,_OTSU)frame_findline=(frame_findline,None,iterations=6)colorPos_1=frame_findline[linePos_1]colorPos_2=frame_findline[linePos_2]try:lineColorCount_Pos1=(colorPos_1==lineColorSet)lineColorCount_Pos2=(colorPos_2==lineColorSet)lineIndex_Pos1=(colorPos_1==lineColorSet)lineIndex_Pos2=(colorPos_2==lineColorSet)iflineColorCount_Pos1==0:lineColorCount_Pos1=1iflineColorCount_Pos2==0:lineColorCount_Pos2=1left_Pos1=lineIndex_Pos1[0][lineColorCount_Pos1-1]right_Pos1=lineIndex_Pos1[0][0]center_Pos1=int((left_Pos1+right_Pos1)/2)left_Pos2=lineIndex_Pos2[0][lineColorCount_Pos2-1]right_Pos2=lineIndex_Pos2[0][0]center_Pos2=int((left_Pos2+right_Pos2)/2)center=int((center_Pos1+center_Pos2)/2)except:center=Nonepassprint(center)try:(frame_image,(left_Pos1,(linePos_1+30)),(left_Pos1,(linePos_1-30)),(255,128,64),1)(frame_image,(right_Pos1,(linePos_1+30)),(right_Pos1,(linePos_1-30)),(64,128,255),)(frame_image,(0,linePos_1),(640,linePos_1),(255,255,64),1)(frame_image,(left_Pos2,(linePos_2+30)),(left_Pos2,(linePos_2-30)),(255,128,64),1)(frame_image,(right_Pos2,(linePos_2+30)),(right_Pos2,(linePos_2-30)),(64,128,255),1)(frame_image,(0,linePos_2),(640,linePos_2),(255,255,64),1)(frame_image,((center-20),int((linePos_1+linePos_2)/2)),((center+20),int((linePos_1+linePos_2)/2)),(0,0,0),1)(frame_image,((center),int((linePos_1+linePos_2)/2+20)),((center),int((linePos_1+linePos_2)/2-20)),(0,0,0),1)except:passencoded,buffer=(.jpg,frame_image)jpg_as_text=(buffer)footage_(jpg_as_text)(0)PC：
#!/usr/bin/python3#Filename:#Author:William#Date:2019/11/21importcv2importzmqimportbase64importnumpyasnpcontext=()footage_socket=()footage_(tcp://*:5555)whileTrue:frame=footage__string()img=(frame)npimg=(img,dtype=)source=(npimg,1)(Stream,source)(1)