cimport numpy as np报错_「树莓派」使用OpenCV & Numpy机器视觉来巡线

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# File name   : RPiCam.py# Date: 2019/12/23import cv2import zmqimport base64import picamerafrom picamera.array import PiRGBArrayimport numpy as npIP = '192.168.3.11'camera = picamera.PiCamera()camera.resolution = (640, 480)camera.framerate = 20rawCapture = PiRGBArray(camera, size=(640, 480))context = zmq.Context()footage_socket = context.socket(zmq.PAIR)footage_socket.connect('tcp://%s:5555'%IP)print(IP)linePos_1 = 380linePos_2 = 430lineColorSet = 255for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):frame_image = frame.arrayframe_findline = cv2.cvtColor(frame_image, cv2.COLOR_BGR2GRAY)retval, frame_findline =  cv2.threshold(frame_findline, 0, 255, cv2.THRESH_OTSU)frame_findline = cv2.erode(frame_findline, None, iterations=6)colorPos_1 = frame_findline[linePos_1]colorPos_2 = frame_findline[linePos_2]try:lineColorCount_Pos1 = np.sum(colorPos_1 == lineColorSet)lineColorCount_Pos2 = np.sum(colorPos_2 == lineColorSet)lineIndex_Pos1 = np.where(colorPos_1 == lineColorSet)lineIndex_Pos2 = np.where(colorPos_2 == lineColorSet)if lineColorCount_Pos1 == 0:lineColorCount_Pos1 = 1if lineColorCount_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:cv2.line(frame_image,(left_Pos1,(linePos_1+30)),(left_Pos1,(linePos_1-30)),(255,128,64),1)cv2.line(frame_image,(right_Pos1,(linePos_1+30)),(right_Pos1,(linePos_1-30)),(64,128,255),)cv2.line(frame_image,(0,linePos_1),(640,linePos_1),(255,255,64),1)cv2.line(frame_image,(left_Pos2,(linePos_2+30)),(left_Pos2,(linePos_2-30)),(255,128,64),1)cv2.line(frame_image,(right_Pos2,(linePos_2+30)),(right_Pos2,(linePos_2-30)),(64,128,255),1)cv2.line(frame_image,(0,linePos_2),(640,linePos_2),(255,255,64),1)cv2.line(frame_image,((center-20),int((linePos_1+linePos_2)/2)),((center+20),int((linePos_1+linePos_2)/2)),(0,0,0),1)cv2.line(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 = cv2.imencode('.jpg', frame_image)jpg_as_text = base64.b64encode(buffer)footage_socket.send(jpg_as_text)rawCapture.truncate(0)

PC：

#!/usr/bin/python3# File name   : PC.py# Author  : William# Date: 2019/11/21import cv2import zmqimport base64import numpy as npcontext = zmq.Context()footage_socket = context.socket(zmq.PAIR)footage_socket.bind('tcp://*:5555')while True:frame = footage_socket.recv_string()img = base64.b64decode(frame)npimg = np.frombuffer(img, dtype=np.uint8)source = cv2.imdecode(npimg, 1)cv2.imshow("Stream", source)cv2.waitKey(1)