NAO机器人基于python的opencv走黑线的代码

以下是基于Python和OpenCV的NAO机器人走黑线的代码：

import numpy as np
import cv2
import time
from naoqi import ALProxy

# NAOqi robot IP address and port
NAO_IP = "192.168.1.101"
NAO_PORT = 9559

# Initialize NAOqi proxies
motionProxy = ALProxy("ALMotion", NAO_IP, NAO_PORT)
postureProxy = ALProxy("ALRobotPosture", NAO_IP, NAO_PORT)
cameraProxy = ALProxy("ALVideoDevice", NAO_IP, NAO_PORT)

# Set camera parameters
resolution = 2    # VGA resolution
colorSpace = 11   # RGB color space
fov = 47.64       # Field of view
cameraID = 0      # Camera ID
fps = 30          # Frames per second
nameId = cameraProxy.subscribeCamera("PythonClient", cameraID, resolution, colorSpace, fps)

# Set up constants
ROBOT_VELOCITY = 0.2
BLACK_THRESHOLD = 50

# Set up initial robot position
motionProxy.wakeUp()
postureProxy.goToPosture("StandInit", 0.5)

# Main loop
while True:
    # Get image from camera
    imgData = cameraProxy.getImageRemote(nameId)
    width = imgData[0]
    height = imgData[1]
    image = np.zeros((height, width, 3), np.uint8)
    image.data = imgData[6]
    image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
    
    # Threshold image to get binary black/white image
    _, thresh = cv2.threshold(image, BLACK_THRESHOLD, 255, cv2.THRESH_BINARY)
    
    # Find contours in binary image
    contours, _ = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
    
    # If no contours are found, stop robot
    if len(contours) == 0:
        motionProxy.stopMove()
    else:
        # Find centroid of largest contour
        largestContour = max(contours, key=cv2.contourArea)
        M = cv2.moments(largestContour)
        cx = int(M['m10']/M['m00'])
        cy = int(M['m01']/M['m00'])
        
        # If centroid is on the left, turn left
        if cx < width/2:
            motionProxy.move(-ROBOT_VELOCITY, 0, 0)
        # If centroid is on the right, turn right
        else:
            motionProxy.move(ROBOT_VELOCITY, 0, 0)
    
    # Display image
    cv2.imshow("Image", image)
    cv2.waitKey(1)
    
# Clean up
cameraProxy.unsubscribe(nameId)
cv2.destroyAllWindows()
motionProxy.rest()

该代码使用了NAOqi SDK中的ALProxy类来连接到NAO机器人的运动、姿势和相机模块。然后，它从相机中获取图像，并将其转换为灰度图像。接下来，它将二进制化的黑白图像阈值化，以便能够检测到黑线的存在。然后，它找到最大的轮廓，并计算其质心。如果质心在图像的左侧，则机器人向左转，否则机器人向右转。最后，它显示了原始图像，并在循环结束时进行了清理。