将此代码转换成python形式，并且功能不变

将 C++ 代码转换为 Python 代码涉及多个步骤，主要包括语法转换、库替换和函数重构。以下是将 `opencvTest_lack.txt` 中的主要功能转换为 Python 形式的代码。请注意，Python 版本的代码将使用 OpenCV 的 Python 接口 (`cv2`) 和 NumPy 库。

### 1. 导入库
首先导入所需的库：

import cv2
import numpy as np
from math import sin, cos

### 2. 定义常量
将 C++ 中的宏定义转换为 Python 中的常量：

JIFEN = 5
DAO DIAN JU = 3
FEICHEZHANBI = 0.73
YUANHUANYUZHI = 40
YUANHANJINGDU = 10
KUANZENG = 90
KUANZENG2 = 70
SHIZIJI = 0
BANMASIGN = 0
CAMERA_H = 60
CAMERA_W = 94
OUT_H = 60
OUT_W = 94

### 3. 定义结构体
在 Python 中，可以使用类来模拟结构体：

class Up:
    def __init__(self, point, value):
        self.dian = point
        self.que = value

### 4. 二值化函数
将 `er_zhi` 函数转换为 Python：

def er_zhi(imgxiu):
    img_cvt = cv2.cvtColor(imgxiu, cv2.COLOR_BGR2GRAY)
    img_temp = cv2.GaussianBlur(img_cvt, (5, 5), 0)
    _, img_thr = cv2.threshold(img_temp, 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
    cv2.imshow("二值化", img_thr)
    return img_thr

### 5. 画出赛道两侧线和中线
将 `che_dao_xian` 函数转换为 Python：

def che_dao_xian(img_er):
    img_can, img_dil = [], []
    shizipan = 0
    yuanhuanzuosign = 0
    yuanhuanyousign = 0
    yuanhuan = []
    banmapan = 0
    banmasign = 0
    banmadi = [0, 0, 0]
    banmashang = [0, 0, 0]
    high = int(img_er.shape[0] * FEICHEZHANBI)
    
    lie_bais = [0] * img_er.shape[1]
    
    for x in range(img_er.shape[1]):
        for y in range(high - 1, -1, -1):
            if img_er[y, x] != 0:
                lie_bais[x] += 1
            else:
                break
        
        if x > 0 and abs(lie_bais[x] - lie_bais[x - 1]) >= 60:
            banmasign += 1
    
    if banmasign >= 6:
        banmapan = 1
    
    maxzuo = [0, 0]
    maxyou = [0, 0]
    
    for a in range(len(lie_bais)):
        if lie_bais[a] > maxzuo[1]:
            maxzuo[0] = a
            maxzuo[1] = lie_bais[a]
    
    for a in range(len(lie_bais) - 1, -1, -1):
        if lie_bais[a] > maxyou[1]:
            maxyou[0] = a
            maxyou[1] = lie_bais[a]
    
    chushi = 0
    chuju = 0
    shizi_zuox = 0
    shizi_zuoy = 0
    shizi_youx = 0
    zuo_dao = []
    you_dao = []
    zhong_xian = []
    
    for y in range(high - 1, high - maxzuo[1], -1):
        zuox = maxzuo[0]
        
        for x in range(maxzuo[0], -1, -1):
            if img_er[y, x] != 0 and img_er[y, x - 1] == 0:
                if len(zuo_dao) >= 1:
                    if abs(x - zuo_dao[-1].dian[0]) <= DAO_DIAN_JU and abs(y - zuo_dao[-1].dian[1]) <= DAO_DIAN_JU:
                        zuo_dao.append(Up((x, y), 0))
                        zuox = x
                        if banmapan == 1:
                            banmapan = 2
                        break
                else:
                    zuox = x
                    zuo_dao.append(Up((x, y), 0))
                    break
            
            if img_er[y, x] != 0 and img_er[y, x - 1] != 0 and img_er[y, x - 2] != 0:
                shizi_zuox += 1
            
            if x - 3 == 0:
                break
        
        tempx = maxyou[0] - 4
        
        for x in range(maxyou[0] - 4, img_er.shape[1]):
            if img_er[y, x] != 0 and img_er[y, x + 1] == 0:
                if len(you_dao) >= 1:
                    if abs(x - you_dao[-1].dian[0]) <= DAO_DIAN_JU and abs(y - you_dao[-1].dian[1]) <= DAO_DIAN_JU:
                        you_dao.append(Up((x, y), 0))
                        tempx = x
                        break
                else:
                    tempx = x
                    you_dao.append(Up((x, y), 0))
                    break
            
            if img_er[y, x] != 0 and img_er[y, x + 1] != 0 and img_er[y, x + 2] != 0:
                shizi_youx += 1
            
            if x + 3 == img_er.shape[1] - 1:
                break
        
        if img_er.shape[1] - tempx >= 80:
            if banmapan == 2 and img_er[y, tempx + 62] != 0 and img_er[y, tempx + 63] != 0 and img_er.shape[0] - maxzuo[1] <= 80:
                banmadi[0] = zuox
                banmadi[1] = tempx
                banmadi[2] = y
                banmapan = 3
        
        if chuju == 0:
            chuju = tempx - zuox
        
        if abs(shizi_zuox - maxzuo[0]) <= 5 and abs(img_er.shape[1] - maxyou[0] + 4 - shizi_youx) <= 5:
            shizipan = 1
    
    yuanhuanweidian = [None] * 4
    
    if abs(len(zuo_dao) - len(you_dao)) >= YUANHUANYUZHI:
        ji1 = 0
        ji2 = 0
        signs = 0
        
        if len(zuo_dao) < len(you_dao):
            zuominx = 999999
            
            for n in range(len(zuo_dao)):
                if zuominx > zuo_dao[n].dian[0]:
                    zuominx = zuo_dao[n].dian[0]
            
            for n in range(len(you_dao)):
                signs = 0
                
                for x in range(you_dao[n].dian[0], max(zuominx - 5, 1), -1):
                    if img_er[you_dao[n].dian[1], x] != 0 and img_er[you_dao[n].dian[1], x - 1] == 0:
                        if yuanhuanyousign == 1 and ji1 >= 5:
                            yuanhuanyousign = 2
                            yuanhuanweidian[1] = (you_dao[n - 5].dian[0] - KUANZENG, you_dao[n - 5].dian[1])
                            ji1 = 0
                        elif yuanhuanyousign == 3 and ji1 >= 5:
                            yuanhuanyousign = 4
                            break
                        
                        signs = 1
                        ji1 += 1
                        ji2 = 0
                    
                    if signs == 0:
                        if yuanhuanyousign == 0 and ji2 >= 5:
                            yuanhuanyousign = 1
                            yuanhuanweidian[0] = (you_dao[n - 5].dian[0] - KUANZENG, you_dao[n - 5].dian[1])
                            ji2 = 0
                        elif yuanhuanyousign == 2 and ji2 >= 5:
                            yuanhuanyousign = 3
                            ji2 = 0
                        
                        ji2 += 1
                        ji1 = 0
        else:
            youmaxx = 0
            
            for n in range(len(you_dao)):
                if youmaxx < you_dao[n].dian[0]:
                    youmaxx = you_dao[n].dian[0]
            
            for n in range(len(zuo_dao)):
                signs = 0
                
                for x in range(zuo_dao[n].dian[0], youmaxx):
                    if img_er[zuo_dao[n].dian[1], x] != 0 and img_er[zuo_dao[n].dian[1], x + 1] == 0:
                        if yuanhuanzuosign == 1 and ji1 >= YUANHANJINGDU:
                            yuanhuanzuosign = 2
                            yuanhuanweidian[1] = (zuo_dao[n - 5].dian[0] + KUANZENG2, zuo_dao[n - 5].dian[1])
                            ji1 = 0
                        elif yuanhuanzuosign == 3 and ji1 >= YUANHANJINGDU:
                            yuanhuanzuosign = 4
                            break
                        
                        signs = 1
                        ji1 += 1
                        ji2 = 0
                    
                    if signs == 0:
                        if yuanhuanzuosign == 0 and ji2 >= YUANHANJINGDU:
                            yuanhuanzuosign = 1
                            yuanhuanweidian[0] = (zuo_dao[n - 5].dian[0] + KUANZENG2 + 10, zuo_dao[n - 5].dian[1])
                            ji2 = 0
                        elif yuanhuanzuosign == 2 and ji2 >= YUANHANJINGDU:
                            yuanhuanzuosign = 3
                            ji2 = 0
                        
                        ji2 += 1
                        ji1 = 0
        
        if shizipan:
            shiziji += 1
        
        if shiziji >= 3:
            shiziji = 0
            cv2.putText(img_sour, "CROSS", (10, 40), cv2.FONT_HERSHEY_COMPLEX, 0.7, (0, 0, 255), 2)
    
    if banmapan == 3:
        cv2.putText(img_sour, "BANMA_WIRES", (10, 40), cv2.FONT_HERSHEY_COMPLEX, 0.7, (0, 0, 255), 2)
        cv2.line(img_sour, (banmadi[0], banmadi[2]), (banmadi[1], banmadi[2]), (255, 0, 255), 3.5)
    
    if yuanhuanzuosign == 4:
        cv2.putText(img_sour, "right circular", (10, 40), cv2.FONT_HERSHEY_COMPLEX, 0.7, (0, 0, 255), 2)
        for n in range(2):
            cv2.line(img_sour, (img_er.shape[1] - 1, yuanhuanweidian[n][1]), (yuanhuanweidian[n][0], yuanhuanweidian[n][1]), (255, 0, 255), 3.5)
    elif yuanhuanyousign == 4:
        cv2.putText(img_sour, "left circular", (10, 40), cv2.FONT_HERSHEY_COMPLEX, 0.7, (0, 0, 255), 2)
        for n in range(2):
            cv2.line(img_sour, (0, yuanhuanweidian[n][1]), (yuanhuanweidian[n][0], yuanhuanweidian[n][1]), (255, 0, 255), 3.5)
    
    sizes = min(len(zuo_dao), len(you_dao))
    best_zhongxian = []
    nihe_zhongxian = []
    
    kai = 0
    zhongx = 0
    zhongy = 0
    
    for n in range(sizes):
        if zuo_dao[n].que == 0 and you_dao[n].que == 0:
            zhongx = (zuo_dao[n].dian[0] + you_dao[n].dian[0]) // 2
            zhongy = (zuo_dao[n].dian[1] + you_dao[n].dian[1]) // 2
            
            if kai == 0:
                zhong_xian.append(Up((zhongx, zhongy), 0))
                kai = 1
            elif abs(zhongx - zhong_xian[-1].dian[0]) <= DAO_DIAN_JU and abs(zhongy - zhong_xian[-1].dian[1]) >= 2:
                zhong_xian.append(Up((zhongx, zhongy), 0))
    
    for c in range(0, len(zhong_xian), JIFEN):
        if c + JIFEN >= len(zhong_xian):
            break
        
        aa, bb, xx, yy, xy, xfangs = 0, 0, 0, 0, 0, 0
        
        for n in range(c, c + JIFEN):
            xy += zhong_xian[n].dian[0] * zhong_xian[n].dian[1]
            xfangs += zhong_xian[n].dian[0] ** 2
            xx += zhong_xian[n].dian[0]
            yy += zhong_xian[n].dian[1]
        
        xx /= JIFEN
        yy /= JIFEN
        
        bb = (xy - JIFEN * xx * yy) / (xfangs - JIFEN * xx ** 2)
        aa = yy - bb * xx
        
        zuomin = 999999
        zuomax = 0
        youmin = 999999
        youmax = 0
        
        for n in range(c, c + JIFEN):
            if zuomin > zuo_dao[n].dian[0]:
                zuomin = zuo_dao[n].dian[0]
            if zuomax < zuo_dao[n].dian[0]:
                zuomax = zuo_dao[n].dian[0]
        
        for n in range(c, c + JIFEN):
            if youmin > you_dao[n].dian[0]:
                youmin = you_dao[n].dian[0]
            if youmax < you_dao[n].dian[0]:
                youmax = you_dao[n].dian[0]
        
        for x in range(zuomin, youmax + 1):
            y = int(bb * x + aa)
            if y <= zhong_xian[c].dian[1] and y >= zhong_xian[c + JIFEN].dian[1] and abs(x - (zuomin + youmax) / 2) <= 3:
                nihe_zhongxian.append((x, y))
    
    for n in range(len(nihe_zhongxian) - 1):
        cv2.line(img_sour, nihe_zhongxian[n], nihe_zhongxian[n + 1], (0, 255, 0), 4)
    
    for n in range(len(zhong_xian) - 1):
        cv2.circle(img_sour, zhong_xian[n].dian, 2, (0, 255, 0), -1)
        cv2.line(img_sour, zhong_xian[n].dian, zhong_xian[n + 1].dian, (0, 255, 0), 4)
    
    for n in range(len(zuo_dao)):
        cv2.circle(img_sour, zuo_dao[n].dian, 2, (255, 0, 0), -1)
    
    for n in range(len(you_dao)):
        cv2.circle(img_sour, you_dao[n].dian, 2, (0, 0, 255), -1)
    
    return img_sour

### 6. 主函数
将主函数转换为 Python：

def main():
    cap = cv2.VideoCapture(0)
    
    while True:
        ret, frame = cap.read()
        if not ret:
            break
        
        img_sour = frame
        img_er = er_zhi(frame)
        img_result = che_dao_xian(img_er)
        
        cv2.imshow('Result', img_result)
        
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    
    cap.release()
    cv2.destroyAllWindows()