color_shibie1.py

from collections import deque

from picamera.array import PiRGBArray

from picamera import PiCamera

import time

import cv2

import numpy as np

#强行注释：下面定义颜色上下限，用的是hsv颜色而不是rgb颜色，自行百度！

red1 = np.array([170, 100, 100])  

red2 = np.array([179, 255, 255]) 

mybuffer = 64  

pts = deque(maxlen=mybuffer)

camera = PiCamera()

camera.resolution = (640, 480)

camera.framerate = 32

rawCapture = PiRGBArray(camera, size=(640, 480))

time.sleep(1)

for image in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):

    frame = image.array

    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    mask = cv2.inRange(hsv, red1, red2)

    mask = cv2.erode(mask, None, iterations=2)

    mask = cv2.dilate(mask, None, iterations=2)

    cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]  

    center = None  

    if len(cnts) > 0:

        c = max(cnts, key = cv2.contourArea)

        ((x, y), radius) = cv2.minEnclosingCircle(c)

        M = cv2.moments(c)

        center = (int(M["m10"]/M["m00"]), int(M["m01"]/M["m00"]))

        if radius > 10:  

            cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2) 

            cv2.circle(frame, center, 5, (0, 0, 255), -1)

            pts.appendleft(center)

    for i in x range(1, len(pts)):  

        if pts[i - 1] is None or pts[i] is None:  

            continue

        thickness = int(np.sqrt(mybuffer / float(i + 1)) * 2.5)

        cv2.line(frame, pts[i - 1], pts[i], (0, 0, 255), thickness)

    

    cv2.imshow("Frame", frame)

    key = cv2.waitKey(1) & 0xFF

    rawCapture.truncate(0)

    if key == ord("q"):

        break