40 lines
1.7 KiB
Python
40 lines
1.7 KiB
Python
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import cv2
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import numpy as np
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import picamera
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import picamera.array
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lo=np.array([95, 100, 50])
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hi=np.array([105, 255, 255])
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color_infos=(0, 255, 255)
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WIDTH=640
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HEIGHT=480
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with picamera.PiCamera() as camera:
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with picamera.array.PiRGBArray(camera) as stream:
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camera.resolution=(WIDTH, HEIGHT)
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while True:
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camera.capture(stream, 'bgr', use_video_port=True)
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image=cv2.cvtColor(stream.array, cv2.COLOR_BGR2HSV)
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mask=cv2.inRange(image, lo, hi)
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image=cv2.blur(image, (7, 7))
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mask=cv2.erode(mask, None, iterations=4)
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mask=cv2.dilate(mask, None, iterations=4)
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image2=cv2.bitwise_and(stream.array, stream.array, mask=mask)
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elements=cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
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if len(elements) > 0:
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c=max(elements, key=cv2.contourArea)
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((x, y), rayon)=cv2.minEnclosingCircle(c)
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if rayon>30:
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cv2.circle(image2, (int(x), int(y)), int(rayon), color_infos, 2)
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cv2.circle(stream.array, (int(x), int(y)), 5, color_infos, 10)
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cv2.line(stream.array, (int(x), int(y)), (int(x)+150, int(y)), color_infos, 2)
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cv2.putText(stream.array, "Objet !!!", (int(x)+10, int(y) -10), cv2.FONT_HERSHEY_DUPLEX, 1, color_infos, 1, cv2.LINE_AA)
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cv2.imshow('Camera', stream.array)
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cv2.imshow('image2', image2)
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cv2.imshow('Mask', mask)
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if cv2.waitKey(1)&0xFF==ord('q'):
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break
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stream.seek(0)
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stream.truncate()
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cv2.destroyAllWindows()
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