I got a code on the internet which works with raspberry pi 3 and Pi camera. I want to modify a portion of it. I want to display on the camera the distance the colored object the code identifies is from the middle of the streaming video.
The code I have streams a video that recognizes red color and puts a red dot on the object. The code is below;
# import the necessary packages
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
import numpy as np
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (480, 320)
camera.framerate = 30
camera.hflip = True
rawCapture = PiRGBArray(camera, size=(480, 320))
# allow the camera to warmup
time.sleep(0.1)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
blur = cv2.blur(image, (3,3))
#hsv to complicate things, or stick with BGR
#hsv = cv2.cvtColor(blur,cv2.COLOR_BGR2HSV)
#thresh = cv2.inRange(hsv,np.array((0, 200, 200)), np.array((20, 255, 255)))
lower = np.array([4,10,120],dtype="uint8")
#upper = np.array([225,88,50], dtype="uint8")
upper = np.array([90,100,255], dtype="uint8")
thresh = cv2.inRange(blur, lower, upper)
thresh2 = thresh.copy()
# find contours in the threshold image
image, contours,hierarchy = cv2.findContours(thresh,cv2.RETR_LIST,cv2.CHAIN_APPROX_SIMPLE)
# finding contour with maximum area and store it as best_cnt
max_area = 0
best_cnt = 1
for cnt in contours:
area = cv2.contourArea(cnt)
if area > max_area:
max_area = area
best_cnt = cnt
# finding centroids of best_cnt and draw a circle there
M = cv2.moments(best_cnt)
cx,cy = int(M['m10']/M['m00']), int(M['m01']/M['m00'])
#if best_cnt>1:
cv2.circle(blur,(cx,cy),10,(100,100,255),-1)
# show the frame
cv2.imshow("Frame", blur)
#cv2.imshow('thresh',thresh2)
key = cv2.waitKey(1) & 0xFF
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if key == ord("q"):
break
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