树莓派跟踪物体，第一版

1.只print前后左右 

from collections import  deque
import numpy as np
#import imutils
import cv2
import time
#设定红色阈值，HSV空间
redLower = np.array([0, 100, 100])
redUpper = np.array([10, 255, 255])
#初始化追踪点的列表
mybuffer = 64
pts = deque(maxlen=mybuffer)
#打开摄像头
camera = cv2.VideoCapture(0)
#等待两秒
time.sleep(2)
#遍历每一帧，检测红色瓶盖
while True:
    #读取帧
    (ret, frame) = camera.read()
    #判断是否成功打开摄像头
    if not ret:
        print ('No Camera')
        break
    #转到HSV空间
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    #根据阈值构建掩膜
    mask = cv2.inRange(hsv, redLower, redUpper)
    #腐蚀操作
    mask = cv2.erode(mask, None, iterations=2)
    #膨胀操作，其实先腐蚀再膨胀的效果是开运算，去除噪点
    mask = cv2.dilate(mask, None, iterations=2)
    #轮廓检测
    cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
    #初始化瓶盖圆形轮廓质心

    center = None
    #如果存在轮廓
    if len(cnts) > 0:
        #找到面积最大的轮廓
        c = max(cnts, key = cv2.contourArea)
        #确定面积最大的轮廓的外接圆
        ((x, y), radius) = cv2.minEnclosingCircle(c)
        #计算轮廓的矩
        #print(x,y)
        if x>320:
            print("左转")
        if x<320:
            print("右转")
        if y>240:
            print("下移")
        if y<240:
            print("上移")
        M = cv2.moments(c)
        #计算质心
        center = (int(M["m10"]/M["m00"]), int(M["m01"]/M["m00"]))
        #只有当半径大于10时，才执行画图
        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)
            #把质心添加到pts中，并且是添加到列表左侧
            pts.appendleft(center)
    #遍历追踪点，分段画出轨迹
    for i in range(1, len(pts)):
        if pts[i - 1] is None or pts[i] is None:
            continue
        #计算所画小线段的粗细
        thickness = int(np.sqrt(mybuffer / float(i + 1)) * 2.5)
        #画出小线段
        cv2.line(frame, pts[i - 1], pts[i], (0, 0, 255), thickness)
    #res = cv2.bitwise_and(frame, frame, mask=mask)
    cv2.imshow('Frame', frame)

    #键盘检测，检测到esc键退出
    k = cv2.waitKey(5)&0xFF
    if k == 27:
        break
#摄像头释放
camera.release()
#销毁所有窗口
cv2.destroyAllWindows()

2.树莓派物体跟踪第二版

untitled.py

# -*- coding: utf-8 -*-

# Form implementation generated from reading ui file 'untitled.ui'
#
# Created by: PyQt5 UI code generator 5.11.3
#
# WARNING! All changes made in this file will be lost!

from PyQt5 import QtCore, QtGui, QtWidgets

class Ui_MainWindow(object):
    def setupUi(self, MainWindow):
        MainWindow.setObjectName("MainWindow")
        MainWindow.resize(500, 321)
        self.centralwidget = QtWidgets.QWidget(MainWindow)
        self.centralwidget.setObjectName("centralwidget")
        self.label = QtWidgets.QLabel(self.centralwidget)
        self.label.setGeometry(QtCore.QRect(60, 60, 54, 12))
        self.label.setObjectName("label")
        self.label_2 = QtWidgets.QLabel(self.centralwidget)
        self.label_2.setGeometry(QtCore.QRect(60, 120, 54, 12))
        self.label_2.setObjectName("label_2")
        self.label_3 = QtWidgets.QLabel(self.centralwidget)
        self.label_3.setGeometry(QtCore.QRect(50, 200, 54, 12))
        self.label_3.setText("")
        self.label_3.setObjectName("label_3")
        self.lineEdit = QtWidgets.QLineEdit(self.centralwidget)
        self.lineEdit.setGeometry(QtCore.QRect(150, 60, 113, 20))
        self.lineEdit.setObjectName("lineEdit")
        self.lineEdit_2 = QtWidgets.QLineEdit(self.centralwidget)
        self.lineEdit_2.setGeometry(QtCore.QRect(150, 120, 113, 20))
        self.lineEdit_2.setObjectName("lineEdit_2")
        self.label_4 = QtWidgets.QLabel(self.centralwidget)
        self.label_4.setGeometry(QtCore.QRect(60, 180, 71, 16))
        self.label_4.setObjectName("label_4")
        self.label_5 = QtWidgets.QLabel(self.centralwidget)
        self.label_5.setGeometry(QtCore.QRect(60, 230, 71, 16))
        self.label_5.setObjectName("label_5")
        self.lineEdit_3 = QtWidgets.QLineEdit(self.centralwidget)
        self.lineEdit_3.setGeometry(QtCore.QRect(150, 180, 113, 20))
        self.lineEdit_3.setObjectName("lineEdit_3")
        self.lineEdit_4 = QtWidgets.QLineEdit(self.centralwidget)
        self.lineEdit_4.setGeometry(QtCore.QRect(150, 230, 113, 20))
        self.lineEdit_4.setObjectName("lineEdit_4")
        MainWindow.setCentralWidget(self.centralwidget)
        self.menubar = QtWidgets.QMenuBar(MainWindow)
        self.menubar.setGeometry(QtCore.QRect(0, 0, 500, 23))
        self.menubar.setObjectName("menubar")
        MainWindow.setMenuBar(self.menubar)
        self.statusbar = QtWidgets.QStatusBar(MainWindow)
        self.statusbar.setObjectName("statusbar")
        MainWindow.setStatusBar(self.statusbar)

        self.retranslateUi(MainWindow)
        QtCore.QMetaObject.connectSlotsByName(MainWindow)

    def retranslateUi(self, MainWindow):
        _translate = QtCore.QCoreApplication.translate
        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
        self.label.setText(_translate("MainWindow", "颜色："))
        self.label_2.setText(_translate("MainWindow", "形状："))
        self.label_4.setText(_translate("MainWindow", "左右偏移量："))
        self.label_5.setText(_translate("MainWindow", "上下偏移量："))
def chuli(a,b):
    ui.lineEdit_3.setText(str(a))
    ui.lineEdit_4.setText(str(b))
import sys
import haha
from PyQt5.QtWidgets import QApplication, QMainWindow

if __name__ == '__main__':

    app = QApplication(sys.argv)
    MainWindow = QMainWindow()
    ui = Ui_MainWindow()
    ui.setupUi(MainWindow)
    T = haha.MyTemperatureThread()
    T.breakSignal.connect(chuli)
    T.start()

    MainWindow.show()


sys.exit(app.exec_())

haha.py

from collections import  deque
import numpy as np
#import imutils
import cv2
import time
from PyQt5.QtCore import QThread,pyqtSignal
#设定红色阈值，HSV空间
redLower = np.array([0, 100, 100])
redUpper = np.array([10, 255, 255])
#初始化追踪点的列表
mybuffer = 64
pts = deque(maxlen=mybuffer)
#打开摄像头
camera = cv2.VideoCapture(0)
#等待两秒
time.sleep(2)


class MyTemperatureThread(QThread):
    def __init__(self, parent=None):  # 线程初始化
        super().__init__(parent)

    # 定义一个信号
    breakSignal = pyqtSignal(int, int)

    # 界面显示，定义x全局变量的时候一认为，先执行界面，所以就没有定义，后来发现，先执行函数再执行界面
    def run(self):
    #遍历每一帧，检测红色瓶盖
        while True:
            #读取帧
            (ret, frame) = camera.read()
            #判断是否成功打开摄像头
            if not ret:
                print ('No Camera')
                break
            #转到HSV空间
            hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
            #根据阈值构建掩膜
            mask = cv2.inRange(hsv, redLower, redUpper)
            #腐蚀操作
            mask = cv2.erode(mask, None, iterations=2)
            #膨胀操作，其实先腐蚀再膨胀的效果是开运算，去除噪点
            mask = cv2.dilate(mask, None, iterations=2)
            #轮廓检测
            cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            #初始化瓶盖圆形轮廓质心

            center = None
            #如果存在轮廓
            if len(cnts) > 0:
                #找到面积最大的轮廓
                c = max(cnts, key = cv2.contourArea)
                #确定面积最大的轮廓的外接圆
                ((x, y), radius) = cv2.minEnclosingCircle(c)
                #计算轮廓的矩
                #print(x,y)
                x_pian = x-320
                y_pian = y-320
                print(x_pian,y_pian)
                self.breakSignal.emit(x_pian,y_pian)
                M = cv2.moments(c)
                #计算质心
                center = (int(M["m10"]/M["m00"]), int(M["m01"]/M["m00"]))
                #只有当半径大于10时，才执行画图
                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)
                    #把质心添加到pts中，并且是添加到列表左侧
                    pts.appendleft(center)
            #遍历追踪点，分段画出轨迹
            for i in range(1, len(pts)):
                if pts[i - 1] is None or pts[i] is None:
                    continue
                #计算所画小线段的粗细
                thickness = int(np.sqrt(mybuffer / float(i + 1)) * 2.5)
                #画出小线段
                cv2.line(frame, pts[i - 1], pts[i], (0, 0, 255), thickness)
            #res = cv2.bitwise_and(frame, frame, mask=mask)
            cv2.imshow('Frame', frame)

            #键盘检测，检测到esc键退出
            k = cv2.waitKey(5)&0xFF
            if k == 27:
                break