（小白python）检测圆

import cv2
import numpy as np
import time

frameWidth = 640
frameHeight = 480



cap = cv2.VideoCapture(1)  # 0对应笔记本自带摄像头


cap.set(3, frameWidth)  # set中，这里的3，下面的4和10是类似于功能号的东西，数字的值没有实际意义
cap.set(4, frameHeight)
cap.set(10, 80)        # 设置亮度
pulse_ms = 30


lower = np.array([100, 100, 60])
upper = np.array([180, 255, 255])

ball_color = 'red'
ball_color2 = 'green'

color_dist = {'red': {'Lower': np.array([0, 60, 60]), 'Upper': np.array([6, 255, 255])},
              'blue': {'Lower': np.array([100, 80, 46]), 'Upper': np.array([124, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
              }

targetPos_x = 0
targetPos_y = 0
lastPos_x = 0
lastPos_y = 0


def draw_direction(img, lx, ly, nx, ny):
    # 根据上一位置与当前位置计算移动方向并绘制箭头
    dx = nx - lx
    dy = ny - ly
    if abs(dx) < 4 and abs(dy) < 4:
        dx = 0
        dy = 0
    else:
        r = (dx**2 + dy**2)**0.5
        dx = int(dx/r*40)
        dy = int(dy/r*40)
        # print(dx, dy)
    cv2.arrowedLine(img, (60, 100), (60+dx, 100+dy), (0, 255, 0), 2)
    # print(nx-lx, ny-ly)   # 噪声一般为+-1
    # cv2.arrowedLine(img, (150, 150), (150+(nx-lx)*4, 150+(ny-ly)*4), (0, 0, 255), 2, 0, 0, 0.2)


flag = 0

while True:
    #cv2.namedWindow('camera', cv2.WINDOW_AUTOSIZE)

    _, img = cap.read()

    imgHsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)

    imgMask = cv2.inRange(imgHsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])  # 获取遮罩
    imgOutput = cv2.bitwise_and(img, img, mask=imgMask)
    contours, hierarchy = cv2.findContours(imgMask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)  # 查找轮廓
    imgMask = cv2.cvtColor(imgMask, cv2.COLOR_GRAY2BGR)  # 转换后，后期才能够与原画面拼接，否则与原图维数不同

    # 下面的代码查找包围框，并绘制
    x, y, w, h = 0, 0, 0, 0
    for cnt in contours:
        area = cv2.contourArea(cnt)
        # print(area)
        if area > 300:
            x, y, w, h = cv2.boundingRect(cnt)
            lastPos_x = targetPos_x
            lastPos_y = targetPos_y
            targetPos_x = int(x + w / 2)
            targetPos_y = int(y + h / 2)

            if flag == 0 and targetPos_x >= 150 and targetPos_x <= 500 and targetPos_y >= 100 and targetPos_y <= 400:
                flag = 1
                print("targetPos_x" + str(targetPos_x))
                print("targetPos_y" + str(targetPos_y))

            if targetPos_x < 150 or targetPos_x > 500 or targetPos_y < 100 or targetPos_y > 400:
                flag = 0

            cv2.rectangle(img, (x, y), (x + w, y + h), (0, 255, 0), 2)
            cv2.circle(img, (targetPos_x, targetPos_y), 2, (0, 255, 0), 4)
            cv2.rectangle(img, (150, 100), (500, 400), (0, 255, 0), 2)

    # 坐标（图像内的）
    cv2.putText(img, "({:0<2d}, {:0<2d})".format(targetPos_x, targetPos_y), (20, 30),
                cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 0), 2)  # 文字
    draw_direction(img, lastPos_x, lastPos_y, targetPos_x, targetPos_y)

    imgStack = np.hstack([img, imgOutput])
    # imgStack = np.hstack([img, imgMask])            # 拼接
    cv2.imshow('Horizontal Stacking', imgStack)  # 显示



    if cv2.waitKey(pulse_ms) & 0xFF == ord('q'):          # 按下“q”推出（英文输入法）
        break

#time.sleep(5)

#打开第二个摄像头以识别路障



#cv2.namedWindow('camera', cv2.WINDOW_AUTOSIZE)




cap.release()
cv2.destroyAllWindows()