RPI_color.py

import time
 import RPi.GPIO
 import numpy
 import os
 import pygame.camera
 import pygame
 
 #####GPIO#####
 # Initializing the GPIO bins. The numbering using is board.
 RPi.GPIO.setmode(RPi.GPIO.BOARD)
 
 # Configuring the GPIO bin number 22 to be an output bin.
 RPi.GPIO.setup(8, RPi.GPIO.OUT)
 
 #####PyGame#####
 # Initializing PyGame and the camera.
 pygame.init()
 pygame.camera.init()
 
 # Captured image dimensions. It should be less than or equal to the maximum dimensions acceptable by the camera.
 width = 320
 height = 240
 
 # Preparing a resizable window of the specified size for displaying the captured images.
 window = pygame.display.set_mode((width, height), pygame.RESIZABLE)
 
 # Specifying the camera source and the image dimensions.
 cam = pygame.camera.Camera("/dev/video0", (width, height))
 cam.start()
 
 for im_num in range(0, 2000):
     print("Image : ", im_num)
 
     im = cam.get_image()
 
     # Displaying the image on the window starting from the top-left corner.
     window.blit(im, (0, 0))
 
     # Refreshing the window.
     pygame.display.update()
 
     im = pygame.surfarray.array3d(window)
     r = numpy.mean(im[:, :, 0])
     g = numpy.mean(im[:, :, 1])
     b = numpy.mean(im[:, :, 2])
 
     if ((r - g) > 30 and (r - b) > 30):
         print("Red - Stop")
         try:
             RPi.GPIO.output(8, RPi.GPIO.LOW)
         except KeyboardInterrupt:  # CTRL+C
             print("Keyboard Interrupt.")
         except:
             print("Error occurred.")
     elif ((g - r) > 30 and (g - b) > 30):
         print("Green - Move")
         try:
             RPi.GPIO.output(8, RPi.GPIO.HIGH)
         except KeyboardInterrupt:  # CTRL+C
             print("Keyboard Interrupt.")
         except:
             print("Error occurred.")
 
 # Stopping the camera.
 cam.stop()
 
 # cleanup all GPIO bins.
 print("Clean Up GPIO.")
 RPi.GPIO.cleanup()