one_camera.py

import cv2
from networktables import NetworkTables
import numpy as np

# To see messages from networktables, you must setup logging
import logging
logging.basicConfig(level=logging.DEBUG)

ip = "10.55.87.2"
NetworkTables.initialize(server=ip)
sd = NetworkTables.getTable("SmartDashboard")

cam = cv2.VideoCapture(0)

# Lower color limits
red = ([160, 100, 100], [179, 255, 255])
blue = ([95, 100, 100], [115, 255, 255])

def color_found(cam, color_bounds):
    frame = cam.read()[1]

    color_lower = np.array(color_bounds[0], dtype="uint8")
    color_upper = np.array(color_bounds[1], dtype="uint8")

    # switch color space to HSV
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    # Make mask of image, only showing color in between upper
    # and lower color values
    mask = cv2.inRange(hsv, color_lower, color_upper)

    # find contours of colors in respective masks
    _, contours, _ = cv2.findContours(mask, cv2.RETR_TREE,
                                      cv2.CHAIN_APPROX_SIMPLE)

    # get the sizes of all contours
    contour_sizes = [(cv2.contourArea(contour), contour) for contour
                     in contours]


    if(len(contour_sizes) > 0):
        biggest_contour = max(contour_sizes, key=lambda x: x[0])[1]
        x,y,w,h = cv2.boundingRect(biggest_contour)
        return y + int(h/2) #distance from the top of the frame to center of ball 


while True:
    red_distance = color_found(cam, red)
    blue_distance = color_found(cam, blue)

    if red_distance > blue_distance:
        ball_color = "red"
    elif blue_distance > red_distance:
        ball_color = "blue"
    else:
        ball_color = "none"

    sd.putString("Closest Ball", ball_color)
    
    print("Closest Ball: " + ball_color)
    
# Runs if while loop is exited
cam.release()