filter.py

import numpy as np
import cv2
import os
import sys
import time
import picamera
import picamera.array
import argparse

def objectFound():
  print("Found")

def filter(image):
  lower_range = np.array([101,200,0])
  upper_range = np.array([109,255,255])
  
  hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
  
  mask = cv2.GaussianBlur(hsv, (11, 11), 0)
  mask = cv2.inRange(mask, lower_range, upper_range)
  
  res = cv2.bitwise_and(hsv, hsv, mask=mask)
  res = cv2.cvtColor(cv2.cvtColor(res, cv2.COLOR_HSV2BGR), cv2.COLOR_BGR2GRAY)
  res = cv2.erode(res, None, iterations=3)
  res = cv2.dilate(res, None, iterations=4)
  
  newImage = image
  _ , contours, _ = cv2.findContours(res, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
  cv2.drawContours(newImage, contours, -1, (255, 255, 0), 1)
  for cnt in contours:
      M = cv2.moments(cnt)
      (x,y),radius = cv2.minEnclosingCircle(cnt)
      if(radius > 10):
          center = (int(x),int(y))
          radius = int(radius)
          cv2.circle(newImage,center,radius,(0,255,0),2)
          objectFound()
  return newImage          

with picamera.PiCamera() as camera:
    with picamera.array.PiRGBArray(camera) as output:
        camera.resolution = (640, 480)
        camera.framerate = 30
        while(1):
            camera.capture(output, 'bgr')
            try:
                img = output.array
                output.truncate(0)
                cv2.imshow('img',filter(img))
                if 0xFF & cv2.waitKey(5) == 27:
                    break
            except KeyboardInterrupt:
                pass
                print ('KB interrupted')
                print ('Process Aborted!')
                break
            except Exception as e:
                exc_type, exc_obj, tb = sys.exc_info()
                lineno = tb.tb_lineno
                print ('Error : ' + str(e) + " @ line " + str(lineno))
            finally:
                pass