colordetection.py

# import the necessary packages
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
import numpy as np
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
blue = [([86,31,4],[220,88,50])]
red = [([17,15,100],[50,56,200])]
yellow = [([29,130,208],[62,174,250])]
green =[([35,109,21],[83,250,106])]
time.sleep(0.1)
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
	image = frame.array
	cube = image[250:300,200:250]
	#blue
	for(lower,upper) in blue:
		lower = np.array(lower,dtype="uint8")
		upper = np.array(upper,dtype="uint8")
	mask = cv2.inRange(cube,lower,upper)
	b = sum(sum(mask))
	print "blue"
	print b
	#red
	for(lower,upper) in red:
		lower = np.array(lower,dtype="uint8")
		upper = np.array(upper,dtype="uint8")
	mask = cv2.inRange(cube,lower,upper)
	r = sum(sum(mask))
	print "red"
	print r
	#green
	for(lower,upper) in green:
		lower = np.array(lower,dtype="uint8")
		upper = np.array(upper,dtype="uint8")
	mask = cv2.inRange(cube,lower,upper)
	g = sum(sum(mask))
	print "green"
	print g 
	#yellow	
	for(lower,upper) in yellow:
		lower = np.array(lower,dtype="uint8")
		upper = np.array(upper,dtype="uint8")
	mask = cv2.inRange(cube,lower,upper)
	y = sum(sum(mask))
	print "yellow"
	print y
	if b < 1000 and r < 1000 and y < 1000 and g < 1000:
		print "no block"
	else: 
		if b > r and b > g and b >y:
			print "block blue"
		elif r > g and r > y:
			print "block red"
		elif y > g:
			print "block yellow"
		else:
			print "block green"

	cv2.imshow("cube",cube)
	print cube [30][30]
	cv2.rectangle(image,(200,250),(250,300),(0,0,255),2)
	cv2.imshow("original",image)
	key = cv2.waitKey(1) & 0xFF
	rawCapture.truncate(0)
	if key == ord("q"):
		break