树莓派 间 UDP通信 交换机 【2021电赛D题：基于互联网的摄像测量系统】 【省一源码分享】

题目要求

1.设计并制作两个独立的摄像节点，每个节点由一个摄像头和相应的电路组成。两个摄像节点均可以拍摄到激光笔的运动视频并显示。
2.设计并制作终端节点。在终端显示器上可以分别和同时显示两个摄像节点拍摄的实时视频。在视频中可以识别出激光笔，并在视频中用红色方框实时框住激光笔轮廓。
3.测量系统在终端节点设置一键启动。从激光笔摆动开始计时，测量系统通过对激光笔周期摆动视频信号的处理，自动测量长度 l，50cm≤l≤150cm，θ角度自定。测量完成时，终端声光提示并显示长度 l。要求测量误差绝对值小于2cm，测量时间小于 30 秒。
发挥部分
4.一键启动后，测量系统通过两个独立摄像节点的网络协同工作，当 θ=0°和 θ=90°时，能自动测量长度 l，50cm≤ l ≤150cm。要求测量误差绝对值小于 2cm，测量时间小于 30 秒。
5.一键启动后，可以测量 θ，0°≤ θ ≤90°。要求测量误差绝对值小于 5°。测量时间小于 30秒。

解题思路

三个点各放一个树莓派，通过交换机实现UDP通信。图像识别用最简单的定位像素点。

A点程序

关于本A点源码

0_test 用作测试udp协议传输字符是否跑通
1 用作第一题中实时显示两个摄像节点，即：直接打开
摄像头用opencv对每一帧图像image-show(cv.imshow)
2345 2345题目都是对终端结点操作的，对于A结点来说只需
要一直发图片就行，所以没有别的区别，比赛的时候把
这个程序一直打开别关就行
ps,c&s分别代表udp传输过程中的client（摄像节点）
和server（终端节点）

0_test

# -*- coding: utf-8 -*-

import socket  #导入socket模块
import time #导入time模块
      #server 接收端
      # 设置服务器默认端口号
PORT = 8000
      # 创建一个套接字socket对象，用于进行通讯
      # socket.AF_INET 指明使用INET地址集，进行网间通讯
      # socket.SOCK_DGRAM 指明使用数据协议，即使用传输层的udp协议
server_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
address = ("169.254.216.25", PORT)
#A:169.254.216.25
#B:169.254.7.199
server_socket.bind(address)  # 为服务器绑定一个固定的地址，ip和端口
server_socket.settimeout(10)  #设置一个时间提示，如果10秒钟没接到数据进行提示
    
while True:
	#正常情况下接收数据并且显示，如果10秒钟没有接收数据进行提示（打印 "time out"）
	#当然可以不要这个提示，那样的话把"try:" 以及 "except"后的语句删掉就可以了
  try:  
      now = time.time()  #获取当前时间

				      # 接收客户端传来的数据 recvfrom接收客户端的数据，默认是阻塞的，直到有客户端传来数据
				      # recvfrom 参数的意义，表示最大能接收多少数据，单位是字节
				      # recvfrom返回值说明
				      # receive_data表示接受到的传来的数据,是bytes类型
				      # client  表示传来数据的客户端的身份信息，客户端的ip和端口，元组
      receive_data, client = server_socket.recvfrom(1024)
      print(time.strftime('%Y-%m-%d %H:%M:%S',time.localtime(now))) #以指定格式显示时间
      print("来自客户端%s,发送的%s\n" % (client, receive_data))  #打印接收的内容
  except socket.timeout:  #如果10秒钟没有接收数据进行提示（打印 "time out"）
      print ("time out")

1

# -*- coding: utf-8 -*-
import cv2
cap=cv2.VideoCapture(0) #调用摄像头‘0'一般是打开电脑自带摄像头，‘1'是打开外部摄像头（只有一个摄像头的情况）
width=640
height=480
cap.set(cv2.CAP_PROP_FRAME_WIDTH,width)#设置图像宽度
cap.set(cv2.CAP_PROP_FRAME_HEIGHT,height)#设置图像高度
#显示图像
print("start camera")
while True: 
    ret,frame=cap.read()#读取图像(frame就是读取的视频帧，对frame处理就是对整个视频的处理)
    cv2.imshow("frame",frame)  
    
    input=cv2.waitKey(20)
    if input==ord('q'):#如过输入的是q就break，结束图像显示，鼠标点击视频画面输入字符
        break
   
cap.release()#释放摄像头
cv2.destroyAllWindows()#销毁窗口

2345

import cv2
import socket
import math
import pickle
import sys

max_length = 65000
host = "169.254.60.31"
#host = sys.argv[1]
port = 8000

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

cap = cv2.VideoCapture(0)
ret, frame = cap.read()
while ret:
    # compress frame
    retval, buffer = cv2.imencode(".jpg", frame)
   


    if retval:
        # convert to byte array
        buffer = buffer.tobytes()
        # get size of the frame
        buffer_size = len(buffer)

        num_of_packs = 1
        if buffer_size > max_length:
            num_of_packs = math.ceil(buffer_size/max_length)

        frame_info = {"packs":num_of_packs}

        # send the number of packs to be expected
        print("Number of packs:", num_of_packs)
        cv2.imshow('camera',frame)
        sock.sendto(pickle.dumps(frame_info), (host, port))
        
        left = 0
        right = max_length

        for i in range(num_of_packs):
            print("left:", left)
            print("right:", right)

            # truncate data to send
            data = buffer[left:right]
            left = right
            right += max_length

            # send the frames accordingly
            sock.sendto(data, (host, port))
    
    ret, frame = cap.read()
    

print("done")

B点程序

关于本B点源码

0_test 用作测试udp协议传输字符是否跑通
1 用作第一题中实时显示两个摄像节点，即：直接打开
摄像头用opencv对每一帧图像image-show(cv.imshow)
2345 2345题目都是对终端结点操作的，对于A结点来说只需
要一直发图片就行，所以没有别的区别，比赛的时候把
这个程序一直打开别关就行
ps,c&s分别代表udp传输过程中的client（摄像节点）
和server（终端节点）

0_test

# -*- coding: utf-8 -*-
import socket
import time

#client 发送端
client_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
PORT = 8000

while True:
      start = time.time()  #获取当前时间
      print(time.strftime('%Y-%m-%d %H:%M:%S',time.localtime(start)))  #以指定格式显示当前时间
      msg=input("本客户端169.254.7.199，请输入要发送的内容：")
      #A:169.254.216.25
      #B:169.254.7.199
      
      server_address = ("169.254.216.25", PORT)  # 接收方 服务器的ip地址和端口号
      client_socket.sendto(msg.encode(), server_address) #将msg内容发送给指定接收方
      now = time.time() #获取当前时间
      run_time = now-start #计算时间差，即运行时间
      print(time.strftime('%Y-%m-%d %H:%M:%S',time.localtime(now)))
      print("run_time: %d seconds\n" %run_time)

1

# -*- coding: utf-8 -*-
import cv2
cap=cv2.VideoCapture(0) #调用摄像头‘0'一般是打开电脑自带摄像头，‘1'是打开外部摄像头（只有一个摄像头的情况）
width=640
height=480
cap.set(cv2.CAP_PROP_FRAME_WIDTH,width)#设置图像宽度
cap.set(cv2.CAP_PROP_FRAME_HEIGHT,height)#设置图像高度
#显示图像
print("start camera")
while True: 
    ret,frame=cap.read()#读取图像(frame就是读取的视频帧，对frame处理就是对整个视频的处理)
    cv2.imshow("frame",frame)  
    
    input=cv2.waitKey(20)
    if input==ord('q'):#如过输入的是q就break，结束图像显示，鼠标点击视频画面输入字符
        break
   
cap.release()#释放摄像头
cv2.destroyAllWindows()#销毁窗口

2345

import cv2
import socket
import math
import pickle
import sys



max_length = 65000
host = "169.254.60.31"
#host = sys.argv[1]
port = 5000

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

cap = cv2.VideoCapture(0)
ret, frame = cap.read()

while ret:
    # compress frame
    retval, buffer = cv2.imencode(".jpg", frame)

    if retval:
        # convert to byte array
        buffer = buffer.tobytes()
        # get size of the frame
        buffer_size = len(buffer)

        num_of_packs = 1
        if buffer_size > max_length:
            num_of_packs = math.ceil(buffer_size/max_length)

        frame_info = {"packs":num_of_packs}

        # send the number of packs to be expected
        print("Number of packs:", num_of_packs)
        
        fps=cap.get(cv2.CAP_PROP_FPS)
        print("FPS",fps)
        sock.sendto(pickle.dumps(frame_info), (host, port))
        
        left = 0
        right = max_length

        for i in range(num_of_packs):
            print("left:", left)
            print("right:", right)

            # truncate data to send
            data = buffer[left:right]
            left = right
            right += max_length

            # send the frames accordingly
            sock.sendto(data, (host, port))
    
    ret, frame = cap.read()

print("done")

C点程序

关于本C点源码

1.第1题不涉及终端节点，这里没有操作（本project中统一用C点表示）
2.关于第2题：
2_usC-A与 2_usc-B 题目要求同步传输，实时终端，这里使用udp协议，
C终端节点作为server接收，因为自己的host IP地址不变，故更改port端口
号，其中A点从port=5000传到C，B点从port=8000传到C。

     经实验，树莓派的PIcamera的采集视频速率最高为90fps，而UDP传输协议

+TPLink千兆交换机+超七类千兆宽带网线 最高为30fps，故总的传输速率为30fps。
3.关于第3题，要求一键启动、声光提示、30s内测量长度：3_usC-B
其一，一键启动把这个python文件改为可执行文件，直接双击文件即可一键启动
其二，声光提示加上了1个led和1个无源蜂鸣器，测量完成时led亮、蜂鸣器响
其三，第一份代码中测量的是200张图片。差不多2.5s，满足精度要求

4.关于第4题：4_usC-B
题目要求“网络协同工作”，和3题区别也在于没有了声光报警。
这里只是B点采集，C点对B点采集的图像流处理。

5.关于第5题：
通过两个摄像头检测到偏移的角度，测出tan(theta)

2_usC-A（第一题）

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 5000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)

            if frame is None:
                continue

            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                '''
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[1]
                    cc = cc + [bb]
                if len(cc)>200:
                    ref=max(cc)
                    cc=[0]
                    if ref>475:
                        length=148
                    elif ref>470:
                        length=145
                    elif ref>464:
                        length=144
                    elif ref>456:
                        length=143
                    elif ref>448:
                        length=142
                    elif ref>440:
                        length=141
                    elif ref>434:
                        length=140
                    elif ref>424:
                        length=139
                    elif ref>420:
                        length=138
                    elif ref>410:
                        length=137
                    elif ref>402:
                        length=136
                    elif ref>395:
                        length=135
                    elif ref>388:
                        length=134
                    elif ref>381:
                        length=133
                    elif ref>379:
                        length=132
                    elif ref>375:
                        length=131
                    elif ref>370:
                        length=130
                    elif ref>363:
                        length=129
                    elif ref>355:
                        length=128
                    elif ref>349:
                        length=127
                    elif ref>344:
                        length=126
                    elif ref>339:
                        length=125
                    elif ref>335:
                        length=124
                    elif ref>327:
                        length=123
                    elif ref>320:
                        length=122
                    elif ref>315:
                        length=121
                    elif ref>309:
                        length=120
                    elif ref>308:
                        length=119
                    elif ref>298:
                        length=118
                    elif ref>293:
                        length=117
                    elif ref>288:
                        length=116
                    elif ref>281:
                        length=115
                    elif ref>275:
                        length=114
                    elif ref>270:
                        length=113
                    elif ref>266:
                        length=112
                    elif ref>260:
                        length=111
                    elif ref>255:
                        length=110
                    elif ref>250:
                        length=109
                    elif ref>245:
                        length=108
                    elif ref>239:
                        length=107
                    elif ref>234:
                        length=106
                    elif ref>227:
                        length=105
                    elif ref>222:
                        length=104
                    elif ref>215:
                        length=103
                    elif ref>211:
                        length=102
                    elif ref>208:
                        length=101
                    elif ref>202:
                        length=100
                    elif ref>196:
                        length=99
                    elif ref>190:
                        length=98
                    elif ref>183:
                        length=97
                    elif ref>181:
                        length=95
                    elif ref>173:
                        length=94
                    elif ref>165:
                        length=93
                    elif ref>158:
                        length=92
                    elif ref>152:
                        length=91
                    elif ref>146:
                        length=90
                    elif ref>140:
                        length=89
                    elif ref>136:
                        length=88
                    elif ref>132:
                        length=87
                    elif ref>129:
                        length=86
                    elif ref>124:
                        length=85
                    elif ref>118:
                        length=84
                    elif ref>114:
                        length=83
                    elif ref>111:
                        length=82
                    elif ref>109:
                        length=81
                    elif ref>107:
                        length=80
                    elif ref>105:
                        length=79
                    elif ref>100:
                        length=78
                    elif ref>94:
                        length=77
                    elif ref>91:
                        length=76
                    elif ref>88:
                        length=75
                    elif ref>84:
                        length=74
                    elif ref>77:
                        length=73
                    elif ref>73:
                        length=72
                    elif ref>68:
                        length=71
                    elif ref>60:
                        length=70
                    elif ref>56:
                        length=69
                    elif ref>52:
                        length=68
                    elif ref>48:
                        length=67
                    elif ref>44:
                        length=66
                    elif ref>40:
                        length=65
                    elif ref>36:
                        length=64
                    elif ref>32:
                        length=63
                    elif ref > 30:
                        length=62
                    elif ref>28:
                        length=61
                    elif ref>27:
                        length=60
                    elif ref>24:
                        length=59
                    elif ref>17:
                        length=58
                    elif ref>13:
                        length=57
                    elif ref>10:
                        length=56
                    elif ref>7:
                        length=55
                    else:
                        length=52



                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    print(img.shape)  # 输出：(320, 320, 3)

                    text = 'length:' + str(length)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(4000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')
                    '''
           
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

2. 2_usC-B

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 8000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)

            if frame is None:
                continue

            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                '''
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[1]
                    cc = cc + [bb]
                if len(cc)>200:
                    ref=max(cc)
                    cc=[0]
                    if ref>475:
                        length=148
                    elif ref>470:
                        length=145
                    elif ref>464:
                        length=144
                    elif ref>456:
                        length=143
                    elif ref>448:
                        length=142
                    elif ref>440:
                        length=141
                    elif ref>434:
                        length=140
                    elif ref>424:
                        length=139
                    elif ref>420:
                        length=138
                    elif ref>410:
                        length=137
                    elif ref>402:
                        length=136
                    elif ref>395:
                        length=135
                    elif ref>388:
                        length=134
                    elif ref>381:
                        length=133
                    elif ref>379:
                        length=132
                    elif ref>375:
                        length=131
                    elif ref>370:
                        length=130
                    elif ref>363:
                        length=129
                    elif ref>355:
                        length=128
                    elif ref>349:
                        length=127
                    elif ref>344:
                        length=126
                    elif ref>339:
                        length=125
                    elif ref>335:
                        length=124
                    elif ref>327:
                        length=123
                    elif ref>320:
                        length=122
                    elif ref>315:
                        length=121
                    elif ref>309:
                        length=120
                    elif ref>308:
                        length=119
                    elif ref>298:
                        length=118
                    elif ref>293:
                        length=117
                    elif ref>288:
                        length=116
                    elif ref>281:
                        length=115
                    elif ref>275:
                        length=114
                    elif ref>270:
                        length=113
                    elif ref>266:
                        length=112
                    elif ref>260:
                        length=111
                    elif ref>255:
                        length=110
                    elif ref>250:
                        length=109
                    elif ref>245:
                        length=108
                    elif ref>239:
                        length=107
                    elif ref>234:
                        length=106
                    elif ref>227:
                        length=105
                    elif ref>222:
                        length=104
                    elif ref>215:
                        length=103
                    elif ref>211:
                        length=102
                    elif ref>208:
                        length=101
                    elif ref>202:
                        length=100
                    elif ref>196:
                        length=99
                    elif ref>190:
                        length=98
                    elif ref>183:
                        length=97
                    elif ref>181:
                        length=95
                    elif ref>173:
                        length=94
                    elif ref>165:
                        length=93
                    elif ref>158:
                        length=92
                    elif ref>152:
                        length=91
                    elif ref>146:
                        length=90
                    elif ref>140:
                        length=89
                    elif ref>136:
                        length=88
                    elif ref>132:
                        length=87
                    elif ref>129:
                        length=86
                    elif ref>124:
                        length=85
                    elif ref>118:
                        length=84
                    elif ref>114:
                        length=83
                    elif ref>111:
                        length=82
                    elif ref>109:
                        length=81
                    elif ref>107:
                        length=80
                    elif ref>105:
                        length=79
                    elif ref>100:
                        length=78
                    elif ref>94:
                        length=77
                    elif ref>91:
                        length=76
                    elif ref>88:
                        length=75
                    elif ref>84:
                        length=74
                    elif ref>77:
                        length=73
                    elif ref>73:
                        length=72
                    elif ref>68:
                        length=71
                    elif ref>60:
                        length=70
                    elif ref>56:
                        length=69
                    elif ref>52:
                        length=68
                    elif ref>48:
                        length=67
                    elif ref>44:
                        length=66
                    elif ref>40:
                        length=65
                    elif ref>36:
                        length=64
                    elif ref>32:
                        length=63
                    elif ref > 30:
                        length=62
                    elif ref>28:
                        length=61
                    elif ref>27:
                        length=60
                    elif ref>24:
                        length=59
                    elif ref>17:
                        length=58
                    elif ref>13:
                        length=57
                    elif ref>10:
                        length=56
                    elif ref>7:
                        length=55
                    else:
                        length=52



                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    print(img.shape)  # 输出：(320, 320, 3)

                    text = 'length:' + str(length)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(4000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')
                    '''


    

            
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

2. usC-B

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 8000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)

            if frame is None:
                continue

            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                '''
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[1]
                    cc = cc + [bb]
                if len(cc)>200:
                    ref=max(cc)
                    cc=[0]
                    if ref>475:
                        length=148
                    elif ref>470:
                        length=145
                    elif ref>464:
                        length=144
                    elif ref>456:
                        length=143
                    elif ref>448:
                        length=142
                    elif ref>440:
                        length=141
                    elif ref>434:
                        length=140
                    elif ref>424:
                        length=139
                    elif ref>420:
                        length=138
                    elif ref>410:
                        length=137
                    elif ref>402:
                        length=136
                    elif ref>395:
                        length=135
                    elif ref>388:
                        length=134
                    elif ref>381:
                        length=133
                    elif ref>379:
                        length=132
                    elif ref>375:
                        length=131
                    elif ref>370:
                        length=130
                    elif ref>363:
                        length=129
                    elif ref>355:
                        length=128
                    elif ref>349:
                        length=127
                    elif ref>344:
                        length=126
                    elif ref>339:
                        length=125
                    elif ref>335:
                        length=124
                    elif ref>327:
                        length=123
                    elif ref>320:
                        length=122
                    elif ref>315:
                        length=121
                    elif ref>309:
                        length=120
                    elif ref>308:
                        length=119
                    elif ref>298:
                        length=118
                    elif ref>293:
                        length=117
                    elif ref>288:
                        length=116
                    elif ref>281:
                        length=115
                    elif ref>275:
                        length=114
                    elif ref>270:
                        length=113
                    elif ref>266:
                        length=112
                    elif ref>260:
                        length=111
                    elif ref>255:
                        length=110
                    elif ref>250:
                        length=109
                    elif ref>245:
                        length=108
                    elif ref>239:
                        length=107
                    elif ref>234:
                        length=106
                    elif ref>227:
                        length=105
                    elif ref>222:
                        length=104
                    elif ref>215:
                        length=103
                    elif ref>211:
                        length=102
                    elif ref>208:
                        length=101
                    elif ref>202:
                        length=100
                    elif ref>196:
                        length=99
                    elif ref>190:
                        length=98
                    elif ref>183:
                        length=97
                    elif ref>181:
                        length=95
                    elif ref>173:
                        length=94
                    elif ref>165:
                        length=93
                    elif ref>158:
                        length=92
                    elif ref>152:
                        length=91
                    elif ref>146:
                        length=90
                    elif ref>140:
                        length=89
                    elif ref>136:
                        length=88
                    elif ref>132:
                        length=87
                    elif ref>129:
                        length=86
                    elif ref>124:
                        length=85
                    elif ref>118:
                        length=84
                    elif ref>114:
                        length=83
                    elif ref>111:
                        length=82
                    elif ref>109:
                        length=81
                    elif ref>107:
                        length=80
                    elif ref>105:
                        length=79
                    elif ref>100:
                        length=78
                    elif ref>94:
                        length=77
                    elif ref>91:
                        length=76
                    elif ref>88:
                        length=75
                    elif ref>84:
                        length=74
                    elif ref>77:
                        length=73
                    elif ref>73:
                        length=72
                    elif ref>68:
                        length=71
                    elif ref>60:
                        length=70
                    elif ref>56:
                        length=69
                    elif ref>52:
                        length=68
                    elif ref>48:
                        length=67
                    elif ref>44:
                        length=66
                    elif ref>40:
                        length=65
                    elif ref>36:
                        length=64
                    elif ref>32:
                        length=63
                    elif ref > 30:
                        length=62
                    elif ref>28:
                        length=61
                    elif ref>27:
                        length=60
                    elif ref>24:
                        length=59
                    elif ref>17:
                        length=58
                    elif ref>13:
                        length=57
                    elif ref>10:
                        length=56
                    elif ref>7:
                        length=55
                    else:
                        length=52



                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    print(img.shape)  # 输出：(320, 320, 3)

                    text = 'length:' + str(length)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(4000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')
                    '''
           
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

3_usC-B

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 8000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)

            if frame is None:
                continue

            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[1]
                    cc = cc + [bb]
                if len(cc)>200:
                    ref=max(cc)
                    cc=[0]
                    if ref>475:
                        length=148
                    elif ref>470:
                        length=145
                    elif ref>464:
                        length=144
                    elif ref>456:
                        length=143
                    elif ref>448:
                        length=142
                    elif ref>440:
                        length=141
                    elif ref>434:
                        length=140
                    elif ref>424:
                        length=139
                    elif ref>420:
                        length=138
                    elif ref>410:
                        length=137
                    elif ref>402:
                        length=136
                    elif ref>395:
                        length=135
                    elif ref>388:
                        length=134
                    elif ref>381:
                        length=133
                    elif ref>379:
                        length=132
                    elif ref>375:
                        length=131
                    elif ref>370:
                        length=130
                    elif ref>363:
                        length=129
                    elif ref>355:
                        length=128
                    elif ref>349:
                        length=127
                    elif ref>344:
                        length=126
                    elif ref>339:
                        length=125
                    elif ref>335:
                        length=124
                    elif ref>327:
                        length=123
                    elif ref>320:
                        length=122
                    elif ref>315:
                        length=121
                    elif ref>309:
                        length=120
                    elif ref>308:
                        length=119
                    elif ref>298:
                        length=118
                    elif ref>293:
                        length=117
                    elif ref>288:
                        length=116
                    elif ref>281:
                        length=115
                    elif ref>275:
                        length=114
                    elif ref>270:
                        length=113
                    elif ref>266:
                        length=112
                    elif ref>260:
                        length=111
                    elif ref>255:
                        length=110
                    elif ref>250:
                        length=109
                    elif ref>245:
                        length=108
                    elif ref>239:
                        length=107
                    elif ref>234:
                        length=106
                    elif ref>227:
                        length=105
                    elif ref>222:
                        length=104
                    elif ref>215:
                        length=103
                    elif ref>211:
                        length=102
                    elif ref>208:
                        length=101
                    elif ref>202:
                        length=100
                    elif ref>196:
                        length=99
                    elif ref>190:
                        length=98
                    elif ref>183:
                        length=97
                    elif ref>181:
                        length=95
                    elif ref>173:
                        length=94
                    elif ref>165:
                        length=93
                    elif ref>158:
                        length=92
                    elif ref>152:
                        length=91
                    elif ref>146:
                        length=90
                    elif ref>140:
                        length=89
                    elif ref>136:
                        length=88
                    elif ref>132:
                        length=87
                    elif ref>129:
                        length=86
                    elif ref>124:
                        length=85
                    elif ref>118:
                        length=84
                    elif ref>114:
                        length=83
                    elif ref>111:
                        length=82
                    elif ref>109:
                        length=81
                    elif ref>107:
                        length=80
                    elif ref>105:
                        length=79
                    elif ref>100:
                        length=78
                    elif ref>94:
                        length=77
                    elif ref>91:
                        length=76
                    elif ref>88:
                        length=75
                    elif ref>84:
                        length=74
                    elif ref>77:
                        length=73
                    elif ref>73:
                        length=72
                    elif ref>68:
                        length=71
                    elif ref>60:
                        length=70
                    elif ref>56:
                        length=69
                    elif ref>52:
                        length=68
                    elif ref>48:
                        length=67
                    elif ref>44:
                        length=66
                    elif ref>40:
                        length=65
                    elif ref>36:
                        length=64
                    elif ref>32:
                        length=63
                    elif ref > 30:
                        length=62
                    elif ref>28:
                        length=61
                    elif ref>27:
                        length=60
                    elif ref>24:
                        length=59
                    elif ref>17:
                        length=58
                    elif ref>13:
                        length=57
                    elif ref>10:
                        length=56
                    elif ref>7:
                        length=55
                    else:
                        length=52



                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    print(img.shape)  # 输出：(320, 320, 3)

                    text = 'length:' + str(length)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(4000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')

            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

4_usdd4AF

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 5000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)
            if frame is None:
                continue
            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[1]
                    cc = cc + [bb]
                if len(cc)>260:
                    cc.remove(0)
                    ref=min(cc)
                    print(ref)
                    length=int(235.36 - ref)
                    f = "/home/pi/Desktop/US4A.txt"
                    with open(f, "w") as file:
                        file.write(str(length))
                        file.close()
                    cc=[0]


            
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

4_usdd4BF.py

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time
import math

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 8000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)
            if frame is None:
                continue
            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[0]
                    cc = cc + [bb]
                if len(cc)>400:
                    cc.remove(0)
                    ref=max(cc)
                    print(ref)
                    lengthB=ref - 378.44
                    f = open('/home/pi/Desktop/US4A.txt','r')
                    lengthA=int(f.read())
                    print("lengthA",lengthA)
                    print("lengthB",lengthB)
                    length=(lengthA+lengthB)/2
                    cc=[0]

                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    #print(img.shape)  # 输出：(320, 320, 3)

                    text = 'angle:' + str(length)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(4000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')



    

            
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

5_usA.py

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 5000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)
            if frame is None:
                continue
            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[0]
                    cc = cc + [bb]
                if len(cc)>260:
                    cc.remove(0)
                    ref=min(cc)
                    print(ref)
                    length=int(235.36 - ref)
                    f = "/home/pi/Desktop/LA.txt"
                    with open(f, "w") as file:
                        file.write(str(length))
                        file.close()
                    cc=[0]


            
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")

5_usB.py

import cv2
import socket
import pickle
import numpy as np
import RPi.GPIO as GPIO
import time
import math

ball_color = 'blue'

color_dist = {'red': {'Lower': np.array([0, 100, 100]), 'Upper': np.array([10, 255, 255])},
              'blue': {'Lower': np.array([120, 0, 0]), 'Upper': np.array([179, 255, 255])},
              'green': {'Lower': np.array([35, 43, 35]), 'Upper': np.array([90, 255, 255])},
             }

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.OUT)
GPIO.output(26,GPIO.LOW)
GPIO.setup(2,GPIO.OUT,initial=GPIO.LOW)

host = "169.254.60.31"
port = 8000
max_length = 65540

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))

frame_info = None
buffer = None
frame = None

cc=[0];

print("-> waiting for connection")

while True:
    data, address = sock.recvfrom(max_length)
    
    if len(data) < 100:
        frame_info = pickle.loads(data)

        if frame_info:
            nums_of_packs = frame_info["packs"]

            for i in range(nums_of_packs):
                data, address = sock.recvfrom(max_length)

                if i == 0:
                    buffer = data
                else:
                    buffer += data

            frame = np.frombuffer(buffer, dtype=np.uint8)
            frame = frame.reshape(frame.shape[0], 1)

            frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
            frame = cv2.flip(frame, 1)
            if frame is None:
                continue
            gs_frame = cv2.GaussianBlur(frame, (5, 5), 0)
            hsv = cv2.cvtColor(gs_frame, cv2.COLOR_BGR2HSV)
            erode_hsv = cv2.erode(hsv, None, iterations=2)
            inRange_hsv = cv2.inRange(erode_hsv, color_dist[ball_color]['Lower'], color_dist[ball_color]['Upper'])
            #cv2.imwrite('1234.jpg',erode_hsv)
            #cv2.imwrite('123.jpg',inRange_hsv)

            #cv2.imwrite('12.jpg',frame)

            cnts = cv2.findContours(inRange_hsv.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
            if cnts != []:
                c = max(cnts, key=cv2.contourArea)
                rect = cv2.minAreaRect(c)
                box = cv2.boxPoints(rect)
                cv2.drawContours(frame, [np.int0(box)], -1, (0, 255, 255), 2)
                boxnum = len(box)
                for i in range(boxnum-1):
                    aa = box[i]
                    bb = aa[0]
                    cc = cc + [bb]
                if len(cc)>400:
                    cc.remove(0)
                    ref=max(cc)
                    print(ref)
                    lengthB=ref - 378.44
                    f = open('/home/pi/Desktop/LA.txt','r')
                    lengthA=int(f.read())
                    print("lengthA",lengthA)
                    print("lengthB",lengthB)
                    ahu=math.atan(lengthA/lengthB)
                    angle=ahu/3.1415926*180
                    cc=[0]

                    img = np.zeros((320, 320, 3), np.uint8)  # 生成一个空灰度图像
                    #print(img.shape)  # 输出：(320, 320, 3)

                    text = 'angle:' + str(angle)
                    org = (40, 80)
                    fontFace = cv2.FONT_HERSHEY_COMPLEX
                    fontScale = 1
                    fontcolor = (0, 255, 0)  # BGR
                    thickness = 1
                    lineType = 4
                    bottomLeftOrigin = 1
                    # cv.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType, bottomLeftOrigin)
                    cv2.putText(img, text, org, fontFace, fontScale, fontcolor, thickness, lineType)
                    cv2.namedWindow("image")
                    cv2.imshow('image', img)
                    GPIO.output(26,GPIO.HIGH)
                    GPIO.output(2, GPIO.HIGH)
                    time.sleep(1)
                    GPIO.output(2, GPIO.LOW)
                    GPIO.output(26, GPIO.LOW)

                    cv2.waitKey(40000)  # 显示 10000 ms 即 10s 后消失
                    cv2.destroyWindow('image')
            
            cv2.imshow("Stream", frame)
            if cv2.waitKey(1) == 27:
                    break
                
print("goodbye")