问题描述
我目前正在使用emlids image处理树莓派4b。我正在尝试运行下面的代码。当我跑线
python track.py
我明白了
Unable to stop the stream: Invalid argument
但是，当我跑步时
python3 track.py
我明白了
[ WARN:0] global /tmp/pip-wheel-2l8ccy47/opencv-python/opencv/modules/videoio/src/cap_v4l.cpp (893) open VIDEOIO(V4L2:/dev/video1): can't open camera by index
我的程序的代码来自pyimagesearch，如下所示：
from collections import deque
from imutils.video import VideoStream
import numpy as np
import math
import argparse
import cv2
import imutils
import time
ap = argparse.ArgumentParser()
ap.add_argument("-v","--video",help="path to the (optional) video file")
ap.add_argument("-b","--buffer",type=int,default=2,#Change
help="max buffer size")
args = vars(ap.parse_args())
# define the lower and upper boundaries of the "green"
# ball in the HSV color space,then initialize the
# list of tracked points
greenLower = (29,86,6)
greenUpper = (64,255,255)
pts = deque(maxlen=args["buffer"])
# if a video path was not supplied,grab the reference
# to the webcam
if not args.get("video",False):
vs = VideoStream(src=0).start()
# otherwise,grab a reference to the video file
else:
vs = cv2.VideoCapture(args["video"])
# allow the camera or video file to warm up
time.sleep(2.0)
# keep looping
while True:
# grab the current frame
frame = vs.read()
# handle the frame from VideoCapture or VideoStream
frame = frame[1] if args.get("video",False) else frame
# if we are viewing a video and we did not grab a frame,# then we have reached the end of the video
if frame is None:
break
# resize the frame,blur it,and convert it to the HSV
# color space
frame = imutils.resize(frame,width=600)
blurred = cv2.GaussianBlur(frame,(11,11),0)
hsv = cv2.cvtColor(blurred,cv2.COLOR_BGR2HSV)
# construct a mask for the color "green",then perform
# a series of dilations and erosions to remove any small
# blobs left in the mask
mask = cv2.inRange(hsv,greenLower,greenUpper)
mask = cv2.erode(mask,None,iterations=2)
mask = cv2.dilate(mask,iterations=2)
# find contours in the mask and initialize the current
# (x,y) center of the ball
cnts = cv2.findContours(mask.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask,then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts,key=cv2.contourArea)
((x,y),radius) = cv2.minenclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]),int(M["m01"] / M["m00"]))
# only proceed if the radius meets a minimum size
if radius > 10:
# draw the circle and centroid on the frame,# then update the list of tracked points
cv2.circle(frame,(int(x),int(y)),int(radius),(0,255),2)
cv2.circle(frame,center,5,-1)
# update the points queue
pts.appendleft(center)
# print(pts)
# loop over the set of tracked point
for i in range(1,len(pts)):
# if either of the tracked points are None,ignore
# them
if pts[i - 1] is None or pts[i] is None:
continue
# otherwise,compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 2.5)
cv2.line(frame,pts[i - 1],pts[i],thickness)
nodeList = pts[0]
helper = nodeList[1]
nodeList2 = pts[-1]
helper2 = nodeList2[1]
if helper<helper2-20:
vH = (nodeList[0]-nodeList2[0])/(1/30)
vV = (nodeList[1]-nodeList2[1])/(1/30)
zSpeed = np.sqrt((vH*vH)+(vV*vV))
helping = zSpeed/1000
zSpeed2 = round(helping,2)
if(zSpeed2 < 3):
print("Dodge ",zSpeed2,"m/s")
print("Center will make contact: ",nodeList)
if nodeList[0]>nodeList2[0]:
print("Avoid Left")
elif nodeList[0]<nodeList2[0]:
print("Avoid Right")
elif nodeList[0]==nodeList2[0]:
print("Avoid Up")
# show the frame to our screen
cv2.imshow("Frame",frame)
key = cv2.waitKey(1) & 0xFF
# if the 'q' key is pressed,stop the loop
if key == ord("q"):
break
# if we are not using a video file,stop the camera video stream
if not args.get("video",False):
vs.stop()
# otherwise,release the camera
else:
vs.release()
# close all windows
cv2.destroyAllWindows()
到目前为止，我已检查设备是否已连接。
Intel(R) RealSense(TM) Depth Ca (usb-0000:01:00.0-1):
/dev/video0
/dev/video1
/dev/video2
/dev/video3
/dev/video4
/dev/video5
我也尝试过更改其中的值
vs = cv2.VideoCapture()
对于0、1、2、3等。我查找了针对同一问题的许多解决方案，但没有一个对我有用。有什么建议吗？
解决方法
暂无找到可以解决该程序问题的有效方法，小编努力寻找整理中！
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