初始化摄像头

picam2 = Picamera2()
config = picam2.create_preview_configuration()
picam2.configure(config)
picam2.start()

设置颜色范围（红色）

lower_red = np.array([0, 100, 100])  # HSV格式下限
upper_red = np.array([10, 255, 255]) # HSV格式上限
lower_red2 = np.array([160, 100, 100]) # 红色在HSV色环的另一端
upper_red2 = np.array([180, 255, 255])

主循环

frame = picam2.capture_array()
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

获取摄像头帧转换颜色空间从RGB到BGR（OpenCV标准，）再转换到HSV色彩空间（更适合颜色检测）

创建颜色掩膜

mask1 = cv2.inRange(hsv, lower_red, upper_red)
mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
mask = mask1 + mask2

检测和标记物体

contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
    area = cv2.contourArea(cnt)
    if area > 500:
        x, y, w, h = cv2.boundingRect(cnt)
        cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
        cv2.putText(frame, "Red", (x, y-10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)

查找轮廓，过滤掉小面积区域（<500像素），绘制绿色边界框，添加"Red"文字标签

 显示结果

cv2.imshow("Color Detection", frame)
cv2.imshow("Mask", mask)

显示原始帧（带标记），显示颜色掩膜

退出和清理

if cv2.waitKey(1) & 0xFF == ord('q'):
    break
finally:
    picam2.stop()
    cv2.destroyAllWindows()

完整代码如下

from picamera2 import Picamera2
import cv2
import numpy as np

picam2 = Picamera2()
config = picam2.create_preview_configuration()
picam2.configure(config)
picam2.start()

lower_red = np.array([0, 100, 100])
upper_red = np.array([10, 255, 255])
lower_red2 = np.array([160, 100, 100])
upper_red2 = np.array([180, 255, 255])

try:
    while True:
        frame = picam2.capture_array()
        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        mask1 = cv2.inRange(hsv, lower_red, upper_red)
        mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
        mask = mask1 + mask2
        contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
        
        for cnt in contours:
            area = cv2.contourArea(cnt)
            if area > 500:
                x, y, w, h = cv2.boundingRect(cnt)
                cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
                cv2.putText(frame, "Red", (x, y-10), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
        
        cv2.imshow("Color Detection", frame)
        cv2.imshow("Mask", mask)
        
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

finally:
    picam2.stop()
    cv2.destroyAllWindows()

如果需要修改颜色就修改上面的颜色设置范围，物体的坐标位于标记物体处，xywh等，可以发送给设备

运行结果如下