5aar.py

import cv2 as cv2
import numpy as np
import math as m
from picamera2 import Picamera2
cap = Picamera2()
cap.configure(cap.create_preview_configuration(main={"format": 'XRGB8888', "size": (640, 480)}))
cap.start()
while True:
        img = cap.capture_array()
        detect=cv2.QRCodeDetector()
        value, points,cde = detect.detectAndDecode(img)
        if value == "grab the bottle":
                distan = 4.8*650/(points[0][2][1]- points[0][1][1])
                print(str(distan))
        key = cv2.waitKey(1)
        if key == 83 or key == 113:
                break
# import the necessary packages