i have this code

import cv$2$

import numpy as np

import time

# Global variables to store the points of the rectangle and frame copy

rectangle$\_$points $=[]$

frame$\_$copy $=$ None

detected$\_$contour $=$ None

def mouse$\_$callback$($event$,$ x$,$ y$,$ flags, param$)$:

global rectangle$\_$points, frame$\_$copy, detected$\_$contour

if event $==$ cv$2.$EVENT$\_$LBUTTONDOWN:

rectangle$\_$points $=[($x$,$ y$)]$

elif event $==$ cv$2.$EVENT$\_$LBUTTONUP:

rectangle$\_$points.append$(($x$,$ y$))$

if len$($rectangle$\_$points$)==2$:

click$\_$point $=$ rectangle$\_$points$[0]$

detected$\_$contour $=$ detect$\_$clicked$\_$object$($frame$\_$copy, click$\_$point$)$

rectangle$\_$points $=[]$

def draw$\_$contour$($frame$,$ contour$)$:

if contour is not None:

cv$2.$drawContours$($frame$,[$contour$],0,(0,255,0),3)$

def detect$\_$clicked$\_$object$($frame$,$ click$\_$point$)$:

gray $=$ cv$2.$cvtColor$($frame$,$ cv$2.$COLOR$\_$BGR$2$GRAY$)$

edges $=$ cv$2.$Canny$($gray$,50,150,$ apertureSize$=3)$

contours, $\_=$ cv$2.$findContours$($edges$,$ cv$2.$RETR$\_$EXTERNAL, cv$2.$CHAIN$\_$APPROX$\_$SIMPLE$)$

for contour in contours:

if cv$2.$pointPolygonTest$($contour$,$ click$\_$point, False$)>=0$:

approx $=$ cv$2.$approxPolyDP$($contour$,0\mathrm{.}02*$ cv$2.$arcLength$($contour$,$ True$),$ True$)$

if len$($approx$)==4$: # If the contour is a rectangle

return approx

return None

def check$\_$collision$($frame$,$ main$\_$contour$)$:

if main$\_$contour is None:

return False

gray $=$ cv$2.$cvtColor$($frame$,$ cv$2.$COLOR$\_$BGR$2$GRAY$)$

edges $=$ cv$2.$Canny$($gray$,50,150,$ apertureSize$=3)$

contours, $\_=$ cv$2.$findContours$($edges$,$ cv$2.$RETR$\_$EXTERNAL, cv$2.$CHAIN$\_$APPROX$\_$SIMPLE$)$

main$\_$contour$\_$np $=$ np$.$array$($main$\_$contour$).$reshape$((-1,1,2))$

for contour in contours:

if not np$.$array$\_$equal$($contour$,$ main$\_$contour$\_$np$)$:

for point in contour:

if cv$2.$pointPolygonTest$($main$\_$contour$\_$np$,($int$($point$[0][0]),$ int$($point$[0][1])),$ False$)>=0$:

return True

return False

def main$()$:

global frame$\_$copy, detected$\_$contour

# Open the camera

cap $=$ cv$2.$VideoCapture$(0)$

if not cap.isOpened$()$:

print$("$Error: Could not open camera."$)$

return

cv$2.$namedWindow$(\text{'}$Frame$\text{'})$

cv$2.$setMouseCallback$(\text{'}$Frame$\text{'},$ mouse$\_$callback$)$

last$\_$check$\_$time $=$ time.time$()$

while True:

ret, frame $=$ cap.read$()$

if not ret:

print$("$Error: Failed to capture image."$)$

break

frame$\_$copy $=$ frame.copy$()$

# Draw the detected contour if it exists

draw$\_$contour$($frame$\_$copy, detected$\_$contour$)$

# Check for collision every second

if time.time$()-$ last$\_$check$\_$time $>=1$:

if check$\_$collision$($frame$\_$copy, detected$\_$contour$)$:

print$("$Collision detected!"$)$

last$\_$check$\_$time $=$ time.time$()$

cv$2.$imshow$(\text{'}$Frame$\text{'},$ frame$\_$copy$)$

key $=$ cv$2.$waitKey$(1)$ & $0$xFF

if key $==27$: # Press 'Esc' to exit

break

cap.release$()$

cv$2.$destroyAllWindows$()$

if $\_\_$name$\_\_=="\_\_$main$\_\_"$:

main$()$

it works in my computer with my webcam really well what i need is an adjusted version of this same exact code for raspberry pi $5$ and i am using pi camera $3$