Improved PiCam class by adding start() function, which runs in a loop performing the image processing, rather than relying on the user to call vcos_sleep.
Image processing now uses histogram back-projection for much easier training and better results.
Image processing output is no longer displayed though OpenCV Highgui. Output is now displayed directly to the screen through dispmanx.
Unfortunately, because I haven't gotten around to implementing any other means of getting user input, there is now way to train right now.