In this lesson we show you how to box your object of interest in openCV. We do this by finding outline contours around the object we tune in based on color in the HSV color space. Then we create a bounding rectangle around the contour. Then we end up having a rectangular bounding box that tracks the object of interest as it moves. This is the code we developed in the video. Note you will have to tune the LC and UC parameters for your object of interest, as we showed last week.
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import cv2 import time from picamera2 import Picamera2 from fusion_hat.pwm import PWM piCam = Picamera2() W=1280 H=720 tStart = time.time() fps = 0 redPin = 5 greenPin = 6 bluePin = 7 redLED = PWM(redPin) greenLED = PWM(greenPin) blueLED = PWM(bluePin) RES = (W,H) piCam.preview_configuration.main.size = RES piCam.preview_configuration.main.format = "RGB888" piCam.preview_configuration.controls.FrameRate=60 piCam.preview_configuration.align() piCam.configure("preview") piCam.start() textLowerLeft = (int(W*.01),int(H*.06)) fontFace = cv2.FONT_HERSHEY_SIMPLEX fontThickness = int(W/425) fontScale = H*.0015 fontColor = (0,0,255) xPos = 0 textLowerLeft1 = (int(W*.01),int(H*.06)*2) textLowerLeft2 = (int(W*.01),int(H*.06)*3) yPos = 0 valR = 0 valG = 0 valB = 0 Hue = 0 Sat = 0 Val = 0 LC = (25,100,100) UC = (32,255,255) frame = None def mouseAction(event, x, y, flags, param): global frame, xPos, yPos, Hue, Sat, Val if event == 0: xPos = x yPos = y if frame is not None: valB, valG, valR = frame[y,x] redLED.pulse_width_percent(int(valR/255*100)) greenLED.pulse_width_percent(int(valG/255*100/2)) blueLED.pulse_width_percent(int(valB/255*100/4)) frameHSV = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV) Hue, Sat, Val =frameHSV[y,x] cv2.namedWindow('Camera',cv2.WINDOW_GUI_NORMAL) cv2.moveWindow('Camera',0,65) cv2.resizeWindow('Camera',W,H) cv2.namedWindow('Mask',cv2.WINDOW_GUI_NORMAL) cv2.moveWindow('Mask',W,65) cv2.resizeWindow('Mask',int(W/2),int(H/2)) cv2.namedWindow('Composite',cv2.WINDOW_GUI_NORMAL) cv2.moveWindow('Composite',W,65+int(H/2)+25) cv2.resizeWindow('Composite',int(W/2),int(H/2)) cv2.setMouseCallback('Camera',mouseAction) while True: deltaT = time.time() - tStart tStart=time.time() fps = fps*.95 + (1/deltaT)*.05 frame= piCam.capture_array() frame=cv2.flip(frame,-1) frameHSV = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV) mask=cv2.inRange(frameHSV,LC,UC) composite = cv2.bitwise_and(frame, frame, mask=mask) contours, _ =cv2.findContours(mask,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE) if contours: #cv2.drawContours(frame,contours,-1,(255,0,0),3) largestContour = max(contours, key = cv2.contourArea) area = cv2.contourArea(largestContour) if area>150: #cv2.drawContours(frame,largestContour,-1,(255,0,0),3) x, y, w, h = cv2.boundingRect(largestContour) cv2.rectangle(frame, (x,y),(x+w,y+h),(0,255,0),3) myText = "FPS: "+str(round(fps,1)) cv2.putText(frame,myText,textLowerLeft,fontFace,fontScale,fontColor,fontThickness) text1 = "Mouse Pos: "+str((xPos,yPos)) text2 = "Pixel Color: "+str((Hue,Sat,Val)) cv2.putText(frame,text1,textLowerLeft1,fontFace,fontScale,fontColor,fontThickness) cv2.putText(frame,text2,textLowerLeft2,fontFace,fontScale,fontColor,fontThickness) cv2.imshow("Camera", frame) cv2.imshow("Composite",composite) cv2.imshow("Mask",mask) if cv2.waitKey(1)==ord('q'): break cv2.destroyAllWindows() redLED.pulse_width_percent(0) greenLED.pulse_width_percent(0) blueLED.pulse_width_percent(0) print('Program Terminated') |