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track.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import cv2, math
import numpy as np
from pykeyboard import PyKeyboard
class ColourTracker:
def __init__(self):
cv2.namedWindow("ColourTrackerWindow", cv2.WINDOW_NORMAL)
cv2.resizeWindow("ColourTrackerWindow", 640, 480)
self.capture = cv2.VideoCapture(0)
self.scale_down = 1
self.points = ((0, 0), (0, 0), (0, 0), (0, 0))
self.past = []
def run(self):
while True:
f, orig_img = self.capture.read()
orig_img = cv2.flip(orig_img, 1)
img = cv2.GaussianBlur(orig_img, (5,5), 0)
img = cv2.cvtColor(orig_img, cv2.COLOR_BGR2HSV)
img = cv2.resize(img, (len(orig_img[0]) / self.scale_down, len(orig_img) / self.scale_down))
red_lower = np.array([120, 50, 50],np.uint8)
red_upper = np.array([145, 255, 255],np.uint8)
red_binary = cv2.inRange(img, red_lower, red_upper)
dilation = np.ones((15, 15), "uint8")
red_binary = cv2.dilate(red_binary, dilation)
contours, hierarchy = cv2.findContours(red_binary, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
max_area = 0
largest_contour = None
for idx, contour in enumerate(contours):
area = cv2.contourArea(contour)
if area > max_area:
max_area = area
largest_contour = contour
if not largest_contour == None:
moment = cv2.moments(largest_contour)
if moment["m00"] > 1000 / self.scale_down:
rect = cv2.minAreaRect(largest_contour)
rect = ((rect[0][0] * self.scale_down, rect[0][1] * self.scale_down), (rect[1][0] * self.scale_down, rect[1][1] * self.scale_down), rect[2])
box = cv2.cv.BoxPoints(rect)
self.points = box
self.find_center()
box = np.int0(box)
cv2.drawContours(orig_img,[box], 0, (0, 0, 255), 2)
cv2.imshow("ColourTrackerWindow", orig_img)
if cv2.waitKey(10) == 27:
cv2.destroyWindow("ColourTrackerWindow")
self.capture.release()
break
def find_center(self):
k = PyKeyboard()
# print self.points[0], self.points[1], self.points[2], self.points[3]
p0 = self.points[0]
p1 = self.points[1]
p2 = self.points[2]
p3 = self.points[3]
center = [np.mean([p0[0], p1[0], p2[0], p3[0]]), np.mean([p0[1], p1[1], p2[1], p3[1]])]
if center[1] > center[0] - 80 and center[1] < -center[0] + 480 + 80 and center[0] < (320 - 60):
print "L"
k.press_key(k.left_key)
elif center[0] < center[1] + 80 and center[0] > -center[1] + 480 + 80 and center[1] > (240 + 60):
print "D"
k.press_key(k.down_key)
elif center[0] > center[1] + 80 and center[0] < -center[1] + 480 + 80 and center[1] < (240 - 60):
print "U"
k.press_key(k.up_key)
elif center[1] < center[0] - 80 and center[1] > -center[0] + 480 + 80 and center[0] > (320 + 60):
print "R"
k.press_key(k.right_key)
else:
print "C"
k.release_key(k.left_key)
k.release_key(k.down_key)
k.release_key(k.up_key)
k.release_key(k.right_key)
# print center
# if len(self.past) < 100:
# self.past += center
# else:
# self.past = self.past[1:]
# self.past.append(center)
# if (self.past[15:][0] - self.past[:5][0]) > 100:
# print "R"
# elif (self.past[15:][0] - self.past[:5][0]) < 100:
# print "L"
# elif (self.past[15:][1] - self.past[:5][1]) > 100:
# print "D"
# elif (self.past[15:][1] - self.past[:5][1]) < 100:
# print "U"
# self.track()
def track(self):
pass
if __name__ == "__main__":
colour_tracker = ColourTracker()
colour_tracker.run()