Track_object.py

import cv2
import numpy as np
from collections import deque
import imutils


cap = cv2.VideoCapture(0)
fourcc = cv2.VideoWriter_fourcc(*'XVID')
tracking = cv2.VideoWriter('Blue.avi', fourcc, 9.0,(640,480))
font = cv2.FONT_HERSHEY_SIMPLEX
pts = deque(maxlen=25)
lower_blue = np.array([110, 50, 50])
upper_blue = np.array([130, 255, 255])

while (True):
    
    _, frame = cap.read()
    frame = imutils.resize(frame,600)
    blur = cv2.GaussianBlur(frame,(11,11),0)
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    mask = cv2.inRange(hsv, lower_blue, upper_blue)
    mask=cv2.erode(mask,None,iterations=3)
    mask = cv2.dilate(mask,None,iterations=2)
    contours = cv2.findContours(mask.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)[-2]

    centre = None
    if(len(contours)) > 0:
        c=max(contours, key=cv2.contourArea)
        ((x,y),radius)=cv2.minEnclosingCircle(c)
        M=cv2.moments(c)
        centre = (int(M['m10']/M['m00']), int(M['m01']/M['m00']))
        print(centre)

        if radius > 5:
            cv2.circle(frame,(int(x), int(y)),int(radius),(0,255,255),2)
            cv2.circle(frame,centre, 5 ,(0,0,255),-1)
        pts.append(centre)
        if(x  < 40):
            print("\ngo left\n")
            cv2.putText(frame, 'left', (280,200), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
        elif(x > 520) :
            print("\ngo right\n")
            cv2.putText(frame, 'right', (280,200), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
        elif(y < 40):
            print("\nmove front\n")
            cv2.putText(frame, 'front', (280,200), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
        elif(y > 400):
            print("\nmove back\n")
            cv2.putText(frame, 'back', (280,200), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
        else:
            print( '\n pause \n')
            cv2.putText(frame, 'pause', (280, 200), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
        for i in xrange (1,len(pts)):
            if pts[i-1] is None or pts[i] is None :
                continue
            thickness = 2
            cv2.line(frame,pts[i-1],pts[i],(0,0,255),thickness)
    cv2.imshow('frame', frame)
    cv2.imshow('mask', mask)
    tracking.write(frame)

    k = cv2.waitKey(5) & 0xFF
    if k == 27:
        break

cv2.destroyAllWindows()
cap.release()
tracking.release()