openCV029_object_tracking.py

import cv2
import numpy as np 

def nothing():
    pass

cv2.namedWindow('Trackbars')
cv2.moveWindow('Trackbars', 380, 0)

cv2.createTrackbar('hueLower', 'Trackbars', 50, 179, nothing)
cv2.createTrackbar('hueHigher', 'Trackbars', 100, 179, nothing)
cv2.createTrackbar('satLower', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('satHigher', 'Trackbars', 255, 255, nothing)
cv2.createTrackbar('valLower', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('valHigher', 'Trackbars', 255, 255, nothing)
cv2.createTrackbar('hueLower2', 'Trackbars', 50, 179, nothing)
cv2.createTrackbar('hueHigher2', 'Trackbars', 100, 179, nothing)


dispW=320
dispH=240
flip=2
camSet= 'nvarguscamerasrc !  video/x-raw(memory:NVMM), width=3264, height=2464, format=NV12, framerate=21/1 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(dispW)+', height='+str(dispH)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink'
cam= cv2.VideoCapture(camSet)

while True:
    ret, frame= cam.read()
    #smarties= cv2.imread('smarties.png')
    #smarties= cv2.resize(smarties, (320,240))
    #cv2.imshow('smarties', smarties)
    #cv2.moveWindow('smarties', 0,0)
    
    hsv= cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    hueLow= cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueHigh= cv2.getTrackbarPos('hueHigher', 'Trackbars')
    
    hueLow2= cv2.getTrackbarPos('hueLower2', 'Trackbars')
    hueHigh2= cv2.getTrackbarPos('hueHigher2', 'Trackbars')
    
    satLow= cv2.getTrackbarPos('satLower', 'Trackbars')
    satHigh= cv2.getTrackbarPos('satHigher', 'Trackbars')
    
    valLow= cv2.getTrackbarPos('valLower', 'Trackbars')
    valHigh= cv2.getTrackbarPos('valHigher', 'Trackbars')
    
    l_b= np.array([hueLow, satLow, valLow])
    u_b= np.array([hueHigh, satHigh, valHigh])

    l_b2= np.array([hueLow2, satLow, valLow])
    u_b2= np.array([hueHigh2, satHigh, valHigh])

    FGMask= cv2.inRange(hsv, l_b, u_b)
    FGMask2= cv2.inRange(hsv, l_b2, u_b2)
    FGMask_composite= cv2.add(FGMask, FGMask2)

    #cv2.imshow('FGMask', FGMask)
    
    FG= cv2.bitwise_and(frame, frame, mask= FGMask_composite)
    cv2.imshow('FG', FG)
    cv2.moveWindow('FG', 0, 300)

    BGMask= cv2.bitwise_not(FGMask_composite)
    
    BG= cv2.cvtColor(BGMask, cv2.COLOR_GRAY2BGR)
    
    final_image= cv2.add(FG,BG)
    cv2.imshow('FI', final_image)
    cv2.moveWindow('FI', 720,0)
    
    cv2.imshow('nanoCam',  frame)
    cv2.moveWindow('nanoCam', 0,0)
    if cv2.waitKey(1) == ord('q'):
        break
cam.release()
cv2.destroyAllWindows()