Object Tracking

-Akshat

Object tracking is the process of locating a moving object (or multiple objects) over time using a camera. It has a variety of uses, some of which are: human-computer interaction, security and surveillance, augmented reality, traffic control, medical imaging and video editing.

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Some Day2Day Examples

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It seems interesting

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so for next 80 mins..

a short introduction on video capture

describe the object to be tracked

contour extraction

sketch the frame

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Some

Results

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before we do anything

import cv2
import numpy as np

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let' s capture a video

import cv2
import numpy as np

cap = cv2.VideoCapture(0)

while True:
	# Let's capture/read the frames for the video
	_, frame = cap.read() 

	# This frame captured is flipped, Lets's get the mirror effect
	frame = cv2.flip(frame, 1)

	# Any operations on the frame captured will be processed in the operate(frame) method
	final_frame = operate(frame)

	# Showing the captured frame
	cv2.imshow('garrix', frame)
	cv2.imshow('martin', final_frame)

	# Continuous, Large amount of frames produce a video
	# waitkey(value), value is the ammount of millisecs a frame must be displayed
	# 0xff represents the ASCII value for the key, 27 is for ESC
	# waitKey is necessary to show a frame
	if cv2.waitKey(1) & 0xff == 27:
		break


cap.release()
cv2.destroyAllWindows()

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let' s describe the object

# Info : ZOOM in the frame to get the RGB value of the corresponding pixel

# The range of color for the object to be detected in HSV
hsv_supremum = np.array([172, 221, 255])
hsv_infinum = np.array([150, 40, 130])


def operate(frame):
	frame_copy = frame.copy()
	frame_ret = frame.copy()

	# Converting the frame from BGR format to HSV format
	frame_copy = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

	# Thresholding the frame to get our object(color) tracked
	mask = cv2.inRange(frame_copy, hsv_infinum, hsv_supremum)
	mask = cv2.medianBlur(mask, 5)
	mask = cv2.erode(mask, None, iterations=2)
	mask = cv2.dilate(mask, None, iterations=2)

	#cv2.imshow('mask', mask)

	# Obtaining the binary Image for the corresponding mask
	res = cv2.bitwise_and(frame_ret,frame_ret, mask= mask)

	#cv2.imshow('res', res)
	# The result can be improved by smoothening the frame

        # To be contd...

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my object

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object configuration

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object configuration

hsv_supremum = np.array([172, 221, 255])
hsv_infinum = np.array([150, 40, 130])


def operate(frame):
   
    # Some code above
    # Converting the frame from BGR format to HSV format, Hue Saturation Value GOOGle for more
    frame_copy = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    # Thresholding the frame to get our object(color) tracked
    mask = cv2.inRange(frame_copy, hsv_infinum, hsv_supremum)
	
    # Some code below

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object configuration



# In the operate function

        mask = cv2.medianBlur(mask, 5)
	mask = cv2.erode(mask, None, iterations=2)
	mask = cv2.dilate(mask, None, iterations=2)


	# The result can be further improved by smoothening the frame
        # Issues:
            # Lightning
            # Variable Contour

operations to enhance the object

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dilation

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source UDACITY

erosion

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source UDACITY

Results After Dilation & Erosion in the binary Image

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contour extraction

# In the same operate function

        mask_copy = mask.copy()
	cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
	center = None

	if len(cnts) > 0:
		c = max(cnts, key = cv2.contourArea)
		((x, y), radius) = cv2.minEnclosingCircle(c)

		M = cv2.moments(c)
		center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))

		if radius > 10:
			cv2.circle(frame_ret, (int(x), int(y)), int(radius), (0, 150, 255), 2)
			cv2.circle(frame_ret, center, 5, (0, 0, 255), -1)

operations to extract the contour

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Object Contour Extracted

Object Mask Extracted

Video Capture

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sketch the frame

import cv2
import numpy as np 

from collections import deque           # <--

pts = deque()                           # <--
cap = cv2.VideoCapture(0)

# In the operate function

        pts.appendleft(center)
	#print(pts[0])

	for i in range(1 , len(pts)):
		if pts[i-1] is None or pts[i] is None:
			continue
		thickness = 6
		cv2.line(frame_ret, pts[i-1], pts[i], (0, 0, 255), thickness)


	return frame_ret

operations to sketch on the frame

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Sample Sketch

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Sample Sketch

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Code

Implementation

Lets Begin

[Quest]ions

Thank you

Akshat Sharma

Sophomore