''single_color_multiple_points_track.

py
Before reading this code make sure you are thorough with track_yellow_dr
aw_line.py and example_8_3.py. It is a combination of both plus use of new funct
ion and new ideas. This code shows how you can use contours to track multiple ob
ject. A new function cv.BoundingRect also used here to draw bounding rectangles
of contours.
In track_yellow_draw_line.py, we tracked a single yellow object. And we
didn't use contours there. Here we track multiple yellow objects. ie the name, s
ingle_color_multiple_points_track.py. That is the main function.
Plus, as earlier, i have kept drawing function also there, to see a nice
output. And i have uploaded a picture scmpt.png to show you what output i got.
Always remember, i am following an hierarchy from simple to complex, and
i always put path above. Follow it.
Written by Abid.K

--mail me at abidrahman2@gmail.com '''

################################################################################
###############################################
import cv
posx=0
posy=0
def getthresholdedimg(im):
'''this function take RGB image.Then convert it into HSV for easy colour
detection and threshold it with yellow part as white and all other regions as b
lack.Then return that image'''
imghsv=cv.CreateImage(cv.GetSize(im),8,3)
cv.CvtColor(im,imghsv,cv.CV_BGR2HSV)
# Conver
t image from RGB to HSV
imgthreshold=cv.CreateImage(cv.GetSize(im),8,1)
cv.InRangeS(imghsv,cv.Scalar(20,100,100),cv.Scalar(30,255,255),imgthresh
old)
# Select a range of yellow color
return imgthreshold
capture=cv.CaptureFromCAM(0)
frame = cv.QueryFrame(capture)
frame_size = cv.GetSize(frame)
grey_image = cv.CreateImage(cv.GetSize(frame), cv.IPL_DEPTH_8U, 1)
test=cv.CreateImage(cv.GetSize(frame),8,3)
cv.NamedWindow("Real")
cv.NamedWindow("Threshold")
while(1):
color_image = cv.QueryFrame(capture)
imdraw=cv.CreateImage(cv.GetSize(frame),8,3)
cv.Flip(color_image,color_image,1)
cv.Smooth(color_image, color_image, cv.CV_GAUSSIAN, 3, 0)
imgyellowthresh=getthresholdedimg(color_image)
cv.Erode(imgyellowthresh,imgyellowthresh,None,3)
cv.Dilate(imgyellowthresh,imgyellowthresh,None,10)
storage = cv.CreateMemStorage(0)
contour = cv.FindContours(imgyellowthresh, storage, cv.CV_RETR_CCOMP, cv
.CV_CHAIN_APPROX_SIMPLE)
points = []
#

This is the new part here. ie Use of cv.BoundingRect()

while contour:

# Draw bounding rectangles

bound_rect = cv.BoundingRect(list(contour))
contour = contour.h_next()
# for more details about cv.BoundingRect,see documentation
pt1 = (bound_rect[0], bound_rect[1])
pt2 = (bound_rect[0] + bound_rect[2], bound_rect[1] + bound_rect
[3])
points.append(pt1)
points.append(pt2)
cv.Rectangle(color_image, pt1, pt2, cv.CV_RGB(255,0,0), 1)
lastx=posx
lasty=posy
posx=cv.Round((pt1[0]+pt2[0])/2)
posy=cv.Round((pt1[1]+pt2[1])/2)
if lastx!=0 and lasty!=0:
cv.Line(imdraw,(posx,posy),(lastx,lasty),(0,255,255))
cv.Circle(imdraw,(posx,posy),5,(0,255,255),-1)
cv.Add(test,imdraw,test)
cv.ShowImage("Real",color_image)
cv.ShowImage("Threshold",test)
if cv.WaitKey(33)==1048603:
cv.DestroyWindow("Real")
cv.DestroyWindow("Threshold")
break