I've been tinkering with Python and OpenCV for a while now, and thought I'd start an actual project. This is my first time making something that I'd actually consider using, and my first time posting to Code Review SE. I'm curious to know your thoughts and opinions on the cleanliness of my code, the efficiency of the program, and the project in general!
The basic function of the program is to find and track objects. I am thinking of hooking this up to a webcam and stepper motor and testing this as a tracking security camera. The program first creates a background image, and then loops until it finds a difference between what it sees currently, and the background image. The difference of these images is taken, then made into its own frame (frame_delta). If this delta is large enough, it is treated as a contour. If there are multiple contours, the largest one is chosen. Once a contour is found, an MIL tracker is created, and set to the size of the contour. This process is repeated every 30 frames to prevent the object from being lost due to tracker inaccuracy. Here's the code!:
# OpenCV for tracking/display
import cv2
import time
# When program is started
if __name__ == '__main__':
# Are we finding motion or tracking
status = 'motion'
# How long have we been tracking
idle_time = 0
# Background for motion detection
back = None
# An MIL tracker for when we find motion
tracker = cv2.TrackerMIL_create()
# Webcam footage (or video)
video = cv2.VideoCapture(0)
# LOOP
while True:
# Check first frame
ok, frame = video.read()
# Grayscale footage
gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
# Blur footage to prevent artifacts
gray = cv2.GaussianBlur(gray,(21,21),0)
# Check for background
if back is None:
# Set background to current frame
back = gray
if status == 'motion':
# Difference between current frame and background
frame_delta = cv2.absdiff(back,gray)
# Create a threshold to exclude minute movements
thresh = cv2.threshold(frame_delta,25,255,cv2.THRESH_BINARY)[1]
#Dialate threshold to further reduce error
thresh = cv2.dilate(thresh,None,iterations=2)
# Check for contours in our threshold
_,cnts,hierarchy = cv2.findContours(thresh,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
# Check each contour
if len(cnts) != 0:
# If the contour is big enough
# Set largest contour to first contour
largest = 0
# For each contour
for i in range(len(cnts)):
# If this contour is larger than the largest
if i != 0 & int(cv2.contourArea(cnts[i])) > int(cv2.contourArea(cnts[largest])):
# This contour is the largest
largest = i
if cv2.contourArea(cnts[largest]) > 1000:
# Create a bounding box for our contour
(x,y,w,h) = cv2.boundingRect(cnts[0])
# Convert from float to int, and scale up our boudning box
(x,y,w,h) = (int(x),int(y),int(w),int(h))
# Initialize tracker
bbox = (x,y,w,h)
ok = tracker.init(frame, bbox)
# Switch from finding motion to tracking
status = 'tracking'
# If we are tracking
if status == 'tracking':
# Update our tracker
ok, bbox = tracker.update(frame)
# Create a visible rectangle for our viewing pleasure
if ok:
p1 = (int(bbox[0]), int(bbox[1]))
p2 = (int(bbox[0] + bbox[2]), int(bbox[1] + bbox[3]))
cv2.rectangle(frame,p1,p2,(0,0,255),10)
# Show our webcam
cv2.imshow("Camera",frame)
# If we have been tracking for more than a few seconds
if idle_time >= 30:
# Reset to motion
status = 'motion'
# Reset timer
idle_time = 0
# Reset background, frame, and tracker
back = None
tracker = None
ok = None
# Recreate tracker
tracker = cv2.TrackerMIL_create()
# Incriment timer
idle_time += 1
# Check if we've quit
if cv2.waitKey(1) & 0xFF == ord("q") or cv2.getWindowProperty('Camera',0) == -1:
break
#QUIT
video.release()
cv2.destroyAllWindows()
