36 lines
1021 B
Python
36 lines
1021 B
Python
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import cv2
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from Detector import detect_inrange, detect_visage
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from KalmanFilter import KalmanFilter
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import numpy as np
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VideoCap=cv2.VideoCapture(0)
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KF=KalmanFilter(0.1, [0, 0])
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while(True):
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ret, frame=VideoCap.read()
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points, mask=detect_inrange(frame, 800)
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#points, mask=detect_visage(frame)
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etat=KF.predict().astype(np.int32)
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cv2.circle(frame, (int(etat[0]), int(etat[1])), 2, (0, 255, 0), 5)
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cv2.arrowedLine(frame,
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(etat[0], etat[1]), (etat[0]+etat[2], etat[1]+etat[3]),
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color=(0, 255, 0),
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thickness=3,
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tipLength=0.2)
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if (len(points)>0):
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cv2.circle(frame, (points[0][0], points[0][1]), 10, (0, 0, 255), 2)
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KF.update(np.expand_dims(points[0], axis=-1))
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cv2.imshow('image', frame)
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if mask is not None:
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cv2.imshow('mask', mask)
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if cv2.waitKey(1)&0xFF==ord('q'):
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VideoCap.release()
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cv2.destroyAllWindows()
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break
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