Initial commit

OpenCV/tutoriel28/suivi_ligne.py

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+import cv2
+import numpy as np
+
+lo=np.array([60, 30, 30])
+hi=np.array([100, 255, 255])
+cap=cv2.VideoCapture(0)
+
+taille_objet=15
+nbr_point=100
+tab_point=np.full((nbr_point, 2), -1, dtype=np.int32)
+
+while True:
+    ret, frame=cap.read()
+    image=cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
+    image=cv2.blur(image, (5, 5))
+    mask=cv2.inRange(image, lo, hi)
+    mask=cv2.erode(mask, None, iterations=2)
+    mask=cv2.dilate(mask, None, iterations=4)
+    elements=cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
+    tab_point=np.roll(tab_point, 1, axis=0)
+    tab_point[0]=[-1, -1]
+    if len(elements) > 0:
+        c=max(elements, key=cv2.contourArea)
+        ((x, y), rayon)=cv2.minEnclosingCircle(c)
+        if rayon>taille_objet:
+            tab_point[0]=[int(x), int(y)]
+
+    old_x, old_y=(-1, -1)
+    for i in range(nbr_point):
+        if tab_point[nbr_point-i-1, 0]!=-1:
+            if old_x!=-1:
+                cv2.line(frame, (old_x, old_y), (tab_point[nbr_point-i-1, 0], tab_point[nbr_point-i-1, 1]), (0, 255-2*(nbr_point-i-1), 0), 10)
+                #cv2.line(frame, (old_x, old_y), (tab_point[nbr_point-i-1, 0], tab_point[nbr_point-i-1, 1]), (0, 255, 0), 10)
+            old_x, old_y=(tab_point[nbr_point-i-1, 0], tab_point[nbr_point-i-1, 1])
+
+    cv2.imshow('Camera', frame)
+    cv2.imshow('Mask', mask)
+    if cv2.waitKey(1)&0xFF==ord('q'):
+        break
+cap.release()
+cv2.destroyAllWindows()