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ManyAntsExpected.py
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ManyAntsExpected.py
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# import the necessary packages
from collections import deque
import numpy as np
import argparse
import imutils
import cv2
import math
import copy
# to check if two contours very close then will compine them
def find_if_close(cnt1,cnt2):
row1,row2 = cnt1.shape[0],cnt2.shape[0]
for i in xrange(row1):
for j in xrange(row2):
dist = np.linalg.norm(cnt1[i]-cnt2[j])
if abs(dist) < 50 :
return True
elif i==row1-1 and j==row2-1:
return False
def pointAverage(point1,point2):
x1 = point1[0]
y1 = point1[1]
x2 = point2[0]
y2 = point2[1]
x3 = (x2 + x1) / 2
y3 = (y2 + y1) / 2
return (x3, y3)
def calculateNextPoint(point1,point2):
x1 = point1[0]
y1 = point1[1]
x2 = point2[0]
y2 = point2[1]
x3 = x2 + (x2 - x1)
y3 = y2 + (y2 - y1)
return (x3, y3)
# threashold for bloack color
greenLower = (19, 15, 34)
greenUpper = (30, 22, 46)
pts = deque(maxlen=32)
counter = 0
camera = cv2.VideoCapture("Sample_Tracking_Release/Many_Ants/ManyAnts.mov")
histroy = []
histroy.append(deque())
nextPoint = []
nextPoint.append(deque())
frameIndex = 0
while True:
# grab the current frame
(grabbed, frame) = camera.read()
if not grabbed:
break
hsv = cv2.cvtColor(frame, cv2.CAP_MODE_RGB)
mask = cv2.inRange(hsv, greenLower, greenUpper)
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
LENGTH = len(cnts)
status = np.zeros((LENGTH, 1))
for i, cnt1 in enumerate(cnts):
x = i
if i != LENGTH - 1:
for j, cnt2 in enumerate(cnts[i + 1:]):
x = x + 1
dist = find_if_close(cnt1, cnt2)
if dist == True:
val = min(status[i], status[x])
status[x] = status[i] = val
else:
if status[x] == status[i]:
status[x] = i + 1
unified = []
maximum = int(status.max()) + 1
for i in xrange(maximum):
pos = np.where(status == i)[0]
if pos.size != 0:
c = np.vstack(cnts[i] for i in pos)
hull = cv2.convexHull(c)
unified.append(hull)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
drwaCirlce= "no"
if(len(cnts) >2):
if(M["m00"] >0):
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
drwaCirlce = "yes"
else:
center = (cnts[0][:, 0][0, 0], cnts[0][:, 0][0, 1])
else:
center =(cnts[0][:,0][0,0],cnts[0][:,0][0,1])
if(drwaCirlce is "yes"):
cricle1 = cv2.circle(frame, (int(x), int(y)), int(50),
(0, 255, 255), 2)
pts.appendleft((int(x), int(y)))
if histroy is not None:
histroy[frameIndex].appendleft(copy.deepcopy((int(x), int(y))))
if frameIndex > 0:
for j in range(0, frameIndex):
#for j in range(frameIndex, frameIndex-2, -1):
if len(histroy[j]) < len(histroy[j - 1]):
min1 = len(histroy[j])
else:
min1 = len(histroy[j - 1])
for i in np.arange(0, min1):
if j >0 and len(histroy[j])>0 :
dist = math.hypot(histroy[j][i][0] - histroy[j-1][i][0], histroy[j][i][1] - histroy[j-1][i][1])
if j >=3:
if histroy[j - 2] is not None and len(histroy[j - 2])-1>= i :
comingPoint = calculateNextPoint(histroy[j - 2][i],
histroy[j - 1][i])
avgPoint = pointAverage(comingPoint, histroy[j][i])
#print "p1, ", histroy[j - 2][i], "p2,", histroy[j - 1][i], "p3'", comingPoint, "p3", histroy[j][i], "avgPoint",avgPoint
dist1 = math.hypot(comingPoint[0] - histroy[j - 1][i][0],
comingPoint[1] - histroy[j - 1][i][1])
"""
dist1 = math.hypot(avgPoint[0] - histroy[j - 1][i][0],
avgPoint[1] - histroy[j - 1][i][1])
"""
if dist1 < 35:
cv2.line(frame, histroy[j-1][i], comingPoint, (87, 255, 46), 5)
#cv2.line(frame, histroy[j - 1][i], avgPoint, (87, 255, 46), 5)
#histroy[j][i] = avgPoint
else:
if dist < 35:
cv2.line(frame, histroy[j-1][i], histroy[j][i], (0, 0, 255), 5)
if len(histroy[frameIndex]) > 0 :
histroy.append(deque())
nextPoint.append(deque())
frameIndex += 1
cv2.namedWindow('Frame', cv2.WINDOW_NORMAL)
cv2.resizeWindow('Frame', 500, 500)
cv2.imshow("Frame", frame)
name = "frames/manyAnts/frameoutput%d.jpg" % counter
cv2.imwrite(name, frame)
key = cv2.waitKey(1) & 0xFF
counter += 1
# if the 'q' key is pressed, stop the loop
if key == ord("q"):
break
camera.release()
cv2.destroyAllWindows()