python/6_Object_Tracking/1_Lucas_Kanade.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import cv2\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "corner_track_params = dict(maxCorners = 300, qualityLevel = 0.3, minDistance = 7, blockSize = 7)\n",
    "lk_params = dict(winSize = (640, 640), maxLevel = 1, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.02))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
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  {
   "cell_type": "code",
   "execution_count": 3,
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   "source": [
    "cap = cv2.VideoCapture(0)\n",
    "\n",
    "ret, prev_frame = cap.read()\n",
    "prev_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY)\n",
    "\n",
    "prevPts = cv2.goodFeaturesToTrack(prev_gray, mask = None, **corner_track_params)\n",
    "# [[[427. 62.]], [[316. 62.]], [[135. 78.]]]\n",
    "\n",
    "mask = np.zeros_like(prev_frame)\n",
    "\n",
    "while True:\n",
    "    \n",
    "    ret, frame = cap.read()\n",
    "    frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
    "    \n",
    "    nextPts, status, err = cv2.calcOpticalFlowPyrLK(prev_gray, frame_gray, prevPts, None, **lk_params)\n",
    "\n",
    "    good_new = nextPts[status == 1]\n",
    "    good_prev = prevPts[status == 1]\n",
    "    \n",
    "    for i, (new, prev) in enumerate(zip(good_new, good_prev)):\n",
    "        \n",
    "        x_new, y_new = new.ravel()\n",
    "        x_prev, y_prev = prev.ravel()\n",
    "        \n",
    "        mask = cv2.line(mask, (x_new, y_new), (x_prev, y_prev), (0, 255, 0), 3)\n",
    "        frame = cv2.circle(frame, (x_new, y_new), 8, (0, 0, 255), -1)\n",
    "\n",
    "    image = cv2.add(frame, mask)\n",
    "    cv2.imshow('tracking', image)\n",
    "    \n",
    "    k = cv2.waitKey(30) & 0xFF\n",
    "    if k == 27:\n",
    "        break\n",
    "        \n",
    "    prev_gray = frame_gray.copy()\n",
    "    prevPts = good_new.reshape(-1, 1, 2)\n",
    "cv2.destroyAllWindows()\n",
    "cap.release()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
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  },
  {
   "cell_type": "code",
   "execution_count": null,
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   "source": []
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