WhackAMoleOpenCV.py

#Import OpenCV
import cv2
#Import Numpy
import numpy as np

"""OpenCV portion of Gual-a-Mole! code"""

camera_feed = cv2.VideoCapture(0)

def color_tracking(child):
	while(1):
	    _,frame = camera_feed.read()
	    #Convert the current frame to HSV
	    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

	    #Define the threshold for finding a blue object with hsv
	    lower_blue = np.array([100,100,100])
	    upper_blue = np.array([140,255,255])

	    #Create a binary image, where anything blue appears white and everything else is black
	    mask = cv2.inRange(hsv, lower_blue, upper_blue)

	    #Get rid of background noise using erosion and fill in the holes using dilation and erode the final image on last time
	    element = cv2.getStructuringElement(cv2.MORPH_RECT,(3,3))
	    mask = cv2.erode(mask,element, iterations=2)
	    mask = cv2.dilate(mask,element,iterations=2)
	    mask = cv2.erode(mask,element)
	    
	    #Create Contours for all blue objects
	    contours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
	    maximumArea = 0
	    bestContour = None
	    for contour in contours:
	        currentArea = cv2.contourArea(contour)
	        if currentArea > maximumArea:
	            bestContour = contour
	            maximumArea = currentArea
	     #Create a bounding box around the biggest blue object
	    if bestContour is not None:
	        x,y,w,h = cv2.boundingRect(bestContour)
	        cv2.rectangle(frame, (x,y),(x+w,y+h), (0,0,255), 3)
	        # sends the center of the rectangle to the parent
	        child.send([x+w/2,y+h/2])

	    #Show the original camera feed with a bounding box overlayed 
	    cv2.imshow('frame',frame)
	    #Show the contours in a seperate window
	    cv2.imshow('mask',mask)
	    #Use this command to prevent freezes in the feed
	    k = cv2.waitKey(5) & 0xFF
	    #If escape is pressed close all windows
	    if k == 27:
	        break