def main():
cap = cv2.VideoCapture(0)
ret, frame = cap.read()
print("MAIN:", frame.shape)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
x, y = 240, 320
pf = ParticleFilter(x, y, frame, n_particles=500, square_size=50, dt=0.20)
alpha = 0.5
while (True):
ret, frame = cap.read()
orig = np.array(frame)
img = frame
norm_factor = 255.0 / np.sum(frame, axis=2)[:, :, np.newaxis]
frame = frame * norm_factor
frame = cv2.convertScaleAbs(frame)
frame = cv2.blur(frame, (5, 5))
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
x, y, sq_size, distrib, distrib_control = pf.next_state(frame)
p1 = (int(y - sq_size), int(x - sq_size))
p2 = (int(y + sq_size), int(x + sq_size))
# before resampling
for (x2, y2, scale2) in distrib_control:
x2 = int(x2)
y2 = int(y2)
cv2.circle(img, (y2, x2), 1, (255, 0, 0), thickness=10)
# after resampling
for (x1, y1, scale1) in distrib:
x1 = int(x1)
y1 = int(y1)
cv2.circle(img, (y1, x1), 1, (0, 0, 255), thickness=10)
cv2.rectangle(img, p1, p2, (0, 0, 255), thickness=5)
cv2.addWeighted(orig, alpha, img, 1 - alpha, 0, img)
create_legend(img, (40, 40), (40, 20))
cv2.imshow('frame', img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
