Code

Author: yanukadeneth99

README.md

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+# Color Tracker
+
+The program tracks and object based on it's HSV Color and shows if the image is too close, too far, left or right. This is imitating car where it would track a point and take decisions to move accordingly.
+
+## Run
+
+- Change the values in to change the object tracked (Currently it's tracking the color RED)
+- Run using `python Tracker.py` or `python3 Tracker.py`
+- Move objects into the frame to see the circle along with texts on if it's too close, too far, left or right
+
+## Code
+
+![Code](https://i.imgur.com/inDTgEv.png)

Tracker.py

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+# Importing libraries
+import cv2
+import imutils
+
+# Values to parse
+redLower = (161, 155, 84)
+redUpper = (179, 255, 255)
+text = "Nothing Found"
+
+# Initialising Camera
+camera = cv2.VideoCapture(0)
+
+while True:
+
+    # Read the Frame from the camera
+    (grabbed, frame) = camera.read()
+
+    # Controlling the Framesize
+    frame = imutils.resize(frame, width=600)
+
+    # Applying Image Smoothning
+    blurred = cv2.GaussianBlur(frame, (11, 11), 0)
+
+    # Converting Image to HSV
+    hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
+
+    # Masking the Image inbetween the bounds
+    mask = cv2.inRange(hsv, redLower, redUpper)
+
+    # Applying FX for closing any gaps
+    mask = cv2.erode(mask, None, iterations=2)
+    mask = cv2.dilate(mask, None, iterations=2)
+
+    # Finding the hits
+    cnts = cv2.findContours(
+        mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
+    center = None
+
+    # There is a hit
+    if len(cnts) > 0:
+        c = max(cnts, key=cv2.contourArea)
+
+        # Get the circle coordinates
+        ((x, y), radius) = cv2.minEnclosingCircle(c)
+
+        # Get the Middle point
+        M = cv2.moments(c)
+        center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
+
+        if radius > 10:
+            # Draw the circles around the object
+            cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2)
+            cv2.circle(frame, center, 5, (0, 0, 255), -1)
+
+            # Print Signs according to the radius
+            if radius > 250:
+                text = "Stop"
+            else:
+                if (center[0] < 150):
+                    text = "Left"
+                elif (center[0] > 250):
+                    text = "Right"
+                elif (radius < 250):
+                    text = "Go"
+                else:
+                    text = "Stop"
+
+        # Render the text onto screen
+        cv2.putText(frame, text, (10, 20),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
+
+    # Show the Frame from the camera
+    cv2.imshow("Frame", frame)
+
+    # Stop the program when the Q key is pressed
+    key = cv2.waitKey(1) & 0xFF
+    if key == ord('q'):
+        break
+
+# Release the camera and destroy all windows
+camera.release()
+cv2.destroyAllWindows()