arasharchor / motion-track

Raspberry Pi motion and speed tracking using camera module and python opencv - object and vehicle speed

motion-track Demo

Raspberry Pi - python opencv2 motion tracking using picamera module

written by Claude Pageau

motion track code available at https://github.com/pageauc/motion-track

See Motion Track YouTube video using RPI B2 here http://youtu.be/09JS7twPBsQ

RPI forum post here https://www.raspberrypi.org/forums/viewtopic.php?p=790082#p790082

NEW Speed2.py - Object (vehicle) speed camera based on motion tracking

• See details here https://github.com/pageauc/motion-track/blob/master/speed-track-2/Readme.md
• YouTube video here https://youtu.be/eRi50BbJUro
• RPI forum post here https://www.raspberrypi.org/forums/viewtopic.php?p=1004150#p1004150

Motion Tracking Demo (Now uses Threading for speed increase)

motion-track.py is a raspberry pi python opencv2 (computer vision) demo. It will detect motion in the field of view and use opencv2 to compare images and calculate a threshold image and related contours. It will determine the largest contour and return it's x,y coordinates. I will implement similar code in a RPI robotics project, but thought the code would be useful for other users as a starting point or as part of an existing project see New speed2 for object (vehicle) speed camera app.

I did quite a bit of searching on the internet, github, etc, but could not a the time find a similar python picamera implementation that returns x,y coordinates of the most dominate moving object in the frame although some came close.

Some of this code is based on a YouTube tutorial by Kyle Hounslow using C here - https://www.youtube.com/watch?v=X6rPdRZzgjg

####Prerequisites Requires a Raspberry Pi computer running with an up-to-date raspbian distro and a RPI camera module installed and configured. The dependencies below may be required depending on your previous installs.

cd ~
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install python-opencv python-picamera
mkdir -p motion-track
cd motion-track    
wget https://raw.github.com/pageauc/motion-track/master/motion-track.py
chmod +x motion-track.py
./motion_track.py

From GUI desktop Terminal session Use nano to edit motion_track.py and change variable window_on=True ctrl-x y to save. Start up a desktop GUI session and run the code from IDLE or open a terminal console and run

python ./motion-track.py

if you get an opengl error then see this article about installing opengl on a RPI P2 https://www.raspberrypi.org/blog/another-new-raspbian-release/

Otherwise install opengl support library per following command then reboot.

sudo apt-get install libgl1-mesa-dri

Set variable window_on = True so the opencv status windows can display camera motion images and a circle marking x,y coordinates as well as the threshold images. The circle diameter can be change using CIRCLE_SIZE variable.
You can set window_on = False if you need to run from SSH session. If debug = True then status information will be displayed without a GUI desktop session.

I have added motion3-track.py for use with python3 and OpenCV3 FYI. Only the cv2.findContour line needed to be changed due to OpenCV3 syntax difference. Steps for installing OpenCV3 can be found here https://www.raspberrypi.org/forums/viewtopic.php?p=792568&sid=adf009c84bee379cd08b377168535477#p792568

New track2.py

18-May-2016 - track2.py (multi processor motion tracking demo)

Added track2.py Demo of multi processor motion tracking. This uses one processor thread for camera stream, second for opencv motion tracking and the third for program logic. Run track2.py in a local RPI GUI terminal window to display the opencv image window showing motion tracking stream. The motion track data will be displayed in the terminal window. I used an object on a string to test tracking. This is amazingly fast. Note This will run fast on a single core RPI but best speed run on a quad core with no gui. Use htop to monitor cpu usage. Change window_on variable to run in a console/ssh session This code can be used as a starting point for a motion tracking project See code comments for details and installation requirements

# Basic installation instructions (default is GUI desktop mode)
wget https://raw.github.com/pageauc/motion-track/master/track2.py
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install -y python-opencv python-picamera
chmod +x track2.py
./track2.py

Note currently this code will fail after a while when in gui mode due to I believe is a Raspbian library memory issue terminal only mode should be OK.

Good Luck Claude ...