Jetson Nano and OpenCV: Combining the concept of ROI and thresholding

So in this project, I’ve gotten this python symbol to bounce around the live video. I’ve combined the concept of region of interest and thresholding.

Demo:

Things Required:

1. Jetson Nano
2. Keyboard
3. Mouse
4. HDMI Screen
5. Raspberry Pi Camera
6. External Power Supply

Reference Material:

1. You can check out this video for the project: (LINK)

Code:

Note that code below is in python

View on/Download from Github: (LINK)

import cv2
dispW=640
dispH=480
flip=2
camSet= 'nvarguscamerasrc !  video/x-raw(memory:NVMM), width=3264, height=2464, format=NV12, framerate=21/1 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(dispW)+', height='+str(dispH)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink'
cam= cv2.VideoCapture(camSet)

#load image
PL= cv2.imread('/home/aarushi/Desktop/pyPro/pl.jpg')
PL= cv2.resize(PL, (75, 75))
cv2.imshow('Original', PL)
cv2.moveWindow('Original', 700,0)

#convert to grayscale
PLGray= cv2.cvtColor( PL, cv2.COLOR_BGR2GRAY)

#thresholding
_, BGMask= cv2.threshold(PLGray, 240, 255, cv2.THRESH_BINARY)

#creating foreground mask
FGMask= cv2.bitwise_not(BGMask)

#creating forground
FG= cv2.bitwise_and(PL, PL, mask= FGMask)
cv2.imshow('FG', FG)
cv2.moveWindow('FG', 800, 200)

#defining dimentions of the moving box
BW=75
BH=75
XPos=10
YPos=10
dX=1
dY=1

while True:
    ret, frame= cam.read()
    #creating region of interest
    ROI= frame[YPos:YPos+BH, XPos:XPos+BW]
    #masking BGMask on region of interest
    ROIBG= cv2.bitwise_and(ROI, ROI, mask= BGMask)
    #combining ROI with the coloured logo
    ROInew= cv2.add(FG, ROIBG)
    #getting the ROI+logo combination on live video
    frame[YPos:YPos+BH, XPos:XPos+BW]=ROInew
    XPos=XPos+dX
    YPos=YPos+dY
    if(XPos+BW>=640 or XPos<=0):
        dX=dX*(-1)
    if(YPos+BH>=480 or YPos<=0):
        dY=dY*(-1)

    cv2.imshow('nanoCam', frame)
    cv2.moveWindow('nanoCam', 0,0)
    if cv2.waitKey(1) == ord('q'):
        break
cam.release()
cv2.destroyAllWindows()

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Happy Learning!!