import cv2
print(cv2.__version__)
import numpy as np
import pyrealsense2 as rs

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

def nothing(x):
    pass

cv2.namedWindow('Trackbars')

cv2.createTrackbar('hueLower', 'Trackbars',50,179,nothing)
cv2.createTrackbar('hueUpper', 'Trackbars',100,179,nothing)

cv2.createTrackbar('satLow', 'Trackbars',100,255,nothing)
cv2.createTrackbar('satHigh', 'Trackbars',255,255,nothing)

cv2.createTrackbar('valLow','Trackbars',100,255,nothing)
cv2.createTrackbar('valHigh','Trackbars',255,255,nothing)


dispW=640
dispH=480
flip=2
#Uncomment These next Two Line for Pi Camera
#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(0)

#Or, if you have a WEB cam, uncomment the next line
#(If it does not work, try setting to '1' instead of '0')
#cam=cv2.VideoCapture(0)
while True:
    # ret, frame = cam.read()
    #frame=cv2.imread('smarties.png')

    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    frame = np.asanyarray(color_frame.get_data())

    hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)

    hueLow=cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueUp=cv2.getTrackbarPos('hueUpper', 'Trackbars')

    Ls=cv2.getTrackbarPos('satLow', 'Trackbars')
    Us=cv2.getTrackbarPos('satHigh', 'Trackbars')

    Lv=cv2.getTrackbarPos('valLow', 'Trackbars')
    Uv=cv2.getTrackbarPos('valHigh', 'Trackbars')

    l_b=np.array([hueLow,Ls,Lv])
    u_b=np.array([hueUp,Us,Uv])


    FGmask=cv2.inRange(hsv,l_b,u_b)
    cv2.imshow('FGmask',FGmask)

    _, contours, hierarchy = cv2.findContours(FGmask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)    
    for cnt in contours:
        area=cv2.contourArea(cnt)
        (x,y,w,h)=cv2.boundingRect(cnt)
        if area>=50:
            cv2.drawContours(frame,[cnt],0,(255,0,0),3)
            cv2.rectangle(frame,(x,y),(x+w,y+h),(255,0,0),3)

    cv2.imshow('nanoCam',frame)
    

    if cv2.waitKey(1)==ord('q'):
        break
cam.release()
cv2.destroyAllWindows()

c29b5db2190d9e2287ca9da0ad55d992e28e58aa
<mask token>

<mask token>
print(cv2.__version__)
<mask token>
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipeline.start(config)


def nothing(x):
    pass


cv2.namedWindow('Trackbars')
cv2.createTrackbar('hueLower', 'Trackbars', 50, 179, nothing)
cv2.createTrackbar('hueUpper', 'Trackbars', 100, 179, nothing)
cv2.createTrackbar('satLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('satHigh', 'Trackbars', 255, 255, nothing)
cv2.createTrackbar('valLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('valHigh', 'Trackbars', 255, 255, nothing)
<mask token>
while True:
    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    frame = np.asanyarray(color_frame.get_data())
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    hueLow = cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueUp = cv2.getTrackbarPos('hueUpper', 'Trackbars')
    Ls = cv2.getTrackbarPos('satLow', 'Trackbars')
    Us = cv2.getTrackbarPos('satHigh', 'Trackbars')
    Lv = cv2.getTrackbarPos('valLow', 'Trackbars')
    Uv = cv2.getTrackbarPos('valHigh', 'Trackbars')
    l_b = np.array([hueLow, Ls, Lv])
    u_b = np.array([hueUp, Us, Uv])
    FGmask = cv2.inRange(hsv, l_b, u_b)
    cv2.imshow('FGmask', FGmask)
    _, contours, hierarchy = cv2.findContours(FGmask, cv2.RETR_EXTERNAL,
        cv2.CHAIN_APPROX_SIMPLE)
    for cnt in contours:
        area = cv2.contourArea(cnt)
        x, y, w, h = cv2.boundingRect(cnt)
        if area >= 50:
            cv2.drawContours(frame, [cnt], 0, (255, 0, 0), 3)
            cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 3)
    cv2.imshow('nanoCam', frame)
    if cv2.waitKey(1) == ord('q'):
        break
cam.release()
cv2.destroyAllWindows()

<mask token>
print(cv2.__version__)
<mask token>
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipeline.start(config)


def nothing(x):
    pass


cv2.namedWindow('Trackbars')
cv2.createTrackbar('hueLower', 'Trackbars', 50, 179, nothing)
cv2.createTrackbar('hueUpper', 'Trackbars', 100, 179, nothing)
cv2.createTrackbar('satLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('satHigh', 'Trackbars', 255, 255, nothing)
cv2.createTrackbar('valLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('valHigh', 'Trackbars', 255, 255, nothing)
dispW = 640
dispH = 480
flip = 2
while True:
    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    frame = np.asanyarray(color_frame.get_data())
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    hueLow = cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueUp = cv2.getTrackbarPos('hueUpper', 'Trackbars')
    Ls = cv2.getTrackbarPos('satLow', 'Trackbars')
    Us = cv2.getTrackbarPos('satHigh', 'Trackbars')
    Lv = cv2.getTrackbarPos('valLow', 'Trackbars')
    Uv = cv2.getTrackbarPos('valHigh', 'Trackbars')
    l_b = np.array([hueLow, Ls, Lv])
    u_b = np.array([hueUp, Us, Uv])
    FGmask = cv2.inRange(hsv, l_b, u_b)
    cv2.imshow('FGmask', FGmask)
    _, contours, hierarchy = cv2.findContours(FGmask, cv2.RETR_EXTERNAL,
        cv2.CHAIN_APPROX_SIMPLE)
    for cnt in contours:
        area = cv2.contourArea(cnt)
        x, y, w, h = cv2.boundingRect(cnt)
        if area >= 50:
            cv2.drawContours(frame, [cnt], 0, (255, 0, 0), 3)
            cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 3)
    cv2.imshow('nanoCam', frame)
    if cv2.waitKey(1) == ord('q'):
        break
cam.release()
cv2.destroyAllWindows()

import cv2
print(cv2.__version__)
import numpy as np
import pyrealsense2 as rs
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
pipeline.start(config)


def nothing(x):
    pass


cv2.namedWindow('Trackbars')
cv2.createTrackbar('hueLower', 'Trackbars', 50, 179, nothing)
cv2.createTrackbar('hueUpper', 'Trackbars', 100, 179, nothing)
cv2.createTrackbar('satLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('satHigh', 'Trackbars', 255, 255, nothing)
cv2.createTrackbar('valLow', 'Trackbars', 100, 255, nothing)
cv2.createTrackbar('valHigh', 'Trackbars', 255, 255, nothing)
dispW = 640
dispH = 480
flip = 2
while True:
    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    frame = np.asanyarray(color_frame.get_data())
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    hueLow = cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueUp = cv2.getTrackbarPos('hueUpper', 'Trackbars')
    Ls = cv2.getTrackbarPos('satLow', 'Trackbars')
    Us = cv2.getTrackbarPos('satHigh', 'Trackbars')
    Lv = cv2.getTrackbarPos('valLow', 'Trackbars')
    Uv = cv2.getTrackbarPos('valHigh', 'Trackbars')
    l_b = np.array([hueLow, Ls, Lv])
    u_b = np.array([hueUp, Us, Uv])
    FGmask = cv2.inRange(hsv, l_b, u_b)
    cv2.imshow('FGmask', FGmask)
    _, contours, hierarchy = cv2.findContours(FGmask, cv2.RETR_EXTERNAL,
        cv2.CHAIN_APPROX_SIMPLE)
    for cnt in contours:
        area = cv2.contourArea(cnt)
        x, y, w, h = cv2.boundingRect(cnt)
        if area >= 50:
            cv2.drawContours(frame, [cnt], 0, (255, 0, 0), 3)
            cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 3)
    cv2.imshow('nanoCam', frame)
    if cv2.waitKey(1) == ord('q'):
        break
cam.release()
cv2.destroyAllWindows()

import cv2
print(cv2.__version__)
import numpy as np
import pyrealsense2 as rs

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

def nothing(x):
    pass

cv2.namedWindow('Trackbars')

cv2.createTrackbar('hueLower', 'Trackbars',50,179,nothing)
cv2.createTrackbar('hueUpper', 'Trackbars',100,179,nothing)

cv2.createTrackbar('satLow', 'Trackbars',100,255,nothing)
cv2.createTrackbar('satHigh', 'Trackbars',255,255,nothing)

cv2.createTrackbar('valLow','Trackbars',100,255,nothing)
cv2.createTrackbar('valHigh','Trackbars',255,255,nothing)


dispW=640
dispH=480
flip=2
#Uncomment These next Two Line for Pi Camera
#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(0)

#Or, if you have a WEB cam, uncomment the next line
#(If it does not work, try setting to '1' instead of '0')
#cam=cv2.VideoCapture(0)
while True:
    # ret, frame = cam.read()
    #frame=cv2.imread('smarties.png')

    frames = pipeline.wait_for_frames()
    color_frame = frames.get_color_frame()
    frame = np.asanyarray(color_frame.get_data())

    hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)

    hueLow=cv2.getTrackbarPos('hueLower', 'Trackbars')
    hueUp=cv2.getTrackbarPos('hueUpper', 'Trackbars')

    Ls=cv2.getTrackbarPos('satLow', 'Trackbars')
    Us=cv2.getTrackbarPos('satHigh', 'Trackbars')

    Lv=cv2.getTrackbarPos('valLow', 'Trackbars')
    Uv=cv2.getTrackbarPos('valHigh', 'Trackbars')

    l_b=np.array([hueLow,Ls,Lv])
    u_b=np.array([hueUp,Us,Uv])


    FGmask=cv2.inRange(hsv,l_b,u_b)
    cv2.imshow('FGmask',FGmask)

    _, contours, hierarchy = cv2.findContours(FGmask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)    
    for cnt in contours:
        area=cv2.contourArea(cnt)
        (x,y,w,h)=cv2.boundingRect(cnt)
        if area>=50:
            cv2.drawContours(frame,[cnt],0,(255,0,0),3)
            cv2.rectangle(frame,(x,y),(x+w,y+h),(255,0,0),3)

    cv2.imshow('nanoCam',frame)
    

    if cv2.waitKey(1)==ord('q'):
        break
cam.release()
cv2.destroyAllWindows()
