Pedro Henrique Fonseca Bertoleti

Counting Objects In Movement Using Raspberry PI & OpenCV

What do you think in using Raspberry Pi & OpenCV to count moving objects that go in and out of a certain zone?

EasyFull instructions provided2 hours7,720
Counting Objects In Movement Using Raspberry PI & OpenCV

Things used in this project

Hardware components

Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
An ordinary USB webcam (any model Linux-compatible fits well here)
Power Source for Raspberry PI
A power-source (5V/3A recommended) with micro-USB connection. Some smartphone and tablet chargers fits well here too (in this case, observe if it's output current is compatible to what recommended for Raspberry PI)

Software apps and online services



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Project's source-code
import datetime
import math
import cv2
import numpy as np

#global variables
width = 0
height = 0
EntranceCounter = 0
ExitCounter = 0
MinCountourArea = 3000  #Adjust ths value according to your usage
BinarizationThreshold = 70  #Adjust ths value according to your usage
OffsetRefLines = 150  #Adjust ths value according to your usage

#Check if an object in entering in monitored zone
def CheckEntranceLineCrossing(y, , CoorYExitLine):
    AbsDistance = abs(y - CoorYEntranceLine)	

    if ((AbsDistance <= 2) and (y < CoorYExitLine)):
		return 1
		return 0

#Check if an object in exitting from monitored zone
def CheckExitLineCrossing(y, CoorYEntranceLine, CoorYExitLine):
    AbsDistance = abs(y - CoorYExitLine)	

	if ((AbsDistance <= 2) and (y > CoorYEntranceLine)):
		return 1
		return 0

camera = cv2.VideoCapture(0)

#force 640x480 webcam resolution

ReferenceFrame = None

#The webcam maybe get some time / captured frames to adapt to ambience lighting. For this reason, some frames are grabbed and discarted.
for i in range(0,20):
    (grabbed, Frame) =

while True:    
    (grabbed, Frame) =
    height = np.size(Frame,0)
    width = np.size(Frame,1)

    #if cannot grab a frame, this program ends here.
    if not grabbed:

    #gray-scale convertion and Gaussian blur filter applying
    GrayFrame = cv2.cvtColor(Frame, cv2.COLOR_BGR2GRAY)
    GrayFrame = cv2.GaussianBlur(GrayFrame, (21, 21), 0)
    if ReferenceFrame is None:
        ReferenceFrame = GrayFrame

    #Background subtraction and image binarization
    FrameDelta = cv2.absdiff(ReferenceFrame, GrayFrame)
    FrameThresh = cv2.threshold(FrameDelta, BinarizationThreshold, 255, cv2.THRESH_BINARY)[1]
    #Dilate image and find all the contours
    FrameThresh = cv2.dilate(FrameThresh, None, iterations=2)
    _, cnts, _ = cv2.findContours(FrameThresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    QttyOfContours = 0

    #plot reference lines (entrance and exit lines) 
    CoorYEntranceLine = (height / 2)-OffsetRefLines
    CoorYExitLine = (height / 2)+OffsetRefLines
    cv2.line(Frame, (0,CoorYEntranceLine), (width,CoorYEntranceLine), (255, 0, 0), 2)
    cv2.line(Frame, (0,CoorYExitLine), (width,CoorYExitLine), (0, 0, 255), 2)

    #check all found countours
    for c in cnts:
        #if a contour has small area, it'll be ignored
        if cv2.contourArea(c) < MinCountourArea:

        QttyOfContours = QttyOfContours+1    

        #draw an rectangle "around" the object
        (x, y, w, h) = cv2.boundingRect(c)
        cv2.rectangle(Frame, (x, y), (x + w, y + h), (0, 255, 0), 2)

        #find object's centroid
        CoordXCentroid = (x+x+w)/2
		CoordYCentroid = (y+y+h)/2
        ObjectCentroid = (CoordXCentroid,CoordYCentroid), ObjectCentroid, 1, (0, 0, 0), 5)
		if (CheckEntranceLineCrossing(CoordYCentroid,CoorYEntranceLine,CoorYExitLine)):
            EntranceCounter += 1

		if (CheckExitLineCrossing(CoordYCentroid,CoorYEntranceLine,CoorYExitLine)):  
            ExitCounter += 1

    print "Total countours found: "+str(QttyOfContours)

    #Write entrance and exit counter values on frame and shows it
    cv2.putText(Frame, "Entrances: {}".format(str(EntranceCounter)), (10, 50),
                cv2.FONT_HERSHEY_SIMPLEX, 0.5, (250, 0, 1), 2)
    cv2.putText(Frame, "Exits: {}".format(str(ExitCounter)), (10, 70),
                cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
    cv2.imshow("Original Frame", Frame)

# cleanup the camera and close any open windows


Pedro Henrique Fonseca Bertoleti

Pedro Henrique Fonseca Bertoleti

6 projects • 16 followers
Hi there! My name is Pedro Bertoleti. I am aboslutely crazy about: - Electronics - Embedded software design - Technology