diff --git a/webcam/ComputerVision.py b/webcam/ComputerVision.py
new file mode 100644
index 0000000000000000000000000000000000000000..cf7f57a2e72f8f45139f8f752289151992bc4278
--- /dev/null
+++ b/webcam/ComputerVision.py
@@ -0,0 +1,176 @@
+# import the necessary packages
+from collections import deque
+from imutils.video import VideoStream
+import numpy as np
+import argparse
+import cv2
+import imutils
+import time
+import keyboard
+import sys
+
+sys.argv = [sys.argv[0], '--file', '/home/henry/testMovement']
+
+def findBall(colourLower, colourUpper):
+ # construct a mask for the color "green", then perform
+ # a series of dilations and erosions to remove any small
+ # blobs left in the mask
+ mask = cv2.inRange(hsv, colourLower, colourUpper)
+ mask = cv2.erode(mask, None, iterations=2)
+ mask = cv2.dilate(mask, None, iterations=2)
+ # find contours in the mask and initialize the current
+ # (x, y) center of the ball
+ cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
+ cv2.CHAIN_APPROX_SIMPLE)
+ cnts = imutils.grab_contours(cnts)
+ center = None
+ # only proceed if at least one contour was found
+ if len(cnts) > 0:
+ # find the largest contour in the mask, then use
+ # it to compute the minimum enclosing circle and
+ # centroid
+ c = max(cnts, key=cv2.contourArea)
+ ((x, y), radius) = cv2.minEnclosingCircle(c)
+ M = cv2.moments(c)
+ center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
+ # only proceed if the radius meets a minimum size
+ if radius > 10:
+ # draw the circle and centroid on the frame,
+ # then update the list of tracked points
+ cv2.circle(frame, (int(x), int(y)), int(radius),
+ (0, 255, 255), 2)
+ cv2.circle(frame, center, 5, (0, 0, 255), -1)
+ return center
+
+#variable setup
+mode = "passive"
+dpress = 0
+ppress = 0
+linecolours = []
+pts = []
+# construct the argument parse and parse the arguments
+ap = argparse.ArgumentParser()
+ap.add_argument("-v", "--video",
+ help="path to the (optional) video file")
+ap.add_argument("-b", "--buffer", type=int, default=64,
+ help="max buffer size")
+ap.add_argument("-f", "--file",
+ help="path to (optional) movement file")
+args = vars(ap.parse_args())
+# define the lower and upper boundaries of the "green"
+# ball in the HSV color space, then initialize the
+# list of tracked points
+greenLower = (75, 86, 30)
+greenUpper = (90, 255, 255)
+
+# if a video path was not supplied, grab the reference
+# to the webcam
+if not args.get("video", False):
+ vs = VideoStream(src=0).start()
+# otherwise, grab a reference to the video file
+else:
+ vs = cv2.VideoCapture(args["video"])
+
+if args.get("file", False):
+ movementFile = open(args["file"])
+ line = movementFile.readline()
+ if line:
+ while line:
+ xy = line.split(",")
+ pts.append((int(xy[0]),int(xy[1])))
+ linecolours.append((0,0,255))
+ line = movementFile.readline()
+ mode = "checking"
+
+# allow the camera or video file to warm up
+time.sleep(2.0)
+# keep looping
+while True:
+ #some bad button code... i was tired this cane be re made
+ if keyboard.is_pressed('d'):
+ if dpress < 5:
+ dpress += 1
+ elif dpress != 100:
+ if mode == "passive":
+ pts = []
+ linecolours = []
+ mode = "recording"
+ elif mode == "recording":
+ mode = "passive"
+ dpress = 100
+ else:
+ dpress = 0
+ if keyboard.is_pressed('p'):
+ if ppress < 5:
+ ppress += 1
+ elif ppress != 100:
+ if mode == "recording":
+ mode = "checking"
+ elif mode == "checking":
+ mode = "passive"
+ pts = []
+ linecolours = []
+ ppress = 100
+ else:
+ ppress = 0
+ # grab the current frame
+ frame = vs.read()
+ # handle the frame from VideoCapture or VideoStream
+ frame = frame[1] if args.get("video", False) else frame
+ # if we are viewing a video and we did not grab a frame,
+ # then we have reached the end of the video
+ if frame is None:
+ break
+ # resize the frame, blur it, and convert it to the HSV
+ # color space
+ frame = cv2.flip(frame,1)
+ frame = imutils.resize(frame, width=600)
+ blurred = cv2.GaussianBlur(frame, (11, 11), 0)
+ hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
+
+ center = findBall(greenLower,greenUpper)
+
+ if mode == "recording":
+ try:
+ #add the starting point
+ if len(pts) == 0:
+ pts.append(center)
+ linecolours.append((0,0,255))
+ #if the controller has moved far enough add a new point at the centre
+ elif (abs(pts[-1][0] - center[0]) > 3) or (abs(pts[-1][1] - center[1]) > 3):
+ pts.append(center)
+ linecolours.append((0,0,255))
+ except:
+ pass
+ if mode == "checking":
+ #check if the controller is near any of the points and colour in close ones if the previous point was coloured
+ for i in range(1, len(pts)):
+ if pts[i - 1] is None or pts[i] is None or center is None:
+ continue
+ if (abs(pts[i][0] - center[0]) < 20) and (abs(pts[i][1] - center[1]) < 20) and (linecolours[i-1] == (0,255,0) or i < 2):
+ linecolours[i] = (0,255,0)
+ # loop over the set of tracked points
+ for i in range(1, len(pts)):
+ # if either of the tracked points are None, ignore
+ # them
+ if pts[i - 1] is None or pts[i] is None:
+ continue
+ # otherwise, compute the thickness of the line and
+ # draw the connecting lines
+ cv2.line(frame, pts[i - 1], pts[i], linecolours[i], 5)
+ # show the frame to our screen
+ cv2.imshow("Frame", frame)
+ key = cv2.waitKey(1) & 0xFF
+ # if the 'q' key is pressed, stop the loop
+ if key == ord("q"):
+ break
+# if we are not using a video file, stop the camera video stream
+if not args.get("video", False):
+ vs.stop()
+# otherwise, release the camera
+else:
+ vs.release()
+# close all windows
+cv2.destroyAllWindows()
+
+