detect_vehicles.py

def get_centroid(x, y, w, h):
    x1 = int(w / 2)
    y1 = int(h / 2)

    cx = x + x1
    cy = y + y1

    return (cx, cy)

def detect_vehicles(fg_mask, min_contour_width=35, min_contour_height=35):

    matches = []

    # finding external contours
    im, contours, hierarchy = cv2.findContours(
        fg_mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1)

    # filtering by with, height
    for (i, contour) in enumerate(contours):
        (x, y, w, h) = cv2.boundingRect(contour)
        contour_valid = (w >= min_contour_width) and (
            h >= min_contour_height)

        if not contour_valid:
            continue
        
        # getting center of the bounding box
        centroid = get_centroid(x, y, w, h)

        matches.append(((x, y, w, h), centroid))

    return matches