# import the necessary packages
from imutils.video import FPS
import numpy as np
import argparse
import imutils
import dlib
import cv2

# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-p", "--prototxt", required=True,
    help="path to Caffe 'deploy' prototxt file")
ap.add_argument("-m", "--model", required=True,
    help="path to Caffe pre-trained model")
ap.add_argument("-v", "--video", required=True,
    help="path to input video file")
ap.add_argument("-o", "--output", type=str,
    help="path to optional output video file")
ap.add_argument("-c", "--confidence", type=float, default=0.2,
    help="minimum probability to filter weak detections")
args = vars(ap.parse_args())

# initialize the list of class labels MobileNet SSD was trained to
# detect
CLASSES = ["background", "aeroplane", "bicycle", "bird", "boat",
    "bottle", "bus", "car", "cat", "chair", "cow", "diningtable",
    "dog", "horse", "motorbike", "person", "pottedplant", "sheep",
    "sofa", "train", "tvmonitor"]
# load our serialized model from disk
print("[INFO] loading model...")
net = cv2.dnn.readNetFromCaffe(args["prototxt"], args["model"])

# initialize the video stream and output video writer
print("[INFO] starting video stream...")
vs = cv2.VideoCapture(args["video"])
writer = None
# initialize the list of object trackers and corresponding class
# labels
trackers = []
labels = []
# start the frames per second throughput estimator
fps = FPS().start()

# loop over frames from the video file stream
while True:
    # grab the next frame from the video file
    (grabbed, frame) = vs.read()
    # check to see if we have reached the end of the video file
    if frame is None:
        break
    # resize the frame for faster processing and then convert the
    # frame from BGR to RGB ordering (dlib needs RGB ordering)
    frame = imutils.resize(frame, width=600)
    rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    # if we are supposed to be writing a video to disk, initialize
    # the writer
    if args["output"] is not None and writer is None:
        fourcc = cv2.VideoWriter_fourcc(*"MJPG")
        writer = cv2.VideoWriter(args["output"], fourcc, 30,
            (frame.shape[1], frame.shape[0]), True)

    # if there are no object trackers we first need to detect objects
    # and then create a tracker for each object
    if len(trackers) == 0:
        # grab the frame dimensions and convert the frame to a blob
        (h, w) = frame.shape[:2]
        blob = cv2.dnn.blobFromImage(frame, 0.007843, (w, h), 127.5)
        # pass the blob through the network and obtain the detections
        # and predictions
        net.setInput(blob)
        detections = net.forward()

        # loop over the detections
        for i in np.arange(0, detections.shape[2]):
            # extract the confidence (i.e., probability) associated
            # with the prediction
            confidence = detections[0, 0, i, 2]
            # filter out weak detections by requiring a minimum
            # confidence
            if confidence > args["confidence"]:
                # extract the index of the class label from the
                # detections list
                idx = int(detections[0, 0, i, 1])
                label = CLASSES[idx]
                # if the class label is not a person, ignore it
                if CLASSES[idx] != "person":
                    continue

                # compute the (x, y)-coordinates of the bounding box
                # for the object
                box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
                (startX, startY, endX, endY) = box.astype("int")
                # construct a dlib rectangle object from the bounding
                # box coordinates and start the correlation tracker
                t = dlib.correlation_tracker()
                rect = dlib.rectangle(startX, startY, endX, endY)
                t.start_track(rgb, rect)
                # update our set of trackers and corresponding class
                # labels
                labels.append(label)
                trackers.append(t)
                # grab the corresponding class label for the detection
                # and draw the bounding box
                cv2.rectangle(frame, (startX, startY), (endX, endY),
                    (0, 255, 0), 2)
                cv2.putText(frame, label, (startX, startY - 15),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

    # otherwise, we've already performed detection so let's track
    # multiple objects
    else:
        # loop over each of the trackers
        for (t, l) in zip(trackers, labels):
            # update the tracker and grab the position of the tracked
            # object
            t.update(rgb)
            pos = t.get_position()
            # unpack the position object
            startX = int(pos.left())
            startY = int(pos.top())
            endX = int(pos.right())
            endY = int(pos.bottom())
            # draw the bounding box from the correlation object tracker
            cv2.rectangle(frame, (startX, startY), (endX, endY),
                (0, 255, 0), 2)
            cv2.putText(frame, l, (startX, startY - 15),
                cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

    # check to see if we should write the frame to disk
    if writer is not None:
        writer.write(frame)
    # show the output frame
    cv2.imshow("Frame", frame)
    key = cv2.waitKey(1) & 0xFF
    # if the `q` key was pressed, break from the loop
    if key == ord("q"):
        break
    # update the FPS counter
    fps.update()

# stop the timer and display FPS information
fps.stop()
print("[INFO] elapsed time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))
# check to see if we need to release the video writer pointer
if writer is not None:
    writer.release()
# do a bit of cleanup
cv2.destroyAllWindows()
vs.release()

$ python multi_object_tracking_slow.py --prototxt mobilenet_ssd/MobileNetSSD_deploy.prototxt \
    --model mobilenet_ssd/MobileNetSSD_deploy.caffemodel \
    --video race.mp4 --output race_output_slow.avi
[INFO] loading model...
[INFO] starting video stream...
[INFO] elapsed time: 24.51
[INFO] approx. FPS: 13.87

# import the necessary packages
from imutils.video import FPS
import multiprocessing
import numpy as np
import argparse
import imutils
import dlib
import cv2

def start_tracker(box, label, rgb, inputQueue, outputQueue):
    # construct a dlib rectangle object from the bounding box
    # coordinates and then start the correlation tracker
    t = dlib.correlation_tracker()
    rect = dlib.rectangle(box[0], box[1], box[2], box[3])
    t.start_track(rgb, rect)

    # loop indefinitely -- this function will be called as a daemon
    # process so we don't need to worry about joining it
    while True:
        # attempt to grab the next frame from the input queue
        rgb = inputQueue.get()
        # if there was an entry in our queue, process it
        if rgb is not None:
            # update the tracker and grab the position of the tracked
            # object
            t.update(rgb)
            pos = t.get_position()
            # unpack the position object
            startX = int(pos.left())
            startY = int(pos.top())
            endX = int(pos.right())
            endY = int(pos.bottom())
            # add the label + bounding box coordinates to the output
            # queue
            outputQueue.put((label, (startX, startY, endX, endY)))

# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-p", "--prototxt", required=True,
    help="path to Caffe 'deploy' prototxt file")
ap.add_argument("-m", "--model", required=True,
    help="path to Caffe pre-trained model")
ap.add_argument("-v", "--video", required=True,
    help="path to input video file")
ap.add_argument("-o", "--output", type=str,
    help="path to optional output video file")
ap.add_argument("-c", "--confidence", type=float, default=0.2,
    help="minimum probability to filter weak detections")
args = vars(ap.parse_args())

# initialize our lists of queues -- both input queue and output queue
# for *every* object that we will be tracking
inputQueues = []
outputQueues = []

# initialize the list of class labels MobileNet SSD was trained to
# detect
CLASSES = ["background", "aeroplane", "bicycle", "bird", "boat",
    "bottle", "bus", "car", "cat", "chair", "cow", "diningtable",
    "dog", "horse", "motorbike", "person", "pottedplant", "sheep",
    "sofa", "train", "tvmonitor"]
# load our serialized model from disk
print("[INFO] loading model...")
net = cv2.dnn.readNetFromCaffe(args["prototxt"], args["model"])
# initialize the video stream and output video writer
print("[INFO] starting video stream...")
vs = cv2.VideoCapture(args["video"])
writer = None
# start the frames per second throughput estimator
fps = FPS().start()

# loop over frames from the video file stream
while True:
    # grab the next frame from the video file
    (grabbed, frame) = vs.read()
    # check to see if we have reached the end of the video file
    if frame is None:
        break
    # resize the frame for faster processing and then convert the
    # frame from BGR to RGB ordering (dlib needs RGB ordering)
    frame = imutils.resize(frame, width=600)
    rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
    # if we are supposed to be writing a video to disk, initialize
    # the writer
    if args["output"] is not None and writer is None:
        fourcc = cv2.VideoWriter_fourcc(*"MJPG")
        writer = cv2.VideoWriter(args["output"], fourcc, 30,
            (frame.shape[1], frame.shape[0]), True)

    # if our list of queues is empty then we know we have yet to
    # create our first object tracker
    if len(inputQueues) == 0:
        # grab the frame dimensions and convert the frame to a blob
        (h, w) = frame.shape[:2]
        blob = cv2.dnn.blobFromImage(frame, 0.007843, (w, h), 127.5)
        # pass the blob through the network and obtain the detections
        # and predictions
        net.setInput(blob)
        detections = net.forward()
        # loop over the detections
        for i in np.arange(0, detections.shape[2]):
            # extract the confidence (i.e., probability) associated
            # with the prediction
            confidence = detections[0, 0, i, 2]
            # filter out weak detections by requiring a minimum
            # confidence
            if confidence > args["confidence"]:
                # extract the index of the class label from the
                # detections list
                idx = int(detections[0, 0, i, 1])
                label = CLASSES[idx]
                # if the class label is not a person, ignore it
                if CLASSES[idx] != "person":
                    continue

                # compute the (x, y)-coordinates of the bounding box
                # for the object
                box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
                (startX, startY, endX, endY) = box.astype("int")
                bb = (startX, startY, endX, endY)
                # create two brand new input and output queues,
                # respectively
                iq = multiprocessing.Queue()
                oq = multiprocessing.Queue()
                inputQueues.append(iq)
                outputQueues.append(oq)
                # spawn a daemon process for a new object tracker
                p = multiprocessing.Process(
                    target=start_tracker,
                    args=(bb, label, rgb, iq, oq))
                p.daemon = True
                p.start()
                # grab the corresponding class label for the detection
                # and draw the bounding box
                cv2.rectangle(frame, (startX, startY), (endX, endY),
                    (0, 255, 0), 2)
                cv2.putText(frame, label, (startX, startY - 15),
                    cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

    # otherwise, we've already performed detection so let's track
    # multiple objects
    else:
        # loop over each of our input ques and add the input RGB
        # frame to it, enabling us to update each of the respective
        # object trackers running in separate processes
        for iq in inputQueues:
            iq.put(rgb)
        # loop over each of the output queues
        for oq in outputQueues:
            # grab the updated bounding box coordinates for the
            # object -- the .get method is a blocking operation so
            # this will pause our execution until the respective
            # process finishes the tracking update
            (label, (startX, startY, endX, endY)) = oq.get()
            # draw the bounding box from the correlation object
            # tracker
            cv2.rectangle(frame, (startX, startY), (endX, endY),
                (0, 255, 0), 2)
            cv2.putText(frame, label, (startX, startY - 15),
                cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

    # check to see if we should write the frame to disk
    if writer is not None:
        writer.write(frame)
    # show the output frame
    cv2.imshow("Frame", frame)
    key = cv2.waitKey(1) & 0xFF
    # if the `q` key was pressed, break from the loop
    if key == ord("q"):
        break
    # update the FPS counter
    fps.update()
# stop the timer and display FPS information
fps.stop()
print("[INFO] elapsed time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))
# check to see if we need to release the video writer pointer
if writer is not None:
    writer.release()
# do a bit of cleanup
cv2.destroyAllWindows()
vs.release()

$ python multi_object_tracking_fast.py --prototxt mobilenet_ssd/MobileNetSSD_deploy.prototxt \
    --model mobilenet_ssd/MobileNetSSD_deploy.caffemodel \
    --video race.mp4 --output race_output_fast.avi
[INFO] loading model...
[INFO] starting video stream...
[INFO] elapsed time: 14.01
[INFO] approx. FPS: 24.26

# USAGE
# python multi_object_tracking_slow.py --prototxt mobilenet_ssd/MobileNetSSD_deploy.prototxt \
# 	--model mobilenet_ssd/MobileNetSSD_deploy.caffemodel --video race.mp4

# import the necessary packages
from imutils.video import FPS
import numpy as np
import argparse
import imutils
import dlib
import cv2

# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-p", "--prototxt", required=True,
	help="path to Caffe 'deploy' prototxt file")
ap.add_argument("-m", "--model", required=True,
	help="path to Caffe pre-trained model")
# ap.add_argument("-v", "--video", required=True,
# 	help="path to input video file")
ap.add_argument("-v", "--video",
	help="path to input video file")
ap.add_argument("-o", "--output", type=str,
	help="path to optional output video file")
ap.add_argument("-c", "--confidence", type=float, default=0.2,
	help="minimum probability to filter weak detections")
args = vars(ap.parse_args())

# initialize the list of class labels MobileNet SSD was trained to
# detect
CLASSES = ["background", "aeroplane", "bicycle", "bird", "boat",
	"bottle", "bus", "car", "cat", "chair", "cow", "diningtable",
	"dog", "horse", "motorbike", "person", "pottedplant", "sheep",
	"sofa", "train", "tvmonitor"]

# load our serialized model from disk
print("[INFO] loading model...")
net = cv2.dnn.readNetFromCaffe(args["prototxt"], args["model"])

# initialize the video stream and output video writer
print("[INFO] starting video stream...")
# vs = cv2.VideoCapture(args["video"])
vs = cv2.VideoCapture(0)
writer = None

# initialize the list of object trackers and corresponding class
# labels
trackers = []
labels = []

# start the frames per second throughput estimator
fps = FPS().start()

# loop over frames from the video file stream
while True:
	# grab the next frame from the video file
	(grabbed, frame) = vs.read()

	# check to see if we have reached the end of the video file
	if frame is None:
		break

	# resize the frame for faster processing and then convert the
	# frame from BGR to RGB ordering (dlib needs RGB ordering)
	frame = imutils.resize(frame, width=600)
	rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)

	# if we are supposed to be writing a video to disk, initialize
	# the writer
	if args["output"] is not None and writer is None:
		fourcc = cv2.VideoWriter_fourcc(*"MJPG")
		writer = cv2.VideoWriter(args["output"], fourcc, 30,
			(frame.shape[1], frame.shape[0]), True)

	# if there are no object trackers we first need to detect objects
	# and then create a tracker for each object
	if len(trackers) == 0:
		# grab the frame dimensions and convert the frame to a blob
		(h, w) = frame.shape[:2]
		blob = cv2.dnn.blobFromImage(frame, 0.007843, (w, h), 127.5)

		# pass the blob through the network and obtain the detections
		# and predictions
		net.setInput(blob)
		detections = net.forward()

		# loop over the detections
		for i in np.arange(0, detections.shape[2]):
			# extract the confidence (i.e., probability) associated
			# with the prediction
			confidence = detections[0, 0, i, 2]

			# filter out weak detections by requiring a minimum
			# confidence
			if confidence > args["confidence"]:
				# extract the index of the class label from the
				# detections list
				idx = int(detections[0, 0, i, 1])
				label = CLASSES[idx]

				# if the class label is not a person, ignore it
				if CLASSES[idx] != "person":
					continue

				# compute the (x, y)-coordinates of the bounding box
				# for the object
				box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
				(startX, startY, endX, endY) = box.astype("int")

				# construct a dlib rectangle object from the bounding
				# box coordinates and start the correlation tracker
				t = dlib.correlation_tracker()
				rect = dlib.rectangle(startX, startY, endX, endY)
				t.start_track(rgb, rect)

				# update our set of trackers and corresponding class
				# labels
				labels.append(label)
				trackers.append(t)

				# grab the corresponding class label for the detection
				# and draw the bounding box
				cv2.rectangle(frame, (startX, startY), (endX, endY),
					(0, 255, 0), 2)
				cv2.putText(frame, label, (startX, startY - 15),
					cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

	# otherwise, we've already performed detection so let's track
	# multiple objects
	else:
		# loop over each of the trackers
		for (t, l) in zip(trackers, labels):
			# update the tracker and grab the position of the tracked
			# object
			t.update(rgb)
			pos = t.get_position()

			# unpack the position object
			startX = int(pos.left())
			startY = int(pos.top())
			endX = int(pos.right())
			endY = int(pos.bottom())

			# draw the bounding box from the correlation object tracker
			cv2.rectangle(frame, (startX, startY), (endX, endY),
				(0, 255, 0), 2)
			cv2.putText(frame, l, (startX, startY - 15),
				cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

	# check to see if we should write the frame to disk
	if writer is not None:
		writer.write(frame)

	# show the output frame
	cv2.imshow("Frame", frame)
	key = cv2.waitKey(1) & 0xFF

	# if the `q` key was pressed, break from the loop
	if key == ord("q"):
		break

	# update the FPS counter
	fps.update()

# stop the timer and display FPS information
fps.stop()
print("[INFO] elapsed time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))

# check to see if we need to release the video writer pointer
if writer is not None:
	writer.release()

# do a bit of cleanup
cv2.destroyAllWindows()
vs.release()

# USAGE
# python multi_object_tracking_fast.py --prototxt mobilenet_ssd/MobileNetSSD_deploy.prototxt \
#	--model mobilenet_ssd/MobileNetSSD_deploy.caffemodel --video race.mp4

# import the necessary packages
from imutils.video import FPS
import multiprocessing
import numpy as np
import argparse
import imutils
import dlib
import cv2

def start_tracker(box, label, rgb, inputQueue, outputQueue):
	# construct a dlib rectangle object from the bounding box
	# coordinates and then start the correlation tracker
	t = dlib.correlation_tracker()
	rect = dlib.rectangle(box[0], box[1], box[2], box[3])
	t.start_track(rgb, rect)

	# loop indefinitely -- this function will be called as a daemon
	# process so we don't need to worry about joining it
	while True:
		# attempt to grab the next frame from the input queue
		rgb = inputQueue.get()

		# if there was an entry in our queue, process it
		if rgb is not None:
			# update the tracker and grab the position of the tracked
			# object
			t.update(rgb)
			pos = t.get_position()

			# unpack the position object
			startX = int(pos.left())
			startY = int(pos.top())
			endX = int(pos.right())
			endY = int(pos.bottom())

			# add the label + bounding box coordinates to the output
			# queue
			outputQueue.put((label, (startX, startY, endX, endY)))

# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-p", "--prototxt", required=True,
	help="path to Caffe 'deploy' prototxt file")
ap.add_argument("-m", "--model", required=True,
	help="path to Caffe pre-trained model")
ap.add_argument("-v", "--video", required=True,
	help="path to input video file")
ap.add_argument("-o", "--output", type=str,
	help="path to optional output video file")
ap.add_argument("-c", "--confidence", type=float, default=0.2,
	help="minimum probability to filter weak detections")
args = vars(ap.parse_args())

# initialize our list of queues -- both input queue and output queue
# for *every* object that we will be tracking
inputQueues = []
outputQueues = []

# initialize the list of class labels MobileNet SSD was trained to
# detect
CLASSES = ["background", "aeroplane", "bicycle", "bird", "boat",
	"bottle", "bus", "car", "cat", "chair", "cow", "diningtable",
	"dog", "horse", "motorbike", "person", "pottedplant", "sheep",
	"sofa", "train", "tvmonitor"]

# load our serialized model from disk
print("[INFO] loading model...")
net = cv2.dnn.readNetFromCaffe(args["prototxt"], args["model"])

# initialize the video stream and output video writer
print("[INFO] starting video stream...")
vs = cv2.VideoCapture(args["video"])
writer = None

# start the frames per second throughput estimator
fps = FPS().start()

# loop over frames from the video file stream
while True:
	# grab the next frame from the video file
	(grabbed, frame) = vs.read()

	# check to see if we have reached the end of the video file
	if frame is None:
		break

	# resize the frame for faster processing and then convert the
	# frame from BGR to RGB ordering (dlib needs RGB ordering)
	frame = imutils.resize(frame, width=600)
	rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)

	# if we are supposed to be writing a video to disk, initialize
	# the writer
	if args["output"] is not None and writer is None:
		fourcc = cv2.VideoWriter_fourcc(*"MJPG")
		writer = cv2.VideoWriter(args["output"], fourcc, 30,
			(frame.shape[1], frame.shape[0]), True)

	# if our list of queues is empty then we know we have yet to
	# create our first object tracker
	if len(inputQueues) == 0:
		# grab the frame dimensions and convert the frame to a blob
		(h, w) = frame.shape[:2]
		blob = cv2.dnn.blobFromImage(frame, 0.007843, (w, h), 127.5)

		# pass the blob through the network and obtain the detections
		# and predictions
		net.setInput(blob)
		detections = net.forward()

		# loop over the detections
		for i in np.arange(0, detections.shape[2]):
			# extract the confidence (i.e., probability) associated
			# with the prediction
			confidence = detections[0, 0, i, 2]

			# filter out weak detections by requiring a minimum
			# confidence
			if confidence > args["confidence"]:
				# extract the index of the class label from the
				# detections list
				idx = int(detections[0, 0, i, 1])
				label = CLASSES[idx]

				# if the class label is not a person, ignore it
				if CLASSES[idx] != "person":
					continue

				# compute the (x, y)-coordinates of the bounding box
				# for the object
				box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
				(startX, startY, endX, endY) = box.astype("int")
				bb = (startX, startY, endX, endY)

				# create two brand new input and output queues,
				# respectively
				iq = multiprocessing.Queue()
				oq = multiprocessing.Queue()
				inputQueues.append(iq)
				outputQueues.append(oq)

				# spawn a daemon process for a new object tracker
				p = multiprocessing.Process(
					target=start_tracker,
					args=(bb, label, rgb, iq, oq))
				p.daemon = True
				p.start()

				# grab the corresponding class label for the detection
				# and draw the bounding box
				cv2.rectangle(frame, (startX, startY), (endX, endY),
					(0, 255, 0), 2)
				cv2.putText(frame, label, (startX, startY - 15),
					cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

	# otherwise, we've already performed detection so let's track
	# multiple objects
	else:
		# loop over each of our input ques and add the input RGB
		# frame to it, enabling us to update each of the respective
		# object trackers running in separate processes
		for iq in inputQueues:
			iq.put(rgb)

		# loop over each of the output queues
		for oq in outputQueues:
			# grab the updated bounding box coordinates for the
			# object -- the .get method is a blocking operation so
			# this will pause our execution until the respective
			# process finishes the tracking update
			(label, (startX, startY, endX, endY)) = oq.get()

			# draw the bounding box from the correlation object
			# tracker
			cv2.rectangle(frame, (startX, startY), (endX, endY),
				(0, 255, 0), 2)
			cv2.putText(frame, label, (startX, startY - 15),
				cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)

	# check to see if we should write the frame to disk
	if writer is not None:
		writer.write(frame)

	# show the output frame
	cv2.imshow("Frame", frame)
	key = cv2.waitKey(1) & 0xFF

	# if the `q` key was pressed, break from the loop
	if key == ord("q"):
		break

	# update the FPS counter
	fps.update()

# stop the timer and display FPS information
fps.stop()
print("[INFO] elapsed time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))

# check to see if we need to release the video writer pointer
if writer is not None:
	writer.release()

# do a bit of cleanup
cv2.destroyAllWindows()
vs.release()