#global low1,upp1,low2,upp2,low3,upp3 import numpy as np import cv2 import WYChsv from motorm import turn from time import sleep from bottclr import bottclr from RED_BOTH import RED_BOTH from targs import targs from targx import targx from WYC2 import Target2 from WYC2 import hsec from WYC2 import road from WYC2 import motcam from WYC2 import Rturn from WYC2 import Lturn from WYC2 import RSturn from WYC2 import LSturn #********************** MAIN ************************ RGX=0.06; RN=100; Kshow=1 Lx=640; Ly=480; F=2; Lx2=int(Lx/F); Ly2=int(Ly/F); XLT=Lx2-100; XRT=Lx2+100 WD=0; F8=8; Lx8=int((Lx-2*WD)/F8); Ly8=int(Ly/F8); MIDX=int(Lx8/2) WM=30; X1=MIDX-WM; X2=MIDX+WM+1; MIX=int((X1+X2)/2) BADISx=int(Ly8*0.8); RGX=0.06; RN=100; Kshow=1; NTR=50; NBAR=0; TARG=0; win='imgcam'; WALL=int(Lx8/2) yiscan=[Ly8-7-3*i for i in range(10)]; XLEFT=int(Lx8/8*3.5); XRIGHT=int(Lx8/8*4.5) low1=np.array([ 50,100, 40]);upp1=np.array([ 70,150,100]) #G low2=np.array([170,150, 50]);upp2=np.array([180,255,255]) # R low3=np.array([ 0,150, 50]);upp3=np.array([ 10,255,255]) # R cap = cv2.VideoCapture(0) cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640) cap.set(cv2.CAP_PROP_FRAME_HEIGHT,480) fourcc = cv2.VideoWriter_fourcc(*'XVID') out=cv2.VideoWriter('WYC.avi',fourcc,20.0,(Lx,Ly)) sleep(2) ret,image=cap.read() s1=cv2.resize(image,(320,240)) s2=cv2.resize(image,(320,240)) s3=cv2.resize(image,(320,240)) s4=cv2.resize(image,(320,240)) hs12=np.hstack((s1,s2)) hs34=np.hstack((s3,s4)) hs1234=np.vstack((hs12,hs34)) cv2.imshow('hs1234',hs1234); out.write(hs1234) ''' def motcam(cap,win,Ns,lsp,rsp,dur): for j in range(Ns): ret,image=cap.read() s1=cv2.resize(image,(320,240)) s2=np.copy(s1); s3=np.copy(s1); s4=np.copy(s1) hs12=np.hstack((s1,s2)) hs1234=np.vstack((hs12,hs34)) cv2.imshow('hs1234',hs1234); out.write(hs1234) if cv2.waitKey(1) & 0xFF == ord('q'): break turn(lsp,rsp,dur); turn(-0.00,-0.00,1.00) ''' #imgt,tm12,TDR,tbox=Target2(image); #motcam(cap,win,8,0.4,-0.4,0.1); motcam(cap,win,3,0.0,0.0,0.5) #motcam(cap,win,6,0.0,0.8,0.1); motcam(cap,win,3,0.4,0.4,0.1) Rturn(cap,win,out) ''' cap = cv2.VideoCapture(0) cap.set(cv2.CAP_PROP_FRAME_WIDTH,640) cap.set(cv2.CAP_PROP_FRAME_HEIGHT,480) fourcc = cv2.VideoWriter_fourcc(*'XVID') out=cv2.VideoWriter('carTB.mp4', fourcc, 20.0, (640,480)) sleep(2) ret,img=cap.read() imgt=np.copy(img) ''' if(1==1): LXM=image.shape[1]; LYM=image.shape[0]; WALL=int(LXM*0.5) low1=np.array([50,100,40]);upp1=np.array([70,255,255]) #G low2=np.array([170,150,50]);upp2=np.array([180,255,255]) # R low3=np.array([0,150,50]);upp3=np.array([10,255,255]) # R low1=np.array([50,100,40]);upp1=np.array([70,255,255]) #G low_rd = np.array([0 , 0,100]); upp_rd = np.array([255, 40,255]) print('yiscan=',yiscan,' BADISx=',BADISx) #-------------------- H8=0; KTARG=0; Nmiss=0; DR=0; NRCH=0 for k in range(43): if(NRCH>6): break ret,image=cap.read() imgt,tm12,TDR,tbox=Target2(image); KBARR,MBAR,BDR,xc,yc,yb,datax,clone1=road(image,tm12) #print(tbox,'datax=',datax) H8a=tbox[-1]; #print('tbox=',tbox,H8a) if(KTARG==1 and tbox[5]==0): Nmiss+=1; print('Nmiss=',Nmiss); continue if(tbox[5]==1): KTARG=tbox[5]; Nmiss=0 if(H8a>H8): H8=H8a if(TDR==0): DR=BDR if(TDR>0 and KBARR==1): dx=abs(tbox[0]-datax[2][0]); dy=abs(tbox[1]-datax[2][1]) #if(H8<10 and BDR>10): DR=BDR if(dx<8 and dy<8 and H8>9): DR=TDR; #print('T=B,dx,dy=',dx,dy) else: DR=BDR if(BDR>20 and (xc<15 or xc>65 or H8>7)): DR=TDR if(TDR>0 and KBARR==0): DR=TDR s1=cv2.resize(image,(320,240)) s2=cv2.resize(image,(320,240)) s3=cv2.resize(imgt,(320,240)) s4=cv2.resize(clone1,(320,240)) hs12=np.hstack((s1,s2)) hs34=np.hstack((s3,s4)) hs1234=np.vstack((hs12,hs34)) cv2.imshow('hs1234',hs1234); out.write(hs1234) if(H8>20): print('k=',k,'REACH TARGET, H8=',H8); DR=0; NRCH+=1; sleep(2) else: print('k=',k,'DR=',DR,'TDR=',TDR,BDR,KBARR,MBAR,xc,yc,yb,'H8=',H8) if cv2.waitKey(1) & 0xFF == ord('q'): break if(k==0): cv2.waitKey(0); sleep(1) #if(DR>10): cv2.waitKey(0) if(DR==11):turn(0.3,0.3,0.10); turn(0,0,0.05); if(DR==1):turn(0.3,0.3,0.1); turn(0,0,0.05); if(DR==3): turn(0.0,0.4,0.10); turn(0,0,0.05); if(DR==7): turn(0.4,0.0,0.10); turn(0,0,0.05); if(DR==13): Lturn(cap,win,out) if(DR==17): Rturn(cap,win,out) if(DR==23): LSturn(cap,win,out) if(DR==27): RSturn(cap,win,out) if(DR==0): turn(0.0,0.0,0.10); turn(0,0,0.05); #cv2.waitKey(0) cv2.destroyAllWindows(); cap.release() out.release() if(1==2): H8=0 for j in range(10): ret,image=cap.read() #............................................ imgt,TDR,tbox=Target2(image); (x,y,w,h)=tbox[0:4] XT8=int(x/8); DT8=int(w/8); YT8=int(y/8); H8a=int(h/8); YTG=YT8+H8 if(H8a>H8): H8=H8a print('###j_=',j,TDR,tbox,(x,y,w,h),XT8,DT8,H8) #............................................ res2,Bdat=barrier(image); lenB=len(Bdat) print('j_NTR=',j,lenB,' Bdat=',Bdat) s1=cv2.resize(image,(320,240)) s2=cv2.resize(imgt,(320,240)) s3=cv2.resize(res2,(320,240)) hs123=np.hstack((s1,s2,s3)) cv2.imshow('hs123',hs123) #out.write(hs123) cv2.waitKey(0) cv2.waitKey(0) cv2.destroyAllWindows(); cap.release() out.release() #dr,lred,midl,sh,img1=RED_BOTH(img) #botclr(img) #print('dr,lred,sh=',dr,lred,sh) #cv2.imshow('img1',img1) #boxes,h2=targs(MSK,low1,upp1,low2,upp2,img) #boxes,h2=targx(MSK,low1,upp1,low2,upp2,img) #print(j,len(boxes),boxes) #cv2.imshow('h2',h2) #cv2.imwrite('targ_red_'+str(j)+'.png',h2)