import numpy as np import cv2 from motorm import turn from time import sleep from pynput import keyboard TS=0 if(TS==1): from tensorflow import keras from trackh5 import modh5 import time #from trackblue import tarbox #from trackblue import bluebox def modh5(model,LAB,img): test=[] test.append(img) testa=np.array(test) X_test=testa X_test=X_test.reshape(X_test.shape[0],128,128,1).astype("float32") pred = np.argmax(model.predict(X_test),axis=1) p1=pred[0]; L1=LAB[p1] #print('pred=',pred,p1,L1) return L1 def tarbox(image): Lx=image.shape[1]; Ly=image.shape[0]; Lxg=Lx; Lyg=Ly; Fg=1 img2 = cv2.resize(image, (Lxg,Lyg), interpolation=cv2.INTER_AREA) img2=np.copy(image) gray = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY) cnts1,_ = cv2.findContours(gray.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) # cv2.RETR_LIST lcnts1=len(cnts1); #print('lcnts1=',lcnts1) N1=0; ax=0; cx=0; px=0; mx1=0; Kc1=0; xx1=[0 for i in range(5)] clone1=img2.copy(); data1=[] #---------------only the largest contour concerned------ if(lcnts1>0): cx=max(cnts1,key=cv2.contourArea) areax=cv2.contourArea(cx); areax=round(areax,3); if(areax>1000): M=cv2.moments(cx) if(M['m00']==0): M['m00']=1 cX=int(M['m10']/M['m00']); cY=int(M['m01']/M['m00']) area = cv2.contourArea(cx); area3=round(area,3); area=int(area) Kc1=1; N1+=1; (x,y,w,h)=cv2.boundingRect(cx); xx1=(x,y,w,h); mx1=(cX,cY) d=[area,xx1,mx1]; data1.append(d) cv2.circle(clone1,mx1,6,(0,125,255),-1) x,y,w,h=xx1[0],xx1[1],xx1[2],xx1[3] cv2.rectangle(clone1,(x,y),(x+w,y+h),(255,125,0),1) for c in cnts1: M=cv2.moments(c) if(M['m00']==0): M['m00']=1 cX=int(M['m10']/M['m00']); cY=int(M['m01']/M['m00']) area = cv2.contourArea(c); area3=round(area,3); #print(j,area3) area=int(area) if(area<1000): continue Kc1=1; N1+=1; (x,y,w,h)=cv2.boundingRect(c); xx1=(x,y,w,h); mx1=(cX,cY) d=[area,xx1,mx1]; #data1.append(d) cv2.circle(clone1,mx1,6,(0,125,255),-1) x,y,w,h=xx1[0],xx1[1],xx1[2],xx1[3] cv2.rectangle(clone1,(x,y),(x+w,y+h),(255,125,0),1) cv2.imshow('tarbox',clone1) lenda=len(data1) print(lenda,data1) cv2.waitKey(0) return lenda,data1,clone1 def bluebox(image): #---------------------------- blue color---------- low=np.array([105,110 ,80 ]) upp=np.array([115,255 ,255 ]) #---------------------------- green color---------- low=np.array([40,110 ,80 ]) upp=np.array([60,255 ,255 ]) img=cv2.resize(image,(640,480)) hsv=cv2.cvtColor(img,cv2.COLOR_BGR2HSV) mask1=cv2.inRange(hsv,low,upp) imgmask=cv2.bitwise_and(img,img,mask=mask1) img3=cv2.resize(imgmask,(640,480)) lenda,data1,imgt=tarbox(img3) cv2.imshow('mask1',mask1) cv2.imshow('imgt',imgt) blue=[]; if(lenda>0): for i in range(lenda): (x,y,w,h)=data1[i][1] imgi=img3[y:y+h,x:x+w,:] imgir=cv2.resize(imgi,(128,128)) #cv2.imshow('tar_'+str(i),imgir) #cv2.waitKey(0) blue.append(imgir) return lenda,data1,imgt,blue Lx=640; Ly=480; F=4; LX2=int(Lx/F); LY2=int(Ly/F) #.................2 masks for red color low1=np.array([170,60 ,90 ]) upp1=np.array([180,255,220]) low2=np.array([0, 60, 90 ]) upp2=np.array([10, 255,255]) print('low1=',low1,upp1,' low2=',low2,upp2) FW2=open('KBS.txt','w') tini=time.time() ncat=9; isx=128; isy=128 mod1='model_NUM9C110.h5' LAB=['1','2','3','4','5','6','7','8','9'] if(TS==1): model = keras.models.load_model(mod1) t00=time.time(); t02=t00 tmodel=round(t00-tini,3) 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('redM.avi', fourcc, 20.0, (640, 480)) sleep(2) COLOR=0 #--------------------- REDLINE under car------ def REDLT(img): #dri=input('dri=') img1=np.copy(img) imgA=cv2.resize(img1,(320,240)) img2=cv2.resize(img1,(80,60)) hsv=cv2.cvtColor(img2,cv2.COLOR_BGR2HSV) mask1=cv2.inRange(hsv,low1,upp1) mask2=cv2.inRange(hsv,low2,upp2) mask3=mask1 | mask2 #mlow=int(60/2); mask3[0:mlow,:]=0; red=[]; red2=[]; red3=[]; red4=[]; Y=60-1; blk=[] Y1=59; Y2=49; Y3=39; Y4=29 for x in range(80): if(mask3[Y1,x]>100): red.append(x) if(mask3[Y2,x]>100): red2.append(x) if(mask3[Y3,x]>100): red3.append(x) if(mask3[Y4,x]>100): red4.append(x) if(1525): cv2.line(imgA,(0,Y3*4),(79*4,Y3*4),(255,255,0),2) cv2.imshow('blk_U_turn',imgA) return -100,0,0,0,0,imgA #return dr,mid1,mid2,mid3,mid4,redmask lred1=len(red); lred2=len(red2); lred3=len(red3); lred4=len(red4) if(lred1>1): mid1=int(np.median(red)) else: mid1=-1; if(lred2>1): mid2=int(np.median(red2)) else: mid2=-1 if(lred3>1): mid3=int(np.median(red3)) else: mid3=-1 if(lred4>1): mid4=int(np.median(red4)) else: mid4=-1 #--------------------drdrdr------ dr=-10 if(mid1<=30): dr=3 if(30=50): dr=7 mask3=cv2.resize(mask3,(320,240)) redmask=cv2.bitwise_and(imgA,imgA,mask=mask3) dri=dr; a=[dri,mid1,mid2,mid3,mid4]; sa=str(a) #-------------------------------------------------- cv2.line(redmask,(0,Y4*4),(79*4,Y4*4),(0,255,0),1) cv2.circle(redmask,(mid1*4,Y1*4),8,(0,255,0),-1) cv2.circle(redmask,(mid2*4,Y2*4),8,(0,255,0),-1) cv2.circle(redmask,(mid3*4,Y3*4),8,(0,255,0),-1) cv2.circle(redmask,(mid4*4,Y4*4),8,(0,255,0),-1) cv2.putText(redmask,sa,(1,20),cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,255), 1, cv2.LINE_AA) if(COLOR==1): a=[dr,mid1,mid2,mid3,mid4,lred1,lred2,lred3,lred4] print('a=',a) cv2.imshow('redmask',redmask) cv2.waitKey(0) input('1111') return dr,mid1,mid2,mid3,mid4,redmask #--------------------- REDLINE on the LefT-hand side of car------ #---------------------find red pixels from hsv COLOR=0 def cREDLT(img): #dri=input('dri=') img1=np.copy(img) imgA=cv2.resize(img1,(320,240)) img2=cv2.resize(img1,(80,60)) hsv=cv2.cvtColor(img2,cv2.COLOR_BGR2HSV) mask1=cv2.inRange(hsv,low1,upp1) mask2=cv2.inRange(hsv,low2,upp2) mask3=mask1 | mask2 #mlow=int(60/2); mask3[0:mlow,:]=0; red=[]; red2=[]; red3=[]; red4=[]; Y=60-1; blk=[] Y1=59; Y2=49; Y3=39; Y4=29 for x in range(65): #since we focus on the left-hand side of the view if(mask3[Y1,x]>100): red.append(x) if(mask3[Y2,x]>100): red2.append(x) if(mask3[Y3,x]>100): red3.append(x) if(mask3[Y4,x]>100): if(len(red4)>0 and red4[-1]25): cv2.line(imgA,(0,Y3*4),(79*4,Y3*4),(255,255,0),2) cv2.imshow('blk_U_turn',imgA) return -100,0,0,0,0,imgA #return dr,mid1,mid2,mid3,mid4,redmask lred1=len(red); lred2=len(red2); lred3=len(red3); lred4=len(red4) if(lred1>1): mid1=int(np.median(red)) else: mid1=-1; if(lred2>1): mid2=int(np.median(red2)) else: mid2=-1 if(lred3>1): mid3=int(np.median(red3)) else: mid3=-1 if(lred4>1): mid4=int(np.median(red4)) else: mid4=-1 #--------------------drdrdr------ dr=-10 if(mid1>3 and -120): dr=71 if(mid1>1 and mid2>mid1+12 or mid3>mid1+22): dr=72 if(mid1<10 and mid2>0 and (mid4-mid3)>(mid3-mid2)+5): dr=72 if(mid1<5 and mid2<5 and mid3>-1 and mid4>mid3+15): dr=73 if(mid1<5 and mid2<5 and mid3<5 and 3030 and mid2>mid1+4): dr=74 if(-18): dr=71 mask3=cv2.resize(mask3,(320,240)) redmask=cv2.bitwise_and(imgA,imgA,mask=mask3) dri=dr; a=[dri,mid1,mid2,mid3,mid4]; sa=str(a) cv2.circle(imgA,(mid1*4,Y1*4),8,(0,255,0),-1) cv2.circle(imgA,(mid2*4,Y2*4),8,(0,255,0),-1) cv2.circle(imgA,(mid3*4,Y3*4),8,(0,255,0),-1) cv2.circle(imgA,(mid4*4,Y4*4),8,(0,255,0),-1) cv2.line(imgA,(0,Y4*4),(79*4,Y4*4),(0,255,0),2) cv2.line(redmask,(0,Y4*4),(79*4,Y4*4),(0,255,0),1) cv2.circle(redmask,(mid1*4,Y1*4),8,(0,255,0),-1) cv2.circle(redmask,(mid2*4,Y2*4),8,(0,255,0),-1) cv2.circle(redmask,(mid3*4,Y3*4),8,(0,255,0),-1) cv2.circle(redmask,(mid4*4,Y4*4),8,(0,255,0),-1) cv2.putText(imgA,sa,(1,20),cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,255), 1, cv2.LINE_AA) cv2.putText(redmask,sa,(1,20),cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,255), 1, cv2.LINE_AA) if(COLOR==1): a=[dr,mid1,mid2,mid3,mid4,lred1,lred2,lred3,lred4] print('a=',a) cv2.imshow('redmask',redmask) cv2.waitKey(0) input('1111') return dr,mid1,mid2,mid3,mid4,redmask KB=open('KB.txt','w') break_program = True sp='A' def on_press(key): global break_program global sp sp=str(key).strip("'") #KB.write(KS+'\n') if sp == 'w' and break_program: turn(0.3,0.3,0.1); turn(0,0,0.1) if sp == 's' and break_program: turn(-0.3,-0.3,0.1); turn(0,0,0.1) if sp == 'a' and break_program: turn(0.0,0.3,0.1); turn(0,0,0.1) if sp == 'd' and break_program: turn(0.3,0.0,0.1); turn(0,0,0.1) if key == keyboard.Key.f1 and break_program: print ('end pressed') break_program = False listener = keyboard.Listener(on_press=on_press) listener.start() #=====================KKKKKKKKKKKKKKKKKK if(1==2): print('into KY_RED...') t=0 while(t < 50 and cap.isOpened()): ret,img=cap.read(); if ret == False: break dr,mid1,mid2,mid3,mid4,img1=RED(img) ta=[mid1,mid2,mid3,lred1,lred2,lred3] ws=str(t)+' '+sp+' '+str(ta) if(t>0): print(ws) KB.write(ws+'\n') out.write(img1) cv2.imshow('img',img) if cv2.waitKey(1) & 0xFF == ord('q'): break cv2.waitKey(0) t+=1 cap.release() out.release() cv2.destroyAllWindows() KB.close() input('sssss') def QLT33(cap): turn(0.7,0.2,0.2); turn(0.3,0.3,0.1); turn(-0.3,0.3,0.1); #turn(0.4,0.0,0.15); turn(-0.3,0.3,0.35); turn(0,0,0.05); for j in range(100): ret,img=cap.read() DRU,mid1,mid2,mid3,mid4,img1=REDLT(img) if(int(DRU/10)==7): DRU=7 #print('QLT33,j=',j,DRU,mid1,mid2,mid3,mid4) img3s=cv2.resize(img1,(320,240)) cv2.imshow('LT',img3s) if cv2.waitKey(1) & 0xFF == ord('q'): break #cv2.waitKey(0) #if(DRU==1 or DRU==7): if(DRU==1 or DRU==-10 or DRU==7 or DRU==-100): turn(0.5,0.0,0.05); turn(0,0,0.10); print('QLT33,end_j=',j,DRU,mid1,mid2,mid3,mid4) #sleep(2) return turn(-0.4,0.4,0.05); turn(0,0,0.05); print('Unfortunate QLT33()...') return def GODR(DR): #.............................................. central redline.... if(DR==0): turn(0.0,0.0,0.10); turn(0,0,0.05); if(DR==1): turn(0.3,0.3,0.10); turn(0,0,0.30); if(DR==3): turn(0.0,0.4,0.10); turn(0,0,0.30); if(DR==7): turn(0.4,0.0,0.10); turn(0,0,0.30); #.............................................. LEFT redline.... if(DR==-100): turn(-0.4,0.4,0.50);turn(0.4,0.4,0.6);turn(-0.4,0.4,0.5) if(DR==-10): turn(0.0,0.0,0.10); turn(0,0,0.05); if(DR==30): turn(0.0,0.4,0.15); turn(0,0,0.00); if(DR==31): turn(0.5,0.2,0.20); turn(0.2,0.5,0.05); #if(DR==32): sleep(2); turn(0.0,0.4,0.10); turn(0,0,0.05); if(DR==33): QLT33(cap) if(DR==70): turn(0.4,0.0,0.10); turn(0,0,0.0); if(DR==71): turn(0.4,0.0,0.10); turn(0,0,0.0); if(DR==72): turn(0.4,-0.0,0.10); turn(0,0,0.0); if(DR==73): turn(0.4,-0.2,0.10); turn(0,0,0.05); #if(DR==-2): turn(-0.3,-0.3,0.05); turn(0,0,0.05); def load_images_from_folder(folder,nfile): isz=128 images = []; N=0 afs=os.listdir(folder) afso=sorted(afs) for filename in afso: N+=1 print(N,filename) img = cv2.imread(os.path.join(folder,filename), cv2.IMREAD_GRAYSCALE) if img is not None: img = cv2.resize(img,(isz,isz))/255 images.append(img) return np.array(images[:nfile]) ML=0 if(ML==1): import os path='PNG'; ncat=9; nfile=80; #mod1='model_NUM9C80.h5' ntest=9; pathT=path+'/S3/' LAB=['1','2','3','4','5','6','7','8','9'] #model=keras.models.load_model(mod1) test=load_images_from_folder(pathT,ntest) print(type(test),test.shape) N=test.shape[0] for i in range(N): imgg=test[i,:,:] cv2.imshow('imgg',imgg) L1=modh5(model,LAB,imgg) print(N,' L1=',L1) cv2.waitKey(0) #input('iiii') ret,img=cap.read() #cv2.imshow('img_in',img) if(1==1): isz=128 ret,img=cap.read() DRj,mid1,mid2,mid3,mid4,m0=REDLT(img) m0[:,316:319,:]=[255,255,255] m1=np.copy(m0);m2=np.copy(m0);m3=np.copy(m0);m4=np.copy(m0);m5=np.copy(m0); imgM=np.hstack((m0,m1,m2,m3,m4,m5)) #cv2.imshow('img',img) #cv2.imshow('imgM',imgM) #cv2.waitKey(0) FW1=open('redM.txt','w') t00=time.time(); t02=t00 tmodel=round(t00-tini,3) #-------------------RRRRRRR------ for j in range(1,180): ret,img=cap.read() #fnr='PNG/S3/N'+str(j).zfill(1)+'.png' #imgr=cv2.imread(fnr) #-------------------------------------- lenda,data1,imgt,blue=bluebox(img) fn='PNG/RBb_'+str(j).zfill(3)+'.png' lenblue=len(blue) #print(j,fnr,' lenblue=',lenblue) print(j,' lenblue=',lenblue) if(lenblue==1): imgb=blue[0]; cv2.imwrite(fn,imgb) elif(len(blue)>1): print('error len(blue)=',len(blue)); break else: pass cv2.imshow('imgt',imgt) if(lenda>0): BX=data1[0][1][0];BY=data1[0][1][1]; BW=data1[0][1][2];BH=data1[0][1][3] else: BX=0; BY=0; BW=0; BH=0; area=0; aspr=0 if(len(blue)==0): L1='X' if(lenblue==1): #bluein=np.copy(imgr) #imggi=test[j-1,:,:] #Li=modh5(model,LAB,imggi) #cv2.imshow('imggi',imggi) bluein=blue[0] imgg=cv2.cvtColor(bluein,cv2.COLOR_BGR2GRAY) imgg=cv2.resize(imgg,(isz,isz))/255 cv2.imshow('imgg',imgg) L1=modh5(model,LAB,imgg) t01=time.time(); t=round(t01-t00,3); dt=round(t01-t02,3); t02=t01 #print(' imgg.shape=',imgg.shape) #print(j,t,dt,' L1=',L1,' Li=',Li) area=data1[0][0]; aspr=round(data1[0][1][2]/data1[0][1][3],2) #print(j,'bluein.shape=',bluein.shape) #cv2.waitKey(0) #continue #input('11111') #-------------------------------------- imgi2=cv2.resize(img,(320,240)) cv2.imshow('imgin',imgi2) DRj,mid1,mid2,mid3,mid4,img1=REDLT(img) ''' j6=j%6 if(j6==0): m0=np.copy(img1); m0[:,316:319,:]=[255,255,255] if(j6==1): m1=np.copy(img1); m1[:,316:319,:]=[255,255,255] if(j6==2): m2=np.copy(img1); m2[:,316:319,:]=[255,255,255] if(j6==3): m3=np.copy(img1); m3[:,316:319,:]=[255,255,255] if(j6==4): m4=np.copy(img1); m4[:,316:319,:]=[255,255,255] if(j6==5): m5=np.copy(img1); m5[:,316:319,:]=[255,255,255] imgM=np.hstack((m0,m1,m2,m3,m4,m5)) cv2.imshow('imgM',imgM) ''' #cv2.imwrite('DIR_'+str(j).zfill(3)+'.png',img1) DR=DRj a=[j,DRj,DR,mid1,mid2,mid3,mid4]; sa=str(a) #if(int(DR/10)==7): DR=7 #if(int(DR/10)==8): DR=8 #if(DR==-10): DR=1 FW1.write(sa+'\n') img2=cv2.resize(img1,(640,480)) out.write(img2) if cv2.waitKey(1) & 0xFF == ord('q'): break #......................CCCCCC #DR=1 #if(lenda==0): DR=0 #if(area<1000): DR=0 #print('data1=',data1,data1[0][1][2],data1[0][1][3],aspr) #if(lenda>0 and aspr<0.5): DR=0 if(TS==0): L1=0 #print('j=',j,DRj,DR,mid1,mid2,mid3,mid4,(lenda,BX,BY,BW,BH,aspr,L1)) print('j=',j,DR,L1) cv2.waitKey(0) GODR(DR) #sleep(1) FW1.close() FW2.close() cv2.destroyAllWindows() cap.release()