def get_contour_from_image(img):
line_yellows = get_range(
img, np.array([10, 100, 180], np.uint8),
np.array([60, 255, 255], np.uint8), cv2.COLOR_BGR2HSV
) # u: 10/110/200 ; 40/255/255 f: 20/110/200 ; 40/255/255
line_whites = get_range(
img, np.array([65, 150, 30], np.uint8),
np.array([255, 255, 180], np.uint8), cv2.COLOR_BGR2HLS
) # u: 80/150/30 ; 255/255/130 f: 80/150/30 ; 255/255/150
line_reds = get_range(img, np.array([150, 0, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
contour_dump("img3/contours_full" + str(int(time.time() * 10)) + ".jpg",
contours, img)
_, contours = remove_contour(line_yellows, contours, 1)
if len(contours) == 0: return None
# _, contours = remove_contour( line_whites, contours, -1 ) # u: ## f: ~~
if len(contours) == 0: return None
contour_left = contour_largest(contours) # u: largest f: leftest
contour_dump(
"img/contours_extracted" + str(int(time.time() * 10)) + ".jpg",
contour_left, img)
return contour_left
def get_contour_from_image( img ): line_yellows = get_yellow( img ) line_whites = get_range( img, np.array([0,160,0], np.uint8), np.array([255,255,255], np.uint8), cv2.COLOR_BGR2HLS) line_reds = get_range( img, np.array([150,0,0], np.uint8), np.array([255,255,255], np.uint8), cv2.COLOR_BGR2HLS) img_gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # convert the color image to gray image contours = get_gray_countour(img_gray) contour_dump( "img/contours_full" + str(int(time.time()*10)) + ".jpg", contours, img) _, contours = remove_contour( line_yellows, contours, 1 ) if len(contours) == 0: return None _, contours = remove_contour( line_whites, contours, -1 ) if len(contours) == 0: return None contour_left = contour_leftest(contours) contour_dump( "img/contours_extracted" + str(int(time.time()*10)) + ".jpg", contour_left, img) return contour_left
def get_contour_from_image(img):
line_yellows = get_yellow(img)
line_whites = get_range(img, np.array([0, 100, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
line_reds = get_range(img, np.array([150, 0, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
_, contours = remove_contour(line_yellows, contours, 1)
_, contours = remove_contour(line_whites, contours, -1)
contour_left = contour_leftest(contours)
return contour_left
def get_contour_from_image(img):
line_yellows = get_yellow(img)
line_whites = get_white(img)
line_reds = get_red(img)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
contour_dump("img/contours_full" + str(int(time.time() * 10)) + ".jpg",
contours, img)
_, contours = remove_contour(line_yellows, contours, 1)
if len(contours) == 0: return None
# _, contours = remove_contour( line_whites, contours, -1 )
# if len(contours) == 0: return None
contour_left = contour_largest(contours)
contour_dump(
"img/contours_extracted" + str(int(time.time() * 10)) + ".jpg",
contour_left, img)
return contour_left, len(line_reds)
def get_contour_from_image( img ):
line_yellows = get_yellow( img )
# line_whites = get_white( img )
line_reds = get_red( img )
global redline_cnt
if not line_reds:
redline_cnt = 0
print("no red line")
else:
redline_cnt += 1
# cmd = "redline \n"
# s.write(cmd.encode())
print("red lines:{0}".format(redline_cnt))
if redline_cnt >= 20:
cmd = "/ServoStop/run \n"
s.write(cmd.encode())
return None
img_gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
# contour_dump( "img/contours_full" + str(int(time.time()*10)) + ".jpg", contours, img)
_, contours = remove_contour( line_yellows, contours, 1 )
if len(contours) == 0: return None
# _, contours = remove_contour( line_whites, contours, -1 )
# if len(contours) == 0: return None
contour_large = contour_largest(contours)
# contour_dump( "img/contours_extracted" + str(int(time.time()*10)) + ".jpg", contour_large, img)
contour_dump( "img/contours_extracted.jpg", contour_large, img)
return contour_large
3)
ang = np.arctan2(
np.shape(img)[1] / 2 - detect_pt[0],
np.shape(img)[0] - detect_pt[1])
accept_pts.append(ang)
if len(accept_pts): return accept_pts
if __name__ == "__main__":
global filename, f, start_time
filename = "test"
img = cv2.imread(sys.argv[1])
print("img size = ", np.shape(img))
line_yellows = get_yellow(img)
line_whites = get_range(img, np.array([0, 100, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
line_reds = get_range(img, np.array([150, 0, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
_, contours = remove_contour(line_yellows, contours, 1)
_, contours = remove_contour(line_whites, contours, -1)
contour_left = contour_leftest(contours)
accept_pts = draw_line_in_contours(img, contour_left)
speed, turn = control_arc(accept_pts)
print("speed, turn = ", speed, turn)