def _get_initial_perspective(self, *methods):
""" Return the initial perspective. """
methods = [
# If a default perspective was specified then we prefer that over
# any other perspective.
self._get_default_perspective,
# If there was no default perspective then try the perspective that
# was active the last time the application was run.
self._get_previous_perspective,
# If there was no previous perspective, then try the first one that
# we know about.
self._get_first_perspective
]
for method in methods:
perspective = method()
if perspective is not None:
break
# If we have no known perspectives, make a new blank one up.
else:
logger.warn('no known perspectives - creating a new one')
perspective = Perspective()
return perspective
def transform2birdseye(image):
# Transform it to birdseye
P = Perspective()
birdseye = P.to_birdseye(image)
# cv2.imshow('Birdseye view', birdseye)
# print('birdseye shape: {}'.format(birdseye.shape))
return birdseye
def __init__(self):
self.mtx_file_path = 'camera_matrices/mtx.npz'
self.camera_matrices = None
self.thresholding_pipeline = Thresholding()
self.perspective = Perspective()
self.load_camera_matrices()
self.line_search = LineSearch()
def get_perspective_score(text):
p = Perspective(API_KEY)
try:
comment = p.score(text, tests=["TOXICITY"])
score = comment["TOXICITY"].score
except:
score = 0
return score
def __init__(self):
super(MainWindow, self).__init__()
self.setWindowTitle(App_Name)
self._menubar = QtGui.QMenuBar(self)
self._actions = {}
self._handlers = {}
self.buildActions()
self.buildMenus()
self.setMenuBar(self._menubar)
self.perspective = Perspective(self)
def __init__(self):
self.mouse = MouseControl()
self.XRES, self.YRES = self.mouse.get_screen_resolution()
self.XRES, self.YRES = float(self.XRES), float(self.YRES)
self.ABCD = [(0, 0), (self.XRES - 5, 0), (0, self.YRES - 5),
(self.XRES - 5, self.YRES - 5)]
self.perspective = Perspective()
self.perspective.setdst((0.0, 0.0), (self.XRES, 0.0), (0.0, self.YRES),
(self.XRES, self.YRES))
self.cursor = Cursor(self)
self.Options = Options()
class PerspectiveTests(unittest.TestCase):
p = Perspective(api_key)
def test_comment(self):
for x in range(10):
test = random.choice(allowed)
comment = self.p.score(generate_text(),
tests=test,
languages=["EN"])
self.assertTrue(0 <= comment[test].score <= 1)
for attr in comment[test].spans:
self.assertTrue(0 <= attr.score <= 1)
self.assertTrue(str(attr) in comment.text)
def get_perspective_by_id(self, id):
""" Return the perspective with the specified Id.
Return None if no such perspective exists.
"""
for perspective in self.perspectives:
if perspective.id == id:
break
else:
if id == Perspective.DEFAULT_ID:
perspective = Perspective()
else:
perspective = None
return perspective
def __init__(self,
src,
dst,
n_images=1,
calibration=None,
line_segments=LINE_SEGMENTS,
offset=0):
self.n_images = n_images
self.cam_calibration = calibration
self.line_segments = line_segments
self.image_offset = offset
self.left_line = None
self.right_line = None
self.center_poly = None
self.curvature = 0.0
self.offset = 0.0
self.perspective_src = src
self.perspective_dst = dst
self.perspective = Perspective(src, dst)
self.dists = []
def __init__(self,
imagenDeInicializacion,
maximoPuntos,
poligonoDePartida,
poligonoDeLlegada=[[0, 0]]):
# El poligono
self.imagenAuxiliarEnGrises = cv2.cvtColor(imagenDeInicializacion,
cv2.COLOR_BGR2GRAY)
[self.height, self.width] = imagenDeInicializacion.shape[:2]
#print('AQUIIIIIIIIIIIIIIII:',self.width,self.height)
if poligonoDePartida == None:
#print('No se utilizara mascara')
self.mascara = None
self.regionDeInteres = np.array([[0, 0], [0, 240], [320, 240],
[320, 0]])
else:
self.regionDeInteres = np.array(poligonoDePartida)
self.mascara = np.zeros_like(self.imagenAuxiliarEnGrises)
cv2.fillPoly(self.mascara, [self.regionDeInteres], 255)
#print('Mascara creada con exito')
self.poligonoDeLlegada = np.array(poligonoDeLlegada)
# Auxiliares
self.feature_params = dict(maxCorners=maximoPuntos,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
self.lk_params = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS
| cv2.TERM_CRITERIA_COUNT, 10, 0.03))
self.color = np.random.randint(
0, 255, (50, 3)) # Se empleara un color nuevo por infraccion
self.zonaPartida = Perspective(self.regionDeInteres)
self.imagenAuxiliarZonaPartida = self.zonaPartida.generarRegionNormalizada(
imagenDeInicializacion)
self.flujoEnLaPartida = FlowDetector(180)
self.flujoEnLaPartida.inicializarClase(self.imagenAuxiliarZonaPartida)
def __init__(self, camera_matrix, distortion_coefficients, buffer_size = 50, img_size = (1280,720)):
self.camera_matrix = camera_matrix
self.distortion_coefficients = distortion_coefficients
src = np.float32(
[[(img_size[0] / 2) - 75, img_size[1] / 2 + 100],
[((img_size[0] / 6) - 10), img_size[1]],
[(img_size[0] * 5 / 6) + 60, img_size[1]],
[(img_size[0] / 2 + 75), img_size[1] / 2 + 100]])
dst = np.float32(
[[(img_size[0] / 4), 0],
[(img_size[0] / 4), img_size[1]],
[(img_size[0] * 3 / 4), img_size[1]],
[(img_size[0] * 3 / 4), 0]])
self.perspective = Perspective(src,dst)
self.search_engine = HistogramSearch(
window_width = 200,
window_height = 80,
min_pixels_to_recenter=50,
visualisation = None)
self.left = Lane(buffer_size)
self.right = Lane(buffer_size)
result = cv2.addWeighted(out_img, 1, window_img, 0.3, 0)
plt.imshow(result)
plt.plot(left_fit_x, plot_y, color='yellow')
plt.plot(right_fit_x, plot_y, color='yellow')
plt.xlim(0, 1280)
plt.ylim(720, 0)
plt.axis("off")
# Save visualization
if save_image:
plt.savefig('./output_images/vis_area.png', bbox_inches='tight')
plt.show()
if __name__ == '__main__':
polyfit = Polyfit()
perspective = Perspective()
image_file = 'test_images/test2.jpg'
image = mpimg.imread(image_file)
undistorted = undistort(image)
# Create binary outputs
abs_thresh, mag_thresh, dir_thresh, hls_thresh, hsv_thresh, combined_output = combined_threshold(
undistorted)
plt.imshow(combined_output, cmap='gray')
warped = perspective.warp(combined_output)
plt.imshow(warped, cmap='gray')
# Find lanes
left_fit, right_fit, vars = polyfit.poly_fit_skip(warped)
left_curve_rad, right_curve_rad = polyfit.curvature()
position = polyfit.vehicle_position(warped)
print('curvature: {:.2f}m'.format((left_curve_rad + right_curve_rad) / 2))
def process_frame(frame):
""" Process a single image or a frame from a video to find the lane lines
This is the main entry point for this code. It can be used in debug mode (see gEnv above) to process a
single image, but is designed to operate with moviepy to process videos.
Args:
frame (image): The input image
Returns:
result (image): The output image with the lane and lines overlaid, along with curvature and car position.
"""
global gEnv
gEnv['frame_count'] += 1 # keep track of frames to get ratio of good ones
# Correct for camera distortion
corrected = correct_image(frame)
# normalize brightness and contrast
image = apply_CLAHE(corrected)
# Transform it to birdseye
image = transform2birdseye(image)
if gEnv['debug']:
cv2.imshow('Birdseye', image)
# Enhance the image, and if necessary find the starts of the lines
enhanced, gEnv['prev_line_ends'] = find_line_starts(image, gEnv)
if gEnv['debug']:
cv2.imshow('Enhanced', enhanced)
# walk up the lines to find a series of points
left_Xpts, right_Xpts, Ypts, data_good = walk_lines(enhanced, gEnv)
# Fit a 2nd order function for each line
left_coef = np.polyfit(Ypts, left_Xpts, 2)
right_coef = np.polyfit(Ypts, right_Xpts, 2)
# Get new lines from the fitted curve
Yarr = np.array(Ypts)
left_newXpts = (left_coef[0] * Yarr**2) + (left_coef[1] *
Yarr) + left_coef[2]
right_newXpts = (right_coef[0] * Yarr**2) + (right_coef[1] *
Yarr) + right_coef[2]
# was the walk data good enough to keep?
max_bad_frames = 25 # don't reset on the first bad frame, wait a second
if data_good:
gEnv['bad_frame_count'] = 0
gEnv[
'left_prev_coef'] = left_coef # only save coef if data was actually good, regardless of count
gEnv['right_prev_coef'] = right_coef
gEnv['prev_line_ends'] = [
left_newXpts[len(left_newXpts) - 1],
right_newXpts[len(right_newXpts) - 1]
]
gEnv['good_frames'] += 1
else:
gEnv['bad_frame_count'] += 1
if gEnv['bad_frame_count'] > max_bad_frames:
gEnv['prev_data_good'] = False
else:
gEnv['prev_data_good'] = True
# Create an image to draw the lines on
warp_zero = np.zeros_like(image).astype(np.uint8)
# Form polylines and polygon
left_newpts = [z for z in zip(left_newXpts, Ypts)]
left_newpts = [np.array(left_newpts, dtype=np.int32)]
right_newpts = [z for z in zip(right_newXpts, Ypts)]
right_newpts = [np.array(right_newpts, dtype=np.int32)]
poly_pts = np.vstack((left_newpts[0], right_newpts[0][::-1]))
cv2.fillPoly(warp_zero, np.int_([poly_pts]), (0, 255, 0))
# Draw the polylines and polygon
cv2.fillPoly(warp_zero, np.int_([poly_pts]), (0, 255, 0))
cv2.polylines(warp_zero,
np.int_([left_newpts]),
False, (255, 0, 0),
thickness=30)
cv2.polylines(warp_zero,
np.int_([right_newpts]),
False, (0, 0, 255),
thickness=30)
# Where are we in the lane?
car_center = frame.shape[1] / 2 # camera is centered in the car
left_lineX = left_newXpts[0]
right_lineX = right_newXpts[0]
lane_center = np.mean([left_lineX, right_lineX])
birdseye_laneWpx = 906 # pixel width of lane in birdseye (points are in birdseye space)
meters_px = 3.6576 / birdseye_laneWpx # Assumming that the lane is 12 feet wide (3.6576 meters)
offcenter_Px = car_center - lane_center
offcenter_Meters = offcenter_Px * meters_px
if offcenter_Meters > 0:
position_msg = 'Car is {:.2f} meters to the right of center'.format(
abs(offcenter_Meters))
else:
position_msg = 'Car is {:.2f} meters to the left of center'.format(
abs(offcenter_Meters))
# Define conversions in x and y from pixels space to meters
y_eval = np.max(Ypts)
ym_per_pix = 30 / 720 # meters per pixel in y dimension
xm_per_pix = meters_px # meters per pixel in x dimension
left_fit_cr = np.polyfit(Yarr * ym_per_pix,
np.asarray(left_Xpts) * xm_per_pix, 2)
right_fit_cr = np.polyfit(Yarr * ym_per_pix,
np.asarray(right_Xpts) * xm_per_pix, 2)
left_curverad = ((1 + (2 * left_fit_cr[0] * y_eval + left_fit_cr[1])**2)**
1.5) / np.absolute(2 * left_fit_cr[0])
right_curverad = ((1 + (2 * right_fit_cr[0] * y_eval + right_fit_cr[1])**2)
**1.5) / np.absolute(2 * right_fit_cr[0])
# Now our radius of curvature is in meters
curvature_msg = 'Curvatures: {:.2f} meters left line, {:.2f} meters right line'.format(
left_curverad, right_curverad)
# Transform the drawn image back to normal from birdseye
P = Perspective()
normal = P.back2normal(warp_zero)
# Overlay the drawn image on the corrected camera image
result = cv2.addWeighted(corrected, 1, normal, 0.7, 0)
cv2.putText(result, position_msg, (10, 20), cv2.FONT_HERSHEY_PLAIN, 1.5,
(0, 0, 0), 2)
cv2.putText(result, curvature_msg, (10, 50), cv2.FONT_HERSHEY_PLAIN, 1.5,
(0, 0, 0), 2)
if data_good:
cv2.putText(result, 'Good Data', (10, 80), cv2.FONT_HERSHEY_PLAIN, 1.5,
(0, 255, 0), 2)
else:
cv2.putText(result, 'Bad Data', (10, 80), cv2.FONT_HERSHEY_PLAIN, 1.5,
(255, 0, 0), 2)
return result
import dash_html_components as html
import dash_core_components as dcc
import dash_table_experiments as dt
from flask_caching import Cache
import numpy as np
import os
import pandas as pd
import plotly.graph_objs as go
import time
import json
from perspective import Perspective
from twitter import Twitter
perspective_key = os.environ.get('PERSPECTIVE_KEY')
perspective_client = Perspective(perspective_key)
twitter_consumer_key = os.environ.get('TWITTER_KEY')
twitter_consumer_secret = os.environ.get('TWITTER_SECRET')
twitter_client = Twitter(twitter_consumer_key, twitter_consumer_secret)
app = dash.Dash('harassment dashboard')
server = app.server
CACHE_CONFIG = {
'CACHE_TYPE': 'redis',
'CACHE_REDIS_URL': os.environ.get('REDIS_URL', 'localhost:6379')
}
cache = Cache()
cache.init_app(app.server, config=CACHE_CONFIG)
app.css.append_css(
from camera_calibration import Camera
from perspective import RegionOfInterest, Perspective
from util import images_in_directory, write_images_to_directory
from binary_image import Lane, identify_lane_pixels
import cv2
import numpy as np
from moviepy.editor import VideoFileClip
camera = Camera(images_in_directory('camera_cal'))
region_of_interest = RegionOfInterest((1280, 720))
perspective = Perspective(region_of_interest)
class Pipeline:
def __init__(self):
self.previous_polynomial_left = []
self.previous_polynomial_right = []
self.previous_curves = []
def pipeline(self, image):
undistorted_image = camera.undistort(image)
bird_view_image = perspective.bird_view(undistorted_image)
left_lane, right_lane = self.find_lanes(bird_view_image)
bird_view_lane_image = np.zeros_like(bird_view_image).astype(np.uint8)
left_lane.draw_fill_on_image(bird_view_lane_image,
other_lane=right_lane)
left_lane.draw_identified_pixels_on_image(bird_view_lane_image,
[255, 0, 0])
right_lane.draw_identified_pixels_on_image(bird_view_lane_image,
[0, 0, 255])
