def checkColor(image):
count=0
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, (36, 25, 25), (70, 255,255))
res = cv2.bitwise_and(image,image, mask=mask)
ret,thrshed = cv2.threshold(cv2.cvtColor(res,cv2.COLOR_BGR2GRAY),3,255,cv2.THRESH_BINARY)
_,contours,hier = cv2.findContours(thrshed,cv2.RETR_LIST,cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
area = cv2.contourArea(cnt)
if area >10000:
print('object found')
gray=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
corners()
cv2.putText(image, 'Green Object Detected', (10,80), cv2.FONT_HERSHEY_SIMPLEX, 1.0,(255, 255, 255),lineType=cv2.LINE_AA)
cv2.rectangle(image,(5,40),(400,100),(0,255,255),2)
count+=1
print('count', count)
if count==10:
gray=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
a=corners(gray)
j=0
while j<20:
dr.goCustom(90,90)
j+=1
n=0
while n<1:
dr.stop(2)
if a =='Left':
dr.left()
else:
dr.right()
n=n+1
def check_turning(dis):
if int(dis[1]) < 100:
dr.goCustom(80, 90)
#print("Adjusting left")
elif int(dis[1]) > 150:
dr.goCustom(90, 80)
#print('Adjusting right')
else:
#print('going forward')
dr.goStraight()
def check_turning(dis):
if int(dis[0]) < 245:
dr.goCustom(110, 90)
print('-->')
elif int(dis[1]) < 235:
dr.goCustom(90, 110)
print('<--')
else:
print('^')
dr.goStraight()
def check_turning(dis):
if int(dis[0]) < 265:
dr.goCustom(100, 90)
print('-->')
elif int(dis[1]) < 255:
dr.goCustom(100, 90)
print('<--')
else:
print('^')
dr.goStraight()
def check_turning(dis):
if int(dis[1]) < 100:
dr.goCustom(80, 90)
print('left')
elif int(dis[1]) > 150:
dr.goCustom(90, 80)
print('right')
else:
#dr.goStraight()
dr.goStraight()
print('straight')
def check_turning(dis):
if int(dis[0]) < 150:
dr.goCustom(110, 90)
elif int(dis[1]) < 200:
dr.goCustom(90, 110)
else:
dr.goCustom(90, 90)
#image = cv2.imread('roverroadvision.png')
if turnTo:
print('I am busy turning')
i=0
while True:
checkColor(image)
if i>20:
TurnTo=False
break
i+=1
else:
try:
lane_image = np.copy(image)
canny_image = canny(lane_image)
cropped_image = roi(canny_image)
lines = cv2.HoughLinesP(canny_image, 1, np.pi/180, 50, np.array([]), minLineLength=20, maxLineGap=50)
averaged_lines, distances = average_slope_intercept(lane_image, lines)
line_image = display_lines(lane_image, averaged_lines)
combo_image = cv2.addWeighted(lane_image, 0.8, line_image, 1, 1)
cv2.imshow("Result", combo_image)
check_turning(distances)
except:
cv2.imshow("Result", image)
dr.goCustom(70,90)
turnTo=True
if cv2.waitKey(10) & 0xFF == ord('q'):
cap.release()
cv2.destroyAllWindows()
break
cv2.waitKey(0)
1,
np.pi / 180,
50,
np.array([]),
minLineLength=20,
maxLineGap=50)
averaged_lines, distances = average_slope_intercept(
lane_image, lines)
line_image = display_lines(lane_image, averaged_lines)
combo_image = cv2.addWeighted(lane_image, 0.8, line_image, 1, 1)
cv2.imshow("Result", combo_image)
check_turning(distances)
i += 1
print(i)
except:
cv2.imshow("Result", image)
dr.goCustom(60, 75)
i -= 1
print(i)
if cv2.waitKey(10) & 0xFF == ord('q'):
cap.release()
cv2.destroyAllWindows()
break
i = 0
dr.stop(1)
dr.right()
#dr.goStraight()
cv2.waitKey(0)