def stopDetect(image, hsv):
stop_detected = False
#Stop detection
# lowerR = np.array(boundaryR[0][0], dtype='uint8')
# upperR = np.array(boundaryR[0][1], dtype='uint8')
kernel = np.ones((3, 3), np.uint8)
maskR = cv2.inRange(hsv, lowerR, upperR)
maskR = cv2.morphologyEx(maskR, cv2.MORPH_CLOSE, kernel)
# maskR = cv2.morphologyEx(maskR, cv2.MORPH_OPEN, kernel)
maskR_cnt, maskR_max_cnt, maskR_approx = geom.find_main_contour_approx(
maskR)
try:
shapeR, thresh = detect(maskR_max_cnt, maskR)
if shapeR == 'octagon' and cv2.countNonZero(maskR) > 1000:
cv2.putText(image, 'STOP',
(image.shape[1] - 100, image.shape[0] - 20),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
stop_detected = True
except:
pass
return image, stop_detected
def detect_stop_sign(image, boundaryR):
lowerR = np.array(boundaryR[0][0], dtype='uint8')
upperR = np.array(boundaryR[0][1], dtype='uint8')
img = edge_enhancement(image)
alpha = 1.5
beta = 50
res = cv2.convertScaleAbs(img, alpha=alpha, beta=beta)
hsv = cv2.cvtColor(res, cv2.COLOR_BGR2HSV)
H, S, V = cv2.split(hsv)
S = S + 50
hsvR = cv2.merge((H, S, V))
kernel = np.ones((3, 3), np.uint8)
maskR = cv2.inRange(hsvR, lowerR, upperR)
maskR = cv2.morphologyEx(maskR, cv2.MORPH_CLOSE, kernel)
maskR = cv2.morphologyEx(maskR, cv2.MORPH_OPEN, kernel)
cntR, max_cntR, approx_cntR = geom.find_main_contour_approx(maskR)
try:
shapeR, thresh = detect(max_cntR, maskR)
if shapeR == 'octagon' and cv2.countNonZero(maskR) > 1000:
cv2.putText(image, 'STOP',
(image.shape[1] - 100, image.shape[0] - 20),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
except:
pass
return image
def check_green_size(maskG):
maskG_cnt, maskG_max_cnt, maskG_approx = geom.find_main_contour_approx(maskG)
W = 0
H = 0
if (maskG_approx is not None) and len(maskG_approx) == 4:
maskG_cnt = max(maskG_cnt, key=cv2.contourArea)
maskG_rect = cv2.minAreaRect(maskG_cnt)
W = int(maskG_rect[1][0])
H = int(maskG_rect[1][1])
maskG_size = W*H
return maskG_approx, maskG_size
def check_STOP(image, maskR):
cntR, max_cntR, approx_cntR = geom.find_main_contour_approx(maskR)
if max_cntR is not None:
# try:
shapeR, thresh = detect(max_cntR, maskR)
if shapeR == 'octagon' and cv2.countNonZero(maskR) > 1000:
cv2.putText(image, 'STOP', (image.shape[1] - 100, image.shape[0] - 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
# except:
else:
pass
return image
def addressDetect(img, maskG):
address = None
maskG_cnt, _, maskG_approx = geom.find_main_contour_approx(maskG)
W = 0
H = 0
if maskG_approx is not None and len(maskG_approx) == 4:
maskG_cnt = max(maskG_cnt, key=cv2.contourArea)
maskG_rect = cv2.minAreaRect(maskG_cnt)
maskG_box = np.int0(cv2.boxPoints(maskG_rect))
W = int(maskG_rect[1][0])
H = int(maskG_rect[1][1])
maskG_size = W * H
if maskG_size >= 1000 and maskG_size < 3000:
peri = cv2.arcLength(maskG_approx, True)
approx = cv2.approxPolyDP(maskG_approx, 0.02 * peri, True)
warp_img = warp(approx, img)
thresh = make_thresh(warp_img)
thresh_cut = []
if thresh.shape[1] >= 45:
for i in range(3):
cut_size = thresh.shape[1] // 3
if i == 2:
cut_img = thresh[:, i * cut_size:]
else:
cut_img = thresh[:, i * cut_size:(i + 1) * cut_size]
thresh_cut.append(cut_img)
digits = []
for i in range(3):
cut_img = thresh_cut[i]
each_cnts, max_cnt, box = geom.find_main_contour_box(cut_img.copy())
(x, y, w, h) = cv2.boundingRect(max_cnt)
# (x, y, w, h) = box
if i == 0:
if w < 8:
digits.append(1)
else:
digits.append(2)
elif i == 1:
digits.append(0)
else:
if w < 8 and h >= 10:
digits.append(1)
elif h >= 10:
roi = cut_img[y:y + h, x:x + w]
(roiH, roiW) = roi.shape
# (dW, dH) = (int(roiW * 0.25), int(roiH * 0.15))
(dH, dW) = (int(roiH * 0.15), int(roiW * 0.2))
dHC = int(roiH * 0.1)
segments = [
((0, 0), (roiW, dH)), # top
((0, dH), (dW, roiH // 2)), # top-left
((roiW - dW, dH), (roiW, roiH // 2)), # top-right
((0, (roiH // 2) - dHC), (roiW, (roiH // 2) + dHC)), # center
((0, roiH // 2), (dW, roiH)), # bottom-left
((roiW - dW, roiH // 2), (roiW, roiH)), # bottom-right
((0, roiH - dH), (roiW, roiH)) # bottom
]
on = [0] * len(segments)
for (segi, ((xA, yA), (xB, yB))) in enumerate(segments):
segROI = roi[yA:yB, xA:xB]
total = cv2.countNonZero(segROI)
area = (xB - xA) * (yB - yA)
if total / float(area) > 0.55:
on[segi] = 1
try:
digit = DIGITS_LOOKUP[tuple(on)]
digits.append(digit)
except:
pass
if len(digits) == 3:
address = '{}{}{}'.format(*digits[:3])
cv2.drawContours(img, [maskG_box], -1, (0, 255, 0), 2)
cv2.putText(img, '{}{}{}'.format(*digits[:3]), (img.shape[1]-100, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
return img, address
def greenaddressDetect(img, maskG):
addressFlag = False
maskG_cnt, _, maskG_approx = geom.find_main_contour_approx(maskG)
W = 0
H = 0
if maskG_approx is not None and len(maskG_approx) == 4:
maskG_cnt = max(maskG_cnt, key=cv2.contourArea)
maskG_rect = cv2.minAreaRect(maskG_cnt)
maskG_box = np.int0(cv2.boxPoints(maskG_rect))
W = int(maskG_rect[1][0])
H = int(maskG_rect[1][1])
maskG_size = W * H
if maskG_size >= 1000 and maskG_size < 3000: #FIXME
addressFlag = True
cv2.drawContours(img, [maskG_box], -1, (0, 255, 0), 2)
# peri = cv2.arcLength(maskG_approx, True)
# approx = cv2.approxPolyDP(maskG_approx, 0.02 * peri, True)
# warp_img = warp(approx, img)
#
# thresh = make_thresh(warp_img)
#
# thresh_cut = []
# if thresh.shape[1] >= 45:
# for i in range(3):
# cut_size = thresh.shape[1] // 3
# if i == 2:
# cut_img = thresh[:, i * cut_size:]
# else:
# cut_img = thresh[:, i * cut_size:(i + 1) * cut_size]
# thresh_cut.append(cut_img)
#
# digits = []
# for i in range(3):
# cut_img = thresh_cut[i]
# each_cnts, max_cnt, box = geom.find_main_contour_box(cut_img.copy())
# (x, y, w, h) = cv2.boundingRect(max_cnt)
# # (x, y, w, h) = box
# if i == 0:
# if w < 8:
# digits.append(1)
# else:
# digits.append(2)
# elif i == 1:
# digits.append(0)
# else:
# if w < 8 and h >= 10:
# digits.append(1)
# elif h >= 10:
# roi = cut_img[y:y + h, x:x + w]
# (roiH, roiW) = roi.shape
# # (dW, dH) = (int(roiW * 0.25), int(roiH * 0.15))
# (dH, dW) = (int(roiH * 0.15), int(roiW * 0.2))
# dHC = int(roiH * 0.1)
# segments = [
# ((0, 0), (roiW, dH)), # top
# ((0, dH), (dW, roiH // 2)), # top-left
# ((roiW - dW, dH), (roiW, roiH // 2)), # top-right
# ((0, (roiH // 2) - dHC), (roiW, (roiH // 2) + dHC)), # center
# ((0, roiH // 2), (dW, roiH)), # bottom-left
# ((roiW - dW, roiH // 2), (roiW, roiH)), # bottom-right
# ((0, roiH - dH), (roiW, roiH)) # bottom
# ]
# on = [0] * len(segments)
# for (segi, ((xA, yA), (xB, yB))) in enumerate(segments):
# segROI = roi[yA:yB, xA:xB]
# total = cv2.countNonZero(segROI)
# area = (xB - xA) * (yB - yA)
# if total / float(area) > 0.55:
# on[segi] = 1
# try:
# digit = DIGITS_LOOKUP[tuple(on)]
# digits.append(digit)
# except:
# pass
# if len(digits) == 3:
# address = '{}{}{}'.format(*digits[:3])
# cv2.drawContours(img, [maskG_box], -1, (0, 255, 0), 2)
# cv2.putText(img, '{}{}{}'.format(*digits[:3]), (img.shape[1]-100, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
return img, addressFlag
# cv2.waitKey(0)
# boundaries = [([60, 90, 80], [90, 255, 110])] #GREEN
# boundaries = [([50, 80, 0], [90, 150, 20])] # sterling_demo 201
boundaries = [([40, 80, 0], [70, 255, 80])] # sterling_demo2 102
lowerG = np.array(boundaries[0][0], dtype='uint8')
upperG = np.array(boundaries[0][1], dtype='uint8')
kernel = np.ones((3, 3), np.uint8)
mask = cv2.inRange(hsv, lowerG, upperG)
cv2.imshow('mask', mask)
# cv2.waitKey(0)
mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
img_copy = img.copy()
cnts, max_cont, approx_cnt = geom.find_main_contour_approx(mask)
cv2.drawContours(img_copy, max_cont, -1, (255, 0, 0), 2)
cv2.imshow('first contour', img_copy)
cv2.drawContours(img_copy, [approx_cnt], -1, (0, 0, 255), 2)
cv2.imshow('approx contour', img_copy)
peri = cv2.arcLength(approx_cnt, True)
approx = cv2.approxPolyDP(approx_cnt, 0.02 * peri, True)
if len(approx) == 4:
our_cnt = approx
#
warp = warp(our_cnt, img)
cv2.imshow('warp image', warp)
warp_gray = cv2.cvtColor(warp, cv2.COLOR_BGR2GRAY)
cv2.imshow('warp gray', warp_gray)
cv2.imshow('hsvG', hsvG)
# cv2.waitKey(0)
# make mask for Green and Red
maskG, maskR = make_mask(hsvG, hsvR)
cv2.imshow('Green Mask', maskG)
# cv2.waitKey(0)
maskG_equ = cv2.bitwise_and(equ, equ, mask = maskG)
cv2.imshow('equ and mask', maskG_equ)
cv2.waitKey(0)
# check STOP sign is in frame
stop_img_ = check_STOP(img_, maskR)
# check Green mask size in frame
# maskG_approx, maskG_size = check_green_size(maskG)
maskG_cnt, maskG_max_cnt, maskG_approx = geom.find_main_contour_approx(maskG_equ)
# cv2.drawContours(img_, maskG_cnt, -1, (0, 255, 0), 2)
# cv2.imshow('mask Green contour', img_)
# cv2.waitKey(0)
W = 0
H = 0
if (maskG_approx is not None) and len(maskG_approx) == 4:
maskG_cnt = max(maskG_cnt, key=cv2.contourArea)
maskG_rect = cv2.minAreaRect(maskG_cnt)
W = int(maskG_rect[1][0])
H = int(maskG_rect[1][1])
maskG_size = W*H
# cv2.drawContours(img, maskG_cnt, -1, (0, 0, 255), 1)
# cv2.imshow('Green contour', img)
# cv2.waitKey(0)
hsvG = cv2.merge((H, S, V))
cv2.imshow('green hsv', hsvG)
kernel = np.ones((3, 3), np.uint8)
maskG = cv2.inRange(hsvG, lowerG, upperG)
maskG = cv2.morphologyEx(maskG, cv2.MORPH_CLOSE, kernel)
# maskG = cv2.morphologyEx(maskG, cv2.MORPH_OPEN, kernel)
cv2.imshow('green mask', maskG)
maskR = cv2.inRange(hsvR, lowerR, upperR)
maskR = cv2.morphologyEx(maskR, cv2.MORPH_CLOSE, kernel)
maskR = cv2.morphologyEx(maskR, cv2.MORPH_OPEN, kernel)
cv2.imshow('red mask', maskR)
# cv2.waitKey(0)
cntR, max_cntR, approx_cntR = geom.find_main_contour_approx(maskR)
cv2.drawContours(img, max_cntR, -1, (255, 0, 0), 2)
cv2.drawContours(img, approx_cntR, -1, (0, 255, 0), 2)
cv2.imshow('Red contours', img)
cv2.waitKey(0)
try:
# maskR = cv2.morphologyEx(maskR, cv2.MORPH_CLOSE, kernel)
shapeR, thresh = detect(max_cntR, maskR)
if shapeR == 'octagon' and cv2.countNonZero(maskR) > 1000:
cv2.putText(img_, 'STOP', (img_.shape[1]-100, img_.shape[0]-20), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
except:
pass
maskG_cnt, _, maskG_approx = geom.find_main_contour_approx(maskG)
# try:
# maskG_cnt = max(maskG_cnt, key=cv2.contourArea)
cv2.imshow('B space', B)
greenB = B.copy()
greenB[B < 140] = 0
greenB[B > 160] = 0
maskG = cv2.bitwise_and(greenA, greenA, mask=greenB)
maskG = cv2.morphologyEx(maskG, cv2.MORPH_OPEN, kernel)
maskG = cv2.morphologyEx(maskG, cv2.MORPH_CLOSE, kernel)
maskG = cv2.morphologyEx(maskG, cv2.MORPH_DILATE, kernel)
cv2.imshow('after B space', greenB)
cv2.imshow('mask for green', maskG)
cv2.waitKey(0)
start_time = time.time()
maskR_cnt, maskR_max_cnt, maskR_approx = geom.find_main_contour_approx(
maskR)
try:
shapeR, thresh = detect(maskR_max_cnt, maskR)
if shapeR == 'octagon' and cv2.countNonZero(maskR) > 1000:
cv2.putText(img_, 'STOP',
(img_.shape[1] - 100, img_.shape[0] - 20),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
except:
pass
maskG_cnt, maskG_max_cnt, maskG_approx = geom.find_main_contour_approx(
maskG)
cv2.drawContours(img_, maskG_cnt, -1, (0, 255, 0), 2)
cv2.imshow('mask Green contour', img_)
cv2.waitKey(0)
W = 0