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 turn(direction):
if direction == 'Left':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.left()
#print('Turning left')
if direction == 'Right':
stop(3)
dr.goStraight()
time.sleep(2)
dr.stop(1)
dr.right()
while True:
_, frame = cap.read()
direction_list = []
if turn_com == False:
try:
image_with_lanes, distance = detect_lanes(frame)
check_turning(distance)
cv2.imshow('Result', image_with_lanes)
out.write(image_with_lanes)
except:
cv2.imshow('Result', frame)
out.write(frame)
turn_com = True
dr.stop(0.5)
print('Stop')
else:
try:
image_with_h_lane, turn_command = detect_h_line(frame)
cv2.imshow('Result', image_with_h_lane)
out.write(image_with_h_lane)
print('Going for forward horizontal line')
dr.goStraight()
if turn_command == True:
print('stop')
dr.stop(0.5)
for i in range(5):
arrow_image, direction = arrow_detection(frame)
direction_list.append(direction)
cv2.imshow('Result', arrow_image)
import direction direction.stop()
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)