def test_bottom_lane_4():
cube_detector = CubeDetector()
frame = cv2.imread("../anki_object_detection/images/cube_up_lane_4.jpg")
max_left_lane = Line(294, 181, 68, 415)
max_right_lane = Line(490, 654, 61, 400)
max_horizontal_upper_lane = Line(106, 700, 130, 116)
max_horizontal_lower_lane = Line(10, 795, 247, 223)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
assert 4 == horizontal_lane
assert -1 == vertical_lane
def test_bottom_lane_4():
cube_detector = CubeDetector()
frame = cv2.imread(
"../anki_object_detection/images/camera_top_bottom_4.jpg")
max_left_lane = Line(306, 312, 5, 486)
max_right_lane = Line(484, 496, 2, 481)
max_horizontal_upper_lane = Line(154, 638, 154, 143)
max_horizontal_lower_lane = Line(157, 646, 337, 328)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
assert 4 == horizontal_lane
assert -1 == vertical_lane
def test_bottom_lane_3():
cube_detector = CubeDetector()
frame = cv2.imread(
"../anki_object_detection/images/camera_top_bottom_3.jpg")
max_left_lane = Line(306, 312, 5, 486)
max_right_lane = Line(484, 496, 2, 481)
max_horizontal_upper_lane = Line(154, 638, 154, 143)
max_horizontal_lower_lane = Line(157, 646, 337, 328)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
cv2.namedWindow('test', cv2.WINDOW_NORMAL)
cv2.imshow('test', frame)
cv2.waitKey(0)
assert 3 == horizontal_lane
assert -1 == vertical_lane
def run(self, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane, lower_color_range, upper_color_range):
try:
print("Running")
self.video_capture = cv2.VideoCapture(self.cameraDeviceId)
self.video_capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1600)
self.video_capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 1200)
cv2.waitKey(5000)
cube_detector = CubeDetector()
lane_detector = LaneDetector()
last_horizontal_lane = -1
last_vertical_lane = -1
count_failed_frames = 0
while (True):
# Capture frame-by-frame
ret, frame = self.video_capture.read()
count_failed_frames += 1
#frame = cv2.imread("anki_object_detection/images/cube_left_lane_1.jpg")
keyInput = cv2.waitKey(1)
if keyInput == ord('q'):
break
elif keyInput == ord('w'):
lower_color_range[0] += 5
print("Lower hue set to ", lower_color_range[0])
elif keyInput == ord('s'):
lower_color_range[0] -= 5
print("Lower hue set to ", lower_color_range[0])
elif keyInput == ord('e'):
lower_color_range[1] += 5
print("Lower saturation set to ", lower_color_range[1])
elif keyInput == ord('d'):
lower_color_range[1] -= 5
print("Lower saturation set to ", lower_color_range[1])
elif keyInput == ord('r'):
lower_color_range[2] += 5
print("Lower luminance set to ", lower_color_range[2])
elif keyInput == ord('f'):
lower_color_range[2] -= 5
print("Lower luminance set to ", lower_color_range[2])
if ret:
cube = cube_detector.detect(frame, max_left_lane,
max_right_lane,
max_horizontal_upper_lane,
max_horizontal_lower_lane,
lower_color_range,
upper_color_range)
if cube.x != 0 and cube.y != 0 and cube.width != 0 and cube.height != 0:
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane,
max_horizontal_upper_lane,
max_horizontal_lower_lane)
if horizontal_lane != last_horizontal_lane:
#positionMessage = json.dumps(PositionUpdateMessage(-1, horizontal_lane).__dict__)
positionMessage = PositionUpdateMessage(
-1, horizontal_lane).toCsv()
print("INFO: Sending message " + positionMessage)
try:
print("INFO: Sending message " +
positionMessage)
self.adasClient.send(positionMessage)
except Exception:
print("ERROR: Message could not be sent.")
self.start_adas_connection_timer()
last_horizontal_lane = horizontal_lane
if vertical_lane != last_vertical_lane:
#positionMessage = json.dumps(PositionUpdateMessage(-2, vertical_lane).__dict__)
positionMessage = PositionUpdateMessage(
-2, vertical_lane).toCsv()
try:
print("INFO: Sending message " +
positionMessage)
self.adasClient.send(positionMessage)
except Exception:
self.start_adas_connection_timer()
print("ERROR: Message could not be sent.")
last_vertical_lane = vertical_lane
else:
try:
# No cube detected reset position
horizontal_lane = -1
vertical_lane = -1
if horizontal_lane != last_horizontal_lane:
resetMessage = PositionUpdateMessage(-1, -1)
resetMessage.msgTimestamp = datetime.min.isoformat(
timespec='milliseconds') + "Z"
resetMessageCsv = resetMessage.toCsv()
print("INFO: Sending message " +
resetMessageCsv)
self.adasClient.send(resetMessageCsv)
if vertical_lane != last_vertical_lane:
resetMessage = PositionUpdateMessage(-2, -1)
resetMessage.msgTimestamp = datetime.min.isoformat(
timespec='milliseconds') + "Z"
resetMessageCsv = resetMessage.toCsv()
print("INFO: Sending message " +
resetMessageCsv)
self.adasClient.send(resetMessageCsv)
last_horizontal_lane = horizontal_lane
last_vertical_lane = vertical_lane
except Exception:
self.start_adas_connection_timer()
print("ERROR: Message could not be sent.")
traceback.print_exc(file=sys.stdout)
# print configured lanes
cv2.line(frame, (max_left_lane.x1, max_left_lane.y1),
(max_left_lane.x2, max_left_lane.y2), (255, 0, 0),
5)
cv2.line(frame, (max_right_lane.x1, max_right_lane.y1),
(max_right_lane.x2, max_right_lane.y2),
(255, 0, 0), 5)
cv2.line(frame, (max_horizontal_upper_lane.x1,
max_horizontal_upper_lane.y1),
(max_horizontal_upper_lane.x2,
max_horizontal_upper_lane.y2), (255, 0, 0), 5)
cv2.line(frame, (max_horizontal_lower_lane.x1,
max_horizontal_lower_lane.y1),
(max_horizontal_lower_lane.x2,
max_horizontal_lower_lane.y2), (255, 0, 0), 5)
label = "Lane hor: " + str(
last_horizontal_lane) + ", lane vert: " + str(
last_vertical_lane)
cv2.putText(frame, label, (50, 50),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2,
cv2.LINE_AA)
print(label)
#Send hsv contrast image instead of real image
#frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HLS)
#frame = cv2.inRange(frame, lower_color_range, upper_color_range)
#colorRangeLabel = "h: " + str(lower_color_range[0]) + ", s " + str(lower_color_range[1]) + ", v " + str(lower_color_range[2])
#cv2.putText(frame, colorRangeLabel, (50, 1000), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (80, 255, 0), 2, cv2.LINE_AA)
#resize image
resized_image = cv2.resize(frame, (800, 600))
#write image to disk
cv2.imwrite("capture.jpg", resized_image)
with open("capture.jpg", "rb") as imageFile:
base64Image = base64.b64encode(imageFile.read())
try:
print("INFO: Sending image as base64")
self.twinClient.send(base64Image)
except Exception:
self.start_twin_connection_timer()
print("ERROR: Image could not be sent")
if settings.enable_debug_images:
cv2.namedWindow('test', cv2.WINDOW_NORMAL)
cv2.imshow('test', frame)
cv2.waitKey(10)
else:
# If we could not initialize the camera after 100 frames, simply exit
count_failed_frames += 1
if count_failed_frames > 100:
print("ERROR: Could not init camera")
os.kill(os.getpid(), signal.SIGKILL)
sys.exit(0)
except:
print("Exception occurred")
traceback.print_exc(file=sys.stdout)
finally:
# When everything done, release the capture
self.video_capture.release()
cv2.destroyAllWindows()
self.terminate()
