def get_contour_from_image( img ): line_yellows = get_yellow( img ) line_whites = get_range( img, np.array([0,160,0], np.uint8), np.array([255,255,255], np.uint8), cv2.COLOR_BGR2HLS) line_reds = get_range( img, np.array([150,0,0], np.uint8), np.array([255,255,255], np.uint8), cv2.COLOR_BGR2HLS) img_gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # convert the color image to gray image contours = get_gray_countour(img_gray) contour_dump( "img/contours_full" + str(int(time.time()*10)) + ".jpg", contours, img) _, contours = remove_contour( line_yellows, contours, 1 ) if len(contours) == 0: return None _, contours = remove_contour( line_whites, contours, -1 ) if len(contours) == 0: return None contour_left = contour_leftest(contours) contour_dump( "img/contours_extracted" + str(int(time.time()*10)) + ".jpg", contour_left, img) return contour_left
def get_contour_from_image(img):
line_yellows = get_yellow(img)
line_whites = get_range(img, np.array([0, 100, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
line_reds = get_range(img, np.array([150, 0, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
_, contours = remove_contour(line_yellows, contours, 1)
_, contours = remove_contour(line_whites, contours, -1)
contour_left = contour_leftest(contours)
return contour_left
def get_contour_from_image(img):
line_yellows = get_yellow(img)
line_whites = get_white(img)
line_reds = get_red(img)
img_gray = cv2.cvtColor(
img, cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
contour_dump("img/contours_full" + str(int(time.time() * 10)) + ".jpg",
contours, img)
_, contours = remove_contour(line_yellows, contours, 1)
if len(contours) == 0: return None
# _, contours = remove_contour( line_whites, contours, -1 )
# if len(contours) == 0: return None
contour_left = contour_largest(contours)
contour_dump(
"img/contours_extracted" + str(int(time.time() * 10)) + ".jpg",
contour_left, img)
return contour_left, len(line_reds)
def get_contour_from_image( img ):
line_yellows = get_yellow( img )
# line_whites = get_white( img )
line_reds = get_red( img )
global redline_cnt
if not line_reds:
redline_cnt = 0
print("no red line")
else:
redline_cnt += 1
# cmd = "redline \n"
# s.write(cmd.encode())
print("red lines:{0}".format(redline_cnt))
if redline_cnt >= 20:
cmd = "/ServoStop/run \n"
s.write(cmd.encode())
return None
img_gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) # convert the color image to gray image
contours = get_gray_countour(img_gray)
# contour_dump( "img/contours_full" + str(int(time.time()*10)) + ".jpg", contours, img)
_, contours = remove_contour( line_yellows, contours, 1 )
if len(contours) == 0: return None
# _, contours = remove_contour( line_whites, contours, -1 )
# if len(contours) == 0: return None
contour_large = contour_largest(contours)
# contour_dump( "img/contours_extracted" + str(int(time.time()*10)) + ".jpg", contour_large, img)
contour_dump( "img/contours_extracted.jpg", contour_large, img)
return contour_large
angle_diff_yellow = np.arctan(slope_yellow) - np.pi / 2
else:
angle_diff_yellow = np.arctan(slope_yellow) + np.pi / 2
print("slope yellow = ", slope_yellow)
angle_diffs.append(angle_diff_yellow)
if not line_whites == []:
slope_whites = [line[0] for line in line_whites]
slope_white = np.average(slope_whites, axis=0)
if slope_white > 0:
angle_diff_white = np.arctan(slope_white) - np.pi / 2
else:
angle_diff_white = np.arctan(slope_white) + np.pi / 2
print("slope white = ", slope_white)
angle_diffs.append(angle_diff_white)
angle_diff = np.average(angle_diffs)
print("angle diff = ", angle_diff)
print("controller = ",
_control_center((np.sin(angle_diff), np.cos(angle_diff))))
if __name__ == "__main__":
for filename in sys.argv[1:]:
img = cv2.imread(filename)
line_yellows = get_yellow(img)
line_whites = get_range(img, np.array([0, 100, 0], np.uint8),
np.array([255, 255, 255], np.uint8),
cv2.COLOR_BGR2HLS)
control(line_yellows, line_whites)
