CARIA.2.0

Precedent repo CARIA :
Ajout de nouveau modele.
Travail sur multiple ia.
...

server-ia/Camera_Ligne_Detection/franchissement_ligne.py

@@ -0,0 +1,147 @@
+import cv2
+import numpy as np
+import time
+
+ymin=400
+ymax=401
+xmin1=20
+xmax1=120
+xmin2=550
+xmax2=620
+
+def point(capteur):
+    s1=len(capteur)-1
+    s2=len(capteur)-1
+    for i in range(len(capteur)):
+        if capteur[i]!=0:
+            s1=i
+            break
+    if s1!=len(capteur)-1:
+        for i in range(len(capteur)-1, s1-1, -1):
+            if capteur[i]!=0:
+                s2=i
+                break
+        return int((s1+s2)/2)
+    return -1
+
+s1_old=0
+s2_old=0
+s1=0
+s2=0
+s1_time=0
+s2_time=0
+th1=75
+th2=150
+stop=0
+k=3
+url = "http://192.168.74.194:8081"
+
+cap=cv2.VideoCapture(url)
+while True:
+    if not stop:
+        ret, frame=cap.read()
+        if ret is False:
+            quit()
+        image=frame.copy()
+
+        gray1=cv2.cvtColor(frame[ymin:ymax, xmin1:xmax1], cv2.COLOR_BGR2GRAY)
+        if k!=1:
+            gray1=cv2.blur(gray1, (k, k))
+        capteur1=cv2.Canny(gray1, th1, th2)
+
+        gray2=cv2.cvtColor(frame[ymin:ymax, xmin1:xmax1], cv2.COLOR_BGR2GRAY)
+        if k!=1:
+            gray2=cv2.blur(gray2, (k, k))
+        capteur2=cv2.Canny(gray2, th1, th2)
+
+        cv2.rectangle(image, (xmin1, ymin), (xmax1, ymax), (0, 0, 255), 1)
+        cv2.rectangle(image, (xmin2, ymin), (xmax2, ymax), (0, 0, 255), 1)
+
+        s1=point(capteur1[0])
+        if s1!=-1:
+            cv2.circle(image, (s1+xmin1, ymin), 3, (0, 255, 0), 3)
+            s1_old=s1
+            s1_time=time.time()
+        else:
+            if time.time()-s1_time<1:
+                cv2.circle(image, (s1_old+xmin1, ymin), 3, (100, 255, 255), 3)
+                s1=s1_old
+            else:
+                s1=-1
+
+        s2=point(capteur2[0])
+        if s2!=-1:
+            cv2.circle(image, (s2+xmin2, ymin), 3, (0, 255, 0), 3)
+            s2_old=s2
+            s2_time=time.time()
+        else:
+            if time.time()-s2_time<1:
+                cv2.circle(image, (s2_old+xmin2, ymin), 3, (100, 255, 255), 3)
+                s2=s2_old
+            else:
+                s2=-1
+
+        if s1!=-1 and s2!=-1:
+            s2_=abs(xmax2-xmin2-s2)
+            if abs(s2_-s1)>20:
+                c=(0, max(0, 255-10*int(abs(s1-s2_)/2)), min(255, 10*int(abs(s1-s2_)/2)))
+                cv2.circle(image, (int((xmax2-xmin1)/2)+xmin1, ymax-25), 5, c, 7)
+                cv2.arrowedLine(image, (int((xmax2-xmin1)/2)+xmin1, ymax-25), (int((xmax2-xmin1)/2)+xmin1+2*int((s1-s2_)/2), ymax-25), c, 3, tipLength=0.4)
+            else:
+                cv2.putText(image, "OK", (int((xmax2-xmin1)/2)+xmin1-15, ymax-16), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 0), 1)
+
+    cv2.putText(image, "[u|j]th1: {:d}  [i|k]th2: {:d}  [y|h]blur: {:d}".format(th1, th2, k), (10, 40), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 255), 1)
+    cv2.putText(image, "[a]>>  [s]stop  [q]quit", (10, 70), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 255), 1)
+    cv2.imshow("image", image)
+    gray=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+    if k!=1:
+        gray=cv2.blur(gray, (k, k))
+    cv2.imshow("blur", gray)
+    gray_canny=cv2.Canny(gray, th1, th2)
+    cv2.imshow("canny", gray_canny)
+
+    if not stop:
+        key=cv2.waitKey(20)&0xFF
+    else:
+        key=cv2.waitKey()
+        image=frame.copy()
+
+    if key==ord('q'):
+        break
+    if key==ord('m'):
+        ymin+=1
+        ymax+=1
+    if key==ord('p'):
+        ymin-=1
+        ymax-=1
+    if key==ord('o'):
+        xmin1+=1
+        xmax1+=1
+        xmin2+=1
+        xmax2+=1
+    if key==ord('l'):
+        xmin1-=1
+        xmax1-=1
+        xmin2-=1
+        xmax2-=1
+    if key==ord('y'):
+        k=min(255, k+2)
+    if key==ord('h'):
+        k=max(1, k-2)
+    if key==ord('u'):
+        th1=min(255, th1+1)
+    if key==ord('j'):
+        th1=max(0, th1-1)
+    if key==ord('i'):
+        th2=min(255, th2+1)
+    if key==ord('k'):
+        th2=max(0, th2-1)
+    if key==ord('s'):
+        stop=not stop
+    if key==ord('a'):
+        for cpt in range(200):
+            ret, frame=cap.read()
+            image=frame.copy()
+
+cap.release()
+cv2.destroyAllWindows()