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vision3.py
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from __future__ import division
import cv2
import numpy as np
import logging
import math
import time
from collections import deque
from constants import *
H = np.array([[ -1.07693537e+01, -1.03211106e+00, 4.41554723e+03],
[ -5.61158586e-02, 7.60254152e-01, -7.36972948e+03],
[ -3.59519827e-04, -5.10817084e-02, 1.00000000e+00]])
class droidVision():
def __init__(self):
self.dataAvailable = 0
self.failedFrame = 0
self.histVPHeading = deque([0],3)
self.histLeftOffset = deque([0],3)
self.histRightOffset = deque([0],3)
self.histObDist = deque([0],3)
self.obMissing = 0
self.obstacle = False
self.frameNo = 0
self.kernel = np.ones((5,5),np.uint8)
self.vpX = 0
self.vpY = 0
self.leftOffset = 0
self.rightOffset = 0
self.clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8,8))
self.threshYellow = 160
self.threshBlue = 110
self.threshPurple = 160
self.cannyLow = 30
self.cannyHigh = 80
self.thetaThresh = np.pi/180 *1.5
self.rhoThresh = 80
self.minLineLength = 100
self.maxLineGap = 30
self.centreY = DEFAULT_CAM_H # Result of calibration
self.canny = np.empty((DEFAULT_CAM_H,DEFAULT_CAM_W,3))
self.frame_edited = np.empty((DEFAULT_CAM_H,DEFAULT_CAM_W,3))
# Main method
def processFrame(self, frame):
centreX = np.round(frame.shape[1]/2)
clA,clB = self.raw2Frame(frame)
purple, yellow, blue = self.thresholdFrame(clA, clB)
self.yellow = yellow *255
self.blue = blue *255
self.purple = purple *255
yM,yEdgeCrossing,yMeanPoint = self.detectLine(yellow)
bM,bEdgeCrossing,bMeanPoint = self.detectLine(blue)
self.vanishingPoint(yM,yEdgeCrossing,bM,bEdgeCrossing)
self.robotHeading(yM,yMeanPoint,bM,bMeanPoint)
goalHeading = np.nanmean(self.histVPHeading)
trackLeftOffset = np.nanmean(self.histLeftOffset)
trackRightOffset = np.nanmean(self.histRightOffset)
obstacleDist = np.nanmean(self.histObDist)
try:
cv2.line(self.frame_edited,(int(bEdgeCrossing),int(self.centreY)),(int(self.vpX),int(self.vpY)),(0,255,0),2)
cv2.line(self.frame_edited,(int(yEdgeCrossing),int(self.centreY)),(int(self.vpX),int(self.vpY)),(0,255,0),2)
# Show direction to vanishing point
cv2.line(self.frame_edited,(int(centreX),int(self.centreY)),(int(self.vpX),int(self.vpY)),(0,0,255),2)
except:
pass #print('cant show lines')
# Draw outputs
try:
cv2.line(self.frame_edited,(0,bottomEdge[1]),(width,bottomEdge[1]),(0,255,0),2)
cv2.circle(self.frame_edited, center, 5, (0,0,255), -1)
except:
logging.debug('no object rect')
return goalHeading, trackLeftOffset, trackRightOffset, self.obstacle, obstacleDist
def raw2Frame(self,frame):
if frame is not None:
# Create frames for processing
# frameLAB = cv2.cvtColor(frame,cv2.COLOR_BGR2LAB)
frameHSV = cv2.cvtColor(frame,cv2.COLOR_BGR2LAB)
self.frame_edited = np.copy(frame)
# l,a,b = cv2.split(frameLAB)
l,a,b = cv2.split(frameHSV)
# clA = self.clahe.apply(a) # histogram adjustment
# clB = self.clahe.apply(b) # histogram adjustment
return a,b
else:
self.failedFrame +=1
def BGR2invariant(self,frame,alpha):
#G - B - R BGR
invariant = 0.5 + np.log(frame[:,:,1]) - alpha * np.log(frame[:,:,2]) - (1-alpha) * np.log(frame[:,:,0]);
return invariant
def thresholdFrame(self, clA, clB):
thresh,purple = cv2.threshold(clA,self.threshPurple,1,cv2.THRESH_BINARY)
retY,yellow = cv2.threshold(clB,self.threshYellow,1,cv2.THRESH_BINARY)
retB,blue = cv2.threshold(clB,self.threshBlue,1,cv2.THRESH_BINARY)
blue = cv2.bitwise_not(blue)-254 # invert blue line
# ret2,th2 = cv2.threshold(img,0,255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
return purple, yellow, blue
def detectLine(self,channel):
channel = cv2.Canny(channel, self.cannyLow, self.cannyHigh,5)
# channel = cv2.morphologyEx(channel, cv2.MORPH_CLOSE, self.kernel)
lines = np.squeeze(cv2.HoughLinesP(channel,cv2.HOUGH_PROBABILISTIC,self.thetaThresh,self.rhoThresh,self.minLineLength,self.maxLineGap))#detect lines
self.canny = channel
if lines.ndim >= 2:
grad = (lines[:,0]-lines[:,2])/(lines[:,1]-lines[:,3]+0.0001)# find gradient of lines
filt = rejectOutliers(grad, m=5)
M = np.median(filt)
#find intersection point with baseline centreY, using gradient and mean point
meanPoint = np.sum((lines[:,0] + lines[:,2])/(2*lines.shape[0])),np.sum((lines[:,1] + lines[:,3])/(2*lines.shape[0]))
EdgeCrossing = meanPoint[0] + M * (self.centreY - meanPoint[1])
#crossingPoint = [pointX,pointY]
for x1,y1,x2,y2 in lines:
cv2.line(self.frame_edited,(x1,y1),(x2,y2),(0,255,0),1)
else:
# print('VS209: HoughLines not found')
M = None
EdgeCrossing = None
meanPoint = None
return M,EdgeCrossing,meanPoint
def vanishingPoint(self,yM,yEdgeCrossing,bM,bEdgeCrossing):
# Conditional to create vP or virtual vP
# Both lines visible
if bM != None and yM != None:
self.vpY = (yEdgeCrossing - bEdgeCrossing)/(bM - yM) + self.centreY
self.vpX = bM * (self.vpY - self.centreY) + bEdgeCrossing
self.dataAvailable = 1
# Only Blue line visible, set VP to be far away and extend visible line
elif bM != None and yM == None:
self.vpY = -10000 - self.centreY
self.vpX = bM * self.vpY + bEdgeCrossing
self.dataAvailable = 1
# Only Yellow line visible
elif yM != None and bM == None:
self.vpY = -10000 - self.centreY
self.vpX = yM * self.vpY + yEdgeCrossing
self.dataAvailable = 1
# No lines visible
else:
self.dataAvailable = 0
# Temporary only, use potential field system
def robotHeading(self,yM,yMeanPoint,bM,bMeanPoint):
if self.dataAvailable:
# Using Homography to compute heading angle
realCoords = robotFrame([self.vpX,self.vpY],H)
Heading = math.atan2(-realCoords[1], -realCoords[0])
# logging.debug("Heading: %.2f", heading_deg)
self.histVPHeading.append(Heading)
if bM != None:
leftOffset = findTrackOffset(bMeanPoint, realCoords)
self.histLeftOffset.append(leftOffset)
if yM != None:
rightOffset = findTrackOffset(yMeanPoint, realCoords)
self.histRightOffset.append(rightOffset)
else:
self.failedFrame += 1
# If lines are not detected for N frames, remove history
if self.failedFrame >= 3:
self.histVPHeading = deque([0],3)
self.histLeftOffset = deque([0],3)
self.histRightOffset = deque([0],3)
# logging.debug('10 failed frames')
if self.obstacle:
self.obMissing = 0
self.histObDist.append(obDistance)
else:
self.obMissing +=1
if self.obMissing >= 3:
self.histObDist = deque([0],3)
# logging.debug('Lost the obstacle')
def detectObjects(self,purple):
# process purple objects
purple = cv2.morphologyEx(purple, cv2.MORPH_OPEN, self.kernel)
__, contours, __ = cv2.findContours(purple,cv2.RETR_LIST,cv2.CHAIN_APPROX_SIMPLE)
if contours:
# find centroid of largest blob
blob = max(contours, key=lambda el: cv2.contourArea(el))
M = cv2.moments(blob)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
# Find edges of obstacle
# leftEdge = tuple(blob[blob[:,:,0].argmin()][0])
# rightEdge = tuple(blob[blob[:,:,0].argmax()][0])
# topEdge = tuple(blob[blob[:,:,1].argmin()][0])
bottomEdge = tuple(blob[blob[:,:,1].argmax()][0])
# Calculate distance to object
obDistance = objectDistance(DEFAULT_CAM_H, DEFAULT_CAM_TILT, DEFAULT_CAM_HEIGHT, bottomEdge)
self.obstacle = True
else:
self.obstacle = False
def rejectOutliers(data, m = 10.):
d = np.abs(data - np.median(data))
mdev = np.median(d)
s = d/(mdev if mdev else 1.)
return data[s<m]
# Remove this function
def objectDistance(VertPix, tiltAngle, Height, bottomEdge):
Y = VertPix/2.0 - bottomEdge[1]
fieldAngle = 0.8517
pxAngle = ((Y * fieldAngle)/(VertPix))
obDist = Height * np.tan(tiltAngle + pxAngle - (3/2*np.pi))
print('Object!:',obDist)
return obDist
# Remove this function
def findTrackOffset(Point, realCoords):
# Point on line
x1 = realCoords[0]
y1 = realCoords[1]
# Vanishing point
x2 = Point[0]
y2 = Point[1]
# Centre point of droid
x0 = 0
y0 = 0
dx = x2 - x1
dy = y2 - y1
mag = np.sqrt(dx*dx + dy*dy)
dx = dx/mag
dy = dy/mag
# translate the point and get the dot product
Lambda = (dx * (x0 - x1)) + (dy * (y0 - y1))
x4 = (dx * Lambda) + x1
y4 = (dy * Lambda) + y1
offset = np.sqrt((x4-x0)**2 + (y4-y0)**2)
return offset
def robotFrame(cPoint,H):
rPoint = np.dot(H, [cPoint[0],cPoint[1],1])
rPoint = rPoint/rPoint[2]
return rPoint
'''
Use this to put a test video through the vision
processing algorithm to see how it performs.
Doesn't require the droid!
'''
if __name__=='__main__':
def nothing(*arg):
pass
cv2.namedWindow("Processed")
cv2.moveWindow('Processed',0,0)
cv2.namedWindow("Canny")
cv2.moveWindow('Canny',900,0)
cv2.namedWindow("Yellow")
cv2.moveWindow("Yellow",450,400)
cv2.namedWindow("Blue")
cv2.moveWindow("Blue",0,400)
cv2.namedWindow("Purple")
cv2.moveWindow("Purple",450,0)
cv2.createTrackbar("Minimum Line Length", "Processed", 1,100, nothing)
cv2.createTrackbar("Theta", "Processed", 1,100, nothing)
cv2.createTrackbar("Rho", "Processed", 1,100, nothing)
cv2.createTrackbar("CannyLow", "Canny", 1,300, nothing)
cv2.createTrackbar("CannyHigh", "Canny", 1,300, nothing)
cv2.createTrackbar("Threshold value", "Yellow", 0, 255, nothing)
cv2.createTrackbar("Threshold value", "Blue", 0, 255, nothing)
cv2.createTrackbar("Threshold value", "Purple", 0, 255, nothing)
cv2.setTrackbarPos("Minimum Line Length", "Processed", 30)
cv2.setTrackbarPos("Theta", "Processed", 15)
cv2.setTrackbarPos("Rho", "Processed", 80)
cv2.setTrackbarPos("CannyLow", "Canny", 30)
cv2.setTrackbarPos("CannyHigh", "Canny", 80)
cv2.setTrackbarPos("Threshold value", "Yellow", 160)
cv2.setTrackbarPos("Threshold value", "Blue", 110)
cv2.setTrackbarPos("Threshold value", "Purple", 160)
idx = 0
cap = cv2.VideoCapture('test_videos/output2.avi')
vis = droidVision()
while(cap.isOpened()):
t0 = time.time()
ret, frame = cap.read()
if frame is not None:
# Rescale image to 416, 304
frame = cv2.resize(frame,(416,304))
idx = idx + 1
# print('fps, ',1.0/(time.time() - t0))
print('Frame',idx)
vis.processFrame(frame)
cv2.imshow("Processed", vis.frame_edited)
cv2.imshow("Canny", vis.canny)
cv2.imshow("Blue",vis.blue)
cv2.imshow("Yellow",vis.yellow)
cv2.imshow("Purple",vis.purple)
cv2.waitKey(1)
# Move forward 10 frames and pause
if idx == 30:
play = True
idx = 0
k = cv2.waitKey(100)
print("Press ESC to stop, 's' key to move frame")
while play is True:
vis.thetaThresh = np.pi/18 * cv2.getTrackbarPos("Theta", "Processed")
vis.rhoThresh = cv2.getTrackbarPos("Rho", "Processed")
vis.minLineLength = cv2.getTrackbarPos("Minimum Line Length", "Processed")
vis.cannyLow = cv2.getTrackbarPos("CannyLow", "Canny")
vis.cannyHigh = cv2.getTrackbarPos("CannyHigh", "Canny")
vis.threshYellow = cv2.getTrackbarPos("Threshold value", "Yellow")
vis.threshBlue = cv2.getTrackbarPos("Threshold value", "Blue")
vis.threshPurple = cv2.getTrackbarPos("Threshold value", "Purple")
vis.processFrame(frame)
print("Yellow", vis.threshYellow)
print("Blue", vis.threshBlue)
print("Purple", vis.threshPurple)
print("minimum seg length", vis.minLineLength)
print("Theta", vis.thetaThresh)
print("Rho", vis.rhoThresh)
print("cannyLow", vis.cannyLow)
print("cannyHigh", vis.cannyHigh)
cv2.imshow("Processed", vis.frame_edited)
cv2.imshow("Canny", vis.canny)
cv2.imshow("Blue",vis.blue)
cv2.imshow("Yellow",vis.yellow)
cv2.imshow("Purple",vis.purple)
k = cv2.waitKey(100)
if k == 27: # wait for ESC key to exit
cap.release()
cv2.destroyAllWindows()
break
elif k == ord('s'): # wait for ESC key to exit
play = False
else:
print ('releasing resources')
cap.release()
cv2.destroyAllWindows()
break