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ArrowDirectionDetection.py
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ArrowDirectionDetection.py
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import cv2, time, math
import numpy as np
import pytesseract
pytesseract.pytesseract.tesseract_cmd = 'C:/Program Files/Tesseract-OCR/tesseract.exe'
cam = cv2.VideoCapture(0)
color = (255,255,255)
def distance_between_points(point1, point2):
return np.sqrt(np.power(point1[0]-point2[0],2) + np.power(point1[1]-point2[1],2))
def nothing(x):
pass
def findPointer(points):
temp = []
for point1 in points:
for point2 in points:
distance = int(distance_between_points(point1, point2))
temp.append((distance,point1,point2))
#print("sorted: ",sorted(temp,key=lambda x: (x[0]),reverse=True))
sortedbydistance = sorted(temp,key=lambda x: (x[0]),reverse=True)
special_points = []
for x in sortedbydistance[0:3]:
if x[1] not in special_points:
special_points.append(x[1])
if x[2] not in special_points:
special_points.append(x[2])
#print("specials: ",special_points)
mean = ((special_points[0][0]+special_points[1][0]+special_points[2][0])//3,(special_points[0][1]+special_points[1][1]+special_points[2][1])//3)
max = 0
for point in special_points:
d = distance_between_points(point,mean)
if d > max :
max = d
pointer = point
special_points.remove(pointer)
special_points.insert(0,pointer)
return special_points
"""
cv2.namedWindow("ColorTrackbars")
cv2.createTrackbar("min - H", "ColorTrackbars", 0, 179, nothing)
cv2.createTrackbar("min - S", "ColorTrackbars", 0, 255, nothing)
cv2.createTrackbar("min - V", "ColorTrackbars", 240, 255, nothing)
cv2.createTrackbar("max - H", "ColorTrackbars", 179, 179, nothing)
cv2.createTrackbar("max - S", "ColorTrackbars", 255, 255, nothing)
cv2.createTrackbar("max - V", "ColorTrackbars", 255, 255, nothing)
"""
cv2.namedWindow("ColorTrackbars")
cv2.createTrackbar("min - H", "ColorTrackbars", 0, 179, nothing)
cv2.createTrackbar("min - S", "ColorTrackbars", 0, 255, nothing)
cv2.createTrackbar("min - V", "ColorTrackbars", 0, 255, nothing)
cv2.createTrackbar("max - H", "ColorTrackbars", 179, 179, nothing)
cv2.createTrackbar("max - S", "ColorTrackbars", 255, 255, nothing)
cv2.createTrackbar("max - V", "ColorTrackbars", 100, 255, nothing)
prev_frame_time = 0
new_frame_time = 0
if cam.isOpened():
ret,frame = cam.read()
frame_width, frame_height = (640,640)
#output = cv2.VideoWriter("output.avi", cv2.VideoWriter_fourcc('M','J','P','G'), 20, (frame_width, frame_height)) #https://docs.opencv.org/3.4/dd/d9e/classcv_1_1VideoWriter.html
else:
ret = False
while ret :
ret,frame = cam.read()
frame = cv2.imread("Seeker/TargetImages/arrow1.png")
frame = cv2.resize(frame,(frame_width, frame_height ))
#frame =cv2.flip(frame,-1)
center_frame = (frame_width//2,frame_height//2)
blurred = cv2.GaussianBlur(frame,(3,3),0)
# convert to HSV colorspace
hsv_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
blank = np.zeros(frame.shape, np.uint8)
blank2 = np.zeros(frame.shape, np.uint8)
#Calculate FPS
new_frame_time = time.time()
fps = 1/(new_frame_time-prev_frame_time)
prev_frame_time = new_frame_time
cv2.putText(frame,"FPS:{}".format(int(fps)),(15,15),cv2.FONT_HERSHEY_SIMPLEX,.5,(255,255,255),1,cv2.LINE_AA)#Displays fps
# lines for left,right,up,down boundaries
#cv2.circle(frame , center_frame, 15,(0,255,0), 1)
target_lock_radius = 75
cv2.circle(frame, (frame_width//2, frame_height//2), target_lock_radius, (0,255,0), 1)
cv2.line(frame,(int(frame_width/2),0),(int(frame_width/2),int(frame_height)),(0,255,0),1) # vertical line
cv2.line(frame,(0,int(frame_height/2)),(frame_width,int(frame_height/2)),(0,255,0),1) # horizontal line
#H,S,V = cv2.split(hsv_frame)
min_h = cv2.getTrackbarPos("min - H", "ColorTrackbars")
min_s = cv2.getTrackbarPos("min - S", "ColorTrackbars")
min_v = cv2.getTrackbarPos("min - V", "ColorTrackbars")
max_h = cv2.getTrackbarPos("max - H", "ColorTrackbars")
max_s = cv2.getTrackbarPos("max - S", "ColorTrackbars")
max_v = cv2.getTrackbarPos("max - V", "ColorTrackbars")
min_color = np.array([min_h, min_s, min_v])
max_color = np.array([max_h, max_s, max_v])
mask_color = cv2.inRange(hsv_frame, min_color, max_color)
contours, hierarchy = cv2.findContours(mask_color, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) #SIMPLE-NONE
#contours = max(contours, key = cv2.contourArea)
contours = sorted(contours, key = cv2.contourArea)
target_contours = contours[-1:] # Take the object with the largest area
"""
contours, hierarchy = cv2.findContours(hsv_frame, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=lambda x:cv2.contourArea(x), reverse=True)
"""
for contour in target_contours:
if cv2.contourArea(contour) >= 500: # If area is big enough, find its center etc.
contour = cv2.approxPolyDP(contour, 10, closed=True)
#print(len(contour))
if 7 < len(contour) < 20 :
print("sign")
pass
cv2.drawContours(frame, contour, -1, (255,0,0), 15, lineType = cv2.FILLED)
# To find Arrow direction, first extract contour points
points = contour.ravel()
temp = []
Points = []
for i in range (0,len(points)):
temp.append(points[i])
if i%2 == 1:
Points.append(temp)
temp = []
else:
continue
specials = findPointer(Points)
middle = ((specials[1][0] + specials[2][0])//2, (specials[1][1] + specials[2][1])//2)
pointer = (specials[0][0], specials[0][1])
cv2.circle(frame, (specials[0][0],specials[0][1]), 4, (0,0,255),-1)
cv2.circle(frame, (specials[1][0],specials[1][1]), 4, (0,255,255),-1)
cv2.circle(frame, (specials[2][0],specials[2][1]), 4, (0,255,255),-1)
#pointer = (int(points[0]), int(points[1]))
#cv2.circle(frame, pointer, 5, (0,255,255),-1)
# Find center of the contour
moment = cv2.moments(contour) # To find the center of the contour, we use cv2.moment
(x_contour, y_contour) = (moment['m10'] / (moment['m00'] + 1e-5), moment['m01'] / (moment['m00'] + 1e-5)) # calculate center of the contour
center_contour = (int(x_contour), int(y_contour))
cv2.circle(frame, center_contour, 10, (0,255,0),-1)
# Find corners
mask_arrow = np.ones(frame.shape[:2], dtype="uint8") * 255
#cv2.drawContours(mask_arrow, contour, -1, (0,0,0), 15, lineType = cv2.FILLED)
cv2.polylines(mask_arrow, [contour], True, (0,255,255), 2)#ConvexHullPoints
# Drawing lines for angle calculation (for visual purposes only)
cv2.line(frame, middle, pointer,(255,0,255),1)
#cv2.line(frame, center_contour, pointer,(255,0,255),1)
cv2.line(frame, center_frame, center_contour,(0,0,255),1)
# Find angle of the arrow
#atan = math.atan2(center_contour[1] - pointer[1], center_contour[0] - pointer[0])
atan = math.atan2(middle[0] - pointer[0], middle[1] - pointer[1])
angle_arrow = math.degrees(atan)
angle_arrow = int(angle_arrow)
if angle_arrow > 0:
if angle_arrow > 90:
angle_arrow = 270-(angle_arrow-90)
else:
angle_arrow = 360 - angle_arrow
else:
angle_arrow *= -1
# Angle of the line connecting center of contour to the center of the frame
atan = math.atan2(center_frame[1] - center_contour[1], center_frame[0] - center_contour[0])
angle_target = math.degrees(atan)
angle_target = int(angle_target)
if angle_target > 0:
if angle_target > 90:
angle_target -= 90
else:
angle_target += 270
else:
angle_target += 270
color = (0,0,255)
"""
if angle_arrow > 135 and angle_arrow < 225:
cv2.putText(frame, "BACKWARD", (frame_width - 100, 35) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow >= 225 and angle_arrow <= 315:
cv2.putText(frame, "LEFT", (frame_width - 100, 55) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow >= 45 and angle_arrow <= 135:
cv2.putText(frame, "RIGHT", (frame_width - 100, 55) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow < 45 or angle_arrow > 315:
cv2.putText(frame, "FORWARD", (frame_width - 100, 35) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
"""
if angle_arrow > 90 and angle_arrow < 270:
cv2.putText(frame, "BACKWARD", (frame_width - 100, 35) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow > 180 and angle_arrow < 360:
cv2.putText(frame, "LEFT", (frame_width - 100, 55) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow >0 and angle_arrow < 180:
cv2.putText(frame, "RIGHT", (frame_width - 100, 55) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
if angle_arrow < 90 or angle_arrow > 270:
cv2.putText(frame, "FORWARD", (frame_width - 100, 35) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
cv2.putText(frame, "Arrow Direction: {}*".format(angle_arrow), (frame_width - 200, 15) , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
cv2.putText(frame, "{}*".format(angle_target), center_frame , cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 2)
# If arrow inside the locking_circle, then locking_circle becomes green
if distance_between_points(center_contour, center_frame) < target_lock_radius:
cv2.circle(blank, center_frame, target_lock_radius, (0,255,0), cv2.FILLED)
alpha = 0.4
beta = (1.0 - alpha)
cv2.addWeighted(blank, alpha, frame, beta, 0.0, frame) # to make rectangle transparent
kernel = np.ones((5,5), np.uint8)
mask_color = cv2.erode(mask_color, kernel, iterations=1)
mask_color = cv2.dilate(mask_color, kernel, iterations=1)
ret, mask_color = cv2.threshold(np.array(mask_color), 125, 255, cv2.THRESH_BINARY_INV)
#print("text: ",pytesseract.image_to_string(mask_color, config='--psm 10 --oem 3 -c tessedit_char_whitelist=0123456789'))
#print("text: ",pytesseract.image_to_string(mask_color, config='digits'))
text = pytesseract.image_to_string(mask_color, lang='eng',config='--psm 6')
print("text: ",text)
#output.write(frame)
cv2.imshow("mask_arrow", mask_arrow)
cv2.imshow("realTimeCamera", frame)
cv2.imshow("mask_color", mask_color)
#cv2.imshow("Blurred",blurred)
key=cv2.waitKey(1)
if key==27:
break
cv2.destroyAllWindows()
output.release()
cam.release()