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Bridge.py
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Bridge.py
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import cv2
import numpy as np
import time
from CMDcontrol import action_append, action_list
# from Robot_control import action_append, action_list
from Landmine import getAreaMaxContour1
from Center import draw_lines
import math
from Undistort import undistort_chest
def Calculate_position_bridge(line):
[ub, ut] = line
if ub == ut:
ub = ub + 1
# (ut, ub) = (484,-360)
# input variables ##########################################################
# biaoding photo
(u, v, ang1, ang2, ang3, h) = (243,189,-1.5479,-0.5800,1.5526,20.6104)
# inside camera ############################################################
f = 200 # pixel
x_fen = 480
y_fen = 640
# find lanes jiaodian in photo #############################################
# rotation matrix of camera: R1 rotates first
R1 = np.asarray([[math.cos(ang1), math.sin(ang1), 0], [-math.sin(ang1), math.cos(ang1), 0], [0, 0, 1]], dtype=float)
R2 = np.asarray([[math.cos(ang2), 0, -math.sin(ang2)], [0, 1, 0], [math.sin(ang2), 0, math.cos(ang2)]], dtype=float)
R3 = np.asarray([[math.cos(ang3), math.sin(ang3), 0], [-math.sin(ang3), math.cos(ang3), 0], [0, 0, 1]], dtype=float)
# Zc[0 0 1]axis vector in no-rotate cam coordinate system: Zc[x y z]
Zc = np.matmul(np.matmul(np.matmul(R3,R2),R1),np.matrix([[0], [0], [1]]))
# find projection vector of Zc in Xc0-Zc0 plane
Zcproj = np.asarray([Zc[0][0], 0, Zc[2][0]], dtype=float)
# find jiaoxian vector of Xc0-Zc0 plane and photo
XZplane = np.asarray([-Zc[2][0], 0, Zc[0][0]], dtype=float)
# Xc[1 0 0]axis vector in no-rotate cam coordinate system: Xc[x y z]
Xc = np.matmul(np.matmul(np.matmul(R3,R2),R1),np.matrix([[1], [0], [0]]))
# calculate absolute jiajiao of Xc and XZplane
Xc.shape = (3,1)
XZplane.shape = (1,3)
# print(np.matmul(XZplane, Xc))
cosXZ = abs( np.matmul(XZplane, Xc)/np.linalg.norm(Xc, ord=2)/np.linalg.norm(XZplane, ord=2) )
aXZ = np.sign(-Xc[0][0]*Xc[1][0]) * math.acos(cosXZ) # aXZ+, XZplane youdi zuogao in photo
tanXZ = math.tan(aXZ)
# calculate jiaodian: (ud, vd)
# original expression:
# (vd-v)/(ud-u) = tanXZ
# (ut-ud)/vd = (ud-ub)/(y_fen-vd)
ud = ( ut*y_fen + (ut-ub)*(tanXZ*u - v) ) / ( tanXZ*(ut-ub) + y_fen)
vd = ( tanXZ*y_fen*(ut-u) + y_fen*v ) / ( tanXZ*(ut-ub) + y_fen)
# calculate y-rotation of the car ##########################################
# vector of camdevi(u,v)-camorigin
vecuv = np.asarray([x_fen/2, y_fen/2, f], dtype=float) - np.asarray([u, v, 0], dtype=float)
vecuvd = np.asarray([x_fen/2, y_fen/2, f], dtype=float) - np.asarray([ud, vd, 0], dtype=float)
vecuv.shape = (1,3)
vecuvd.shape = (3,1)
# calculate absolute jiajiao of two vectors
cosyd = np.matmul(vecuv,vecuvd)/np.linalg.norm(vecuv, ord=2)/np.linalg.norm(vecuvd, ord=2)
ayd = np.sign(u-ud) * math.acos(cosyd) # ud < u, ayd+, car rotates to the right
ayddeg = ayd/np.pi*180
# rotation matrix of y-rotation
Ry = [[math.cos(ayd), 0, -math.sin(ayd)], [0, 1, 0], [math.sin(ayd), 0, math.cos(ayd)]]
# calculate x-translation of the car #######################################
# rotate Zc to let photo dibian parallel to XZplane, angle = aXZ
tl = y_fen / (ub-ut) # before rotation
al = math.atan(tl)
alz = al-aXZ # after rotation
# after y-rotation: Zc coordinates changes
Zcy = Ry*Zc
# if no x-translation: what is photo bottom line coordinates after rotation
vecbot0 = np.sign(ut-ub) * np.asarray([1, 0, (-Zcy[0][0]/Zcy[2][0])], dtype=float) # ut > ub: left lane
# what is photo middle line coordinates
vecmid0 = np.asarray([0, h, -(h*Zcy[1][0]/Zcy[2][0])], dtype=float)
vecbot0.shape = (1,3)
vecmid0.shape = (3,1)
# solve equation: dot product of vecl0 and vecl (vecl = vecmid0 - k*vecbot)
ak = np.power(np.linalg.norm(vecbot0, ord=2), 4)*(np.power(math.cos(alz),2)-1)
bk = 2*np.power(np.linalg.norm(vecbot0, ord=2), 2)*np.matmul(vecbot0,vecmid0)*(1-np.power(math.cos(alz), 2))
ck = np.power(np.linalg.norm(vecmid0, ord=2)*np.linalg.norm(vecbot0, ord=2)*math.cos(alz), 2) - np.power(np.matmul(vecbot0,vecmid0), 2)
bk, ck = bk[0][0], ck[0][0]
k1 = (-bk+math.sqrt(bk*bk - 4*ak*ck))/(2*ak)
k2 = (-bk-math.sqrt(bk*bk - 4*ak*ck))/(2*ak)
xd = max(k1,k2)
if ub > ut:
position = False # right is false
else:
position = True # left or middle is true
return xd,ayddeg,position
def group_lines_and_draw_bridge(img,lines,side):
"""
根据斜率，将所有的线分为左右两组,斜率绝对值小于0.5的舍去（减少噪声影响）
（因为图像的原点在左上角，slope<0是left lines，slope>0是right lines)
设定min_y作为left和right的top线,max_y为bottom线，求出四个x值即可确定直线：
将left和right的点分别线性拟合，拟合方程根据y值，求出x值，画出lane
"""
line_x,line_y=[],[]
out_line = None
for line in lines:
for x1,y1,x2,y2 in line:
slope=(y2-y1)/(x2-x1)
if side == 'Right':
if abs(slope)>0.4 and slope>0:
line_image=draw_lines(img,[[[x1,y1,x2,y2]]],color=[0,0,255],thickness=3)
line_x.extend([x1,x2])
line_y.extend([y1, y2])
# line_slope.extend([slope])
elif side == 'Left':
if abs(slope)>0.4 and slope<0:
line_image=draw_lines(img,[[[x1,y1,x2,y2]]],color=[0,0,255],thickness=3)
line_x.extend([x1,x2])
line_y.extend([y1, y2])
# line_slope.extend([slope])
#设定top 和 bottom的y值,y值都一样,根据ROI变化
min_y=int(-50)
max_y=int(img.shape[0]+240)
#对所有点进行线性拟合
if len(line_x)==0:
good = False
line_image = None
else:
poly_left = np.poly1d(np.polyfit(line_y, line_x, deg=1))
# Fit_slope = poly_left.coef[0]
# line_slope.extend([Fit_slope])
# var = np.var(line_slope)
# print('var',var)
x_start = int(poly_left(max_y))
x_end = int(poly_left(min_y))
out_line = [x_start,x_end]
good = True
line_image=draw_lines(img,[[
[x_start,max_y,x_end,min_y],
]],thickness=2)
return line_image,out_line,good
def bridge(Chest):
event_step_bridge = 0
counter_step = 0
while True:
img = undistort_chest(Chest.imgs)
img = img[50:430,50:400].copy()
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
cv2.imshow("img", img)
cv2.waitKey(1)
height = img.shape[0]
width = img.shape[1]
blank_img = np.zeros((height,width,1), np.uint8)
h,s,v = cv2.split(img)
thresh_value,thresh_img = cv2.threshold(s, 110, 255, cv2.THRESH_BINARY)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(10,10))
thresh = cv2.morphologyEx(thresh_img,cv2.MORPH_OPEN,kernel)
cv2.imshow("thresh", thresh)
_, contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
length = len(contours)
list1 = []
for i in range(length):
cnt = contours[i]
epsilon = 0.02*cv2.arcLength(cnt,True)
approx = cv2.approxPolyDP(cnt, 20, True)
cv2.polylines(blank_img, [approx], 1, (255, 0, 0), 1, cv2.LINE_4)
if event_step_bridge == 0:
if(cv2.isContourConvex(approx)):
list1.append(approx)
flag_hole = True
else:
action_append("Forwalk01")
action_append("HeadTurnMM")
while len(action_list) != 0:
time.sleep(0.1)
else:
list1.append(approx)
flag_hole = True
if flag_hole == True:
area_max_contour, contour_area_max = getAreaMaxContour1(list1)
M = cv2.moments(area_max_contour)
cX = int(M["m10"] / (M["m00"] + 0.0001))
cY = int(M["m01"] / (M["m00"] + 0.0001))
midpoint = [cX,cY]
cv2.polylines(blank_img, [area_max_contour], 1, (255, 0, 255), 1, cv2.LINE_4)
cv2.circle(blank_img, (cX,cY), 6, (255,255,255), -1)
cv2.imshow("blank_img", blank_img)
print(cX, cY)
else:
action_append("Forwalk01")
action_append("HeadTurnMM")
while len(action_list) != 0:
time.sleep(0.1)
cv2.waitKey(1)
if event_step_bridge == 0:
print("event_step_bridge =", event_step_bridge)
x_dis = abs(cX - 150)
print("cX =", cX)
if cX > 150:
if x_dis > 50:
print("Forwalk02")
action_append("Forwalk02")
while len(action_list) != 0:
time.sleep(0.1)
elif x_dis > 30:
print("Forwalk01")
action_append("Forwalk01")
while len(action_list) != 0:
time.sleep(0.1)
elif x_dis > 20:
print("Forwalk00")
action_append("Forwalk00")
while len(action_list) != 0:
time.sleep(0.1)
# else:
# print("Back1Run")
# action_append("Back1Run")
y_dis = abs(cY - 190)
print("cY =", cY)
if cY > 190:
if y_dis > 50:
if cX > 140:
print("Right3move")
action_append("Right3move")
while len(action_list) != 0:
time.sleep(0.1)
else:
print("Right02move")
action_append("Right02move")
while len(action_list) != 0:
time.sleep(0.1)
elif y_dis > 20:
if cX > 300:
print("Right3move")
action_append("Right3move")
while len(action_list) != 0:
time.sleep(0.1)
else:
print("Right02move")
action_append("Right02move")
while len(action_list) != 0:
time.sleep(0.1)
else:
if cY != 0 and cX <= 170:
event_step_bridge = 1
print("event_step_bridge =", event_step_bridge)
elif cY < 190 and cY != 0:
if y_dis > 50:
if cX > 140:
print("Left3move")
action_append("Left3move")
while len(action_list) != 0:
time.sleep(0.1)
else:
print("Left02move")
action_append("Left02move")
while len(action_list) != 0:
time.sleep(0.1)
elif y_dis > 20:
if cX > 300:
print("Left3move")
action_append("Left3move")
while len(action_list) != 0:
time.sleep(0.1)
else:
print("Left02move")
action_append("Left02move")
while len(action_list) != 0:
time.sleep(0.1)
else:
if cX <= 170:
event_step_bridge = 1
if cX == 0 and cY == 0:
action_append("Forwalk00")
action_append("HeadTurnMM")
while len(action_list) != 0:
time.sleep(0.1)
if event_step_bridge == 1:
print("event_step_bridge =", event_step_bridge)
lines = cv2.HoughLines(blank_img,1,3.14159/180,30,None,0,0)
cv2.polylines(blank_img, [area_max_contour], 1, (255, 0, 255), 1, cv2.LINE_4)
k=np.zeros(2, dtype=np.float32)
bb=np.zeros(2, dtype=np.float32)
#cnt=-1
large=10
small=10
if lines is not None:
for i in range(0, len(lines)):
rho = lines[i][0][0]
theta = lines[i][0][1]
if(theta>np.pi/2):
if((theta-np.pi/2)<large):
large=theta-np.pi/2
t_l=np.pi/2+large
a = math.cos(t_l)
b = math.sin(t_l)
x0 = a * rho
y0 = b * rho
pt1 = (int(x0 + 1000*(-b)), int(y0 + 1000*(a)))
pt2 = (int(x0 - 1000*(-b)), int(y0 - 1000*(a)))
k[0]=(pt2[1]-pt1[1])/(pt2[0]-pt1[0])
bb[0]=float((pt1[1]*pt2[0]-pt2[1]*pt1[0])/(pt2[0]-pt1[0]))
else:
if((np.pi/2-theta)<small):
small=np.pi/2-theta
t_s=np.pi/2-small
a = math.cos(t_s)
b = math.sin(t_s)
x0 = a * rho
y0 = b * rho
pt3 = (int(x0 + 1000*(-b)), int(y0 + 1000*(a)))
pt4 = (int(x0 - 1000*(-b)), int(y0 - 1000*(a)))
k[1]=(pt4[1]-pt3[1])/(pt4[0]-pt3[0]+0.0001)
bb[1]=float((pt3[1]*pt4[0]-pt4[1]*pt3[0])/(pt4[0]-pt3[0]+0.0001))
cv2.line(img,pt1,pt2,(0,255,0),1)
cv2.line(img,pt3,pt4,(0,255,0),1)
cv2.imshow("frame", img)
#cv2.waitKey(1)
left_x_start = k[0]*590+bb[0]+50
left_x_end = k[0]*50+bb[0]+50
left_line = [left_x_end,left_x_start]
right_x_start = k[1]*590+bb[1]+50
right_x_end = k[1]*50+bb[1]+50
right_line = [right_x_end,right_x_start]
dx_l, deg_l, posi_left = Calculate_position_bridge(left_line)
print('left',dx_l,deg_l)
dx_r, deg_r, posi_right = Calculate_position_bridge(right_line)
print('right',dx_r,deg_r)
if posi_left == False and posi_right == False:
print("Right3move")
action_append("Right3move")
while len(action_list) != 0:
time.sleep(0.1)
elif posi_left == True and posi_right == True:
print("Left3move")
action_append("Left3move")
while len(action_list) != 0:
time.sleep(0.1)
else:
if dx_l <= 8 or dx_r >= 12:
print("Right02move")
action_append("Right02move")
while len(action_list) != 0:
time.sleep(0.1)
elif dx_r <= 8 or dx_l >= 12:
print("Left02move")
action_append("Left02move")
while len(action_list) != 0:
time.sleep(0.1)
deg_avg = (deg_l+deg_r)/2
if deg_avg > 5:
print("turn000L")
action_append("turn000L")
while len(action_list) != 0:
time.sleep(0.1)
elif deg_avg < -5:
print("turn000R")
action_append("turn000R")
while len(action_list) != 0:
time.sleep(0.1)
else:
event_step_bridge = 2
if event_step_bridge == 2:
print("event_step_bridge =", event_step_bridge)
blank_img = np.rot90(blank_img).copy()
#lines = cv2.HoughLines(blank_img,1,3.14159/180,30,None,0,0)
lines = cv2.HoughLinesP(blank_img,
1.0,
np.pi / 180,
100,
minLineLength=10,
maxLineGap=15)
if lines is None:
action_append("Forwalk01")
continue
final_image, Final_line, good = group_lines_and_draw_bridge(blank_img, lines, 'Right')
if Final_line is None:
action_append("Forwalk01")
continue
# cv2.imshow("final_image", final_image)
# cv2.waitKey(1)
dx_line, deg_line, posi = Calculate_position_bridge(Final_line)
print(dx_line,deg_line)
if posi == True:
if dx_line <= 8:
print("Right02move")
action_append("Right02move")
while len(action_list) != 0:
time.sleep(0.1)
elif dx_line >= 12:
print("Left02move")
action_append("Left02move")
while len(action_list) != 0:
time.sleep(0.1)
else:
if dx_line <= 8:
print("Left02move")
action_append("Left02move")
while len(action_list) != 0:
time.sleep(0.1)
elif dx_line >= 12:
print("Right02move")
action_append("Right02move")
while len(action_list) != 0:
time.sleep(0.1)
if deg_line > 5:
for i in range (int(deg_line/5) + 1):
print("turn000L")
action_append("turn000L")
while len(action_list) != 0:
time.sleep(0.1)
elif deg_line < -5:
for i in range (int(abs(deg_line)/5) + 1):
print("turn000R")
action_append("turn000R")
while len(action_list) != 0:
time.sleep(0.1)
if dx_line >= 8 and dx_line <= 10:
if counter_step > 6:
action_append("fastForward04")
while len(action_list) != 0:
time.sleep(0.1)
event_step_bridge = 3
else:
print("Forwalk02")
action_append("Forwalk02")
while len(action_list) != 0:
time.sleep(0.1)
counter_step = counter_step + 1
if event_step_bridge == 3:
print('bridge finish')
break
if __name__ == '__main__':
Chest_path = 'E:\\qq\\2286239618\\FileRecv\\final image test\\17b1.jpg'
Chest_img = cv2.imread(Chest_path,1)
Chest_img = cv2.resize(Chest_img,(640,480))
bridge(Chest_img)
# cv2.imshow("Chest_img",Chest_img)
# cv2.waitKey(1)