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Test (1).py
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Test (1).py
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#!/usr/bin/env python3
# coding:utf-8
import cv2
import math
import numpy as np
import threading
import time
import datetime
import CMDcontrol
robot_IP = "192.168.1.102"
camera_out = "chest"
stream_pic = True
action_DEBUG = False
#################################################初始化#########################################################
if stream_pic:
stream_head = "http://" + robot_IP + ":8082/?action=stream?dummy=param.mjpg"
cap_head = cv2.VideoCapture(stream_head)
stream_chest = "http://" + robot_IP + ":8080/?action=stream?dummy=param.mjpg"
cap_chest = cv2.VideoCapture(stream_chest)
else:
cap_chest = cv2.VideoCapture(0)
cap_head = cv2.VideoCapture(2)
box_debug = False
debug = False
img_debug = False
state = 1
step = 0
state_sel = 'hole'
reset = 0
skip = 0
chest_ret = False # 读取图像标志位
ret = False # 读取图像标志位
ChestOrg_img = None # 原始图像更新
HeadOrg_img = None # 原始图像更新
ChestOrg_copy = None
HeadOrg_copy = None
r_width = 480
r_height = 640
chest_r_width = 480
chest_r_height = 640
head_r_width = 640
head_r_height = 480
################################################读取图像线程#################################################
def get_img():
global ChestOrg_img, HeadOrg_img, HeadOrg_img, chest_ret
global ret
global cap_chest
while True:
if cap_chest.isOpened():
chest_ret, ChestOrg_img = cap_chest.read()
ret, HeadOrg_img = cap_head.read()
if (chest_ret == False) or (ret == False):
print("ret faile ------------------")
if HeadOrg_img is None:
print("HeadOrg_img error")
if ChestOrg_img is None:
print("ChestOrg_img error")
else:
time.sleep(1)
ret = True
print("pic error ")
# 读取图像线程
th1 = threading.Thread(target=get_img)
th1.setDaemon(True)
th1.start()
################################################动作执行线程#################################################
def move_action():
global org_img
global step, level
global golf_angle_hole
global golf_angle_ball, golf_angle
global golf_dis, golf_dis_y
global golf_angle_flag, golf_dis_flag
global golf_angle_start, golf_dis_start
global golf_ok
global golf_hole, golf_ball
CMDcontrol.CMD_transfer()
# 动作执行线程
th2 = threading.Thread(target=move_action)
th2.setDaemon(True)
th2.start()
acted_name = ""
def action_append(act_name):
global acted_name
# print("please enter to continue...")
# cv2.waitKey(0)
if action_DEBUG == False:
if act_name == "forwardSlow0403" and (acted_name == "Forwalk02RL" or acted_name == "Forwalk02L"):
acted_name = "Forwalk02LR"
elif act_name == "forwardSlow0403" and (acted_name == "Forwalk02LR" or acted_name == "Forwalk02R"):
acted_name = "Forwalk02RL"
elif act_name != "forwardSlow0403" and (acted_name == "Forwalk02LR" or acted_name == "Forwalk02R"):
# CMDcontrol.action_list.append("Forwalk02RS")
# acted_name = act_name
print(act_name, "动作未执行 执行 Stand")
acted_name = "Forwalk02RS"
elif act_name != "forwardSlow0403" and (acted_name == "Forwalk02RL" or acted_name == "Forwalk02L"):
# CMDcontrol.action_list.append("Forwalk02LS")
# acted_name = act_name
print(act_name, "动作未执行 执行 Stand")
acted_name = "Forwalk02LS"
elif act_name == "forwardSlow0403":
acted_name = "Forwalk02R"
else:
acted_name = act_name
CMDcontrol.actionComplete = False
if len(CMDcontrol.action_list) > 0:
print("队列超过一个动作")
CMDcontrol.action_list.append(acted_name)
else:
CMDcontrol.action_list.append(acted_name)
CMDcontrol.action_wait()
else:
print("-----------------------执行动作名：", act_name)
time.sleep(2)
color_range = {
'yellow_door': [(20, 140, 60), (40, 240, 150)],
'black_door': [(25, 25, 10), (110, 150, 30)],
'black_gap': [(0, 0, 0), (180, 255, 70)],
'yellow_hole': [(20, 120, 95), (30, 250, 190)],
'black_hole': [(5, 80, 20), (40, 255, 100)],
'chest_red_floor': [(0, 40, 60), (20, 200, 190)],
'chest_red_floor1': [(0, 100, 60), (20, 200, 210)],
'chest_red_floor2': [(110, 100, 60), (180, 200, 210)],
'green_bridge': [(50, 75, 70), (80, 240, 210)],
'grey_ground': [(30, 0, 0), (180, 100, 150)],
'blue': [(100, 80, 46), (124, 255, 255)],
'white': [(0, 0, 221), (180, 30, 255)],
}
color_dist = {'red': {'Lower': np.array([0, 160, 100]), 'Upper': np.array([180, 255, 250])},
'black_dir': {'Lower': np.array([0, 0, 10]), 'Upper': np.array([170, 170, 45])},
'black_line': {'Lower': np.array([0, 0, 20]), 'Upper': np.array([100, 160, 80])},
'blue': {'Lower': np.array([100, 80, 46]), 'Upper': np.array([124, 255, 255])},
'ball_red': {'Lower': np.array([160, 100, 70]), 'Upper': np.array([190, 215, 145])},
'blue_hole': {'Lower': np.array([100, 130, 80]), 'Upper': np.array([130, 255, 150])},
}
###############得到线形的总的轮廓###############
# 这个比值适应调整 handling
# 排除掉肩部黑色
def getLine_SumContour(contours, area=1):
global handling
contours_sum = None
for c in contours: # 初始化 contours_sum
area_temp = math.fabs(cv2.contourArea(c))
rect = cv2.minAreaRect(c) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
edge1 = math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2))
edge2 = math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2))
ratio = edge1 / edge2 # 长与宽的比值大于3认为是条线
center_y = (box[0, 1] + box[1, 1] + box[2, 1] + box[3, 1]) / 4
if (area_temp > area) and (ratio > 3 or ratio < 0.33) and center_y > 240:
contours_sum = c
break
for c in contours:
area_temp = math.fabs(cv2.contourArea(c))
rect = cv2.minAreaRect(c) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
edge1 = math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2))
edge2 = math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2))
ratio = edge1 / edge2
# print("ratio:",ratio,"area_temp:",area_temp)
if (area_temp > area) and (ratio > 3 or ratio < 0.33): # 满足面积条件 长宽比条件
rect = cv2.minAreaRect(c) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
center_x = (box[0, 0] + box[1, 0] + box[2, 0] + box[3, 0]) / 4
center_y = (box[0, 1] + box[1, 1] + box[2, 1] + box[3, 1]) / 4
if center_y > 240: # 满足中心点坐标条件
contours_sum = np.concatenate((contours_sum, c), axis=0) # 将所有轮廓点拼接到一起
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 255, 0), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
else:
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 0, 255), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
else: # 弃
rect = cv2.minAreaRect(c) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 0, 255), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
return contours_sum
# 得到最大轮廓和对应的最大面积
def getAreaMaxContour1(contours): # 返回轮廓 和 轮廓面积
contour_area_temp = 0
contour_area_max = 0
area_max_contour = None
for c in contours: # 历遍所有轮廓
contour_area_temp = math.fabs(cv2.contourArea(c)) # 计算轮廓面积
if contour_area_temp > contour_area_max:
contour_area_max = contour_area_temp
if contour_area_temp > 25: # 只有在面积大于25时，最大面积的轮廓才是有效的，以过滤干扰
area_max_contour = c
return area_max_contour, contour_area_max # 返回最大的轮廓
########得到最大轮廓############
def getAreaMaxContour2(contours, area=1):
contour_area_max = 0
area_max_contour = None
for c in contours:
contour_area_temp = math.fabs(cv2.contourArea(c))
if contour_area_temp > contour_area_max:
contour_area_max = contour_area_temp
if contour_area_temp > area: # 面积大于1
area_max_contour = c
return area_max_contour
# 将所有面积大于1的轮廓点拼接到一起
def getSumContour(contours, area=1):
contours_sum = None
# print(len(contours))
for c in contours: # 初始化contours
area_temp = math.fabs(cv2.contourArea(c))
if (area_temp > area):
contours_sum = c
break
for c in contours:
area_temp = math.fabs(cv2.contourArea(c))
if (area_temp > area):
contours_sum = np.concatenate((contours_sum, c), axis=0) # 将所有面积大于1的轮廓点拼接到一起
return contours_sum
######### 得到所有轮廓的面积##########
def getAreaSumContour(contours):
contour_area_sum = 0
for c in contours: # 历遍所有轮廓
contour_area_sum += math.fabs(cv2.contourArea(c)) # 计算轮廓面积
return contour_area_sum # 返回最大的面积
# 通过两边的黑线，调整左右位置 和 角度
def head_angle_dis():
global HeadOrg_img, chest_copy, reset, skip
global handling
angle_ok_flag = False
angle = 90
dis = 0
bottom_centreX = 0
bottom_centreY = 0
see = False
dis_ok_count = 0
headTURN = 0
step = 1
print("/-/-/-/-/-/-/-/-/-head*angle*dis")
while True:
OrgFrame = HeadOrg_img.copy()
x_start = 260
blobs = OrgFrame[int(0):int(480), int(x_start):int(380)] # 只对中间部分识别处理 Y , X
# cv2.rectangle(blobs,(0,460),(120,480),(255,255,255),-1) # 涂白
handling = blobs.copy()
frame_mask = blobs.copy()
# 获取图像中心点坐标x, y
center = []
# 开始处理图像
hsv = cv2.cvtColor(frame_mask, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
Imask = cv2.inRange(hsv, color_range['grey_ground'][0], color_range['grey_ground'][1])
# Imask = cv2.erode(Imask, None, iterations=1)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
_, cnts, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
# print("327L len:",len(cnts))
cnt_sum = getLine_SumContour(cnts, area=300)
# 初始化
L_R_angle = 0
blackLine_L = [0, 0]
blackLine_R = [0, 0]
if cnt_sum is not None:
see = True
rect = cv2.minAreaRect(cnt_sum) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
# cv2.drawContours(OrgFrame, [box], 0, (0, 255, 0), 2) # 将大矩形画在图上
if math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2)) > math.sqrt(
math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2)):
if box[3, 0] - box[0, 0] == 0:
angle = 90
else:
angle = - math.atan((box[3, 1] - box[0, 1]) / (box[3, 0] - box[0, 0])) * 180.0 / math.pi
if box[3, 1] + box[0, 1] > box[2, 1] + box[1, 1]:
Ycenter = int((box[2, 1] + box[1, 1]) / 2)
Xcenter = int((box[2, 0] + box[1, 0]) / 2)
if box[2, 1] > box[1, 1]:
blackLine_L = [box[2, 0], box[2, 1]]
blackLine_R = [box[1, 0], box[1, 1]]
else:
blackLine_L = [box[1, 0], box[1, 1]]
blackLine_R = [box[2, 0], box[2, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255, 255, 0), -1) # 画出中心点
else:
Ycenter = int((box[3, 1] + box[0, 1]) / 2)
Xcenter = int((box[3, 0] + box[0, 0]) / 2)
if box[3, 1] > box[0, 1]:
blackLine_L = [box[3, 0], box[3, 1]]
blackLine_R = [box[0, 0], box[0, 1]]
else:
blackLine_L = [box[0, 0], box[0, 1]]
blackLine_R = [box[3, 0], box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255, 255, 0), -1) # 画出中心点
else:
if box[3, 0] - box[2, 0] == 0:
angle = 90
else:
angle = - math.atan(
(box[3, 1] - box[2, 1]) / (box[3, 0] - box[2, 0])) * 180.0 / math.pi # 负号是因为坐标原点的问题
if box[3, 1] + box[2, 1] > box[0, 1] + box[1, 1]:
Ycenter = int((box[1, 1] + box[0, 1]) / 2)
Xcenter = int((box[1, 0] + box[0, 0]) / 2)
if box[0, 1] > box[1, 1]:
blackLine_L = [box[0, 0], box[0, 1]]
blackLine_R = [box[1, 0], box[1, 1]]
else:
blackLine_L = [box[1, 0], box[1, 1]]
blackLine_R = [box[0, 0], box[0, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255, 255, 0), -1) # 画出中心点
else:
Ycenter = int((box[2, 1] + box[3, 1]) / 2)
Xcenter = int((box[2, 0] + box[3, 0]) / 2)
if box[3, 1] > box[2, 1]:
blackLine_L = [box[3, 0], box[3, 1]]
blackLine_R = [box[2, 0], box[2, 1]]
else:
blackLine_L = [box[2, 0], box[2, 1]]
blackLine_R = [box[3, 0], box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255, 255, 0), -1) # 画出中心点
if blackLine_L[0] == blackLine_R[0]:
L_R_angle = 0
else:
L_R_angle = -math.atan(
(blackLine_L[1] - blackLine_R[1]) / (blackLine_L[0] - blackLine_R[0])) * 180.0 / math.pi
if img_debug:
cv2.circle(OrgFrame, (blackLine_L[0] + x_start, blackLine_L[1]), 5, [0, 255, 255], 2)
cv2.circle(OrgFrame, (blackLine_R[0] + x_start, blackLine_R[1]), 5, [255, 0, 255], 2)
cv2.line(OrgFrame, (blackLine_R[0] + x_start, blackLine_R[1]),
(blackLine_L[0] + x_start, blackLine_L[1]), (0, 255, 255), thickness=2)
cv2.putText(OrgFrame, "L_R_angle:" + str(L_R_angle), (10, OrgFrame.shape[0] - 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Xcenter:" + str(Xcenter + x_start), (10, OrgFrame.shape[0] - 50),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Ycenter:" + str(Ycenter), (200, OrgFrame.shape[0] - 50),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
# cv2.drawContours(frame_mask, cnt_sum, -1, (255, 0, 255), 3)
# cv2.imshow('frame_mask', frame_mask)
cv2.imshow('black', Imask)
cv2.imshow('OrgFrame', OrgFrame)
cv2.waitKey(10)
else:
see = False
# 决策执行动作
if step == 1:
print("157L 向右看 HeadTurn015")
action_append("HeadTurn015")
time.sleep(1) # timefftest
step = 2
elif step == 2:
if not see: # not see the edge
print("276L 右侧看不到黑线 左侧移 Left3move")
action_append("Left3move")
headTURN += 1
if headTURN > 3:
headTURN = 0
print("276L 右侧看不到黑线 转为左看 waitKey")
step = 3
else: # 0
headTURN = 0
if L_R_angle > 2:
if L_R_angle > 7:
print("416L 左da旋转 turn001L ", L_R_angle)
action_append("turn001L")
# elif L_R_angle > 5:
# print("419L 左da旋转 turn001L ",L_R_angle)
# action_append("turn001L")
else:
print("422L 左旋转 turn000L ", L_R_angle)
action_append("turn000L")
# time.sleep(1) # timefftest
elif L_R_angle < -2:
if L_R_angle < -7:
print("434L 右da旋转 turn001R ", L_R_angle)
action_append("turn001R")
# elif L_R_angle < -5:
# print("437L 右da旋转 turn001R ",L_R_angle)
# action_append("turn001R")
else:
print("461L 右旋转 turn000R ", L_R_angle)
action_append("turn000R")
# time.sleep(1) # timefftest
elif Ycenter >= 430:
if Ycenter > 450:
print("451L 左da侧移 Left3move >440 ", Ycenter)
action_append("Left3move")
else:
print("439L 左侧移 Left02move > 365 ", Ycenter)
action_append("Left02move")
elif Ycenter < 390:
if Ycenter < 370:
print("474L 右da侧移 Right3move <380 ", Ycenter)
action_append("Right3move")
else:
print("448L 右侧移 Right02move <400 ", Ycenter)
action_append("Right02move")
else:
dis_ok_count
print("444L 右看 X位置ok")
cv2.destroyAllWindows()
break
elif step == 3:
print("157L 向左看 HeadTurn180")
action_append("HeadTurn180")
time.sleep(1) # timefftest
step = 4
elif step == 4:
if not see: # not see the edge
print("294L 左侧 看不到黑线 转为右看")
headTURN += 1
if headTURN > 5:
headTURN = 0
print("error 两侧都看不到 右侧移 Right3move")
action_append("Right3move")
else: # 0 +-1
headTURN = 0
if L_R_angle > 3:
if L_R_angle > 8:
print("304L 左da旋转 turn001L ", L_R_angle)
action_append("turn001L")
else:
print("304L 左旋转 turn000L ", L_R_angle)
action_append("turn000L")
# time.sleep(1) # timefftest
elif L_R_angle < -3:
if L_R_angle < -8:
print("307L 右da旋转 turn001R ", L_R_angle)
action_append("turn001R")
else:
print("307L 右旋转 turn000R ", L_R_angle)
action_append("turn000R")
# time.sleep(1) # timefftest
elif Ycenter >= 430:
if Ycenter > 450:
print("498L 右da侧移 Right3move ", L_R_angle)
action_append("Right3move")
else:
print("501L 右侧移 Right02move ", L_R_angle)
action_append("Right02move")
elif Ycenter < 390:
if Ycenter < 370:
print("497L 左da侧移 Left3move ", L_R_angle)
action_append("Left02move")
else:
print("500L 左侧移 Left02move ", L_R_angle)
action_append("Left02move")
else:
dis_ok_count
print("495L 左看 X位置ok")
cv2.destroyAllWindows()
break
#################################################第二关：台阶##########################################
def floor():
global org_img, state, state_sel, step, reset, skip, debug
global camera_out
if (state == 2 or state == 6 or state == 8) and state_sel == 'floor': # 初始化
print("/-/-/-/-/-/-/-/-/-进入floor")
step = 0
r_w = chest_r_width
r_h = chest_r_height
top_angle = 0
T_B_angle = 0
topcenter_x = 0.5 * r_w
topcenter_y = 0
bottomcenter_x = 0.5 * r_w
bottomcenter_y = 0
state_sel = 'floor'
while state_sel == 'floor':
# 分析图像 # chest
if True: # 上下边沿
Corg_img = ChestOrg_img.copy()
Corg_img = np.rot90(Corg_img)
OrgFrame = Corg_img.copy()
# 初始化 bottom_right bottom_left
bottom_right = (480, 0)
bottom_left = (0, 0)
top_right = (480, 0) # 右上角点坐标
top_left = (0, 0) # 左上角点坐标
frame = cv2.resize(OrgFrame, (chest_r_width, chest_r_height), interpolation=cv2.INTER_LINEAR)
frame_copy = frame.copy()
# 获取图像中心点坐标x, y
center = []
# 开始处理图像
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
Imask = cv2.inRange(hsv, color_range['chest_red_floor1'][0],
color_range['chest_red_floor1'][1]) # 对原图像和掩模(颜色的字典)进行位运算
# opened = cv2.morphologyEx(Imask, cv2.MORPH_OPEN, np.ones((3, 3), np.uint8)) # 开运算 去噪点
# Imask = cv2.morphologyEx(opened, cv2.MORPH_CLOSE, np.ones((3, 3), np.uint8)) # 闭运算 封闭连接
# Imask = cv2.erode(Imask, None, iterations=2)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
_, cnts, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
cnt_sum, area_max = getAreaMaxContour1(cnts) # 找出最大轮廓
C_percent = round(area_max * 100 / (r_w * r_h), 2) # 最大轮廓百分比
cv2.drawContours(frame, cnt_sum, -1, (255, 0, 255), 3)
if cnt_sum is not None:
see = True
rect = cv2.minAreaRect(cnt_sum) # 最小外接矩形
box = np.int0(cv2.boxPoints(rect)) # 最小外接矩形的四个顶点
bottom_right = cnt_sum[0][0] # 右下角点坐标
bottom_left = cnt_sum[0][0] # 左下角点坐标
top_right = cnt_sum[0][0] # 右上角点坐标
top_left = cnt_sum[0][0] # 左上角点坐标
for c in cnt_sum:
if c[0][0] + 1 * (r_h - c[0][1]) < bottom_left[0] + 1 * (r_h - bottom_left[1]):
bottom_left = c[0]
if c[0][0] + 1 * c[0][1] > bottom_right[0] + 1 * bottom_right[1]:
bottom_right = c[0]
if c[0][0] + 3 * c[0][1] < top_left[0] + 3 * top_left[1]:
top_left = c[0]
if (r_w - c[0][0]) + 3 * c[0][1] < (r_w - top_right[0]) + 3 * top_right[1]:
top_right = c[0]
# if debug:
# handling = ChestOrg_img.copy()
# cv2.circle(handling, (c[0][0], c[0][1]), 5, [0, 255, 0], 2)
# cv2.circle(handling, (bottom_left[0], bottom_left[1]), 5, [255, 255, 0], 2)
# cv2.circle(handling, (bottom_right[0], bottom_right[1]), 5, [255, 0, 255], 2)
# cv2.imshow('handling', handling) # 显示图像
# cv2.waitKey(2)
bottomcenter_x = (bottom_left[0] + bottom_right[0]) / 2 # 得到bottom中心坐标
bottomcenter_y = (bottom_left[1] + bottom_right[1]) / 2
topcenter_x = (top_right[0] + top_left[0]) / 2 # 得到top中心坐标
topcenter_y = (top_left[1] + top_right[1]) / 2
bottom_angle = -math.atan(
(bottom_right[1] - bottom_left[1]) / (bottom_right[0] - bottom_left[0])) * 180.0 / math.pi
top_angle = -math.atan((top_right[1] - top_left[1]) / (top_right[0] - top_left[0])) * 180.0 / math.pi
if math.fabs(topcenter_x - bottomcenter_x) <= 1: # 得到连线的角度
T_B_angle = 90
else:
T_B_angle = - math.atan(
(topcenter_y - bottomcenter_y) / (topcenter_x - bottomcenter_x)) * 180.0 / math.pi
if img_debug:
cv2.drawContours(frame_copy, [box], 0, (0, 255, 0), 2) # 将大矩形画在图上
cv2.line(frame_copy, (bottom_left[0], bottom_left[1]), (bottom_right[0], bottom_right[1]),
(255, 255, 0), thickness=2)
cv2.line(frame_copy, (top_left[0], top_left[1]), (top_right[0], top_right[1]), (255, 255, 0),
thickness=2)
cv2.line(frame_copy, (int(bottomcenter_x), int(bottomcenter_y)),
(int(topcenter_x), int(topcenter_y)), (255, 255, 255), thickness=2) # T_B_line
cv2.putText(frame_copy, "bottom_angle:" + str(bottom_angle), (30, 450), cv2.FONT_HERSHEY_SIMPLEX,
0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "top_angle:" + str(top_angle), (30, 150), cv2.FONT_HERSHEY_SIMPLEX, 0.65,
(0, 0, 0), 2)
cv2.putText(frame_copy, "T_B_angle:" + str(T_B_angle), (30, 400), cv2.FONT_HERSHEY_SIMPLEX, 0.65,
(0, 0, 255), 2)
cv2.putText(frame_copy, "bottomcenter_x:" + str(bottomcenter_x), (30, 480),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "y:" + str(int(bottomcenter_y)), (300, 480), cv2.FONT_HERSHEY_SIMPLEX, 0.65,
(0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "topcenter_x:" + str(topcenter_x), (30, 180), cv2.FONT_HERSHEY_SIMPLEX,
0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "topcenter_y:" + str(int(topcenter_y)), (230, 180),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, 'C_percent:' + str(C_percent) + '%', (30, 100), cv2.FONT_HERSHEY_SIMPLEX,
0.65, (0, 0, 0), 2)
cv2.putText(frame_copy, "step:" + str(step), (30, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0),
2) # (0, 0, 255)BGR
cv2.circle(frame_copy, (int(topcenter_x), int(topcenter_y)), 5, [255, 0, 255], 2)
cv2.circle(frame_copy, (int(bottomcenter_x), int(bottomcenter_y)), 5, [255, 0, 255], 2)
cv2.circle(frame_copy, (top_right[0], top_right[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (top_left[0], top_left[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (bottom_right[0], bottom_right[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (bottom_left[0], bottom_left[1]), 5, [0, 255, 255], 2)
cv2.imshow('Chest_Camera', frame_copy) # 显示图像
cv2.imshow('chest_red_mask', Imask)
cv2.waitKey(100)
else:
print("chest NONE")
# 决策执行动作
angle_ok_flag = False
if step == 0: # 前进依据chest 调整大致位置，方向 看底边线调整角度
if C_percent > 1 and bottomcenter_y < 380:
print("676L 继续前行 forwardSlow0403", bottomcenter_y)
action_append("forwardSlow0403")
elif 380 <= bottomcenter_y < 430:
if bottom_angle > 3: # 需要左转
if bottom_angle > 6:
print("725L 大左转一下 turn001L ", bottom_angle)
action_append("turn001L")
else:
print("728L bottom_angle > 3 需要小左转 turn001L ", bottom_angle)
action_append("turn001L")
elif bottom_angle < -3: # 需要右转
if bottom_angle < -6:
print("732L 右da旋转 turn001R < -6 ", Head_L_R_angle)
action_append("turn001R")
else:
print("735L bottom_angle < -3 需要小右转 turn001R ", bottom_angle)
action_append("turn001R")
elif -3 <= bottom_angle <= 3: # 角度正确
print("448L 角度合适")
angle_ok_flag = True
if angle_ok_flag:
if bottomcenter_x < 200:
print("431L 向左侧移 Left02move ", bottomcenter_x)
action_append("Left02move")
elif bottomcenter_x > 260:
print("433L 向右侧移 Right02move ", bottomcenter_x)
action_append("Right02move")
else:
print("483L 变小步继续前行 Forwalk01", bottomcenter_y)
action_append("Forwalk01")
elif 430 <= bottomcenter_y <= 540:
if bottom_angle > 4: # 需要左转
if bottom_angle > 6:
print("746L 大左转一下 turn001L ", bottom_angle)
action_append("turn001L")
else:
print("749L bottom_angle > 4 需要小左转 turn001L ", bottom_angle)
action_append("turn001L")
elif bottom_angle < -4: # 需要右转
if bottom_angle < -6:
print("338L 右da旋转 turn001R < -6 ", bottom_angle)
action_append("turn001R")
else:
print("746L bottom_angle < -4 需要小右转 turn001R ", bottom_angle)
action_append("turn001R")
elif -3 <= bottom_angle <= 3: # 角度正确
print("448L 角度合适")
angle_ok_flag = True
if angle_ok_flag:
if bottomcenter_x < 200:
print("431L 向左侧移 Left1move ", bottomcenter_x)
action_append("Left1move")
elif bottomcenter_x > 260:
print("433L 向右侧移 Right1move ", bottomcenter_x)
action_append("Right1move")
else:
print("486L 到达上台阶边沿，变前挪动 Forwalk00 bottomcenter_y:", bottomcenter_y)
action_append("Forwalk00")
elif bottomcenter_y > 540:
print("然后开始第二步------")
step = 1
angle_ok_flag = False
else: # C_percent < 1 and bottomcenter_y < 380
print("error769L 前进")
elif step == 1: # 看中线调整角度
print("719L 上台阶 上台阶 UpBridge")
action_append("UpBridge")
step = 2
elif step == 2: # 已经上台阶 调整方向 快走三步 看上方顶点边线
if 0 < T_B_angle < 86: # 右转
print("730L 右转 turn001R T_B_angle:", T_B_angle)
action_append("turn001R")
# time.sleep(1) # timefftest
elif -86 < T_B_angle < 0: # 左转
print("359L 左转 turn001L T_B_angle:", T_B_angle)
action_append("turn001L")
# time.sleep(1) # timefftest
elif T_B_angle <= -86 or T_B_angle >= 86: # 角度正确
print("738L T_B_angle 角度合适 ")
if topcenter_x < 200:
print("740L <210 向左侧移 Left1move ", topcenter_x)
action_append("Left1move")
elif topcenter_x > 240:
print("743L >260 向右侧移 Right1move ", topcenter_x)
action_append("Right1move")
elif topcenter_y < 360:
print("516L 上台阶后，快走 Forwalk05 topcenter_y:", topcenter_y)
action_append("Forwalk05")
print("step 3333 ,", topcenter_y)
step = 3
elif step == 3: # 快走结束
if topcenter_y < 510 and C_percent > 6:
if top_angle > 1.5: # 需要左转
if top_angle <= 3:
print("468L 3 < < 1.5 需要小左转 turn000L ", top_angle)
action_append("turn000L")
else:
print("468L > 3 需要小左转 turn001L ", top_angle)
action_append("turn001L")
elif top_angle < -1.5: # 需要右转
if top_angle > -3:
print("470L -3 < < -1.5 需要小右转 turn000R ", top_angle)
action_append("turn000R")
else:
print("470L < -3 需要小右转 turn001R ", top_angle)
action_append("turn001R")
elif -1.5 <= top_angle <= 1.5: # 角度正确
print("474L top_angle 角度合适 ")
if topcenter_x < 190:
print("456L <210 向左侧移 Left1move ", topcenter_x)
action_append("Left1move")
elif topcenter_x > 260:
print("458L >260 向右侧移 Right1move ", topcenter_x)
action_append("Right1move")
else:
print("590L <topcenter_y<510 Forwalk01 ", topcenter_y)
action_append("Forwalk01")
else: # > 510
print("step 4444 ,", topcenter_y)
step = 4
elif step == 4: # 调整角度
if topcenter_y > 550 and C_percent < 6:
if C_percent >= 2:
print("823L 下台阶前前进一点点 Forwalk00")
action_append("Forwalk00")
print("487L 下台阶 下台阶 DownBridge")
action_append("DownBridge")
step = 5
else:
print("566L 微微前挪 y:", topcenter_y, " C_percent:", C_percent)
action_append("Forwalk00")
elif step == 5:
print("899L 完成bridge")
cv2.destroyAllWindows()
break
#################################################第三关：雷阵#############################################
head_flag = "MM"
Head_L_R_angle = 0
see_flag = False
Bbox_centerY = 0
head_step = 1
# 通过两边的黑线，仅仅调整角度
def obstacle():
global state, HeadOrg_img, step, reset, skip
global Head_L_R_angle, Bbox_centerY, blue_rail
state = 3
blue_rail = False
if state == 3:
print("/-/-/-/-/-/-/-/-/-进入obscle")
count = 0
step = 1
k = 1
isgo = False
straight = False # 直行信号
left = False # 左移信号
left2 = False # 遇到右边缘且前方有障碍
right = False # 右移
right2 = False # 遇到左边缘且前方有障碍
else:
return
# 初始化 delta
delta = datetime.datetime.now()
delta = delta - delta
while state == 3:
if True:
Corg_img = ChestOrg_img.copy()
Corg_img = np.rot90(Corg_img)
Corg_img = Corg_img.copy()
# cv2.rectangle(Corg_img,(0,630),(480,640),(255,255,255),-1)
hsv = cv2.cvtColor(Corg_img, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
# blue 分析图像 决策执行
Bumask = cv2.inRange(hsv, color_dist['blue']['Lower'], color_dist['blue']['Upper'])
Bumask = cv2.erode(Bumask, None, iterations=2)
Bumask = cv2.dilate(Bumask, np.ones((3, 3), np.uint8), iterations=2)
# cv2.imshow('Bluemask', Bumask)
_, cntsblue, hierarchy = cv2.findContours(Bumask, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) # 找出轮廓
if cntsblue is not None:
cnt_large = getAreaMaxContour2(cntsblue) # 取最大轮廓
else:
print("1135L cnt_large is None")
continue
if cnt_large is not None:
rect_blue = cv2.minAreaRect(cnt_large)
box_blue = np.int0(cv2.boxPoints(rect_blue)) # 点的坐标
Bbox_centerX = int((box_blue[3, 0] + box_blue[2, 0] + box_blue[1, 0] + box_blue[0, 0]) / 4)
Bbox_centerY = int((box_blue[3, 1] + box_blue[2, 1] + box_blue[1, 1] + box_blue[0, 1]) / 4)
Bbox_center = [Bbox_centerX, Bbox_centerY]
cv2.circle(Corg_img, (Bbox_center[0], Bbox_center[1]), 7, (0, 0, 255), -1) # 圆点标记
cv2.drawContours(Corg_img, [box_blue], -1, (255, 0, 0), 3)
obscle_area_blue = 0
# 当遇到蓝色门槛时停止
for c in cntsblue:
obscle_area_blue += math.fabs(cv2.contourArea(c))
if Bbox_centerY >= 280 and obscle_area_blue > 0.05 * 640 * 480: # and go_up: # 320 obscle_area_blue > 0.05 * 640 * 480 and
state = 4
if img_debug:
cv2.imshow('Corg_img', Corg_img)
cv2.waitKey(10)
print("遇到蓝色门槛-----*-----*-----*-----* Bbox_center Y:", Bbox_centerY)
action_append("Stand")
blue_rail = True
cv2.destroyAllWindows()
break
# black 分析图像 决策执行
Imask = cv2.inRange(hsv, color_dist['black_dir']['Lower'], color_dist['black_dir']['Upper'])
Imask = cv2.erode(Imask, None, iterations=3)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
# cv2.imshow('black', Imask)
_, contours, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
# print("contours lens:",len(contours))
cv2.drawContours(Corg_img, contours, -1, (255, 0, 255), 2)
left_point = [640, 0]
right_point = [0, 0]
if len(contours) != 0:
Big_battle = [0, 0]
for c in contours:
rect = cv2.minAreaRect(c) # 最小外接矩形
box = cv2.boxPoints(rect) # 我们需要矩形的4个顶点坐标box, 通过函数 cv2.cv.BoxPoints() 获得
box = np.intp(box) # 最小外接矩形的四个顶点
box_Ax, box_Ay = box[0, 0], box[0, 1]
box_Bx, box_By = box[1, 0], box[1, 1]
box_Cx, box_Cy = box[2, 0], box[2, 1]
box_Dx, box_Dy = box[3, 0], box[3, 1]
box_centerX = int((box_Ax + box_Bx + box_Cx + box_Dx) / 4)
box_centerY = int((box_Ay + box_By + box_Cy + box_Dy) / 4)
box_center = [box_centerX, box_centerY]
# cv2.circle(Corg_img, (box_centerX,box_centerY), 7, (0, 255, 0), -1) #距离比较点 绿圆点标记
# cv2.drawContours(Corg_img, [box], -1, (255,0,0), 3)
# 剔除图像上部分点 和底部点
if box_centerY < 250 or box_centerY > 610:
continue
# 遍历点 画圈
if box_debug:
cv2.circle(Corg_img, (box_centerX, box_centerY), 8, (0, 0, 255), 2) # 圆点标记识别黑点
cv2.imshow('Corg_img', Corg_img)
cv2.waitKey(1)
# 找出最左点与最右点
if box_centerX < left_point[0]:
left_point = box_center
if box_centerX > right_point[0]:
right_point = box_center
if box_centerX <= 80 or box_centerX >= 400: # 排除左右边沿点 box_centerXbox_centerX 240
continue
if math.pow(box_centerX - 240, 2) + math.pow(box_centerY - 640, 2) < math.pow(Big_battle[0] - 240,
2) + math.pow(
Big_battle[1] - 640, 2):
Big_battle = box_center # 这个是要规避的黑点
# print("1272L go_up False ",Big_battle[0],Big_battle[1])
# 显示图
if img_debug:
cv2.circle(Corg_img, (left_point[0], left_point[1]), 7, (0, 255, 0), -1) # 圆点标记
cv2.circle(Corg_img, (right_point[0], right_point[1]), 7, (0, 255, 255), -1) # 圆点标记
cv2.circle(Corg_img, (Big_battle[0], Big_battle[1]), 7, (255, 255, 0), -1) # 圆点标记
cv2.putText(Corg_img, "Head_L_R_angle:" + str(int(Head_L_R_angle)), (230, 400),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(Corg_img, "see_flag:" + str(int(see_flag)), (230, 440), cv2.FONT_HERSHEY_SIMPLEX, 0.65,
(0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(Corg_img, "Bbox_centerY:" + str(int(Bbox_centerY)), (230, 460),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(Corg_img, "Big_battle x,y:" + str(int(Big_battle[0])) + ', ' + str(int(Big_battle[1])),
(230, 480), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2) # (0, 0, 255)BGR
cv2.line(Corg_img, (Big_battle[0], Big_battle[1]), (240, 640), (0, 255, 255), thickness=2)
# 500线
cv2.line(Corg_img, (0, 500), (480, 500), (255, 255, 255), thickness=2)
# cv2.imshow('handling', handling)
cv2.imshow('Corg_img', Corg_img)
k = cv2.waitKey(100)
if k == 27:
cv2.destroyWindow('closed_pic')
cv2.destroyWindow('org_img_copy')
break
elif k == ord('s'):
print("save picture123")
cv2.imwrite("picture123.jpg", HeadOrg_img) # 保存图片
# black 决策执行动作
if Big_battle[1] <= 370:
print("608L 前进靠近 forwardSlow0403 ", Big_battle[1])
action_append("forwardSlow0403")
# action_append("forwardSlow0403")
# elif Big_battle[1] <= 430:
# print("565L 前进靠近 forwardSlow0403 ",Big_battle[1])
# action_append("forwardSlow0403")
# elif Big_battle[1] < 500 and (Big_battle[0] <= (100+(640-Big_battle[1])*0.15) or Big_battle[0] >= (380-(640-Big_battle[1])*0.15)) :
# print("568L 前进靠近 forwardSlow0403 ",Big_battle[1])
# action_append("forwardSlow0403")
elif Big_battle[1] < 460:
print("571L 慢慢前进靠近 Forwalk01 ", Big_battle[1])
action_append("Forwalk01")
# 80---140---*240*---340---400 要同步修改 box_centerX
# elif Big_battle == right_point and (Big_battle != left_point):
# print("277L 右平移两步 Right3move")
# action_append("Right3move")
# action_append("Right3move")