Direction.py
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import cv2
import numpy as np
import math
import imutils
import matplotlib.pyplot as plt
def FindContours(img):
imgray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
ret,thresh = cv2.threshold(imgray,127,255,0)
_,contours,hierarchy = cv2.findContours(thresh, 1, 2)
return contours
def EnhanceBrightness(frame, n):
imgHLS = cv2.cvtColor(frame, cv2.COLOR_BGR2HLS)
imgHLS[:,:,1] += n
imgLight = cv2.cvtColor(imgHLS, cv2.COLOR_HLS2BGR)
return imgLight
def Filter(lightFrame):
kernel = np.array([[-1,-1,-1], [-1,9,-1], [-1,-1,-1]])
img = cv2.filter2D(lightFrame, -1, kernel)
filtered = cv2.bilateralFilter(img, 5, 150, 150)
return filtered
def FindArrow(frame):
size = 0
height, width, channels = frame.shape
mask = np.zeros((height, width, 3), dtype = "uint8")
contours = FindContours(frame)
for cnt in contours:
tmp = cv2.contourArea(cnt)
approx = cv2.approxPolyDP(cnt, 0.01*cv2.arcLength(cnt, True), True)
if len(approx) > 6 and len(approx) < 9 and tmp > 1000 and tmp < 20000:
cv2.drawContours(mask, [cnt], 0, (255,255,255), -1)
size = tmp
arrows = cv2.bitwise_and(frame, mask)
return size, arrows, mask
def FindOrientation(imgArrow):
x = 0
y = 0
w = 0
h = 0
contours = FindContours(imgArrow)
for cnt in contours:
tmp = cv2.contourArea(cnt)
M = cv2.moments(cnt)
if tmp > 1000 :
x,y,w,h = cv2.boundingRect(cnt)
if x != 0:
verticale = math.sqrt(math.pow((x-x), 2)+math.pow((y-(y+h)), 2))
horizontale = math.sqrt(math.pow((x-(x+w)),2)+math.pow((y-y),2))
centerCoord = (x + verticale/2, (x+w)+(horizontale/2))
extLeft, extRight, extTop, extBot = FindExtremPoints(imgArrow)
droite = math.sqrt(math.pow((extTop[0] - extRight[0]), 2)+math.pow((extTop[1] - extRight[1]), 2))
gauche = math.sqrt(math.pow((extLeft[0] - extTop[0]), 2)+math.pow((extLeft[1] - extTop[1]), 2))
haut = math.sqrt(math.pow((extTop[0] - extRight[0]), 2)+math.pow((extTop[1] - extRight[1]), 2))
bas = math.sqrt(math.pow((extRight[0] - extBot[0]), 2)+math.pow((extRight[1] - extBot[1]), 2))
if (horizontale > verticale) and (droite < gauche):
print("droite")
return 1
elif (horizontale > verticale) and (gauche < droite):
print("gauche")
return 2
elif (verticale > horizontale) and (haut < bas):
print ("haut")
return 3
elif (verticale > horizontale) and (bas < haut):
print ("bas")
return 4
else :
print ("NULL")
return -1
else :
return -1
def FindExtremPoints(imgArrow):
imgray = cv2.cvtColor(imgArrow,cv2.COLOR_BGR2GRAY)
ret,thresh = cv2.threshold(imgray,127,255,0)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
c = max(cnts, key=cv2.contourArea)
extLeft = tuple(c[c[:, :, 0].argmin()][0])
extRight = tuple(c[c[:, :, 0].argmax()][0])
extTop = tuple(c[c[:, :, 1].argmin()][0])
extBot = tuple(c[c[:, :, 1].argmax()][0])
return extLeft, extRight, extTop, extBot
def Direction(image) :
frame = imread(image)
imgLight = EnhanceBrightness(frame, 3)
imgFiltered = Filter(imgLight)
imgFiltered = EnhanceBrightness(imgFiltered, 2)
size, imgArrows, mask = FindArrow(imgFiltered)
orientation = FindOrientation(imgArrows)
return orientation