ajout du programme pour trouver la direction

Justine
1 parent 0ec8f11a
Showing 1 changed file with 97 additions and 0 deletions Show diff stats
Python/Final/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(frame) :
+	imgLight = EnhanceBrightness(frame, 3)
+	imgFiltered = Filter(imgLight)
+	imgFiltered = EnhanceBrightness(imgFiltered, 2)		
+	size, imgArrows, mask = FindArrow(imgFiltered)
+	orientation = FindOrientation(imgArrows)
+	return orientation