kristoferssolo/Traffic-Light-Detector
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Kristofers Solo 2022-12-18 13:27:37 +02:00
parent c775e48df8
commit dcaa37dff9
2 changed files with 23 additions and 30 deletions
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49
src/TrafficLightDetector/traffic_light_detector.py
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@ -1,5 +1,4 @@
import cv2 import cv2
import numpy as np
from loguru import logger from loguru import logger
from paths import HAAR_PATH from paths import HAAR_PATH
from TrafficLightDetector.color import Color from TrafficLightDetector.color import Color
@ -10,6 +9,7 @@ class TrafficLightDetector:
FONT = cv2.FONT_HERSHEY_SIMPLEX FONT = cv2.FONT_HERSHEY_SIMPLEX
RADIUS = 5 RADIUS = 5
BOUNDARY = 2 BOUNDARY = 2
TEXT = False
# HSV values # HSV values
RED_LOWER = ((160, 100, 100), (0, 100, 100)) RED_LOWER = ((160, 100, 100), (0, 100, 100))
RED_UPPER = ((180, 255, 255), (10, 255, 255)) RED_UPPER = ((180, 255, 255), (10, 255, 255))
@ -23,53 +23,46 @@ class TrafficLightDetector:
YELLOW = (0, 175, 225) YELLOW = (0, 175, 225)
GREEN = (0, 150, 0) GREEN = (0, 150, 0)
def _set_image(self, image) -> None: def _set_image(self, image=None, roi=None, detectTrafficLights=True) -> None:
self.image = image self.image = image
self.roi_color = self.image self.roi = self.image if roi is None else roi
self.size = self.image.shape self.size = self.image.shape if roi is None else self.roi.shape
hsv = cv2.cvtColor(self.image, cv2.COLOR_BGR2HSV) hsv = cv2.cvtColor(self.image if roi is None else self.roi, cv2.COLOR_BGR2HSV)
self.red = Color("RED", self.RED, self.RED_LOWER, self.RED_UPPER, hsv, minDist=80, param2=10) self.red = Color("RED", self.RED, self.RED_LOWER, self.RED_UPPER, hsv, minDist=80, param2=10)
self.yellow = Color("YELLOW", self.YELLOW, self.YELLOW_LOWER, self.YELLOW_UPPER, hsv, minDist=60, param2=10) self.yellow = Color("YELLOW", self.YELLOW, self.YELLOW_LOWER, self.YELLOW_UPPER, hsv, minDist=60, param2=10)
self.green = Color("GREEN", self.GREEN, self.GREEN_LOWER, self.GREEN_UPPER, hsv, minDist=30, param2=5) self.green = Color("GREEN", self.GREEN, self.GREEN_LOWER, self.GREEN_UPPER, hsv, minDist=30, param2=5)
self.colors = [self.red, self.yellow, self.green] self.colors = [self.red, self.yellow, self.green]
self.detect_traffic_lights = detectTrafficLights
def _set_roi(self) -> None: def _outline_traffic_lights(self) -> None:
self.size = self.roi_color.shape
hsv = cv2.cvtColor(self.roi_color, cv2.COLOR_BGR2HSV)
self.red = Color("RED", self.RED, self.RED_LOWER, self.RED_UPPER, hsv, minDist=80, param2=10)
self.yellow = Color("YELLOW", self.YELLOW, self.YELLOW_LOWER, self.YELLOW_UPPER, hsv, minDist=60, param2=10)
self.green = Color("GREEN", self.GREEN, self.GREEN_LOWER, self.GREEN_UPPER, hsv, minDist=30, param2=5)
self.colors = [self.red, self.yellow, self.green]
def _outline_traffic_lights(self, image) -> None:
self.image = image
gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY) gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
# draw rectangle around traffic lights # draw rectangle around traffic lights
for x, y, width, height in self.CASCADE.detectMultiScale(gray, 1.2, 5): for x, y, width, height in self.CASCADE.detectMultiScale(gray, 1.2, 5):
cv2.rectangle(self.image, (x, y), (x + width, y + height), (255, 0, 0), self.BOUNDARY) cv2.rectangle(self.image, (x, y), (x + width, y + height), (255, 0, 0), self.BOUNDARY)
self.roi_color = self.image[y:y + height, x:x + width] roi = self.image[y:y + height, x:x + width]
self._set_roi() self._set_image(self.image, roi)
self._draw_circle() self._draw_circle()
def _draw_circle(self, text=False) -> None: def _draw_circle(self) -> None:
for color in self.colors: for color in self.colors:
if color.circle is not None: if color.circle is not None:
for values in color.circle[0, :]: for value in color.circle[0, :]:
if values[0] > self.size[1] or values[1] > self.size[0] or values[1] > self.size[0] * self.BOUNDARY: if value[0] > self.size[1] or value[1] > self.size[0] or value[1] > self.size[0] * self.BOUNDARY:
continue continue
h, s = 0, 0 h, s = 0, 0
for inner_radius in range(-self.RADIUS, self.RADIUS): for i in range(-self.RADIUS, self.RADIUS):
for outter_radius in range(-self.RADIUS, self.RADIUS): for j in range(-self.RADIUS, self.RADIUS):
if (values[1] + inner_radius) >= self.size[0] or (values[0] + outter_radius) >= self.size[1]: if (value[1] + i) >= self.size[0] or (value[0] + j) >= self.size[1]:
continue continue
h += color.mask[values[1] + inner_radius, values[0] + outter_radius] h += color.mask[value[1] + i, value[0] + j]
s += 1 s += 1
if h / s > 100: if h / s > 100:
cv2.circle(self.roi_color, (values[0], values[1]), values[2] + 10, color.color, 2) # draws circle cv2.circle(self.roi if self.detect_traffic_lights else self.image, (value[0], value[1]), value[2] + 10, color.color, 2) # draws circle
cv2.circle(color.mask, (values[0], values[1]), values[2] + 30, (255, 255, 255), 2) cv2.circle(color.mask, (value[0], value[1]), value[2] + 30, (255, 255, 255), 2)
if text: if self.TEXT:
cv2.putText(self.roi_color, color.name, (values[0], values[1]), self.FONT, 1, color.color, 2, cv2.LINE_AA) # draws text cv2.putText(self.roi if self.detect_traffic_lights else self.image, color.name,
(value[0], value[1]), self.FONT, 1, color.color, 2, cv2.LINE_AA) # draws text
self.signal = color.name self.signal = color.name
def get_signal(self) -> str: def get_signal(self) -> str:

4
src/TrafficLightDetector/traffic_light_webcam.py
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@ -11,8 +11,8 @@ class TrafficLightDetectorWebcam(TrafficLightDetector):
def enable(self) -> None: def enable(self) -> None:
while True: while True:
_, frame = self.video_capture.read() _, frame = self.video_capture.read()
self._set_image(frame)
self._outline_traffic_lights(frame) self._outline_traffic_lights()
cv2.imshow("Video", self.image) cv2.imshow("Video", self.image)
if cv2.waitKey(1) & 0xFF == ord("q"): if cv2.waitKey(1) & 0xFF == ord("q"):
break break