Added options

src/TrafficLightDetector/traffic_light_detector.py

@@ -1,5 +1,4 @@
 import cv2
-import numpy as np
 from loguru import logger
 from paths import HAAR_PATH
 from TrafficLightDetector.color import Color
@@ -10,6 +9,7 @@ class TrafficLightDetector:
     FONT = cv2.FONT_HERSHEY_SIMPLEX
     RADIUS = 5
     BOUNDARY = 2
+    TEXT = False
     # HSV values
     RED_LOWER = ((160, 100, 100), (0, 100, 100))
     RED_UPPER = ((180, 255, 255), (10, 255, 255))
@@ -23,53 +23,46 @@ class TrafficLightDetector:
     YELLOW = (0, 175, 225)
     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.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.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]
+        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)
         # draw rectangle around traffic lights
         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)
-            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()
 
-    def _draw_circle(self, text=False) -> None:
+    def _draw_circle(self) -> None:
         for color in self.colors:
             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
 
                     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
-                            h += color.mask[values[1] + inner_radius, values[0] + outter_radius]
+                            h += color.mask[value[1] + i, value[0] + j]
                             s += 1
                     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
 
     def get_signal(self) -> str:

src/TrafficLightDetector/traffic_light_webcam.py

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