import numpy as np
import cv2
from mss import mss
from PIL import Image
#mon = {'top': 140, 'left': 50, 'width':1800, 'height': 900}
mon_right = {'top': 119, 'left':933, 'width': 884, 'height': 900}
mon_left = {'top': 140, 'left': 100, 'width': 884, 'height': 900}
sct = mss()
fgbg_upper = cv2.createBackgroundSubtractorMOG2(history=5000000)
fgbg_lower = cv2.createBackgroundSubtractorMOG2(history=5000000)
fgbg_right = cv2.createBackgroundSubtractorMOG2(history=5000000)
fgbg_left = cv2.createBackgroundSubtractorMOG2(history=5000000)
def warped_simulation(rect, frame):
dst = np.array([(125, 0), (375, 0), (500, 800), (0, 800)], dtype="float32")
M = cv2.getPerspectiveTransform(rect, dst)
warped = cv2.warpPerspective(frame, M, (500, 800))
# cv2.imshow('warped', warped)
return warped
'''
def makeMask(lane, SIDE):
if SIDE == 'upper':
fgmask = fgbg_upper.apply(lane)
#cv2.imshow("bog_upper", fgmask)
elif SIDE == 'lower':
fgmask = fgbg_lower.apply(lane)
#cv2.imshow("bog_lower", fgmask)
elif SIDE == 'right':
fgmask = fgbg_right.apply(lane)
#cv2.imshow("bog_right", fgmask)
elif SIDE == 'left':
fgmask = fgbg_left.apply(lane)
#cv2.imshow("bog_left", fgmask)
return fgmask
'''
def leftsubtractImage(image, SIDE):
if SIDE == 'upper':
bg = cv2.imread('cross_left_upper.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
cv2.imshow("sub_upper", fgmask)
elif SIDE == 'lower':
bg = cv2.imread('cross_left_lower.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_lower", fgmask)
elif SIDE == 'right':
bg = cv2.imread('cross_left_right.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_right", fgmask)
elif SIDE == 'left':
bg = cv2.imread('cross_left_left.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_left", fgmask)
return fgmask
def rightsubtractImage(image, SIDE):
if SIDE == 'upper':
bg = cv2.imread('cross_right_upper.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
cv2.imshow("sub_upper", fgmask)
elif SIDE == 'lower':
bg = cv2.imread('cross_right_lower.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_lower", fgmask)
elif SIDE == 'right':
bg = cv2.imread('cross_right_right.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_right", fgmask)
elif SIDE == 'left':
bg = cv2.imread('cross_right_left.png')
fgmask = image - bg
fgmask = cv2.cvtColor(fgmask, cv2.COLOR_BGR2GRAY)
# cv2.imshow("bog_left", fgmask)
return fgmask
def tail_length(mask):
checker = np.zeros((80), dtype=int)
start = 800
width_threshold = 200
for i in range(80):
density = mask[start - 10:start, 0:500]
white = cv2.countNonZero(density)
#print(" ", white)
# start +=10
if white > width_threshold:
checker[i] = 1
else:
checker[i] = 0
start -= 10
tail = 80
length_threshold = 30
for i in range(80 - length_threshold):
over = 1
for j in range(i, i + length_threshold):
if checker[j] == 1:
over = 0
break
if over == 1:
tail = i
break
#print(checker)
#print(tail)
if tail < 5:
tail = 0
return tail
def LeftgetScreenImage():
sct.get_pixels(mon_left)
img = Image.frombytes('RGB', (sct.width, sct.height), sct.image)
image = np.array(img)
#cv2.imshow("left",image)
return image
def RightgetScreenImage():
sct.get_pixels(mon_right)
img = Image.frombytes('RGB', (sct.width, sct.height), sct.image)
image = np.array(img)
#cv2.imshow("right",image)
return image
def getCenter(image):
(h, w) = image.shape[:2]
center = (w / 2, h / 2)
return h, w, center
#done callibration
#left intersection
def leftgetUpperQlength():
image = LeftgetScreenImage()
#cv2.imshow("test",image)
upper_lane = np.array([(446, 19), (535, 19), (535, 331), (446, 331)], dtype="float32")
cv2.imshow("upper",upper_lane)
warp_upperlane = warped_simulation(upper_lane, image)
cv2.imshow("test_warp_upper",warp_upperlane)
mask_upper = leftsubtractImage(warp_upperlane, "upper")
tail_length_upper = tail_length(mask_upper)
return tail_length_upper
def leftgetLowerQlength():#
image = LeftgetScreenImage()
h, w, center = getCenter(image)
M180 = cv2.getRotationMatrix2D(center, 180, 1.0)
rotated180 = cv2.warpAffine(image, M180, (w, h))
lower_lane = np.array([(440, 33), (528, 33), (528, 351), (440, 351)], dtype="float32")
warp_lowerlane = warped_simulation(lower_lane, rotated180)
#cv2.imshow("llowertest",warp_lowerlane)
mask_lower = leftsubtractImage(warp_lowerlane, "lower")
tail_length_lower = tail_length(mask_lower)
return tail_length_lower
def leftgetRightQlength():
image = LeftgetScreenImage()
h, w, center = getCenter(image)
M90 = cv2.getRotationMatrix2D(center, 90, 1.0)
rotated90 = cv2.warpAffine(image, M90, (w, h))
right_lane = np.array([(429, 30), (523, 30), (523, 343), (429, 343)], dtype="float32")
warp_rightlane = warped_simulation(right_lane, rotated90)
#cv2.imshow("lrtest",warp_rightlane)
mask_right = leftsubtractImage(warp_rightlane, "right")
tail_length_right = tail_length(mask_right)
return tail_length_right
def leftgetLeftQlength():
image = LeftgetScreenImage()
h, w, center = getCenter(image)
M270 = cv2.getRotationMatrix2D(center, 270, 1.0)
rotated270 = cv2.warpAffine(image, M270, (w, h))
left_lane = np.array([(454, 42), (543, 42), (543, 342), (454, 342)], dtype="float32")
warp_leftlane = warped_simulation(left_lane, rotated270)
#cv2.imshow("lltest",warp_leftlane)
mask_left = leftsubtractImage(warp_leftlane, "left")
tail_length_left = tail_length(mask_left)
return tail_length_left
#right intersection here
#done
def rightgetUpperQlength():
image = RightgetScreenImage()
#cv2.imshow("test",image)
upper_lane = np.array([(500, 31), (599, 31), (599, 351), (500, 351)], dtype="float32")
#cv2.imshow("upper",upper_lane)
warp_upperlane = warped_simulation(upper_lane, image)
#cv2.imshow("upper",warp_upperlane)
mask_upper = rightsubtractImage(warp_upperlane, "upper")
#cv2.imshow("upper", mask_upper)
tail_length_upper = tail_length(mask_upper)
return tail_length_upper
#done
def rightgetLowerQlength():
image = RightgetScreenImage()
h, w, center = getCenter(image)
M180 = cv2.getRotationMatrix2D(center, 180, 1.0)
rotated180 = cv2.warpAffine(image, M180, (w, h))
lower_lane = np.array([(378, 31), (466, 31), (466, 340), (378, 340)], dtype="float32")
#cv2.imshow("lower", lower_lane)
warp_lowerlane = warped_simulation(lower_lane, rotated180)
#cv2.imshow("lower", warp_lowerlane)
mask_lower = rightsubtractImage(warp_lowerlane, "lower")
#cv2.imshow("lower", mask_lower)
tail_length_lower = tail_length(mask_lower)
return tail_length_lower
#done
def rightgetRightQlength():
image = RightgetScreenImage()
h, w, center = getCenter(image)
M90 = cv2.getRotationMatrix2D(center, 90, 1.0)
rotated90 = cv2.warpAffine(image, M90, (w, h))
right_lane = np.array([(450, 0), (540, 0), (540, 281), (450, 281)], dtype="float32")
#cv2.imshow("right", right_lane)
warp_rightlane = warped_simulation(right_lane, rotated90)
#cv2.imshow("right", warp_rightlane)
mask_right = rightsubtractImage(warp_rightlane, "right")
#cv2.imshow("right", mask_right)
tail_length_right = tail_length(mask_right)
return tail_length_right
def rightgetLeftQlength():
image = RightgetScreenImage()
h, w, center = getCenter(image)
M270 = cv2.getRotationMatrix2D(center, 270, 1.0)
rotated270 = cv2.warpAffine(image, M270, (w, h))
left_lane = np.array([(431, 38), (520, 38), (520, 412), (430, 412)], dtype="float32")
#cv2.imshow("left", left_lane)
warp_leftlane = warped_simulation(left_lane, rotated270)
cv2.imshow("left", warp_leftlane)
mask_left = rightsubtractImage(warp_leftlane, "left")
#cv2.imshow("left", mask_left)
tail_length_left = tail_length(mask_left)
return tail_length_left
if __name__ == '__main__':
while 1:
#image = getScreenImage()
#cv2.imshow("test",image)
#left intersection
tail_length_upper = leftgetUpperQlength()
tail_length_lower = leftgetLowerQlength()
tail_length_right = leftgetRightQlength()
tail_length_left = leftgetLeftQlength()
#
print("Tail lengths Left - ")
print("Upper Tail ", tail_length_upper)
print("lower Tail ", tail_length_lower)
print("right Tail ", tail_length_right)
print("left Tail ", tail_length_left)
#right intersecrtion
tail_length_upper = rightgetUpperQlength()
tail_length_lower = rightgetLowerQlength()
tail_length_right = rightgetRightQlength()
tail_length_left = rightgetLeftQlength()
print("Tail lengths right - ")
print("Upper Tail ", tail_length_upper)
print("lower Tail ", tail_length_lower)
print("right Tail ", tail_length_right)
print("left Tail ", tail_length_left)
#
print(" end")
# cv2.imshow('test', image)
# cv2.imshow("180",rotated180)
# cv2.imshow("90",rotated90)
# cv2.imshow("270",rotated270)
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
'''
def tail_length(frame):
return tail_length
'''
