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000test.py
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#!/usr/bin/env python3
# coding:utf-8
import cv2
import math
import numpy as np
import threading
import time
import datetime
import CMDcontrol
robot_IP = "192.168.3.52"
camera_out = "chest"
stream_pic = False
action_DEBUG = False
#################################################初始化#########################################################
if stream_pic:
stream_head = "http://"+ robot_IP +":8082/?action=stream?dummy=param.mjpg"
cap_head = cv2.VideoCapture(stream_head)
stream_chest = "http://"+ robot_IP +":8080/?action=stream?dummy=param.mjpg"
cap_chest = cv2.VideoCapture(stream_chest)
else:
cap_chest = cv2.VideoCapture(0)
cap_head = cv2.VideoCapture(2)
box_debug = False
debug = False
img_debug = False
state = 1
step = 0
state_sel = 'hole'
reset = 0
skip = 0
chest_ret = False # 读取图像标志位
ret = False # 读取图像标志位
ChestOrg_img = None # 原始图像更新
HeadOrg_img = None # 原始图像更新
ChestOrg_copy = None
HeadOrg_copy = None
r_width = 480
r_height = 640
chest_r_width = 480
chest_r_height = 640
head_r_width = 640
head_r_height = 480
################################################读取图像线程#################################################
def get_img():
global ChestOrg_img,HeadOrg_img,HeadOrg_img,chest_ret
global ret
global cap_chest
while True:
if cap_chest.isOpened():
chest_ret, ChestOrg_img = cap_chest.read()
ret, HeadOrg_img = cap_head.read()
if (chest_ret == False) or (ret == False):
print("ret faile ------------------")
if HeadOrg_img is None:
print("HeadOrg_img error")
if ChestOrg_img is None:
print("ChestOrg_img error")
else:
time.sleep(0.01)
ret=True
print("58L pic error ")
# 读取图像线程
th1 = threading.Thread(target=get_img)
th1.setDaemon(True)
th1.start()
################################################动作执行线程#################################################
def move_action():
global org_img
global step, level
global golf_angle_hole
global golf_angle_ball, golf_angle
global golf_dis, golf_dis_y
global golf_angle_flag, golf_dis_flag
global golf_angle_start, golf_dis_start
global golf_ok
global golf_hole, golf_ball
CMDcontrol.CMD_transfer()
# 动作执行线程
th2 = threading.Thread(target=move_action)
th2.setDaemon(True)
th2.start()
acted_name = ""
def action_append(act_name):
global acted_name
# print("please enter to continue...")
# cv2.waitKey(0)
if action_DEBUG == False:
if act_name == "forwardSlow0403" and (acted_name == "Forwalk02RL" or acted_name == "Forwalk02L"):
acted_name = "Forwalk02LR"
elif act_name == "forwardSlow0403" and (acted_name == "Forwalk02LR" or acted_name == "Forwalk02R"):
acted_name = "Forwalk02RL"
elif act_name != "forwardSlow0403" and (acted_name == "Forwalk02LR" or acted_name == "Forwalk02R"):
# CMDcontrol.action_list.append("Forwalk02RS")
# acted_name = act_name
print(act_name,"动作未执行 执行 Stand")
acted_name = "Forwalk02RS"
elif act_name != "forwardSlow0403" and (acted_name == "Forwalk02RL" or acted_name == "Forwalk02L"):
# CMDcontrol.action_list.append("Forwalk02LS")
# acted_name = act_name
print(act_name,"动作未执行 执行 Stand")
acted_name = "Forwalk02LS"
elif act_name == "forwardSlow0403":
acted_name = "Forwalk02R"
else:
acted_name = act_name
CMDcontrol.actionComplete = False
if len(CMDcontrol.action_list) > 0 :
print("队列超过一个动作")
CMDcontrol.action_list.append(acted_name)
else:
CMDcontrol.action_list.append(acted_name)
CMDcontrol.action_wait()
else:
print("-----------------------执行动作名：",act_name)
time.sleep(2)
color_range = {
'yellow_door': [(20, 140, 60), (40, 240, 150)],
'black_door': [(25, 25, 10), (110, 150, 30)],
'black_gap': [(0, 0, 0), (180, 255, 70)],
'yellow_hole': [(20, 120, 95), (30, 250, 190)],
'black_hole': [(5, 80, 20), (40, 255, 100)],
'chest_red_floor': [(0, 40, 60), (20,200, 190)],
'chest_red_floor1': [(0, 100, 60), (20,200, 210)],
'chest_red_floor2': [(110, 100, 60), (180,200, 210)],
'green_bridge': [(50, 75, 70), (80, 240, 210)],
}
color_dist = {'red': {'Lower': np.array([0, 160, 100]), 'Upper': np.array([180, 255, 250])},
'black_dir': {'Lower': np.array([0, 0, 10]), 'Upper': np.array([170, 170, 45])},
'black_line': {'Lower': np.array([0, 0, 20]), 'Upper': np.array([100, 160, 80])},
'blue': {'Lower': np.array([100, 80, 46]), 'Upper': np.array([124, 255, 255])},
'ball_red': {'Lower': np.array([160, 100, 70]), 'Upper': np.array([190, 215, 145])},
'blue_hole': {'Lower': np.array([100, 130, 80]), 'Upper': np.array([130, 255, 150])},
}
###############得到线形的总的轮廓###############
# 这个比值适应调整 handling
# 排除掉肩部黑色
def getLine_SumContour(contours, area=1):
global handling
contours_sum = None
for c in contours: # 初始化 contours_sum
area_temp = math.fabs(cv2.contourArea(c))
rect = cv2.minAreaRect(c)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
edge1=math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2))
edge2=math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2))
ratio=edge1/edge2 # 长与宽的比值大于3认为是条线
center_y = (box[0,1] + box[1,1] + box[2,1] + box[3,1]) / 4
if (area_temp > area) and (ratio>3 or ratio<0.33) and center_y > 240:
contours_sum = c
break
for c in contours:
area_temp = math.fabs(cv2.contourArea(c))
rect = cv2.minAreaRect(c)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
edge1=math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2))
edge2=math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2))
ratio=edge1/edge2
# print("ratio:",ratio,"area_temp:",area_temp)
if (area_temp > area) and (ratio>3 or ratio<0.33): # 满足面积条件 长宽比条件
rect = cv2.minAreaRect(c)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
center_x = (box[0,0] + box[1,0] + box[2,0] + box[3,0]) / 4
center_y = (box[0,1] + box[1,1] + box[2,1] + box[3,1]) / 4
if center_y > 240:# 满足中心点坐标条件
contours_sum = np.concatenate((contours_sum, c), axis=0) # 将所有轮廓点拼接到一起
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 255, 0), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
else:
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 0, 255), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
else: # 弃
rect = cv2.minAreaRect(c)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
if box_debug:
cv2.drawContours(handling, [box], -1, (0, 0, 255), 5)
cv2.imshow('handling', handling)
cv2.waitKey(10)
return contours_sum
# 得到最大轮廓和对应的最大面积
def getAreaMaxContour1(contours): # 返回轮廓 和 轮廓面积
contour_area_temp = 0
contour_area_max = 0
area_max_contour = None
for c in contours: # 历遍所有轮廓
contour_area_temp = math.fabs(cv2.contourArea(c)) # 计算轮廓面积
if contour_area_temp > contour_area_max:
contour_area_max = contour_area_temp
if contour_area_temp > 25: #只有在面积大于25时，最大面积的轮廓才是有效的，以过滤干扰
area_max_contour = c
return area_max_contour, contour_area_max # 返回最大的轮廓
########得到最大轮廓############
def getAreaMaxContour2(contours, area=1):
contour_area_max = 0
area_max_contour = None
for c in contours:
contour_area_temp = math.fabs(cv2.contourArea(c))
if contour_area_temp > contour_area_max:
contour_area_max = contour_area_temp
if contour_area_temp > area: # 面积大于1
area_max_contour = c
return area_max_contour
# 将所有面积大于1的轮廓点拼接到一起
def getSumContour(contours, area=1):
contours_sum = None
# print(len(contours))
for c in contours: # 初始化contours
area_temp = math.fabs(cv2.contourArea(c))
if (area_temp > area):
contours_sum = c
break
for c in contours:
area_temp = math.fabs(cv2.contourArea(c))
if (area_temp > area):
contours_sum = np.concatenate((contours_sum, c), axis=0) # 将所有面积大于1的轮廓点拼接到一起
return contours_sum
######### 得到所有轮廓的面积##########
def getAreaSumContour(contours):
contour_area_sum = 0
for c in contours: # 历遍所有轮廓
contour_area_sum += math.fabs(cv2.contourArea(c)) # 计算轮廓面积
return contour_area_sum # 返回最大的面积
# 通过两边的黑线，调整左右位置 和 角度
def head_angle_dis():
global HeadOrg_img,chest_copy, reset, skip
global handling
angle_ok_flag = False
angle = 90
dis = 0
bottom_centreX = 0
bottom_centreY = 0
see = False
dis_ok_count = 0
headTURN = 0
step = 1
print("/-/-/-/-/-/-/-/-/-head*angle*dis")
while True:
OrgFrame = HeadOrg_img.copy()
x_start = 260
blobs = OrgFrame[int(0):int(480), int(x_start):int(380)] # 只对中间部分识别处理 Y , X
# cv2.rectangle(blobs,(0,460),(120,480),(255,255,255),-1) # 涂白
handling = blobs.copy()
frame_mask = blobs.copy()
# 获取图像中心点坐标x, y
center = []
# 开始处理图像
hsv = cv2.cvtColor(frame_mask, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
Imask = cv2.inRange(hsv, color_dist['black_line']['Lower'], color_dist['black_line']['Upper'])
# Imask = cv2.erode(Imask, None, iterations=1)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
_, cnts, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
# print("327L len:",len(cnts))
cnt_sum = getLine_SumContour(cnts, area=300)
# 初始化
L_R_angle = 0
blackLine_L = [0,0]
blackLine_R = [0,0]
if cnt_sum is not None:
see = True
rect = cv2.minAreaRect(cnt_sum)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
# cv2.drawContours(OrgFrame, [box], 0, (0, 255, 0), 2) # 将大矩形画在图上
if math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2)) > math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2)):
if box[3, 0] - box[0, 0]==0:
angle=90
else:
angle = - math.atan((box[3, 1] - box[0, 1]) / (box[3, 0] - box[0, 0]))*180.0/math.pi
if box[3,1]+box[0,1]>box[2,1]+box[1,1]:
Ycenter = int((box[2, 1] + box[1, 1]) / 2)
Xcenter = int((box[2, 0] + box[1, 0]) / 2)
if box[2, 1] > box[1, 1]:
blackLine_L = [box[2, 0] , box[2, 1]]
blackLine_R = [box[1, 0] , box[1, 1]]
else:
blackLine_L = [box[1, 0] , box[1, 1]]
blackLine_R = [box[2, 0] , box[2, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
Ycenter = int((box[3, 1] + box[0, 1]) / 2)
Xcenter = int((box[3, 0] + box[0, 0]) / 2)
if box[3, 1] > box[0, 1]:
blackLine_L = [box[3, 0] , box[3, 1]]
blackLine_R = [box[0, 0] , box[0, 1]]
else:
blackLine_L = [box[0, 0] , box[0, 1]]
blackLine_R = [box[3, 0] , box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
if box[3, 0] - box[2, 0]==0:
angle=90
else:
angle = - math.atan((box[3, 1] - box[2, 1]) / (box[3, 0] - box[2, 0]))*180.0/math.pi # 负号是因为坐标原点的问题
if box[3,1]+box[2,1]>box[0,1]+box[1,1]:
Ycenter = int((box[1, 1] + box[0, 1]) / 2)
Xcenter = int((box[1, 0] + box[0, 0]) / 2)
if box[0, 1] > box[1, 1]:
blackLine_L = [box[0, 0] , box[0, 1]]
blackLine_R = [box[1, 0] , box[1, 1]]
else:
blackLine_L = [box[1, 0] , box[1, 1]]
blackLine_R = [box[0, 0] , box[0, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
Ycenter = int((box[2, 1] + box[3, 1]) / 2)
Xcenter = int((box[2, 0] + box[3, 0]) / 2)
if box[3, 1] > box[2, 1]:
blackLine_L = [box[3, 0] , box[3, 1]]
blackLine_R = [box[2, 0] , box[2, 1]]
else:
blackLine_L = [box[2, 0] , box[2, 1]]
blackLine_R = [box[3, 0] , box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
if blackLine_L[0] == blackLine_R[0]:
L_R_angle = 0
else:
L_R_angle = -math.atan( (blackLine_L[1]-blackLine_R[1]) / (blackLine_L[0]-blackLine_R[0]) ) *180.0/math.pi
if img_debug:
cv2.circle(OrgFrame, (blackLine_L[0] + x_start, blackLine_L[1]), 5, [0, 255, 255], 2)
cv2.circle(OrgFrame, (blackLine_R[0] + x_start, blackLine_R[1]), 5, [255, 0, 255], 2)
cv2.line(OrgFrame, (blackLine_R[0] + x_start,blackLine_R[1]), (blackLine_L[0] + x_start,blackLine_L[1]), (0, 255, 255), thickness=2)
cv2.putText(OrgFrame, "L_R_angle:" + str(L_R_angle),(10, OrgFrame.shape[0] - 30), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Xcenter:" + str(Xcenter + x_start),(10, OrgFrame.shape[0] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Ycenter:" + str(Ycenter),(200, OrgFrame.shape[0] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
# cv2.drawContours(frame_mask, cnt_sum, -1, (255, 0, 255), 3)
# cv2.imshow('frame_mask', frame_mask)
cv2.imshow('black', Imask)
cv2.imshow('OrgFrame', OrgFrame)
cv2.waitKey(10)
else:
see = False
# 决策执行动作
if step == 1:
print("157L 向右看 HeadTurn015")
action_append("HeadTurn015")
time.sleep(1) # timefftest
step = 2
elif step == 2:
if not see: # not see the edge
print("276L 右侧看不到黑线 左侧移 Left3move")
action_append("Left3move")
headTURN += 1
if headTURN > 3:
headTURN=0
print("276L 右侧看不到黑线 转为左看 waitKey")
step = 3
else: # 0
headTURN=0
if L_R_angle > 2:
if L_R_angle > 7:
print("416L 左da旋转 turn001L ",L_R_angle)
action_append("turn001L")
# elif L_R_angle > 5:
# print("419L 左da旋转 turn001L ",L_R_angle)
# action_append("turn001L")
else:
print("422L 左旋转 turn000L ",L_R_angle)
action_append("turn000L")
# time.sleep(1) # timefftest
elif L_R_angle < -2:
if L_R_angle < -7:
print("434L 右da旋转 turn001R ",L_R_angle)
action_append("turn001R")
# elif L_R_angle < -5:
# print("437L 右da旋转 turn001R ",L_R_angle)
# action_append("turn001R")
else:
print("461L 右旋转 turn000R ",L_R_angle)
action_append("turn000R")
# time.sleep(1) # timefftest
elif Ycenter >= 430:
if Ycenter > 450:
print("451L 左da侧移 Left3move >440 ",Ycenter)
action_append("Left3move")
else:
print("439L 左侧移 Left02move > 365 ",Ycenter)
action_append("Left02move")
elif Ycenter < 390:
if Ycenter < 370:
print("474L 右da侧移 Right3move <380 ",Ycenter)
action_append("Right3move")
else:
print("448L 右侧移 Right02move <400 ",Ycenter)
action_append("Right02move")
else:
dis_ok_count
print("444L 右看 X位置ok")
cv2.destroyAllWindows()
break
elif step == 3:
print("157L 向左看 HeadTurn180")
action_append("HeadTurn180")
time.sleep(1) # timefftest
step = 4
elif step == 4:
if not see: # not see the edge
print("294L 左侧 看不到黑线 转为右看")
headTURN += 1
if headTURN > 5:
headTURN=0
print("error 两侧都看不到 右侧移 Right3move")
action_append("Right3move")
else: # 0 +-1
headTURN=0
if L_R_angle > 3:
if L_R_angle > 8:
print("304L 左da旋转 turn001L ",L_R_angle)
action_append("turn001L")
else:
print("304L 左旋转 turn000L ",L_R_angle)
action_append("turn000L")
# time.sleep(1) # timefftest
elif L_R_angle < -3:
if L_R_angle < -8:
print("307L 右da旋转 turn001R ",L_R_angle)
action_append("turn001R")
else:
print("307L 右旋转 turn000R ",L_R_angle)
action_append("turn000R")
# time.sleep(1) # timefftest
elif Ycenter >= 430:
if Ycenter > 450:
print("498L 右da侧移 Right3move ",L_R_angle)
action_append("Right3move")
else:
print("501L 右侧移 Right02move ",L_R_angle)
action_append("Right02move")
elif Ycenter < 390:
if Ycenter < 370:
print("497L 左da侧移 Left3move ",L_R_angle)
action_append("Left02move")
else:
print("500L 左侧移 Left02move ",L_R_angle)
action_append("Left02move")
else:
dis_ok_count
print("495L 左看 X位置ok")
cv2.destroyAllWindows()
break
#################################################第二关：台阶##########################################
def floor():
global org_img, state, state_sel, step, reset, skip, debug
global camera_out
if (state == 2 or state == 6 or state == 8) and state_sel == 'floor': # 初始化
print("/-/-/-/-/-/-/-/-/-进入floor")
step = 0
r_w = chest_r_width
r_h = chest_r_height
top_angle = 0
T_B_angle = 0
topcenter_x = 0.5 * r_w
topcenter_y = 0
bottomcenter_x = 0.5 * r_w
bottomcenter_y = 0
state_sel = 'floor'
while state_sel == 'floor':
# 分析图像 # chest
if True: # 上下边沿
Corg_img = ChestOrg_img.copy()
Corg_img = np.rot90(Corg_img)
OrgFrame = Corg_img.copy()
# 初始化 bottom_right bottom_left
bottom_right = (480,0)
bottom_left = (0,0)
top_right = (480,0) # 右上角点坐标
top_left = (0,0) # 左上角点坐标
frame = cv2.resize(OrgFrame, (chest_r_width, chest_r_height), interpolation=cv2.INTER_LINEAR)
frame_copy = frame.copy()
# 获取图像中心点坐标x, y
center = []
# 开始处理图像
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
Imask = cv2.inRange(hsv, color_range['chest_red_floor1'][0], color_range['chest_red_floor1'][1]) # 对原图像和掩模(颜色的字典)进行位运算
# opened = cv2.morphologyEx(Imask, cv2.MORPH_OPEN, np.ones((3, 3), np.uint8)) # 开运算 去噪点
# Imask = cv2.morphologyEx(opened, cv2.MORPH_CLOSE, np.ones((3, 3), np.uint8)) # 闭运算 封闭连接
# Imask = cv2.erode(Imask, None, iterations=2)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
_, cnts, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
cnt_sum, area_max = getAreaMaxContour1(cnts) # 找出最大轮廓
C_percent = round(area_max * 100 / (r_w * r_h), 2) # 最大轮廓百分比
cv2.drawContours(frame, cnt_sum, -1, (255, 0, 255), 3)
if cnt_sum is not None:
see = True
rect = cv2.minAreaRect(cnt_sum)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
bottom_right = cnt_sum[0][0] # 右下角点坐标
bottom_left = cnt_sum[0][0] # 左下角点坐标
top_right = cnt_sum[0][0] # 右上角点坐标
top_left = cnt_sum[0][0] # 左上角点坐标
for c in cnt_sum:
if c[0][0] + 1 * (r_h - c[0][1]) < bottom_left[0] + 1 * (r_h - bottom_left[1]):
bottom_left = c[0]
if c[0][0] + 1 * c[0][1] > bottom_right[0] + 1 * bottom_right[1]:
bottom_right = c[0]
if c[0][0] + 3 * c[0][1] < top_left[0] + 3 * top_left[1]:
top_left = c[0]
if (r_w - c[0][0]) + 3 * c[0][1] < (r_w - top_right[0]) + 3 * top_right[1]:
top_right = c[0]
# if debug:
# handling = ChestOrg_img.copy()
# cv2.circle(handling, (c[0][0], c[0][1]), 5, [0, 255, 0], 2)
# cv2.circle(handling, (bottom_left[0], bottom_left[1]), 5, [255, 255, 0], 2)
# cv2.circle(handling, (bottom_right[0], bottom_right[1]), 5, [255, 0, 255], 2)
# cv2.imshow('handling', handling) # 显示图像
# cv2.waitKey(2)
bottomcenter_x = (bottom_left[0] + bottom_right[0]) / 2 # 得到bottom中心坐标
bottomcenter_y = (bottom_left[1] + bottom_right[1]) / 2
topcenter_x = (top_right[0] + top_left[0]) / 2 # 得到top中心坐标
topcenter_y = (top_left[1] + top_right[1]) / 2
bottom_angle = -math.atan( (bottom_right[1]-bottom_left[1]) / (bottom_right[0]-bottom_left[0]) ) *180.0/math.pi
top_angle = -math.atan( (top_right[1]-top_left[1]) / (top_right[0]-top_left[0]) ) *180.0/math.pi
if math.fabs(topcenter_x - bottomcenter_x) <= 1: # 得到连线的角度
T_B_angle = 90
else:
T_B_angle = - math.atan((topcenter_y - bottomcenter_y) / (topcenter_x - bottomcenter_x)) * 180.0 / math.pi
if img_debug:
cv2.drawContours(frame_copy, [box], 0, (0, 255, 0), 2) # 将大矩形画在图上
cv2.line(frame_copy, (bottom_left[0],bottom_left[1]), (bottom_right[0],bottom_right[1]), (255, 255, 0), thickness=2)
cv2.line(frame_copy, (top_left[0],top_left[1]), (top_right[0],top_right[1]), (255, 255, 0), thickness=2)
cv2.line(frame_copy, (int(bottomcenter_x),int(bottomcenter_y)), (int(topcenter_x),int(topcenter_y)), (255, 255, 255), thickness=2) # T_B_line
cv2.putText(frame_copy, "bottom_angle:" + str(bottom_angle), (30, 450), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0),2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "top_angle:" + str(top_angle),(30, 150), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2)
cv2.putText(frame_copy, "T_B_angle:" + str(T_B_angle),(30, 400), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(frame_copy, "bottomcenter_x:" + str(bottomcenter_x), (30, 480), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0),2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "y:" + str(int(bottomcenter_y)), (300, 480), cv2.FONT_HERSHEY_SIMPLEX, 0.65,(0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "topcenter_x:" + str(topcenter_x), (30, 180), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0),2) # (0, 0, 255)BGR
cv2.putText(frame_copy, "topcenter_y:" + str(int(topcenter_y)), (230, 180), cv2.FONT_HERSHEY_SIMPLEX, 0.65,(0, 0, 0), 2) # (0, 0, 255)BGR
cv2.putText(frame_copy, 'C_percent:' + str(C_percent) + '%', (30, 100), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0), 2)
cv2.putText(frame_copy, "step:" + str(step), (30, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 0),2) # (0, 0, 255)BGR
cv2.circle(frame_copy, (int(topcenter_x), int(topcenter_y)), 5, [255, 0, 255], 2)
cv2.circle(frame_copy, (int(bottomcenter_x), int(bottomcenter_y)), 5, [255, 0, 255], 2)
cv2.circle(frame_copy, (top_right[0], top_right[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (top_left[0], top_left[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (bottom_right[0], bottom_right[1]), 5, [0, 255, 255], 2)
cv2.circle(frame_copy, (bottom_left[0], bottom_left[1]), 5, [0, 255, 255], 2)
cv2.imshow('Chest_Camera', frame_copy) # 显示图像
cv2.imshow('chest_red_mask', Imask)
cv2.waitKey(100)
else:
print("chest NONE")
# 决策执行动作
angle_ok_flag = False
if step == 0: # 前进依据chest 调整大致位置，方向 看底边线调整角度
if C_percent > 1 and bottomcenter_y < 380:
print("676L 继续前行 forwardSlow0403",bottomcenter_y)
action_append("forwardSlow0403")
elif 380 <= bottomcenter_y <430:
if bottom_angle > 3: # 需要左转
if bottom_angle > 6:
print("725L 大左转一下 turn001L ",bottom_angle)
action_append("turn001L")
else:
print("728L bottom_angle > 3 需要小左转 turn001L ",bottom_angle)
action_append("turn001L")
elif bottom_angle < -3: # 需要右转
if bottom_angle < -6:
print("732L 右da旋转 turn001R < -6 ",Head_L_R_angle)
action_append("turn001R")
else:
print("735L bottom_angle < -3 需要小右转 turn001R ",bottom_angle)
action_append("turn001R")
elif -3 <= bottom_angle <= 3: # 角度正确
print("448L 角度合适")
angle_ok_flag = True
if angle_ok_flag:
if bottomcenter_x < 200:
print("431L 向左侧移 Left02move ",bottomcenter_x)
action_append("Left02move")
elif bottomcenter_x > 260:
print("433L 向右侧移 Right02move ",bottomcenter_x)
action_append("Right02move")
else:
print("483L 变小步继续前行 Forwalk01",bottomcenter_y)
action_append("Forwalk01")
elif 430 <= bottomcenter_y <= 540:
if bottom_angle > 4: # 需要左转
if bottom_angle > 6:
print("746L 大左转一下 turn001L ",bottom_angle)
action_append("turn001L")
else:
print("749L bottom_angle > 4 需要小左转 turn001L ",bottom_angle)
action_append("turn001L")
elif bottom_angle < -4: # 需要右转
if bottom_angle < -6:
print("338L 右da旋转 turn001R < -6 ",bottom_angle)
action_append("turn001R")
else:
print("746L bottom_angle < -4 需要小右转 turn001R ",bottom_angle)
action_append("turn001R")
elif -3 <= bottom_angle <= 3: # 角度正确
print("448L 角度合适")
angle_ok_flag = True
if angle_ok_flag:
if bottomcenter_x < 200:
print("431L 向左侧移 Left1move ",bottomcenter_x)
action_append("Left1move")
elif bottomcenter_x > 260:
print("433L 向右侧移 Right1move ",bottomcenter_x)
action_append("Right1move")
else:
print("486L 到达上台阶边沿，变前挪动 Forwalk00 bottomcenter_y:",bottomcenter_y)
action_append("Forwalk00")
elif bottomcenter_y > 540:
print("然后开始第二步------")
step = 1
angle_ok_flag = False
else: # C_percent < 1 and bottomcenter_y < 380
print("error769L 前进")
elif step == 1: # 看中线调整角度
print("719L 上台阶 上台阶 UpBridge")
action_append("UpBridge")
step = 2
elif step == 2: # 已经上台阶 调整方向 快走三步 看上方顶点边线
if 0 < T_B_angle < 86: # 右转
print("730L 右转 turn001R T_B_angle:",T_B_angle)
action_append("turn001R")
# time.sleep(1) # timefftest
elif -86 < T_B_angle < 0: # 左转
print("359L 左转 turn001L T_B_angle:",T_B_angle)
action_append("turn001L")
# time.sleep(1) # timefftest
elif T_B_angle <= -86 or T_B_angle >= 86: # 角度正确
print("738L T_B_angle 角度合适 ")
if topcenter_x < 200:
print("740L <210 向左侧移 Left1move ",topcenter_x)
action_append("Left1move")
elif topcenter_x > 240:
print("743L >260 向右侧移 Right1move ",topcenter_x)
action_append("Right1move")
elif topcenter_y < 360:
print("516L 上台阶后，快走 fastForward06 topcenter_y:",topcenter_y)
action_append("fastForward06")
print("step 3333 ,",topcenter_y)
step = 3
elif step == 3: # 快走结束
if topcenter_y < 510 and C_percent > 6:
if top_angle > 1.5: # 需要左转
if top_angle <= 3:
print("468L 3 < < 1.5 需要小左转 turn000L ",top_angle)
action_append("turn000L")
else:
print("468L > 3 需要小左转 turn001L ",top_angle)
action_append("turn001L")
elif top_angle < -1.5: # 需要右转
if top_angle > -3:
print("470L -3 < < -1.5 需要小右转 turn000R ",top_angle)
action_append("turn000R")
else:
print("470L < -3 需要小右转 turn001R ",top_angle)
action_append("turn001R")
elif -1.5 <= top_angle <= 1.5: # 角度正确
print("474L top_angle 角度合适 ")
if topcenter_x < 190:
print("456L <210 向左侧移 Left1move ",topcenter_x)
action_append("Left1move")
elif topcenter_x > 260:
print("458L >260 向右侧移 Right1move ",topcenter_x)
action_append("Right1move")
else:
print("590L <topcenter_y<510 Forwalk01 ",topcenter_y)
action_append("Forwalk01")
else: # > 510
print("step 4444 ,",topcenter_y)
step = 4
elif step == 4: # 调整角度
if topcenter_y > 550 and C_percent < 6:
if C_percent >= 2 :
print("823L 下台阶前前进一点点 Forwalk00")
action_append("Forwalk00")
print("487L 下台阶 下台阶 DownBridge")
action_append("DownBridge")
step = 5
else:
print("566L 微微前挪 y:",topcenter_y," C_percent:",C_percent)
action_append("Forwalk00")
elif step ==5:
print("899L 完成bridge")
cv2.destroyAllWindows()
break
#################################################第三关：雷阵#############################################
head_flag = "MM"
Head_L_R_angle = 0
see_flag = False
Bbox_centerY = 0
head_step = 1
# 通过两边的黑线，仅仅调整角度
def head_only_angle(resize_width, resize_height):
global head_copy,chest_copy, reset, skip
global handling,Head_L_R_angle,see_flag,head_flag,Bbox_centerY,head_step,Bbox_center,blue_rail
angle_ok_flag = False
angle = 90
dis = 0
bottom_centreX = 0
bottom_centreY = 0
dis_ok_count = 0
headTURN = 0
while True:
OrgFrame = HeadOrg_img.copy()
x_start = 260
blobs = OrgFrame[int(0):int(480), int(x_start):int(380)] # 只对中间部分识别处理 Y , X
# cv2.rectangle(blobs,(0,460),(120,480),(255,255,255),-1) # 涂白
handling = blobs.copy()
frame_mask = blobs.copy()
# 获取图像中心点坐标x, y
center = []
# 开始处理图像
hsv = cv2.cvtColor(frame_mask, cv2.COLOR_BGR2HSV)
hsv = cv2.GaussianBlur(hsv, (3, 3), 0)
Imask = cv2.inRange(hsv, color_dist['black_line']['Lower'], color_dist['black_line']['Upper'])
# Imask = cv2.erode(Imask, None, iterations=2)
Imask = cv2.dilate(Imask, np.ones((3, 3), np.uint8), iterations=2)
_, cnts, hierarchy = cv2.findContours(Imask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1) # 找出所有轮廓
# print("len:",len(cnts))
cnt_sum = getLine_SumContour(cnts, area=300)
cv2.drawContours(frame_mask, cnt_sum, -1, (255, 0, 255), 3)
# cv2.imshow('black', Imask)
# 初始化
Head_L_R_angle = 0
blackLine_L = [0,0]
blackLine_R = [0,0]
if cnt_sum is not None:
see_flag = True
rect = cv2.minAreaRect(cnt_sum)#最小外接矩形
box = np.int0(cv2.boxPoints(rect))#最小外接矩形的四个顶点
# cv2.drawContours(OrgFrame, [box], 0, (0, 255, 0), 2) # 将大矩形画在图上
if math.sqrt(math.pow(box[3, 1] - box[0, 1], 2) + math.pow(box[3, 0] - box[0, 0], 2)) > math.sqrt(math.pow(box[3, 1] - box[2, 1], 2) + math.pow(box[3, 0] - box[2, 0], 2)):
if box[3, 0] - box[0, 0]==0:
angle=90
else:
angle = - math.atan((box[3, 1] - box[0, 1]) / (box[3, 0] - box[0, 0]))*180.0/math.pi
if box[3,1]+box[0,1]>box[2,1]+box[1,1]:
Ycenter = int((box[2, 1] + box[1, 1]) / 2)
Xcenter = int((box[2, 0] + box[1, 0]) / 2)
if box[2, 1] > box[1, 1]:
blackLine_L = [box[2, 0] , box[2, 1]]
blackLine_R = [box[1, 0] , box[1, 1]]
else:
blackLine_L = [box[1, 0] , box[1, 1]]
blackLine_R = [box[2, 0] , box[2, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
Ycenter = int((box[3, 1] + box[0, 1]) / 2)
Xcenter = int((box[3, 0] + box[0, 0]) / 2)
if box[3, 1] > box[0, 1]:
blackLine_L = [box[3, 0] , box[3, 1]]
blackLine_R = [box[0, 0] , box[0, 1]]
else:
blackLine_L = [box[0, 0] , box[0, 1]]
blackLine_R = [box[3, 0] , box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
if box[3, 0] - box[2, 0]==0:
angle=90
else:
angle = - math.atan((box[3, 1] - box[2, 1]) / (box[3, 0] - box[2, 0]))*180.0/math.pi # 负号是因为坐标原点的问题
if box[3,1]+box[2,1]>box[0,1]+box[1,1]:
Ycenter = int((box[1, 1] + box[0, 1]) / 2)
Xcenter = int((box[1, 0] + box[0, 0]) / 2)
if box[0, 1] > box[1, 1]:
blackLine_L = [box[0, 0] , box[0, 1]]
blackLine_R = [box[1, 0] , box[1, 1]]
else:
blackLine_L = [box[1, 0] , box[1, 1]]
blackLine_R = [box[0, 0] , box[0, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
else:
Ycenter = int((box[2, 1] + box[3, 1]) / 2)
Xcenter = int((box[2, 0] + box[3, 0]) / 2)
if box[3, 1] > box[2, 1]:
blackLine_L = [box[3, 0] , box[3, 1]]
blackLine_R = [box[2, 0] , box[2, 1]]
else:
blackLine_L = [box[2, 0] , box[2, 1]]
blackLine_R = [box[3, 0] , box[3, 1]]
cv2.circle(OrgFrame, (Xcenter + x_start, Ycenter), 10, (255,255,0), -1)#画出中心点
if blackLine_L[0] == blackLine_R[0]:
Head_L_R_angle = 0
else:
Head_L_R_angle = -math.atan( (blackLine_L[1]-blackLine_R[1]) / (blackLine_L[0]-blackLine_R[0]) ) *180.0/math.pi
if img_debug:
cv2.putText(OrgFrame, "Head_L_R_angle:" + str(Head_L_R_angle),(10, OrgFrame.shape[0] - 30), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Xcenter:" + str(Xcenter + x_start),(10, OrgFrame.shape[0] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.putText(OrgFrame, "Ycenter:" + str(Ycenter),(200, OrgFrame.shape[0] - 50), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 0, 255), 2)
cv2.circle(OrgFrame, (blackLine_L[0] + x_start, blackLine_L[1]), 5, [0, 255, 255], 2)
cv2.circle(OrgFrame, (blackLine_R[0] + x_start, blackLine_R[1]), 5, [255, 0, 255], 2)
cv2.line(OrgFrame, (blackLine_R[0] + x_start,blackLine_R[1]), (blackLine_L[0] + x_start,blackLine_L[1]), (0, 255, 255), thickness=2)
# cv2.imshow('frame_mask', frame_mask)
# cv2.imshow('OrgFrame', OrgFrame)
# cv2.waitKey(100)
else:
see_flag = False
# 决策执行动作
if head_step == 1:
print("317L 向右看 HeadTurn015")
action_append("HeadTurn015")
head_flag = 'R'
head_step = 2
time.sleep(1) # timefftest
elif head_step == 2:
if not see_flag: # not see_flag the edge
print("276L 右侧看不到黑线 转为左看")
headTURN += 1
if headTURN > 5:
headTURN=0
head_step = 3
else:
headTURN=0
# Angle
if Head_L_R_angle > 3:
if Head_L_R_angle > 8:
print("329L 左da旋转 turn001L > 7 ",Head_L_R_angle)
action_append("turn001L")
else:
print("333L 左旋转 turn000L > 2 ",Head_L_R_angle)
action_append("turn000L")
elif Head_L_R_angle < -1:
if Head_L_R_angle < -6:
print("338L 右da旋转 turn001R < -7 ",Head_L_R_angle)
action_append("turn001R")
else:
print("342L 右旋转 turn000R < -2 ",Head_L_R_angle)
action_append("turn000R")
# 栏杆标志位 蓝横杆出现时时，允许侧移
elif Ycenter > 365 and blue_rail:
if Ycenter > 400: # 400
print("3942L 左侧移 Left3move > 400 ",Ycenter)
action_append("Left3move")
else:
print("3942L 左侧移 Left02move > 365 ",Ycenter)
action_append("Left02move")
break
elif Ycenter < 360 and blue_rail:
if Ycenter < 350:
print("390L 右侧移 Right3move <350 ",Ycenter)
action_append("Right3move")
else:
print("390L 右侧移 Right02move <360 ",Ycenter)
action_append("Right02move")
else:
print("1133L Ycenter:",Ycenter," blue_rail:",blue_rail)
dis_ok_count
print("1092L before blueBOX X位置ok")
break
elif head_step == 3:
print("359L 向左看 HeadTurn180")
action_append("HeadTurn180")
head_flag = 'L'
head_step = 4