-
Notifications
You must be signed in to change notification settings - Fork 1
/
dualserver.py
289 lines (221 loc) · 10.6 KB
/
dualserver.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Fri Mar 17 20:35:17 2017
@author: krishna
"""
import numpy as np
import cv2
import socket
import time
import math
import socketserver
import threading
import pygame
class DistanceToCamera(object):
def __init__(self):
# camera params
self.alpha = 8.0 * math.pi / 180
self.v0 = 119.865631204
self.ay = 332.262498472
def calculate(self, v, h,x_shift,y_shift, image):
# compute and return the distance from the target point to the camera
d = h*5 / math.tan(self.alpha + math.atan((v - self.v0) / self.ay))
if d > 0:
cv2.putText(image, "%.1fcm" % d,
( x_shift,y_shift), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
return d
class controller(socketserver.BaseRequestHandler):
pygame.init()
window = pygame.display.set_mode((800, 600))
pygame.display.set_caption("Window")
gameLoop = True
def handle(self):
global dstp,rg
try:
l = 'left'
r = 'right'
f = 'forward'
b = 'backward'
wd = 'rf'
wa = 'lf'
sd = 'rb'
sa = 'lb'
stp = 'stop'
msg='none'
while True:
for event in pygame.event.get():
if dstp=='dstop':
self.request.send(dstp.encode('utf-8'))
else:
self.request.send(msg.encode('utf-8'))
if event.type == pygame.KEYUP:
if (event.key == pygame.K_LEFT):
self.request.send(l.encode('utf-8'))
print('left')
if (event.key == pygame.K_RIGHT):
self.request.send(r.encode('utf-8'))
print("right")
if (event.key == pygame.K_UP):
self.request.send(f.encode('utf-8'))
print("up")
if (event.key == pygame.K_DOWN):
self.request.send(b.encode('utf-8'))
print("down")
if event.key == pygame.K_w:
self.request.send(wd.encode('utf-8'))
print("right_forward")
if event.key == pygame.K_a:
self.request.send(wa.encode('utf-8'))
print("left_forward")
if event.key == pygame.K_s:
self.request.send(sd.encode('utf-8'))
print("right_backward")
if event.key == pygame.K_d:
self.request.send(sa.encode('utf-8'))
print("left_backward")
if event.key == pygame.K_x:
self.request.send(stp.encode('utf-8'))
print("stopped")
finally:
print("connection close on thread ")
class CollectTrainingData(socketserver.StreamRequestHandler):
global h1,h2,d_to_camera
# collect images for training
print ('Start collecting images...')
# h1: stop sign
h1 = 15.5 - 10 # cm
# h2: traffic light
h2 = 15.5 - 10
# light_cascade = cv2.CascadeClassifier('xml/traffic_light.xml')
d_to_camera = DistanceToCamera()
print(d_to_camera)
def handle(self):
global h1,h2,d_to_camera,dstp,gr,rg,yd
r=0
stream_bytes = ' '
stream_bytes=stream_bytes.encode('utf-8')
dstp=0
rg=0
print(type(stream_bytes))
try:
while True:
stream_bytes += self.rfile.read(1024)
#print(stream_bytes)
first = stream_bytes.find(b'\xff\xd8')
last = stream_bytes.find(b'\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
# print(jpg)
stream_bytes = stream_bytes[last + 2:]
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),1)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
# .......detection of stop sign
cascade_classifier = cv2.CascadeClassifier("xml/stop_sign.xml")
cascade_obj = cascade_classifier.detectMultiScale(
gray,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
flags=0
)
# draw a rectangle around the objects
for (x_pos, y_pos, width, height) in cascade_obj:
cv2.rectangle(image, (x_pos + 5, y_pos + 5), (x_pos + width - 5, y_pos + height - 5),
(255, 255, 255), 2)
v = y_pos + height - 5
# print(x_pos+5, y_pos+5, x_pos+width-5, y_pos+height-5, width, height)
# stop sign
if width / height == 1:
cv2.putText(image, 'STOP', (x_pos, y_pos - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255),
2)
d_to_camera.calculate(v, h1, x_pos + 100, y_pos - 10, image)
print("stop")
dstp="dstop"
#controller.request.send(dstp.encode('utf-8'))
r = 1
else:
dstp=0
r = 0
# .....detectio of traffic light......#
#hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
# ....yellow color....#
lower_green = np.array([105, 100, 51])
upper_green = np.array([125, 255, 255])
mask_green = cv2.inRange(hsv, lower_green, upper_green)
mask_green = cv2.erode(mask_green, None, iterations=6)
mask_green = cv2.dilate(mask_green, None, iterations=6)
# ....green color.....#
lower_yellow = np.array([54,94,82])
upper_yellow = np.array([74, 255, 255])
mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
mask_yellow = cv2.erode(mask_yellow, None, iterations=4)
mask_yellow = cv2.dilate(mask_yellow, None, iterations=4)
# For red.....#
lower_red = np.array([348,68, 60])
upper_red = np.array([368, 255, 255])
mask_red = cv2.inRange(hsv, lower_red, upper_red)
mask_red = cv2.erode(mask_red, None, iterations=6)
mask_red = cv2.dilate(mask_red, None, iterations=6)
'''for (x_pos, y_pos, width, height) in :
cv2.rectangle(image, (x_pos+5, y_pos+5), (x_pos+width-5, y_pos+height-5), (255, 255, 255), 2)
v = y_pos + height - 5'''
# ...contour for green....#
_, contours, hierarchy = cv2.findContours(mask_green.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
bx, by, bw, bh = cv2.boundingRect(cnt)
im = cv2.rectangle(image, (bx, by), (bx + bw, by + bh), (0, 0, 0), 3)
cv2.putText(im, 'yellow', (bx, by), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
print("yellow light")
gr="green detected"
#self.request.send(gr.encode('utf-8'))
# ..contour for red...#
if r == 0:
_, contours1, hierarchy1 = cv2.findContours(mask_red.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours1:
bx, by, bw, bh = cv2.boundingRect(cnt)
v = by + bh - 5
im = cv2.rectangle(image, (bx, by), (bx + bw, by + bh), (0, 0, 0), 3)
cv2.putText(im, 'red', (bx, by), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2,
cv2.LINE_AA)
d_to_camera.calculate(v, h2, bx + 20, by + 20, im)
print("Red light")
rg="red"
#self.request.send(rg.encode('utf-8'))
else:
rg=0
r = 0
# .....contours for yellow...#
_, contours2, hierarchy2 = cv2.findContours(mask_yellow.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours2:
bx, by, bw, bh = cv2.boundingRect(cnt)
im = cv2.rectangle(image, (bx, by), (bx + bw, by + bh), (0, 0, 0), 3)
cv2.putText(im, 'Green', (bx, by), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2,
cv2.LINE_AA)
print("Green light")
yd="yellow"
#self.request.send(yd.encode('utf-8'))
cv2.imshow('image', image)
if cv2.waitKey(1) & 0xff==ord('q'):
break
cv2.destroyAllWindows()
finally:
print("connection close")
class ThreadServer(object):
def server_thread(host, port):
server = socketserver.TCPServer((host, port), CollectTrainingData)
print("server connection established on port 1")
server.serve_forever()
def server_thread2(host, port):
server = socketserver.TCPServer((host, port),controller)
print("server connection established on port 2")
server.serve_forever()
video_thread = threading.Thread(target=server_thread, args=('192.168.43.204', 5000))
video_thread.start()
controller_thread = threading.Thread(target=server_thread2, args=('192.168.43.204',4000))
controller_thread.start()
if __name__ == '__main__':
ThreadServer()