initial traffic light detection in opencv

diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index f51516e..233cbfe 100644 (file)
--- a/plugins/opencvlux/opencvluxplugin.cpp
+++ b/plugins/opencvlux/opencvluxplugin.cpp
@@ -20,6 +20,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 #include "timestamp.h"
 
 #include <iostream>
+#include <opencv2/imgproc/imgproc.hpp>
 
 #ifdef OPENCL
 #include <opencv2/ocl/ocl.hpp>
@@ -263,6 +264,7 @@ static int grabImage(void *data)
        else*/
        {
                int lux = evalImage(m_image,shared);
+               detectLight(m_image,shared);
                shared->parent->updateProperty(lux);
        }
 
@@ -286,7 +288,8 @@ static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared)
        {
 #ifdef OPENCL
                cv::Scalar stdDev;
-               cv::ocl::oclMat src(qImg);
+               cv::ocl::oclMat src(qImg), gray;
+               cv::ocl::cvtColor(src, gray, CV_BGR2GRAY);
                cv::ocl::meanStdDev(src, avgPixelIntensity, stdDev);
 #endif
        }
@@ -305,7 +308,6 @@ static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared)
                {
                        DebugOut(DebugOut::Error)<<"CUDA pixel intensity calculation failed."<<endl;
                }
-
 #endif
        }
        else
@@ -346,8 +348,6 @@ bool OpenCvLuxPlugin::init()
                return false;
        }
 
-
-
        DebugOut()<<"camera frame width: "<<shared->m_capture->get(CV_CAP_PROP_FRAME_WIDTH)<<endl;
        DebugOut()<<"camera frame height: "<<shared->m_capture->get(CV_CAP_PROP_FRAME_HEIGHT)<<endl;
        DebugOut()<<"camera frame fps: "<<shared->m_capture->get(CV_CAP_PROP_FPS)<<endl;
@@ -378,9 +378,82 @@ void OpenCvLuxPlugin::updateProperty(uint lux)
        if(lux != lastLux && shared->mRequests.size())
        {
                lastLux = lux;
-               routingEngine->updateProperty(VehicleProperty::ExteriorBrightness,&l, uuid());
+               routingEngine->updateProperty(&l, uuid());
        }
 
 
 }
 
+
+
+TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared *shared)
+{
+
+       cv::Mat gray;
+
+       if(shared->useOpenCl)
+       {
+#ifdef OPENCL
+               cv::ocl::oclMat src(img), gray2;
+               cv::ocl::cvtColor(src, gray2, CV_BGR2GRAY);
+               cv::ocl::GaussianBlur(gray2, gray2, cv::Size(9,9), 2, 2);
+
+               gray = gray2;
+#endif
+       }
+       else
+       {
+               cv::cvtColor(img, gray, CV_BGR2GRAY);
+               cv::GaussianBlur(gray, gray, cv::Size(9,9), 2, 2);
+       }
+
+       std::vector<cv::Vec3f> circles;
+
+       //cv::HoughCircles(gray, circles, CV_HOUGH_GRADIENT, 1, gray.rows/8, 200, 100, 0, 0);
+
+       cv::HoughCircles( gray, circles, CV_HOUGH_GRADIENT, 2, 30, 231, 50, 0, 0 );
+
+       for(auto i = 0; i < circles.size(); i++)
+       {
+               cv::Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
+               int radius = cvRound(circles[i][2]);
+
+               cv::Rect rect(center.x - radius / 2, center.y - radius / 2, radius, radius);
+
+               try {
+
+                       cv::Mat light(img, rect);
+
+                       cv::circle( img, center, radius, cv::Scalar(0,0,255), 3, 8, 0 );
+
+                       cv::rectangle(img, rect,cv::Scalar(255,0,0));
+
+                       cv::Scalar avgPixel = cv::mean(light);
+
+                       if(avgPixel[2] > 128 && avgPixel[0] < 128 && avgPixel[1] < 128)
+                       {
+                               DebugOut(1)<<"Red Light!!!"<<endl;
+                               return TrafficLight::Red;
+                       }
+                       else if(avgPixel[1] > 128 && avgPixel[0] < 128 && avgPixel[2] < 128)
+                       {
+                               DebugOut(1)<<"Green Light!!!"<<endl;
+                               return TrafficLight::Green;
+                       }
+                       else if(avgPixel[0] > 128 && avgPixel[1] < 128 && avgPixel[2] < 128)
+                       {
+                               DebugOut(1)<<"Bluel Light!!!"<<endl;
+                       }
+               }
+               catch(...)
+               {
+
+               }
+
+       }
+
+       cv::namedWindow( "Hough Circle Transform Demo", CV_WINDOW_AUTOSIZE );
+       cv::imshow( "Hough Circle Transform Demo", img );
+
+
+}

diff --git a/plugins/opencvlux/opencvluxplugin.h b/plugins/opencvlux/opencvluxplugin.h
index 2d0af7b..c863970 100644 (file)
--- a/plugins/opencvlux/opencvluxplugin.h
+++ b/plugins/opencvlux/opencvluxplugin.h
@@ -23,7 +23,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 #include <string>
 
 #include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/highgui/highgui.hpp>
 
 using namespace std;
 
@@ -80,5 +80,17 @@ private:
 static int grabImage(void *data);
 static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared);
 
+namespace TrafficLight
+{
+enum Color
+{
+       Unknown = -1,
+       Red = 0,
+       Yellow,
+       Green
+};
+}
+
+TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared* shared);
 
 #endif // EXAMPLEPLUGIN_H