Create DetectStopSign.py

DetectStopSign.py

@@ -0,0 +1,74 @@
+###############################
+#### Stop Car at Stop Sign ####
+#### --------------------- ####
+#### Objective:        ####
+#### > Drive car forward   ####
+####   until a sotpsign is ####
+####   spotted on the cam  ####
+###############################
+
+from picamera.array import PiRGBArray
+from picamera import PiCamera
+from time import sleep
+import cv2
+
+from kuukar_motion import drive, stop
+
+
+
+# Inializations: #
+#Camera fps/size
+camera=PiCamera()
+camera.resolution=(640,480)
+camera.framerate=20
+rawCapture=PiRGBArray(camera,size=(640,480))
+sleep(0.1)
+stopsign_cascade=cv2.CascadeClassifier('/home/pi/Desktop/oldRPi/RPi/stopsign_good.xml')
+
+""" Download Stopsign_good.xml to the RPi : https://github.com/chadrs2/Self-Driving_Car_Project/blob/master/stopsign_good.xml"""
+
+
+# Begin Camera video and driving forward #
+camera.start_preview()
+camera.start_recording('stopsign_video.h264')
+for frame in camera.capture_continuous(rawCapture,format="bgr",use_video_port=True):
+    # Begin driving at medium speed
+    drive(30)   ### 
+
+    # grab raw NumPy array representing image - 3D array
+    image=frame.array
+    #convert image to grayscale
+    gray_img=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
+    # Wait and read key input
+    key=cv2.waitKey(1) & 0xFF
+    # Find stopsign in image
+    print("Before stop sign finding")
+    found_stopsigns=stopsign_cascade.detectMultiScale(gray_img,1.1,5)
+    print("Found "+str(len(found_stopsigns))+" stop sign(s)")
+    if len(found_stopsigns)>0:
+        for (x,y,w,h) in found_stopsigns:
+            cv2.rectangle(image,(x,y),(x+w,y+h),(255,255,0),2)
+            camera.add_overlay(image)
+            cv2.imwrite("found_stopsign_Jun_25_20.jpg",image)
+            sign_width=w
+            sign_height=h
+            print("width of stop sign:",w,"and height:",h)
+        if(sign_width>65 or sign_height>65):
+            print("Turn on brake lights")
+            print("Decrease motor speed")
+            print("stop car")
+            time.sleep(2)  #delay for 2 seconds after found the stop sign
+            stop()
+            break
+    #clear the stream in preparation for the next frame
+    rawCapture.truncate(0)
+    # if the 'q' key was pressed or a stop sign was found
+    # break from the loop
+    if key == ord("q"): #or len(found_stopsigns)>0:
+            break
+# End camera functions
+camera.stop_recording()
+camera.stop_preview()
+cv2.destroyAllWindows()
+camera.close()
+# End car functions