AirSim Simple AEB with yolo v3

airsim_yolo_based_avoidance

import airsim #pip install airsim
import cv2
import numpy as np
import time
# for car use CarClient()
client = airsim.CarClient()
car_controls = airsim.CarControls()

def transform_input(responses):
    img1d = np.fromstring(responses[0].image_data_uint8, dtype=np.uint8)

    #img1d = 255 / np.maximum(np.ones(img1d.size), img1d)

    img_rgba = img1d.reshape(responses[0].height, responses[0].width, 3)

    from PIL import Image

    image = Image.fromarray(img_rgba)

    im_final = np.array(image.convert('RGB'))

    return im_final

def index_of_biggest_object(object_list):
    WIdthPlusHeight = []
    for i in range(len(object_list)):
        x, y, w, h = object_list[i]
        WIdthPlusHeight.append(w+h)
    max_value = max(WIdthPlusHeight)
    return  WIdthPlusHeight.index(max_value)

def position_of_object(biggest_object):
    x, y, w, h = biggest_object
    x_box = (x+w)/2
    if x_box < 200: # 받아오는 이미지의 크기를 몰라서 임의로 설정한 값
        return "left"
    else:
        return "right"

# Load Yolo
net = cv2.dnn.readNet("yolov3.weights", "yolov3.cfg")
classes = []
with open("coco.names", "r") as f:
    classes = [line.strip() for line in f.readlines()]
layer_names = net.getLayerNames()
output_layers = [layer_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]
colors = np.random.uniform(0, 255, size=(len(classes), 3))
client.enableApiControl(False)

while(True):
    # Loading image
    img = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])
    img = transform_input(img)
    img = cv2.resize(img, None, fx=3, fy=3)
    height, width, channels = img.shape

    # Detecting objects
    blob = cv2.dnn.blobFromImage(img, 0.00392, (416, 416), (0, 0, 0), True, crop=False)
    net.setInput(blob)
    outs = net.forward(output_layers)

    # Showing informations on the screen
    class_ids = []
    confidences = []
    boxes = []
    for out in outs:
        for detection in out:
            scores = detection[5:]
            class_id = np.argmax(scores)
            confidence = scores[class_id]
            if confidence > 0.5:
                # Object detected
                center_x = int(detection[0] * width)
                center_y = int(detection[1] * height)
                w = int(detection[2] * width)
                h = int(detection[3] * height)
                # Rectangle coordinates
                x = int(center_x - w / 2)
                y = int(center_y - h / 2)
                boxes.append([x, y, w, h])
                confidences.append(float(confidence))
                class_ids.append(class_id)

    indexes = cv2.dnn.NMSBoxes(boxes, confidences, 0.5, 0.4)

    font = cv2.FONT_HERSHEY_PLAIN

    ObjectWidthPlusHeight = []
    for i in range(len(boxes)):
        if i in indexes:
            x, y, w, h = boxes[i]
            label = str(classes[class_ids[i]])
            color = colors[i]
            cv2.rectangle(img, (x, y), (x + w, y + h), color, 2)
            cv2.putText(img, label, (x, y + 30), font, 1, color, 3)

    #png_image = cv2.resize(png_image, dsize=None, fx=3, fy=3)
    cv2.imshow('img',img)
    key = cv2.waitKey(1)

    if len(boxes) != 0:
        #가장 큰 물체 확인
        biggest_object = boxes[index_of_biggest_object(boxes)]
        x, y, w, h = biggest_object
        #가장 큰 물체의 bbox 크기를 기준으로 회피기동 실행 여부 결정
        if w+h > 200:
            print("***************회피기동 실행***************")
            client.enableApiControl(True)

            if position_of_object(biggest_object) == "right":
                print("The object is on the right.")
                car_controls.throttle = 0.1
                car_controls.steering = -0.4
                client.setCarControls(car_controls)
                time.sleep(0.2)  # let car drive a bit
                client.enableApiControl(False)

            elif position_of_object(biggest_object) == "left":
                print("The object is on the left.")
                car_controls.throttle = 0.1
                car_controls.steering = 0.4
                client.setCarControls(car_controls)
                time.sleep(0.2)  # let car drive a bit
                client.enableApiControl(False)

    if (key == 27 or key == ord('q') or key == ord('x')):
        break