joelreymont · April 3, 2024 11:21 · Feb 7, 2021 · Jan 30, 2020
diff --git a/airsim_yolo_based_avoidance b/airsim_yolo_based_avoidance
@@ -0,0 +1,127 @@
+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