python程序红绿灯识别_基于YOLOv3的红绿灯检测识别（Python源码可直接运行）

"""

Class definition of YOLO_v3 style detection model on image and video

"""

import colorsys

import os

from timeit import default_timer as timer

import cv2

import numpy as np

from keras import backend as K

from keras.models import load_model

from keras.layers import Input

from PIL import Image, ImageFont, ImageDraw

from yolo3.model import yolo_eval, yolo_body, tiny_yolo_body

from yolo3.utils import letterbox_image

import os

from keras.utils import multi_gpu_model

import collections

class YOLO(object):

_defaults = {

"model_path": ''model_data/yolo.h5'',

"anchors_path": ''model_data/yolo_anchors.txt'',

"classes_path": ''model_data/coco_classes.txt'',

"score" : 0.3,

"iou" : 0.35,

"model_image_size" : (416, 416),

"gpu_num" : 1,

}

@classmethod

def get_defaults(cls, n):

return cls._defaults[n]

else:

return "Unrecognized attribute name ''" + n + "''"

def __init__(self, **kwargs):

self.__dict__.update(self._defaults) # set up default values

self.__dict__.update(kwargs) # and update with user overrides

self.class_names = self._get_class()

self.anchors = self._get_anchors()

self.sess = K.get_session()

self.boxes, self.scores, self.classes = self.generate()

def _get_class(self):

classes_path = os.path.expanduser(self.classes_path)

with open(classes_path) as f:

class_names = f.readlines()

class_names = [c.strip() for c in class_names]

return class_names

def _get_anchors(self):

anchors_path = os.path.expanduser(self.anchors_path)

with open(anchors_path) as f:

anchors = f.readline()

anchors = [float(x) for x in anchors.split('','')]

return np.array(anchors).reshape(-1, 2)

def generate(self):

model_path = os.path.expanduser(self.model_path)

assert model_path.endswith(''.h5''), ''Keras model or weights must be a .h5 file.''

# Load model, or construct model and load weights.

num_anchors = len(self.anchors)

num_classes = len(self.class_names)

is_tiny_version = num_anchors==6 # default setting

try:

self.yolo_model = load_model(model_path, compile=False)

except:

self.yolo_model = tiny_yolo_body(Input(shape=(None,None,3)), num_anchors//2, num_classes) \

if is_tiny_version else yolo_body(Input(shape=(None,None,3)), num_anchors//3, num_classes)

self.yolo_model.load_weights(self.model_path) # make sure model, anchors and classes match

else:

assert self.yolo_model.layers[-1].output_shape[-1] == \

num_anchors/len(self.yolo_model.output) * (num_classes + 5), \

''Mismatch between model and given anchor and class sizes''

print(''{} model, anchors, and classes loaded.''.format(model_path))

# Generate colors for drawing bounding boxes.

hsv_tuples = [(x / len(self.class_names), 1., 1.)

for x in range(len(self.class_names))]

self.colors = list(map(lambda x: colorsys.hsv_to_rgb(*x), hsv_tuples))

self.colors = list(

map(lambda x: (int(x[0] * 255), int(x[1] * 255), int(x[2] * 255)),

self.colors))

np.random.seed(10101)  # Fixed seed for consistent colors across runs.

np.random.shuffle(self.colors)  # Shuffle colors to decorrelate adjacent classes.

np.random.seed(None)  # Reset seed to default.

# Generate output tensor targets for filtered bounding boxes.

self.input_image_shape = K.placeholder(shape=(2, ))

if self.gpu_num>=2:

self.yolo_model = multi_gpu_model(self.yolo_model, gpus=self.gpu_num)

boxes, scores, classes = yolo_, self.input_image_shape,

score_threshold=self.score, iou_threshold=self.iou)

return boxes, scores, classes

def getColorList(self):

dict = collections.defaultdict(list)

# 红色

lower_red = np.array([156, 43, 46])

upper_red = np.array([180, 255, 255])

color_list = []

color_list.append(lower_red)

color_list.append(upper_red)

dict[''red''] = color_list

# 红色2

lower_red = np.array([0, 43, 46])

upper_red = np.array([10, 255, 255])

color_list = []

color_list.append(lower_red)

color_list.append(upper_red)

dict[''red2''] = color_list

# 橙色

lower_orange = np.array([11, 43, 46])

upper_orange = np.array([25, 255, 255])

color_list = []

color_list.append(lower_orange)

color_list.append(upper_orange)

dict[''orange''] = color_list

# 黄色

lower_yellow = np.array([26, 43, 46])

upper_yellow = np.array([34, 255, 255])

color_list = []

color_list.append(lower_yellow)

color_list.append(upper_yellow)

dict[''yellow''] = color_list

# 绿色

lower_green = np.array([35, 43, 46])

upper_green = np.array([77, 255, 255])

color_list = []

color_list.append(lower_green)

color_list.append(upper_green)

dict[''green''] = color_list

return dict

def get_color(self,frame):

print(''go in get_color'')

hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

maxsum = -100

color = None

color_dict = self.getColorList()

score = 0

type = ''black''

for d in color_dict:

mask = cv2.inRange(hsv, color_dict[d][0], color_dict[d][1])

# print(cv2.inRange(hsv, color_dict[d][0], color_dict[d][1]))

#cv2.imwrite(''images/triffic/'' + f + d + ''.jpg'', mask)

binary = cv2.threshold(mask, 127, 255, cv2.THRESH_BINARY)[1]

binary = cv2.dilate(binary, None, iterations=2)

img, cnts, hiera = cv2.findContours(binary.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

sum = 0

for c in cnts:

sum += cv2.contourArea(c)

if sum > maxsum:

maxsum = sum

color = d

if sum > score:

score = sum

type = d

return type

def detect_image(self, image,path):

print(''class'',self._get_class())

start = timer()

if self.model_image_size != (None, None):

assert self.model_image_size[0]%32 == 0, ''Multiples of 32 required''

assert self.model_image_size[1]%32 == 0, ''Multiples of 32 required''

boxed_image = letterbox_image(image, tuple(reversed(self.model_image_size)))

else:

new_image_size = (image.width - (image.width % 32),

image.height - (image.height % 32))

boxed_image = letterbox_image(image, new_image_size)

image_data = np.array(boxed_image, dtype=''float32'')

print(image_data.shape)

image_data /= 255.

image_data = np.expand_dims(image_data, 0)  # Add batch dimension.

out_boxes, out_scores, out_classes = self.sess.run(

[self.boxes, self.scores, self.classes],

feed_dict={

self.yolo_model.input: image_data,

self.input_image_shape: [image.size[1], image.size[0]],

K.learning_phase(): 0

})

print(''Found {} boxes for {}''.format(len(out_boxes), ''img''))

font = ImageFont.truetype(font=''font/FiraMono-Medium.otf'',

size=np.floor(3e-2 * image.size[1] + 0.5).astype(''int32''))

thickness = (image.size[0] + image.size[1]) // 300

thickness = 5

print(''thickness'',thickness)

print(''out_classes'',out_classes)

my_class = [''traffic light'']

imgcv = cv2.cvtColor(np.asarray(image), cv2.COLOR_RGB2BGR)

for i, c in reversed(list(enumerate(out_classes))):

predicted_class = self.class_names[c]

print(''predicted_class'',predicted_class)

if predicted_class not in my_class:

continue

box = out_boxes[i]

score = out_scores[i]

label = ''{} {:.2f}''.format(predicted_class, score)

draw = ImageDraw.Draw(image)

label_size = draw.textsize(label, font)

top, left, bottom, right = box

top = max(0, np.floor(top + 0.5).astype(''int32''))

left = max(0, np.floor(left + 0.5).astype(''int32''))

bottom = min(image.size[1], np.floor(bottom + 0.5).astype(''int32''))

right = min(image.size[0], np.floor(right + 0.5).astype(''int32''))

print(label, (left, top), (right, bottom))

img2 = imgcv[top:bottom, left:right]

color = self.get_color(img2)

cv2.imwrite(''images/triffic/''+path+str(i) + ''.jpg'', img2)

if color== ''red'' or color == ''red2'':

cv2.rectangle(imgcv, (left, top), (right, bottom), color=(0, 0, 255),

lineType=2, thickness=8)

cv2.putText(imgcv, ''{0} {1:.2f}''.format(color, score),

(left, top - 15),

cv2.FONT_HERSHEY_SIMPLEX,

1.2, (0, 0, 255), 4,

cv2.LINE_AA)

elif color == ''green'':

cv2.rectangle(imgcv, (left, top), (right, bottom), color=(0, 255, 0),

lineType=2, thickness=8)

cv2.putText(imgcv, ''{0} {1:.2f}''.format(color, score),

(left, top - 15),

cv2.FONT_HERSHEY_SIMPLEX,

1.2, (0, 255, 0), 4,

cv2.LINE_AA)

else:

cv2.rectangle(imgcv, (left, top), (right, bottom), color=(255, 0, 0),

lineType=2, thickness=8)

cv2.putText(imgcv, ''{0} {1:.2f}''.format(color, score),

(left, top - 15),

cv2.FONT_HERSHEY_SIMPLEX,

1.2, (255, 0, 0), 4,

cv2.LINE_AA)

print(imgcv.shape)

end = timer()

print(end - start)

return imgcv

def close_session(self):

self.sess.close()

def detect_img(yolo, img_path,fname):

img = Image.open(img_path)

import time

t1 = time.time()

img = yolo.detect_image(img,fname)

print(''time: {}''.format(time.time() - t1))

return img

#yolo.close_session()

if __name__ == ''__main__'':

yolo = YOLO()

video_full_path = ''images/triffic.mp4''

output = ''images/res.avi''

cap = cv2.VideoCapture(video_full_path)

cap.set(cv2.CAP_PROP_POS_FRAMES, 1)  # 设置要获取的帧号

fourcc = cv2.VideoWriter_fourcc(*''XVID'')

fps = cap.get(cv2.CAP_PROP_FPS)

size = (int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)))

out = cv2.VideoWriter(output, fourcc, fps, size)

ret = True

count = 0

while ret :

count+=1

ret, frame = cap.read()

if not ret :

print(''结束'')

break

image = Image.fromarray(cv2.cvtColor(frame,cv2.COLOR_BGR2RGB))

image = yolo.detect_image(image,''pic'')

out.write(image)

cap.release()

out.release()

cv2.destroyAllWindows()