steering.py

import numpy as np
import cv2
import imutils
from imutils.video import VideoStream
from directkeys import PressKey, A, D, Space, ReleaseKey

cam = VideoStream(src=0).start()
currentKey = list()

while True:

    key = False

    img = cam.read()
    img = np.flip(img,axis=1)
    img = imutils.resize(img, width=640)
    img = imutils.resize(img, height=480)

    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
    value = (11, 11)
    blurred = cv2.GaussianBlur(hsv, value,0)
    colourLower = np.array([53, 55, 209])
    colourUpper = np.array([180,255,255])

    height = img.shape[0]
    width = img.shape[1]

    mask = cv2.inRange(blurred, colourLower, colourUpper)
    mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, np.ones((5,5),np.uint8))
    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, np.ones((5,5),np.uint8))

    upContour = mask[0:height//2,0:width]
    downContour = mask[3*height//4:height,2*width//5:3*width//5]

    cnts_up = cv2.findContours(upContour, cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
    cnts_up = imutils.grab_contours(cnts_up)


    cnts_down = cv2.findContours(downContour, cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
    cnts_down = imutils.grab_contours(cnts_down)

    if len(cnts_up) > 0:
        
        c = max(cnts_up, key=cv2.contourArea)
        M = cv2.moments(c)
        cX = int(M["m10"]/(M["m00"]+0.000001))

        if cX < (width//2 - 35):
            PressKey(A)
            key = True
            currentKey.append(A)
        elif cX > (width//2 + 35):
            PressKey(D)
            key = True
            currentKey.append(D)
            
    
    if len(cnts_down) > 0:
        PressKey(Space)
        key = True
        currentKey.append(Space)
    
    img = cv2.rectangle(img,(0,0),(width//2- 35,height//2 ),(0,255,0),1)
    cv2.putText(img,'LEFT',(110,30),cv2.FONT_HERSHEY_DUPLEX,1,(139,0,0))

    img = cv2.rectangle(img,(width//2 + 35,0),(width-2,height//2 ),(0,255,0),1)
    cv2.putText(img,'RIGHT',(440,30),cv2.FONT_HERSHEY_DUPLEX,1,(139,0,0))

    img = cv2.rectangle(img,(2*(width//5),3*(height//4)),(3*width//5,height),(0,255,0),1)
    cv2.putText(img,'NITRO',(2*(width//5) + 20,height-10),cv2.FONT_HERSHEY_DUPLEX,1,(139,0,0))


    cv2.imshow("Steering", img)

    if not key and len(currentKey) != 0:
        for current in currentKey:
            ReleaseKey(current)
        currentKey = list()

    key = cv2.waitKey(1) & 0xFF
    if key == ord("q"):
        break
 
cv2.destroyAllWindows()