85_Cipher

85_Cipher/directions.py

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+import googlemaps
+
+# Initialize the Google Maps client
+API_KEY = 'xyz'  # API key
+gmaps = googlemaps.Client(key=API_KEY)
+
+def get_directions(start_place, destination_place):
+    try:
+        start_coords = gmaps.geocode(start_place)
+        destination_coords = gmaps.geocode(destination_place)
+
+        if start_coords and destination_coords:
+            start_latlng = start_coords[0]['geometry']['location']
+            dest_latlng = destination_coords[0]['geometry']['location']
+
+            directions = gmaps.directions(
+                origin=start_latlng,
+                destination=dest_latlng,
+                mode="driving"
+            )
+            steps = directions[0]['legs'][0]['steps']
+            waypoints = []
+
+            for step in steps:
+                lat = step['end_location']['lat']
+                lng = step['end_location']['lng']
+                waypoints.append((lat, lng))
+
+            return waypoints
+        else:
+            print("Geocoding failed for one of the locations.")
+    except googlemaps.exceptions.ApiError as e:
+        print(f"API error: {e}")
+    except Exception as e:
+        print(f"An error occurred: {e}")
+
+
+start_place = "Pocket B2, Mayur Vihar Phase 3, Delhi 110096"
+destination_place = "SFS flats, Mayur Vihar Phase 3, Delhi 110096"
+
+waypoints = get_directions(start_place, destination_place)
+
+print("Waypoints along the route:")
+for wp in waypoints:
+    print(f"Lat: {wp[0]}, Lng: {wp[1]}")

85_Cipher/obstacle detection(mog).py

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+import cv2
+
+
+def detect_obstacles(frame, bg_subtractor, area_threshold, debug=False):
+    # background subtractor
+    fg_mask = bg_subtractor.apply(frame)
+
+
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+
+    fg_mask = cv2.morphologyEx(fg_mask, cv2.MORPH_OPEN, kernel)
+    fg_mask = cv2.morphologyEx(fg_mask, cv2.MORPH_DILATE, kernel)
+
+    # Find contours
+    contours, _ = cv2.findContours(fg_mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    obstacles = []
+    for contour in contours:
+        area = cv2.contourArea(contour)
+        if area > area_threshold:
+            x, y, w, h = cv2.boundingRect(contour)
+            obstacles.append((x, y, w, h))
+
+    if debug:
+        return obstacles, fg_mask
+    return obstacles
+
+
+def nothing(x):
+    """Eat 5 star, do nothing."""
+    pass
+
+
+def main():
+    # Initialize webcam
+    cap = cv2.VideoCapture(0)
+    if not cap.isOpened():
+        print("Error: Could not open webcam.")
+        return
+
+    # background subtractor (MOG2)
+    bg_subtractor = cv2.createBackgroundSubtractorMOG2(history=500, varThreshold=32, detectShadows=True)
+
+    cv2.namedWindow('Settings')
+    cv2.createTrackbar('Area Threshold', 'Settings', 15000, 20000, nothing)
+
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            print("Failed to grab frame")
+            break
+
+
+        area_thresh = cv2.getTrackbarPos('Area Threshold', 'Settings')
+
+        # Detect obstacles
+        obstacles, fg_mask = detect_obstacles(frame, bg_subtractor, area_threshold=area_thresh, debug=True)
+
+        # bounding boxes
+        if obstacles:
+            cv2.putText(frame, "Obstacle Detected!", (50, 50),
+                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
+            for (x, y, w, h) in obstacles:
+                cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255), 2)
+        else:
+            cv2.putText(frame, "No Obstacle", (50, 50),
+                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+
+        # Display the live feed
+        cv2.imshow("Webcam Feed", frame)
+        cv2.imshow("Foreground Mask", fg_mask)
+
+        # Exit the loop when 'q' is pressed
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    # Cleanup
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    main()

85_Cipher/obstacle_detection.py

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+import cv2
+
+
+def detect_obstacles(frame, threshold_value=200, area_threshold=8000, debug=False):
+
+    # grayscale and Gaussian blur
+    gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+    blurred_frame = cv2.GaussianBlur(gray_frame, (5, 5), 0)
+
+    # binary image
+    _, thresh_img = cv2.threshold(blurred_frame, threshold_value, 255, cv2.THRESH_BINARY)
+
+    # Find contours
+    contours, _ = cv2.findContours(thresh_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    obstacles = []
+    for contour in contours:
+        area = cv2.contourArea(contour)
+        if area > area_threshold:
+            # Get bounding rectangle for each obstacle
+            x, y, w, h = cv2.boundingRect(contour)
+            obstacles.append((x, y, w, h))
+
+    if debug:
+        return obstacles, thresh_img
+    return obstacles
+
+
+def nothing(x):
+    """Eat 5 star, Do nothing."""
+    pass
+
+
+def main():
+    # Initialize webcam
+    cap = cv2.VideoCapture(0)
+    if not cap.isOpened():
+        print("Error: Could not open webcam.")
+        return
+
+    cv2.namedWindow('Settings')
+    cv2.createTrackbar('Threshold', 'Settings', 200, 255, nothing)
+    cv2.createTrackbar('Area Threshold', 'Settings', 8000, 20000, nothing)
+
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            print("Failed to grab frame")
+            break
+
+        thresh_value = cv2.getTrackbarPos('Threshold', 'Settings')
+        area_thresh = cv2.getTrackbarPos('Area Threshold', 'Settings')
+
+        obstacles, thresh_img = detect_obstacles(frame, threshold_value=thresh_value,
+                                                 area_threshold=area_thresh, debug=True)
+
+        if obstacles:
+            cv2.putText(frame, "Obstacle Detected!", (50, 50),
+                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
+            for (x, y, w, h) in obstacles:
+                cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255), 2)
+        else:
+            cv2.putText(frame, "No Obstacle", (50, 50),
+                        cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+
+        # Display the live feed
+        cv2.imshow("Webcam Feed", frame)
+        cv2.imshow("Threshold Image", thresh_img)
+
+        # Exit the loop when 'q' is pressed
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    # Cleanup
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    main()