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from fastapi import FastAPI, File, UploadFile
import io
import numpy as np
from PIL import Image
import uvicorn
import cv2
app = FastAPI()
@app.post("/analyze_path/")
async def analyze_path(file: UploadFile = File(...)):
image_bytes = await file.read()
image = Image.open(io.BytesIO(image_bytes)).convert("L") # Chuyển ảnh sang grayscale
depth_map = np.array(image)
flipped_depth_map = cv2.flip(depth_map, -1)
# Phân tích ảnh Depth Map
command = detect_path(flipped_depth_map)
return {"command": command}
def detect_path(depth_map):
_, thresh = cv2.threshold(depth_map, 200, 255, cv2.THRESH_BINARY)
contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if len(contours) == 0:
return "forward"
left_region = np.mean(depth_map[:, :depth_map.shape[1]//3])
right_region = np.mean(depth_map[:, 2*depth_map.shape[1]//3:])
if left_region > right_region:
return "left"
else:
return "right"
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