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lanes.py
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lanes.py
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import cv2
import numpy as np
import matplotlib.pyplot as plt
def make_coordinates(image,line_parameters):
slope,intercept=line_parameters
#ex: y1=7704 and y2=422
y1=image.shape[0]
y2=int(y1*(3/5))
#x=y-m/b
x1=int ((y1-intercept)/slope)
x2=int ((y2-intercept)/slope)
return np.array([x1,y1,x2,y2])
def average_slope_intercept(image,lines):
"""left and right side lines"""
left_fit=[]
right_fit=[]
if lines is not None:
for line in lines:
#print(line)
#unpack array
x1,y1,x2,y2=line.reshape(4)
#polyfit fit the y=mx+b polynomial to x,y pts and return vec of co-efficients those gonna be vector of co-efficients descripe slope of y intercept
parameter=np.polyfit((x1,x2),(y1,y2),1)
slope=parameter[0]
intercept=parameter[1]
# when Y>X
if slope < 0:
left_fit.append((slope,intercept))
else:
right_fit.append((slope,intercept))
#print(left_fit)
#print(right_fit)
left_fit_average=np.average(left_fit,axis=0)
right_fit_average=np.average(right_fit,axis=0)
left_line=make_coordinates(image,left_fit_average)
right_line=make_coordinates(image,right_fit_average)
return np.array([left_line,right_line])
def canny(image):
gray=cv2.cvtColor(image,cv2.COLOR_RGB2GRAY)
blur=cv2.GaussianBlur(gray,(5,5),0)
canny=cv2.Canny(blur,50,150)
return canny
def display_lines(image,lines):
line_image=np.zeros_like(image)
if lines is not None:
for line in lines:
#print(line)
#unpack array
x1,y1,x2,y2=line.reshape(4)
"""(x1,y1),(x2,y2) coordinate of line-color of line (255,0,0)-thickness of line 10"""
cv2.line(line_image,(x1,y1),(x2,y2),(255,0,0),10)
return line_image
def region_of_interest(image):
height=image.shape[0]
polygons=np.array([[(200,height),(1100,height),(550,250)]])
mask=np.zeros_like(image)
"""to fill polygon with mask"""
cv2.fillPoly(mask,polygons,255)
masked_image=cv2.bitwise_and(image,mask)
return masked_image
"""image=cv2.imread('img.png')
lane_image=np.copy(image)
canny=canny(lane_image)
cropped_image=region_of_interest(canny)
"2px is size of bin(1 is too small take long time)
1 degree of radian=np.pi(180)
threshold 100
placehoder array
minlinelength is length of line pixel accepted 40 cause >40 is rejected
maxlinegab for line should be contionous and not broken "
lines=cv2.HoughLinesP(cropped_image,2,np.pi/(180),100,np.array([]),minLineLength=40,maxLineGap=5)
line_image=display_lines(lane_image,lines)
#apply lines in real image
combo_image=cv2.addWeighted(lane_image,0.8,line_image,1,1)
averaged_lines=average_slope_intercept(lane_image,lines)
line_image=display_lines(lane_image,averaged_lines)
cv2.imshow("result",combo_image)
cv2.waitKey(0)"""
# plt.imshow(canny)
# plt.show(0)
#cv2.imshow('result',gray)
#cv2.imshow('result',canny)
"""cv2.imshow("result",region_of_interest(canny))
cv2.waitKey(0)"""
# lane_image=np.copy(image)
# ghray=cv2.cvtColor()
cap=cv2.VideoCapture("test.mp4")
while(cap.isOpened()) :
_,frame=cap.read()
canny_image=canny(frame)
cropped_image=region_of_interest(canny_image)
lines=cv2.HoughLinesP(cropped_image,2,np.pi/(180),100,np.array([]),minLineLength=40,maxLineGap=5)
averaged_lines=average_slope_intercept(frame,lines)
line_image=display_lines(frame,averaged_lines)
combo_image=cv2.addWeighted(frame,0.8,line_image,1,1)
cv2.imshow("result",combo_image)
if cv2.waitKey(1) & 0xff == ord('q'):
break
cap.release()
cv2.destroyAllWindows()