Created
October 18, 2019 16:24
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Line detection in videos or images w/ Python and CV2
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import os, sys | |
import cv2 | |
import numpy as np | |
""" | |
Get source video, then: | |
1. Convert to grayscale | |
2. Gaussian blur | |
3. Detect edges | |
3a. Detect edges of a certain color | |
4. Transform edges to "lanes" | |
""" | |
resized_width = 400 | |
resized_height = 300 | |
def resize(image): | |
return cv2.resize(image, (resized_width,resized_height)) | |
def process(video): | |
# Step 0: Setup Windows and resize input | |
blank = np.zeros(shape=(resized_width,resized_height,3)) | |
cv2.imshow('resized',blank) | |
cv2.imshow('grayscale',blank) | |
cv2.imshow('blurred',blank) | |
cv2.imshow('masked',blank) | |
cv2.imshow('edges',blank) | |
# cv2.imshow('line_image', blank) | |
cv2.moveWindow('resized',0,0) | |
cv2.moveWindow('grayscale',410,0) | |
cv2.moveWindow('blurred',0,310) | |
cv2.moveWindow('masked',410,310) | |
cv2.moveWindow('edges',820,310) | |
# cv2.moveWindow('line_image',820,0) | |
# Step 1: Grab the source video | |
cap = cv2.VideoCapture(video) | |
total_lines = 0 | |
while(cap.isOpened()): | |
_, original = cap.read() | |
if original is not None: | |
resized = resize(original) | |
line_image = np.zeros_like(resized) | |
# Convert to grayscale | |
grayscale = cv2.cvtColor(resized, cv2.COLOR_BGR2GRAY) | |
# Gaussian Blur | |
blurred = cv2.GaussianBlur(grayscale, (7,7), sigmaX=0) | |
# Detect only white edges | |
low_white = np.array([120,120,120]) | |
high_white = np.array([200,200,200]) | |
mask = cv2.inRange(resized, low_white, high_white) | |
# Detect Edges | |
edges = cv2.Canny(mask, 75, 100) | |
# Draw Lines | |
min_line_length = 10 | |
max_line_gap = 50 | |
rho = 1 | |
theta = np.pi/180 | |
threshold = 50 | |
thickness = 5 | |
lines = cv2.HoughLinesP(edges, rho=rho, theta=theta, threshold=threshold, minLineLength=min_line_length, maxLineGap=max_line_gap) | |
if lines is not None: | |
total_lines += len(lines) | |
print(total_lines) | |
if lines is not None: | |
for line in lines: | |
x1, y1, x2, y2 = line.reshape(4) | |
cv2.line(resized,(x1,y1),(x2,y2),(0,0,255),2) | |
cv2.imshow('resized', resized) | |
cv2.imshow('grayscale', grayscale) | |
cv2.imshow('blurred', blurred) | |
cv2.imshow('edges', edges) | |
cv2.imshow('masked', mask) | |
# cv2.imshow('line_image', line_image) | |
if cv2.waitKey(1) == ord('q'): | |
break | |
cap.release() | |
cv2.destroyAllWindows() | |
print("Total lines found: ", total_lines) | |
def process_frame(): | |
image = cv2.imread('frame.png') | |
edges = cv2.Canny(image, 75, 100) | |
# Draw Lines | |
min_line_length = 50 | |
max_line_gap = 50 | |
rho = 1 | |
theta = np.pi/180 | |
threshold = 50 | |
thickness=5 | |
lines = cv2.HoughLinesP(edges, rho, theta, threshold, min_line_length, max_line_gap) | |
if lines is not None: | |
print("Lines found: ", len(lines)) | |
for line in lines: | |
x1, y1, x2, y2 = line.reshape(4) | |
cv2.line(image,(x1,y1),(x2,y2),(0,0,255),2) | |
while True: | |
cv2.imshow("image", image) | |
if cv2.waitKey(1) == ord('q'): | |
break | |
if __name__ == "__main__": | |
video = sys.argv[1] | |
process(video) |
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