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July 28, 2017 16:30
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Lane_error
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import numpy as np | |
import cv2 | |
import math | |
def grayscale(img): | |
"""Applies the Grayscale transform | |
This will return an image with only one color channel | |
but NOTE: to see the returned image as grayscale | |
you should call plt.imshow(gray, cmap='gray')""" | |
return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) | |
def canny(img, low_threshold, high_threshold): | |
"""Applies the Canny transform""" | |
return cv2.Canny(img, low_threshold, high_threshold) | |
def gaussian_blur(img, kernel_size): | |
"""Applies a Gaussian Noise kernel""" | |
return cv2.GaussianBlur(img, (kernel_size, kernel_size), 0) | |
def region_of_interest(img, vertices): | |
""" | |
Applies an image mask. | |
Only keeps the region of the image defined by the polygon | |
formed from `vertices`. The rest of the image is set to black. | |
""" | |
# defining a blank mask to start with | |
mask = np.zeros_like(img) | |
# defining a 3 channel or 1 channel color to fill the mask with depending on the input image | |
if len(img.shape) > 2: | |
channel_count = img.shape[2] # i.e. 3 or 4 depending on your image | |
ignore_mask_color = (255,) * channel_count | |
else: | |
ignore_mask_color = 255 | |
# filling pixels inside the polygon defined by "vertices" with the fill color | |
cv2.fillPoly(mask, vertices, ignore_mask_color) | |
# returning the image only where mask pixels are nonzero | |
masked_image = cv2.bitwise_and(img, mask) | |
return masked_image | |
def draw_lines(img, lines, color=[255, 0, 0], thickness=10): | |
""" | |
NOTE: this is the function you might want to use as a starting point once you want to | |
average/extrapolate the line segments you detect to map out the full | |
extent of the lane (going from the result shown in raw-lines-example.mp4 | |
to that shown in P1_example.mp4). | |
Think about things like separating line segments by their | |
slope ((y2-y1)/(x2-x1)) to decide which segments are part of the left | |
line vs. the right line. Then, you can average the position of each of | |
the lines and extrapolate to the top and bottom of the lane. | |
This function draws `lines` with `color` and `thickness`. | |
Lines are drawn on the image inplace (mutates the image). | |
If you want to make the lines semi-transparent, think about combining | |
this function with the weighted_img() function below | |
""" | |
imshape = img.shape | |
left_x1 = [] | |
left_x2 = [] | |
right_x1 = [] | |
right_x2 = [] | |
y_min = img.shape[0] | |
y_max = int(img.shape[0] * 0.611) | |
for line in lines: | |
for x1, y1, x2, y2 in line: | |
if ((y2 - y1) / (x2 - x1)) < 0: | |
mc = np.polyfit([x1, x2], [y1, y2], 1) | |
left_x1.append(np.int(np.float((y_min - mc[1])) / np.float(mc[0]))) | |
left_x2.append(np.int(np.float((y_max - mc[1])) / np.float(mc[0]))) | |
# cv2.line(img, (xone, imshape[0]), (xtwo, 330), color, thickness) | |
elif ((y2 - y1) / (x2 - x1)) > 0: | |
mc = np.polyfit([x1, x2], [y1, y2], 1) | |
right_x1.append(np.int(np.float((y_min - mc[1])) / np.float(mc[0]))) | |
right_x2.append(np.int(np.float((y_max - mc[1])) / np.float(mc[0]))) | |
# cv2.line(img, (xone, imshape[0]), (xtwo, 330), color, thickness) | |
l_avg_x1 = np.int(np.nanmean(left_x1)) | |
l_avg_x2 = np.int(np.nanmean(left_x2)) | |
r_avg_x1 = np.int(np.nanmean(right_x1)) | |
r_avg_x2 = np.int(np.nanmean(right_x2)) | |
# print([l_avg_x1, l_avg_x2, r_avg_x1, r_avg_x2]) | |
cv2.line(img, (l_avg_x1, y_min), (l_avg_x2, y_max), color, thickness) | |
cv2.line(img, (r_avg_x1, y_min), (r_avg_x2, y_max), color, thickness) | |
def hough_lines(img, rho, theta, threshold, min_line_len, max_line_gap): | |
""" | |
`img` should be the output of a Canny transform. | |
Returns an image with hough lines drawn. | |
""" | |
lines = cv2.HoughLinesP(img, rho, theta, threshold, np.array([]), minLineLength=min_line_len, | |
maxLineGap=max_line_gap) | |
line_img = np.zeros(img.shape, dtype=np.uint8) | |
draw_lines(line_img, lines) | |
return line_img | |
def process_image(img): | |
img_test = grayscale(img) | |
img_test = gaussian_blur(img_test, 7) | |
img_test = canny(img_test, 50, 150) | |
imshape = img.shape | |
vertices = np.array([[(100,imshape[0]),(400, 330), (600, 330), (imshape[1],imshape[0])]], dtype=np.int32) | |
img_test = region_of_interest(img_test, vertices) | |
rho = 2 # distance resolution in pixels of the Hough grid | |
theta = np.pi/180 # angular resolution in radians of the Hough grid | |
threshold = 55 # minimum number of votes (intersections in Hough grid cell) | |
min_line_length = 40 #minimum number of pixels making up a line | |
max_line_gap = 100 # maximum gap in pixels between connectable line segments | |
line_image = np.copy(img)*0 # creating a blank to draw lines on | |
img_test = hough_lines(img_test, rho, theta, threshold, min_line_length, max_line_gap) | |
return img_test | |
img = cv2.imread("img.jpeg") | |
res=process_image(img) | |
cv2.imshow("Image",res) | |
cv2.waitKey(0) | |
Error: | |
/Users/ViditShah/anaconda/envs/py27/bin/python /Users/ViditShah/Downloads/untitled1/detection2.py | |
/Users/ViditShah/Downloads/untitled1/detection2.py:85: RuntimeWarning: Mean of empty slice | |
l_avg_x1 = np.int(np.nanmean(left_x1)) | |
Traceback (most recent call last): | |
File "/Users/ViditShah/Downloads/untitled1/detection2.py", line 124, in <module> | |
res=process_image(img) | |
File "/Users/ViditShah/Downloads/untitled1/detection2.py", line 120, in process_image | |
img_test = hough_lines(img_test, rho, theta, threshold, min_line_length, max_line_gap) | |
File "/Users/ViditShah/Downloads/untitled1/detection2.py", line 103, in hough_lines | |
draw_lines(line_img, lines) | |
File "/Users/ViditShah/Downloads/untitled1/detection2.py", line 85, in draw_lines | |
l_avg_x1 = np.int(np.nanmean(left_x1)) | |
ValueError: cannot convert float NaN to integer | |
Process finished with exit code 1 |
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