def get_ll_spike_positions(thresh, num_of_iterations=2, signal_row_start=235,
signal_row_end=120, signal_col_start=0, signal_col_end=64,
row_thresh=150, dbg=False, image=None):
if dbg:
print(" ########################## LEFT LANE ########################## ")
spike_positions = []
no_spike_rows_count = 0
for signal_row_number in xrange(signal_row_start, signal_row_end, -2):
row = NumUtils.getImageRow(thresh, signal_row_number)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(row, signal_col_start, signal_col_end,
num_of_iterations, signal_row_number)
# If no spikes gets detected the scan line rotated by 1 pixel,
# the last (64th) pixel is the average of 62nd and 63rd pixels
if len(ud_spikes) == 0:
temp_row = row[1:]
temp_row.append((temp_row[-1] + temp_row[-2])/2)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(temp_row, signal_col_start,
signal_col_end,
num_of_iterations, signal_row_number)
# If there are no spikes detected, incrementing the counter
if len(ud_spikes) == 0:
no_spike_rows_count += 1
# If no spikes gets detected for consecutive 5 rows, then
# scan line will be shifted by 7 pixels and tries to detect spikes
if len(ud_spikes) == 0 and no_spike_rows_count >= 5:
temp_signal_col_start = signal_col_start
temp_signal_col_end = signal_col_end
# The shifting continues until it reaches row_thresh
while temp_signal_col_end < row_thresh:
temp_signal_col_start += 7
temp_signal_col_end += 7
row = NumUtils.getImageRow(thresh, signal_row_number)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(row, temp_signal_col_start,
temp_signal_col_end,
num_of_iterations, signal_row_number)
if len(ud_spikes) > 0:
signal_col_start = temp_signal_col_start
signal_col_end = temp_signal_col_end
# drawing buffer lines
if dbg:
cv2.line(image, (temp_signal_col_start, signal_row_number),
(temp_signal_col_end, signal_row_number), (255, 0, 0), 1)
if len(ud_spikes) > 0:
no_spike_rows_count = 0
if dbg:
print("LL: detected spikes: " + str(len(ud_spikes)))
for spike in ud_spikes:
print spike
# Needs improvement
spike_position = (OneDHWTLaneDetectorV2.optimum_spike_x(ud_spikes), signal_row_number)
if dbg:
print("LL: Spike position: " + str(spike_position))
'''
spike_position = ((ud_spikes[0].getSigStartOfUpRun() + ud_spikes[0].getSigLenOfUpRun() / 2),
signal_row_number)
'''
# setting previous spike position as mid point as the scan line
delta = spike_position[0] - (signal_col_start + signal_col_end) / 2
if delta > 0:
signal_col_start += delta
signal_col_end += delta
spike_positions.append(spike_position)
# drawing the scan lines
if dbg:
cv2.line(image, (signal_col_start, signal_row_number),
(signal_col_end, signal_row_number), (255, 255, 255), 1)
print("LL: " + str(signal_row_number) + " , " + str(len(ud_spikes)))
NumUtils.draw_spikes(image, ud_spikes, signal_row_number)
return spike_positions
def get_ll_spike_positions(thresh,
num_of_iterations=2,
signal_row_start=235,
signal_row_end=120,
signal_col_start=0,
signal_col_end=64,
row_thresh=150,
dbg=False,
image=None):
if dbg:
print(
" ########################## LEFT LANE ########################## "
)
spike_positions = []
no_spike_rows_count = 0
for signal_row_number in xrange(signal_row_start, signal_row_end, -2):
row = NumUtils.getImageRow(thresh, signal_row_number)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(
row, signal_col_start, signal_col_end, num_of_iterations,
signal_row_number)
# If no spikes gets detected the scan line rotated by 1 pixel,
# the last (64th) pixel is the average of 62nd and 63rd pixels
if len(ud_spikes) == 0:
temp_row = row[1:]
temp_row.append((temp_row[-1] + temp_row[-2]) / 2)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(
temp_row, signal_col_start, signal_col_end,
num_of_iterations, signal_row_number)
# If there are no spikes detected, incrementing the counter
if len(ud_spikes) == 0:
no_spike_rows_count += 1
# If no spikes gets detected for consecutive 5 rows, then
# scan line will be shifted by 7 pixels and tries to detect spikes
if len(ud_spikes) == 0 and no_spike_rows_count >= 5:
temp_signal_col_start = signal_col_start
temp_signal_col_end = signal_col_end
# The shifting continues until it reaches row_thresh
while temp_signal_col_end < row_thresh:
temp_signal_col_start += 7
temp_signal_col_end += 7
row = NumUtils.getImageRow(thresh, signal_row_number)
ud_spikes = OneDHWTLaneDetectorV2.get_up_down_spikes(
row, temp_signal_col_start, temp_signal_col_end,
num_of_iterations, signal_row_number)
if len(ud_spikes) > 0:
signal_col_start = temp_signal_col_start
signal_col_end = temp_signal_col_end
# drawing buffer lines
if dbg:
cv2.line(image,
(temp_signal_col_start, signal_row_number),
(temp_signal_col_end, signal_row_number),
(255, 0, 0), 1)
if len(ud_spikes) > 0:
no_spike_rows_count = 0
if dbg:
print("LL: detected spikes: " + str(len(ud_spikes)))
for spike in ud_spikes:
print spike
# Needs improvement
spike_position = (
OneDHWTLaneDetectorV2.optimum_spike_x(ud_spikes),
signal_row_number)
if dbg:
print("LL: Spike position: " + str(spike_position))
'''
spike_position = ((ud_spikes[0].getSigStartOfUpRun() + ud_spikes[0].getSigLenOfUpRun() / 2),
signal_row_number)
'''
# setting previous spike position as mid point as the scan line
delta = spike_position[0] - (signal_col_start +
signal_col_end) / 2
if delta > 0:
signal_col_start += delta
signal_col_end += delta
spike_positions.append(spike_position)
# drawing the scan lines
if dbg:
cv2.line(image, (signal_col_start, signal_row_number),
(signal_col_end, signal_row_number), (255, 255, 255),
1)
print("LL: " + str(signal_row_number) + " , " +
str(len(ud_spikes)))
NumUtils.draw_spikes(image, ud_spikes, signal_row_number)
return spike_positions
