def processAvoidGreen( frame, debug=False ):
height, width, colors = frame.shape
offset = 0
stripWidth = 70
limit = 120
topLR = stripLeftRight( frame, offset, offset+stripWidth, limit=limit )
bottomLR = stripLeftRight( frame, height-offset-stripWidth, height-offset, limit=limit )
if debug:
cv2.imshow('image', frame)
saveIndexedImage( frame )
return topLR, bottomLR
def processAvoidGreen(frame, debug=False):
height, width, colors = frame.shape
offset = 0
stripWidth = 70
limit = 120
topLR = stripLeftRight(frame, offset, offset + stripWidth, limit=limit)
bottomLR = stripLeftRight(frame,
height - offset - stripWidth,
height - offset,
limit=limit)
if debug:
cv2.imshow('image', frame)
saveIndexedImage(frame)
return topLR, bottomLR
def processFrame( frame, debug=False ):
global g_mser
result = []
allHulls = []
selectedHulls = []
# for stripOffset in [ -100, 0, +100, +200 ]:
for stripOffset in [ +100 ]:
midY = frame.shape[0]/2+stripOffset
stripWidth = 120
if g_mser == None:
g_mser = cv2.MSER( _delta = 10, _min_area=100, _max_area=stripWidth*1000 )
imgStrip = frame[ midY:midY+stripWidth, 0:frame.shape[1] ]
b,g,r = cv2.split( imgStrip )
gray = b
contours = g_mser.detect(gray, None)
hulls = []
selected = None
for cnt in contours:
(x1,y1),(x2,y2) = np.amin( cnt, axis=0 ), np.amax( cnt, axis=0 )
if y1 == 0 and y2 == stripWidth-1: # i.e. whole strip
if x1 > 0 and x2 < frame.shape[1]-1:
hull = cv2.convexHull(cnt.reshape(-1, 1, 2))
for h in hull:
h[0][1] += midY
hulls.append( hull )
# select the one with the smallest area
if len(cnt) >= MIN_ROAD_AREA:
rect = rect2BLBRTRTL([(a[0][0],a[0][1]) for a in approx4pts( hull )] )
if rect != None:
bl,br,tr,tl = rect
tmpInt = Line(bl,tl).intersect( Line(br,tr) )
if tmpInt != None:
p = tuple([int(x) for x in tmpInt])
if br[0]-bl[0] > tr[0]-tl[0] and p[1] > 0 and p[1] < frame.shape[0]:
# make sure that direction is forward and in the image
result.append( rect )
# if selected == None or selected[0] > len(cnt):
# selected = len(cnt), hull, rect
# if selected:
# result.append( selected[2] )
if debug:
allHulls.extend( hulls )
if selected != None:
selectedHulls.append( selected[1] )
if debug:
cv2.polylines(frame, allHulls, 2, (0, 255, 0), 2)
if len(selectedHulls) > 0:
cv2.polylines(frame, selectedHulls, 2, (0, 0, 0), 2)
# for trapezoid in result:
# cv2.drawContours( frame,[np.int0(trapezoid)],0,(255,0,0),2)
# for trapezoid in result:
# bl,br,tr,tl = trapezoid
# p = tuple([int(x) for x in Line(bl,tl).intersect( Line(br,tr) )])
# cv2.circle( frame, p, 10, (0,255,128), 3 )
# navLine = trapezoid2line( trapezoid )
# if navLine:
# drawArrow(frame, navLine[0], navLine[1], (0,0,255), 4)
cv2.imshow('image', frame)
saveIndexedImage( frame )
return result
def processFrame(frame, debug=False):
global g_mser
result = []
allHulls = []
selectedHulls = []
# for stripOffset in [ -100, 0, +100, +200 ]:
for stripOffset in [+100]:
midY = frame.shape[0] / 2 + stripOffset
stripWidth = 120
if g_mser == None:
g_mser = cv2.MSER(_delta=10,
_min_area=100,
_max_area=stripWidth * 1000)
imgStrip = frame[midY:midY + stripWidth, 0:frame.shape[1]]
b, g, r = cv2.split(imgStrip)
gray = b
contours = g_mser.detect(gray, None)
hulls = []
selected = None
for cnt in contours:
(x1, y1), (x2, y2) = np.amin(cnt, axis=0), np.amax(cnt, axis=0)
if y1 == 0 and y2 == stripWidth - 1: # i.e. whole strip
if x1 > 0 and x2 < frame.shape[1] - 1:
hull = cv2.convexHull(cnt.reshape(-1, 1, 2))
for h in hull:
h[0][1] += midY
hulls.append(hull)
# select the one with the smallest area
if len(cnt) >= MIN_ROAD_AREA:
rect = rect2BLBRTRTL([(a[0][0], a[0][1])
for a in approx4pts(hull)])
if rect != None:
bl, br, tr, tl = rect
tmpInt = Line(bl, tl).intersect(Line(br, tr))
if tmpInt != None:
p = tuple([int(x) for x in tmpInt])
if br[0] - bl[0] > tr[0] - tl[0] and p[
1] > 0 and p[1] < frame.shape[0]:
# make sure that direction is forward and in the image
result.append(rect)
# if selected == None or selected[0] > len(cnt):
# selected = len(cnt), hull, rect
# if selected:
# result.append( selected[2] )
if debug:
allHulls.extend(hulls)
if selected != None:
selectedHulls.append(selected[1])
if debug:
cv2.polylines(frame, allHulls, 2, (0, 255, 0), 2)
if len(selectedHulls) > 0:
cv2.polylines(frame, selectedHulls, 2, (0, 0, 0), 2)
# for trapezoid in result:
# cv2.drawContours( frame,[np.int0(trapezoid)],0,(255,0,0),2)
# for trapezoid in result:
# bl,br,tr,tl = trapezoid
# p = tuple([int(x) for x in Line(bl,tl).intersect( Line(br,tr) )])
# cv2.circle( frame, p, 10, (0,255,128), 3 )
# navLine = trapezoid2line( trapezoid )
# if navLine:
# drawArrow(frame, navLine[0], navLine[1], (0,0,255), 4)
cv2.imshow('image', frame)
saveIndexedImage(frame)
return result
