def getLaneCurve(img,display=2):
imgCopy = img.copy()
imgResult = img.copy()
#### STEP 1
imgThres = utlis.thresholding(img)
#### STEP 2
hT, wT, c = img.shape
points = utlis.valTrackbars()
imgWarp = utlis.warpImg(imgThres,points,wT,hT)
imgWarpPoints = utlis.drawPoints(imgCopy,points)
#### STEP 3
middlePoint,imgHist = utlis.getHistogram(imgWarp,display=True,minPer=0.5,region=4)
curveAveragePoint, imgHist = utlis.getHistogram(imgWarp, display=True, minPer=0.9)
curveRaw = curveAveragePoint - middlePoint
#### SETP 4
curveList.append(curveRaw)
if len(curveList)>avgVal:
curveList.pop(0)
curve = int(sum(curveList)/len(curveList))
#### STEP 5
if display != 0:
imgInvWarp = utlis.warpImg(imgWarp, points, wT, hT, inv=True)
imgInvWarp = cv2.cvtColor(imgInvWarp, cv2.COLOR_GRAY2BGR)
imgInvWarp[0:hT // 3, 0:wT] = 0, 0, 0
imgLaneColor = np.zeros_like(img)
imgLaneColor[:] = 0, 255, 0
imgLaneColor = cv2.bitwise_and(imgInvWarp, imgLaneColor)
imgResult = cv2.addWeighted(imgResult, 1, imgLaneColor, 1, 0)
midY = 450
cv2.putText(imgResult, str(curve), (wT // 2 - 80, 85), cv2.FONT_HERSHEY_COMPLEX, 2, (255, 0, 255), 3)
cv2.line(imgResult, (wT // 2, midY), (wT // 2 + (curve * 3), midY), (255, 0, 255), 5)
cv2.line(imgResult, ((wT // 2 + (curve * 3)), midY - 25), (wT // 2 + (curve * 3), midY + 25), (0, 255, 0), 5)
for x in range(-30, 30):
w = wT // 20
cv2.line(imgResult, (w * x + int(curve // 50), midY - 10),
(w * x + int(curve // 50), midY + 10), (0, 0, 255), 2)
#fps = cv2.getTickFrequency() / (cv2.getTickCount() - timer);
#cv2.putText(imgResult, 'FPS ' + str(int(fps)), (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (230, 50, 50), 3);
if display == 2:
imgStacked = utlis.stackImages(0.7, ([img, imgWarpPoints, imgWarp],
[imgHist, imgLaneColor, imgResult]))
cv2.imshow('ImageStack', imgStacked)
cv2.imshow('Warp Points', imgWarpPoints)
elif display == 1:
cv2.imshow('Resutlt', imgResult)
#### NORMALIZATION
curve = curve/100
if curve>1: curve ==1
if curve<-1:curve == -1
return curve
def getLaneCurve(img):
imgCopy = img.copy()
#Step1
imgThres = utlis.thresholding(img)
#Step2
h,w,c = img.shape
points = utlis.valTrackbars()
imgWarp = utlis.warpImg(img,points,w,h)
imgWarpPoints = utlis.drawPoints(imgCopy,points)
cv2.imshow("Thres", imgThres)
cv2.imshow("Warp", imgWarp)
cv2.imshow("Warp Points", imgWarpPoints)
return None
cap.set(10, 160)
cap.set(3, 640)
cap.set(4, 480)
scale = 3
wP = 210 * scale #width of a4 paper
hP = 297 * scale #Height of a4 paper
while True:
if webcam: success, img = cap.read()
else: img = cv2.imread(path)
imgCont, conts = utlis.getContours(img, minArea=5000, filter=4)
if len(conts) != 0:
biggest = conts[0][2]
imgWarp = utlis.warpImg(img, biggest, wP, hP)
imgCont2, conts2 = utlis.getContours(imgWarp,
minArea=2000,
filter=4,
cThr=[50, 50],
draw=False)
if len(conts) != 0:
for obj in conts2:
cv2.polylines(imgCont2, [obj[2]], True, (0, 255, 0), 2)
nPoints = utlis.reorder(obj[2])
nW = round(
utlis.findDis(nPoints[0][0] // scale,
nPoints[1][0] // scale), 1)
nH = round(
utlis.findDis(nPoints[0][0] // scale,
wp = 210 * scale
hp = 297 * scale
while True:
if webcam:
success, img = cap.read()
else:
img = cv2.imread(path)
imgContours, finalContours = utlis.getContours(img,
minArea=50000,
filter=4)
if len(finalContours) != 0:
biggest = finalContours[0][2]
#print(biggest)
imgWarp = utlis.warpImg(img, biggest, wp, hp)
imgContours2, finalContours2 = utlis.getContours(imgWarp,
minArea=2000,
filter=4,
cThr=[50, 50],
draw=False)
if len(finalContours2) != 0:
for obj in finalContours2:
cv2.polylines(imgContours2, [obj[2]], True, (0, 255, 0), 2)
nPoints = utlis.reorder(obj[2])
nW = round((utlis.findDis(nPoints[0][0] // scale,
nPoints[1][0] // scale) / 10), 1)
nH = round((utlis.findDis(nPoints[0][0] // scale,
nPoints[2][0] // scale) / 10), 1)
cv2.arrowedLine(imgContours2,
def getLaneCurve(img, display=2):
imgCopy = img.copy()
imgResult = img.copy()
#### mask the image and get the white A4 paper
imgThres = utlis.thresholding(img)
#### Wrap the image to get Bird's-eye view
hT, wT, c = img.shape
points = [[128, 147], [352, 147], [49, 240], [431, 240]]
imgWarp = utlis.warpImg(imgThres, points, wT, hT)
# draw the points
if display != 0:
imgWarpPoints = utlis.drawPoints(imgCopy, points)
#### get the middle point to calculate the curve
middlePoint, imgHist = utlis.getHistogram(imgWarp,
display=True,
minPer=0.8,
region=4)
curveAveragePoint, imgHist = utlis.getHistogram(imgWarp,
display=True,
minPer=0.9)
curveRaw = curveAveragePoint - middlePoint
# average the last'10' curve
curveList.append(curveRaw)
if len(curveList) > avgVal:
curveList.pop(0)
curve = int(sum(curveList) / len(curveList))
# displays
if display != 0:
imgInvWarp = utlis.warpImg(imgWarp, points, wT, hT, inv=True)
imgInvWarp = cv2.cvtColor(imgInvWarp, cv2.COLOR_GRAY2BGR)
imgInvWarp[0:hT // 3, 0:wT] = 0, 0, 0
imgLaneColor = np.zeros_like(img)
imgLaneColor[:] = 0, 255, 0
imgLaneColor = cv2.bitwise_and(imgInvWarp, imgLaneColor)
imgResult = cv2.addWeighted(imgResult, 1, imgLaneColor, 1, 0)
midY = 450
cv2.putText(imgResult, str(curve), (wT // 2 - 80, 85),
cv2.FONT_HERSHEY_COMPLEX, 2, (255, 0, 255), 3)
cv2.line(imgResult, (wT // 2, midY), (wT // 2 + (curve * 3), midY),
(255, 0, 255), 5)
cv2.line(imgResult, ((wT // 2 + (curve * 3)), midY - 25),
(wT // 2 + (curve * 3), midY + 25), (0, 255, 0), 5)
for x in range(-30, 30):
w = wT // 20
cv2.line(imgResult, (w * x + int(curve // 50), midY - 10),
(w * x + int(curve // 50), midY + 10), (0, 0, 255), 2)
# fps = cv2.getTickFrequency() / (cv2.getTickCount() - timer)
# cv2.putText(imgResult, 'FPS ' + str(int(fps)), (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (230, 50, 50), 3)
if display == 2:
imgStacked = utlis.stackImages(0.7,
([img, imgWarpPoints, imgWarp],
[imgHist, imgLaneColor, imgResult]))
cv2.imshow('ImageStack', imgStacked)
cv2.waitKey(1)
elif display == 1:
cv2.imshow('Resutlt', imgResult)
cv2.waitKey(1)
# NORMALIZATION
curve = curve / 100
if curve > 1: curve == 1
if curve < -1: curve == -1
return curve
