initial canny edge dect code

kuukar/kuukar_motion.py

@@ -96,6 +96,7 @@ class motion:
         self.drive(0)
 
     def roam_start(self):
+        self.drive(25)
         self.roaming = True
 
     def roam_stop(self):
@@ -117,7 +118,6 @@ class motion:
         turn_speed = 40
         drive_speed = 25
 
-        self.drive(drive_speed)
         f_dist = self.sensors.sonar_get_distance(1)
         if 0 < f_dist < sensitivity:  # Close to collision, turn the vehicle
             print("collision")

requirements.txt

@@ -2,3 +2,5 @@ telemetrix-rpi-pico
 pyaudio
 flask
 opencv-python
+numpy
+matplotlib

siwatlanedetect.py

@@ -0,0 +1,120 @@
+#ROAD LANE DETECTION
+
+import cv2
+import matplotlib.pyplot as plt
+import numpy as np
+
+camera = cv2.VideoCapture(1)
+
+
+def grey(image):
+  #convert to grayscale
+    image = np.asarray(image)
+    return cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
+
+  #Apply Gaussian Blur --> Reduce noise and smoothen image
+def gauss(image):
+    return cv2.GaussianBlur(image, (5, 5), 0)
+
+  #outline the strongest gradients in the image --> this is where lines in the image are
+def canny(image):
+    edges = cv2.Canny(image,50,150)
+    return edges
+
+def region(image):
+    height, width = image.shape
+    #isolate the gradients that correspond to the lane lines
+    triangle = np.array([
+                       [(100, height), (475, 325), (width, height)]
+                       ])
+    #create a black image with the same dimensions as original image
+    mask = np.zeros_like(image)
+    #create a mask (triangle that isolates the region of interest in our image)
+    mask = cv2.fillPoly(mask, triangle, 255)
+    mask = cv2.bitwise_and(image, mask)
+    return mask
+
+def display_lines(image, lines):
+    lines_image = np.zeros_like(image)
+    #make sure array isn't empty
+    if lines is not None:
+        for line in lines:
+            x1, y1, x2, y2 = line
+            #draw lines on a black image
+            cv2.line(lines_image, (x1, y1), (x2, y2), (255, 0, 0), 10)
+    return lines_image
+
+def average(image, lines):
+    left = []
+    right = []
+
+    if lines is not None:
+      for line in lines:
+        print(line)
+        x1, y1, x2, y2 = line.reshape(4)
+        #fit line to points, return slope and y-int
+        parameters = np.polyfit((x1, x2), (y1, y2), 1)
+        print(parameters)
+        slope = parameters[0]
+        y_int = parameters[1]
+        #lines on the right have positive slope, and lines on the left have neg slope
+        if slope < 0:
+            print("ap left")
+            left.append((slope, y_int))
+        else:
+            print("ap right")
+            right.append((slope, y_int))
+            
+    #takes average among all the columns (column0: slope, column1: y_int)
+    right_avg = np.average(right, axis=0)
+    left_avg = np.average(left, axis=0)
+    #create lines based on averages calculates
+    left_line = make_points(image, left_avg)
+    right_line = make_points(image, right_avg)
+    print(left_line)
+    print(right_line)
+    print(np.array([left_line, right_line]))
+    return np.array([left_line, right_line])
+
+def make_points(image, average):
+    print(average)
+    try:
+        slope, y_int = average
+    except TypeError:
+        return (np.array([0,0,0,0]))
+    y1 = image.shape[0]
+    #how long we want our lines to be --> 3/5 the size of the image
+    y2 = int(y1 * (3/5))
+    #determine algebraically
+    x1 = int((y1 - y_int) // slope)
+    x2 = int((y2 - y_int) // slope)
+    return np.array([x1, y1, x2, y2])
+
+while True:
+    '''##### DETECTING lane lines in image ######'''
+
+    rv, image1 = camera.read()
+    plt.imshow(image1)
+    plt.show()
+
+
+    copy = np.copy(image1)
+    edges = cv2.Canny(copy,50,150)
+    isolated = region(edges)
+    print(edges)
+    plt.imshow(edges)
+    plt.imshow(isolated)
+    plt.show()
+    print("edge show")
+    cv2.waitKey(0)
+
+    #DRAWING LINES: (order of params) --> region of interest, bin size (P, theta), min intersections needed, placeholder array, 
+    lines = cv2.HoughLinesP(isolated, 2, np.pi/180, 100, np.array([]), minLineLength=40, maxLineGap=5)
+    averaged_lines = average(copy, lines)
+    black_lines = display_lines(copy, averaged_lines)
+    #taking wighted sum of original image and lane lines image
+    lanes = cv2.addWeighted(copy, 0.8, black_lines, 1, 1)
+    plt.imshow(lanes)
+    plt.show()
+    print("lane showed")
+    cv2.waitKey(0)