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lane_Detection.py
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lane_Detection.py
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import cv2
import numpy as np
import matplotlib.pyplot as plt
# img = cv2.imread("test_image.jpg")
# lane_image = np.copy(img)
def make_coordinate(image, line_parametres):
try:
slope, intercept = line_parametres
except TypeError:
slope, intercept = 0, 0
y1 = image.shape[0] + 20
y2 = int(y1 * (3 / 5))
x1 = int((y1 - intercept) / slope)
x2 = int((y2 - intercept) / slope)
return np.array([x1, y1, x2, y2])
def average_resim(image, lines):
global left_line
global right_line
left_fit = []
right_fit = []
for line in lines:
x1, y1, x2, y2 = line.reshape(4)
parameters = np.polyfit((x1, x2), (y1, y2), 1)
slope = parameters[0]
intercept = parameters[1]
if slope < 0:
left_fit.append((slope, intercept))
else:
right_fit.append((slope, intercept))
if left_fit:
left_fit_average = np.average(left_fit, axis=0)
print(left_fit_average, 'left')
left_line = make_coordinate(image, left_fit_average)
if right_fit:
right_fit_average = np.average(right_fit, axis=0)
print(right_fit_average, 'right')
right_line = make_coordinate(image, right_fit_average)
return np.array([left_line, right_line])
def kenar(image):
gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
blur = cv2.GaussianBlur(gray, (5, 5), 0)
canny = cv2.Canny(blur, 45, 150)
return canny
def ex_serit(image, lines):
line_image = np.zeros_like(image)
if lines is not None:
for line in lines:
x1, y1, x2, y2 = line.reshape(4)
cv2.line(line_image, (x1, y1,), (x2, y2), (255, 255, 0), 10)
return line_image
def incelenecek_bolge(image):
height = image.shape[0]
triangle = np.array([
[(30, height), (1200, height), (550, 250)]
])
mask = np.zeros_like(image)
cv2.fillPoly(mask, triangle, 255)
masked_image = cv2.bitwise_and(image, mask)
return masked_image
path = "C:\\Users\\Hasan\\Desktop\\YapayZeka\\Open_CV\\Opencv_Kods\\serit_takip\\test2.mp4"
vid = cv2.VideoCapture(path)
while (vid.isOpened()):
_, frame = vid.read()
kenar_inceleme = kenar(frame)
bolge = incelenecek_bolge(kenar_inceleme)
lines = cv2.HoughLinesP(bolge, 2, np.pi / 180, 100, np.array([]), minLineLength=50, maxLineGap=5)
averaged_lines = average_resim(frame, lines)
line_image = ex_serit(frame, averaged_lines)
combo_image = cv2.addWeighted(frame, 0.8, line_image, 1, 1)
cv2.imshow("Result", combo_image)
cv2.waitKey(1)
vid.release()
cv2.destroyAllWindows()