import numpy as np import cv2 import time import pyautogui from directkeys import PressKey,ReleaseKey, W, A, S, D from draw_lanes import draw_lanes from grabscreen import grab_screen def roi(img, vertices): #blank mask: mask = np.zeros_like(img) #filling pixels inside the polygon defined by "vertices" with the fill color cv2.fillPoly(mask, vertices, 255) #returning the image only where mask pixels are nonzero masked = cv2.bitwise_and(img, mask) return masked def process_img(image): original_image = image # convert to gray processed_img = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY) # edge detection processed_img = cv2.Canny(processed_img, threshold1 = 200, threshold2=300) processed_img = cv2.GaussianBlur(processed_img,(5,5),0) vertices = np.array([[10,500],[10,300],[300,200],[500,200],[800,300],[800,500], ], np.int32) processed_img = roi(processed_img, [vertices]) # more info: http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_houghlines/py_houghlines.html # rho theta thresh min length, max gap: lines = cv2.HoughLinesP(processed_img, 1, np.pi/180, 180, 20, 15) m1 = 0 m2 = 0 try: l1, l2, m1,m2 = draw_lanes(original_image,lines) cv2.line(original_image, (l1[0], l1[1]), (l1[2], l1[3]), [0,255,0], 30) cv2.line(original_image, (l2[0], l2[1]), (l2[2], l2[3]), [0,255,0], 30) except Exception as e: print(str(e)) pass try: for coords in lines: coords = coords[0] try: cv2.line(processed_img, (coords[0], coords[1]), (coords[2], coords[3]), [255,0,0], 3) except Exception as e: print(str(e)) except Exception as e: pass return processed_img,original_image, m1, m2 def straight(): PressKey(W) ReleaseKey(A) ReleaseKey(D) def left(): PressKey(A) ReleaseKey(W) ReleaseKey(D) ReleaseKey(A) def right(): PressKey(D) ReleaseKey(A) ReleaseKey(W) ReleaseKey(D) def slow_ya_roll(): ReleaseKey(W) ReleaseKey(A) ReleaseKey(D) for i in list(range(4))[::-1]: print(i+1) time.sleep(1) last_time = time.time() while True: screen = grab_screen(region=(0,40,800,640)) print('Frame took {} seconds'.format(time.time()-last_time)) last_time = time.time() new_screen,original_image, m1, m2 = process_img(screen) #cv2.imshow('window', new_screen) cv2.imshow('window2',cv2.cvtColor(original_image, cv2.COLOR_BGR2RGB)) if m1 < 0 and m2 < 0: right() elif m1 > 0 and m2 > 0: left() else: straight() #cv2.imshow('window',cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)) if cv2.waitKey(25) & 0xFF == ord('q'): cv2.destroyAllWindows() break