added roi for finding lane

Gautam-J · Mar 29, 2020 · 96795ff · 96795ff
1 parent 3b21076
commit 96795ff
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Showing 2 changed files with 30 additions and 7 deletions.
diff --git a/find_lanes.py b/find_lanes.py
@@ -11,6 +11,14 @@
 '''
 
 
+def roi(img, vertices):
+    mask = np.zeros_like(img)
+    cv2.fillPoly(mask, vertices, 255)
+    masked = cv2.bitwise_and(img, mask)
+
+    return masked
+
+
 def straight():
     print('straight')
     PressKey(W)
@@ -144,9 +152,12 @@ def preprocess_img(image):
     image = cv2.GaussianBlur(image, (3, 3), 0)
     # edge detection
     image = auto_canny(image)
+    # Masking Region of Interest
+    vertices = np.array([[0, 201], [0, 50], [381, 50], [381, 201]], np.int32)
+    image = roi(image, [vertices])
     # probabilistic hough transform
     lines = cv2.HoughLinesP(image, rho=1, theta=(np.pi / 180),
-                            threshold=5, minLineLength=50, maxLineGap=15)
+                            threshold=5, minLineLength=20, maxLineGap=5)
     m1 = 0
     m2 = 0
     # drawing lines
@@ -171,9 +182,9 @@ def preprocess_img(image):
 
 CountDown(5)
 while True:
-    screen = grab_screen(region=(270, 280, 650, 450))
+    screen = grab_screen(region=(270, 250, 650, 450))
     new_screen, original_image, m1, m2 = preprocess_img(screen)
-    cv2.imshow('window', new_screen)
+    # cv2.imshow('window', new_screen)
     cv2.imshow('window2', cv2.cvtColor(original_image, cv2.COLOR_BGR2RGB))
 
     if m1 < 0 and m2 < 0:

diff --git a/visualize_screen.py b/visualize_screen.py
@@ -1,4 +1,5 @@
 import cv2
+import numpy as np
 from grabscreen import grab_screen
 
 '''
@@ -7,14 +8,25 @@
 Make sure that your game window is seen by cv2.
 '''
 
+
+def roi(img, vertices):
+    mask = np.zeros_like(img)
+    cv2.fillPoly(mask, vertices, 255)
+    masked = cv2.bitwise_and(img, mask)
+    return masked
+
+
 while True:
     # change the region=(x, y, width, height) according to your game window.
-    screen = grab_screen(region=(270, 250, 650, 450))
+    org_image = grab_screen(region=(270, 250, 650, 450))
+    image = cv2.cvtColor(org_image, cv2.COLOR_BGR2GRAY)
+    vertices = np.array([[0, 201], [0, 50], [381, 50], [381, 201]], np.int32)
+    image = roi(image, [vertices])
 
-    # uncomment the next line to see the resized image to be inputed.
-    screen = cv2.resize(screen, (200, 80))
-    screen = cv2.cvtColor(screen, cv2.COLOR_BGR2RGB)
+    # org_image = cv2.resize(org_image, (200, 80))
+    screen = cv2.cvtColor(org_image, cv2.COLOR_BGR2RGB)
     cv2.imshow('window', screen)
+    cv2.imshow('Region_of_interest', image)
 
     if cv2.waitKey(25) == ord('q'):
         cv2.destroyAllWindows()