canny-video.py

import numpy as np
import cv2
#import matplotlib.pyplot as plt


def region_of_interest(img):
    #height = img.shape[0]
    width = img.shape[1]
    mask = np.ones_like(img)*255
    poly = np.array([[  # Polígono para fazer a máscara (feito sob medida da)
        (0, 0),
        (width, 0),
        (width, 250),
        (0, 350), ]], np.int32)
    masked = cv2.fillPoly(mask, poly, 0)  # return none --> preenche a região
    # Ou exclusivo para ignorar oq estiver fora da mask
    masked_image = cv2.bitwise_and(img, masked)
    return masked_image


# cap = cv2.VideoCapture("pista1.MP4")  # colocar o vídeo
cap = cv2.VideoCapture(
    "C://Users//Paulo Rodrigues//Desktop//Self-Driving Cars Course//test2.mp4")  # colocar o vídeo

while(cap.isOpened()):
    _, pista = cap.read()

    gray = cv2.cvtColor(pista, cv2.COLOR_BGR2GRAY)
    blur = cv2.GaussianBlur(gray, (7, 7), 0)
    #blur = cv2.equalizeHist(blur)
    #gray = gray[10:210,10:210]
    #T,c = cv2.threshold(blur,0,255,cv2.THRESH_OTSU)
    c = cv2.Canny(blur, 50, 150)  # Definir os thresholds adequadamente?

    sf = region_of_interest(c)
    kernel = np.ones((3, 3), np.uint8)
    opening = cv2.morphologyEx(sf, cv2.MORPH_CLOSE, kernel, iterations=5)

    # linhas = cv2.HoughLinesP(opening, 2, np.pi/180, 100, np.array([]), minLineLength=10, maxLineGap=10)

    # line_fit=[]
    # # if linhas is None:
    # #     return None

    # for linha in linhas:
    #     for x1, y1, x2, y2 in linha:
    #         fit = np.polyfit((x1,x2), (y1,y2), 1)
    #         slope = fit[0]
    #         intercept = fit[1]
    #         line_fit.append((slope, intercept))
    # reta_media=np.average(line_fit,axis=0)

    # slope, intercept = reta_media
    # y1 = 350#opening.shape[0]
    # y2 = int(y1*3/5)
    # x1= int((y1-intercept)/slope)
    # x2= int((y2-intercept)/slope)
    # coord = [x1,x2,y1,y2]
    # line_image = np.zeros_like(pista)
    # if linhas is not None:
    #     line_image= cv2.line(line_image,(x1,y1),(x2,y2),(255,0,0),2)
    # imagem = cv2.addWeighted(pista,0.8,line_image,1,1)
    cv2.imshow('resultado', opening)
    if cv2.waitKey(20) & 0xFF == ord('q'):
        break
cap.release()
cv2.destroyAllWindows()