lane_detect.py 文件源码

def update_edge_mask(self, previous_mask, previous_line, slope_sign, thrs1, thrs2, debug):
        lines = cv2.HoughLinesP(self.edge, 1, np.pi / 180, 70, minLineLength = 10, maxLineGap = 200)
        lines = filter_lines(lines, self.vanishing_height, self.edge.shape[0], slope_sign)
        self.lines.extend(lines)
        mask = np.zeros(self.edge.shape, np.uint8)
        for line in lines:
            x1,y1,x2,y2 = line
            cv2.line(mask, (x1,y1),(x2,y2), 255, MASK_WIDTH)
        mask = cv2.addWeighted(mask, MASK_WEIGHT, previous_mask, 1 - MASK_WEIGHT, 0)
        #self.current_mask *= int(255.0 / self.current_mask.max())
        previous_mask = mask.copy()
        _, mask = cv2.threshold(mask, 40, 255, cv2.THRESH_BINARY)
        masked_edges = cv2.morphologyEx(cv2.bitwise_and(self.edge, self.edge, mask = mask), cv2.MORPH_CLOSE, np.array([[1] * EDGE_DILATION] *EDGE_DILATION))
        lines2 = cv2.HoughLinesP(masked_edges, 1, np.pi / 180, 70, minLineLength = 10, maxLineGap = 200)
        lines2 = filter_lines(lines2, self.vanishing_height, self.edge.shape[0], slope_sign)
        self.lines2.extend(lines2)
        for line in lines2:
            x1,y1,x2,y2 = line
            cv2.line(mask, (x1,y1),(x2,y2), 255, MASK_WIDTH)
            previous_line[0] = add(previous_line[0], (x2,y2))
            previous_line[1] = add(previous_line[1], (x_at_y(self.edge.shape[0]*0.6, x1, y1, x2, y2), self.edge.shape[0]*0.6))
        previous_line[0] = scale(previous_line[0], 1.0 / (len(lines2) + 1))
        previous_line[1] = scale(previous_line[1], 1.0 / (len(lines2) + 1))
        return masked_edges, mask, previous_mask, previous_line