carProject631/pic2grid.py at master · BlakePR/carProject631 · GitHub

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import cv2 as cv
import numpy as np
import os

# # Load the image
# img = cv.imread("obstacles_image0.jpg")

# cv.imshow("Original Image", img)
# cv.waitKey(0)

# imsize = img.shape
# print("Image Size: ", imsize)


def crop_down(image, crop_height):
    return image[crop_height:, :, :]


def crop_up(image, crop_height):
    return image[:-crop_height, :, :]


# cropped = crop_down(img, 120)
# cv.imshow("Cropped Image", cropped)
# cv.waitKey(0)


def make_grid(image, n_rows, n_cols, p_occup):
    grid = np.zeros((n_rows, n_cols), dtype=np.uint8)
    thresh = p_occup * 255.0
    dx = image.shape[1] // n_cols
    dy = image.shape[0] // n_rows
    for i in range(n_rows):
        for j in range(n_cols):
            y = i * dy
            x = j * dx
            roi = image[y : y + dy, x : x + dx]
            mean = cv.mean(roi)
            if mean[0] > thresh:
                grid[i, j] = 1
    return grid


# grid = make_grid(cropped, 10, 10, 0.33)
# grid_big = cv.resize(
#     grid,
#     None,
#     fx=cropped.shape[1] // 10,
#     fy=cropped.shape[0] // 10,
#     interpolation=cv.INTER_NEAREST,
# )
# grid_big *= 250
# cv.imshow("Grid", grid_big)
# cv.waitKey(0)


def grid2midpoints(grid, scalex, scaley):
    midpoints = []
    for i in range(grid.shape[0]):  # rows
        jl = grid.shape[1] // 2 - 1
        jr = jl
        while jl >= 0 and grid[i, jl] == 1 and grid[i, jr] == 1:
            jl -= 1
            jr += 1
        if grid[i, jl] != 1:
            jr = jl + 1
        else:
            jl = jr - 1
        while jl >= 0 and grid[i, jl] == 0:
            jl -= 1
        while jr < grid.shape[1] and grid[i, jr] == 0:
            jr += 1
        jl+=1
        templ = float(jl)
        tempr = float(jr)
        y = i * scaley
        x = (templ + tempr) / 2 * scalex
        midpoints.append((y, x))
    return midpoints


# midpoints = grid2midpoints(grid)
# for i in range(len(midpoints)):
#     cv.circle(
#         grid_big,
#         (
#            #this is bad now int(midpoints[i][1] * (grid_big.shape[1] // 10)),
#             int(midpoints[i][0] * (grid_big.shape[0] // 10)),
#         ),
#         5,
#         (255, 255, 255),
#         -1,
#     )

# cv.imshow("Midpoints", grid_big)
# cv.waitKey(0)
# cv.destroyAllWindows()