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

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from pathplanner import find_ave_angle
from pic2grid import crop_down, crop_up, make_grid, grid2midpoints

# import pyximport

# pyximport.install()
# import image_processing
import image_processing as image_processing

import cv2 as cv
import numpy as np
import os


def test_find_ave_angle(image):
    frame = cv.imread(image)

    cropped = crop_down(frame, 120)
    cropped = crop_up(cropped, 30)
    cropped = cv.resize(cropped, (0, 0), fx=0.3, fy=0.5)
    obstacles = image_processing.get_obstacle(cropped)
    # cv.imshow("obstacles", obstacles)
    grid = make_grid(obstacles, 10, 20, 0.2)
    # cv.imshow("grid", grid*250)
    midpoints = grid2midpoints(grid, cropped.shape[1] // 20, cropped.shape[0] // 10)
    angle = find_ave_angle(midpoints)
    for midpoint in midpoints:
        cv.circle(
            frame, (int(midpoint[1]), int(midpoint[0]) + 120), 5, (255, 255, 255), 1
        )
    print(angle)
    cv.imshow("the actual frame", frame)
    cv.waitKey(0)


if __name__ == "__main__":
    folder_dir = "pics/"
    badfloor = "imseries/"
    times = []
    import time

    for images in sorted(os.listdir(badfloor)):
        start = time.time()
        test_find_ave_angle(badfloor + images)
        times.append(time.time() - start)
    print("max time: ", np.mean(times))