Region of Interest for finding lanes - Python Plays GTA V





pygta5-4-ROI-region-of-interest

Now that we're reading frames, and can do input, we're back on the task of trying to do some self-driving. In order to do this, a common goal is to be able to detect lanes. We can use lane detection to both create a self-driving AI that works based on simple rules based on these lanes and also to train an AI that we hope could later generalize to more scenarios. Code up to this point:

import numpy as np
from PIL import ImageGrab
import cv2
import time
from directkeys import ReleaseKey, PressKey, W, A, S, D 


def process_img(original_image):
    processed_img = cv2.cvtColor(original_image, cv2.COLOR_BGR2GRAY)
    processed_img = cv2.Canny(processed_img, threshold1=200, threshold2=300)
    return processed_img



def main():
    for i in list(range(4))[::-1]:
        print(i+1)
        time.sleep(1)

    last_time = time.time()
    while(True):
        screen =  np.array(ImageGrab.grab(bbox=(0,40, 800, 640)))
        new_screen = process_img(screen)
        print('Loop took {} seconds'.format(time.time()-last_time))
        last_time = time.time()
        cv2.imshow('window', new_screen)
        #cv2.imshow('window2', cv2.cvtColor(screen, cv2.COLOR_BGR2RGB))
        if cv2.waitKey(25) & 0xFF == ord('q'):
            cv2.destroyAllWindows()
            break
def process_img(original_image):
    processed_img = cv2.cvtColor(original_image, cv2.COLOR_BGR2GRAY)
    processed_img = cv2.Canny(processed_img, threshold1=200, threshold2=300)
    
    vertices = np.array([[10,500],[10,300],[300,200],[500,200],[800,300],[800,500],
                         ], np.int32)
    processed_img = roi(processed_img, [vertices])
    
    return processed_img
from IPython.display import Image
Image(filename='idea-of-roi.png') 

Above is just a quick, not actually scaled right, example of the polygon I will have us using to somewhat illustrate the polygon I've chosen. Now, of course, we're going to need the roi function!

def roi(img, vertices):
    #blank mask:
    mask = np.zeros_like(img)
    # fill the mask
    cv2.fillPoly(mask, vertices, 255)
    # now only show the area that is the mask
    masked = cv2.bitwise_and(img, mask)
    return masked
def main():
    last_time = time.time()
    while(True):
        screen =  np.array(ImageGrab.grab(bbox=(0,40, 800, 640)))
        new_screen = process_img(screen)
        print('Loop took {} seconds'.format(time.time()-last_time))
        last_time = time.time()
        cv2.imshow('window', new_screen)
        #cv2.imshow('window2', cv2.cvtColor(screen, cv2.COLOR_BGR2RGB))
        if cv2.waitKey(25) & 0xFF == ord('q'):
            cv2.destroyAllWindows()
            break
        
Image(filename='roi-and-edge.jpg') 

As you can see, with this cut down, we wont detect the poles or wires that we otherwise would have in this frame. Next, while we have detected edges, we haven't detected lines. Let's do that!

The next tutorial:






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  • Finding Lanes for our self driving car - Python Plays GTA V
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