lane.py

import cv2
import numpy as np

def process_frame(frame):
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    blurred = cv2.GaussianBlur(gray, (5, 5), 0)
    edges = cv2.Canny(blurred, 50, 150)

    height, width = edges.shape
    region_vertices = [
        (0, height),
        (width / 2, height / 2),
        (width, height)
    ]

    roi = region_of_interest(edges, np.array([region_vertices], np.int32))
    lines = cv2.HoughLinesP(roi, 1, np.pi / 180, threshold=50, minLineLength=80, maxLineGap=100)

    if lines is None:
        print("No lines detected")
    else:
        print(f"Detected {len(lines)} lines")

    line_img = np.zeros_like(frame)
    draw_lane_lines(line_img, lines)

    final_output = cv2.addWeighted(frame, 0.6, line_img, 1.5, 0)
    return final_output




# Define the region of interest
def region_of_interest(img, vertices):
    mask = np.zeros_like(img)
    cv2.fillPoly(mask, vertices, 255)
    return cv2.bitwise_and(img, mask)

# Draw the detected lane lines
def draw_lane_lines(img, lines, color=(0, 0, 255), thickness=10):
    left_points = []
    right_points = []

    if lines is not None:
        for line in lines:
            x1, y1, x2, y2 = line[0]
            slope = (y2 - y1) / (x2 - x1) if x2 - x1 != 0 else float('inf')
            if slope < -0.5:
                left_points.extend([(x1, y1), (x2, y2)])
            elif slope > 0.5:
                right_points.extend([(x1, y1), (x2, y2)])

    draw_long_line(img, left_points, color, thickness)
    draw_long_line(img, right_points, color, thickness)

# Fit and draw a long line through points
def draw_long_line(img, points, color, thickness):
    if len(points) > 0:
        x_coords, y_coords = zip(*points)
        poly_fit = np.polyfit(y_coords, x_coords, deg=1)
        slope, intercept = poly_fit

        height = img.shape[0]
        start_y = height
        end_y = int(height * 0.6)

        start_x = max(0, min(int(slope * start_y + intercept), img.shape[1]))
        end_x = max(0, min(int(slope * end_y + intercept), img.shape[1]))

        cv2.line(img, (start_x, start_y), (end_x, end_y), color, thickness)