LineTracking.py

import numpy as np
import cv2
from controller import Controller

class LineTracking():
    #def __init__(self):
    #    print("Init")
    #    self.video_capture = cv2.VideoCapture(0)
    #    self.video_capture.set(3, 160)
    #    self.video_capture.set(4, 120)

    def track_line(self, frame, find):
        # Capture the frames
        print("Get frame")
        #ret, frame = self.video_capture.read()

        # Crop the image
        if(not find):
            crop_img = frame[240:480, 0:640]
        else:
            crop_img = frame[250:480, 270:370]

        # Convert to grayscale
        gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)

        # Gaussian blur
        blur = cv2.GaussianBlur(gray,(5,5),0)

        # Color thresholding
        ret,thresh = cv2.threshold(blur,60,255,cv2.THRESH_BINARY_INV)

        # Find the contours of the frame
        contours, hierarchy = cv2.findContours(thresh.copy(), 1, cv2.CHAIN_APPROX_NONE)
        
	# Find the biggest contour (if detected)
        if len(contours) > 0:
            c = max(contours, key=cv2.contourArea)
            M = cv2.moments(c)

            cx = int(M['m10']/M['m00'])
            cy = int(M['m01']/M['m00'])

            cv2.line(crop_img,(cx,0),(cx,720),(255,0,0),1)
            cv2.line(crop_img,(0,cy),(1280,cy),(255,0,0),1)

            cv2.drawContours(crop_img, contours, -1, (0,255,0), 1)

            if cx >= 100:
                print("Turn Right!")
            if cx < 100 and cx > 70:
                print("On Track!")
            if cx <= 70:
                print("Turn Left")
            print(int(cx))
            return int(cx/4)
        return -1
if __name__ == "__main__":
    cap = cv2.VideoCapture(0)
    lt = LineTracking()
    #controller = Controller()
    while True:
        ret, frame = cap.read()
        val = lt.track_line(frame, False)
        print(val)
        #controller.controll(val)