# Find Line Segments Example # # This example shows off how to find line segments in the image. For each line object # found in the image a line object is returned which includes the line's rotation. # Note: Line detection is done by using the Hough Transform: # http://en.wikipedia.org/wiki/Hough_transform # Please read about it above for more information on what `theta` and `rho` are. enable_lens_corr = True # turn on for straighter lines... import sensor, image, time sensor.reset() sensor.set_pixformat(sensor.RGB565) # grayscale is faster sensor.set_framesize(sensor.QQVGA) sensor.skip_frames(30) clock = time.clock() # All lines also have `x1()`, `y1()`, `x2()`, and `y2()` methods to get their end-points # and a `line()` method to get all the above as one 4 value tuple for `draw_line()`. while(True): clock.tick() img = sensor.snapshot() if enable_lens_corr: img.lens_corr(1.8) # for 2.8mm lens... # `threshold` controls how many lines in the image are found. Only lines with # edge difference magnitude sums greater than `threshold` are detected... # More about `threshold` - each pixel in the image contributes a magnitude value # to a line. The sum of all contributions is the magintude for that line. Then # when lines are merged their magnitudes are added togheter. Note that `threshold` # filters out lines with low magnitudes before merging. To see the magnitude of # un-merged lines set `theta_margin` and `rho_margin` to 0... # `theta_margin` and `rho_margin` control merging similar lines. If two lines # theta and rho value differences are less than the margins then they are merged. # Setting both the above to zero will greatly increase segment detection at the # cost of a lot of FPS. This is because when less lines are merged more pixels # are tested... which takes longer but covers more possibilities... # `segment_threshold` controls line segment extraction. It's a threshold on the # magnitude response per pixel under an infinite line. Pixels with a magnitude # above threshold are added to the line segment. # `find_line_segments` merges detected lines that are no more than 5 pixels apart # and no more than 15 degrees different to create nice continous line segments. for l in img.find_line_segments(threshold = 1000, theta_margin = 15, rho_margin = 15, segment_threshold = 100): img.draw_line(l.line(), color = (255, 0, 0)) # print(l) print("FPS %f" % clock.fps())