python - Python OpenCV Lane Detector“无法解压不可迭代的numpy.uint8对象”错误

Question

我一直在尝试使用网络摄像头进行输入，它给了我错误。代码正在处理图片。我做错了什么

我试图将 x1、x2、y1、y2 设置为整数值，并在 make_points 函数上尝试了 np.array 这是代码

import cv2
import numpy as np

def detect_edges(frame):
    gry = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
    blur = cv2.GaussianBlur(gry, (5, 5), 0)
    edges = cv2.Canny(blur, 50, 150)
    return edges

def region_of_interest(edges):
    height, width = edges.shape
    mask = np.zeros_like(edges)

    polygon = np.array([[
        (0, height * 1 / 2),
        (width, height * 1 / 2),
        (width, height),
        (0, height),
    ]], np.int32)

    cv2.fillPoly(mask, polygon, 255)
    cropped_edges = cv2.bitwise_and(edges, mask)
    return cropped_edges

def detect_line_segments(cropped_edges):
    rho = 1
    angle = np.pi / 180
    min_threshold = 10
    line_segments = cv2.HoughLinesP(cropped_edges, rho, angle, min_threshold,
                                    np.array([]), minLineLength=8, maxLineGap=4)

    return line_segments

def average_slope_intercept(frame, line_segments):
    lane_lines = []
    if line_segments is None:
        print("No LineSegments!")
    return lane_lines

    height, width, _ = frame.shape
    left_fit = []
    right_fit = []

    boundary = 1/3
    left_region_boundary = width * (1 - boundary)
    right_region_boundary = width * boundary

    for line_segment in line_segments:
        for x1, y1, x2, y2 in line_segment:
            if x1 == x2:
                print("Skipping Vertical Line Segment?")
                continue
            fit = np.polyfit((x1, x2), (y1, y2), 1)
            slope = fit[0]
            intercept = fit[1]
            if slope < 0:
                if x1 < left_region_boundary and x2 < left_region_boundary:
                    left_fit.append((slope, intercept))
            else:
                if x1 > right_region_boundary and x2 > right_region_boundary:
                    right_fit.append((slope, intercept))

    left_fit_average = np.average(left_fit, axis=0)
    if len(left_fit) > 0:
        lane_lines.append(make_points(frame, left_fit_average))

    right_fit_average = np.average(right_fit, axis=0)
    if len(right_fit) > 0:
        lane_lines.append(make_points(frame, right_fit_average))

    print("Lane_Lines :", lane_lines)

    return lane_lines

def make_points(frame, line):
    height, width, _ = frame.shape
    slope, intercept = line
    y1 = height
    y2 = int(y1 * 1 / 2)

    x1 = max(-width, min(2 * width, int((y1 - intercept) / slope)))
    x2 = max(-width, min(2 * width, int((y2 - intercept) / slope)))
    return [[x1, y1, x2, y2]]

def detect_lane(frame):

    edges = detect_edges(frame)
    cropped_edges = region_of_interest(edges)
    line_segments = detect_line_segments(cropped_edges)
    lane_lines = average_slope_intercept(frame, line_segments)

    return lane_lines

def display_lines(frame, lines, line_color=(0, 255, 0), line_width=2):
    line_image = np.zeros_like(frame)
    if lines is not None:
        for line in lines:
            for x1, y1, x2, y2 in line:
                cv2.line(line_image, (int(x1), int(y1)), (int(x2), int(y2)), line_color, line_width)
    line_image = cv2.addWeighted(frame, 0.8, line_image, 1, 1)
    return line_image

cap = cv2.VideoCapture("/dev/video0")

while (cap.isOpened()):
    _, frame = cap.read()
    lane_lines = detect_edges(frame)
    lane_lines_image = display_lines(frame, lane_lines, line_color=(0, 255, 0), line_width=2)
    cv2.imshow("lane lines", lane_lines_image)

    if cv2.waitKey(1) == 27:
        self.cleanup()
    break

cv2.imshow() 屏幕根本不显示，网络摄像头灯只闪烁 1 次，然后吐出错误

错误是

root@kali:~/Desktop/Project-OUTO# python3 WebLane.py 
Traceback (most recent call last):
  File "WebLane.py", line 108, in <module>
    lane_lines_image = display_lines(frame, lane_lines, line_color=(0, 255, 0), line_width=2)
  File "WebLane.py", line 98, in display_lines
    for x1, y1, x2, y2 in line:
TypeError: cannot unpack non-iterable numpy.uint8 object

编辑：把 print(line) 放在前面，因为这是它吐出来的

root@kali:~/Desktop/Project-OUTO# python3 WebLane.py 
[0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0 0 0 0]
Traceback (most recent call last):
  File "WebLane.py", line 109, in <module>
    lane_lines_image = display_lines(frame, lane_lines, line_color=(0, 255, 0), line_width=2)
  File "WebLane.py", line 99, in display_lines
    for x1, y1, x2, y2 in line:
TypeError: cannot unpack non-iterable numpy.uint8 object

标签： pythonnumpyopencv

Answer 1

感谢用户 furas 解决了我不小心写了 lane_lines = detect_edges() 本来是 lane_lines = detect_lane() 这为我解决了这个问题，谢谢 furas :D