Troubleshooting • Trouble shooting when using canny edge detection

Code:

from picamera2 import Picamera2 import cv2 import numpy as np import timeimport mathimport argparseimport RPi.GPIO as GPIOimport matplotlib.pyplot as pltfrom scipy import statsimport osGPIO.setmode(GPIO.BOARD) PWM_pin   = 32   #Define pin, frequency and duty cycle freq      = 50 dutyCycle = 7.5 #90 degrees at first##Values 0 - 100 (represents 4%, ~27 deg) minv=64maxv=156angles=[90]duty1=7.2width=2592height=1944 rect1=(0,0)  rect2=(640,481) x1s=[]x2s=[]y1s=[]y2s=[]x3s=[]y3s=[]cnt = 1num = 1output_folder = "sub_pictures"output_folder_2 = "sub_pictures_with_centroid"sub_images = [] cX_list=[]  cY_list=[]trending=[]GPIO.setup(PWM_pin, GPIO.OUT) # Create PWM instance for pin w freqency pwm = GPIO.PWM(PWM_pin, freq) picam2 = Picamera2()    parser=argparse.ArgumentParser(description="lower and upper bound for trying")parser.add_argument('--tim',default=60,help="length of time to run")parser.add_argument('--delay',default=1,help="time between image captures")parser.add_argument('--debug',action='store_true',default=False,help="debug mode")args=parser.parse_args()def small_pic(img,debug):height, width = img.shape[:2]scale = 0.5new_size  = (int(width*scale), int(height*scale))img = cv2.resize(img, new_size, interpolation=cv2.INTER_LINEAR) if debug == True:cv2.imwrite(f'smalled_img{k}.jpg',img)cv2.imshow('img',img)cv2.waitKey(3000) cv2.destroyAllWindows()return imgdef get_duty(duty1,angle2):duty2=duty1+0.4*(angle2)*(1/18)duty1=duty2return duty1,duty2def get_lines(img,debug):if img is None:    print("Error: Unable to load image.")    exit()height, width = (img.shape[:2])def blank(x):  # Null function for trackbarpassif debug ==True:print (rect1,rect2)mask = np.zeros(img.shape[:2], dtype=np.uint8)mask = cv2.rectangle(mask,rect1,rect2, 255, -1)masked_img = cv2.bitwise_and(img, img, mask=mask)img=masked_imgimg =cv2.GaussianBlur(img, (3, 3), 0)edge = cv2.Canny(img, minv, maxv)lines = cv2.HoughLinesP(edge, 1, np.pi / 180, threshold=100, minLineLength=20, maxLineGap=10)output = img.copy()  # Avoid modifying the original imageif lines is not None:  # Check if lines were detectedfor i in range(len(lines)):for x1, y1, x2, y2 in lines[i]:cv2.line(output, (x1, y1), (x2, y2), (0, 255, 0), 2)# print(f'x1:{x1:0.2f}\ty1:{y1:0.2f}\tx2:{x2:0.2f}\ty2:{y2:0.2f}')# x1s.append(x1)# x2s.append(x1)# y1s.append(y1)# y2s.append(y2)with open('data.txt', 'a') as f:f.write(f'{x1:0.2f}\t{y1:0.2f}\t{x2:0.2f}\t{y2:0.2f}')f.write('\n')# if debug== True:# cv2.imshow('image', img)# cv2.imshow('mask', mask)# cv2.imshow('masked_image', masked_img)# cv2.imshow("houghline", output)# cv2.imwrite('houghline.jpg',output)# cv2.waitKey(5000)# cv2.destroyAllWindows()  # picam2.stop() return outputdef get_angle(output,debug):global jsrc = outputsub_image_num = 20 src_height, src_width = src.shape[0], src.shape[1] sub_height = src_height // sub_image_num sub_width = src_width #for i in range(sub_image_num):  if i < sub_image_num - 1:image_roi = src[i*sub_height:(i + 1)*sub_height,:,:]else:image_roi = src[i*sub_height:,:,:]sub_images.append(image_roi)  for i, img in enumerate(sub_images): if debug==True:save_path = os.path.join(output_folder, f'sub_img_{i}.png')cv2.imwrite(save_path, img)hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) #RGBHSVmask = cv2.inRange(hsv, (55, 102, 188), (60, 255, 255))  if debug==True:cv2.imshow(f'{i}th_masked',mask)cv2.waitKey(500)cv2.destroyAllWindows() M = cv2.moments(mask) if M['m00']>0:cX = int(M["m10"] / M["m00"])                            cY = int(M["m01"] / M["m00"]) cY_for_list= cY+ i*sub_heightcX_list.append(cX)  cY_list.append(cY_for_list)if debug ==True:print (f"""The {i}th Centroid: ({cX}, {cY_for_list})Remember! the uppest and lowest are discarded!""") img = cv2.circle(img, (cX,cY), 5, (0,0,255), 2) # green circle save_path = os.path.join(output_folder_2, f'sub_centroid{i}.png')cv2.imwrite(save_path, img)        else:if debug==True:print (f'The {i}th Centroid not found')j=j+1  #jå¢å 1if debug==True:print(f'Before: {cX_list,cY_list}')del cX_list[0]del cX_list[-1]del cY_list[0]del cY_list[-1]if debug==True:print(f'After: {cX_list,cY_list}')slope, intercept, r, p, std_err = stats.linregress(cX_list, cY_list) #angle = math.atan(1/slope)/math.pi *180 # angle of referenceif debug ==True:print(f"j:{j}\tslope:{slope:0.2f}\tintercept:{intercept:0.2f}\tangle:{angle:0.2f}") print(f'should turn {"LEFT" if angle <0 else "RIGHT"}')if -90<angle<90: #angles.append(angle) ## elif -91<=angle<=-80: ## angles.append(0) # print("found unwanted horizontal edges")# elif 80<=angle<=91: ## angles.append(0) # print("found unwanted horizontal edges")# else: ## angles.append(0) # print("angle larger than +-90 degrees, illegal")angle2=angles[j]return angle2pwm.start(dutyCycle) j=int(0)k=int(0)start_time = time.time() cur_time   = start_time mesg_time  = start_time  while (start_time + args.tim > cur_time):     time.sleep(0.001)             cur_time = time.time() # some short delay to avoid busy waitsif (mesg_time + args.delay < cur_time):mesg_time = cur_timex1s=[]x2s=[]y1s=[]y2s=[]x3s=[]y3s=[]sub_images = []  #cX_list=[]  #cY_list=[]#trending=[]  #time_1=time.time()picam2.start()img = picam2.capture_array("main") img= cv2.cvtColor(img,cv2.COLOR_RGB2BGR) #change color debug=args.debugif debug == True:cv2.imshow("picture",img)cv2.imwrite('picture_test.jpg',img)cv2.waitKey(5000)cv2.destroyAllWindows()#from RGB to BGRk+=1# img = cv2.imread(f"test_{k}.jpg") #take picture into memoryimg = small_pic(img,debug)#output=get_lines(img,debug) #call functionangle2=get_angle(output,debug) ## if debug == True:# time_2=time.time() # print(f'time taken not including roatating servo:{time_2-time_1:0.2f}') #print the time it taken to complete # # the finding angle processduty1,duty2=get_duty(duty1,angle2) #pwm.ChangeDutyCycle(duty2) #print(duty2)picam2.stop# # if debug ==True:# # print(f'PWM:{dutyCycle}')# # else:# # pass