get_ROI.py

import cv2


def click_event(event, x, y, flags, params):
    lanes = params['lanes']
    lane = params['lane']
    img = params['image']

    if event == cv2.EVENT_LBUTTONDOWN:
        lane.append((x, y))
        cv2.circle(img, (x, y), 3, (0, 0, 255), -1)
        cv2.imshow('image', img)
        if len(lane) == 4:
            lanes.append(lane)
            lane = []


def get_lanes(frame):
    cv2.imshow('image', frame)
    lanes = []
    lane = []
    lanes_nested = []
    params = {'lanes': lanes, 'lane': lane, 'image': frame}
    cv2.setMouseCallback('image', click_event, params)
    cv2.waitKey(0)
    cv2.destroyAllWindows()

    # Convert lane coordinates to nested list format
    # lanes_nested = [lane[i:i+4] for i in range(0, len(lanes[0]), 4)]

    count = 0
    for i in range(int(len(lane) / 2) - 1):
        lanes_nested.append(lane[count:count + 4])
        count += 2

    return lanes_nested


def draw_lanes(frame, lanes):
    for lane in lanes:
        top_left = lane[0]
        bottom_left = lane[1]
        top_right = lane[2]
        bottom_right = lane[3]
        cv2.line(frame, top_left, bottom_left, (255, 0, 0), 2)
        cv2.line(frame, top_right, bottom_right, (255, 0, 0), 2)
    return frame