import cv2
import numpy as np
import matplotlib.pyplot as plt
def canny(image):
	gray=cv2.cvtColor(lane_image,cv2.COLOR_RGB2GRAY)
	blur=cv2.GaussianBlur(gray,(5,5),0)
	canny=cv2.Canny(blur,50,150)
	return canny
def region_of_interest(image):
	height=image.shape[0]
	polygons=np.array([[(200,height),(1100,height),(550,250)]])
	mask=np.zeros_like(image)
	cv2.fillPoly(mask,polygons,255)
	masked_image=cv2.bitwise_and(image,mask)
	return masked_image

def display_lines(image,lines):
	line_image=np.zeros_like(image)
	if lines is not None:
		for line in lines:
			x1,y1,x2,y2=line.reshape(4)
			cv2.line(line_image,(x1,y1),(x2,y2),(255,0,0),10)
	return line_image
image=cv2.imread('test_image.jpg')
lane_image=np.copy(image)
canny=canny(lane_image)
cropped_image=region_of_interest(canny)
lines=cv2.HoughLinesP(cropped_image,2,np.pi/180,100,np.array([]),minLineLength=40,maxLineGap=5)

line_image=display_lines(lane_image,lines)
combo_image=cv2.addWeighted(lane_image,0.8,line_image,1,1)
cv2.imshow("result",combo_image)
cv2.waitKey(0)