Update app.py

app.py

@@ -3,6 +3,7 @@ import io
 import numpy as np
 from PIL import Image
 import uvicorn
+import cv2
 
 app = FastAPI()
 
@@ -11,31 +12,23 @@ async def analyze_path(file: UploadFile = File(...)):
     image_bytes = await file.read()
     image = Image.open(io.BytesIO(image_bytes)).convert("L")  # Chuyển ảnh sang grayscale
     depth_map = np.array(image)
-
+    flipped_depth_map = cv2.flip(depth_map, -1)
     # Phân tích ảnh Depth Map
-    command = detect_path(depth_map)
+    command = detect_path(flipped_depth_map)
 
     return {"command": command}
 
 def detect_path(depth_map):
-    """Xác định đường có thể đi từ ảnh Depth Map"""
-    h, w = depth_map.shape
-    center_x = w // 2
-    scan_y = h - 20  # Quét dòng gần đáy ảnh
-
-    left_region = np.mean(depth_map[scan_y, :center_x])
-    right_region = np.mean(depth_map[scan_y, center_x:])
-    center_region = np.mean(depth_map[scan_y, center_x - 20:center_x + 20])
+    _, thresh = cv2.threshold(depth_map, 200, 255, cv2.THRESH_BINARY)
+    contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
 
-    if center_region > 200:
+    if len(contours) == 0:
         return "forward"
-    elif left_region > right_region:
+    
+    left_region = np.mean(depth_map[:, :depth_map.shape[1]//3])
+    right_region = np.mean(depth_map[:, 2*depth_map.shape[1]//3:])
+    
+    if left_region > right_region:
         return "left"
-    elif right_region > left_region:
-        return "right"
     else:
-        return "backward"
-
-# 🟢 Đảm bảo app khởi động đúng khi chạy trên Hugging Face
-if __name__ == "__main__":
-    uvicorn.run(app, host="0.0.0.0", port=7860)
+        return "right"