image = cv2.imread("0.0/01.pgm", cv2.COLOR_BGR2GRAY)


def get_coords_by_threshold(image: np.ndarray, threshold: int = 150) -> tuple:
    """Gets pixel coords with intensity more then 'theshold'."""
    coords = np.where(image > threshold)
    return coords


def delete_pixels_by_min_threshold(
        image: np.ndarray, min_threshold: int = 100
) -> np.ndarray:
    """Deletes coords from image and returns this image."""
    anti_coords = np.where(image < min_threshold)
    image[anti_coords] = 0
    return image


def get_neigh_nums_list(
        coords: tuple, kernel_size: int = 3
) -> list:
    """
    Gets list with number of neighborhoods by kernel.
    Returns list like [[x1, y1, N1], [x2, y2, N2]],
    Where N - neighborhood's number.
    """
    neigh_nums = []
    offset = (kernel_size - 1) // 2

    for x, y in zip(coords[0], coords[1]):
        if x < 0 + offset or x > image.shape[0] - offset:
            continue
        if y < 0 + offset or y > image.shape[1] - offset:
            continue
        
        kernel = image[x-offset:x+offset+1, y-offset:y+offset+1]
        step_neigh_num = np.count_nonzero(kernel) - 1
        neigh_nums.append([x, y, step_neigh_num])

    return neigh_nums


def sort_neight_nums_by_N(neigh_nums: list) -> np.ndarray:
    """
    Sort neigh_nums by N parameter.
    Removes N=-1, N=0 and sorts by N desc. 
    """
    np_neigh_nums = np.array(neigh_nums)

    np_neigh_nums = np_neigh_nums[
        (np_neigh_nums[:, 2] != -1) & (np_neigh_nums[:, 2] != 0)]

    np_neigh_nums = np_neigh_nums[
        np.argsort(-np_neigh_nums[:, 2])]

    return np_neigh_nums


def get_potential_points_coords(
        sorted_niegh_nums: np.ndarray, potential_points_num: int = 30
) -> np.ndarray:
    """
    Gets best candidates, potential points coords only.
    Returns np.ndarray like [[x1, y1], [x2, y2]].
    """
    sorted_neigh_nums = np.delete(sorted_niegh_nums, 2, axis=1)
    return sorted_neigh_nums[:potential_points_num]


def get_best_lines(potential_points: np.ndarray) -> np.ndarray:
    """
    Gets all combinations of lines by all points.
    Line y = kx + b.
    Returns np.ndarray like [[k1, b1], [k2, b2]].
    """
    lines = []

    for i in range(len(potential_points)):
        x1, y1 = potential_points[i]
        for j in range(i+1, len(potential_points)):
            x2, y2 = potential_points[j]
            
            # Find rho and theta parameters
            dx = x2 - x1
            dy = y2 - y1
            rho = np.sqrt(dx ** 2 + dy ** 2)
            theta = np.arctan2(dy, dx)
            
            lines.append([rho, theta])
    
    lines = np.array(lines)
    return lines




# main
coords = get_coords_by_threshold(image)

image = delete_pixels_by_min_threshold(image)

neigh_nums = get_neigh_nums_list(coords)

sorted_neigh_nums = sort_neight_nums_by_N(neigh_nums)

potential_points = get_potential_points_coords(sorted_neigh_nums)

best_lines = get_best_lines(potential_points)
print(best_lines)

# Visualization
plt.imshow(image, cmap="gray")
plt.scatter(potential_points[:, 1], potential_points[:, 0], color="red", marker="o")
plt.show()

# Plot the lines on the image
for equation in best_lines:
    k, b = equation
    x = np.arange(0, image.shape[1])
    y = k * x + b
    plt.imshow(image, cmap="gray")
    plt.scatter(potential_points[:, 1], potential_points[:, 0], color="red", marker="o")
    plt.plot(x, y, color="green")
    plt.scatter(potential_points[:, 1], potential_points[:, 0], color="red", marker="o")
plt.show()

Надо чтобы функция get_best_lines выбирала три лучших уникальных прямых (с не похожими k, b), и искала точки внутри прямой по пикселям +- 3 от прямой