def _config_camera_calibrator(show_plots):
plot = get_plotter()
calibrator = camera_calibration.CameraCalibration(plot)
if os.path.exists(CAMERA_CALIBRATION_PICKLE_PATH):
calibrator.from_pickle(CAMERA_CALIBRATION_PICKLE_PATH)
return calibrator
def pickle_camera_calibration(path=None):
if not path:
path = CAMERA_CALIBRATION_PICKLE_PATH
init_logging()
plot = get_plotter(False)
calibrator = camera_calibration.CameraCalibration(plot)
calibrator.config()
calibrator.to_pickle(path)
def test_calibrate_camera():
init_logging()
plot = get_plotter()
calibrator = camera_calibration.CameraCalibration(plot)
calibrator.config()
PLOT.show_plots = True
img = cv2.cvtColor(cv2.imread('test_images/straight_lines1.jpg'), cv2.COLOR_BGR2RGB)
calibrator.undistort(img)
def vehicle_detect_single_image(img_path=None):
if not img_path:
img_path = 'test_images/test1.jpg'
init_logging()
clf = classifier.Classifier()
clf.from_pickle(VEHICLE_DETECTION_CLASSIFIER_PATH)
detect = detector.Detector(clf)
img = image.load_img(img_path)
calibrator = camera_calibration.CameraCalibration(get_plotter())
calibrator.config()
undisorted = calibrator.undistort(img)
output = detect.identify_vehicles(undisorted)
plotter.Plotter(True).plot_images(output)
def vehicle_detect_full_run(video_path=None):
if not video_path:
video_path = 'test_video.mp4'
init_logging()
clf = classifier.Classifier()
clf.from_pickle(VEHICLE_DETECTION_CLASSIFIER_PATH)
detect = detector.Detector(clf)
calibrator = camera_calibration.CameraCalibration(get_plotter())
log.debug(f'Processing video {video_path}')
clip = VideoFileClip(video_path)
updated = clip.fl_image(
lambda img: _vehicle_detect_full_run_wrapper(img, detect, calibrator))
split_path = video_path.split('.')
new_file = "".join([split_path[0], '_output.', split_path[1]])
updated.write_videofile(new_file, audio=False)