def main():
video_capture = cv2.VideoCapture(webcam_path)
ret, mtx, dist, rvecs, tvecs = calibration_utils.calibrate_camera(
n, m, testdir, fmt)
while (True):
ret, frame = video_capture.read()
# hl_yellow = binarization.highlight_yellow_lines(frame, yellow_min, yellow_max)
# sobel_edge = binarization.edge_detection(frame, kernel)
# gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
# vehicle_off = vehicle_offset.vehicle_offset(frame)
# cv2.imshow('frame-yellow',hl_yellow)
# B G R
# hough_lines.hough_lines(frame, (0,255,0), 'white')
# hough_lines.hough_lines(frame, (255,0,0), 'yellow')
# cv2.imshow('frame-white',hl_white)
# cv2.imshow('frame-sobel',sobel_edge)
# cv2.imshow('frame-gray',gray)
undist_img = calibration_utils.undistort(frame, mtx, dist)
# cv2.imshow('frame-undistorted', undist_img)
# hl_yellow = binarization.highlight_yellow_lines(undist_img, yellow_min, yellow_max)
# hl_white = binarization.highlight_white_lines(undist_img)
# cv2.imshow('frame-yellow',hl_yellow)
# cv2.imshow('frame-white',hl_white)
hl_white_yellow = binarization.white_yellow(undist_img, yellow_min,
yellow_max)
# cv2.imshow('frame-white-yellow',hl_white_yellow)
## birdeye = perspective_utils.birdeye(frame)
# birdeye, be_boxes = perspective_karla.birdeye(undist_img)
birdeye, be_boxes = perspective_karla.birdeye(hl_white_yellow)
cv2.imshow('frame-birdeye', birdeye)
cv2.imshow('frame-birdeye-boxes', be_boxes)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
# axarray[0].imshow(img, cmap='gray')
# for point in src:
# axarray[0].plot(*point, '.')
# axarray[1].set_title('After perspective transform')
# axarray[1].imshow(warped, cmap='gray')
# for point in dst:
# axarray[1].plot(*point, '.')
# for axis in axarray:
# axis.set_axis_off()
# plt.show()
return warped, M, Minv
if __name__ == '__main__':
ret, mtx, dist, rvecs, tvecs = calibrate_camera(
calib_images_dir='camera_cal')
# show result on test images
for test_img in glob.glob('test_images/*.jpg'):
img = cv2.imread(test_img)
img_undistorted = undistort(img, mtx, dist, verbose=False)
img_binary = binarize(img_undistorted, verbose=False)
img_birdeye, M, Minv = birdeye(cv2.cvtColor(img_undistorted,
cv2.COLOR_BGR2RGB),
verbose=True)
axarray[0].imshow(img, cmap='gray')
for point in src:
axarray[0].plot(*point, '.')
axarray[1].set_title('After perspective transform')
axarray[1].imshow(warped, cmap='gray')
for point in dst:
axarray[1].plot(*point, '.')
for axis in axarray:
axis.set_axis_off()
plt.show()
return warped, M, Minv
if __name__ == '__main__':
ret, mtx, dist, rvecs, tvecs = calibrate_camera(calib_images_dir='camera_cal')
# show result on test images
for test_img in glob.glob('test_images/*.jpg'):
img = cv2.imread(test_img)
img_undistorted = undistort(img, mtx, dist, verbose=False)
img_binary = binarize(img_undistorted, verbose=False)
img_birdeye, M, Minv = birdeye(cv2.cvtColor(img_undistorted, cv2.COLOR_BGR2RGB), verbose=True)
