def main():
test_img_files = glob.glob("test_images/*.jpg")
test_images = [read_image_as_rgb(f) for f in test_img_files]
cameraCalibrator = CameraCalibrator()
cameraCalibrator.restore('models/camera_calibration_model')
pipeline = LaneDetectionPipeline(cameraCalibrator)
img = test_images[0]
undistorted = pipeline.get_birds_eye_binary(img)
bet = BirdsEyeViewTransform()
birds_eye_undistorted = bet.get_birds_eye_view(undistorted)
crop = trapezoidal_crop(undistorted)
birds_eye_crop = bet.get_birds_eye_view(crop)
# fig, ax = plt.subplots(2, 2)
# ax[0][0].imshow(undistorted, cmap='gray')
# ax[0][0].set_title("hls and gradient transform")
# ax[0][0].axis("off")
# ax[0][1].imshow(birds_eye_undistorted, cmap='gray')
# ax[0][1].set_title("birds eye")
# ax[0][1].axis("off")
# ax[1][0].imshow(crop, cmap='gray')
# ax[1][0].title("trapeziodal crop")
# ax[1][0].axis("off")
# ax[1][1].imshow(birds_eye_crop, cmap='gray')
# ax[1][1].title("birds eye crop")
# ax[1][1].axis("off")
histogram = np.sum(birds_eye_crop, axis=0)
plt.plot(histogram)
plt.show()
def __init__(self):
self.width = 1280
self.height = 720
self.left_lines = Line()
self.right_lines = Line()
self.s_magnitude_thresh = (175, 255)
self.sobel_kernel = 7
self.m_thresh = (14, 255)
self.d_thresh = (0.0, 0.73)
self.camera_calibrator = CameraCalibrator()
from camera_calibration import CameraCalibrator
from image_utils import *
from lane_detection import LaneDetectionPipeline
from lane_finding_histogram import *
from lanes import *
from glob import glob
cameraCalibrator = CameraCalibrator()
cameraCalibrator.restore('models/camera_calibration_model')
pipeline = LaneDetectionPipeline(cameraCalibrator)
test_images_dir = "test_images"
output_images_dir = "output_images"
input_file_paths = glob(test_images_dir + "/*.jpg")
for input_file_path in input_file_paths:
output_file_path = input_file_path.replace(test_images_dir, output_images_dir)
img = read_image_as_rgb(input_file_path)
out_img = pipeline.process(img)
out_img = cv2.cvtColor(out_img, cv2.COLOR_RGB2BGR)
cv2.imwrite(output_file_path, out_img)
pipeline.reset()
from moviepy.editor import VideoFileClip
test_videos_dir = "test_videos"
output_videos_dir = "output_videos"
video_file_paths = glob(test_videos_dir + "/*.mp4")
for video_file_path in video_file_paths:
output_file_path = video_file_path.replace(test_videos_dir, output_videos_dir)
clip = VideoFileClip(video_file_path)
clip_output = clip.fl_image(pipeline.process)
clip_output.write_videofile(output_file_path, audio=False)