class FindLaneLines:
""" This class is for parameter tunning.
Attributes:
...
"""
def __init__(self):
""" Init Application"""
self.calibration = CameraCalibration('camera_cal', 9, 6)
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines()
def forward(self, img):
out_img = np.copy(img)
img = self.calibration.undistort(img)
img = self.transform.forward(img)
img = self.thresholding.forward(img)
img = self.lanelines.forward(img)
img = self.transform.backward(img)
out_img = cv2.addWeighted(out_img, 1, img, 0.6, 0)
out_img = self.lanelines.plot(out_img)
return out_img
def process_image(self, input_path, output_path):
img = mpimg.imread(input_path)
out_img = self.forward(img)
mpimg.imsave(output_path, out_img)
def process_video(self, input_path, output_path):
clip = VideoFileClip(input_path)
out_clip = clip.fl_image(self.forward)
out_clip.write_videofile(output_path, audio=False)
def __init__(self, master=None):
""" Init Application"""
super().__init__(master)
self.master = master
self.create_widgets()
self.grid()
self.filepath = ""
self.image = None
self.debug = True
self.calibration = CameraCalibration('camera_cal', 9, 6)
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines(debug=self.debug)
self.vidcap = None
self.frames = []
self.current_frameid = -1
def __init__(self):
""" Init Application"""
self.calibration = CameraCalibration('camera_cal', 9, 6)
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines()
def load_parameters(self):
load_params()
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines(debug=self.debug)
class Application(tk.Frame):
""" This class is for parameter tunning.
Attributes:
...
"""
def __init__(self, master=None):
""" Init Application"""
super().__init__(master)
self.master = master
self.create_widgets()
self.grid()
self.filepath = ""
self.image = None
self.debug = True
self.calibration = CameraCalibration('camera_cal', 9, 6)
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines(debug=self.debug)
self.vidcap = None
self.frames = []
self.current_frameid = -1
def create_widgets(self):
self.winfo_toplevel().title("Parameter Tuning")
self.hi_there = tk.Button(self,
text="Load image",
command=self.load_image)
self.hi_there.grid(row=1)
self.textbox = tk.Entry(self)
self.textbox.insert(0, 'test_images/project_video_frame_1048.jpg')
self.textbox.grid(row=0)
self.save = tk.Button(self,
text="Save params",
command=self.save_parameters)
self.save.grid(row=2)
self.load = tk.Button(self,
text="Load params",
command=self.load_parameters)
self.load.grid(row=3)
self.quit = tk.Button(self,
text="Quit",
fg="red",
command=self.master.destroy)
self.quit.grid(row=5)
self.process_image_button = tk.Button(self,
text="Process image",
command=self.process_image)
self.process_image_button.grid(row=1, column=1)
self.process_video_button = tk.Button(self,
text="Process video",
command=self.process_video)
self.process_video_button.grid(row=1, column=2)
self.frame_textbox = tk.Entry(self)
self.frame_textbox.grid(row=0, column=1)
self.get_frame_button = tk.Button(self,
text="Get frame from video",
command=self.get_frame)
self.get_frame_button.grid(row=2, column=1)
self.save_frame_button = tk.Button(self,
text="Save frame from video",
command=self.save_frame)
self.save_frame_button.grid(row=3, column=1)
self.debug_button = tk.Button(self,
text="Debug ON",
command=self.toggle_debug)
self.debug_button.grid(row=1, column=3)
def load_image(self):
self.current_frameid = -1
self.filepath = self.textbox.get()
self.image = cv2.imread(self.filepath)
img = self.image
cv2.imshow("original", img)
self.thresholding.display(img)
img = self.thresholding.forward(img)
self.transform.display(img)
img = self.transform.forward(img)
self.lanelines.display(img)
def forward(self, img):
out_img = np.copy(img)
img = self.calibration.undistort(img)
img = self.thresholding.forward(img)
img2 = np.dstack((img, img, img))
img = self.transform.forward(img)
img = self.lanelines.forward(img)
img3 = img
img = self.transform.backward(img)
out_img = cv2.addWeighted(out_img, 1, img, 0.3, 0)
out_img = self.lanelines.plot(out_img)
if self.debug and self.current_frameid >= 0:
cv2.putText(out_img,
str(self.current_frameid),
org=(700, 100),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=1,
color=(0, 0, 0),
thickness=2)
self.current_frameid += 1
return out_img
def process_image(self):
self.current_frameid = -1
img = cv2.imread(self.textbox.get())
out_img = self.forward(img)
cv2.imshow("output", out_img)
def process_video(self):
self.current_frameid = 0
self.filepath = self.textbox.get()
clip = VideoFileClip(self.filepath)
out_clip = clip.fl_image(self.forward)
out_clip.write_videofile("output_videos/" + self.filepath, audio=False)
def get_frame(self):
path = self.textbox.get()
frame_id = int(self.frame_textbox.get())
if (path != self.filepath) or (self.vidcap is None):
self.vidcap = cv2.VideoCapture(path)
self.filepath = path
self.frames = []
if len(self.frames) > frame_id:
cv2.imshow("Frame {}".format(frame_id), self.frames[frame_id])
return
success, image = self.vidcap.read()
while success:
self.frames.append(image)
if len(self.frames) > frame_id:
cv2.imshow("Frame {}".format(frame_id), self.frames[frame_id])
return
success, image = self.vidcap.read()
def save_frame(self):
path = self.textbox.get()
frame_id = int(self.frame_textbox.get())
l = path.rfind('/') + 1
r = path.find('.')
output_path = "test_images/" + path[l:r] + "_frame_{}.jpg".format(
frame_id)
self.get_frame()
cv2.imwrite(output_path, self.frames[frame_id])
def toggle_debug(self):
self.debug = not self.debug
if self.debug:
self.debug_button.config(text="Debug ON")
else:
self.debug_button.config(text="Debug OFF")
self.lanelines.debug = self.debug
def save_parameters(self):
self.thresholding.save_parameters()
save_params()
def load_parameters(self):
load_params()
self.thresholding = Thresholding()
self.transform = PerspectiveTransformation()
self.lanelines = LaneLines(debug=self.debug)