def test(filename, n=0, show=False):
import importlib
importlib.reload(mask)
print(persp._perspective)
im_ = plt.imread(filename)
im = clb.undistort(im_)
if n == -1:
return persp.warp(im, show=show)
elif n == 0:
im2 = persp.warp(im, show=show)
color_mask.hls_channel(im2, channel='h', thresh=(100, 255), show=show)
color_mask.hls_channel(im2, channel='l', thresh=(200, 255), show=show)
color_mask.hls_channel(im2, channel='s', thresh=(100, 255), show=show)
elif n == 1:
im_eq = equalize_hist(im, show=show)
im2 = persp.warp(im_eq, show=show)
color_mask.hls_channel(im2, channel='h', thresh=(0, 100), show=show)
color_mask.hls_channel(im2, channel='l', thresh=(200, 255), show=show)
color_mask.hls_channel(im2, channel='s', thresh=(100, 255), show=show)
elif n == 2:
im2 = persp.warp(im, show=show)
color_mask.rgb_channel(im2, channel='r', thresh=(220, 255), show=show)
color_mask.rgb_channel(im2, channel='g', thresh=(210, 255), show=show)
color_mask.rgb_channel(im2, channel='b', thresh=(0, 100), show=show)
elif n == 3:
im2 = persp.warp(im, show=show)
color_mask.hls_channel(im2, channel='h', thresh=(0, 90), show=show)
color_mask.hls_channel(im2, channel='l', thresh=(200, 255), show=show)
color_mask.hls_channel(im2, channel='s', thresh=(110, 255), show=show)
elif n == 4:
im2 = persp.warp(im, show=show)
return custom_mask.special_mask(im2, show=show)
def samples(self, im, target='data/video_dataset/'):
im = clb.undistort(im)
shape = self._model.input_shape
for nw, se in self._slicer.wins:
ys, ye = nw[1], se[1]
xs, xe = nw[0], se[0]
cpy = cv.resize(im[ys:ye, xs:xe, :], shape[:2])
cpy = common.cvt_color(cpy, color='BGR', src='RGB')
cv.imwrite('{0}/{1}.png'.format(target, self._i), cpy)
self._i += 1
print(self._i)
return im
def process(self, frame, show=False):
im = clb.undistort(frame)
warped = prsp.warp(im)
masked = custom_mask.apply(warped, show=show)
lp, rp = self._find_lane_points(masked,
num_strips=10,
radius=70,
show=show)
height = masked.shape[0]
width = masked.shape[1]
llane = Lane(lp, end=height - 1, num=height)
rlane = Lane(rp, end=height - 1, num=height)
offset = Lane.offset(llane,
rlane,
y=masked.shape[0] - 1,
frame_width=width)
lcurv = llane.curvature(height // 2)
rcurv = rlane.curvature(height // 2)
fill = Lane.fill_lanes(warped, llane, rlane, show=show)
return self._final_frame(im, fill, lcurv, rcurv, offset, show=show)
def process(self, orig, show=False):
im = clb.undistort(orig, show=show)
self._find_cars_heatmap(im, show=show)
self._find_cars_boxes(show=show)
self._reset_heatmap()
return self._draw_car_boxes(orig, show=show)
