def plot_rsvl(rgb, name):
r = rgb[:,:,0]
req = cv2.equalizeHist(r)
rmask = mask(req, (252, 255))
dsp_images = [(name+'_req',req),('rmask', rmask)]
hls,h,l,s = rgb2hls(rgb)
seq = cv2.equalizeHist(s)
smask = mask(seq, (253, 255))
dsp_images += [(name+'_seq',seq),('smask', smask)]
hsv,h,s,v = rgb2hsv(rgb)
veq = cv2.equalizeHist(v)
vmask = mask(veq, (252, 255))
dsp_images += [(name+'_veq',veq),('vmask', vmask)]
lab,l,a,b = rgb2lab(rgb)
leq = cv2.equalizeHist(l)
lmask = mask(leq, (252, 255))
dsp_images += [(name+'_leq',leq),('lmask', lmask)]
comb = np.zeros_like(r)
comb[(rmask==1)|(vmask==1)|(lmask==1)] =1
dsp_images += [('comb',comb)]
plot_images(dsp_images)
plt.show()
def plot_grayscale(rgb, name):
gray = cv2.cvtColor(rgb, cv2.COLOR_RGB2GRAY)
gray_eq = cv2.equalizeHist(gray)
grdx = scale(gradient(gray, orient='x', ksize=7))
grdmag = cv2.equalizeHist(scale(gradient_magnitude(gray_eq, ksize=7)))
dsp_images= [(name+'_gray',gray),('gray_eq',gray_eq),('gradient',grdx),('gradient mag',grdmag)]
plot_images(dsp_images)
plt.show()
def plot_lab(rgb, name):
lab,l,a,b = rgb2lab(rgb)
gradl = scale(gradient(l, orient="x", ksize=11))
# grdlow = mask(gradl,(0,100))
# grdhigh = mask(gradl,(135,255))
# comb = np.zeros_like(gradl)
# comb[(grdlow==1)|(grdhigh==1)] = 1
maskl = mask(l, (190,255))
dsp_images= [(name+'_l',l),('maskl',maskl),('gradl',gradl)]
plot_images(dsp_images)
plt.show()
def plot_colorspaces(rgb,name):
r = rgb[:,:,0]
req = equalizeHist(r)
g = rgb[:,:,1]
b = rgb[:,:,2]
dsp_images= [(name+'_rgb',rgb),('r',r),('req',req),('g',g),('b',b)]
plot_images(dsp_images)
plt.show()
hls,h,l,s = rgb2hls(rgb)
seq = cv2.equalizeHist(s)
dsp_images= [(name+'_hls',hls),('h',h),('l',l),('s',s),('seq',seq)]
plot_images(dsp_images)
plt.show()
hsv,h,s,v = rgb2hsv(rgb)
veq = cv2.equalizeHist(v)
dsp_images = [(name+'_hsv',hsv),('h',h),('s',s),('v',v),('veq',veq)]
plot_images(dsp_images)
plt.show()
lab,l,a,b = rgb2lab(rgb)
leq = cv2.equalizeHist(l)
beq = cv2.equalizeHist(b)
dsp_images= [(name+'_lab',lab),('l',l),('leq',leq),('a',a),('b',b),('beq',beq)]
plot_images(dsp_images)
plt.show()
# image_names = ['test_images/straight_lines1.jpg','test_images/straight_lines2.jpg']
# image_names = ['test_images/test2.jpg']
for image_name in image_names:
img = imread(image_name)
img_und = undistorter.undistort(img)
# plotter = plot_colorspaces
plotter = plot_rsvl
# plotter = plot_lab
plotter = plot_grayscale
# plotter(img_und, image_name)
img_pt = per_trans.transform(img_und)
img_lns = filter_image(img_pt)
plot_images([("pic",img_und),("pt lane",img_lns)])
plt.show()
if False:
timer = Timer()
lf, rf = lane.get_current_fit()
if lf != None:
display_image_with_fits(img_lns, lf, rf)
lane.process_lanes(img_lns)
plt.show()
# gray = cv2.cvtColor(img_pt, cv2.COLOR_RGB2GRAY)
# grdx = scale(gradient(gray, orient="x", ksize=3))
# grdx5 = scale(gradient(gray, orient="x", ksize=5))