def __init__(self,
basename,
viewer=False,
saver=False,
binary_warper=None):
self.frame_ctr = 0
self.faulty_frames = 0
self.cache_dict, self.parm_dict = ut.app_init(viewer=viewer,
saver=saver,
title="whatever")
self.vwr = None
if viewer:
self.vwr = self.cache_dict['viewer']
# we create them for video debug but even then only turn them
# on when needed
self.vwr.bce_set_enabled(False)
self.lane = Lane(self.cache_dict,
self.parm_dict,
vwr=self.vwr,
binary_warper=binary_warper)
in_path = basename + ".mp4"
print("processing " + in_path)
out_path = ut.get_out_dir() + basename + ".mp4"
video_in = VideoFileClip(in_path)
rendered_video = video_in.fl_image(self.process_frame_bp)
rendered_video.write_videofile(out_path, audio=False)
print("average lane width = %f" %
(self.lane.sum_lane_widths / self.frame_ctr))
if self.faulty_frames:
print(
"\n\n Total Frames %d, failed to find lane boundaries in %d frames"
% (self.frame_ctr, self.faulty_frames))
def analyze_hist(hist):
# see lesson 7.4
width = hist.img_data.shape[0]
midway = width // 2
left_max_ix = np.argmax(hist.img_data[0:midway])
right_max_ix = midway + np.argmax(hist.img_data[midway:width])
print("histo maxen = %d, %d" % (left_max_ix, right_max_ix))
def doit(path="", cd=None, pd=None, vwr=None):
vwr.flush()
for path in ut.get_fnames("test_images/", "problem_binary_warped.jpg"):
img = iu.imRead(path,
flags=cv2.IMREAD_GRAYSCALE,
reader='cv2',
vwr=None)
ut.brk("wtf?")
hist = iu.hist(img)
ut.brk("plot the histogram")
ut.brk("call get_LR_hist_max_ix()")
iv._push(vwr, hist)
vwr.show()
cache_dict, parm_dict = ut.app_init(viewer=True, saver=False, title="whatever")
vwr = cache_dict['viewer']
ut.brk("this unit test is broken")
doit(cd=cache_dict, pd=parm_dict, vwr=vwr)
#!/usr/bin/env python3 # import util as ut import ImgViewer as iv import cv2 import numpy as np import ImgUtil as iu import ImgViewer as iv import LaneUtils as lu # our object model # Lanes: contain LaneBoundary(s) and attributes common to both boundaries # LaneBoundary(s): contain attributes for a particular lane bounday # Windows: are used to calculate lane boundaries #cd is cache_dict, pd is parm_dict cd, pd = ut.app_init(viewer=True, saver=True, title="whatever")
