def main(): video_capture = cv2.VideoCapture(webcam_path) ret, mtx, dist, rvecs, tvecs = calibration_utils.calibrate_camera( n, m, testdir, fmt) while (True): ret, frame = video_capture.read() # hl_yellow = binarization.highlight_yellow_lines(frame, yellow_min, yellow_max) # sobel_edge = binarization.edge_detection(frame, kernel) # gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY) # vehicle_off = vehicle_offset.vehicle_offset(frame) # cv2.imshow('frame-yellow',hl_yellow) # B G R # hough_lines.hough_lines(frame, (0,255,0), 'white') # hough_lines.hough_lines(frame, (255,0,0), 'yellow') # cv2.imshow('frame-white',hl_white) # cv2.imshow('frame-sobel',sobel_edge) # cv2.imshow('frame-gray',gray) undist_img = calibration_utils.undistort(frame, mtx, dist) # cv2.imshow('frame-undistorted', undist_img) # hl_yellow = binarization.highlight_yellow_lines(undist_img, yellow_min, yellow_max) # hl_white = binarization.highlight_white_lines(undist_img) # cv2.imshow('frame-yellow',hl_yellow) # cv2.imshow('frame-white',hl_white) hl_white_yellow = binarization.white_yellow(undist_img, yellow_min, yellow_max) # cv2.imshow('frame-white-yellow',hl_white_yellow) ## birdeye = perspective_utils.birdeye(frame) # birdeye, be_boxes = perspective_karla.birdeye(undist_img) birdeye, be_boxes = perspective_karla.birdeye(hl_white_yellow) cv2.imshow('frame-birdeye', birdeye) cv2.imshow('frame-birdeye-boxes', be_boxes) if cv2.waitKey(1) & 0xFF == ord('q'): break cap.release() cv2.destroyAllWindows()
# axarray[0].imshow(img, cmap='gray') # for point in src: # axarray[0].plot(*point, '.') # axarray[1].set_title('After perspective transform') # axarray[1].imshow(warped, cmap='gray') # for point in dst: # axarray[1].plot(*point, '.') # for axis in axarray: # axis.set_axis_off() # plt.show() return warped, M, Minv if __name__ == '__main__': ret, mtx, dist, rvecs, tvecs = calibrate_camera( calib_images_dir='camera_cal') # show result on test images for test_img in glob.glob('test_images/*.jpg'): img = cv2.imread(test_img) img_undistorted = undistort(img, mtx, dist, verbose=False) img_binary = binarize(img_undistorted, verbose=False) img_birdeye, M, Minv = birdeye(cv2.cvtColor(img_undistorted, cv2.COLOR_BGR2RGB), verbose=True)
axarray[0].imshow(img, cmap='gray') for point in src: axarray[0].plot(*point, '.') axarray[1].set_title('After perspective transform') axarray[1].imshow(warped, cmap='gray') for point in dst: axarray[1].plot(*point, '.') for axis in axarray: axis.set_axis_off() plt.show() return warped, M, Minv if __name__ == '__main__': ret, mtx, dist, rvecs, tvecs = calibrate_camera(calib_images_dir='camera_cal') # show result on test images for test_img in glob.glob('test_images/*.jpg'): img = cv2.imread(test_img) img_undistorted = undistort(img, mtx, dist, verbose=False) img_binary = binarize(img_undistorted, verbose=False) img_birdeye, M, Minv = birdeye(cv2.cvtColor(img_undistorted, cv2.COLOR_BGR2RGB), verbose=True)