def addOffsetStamp(self, leftFit, rightFit, image, origin, color=(255, 255, 255), fontScale=1.0, thickness=1):
"""
Evaluating camera offset and adding it to a given image
:param thickness: line thickness
:param leftFit: left curve polynomial parameters
:param rightFit: right curve polynomial parameters
:param image: image where data being added
:param origin: upper-left corner of the offset stamp
:param color: stamp color
:param fontScale: font scale
:return: void (adds text to passed image)
"""
imgW = image.shape[1]
imgH = image.shape[0]
yBottom = imgH - 1
cameraCenter = imgW / 2
lBottomX = aux.funcSpace(argSpace=yBottom, fitParams=leftFit) - self.imgMarginWidth
rBottomX = aux.funcSpace(argSpace=yBottom, fitParams=rightFit) - self.imgMarginWidth
laneWidth = rBottomX - lBottomX
scaleX = 3.7 / laneWidth
laneCenter = (lBottomX + rBottomX) / 2
offSet = (cameraCenter - laneCenter) * scaleX
aux.putText(img=image, text='Estimated Vehicle Offset: {:.2f} m'.format(offSet),
origin=origin, color=color, scale=fontScale, thickness=thickness)
def addOffsetStamp(self, leftFit, rightFit, image, origin, color=(255, 255, 255), fontScale=1.0, thickness=1):
imgW = image.shape[1]
imgH = image.shape[0]
yBottom = imgH - 1
cameraCenter = imgW / 2
lBottomX = aux.funcSpace(argSpace=yBottom, fitParams=leftFit) - self.imgMarginWidth
rBottomX = aux.funcSpace(argSpace=yBottom, fitParams=rightFit) - self.imgMarginWidth
laneWidth = rBottomX - lBottomX
scaleX = 3.7 / laneWidth
laneCenter = (lBottomX + rBottomX) / 2
offSet = (cameraCenter - laneCenter) * scaleX
aux.putText(img=image, text='Смещение объекта автомобиля: {:.2f} m'.format(offSet),
origin=origin, color=color, scale=fontScale, thickness=thickness)
def addCurvatureStamp(leftFit, rightFit, image, origin, color=(255, 255, 255), fontScale=1.0):
"""
Evaluating lane curvature and adding it to a given image
:param leftFit: left curve polynomial parameters
:param rightFit: right curve polynomial parameters
:param image: image where data being added
:param origin: upper-left corner of the offset stamp
:param color: stamp color
:param fontScale: font scale
:return: void (adds text to passed image)
"""
imgH = image.shape[0]
yBottom = imgH-1
scaleY = 27 / imgH # meters per pixel
leftCurvature = aux.curvature(fitParams=leftFit, variable=yBottom, scale=scaleY)
rightCurvature = aux.curvature(fitParams=rightFit, variable=yBottom, scale=scaleY)
curvature = (leftCurvature + rightCurvature) / 2
aux.putText(img=image, text='Estimated Lane Curvature: {:.1f} m'.format(round(curvature / 100, 1) * 100),
origin=origin, color=color, scale=fontScale)
