def fit_lines(lines):
"""
Args:
lines: List of hough Lines
return:
The right Line and the left line
"""
right_line = None
left_line = None
for line in lines:
for x1, y1, x2, y2 in line:
l1 = Line([x1, x2], [y1, y2])
if l1.is_vertical():
if l1.is_left_line():
if not left_line:
left_line = l1
else:
left_line = left_line.fit(l1)
else:
if not right_line:
right_line = l1
else:
right_line = right_line.fit(l1)
else:
pass
return right_line, left_line
def __init__(self, num_train, num_test):
self.thresh = 0.001
line_pts = np.zeros((2,2))
#don't want line vertical or near vertical
while abs(line_pts[0][1] - line_pts[1][1]) <= self.thresh:
line_pts = np.random.uniform(-1,1, (2,2))
self.line = Line(line_pts[0], line_pts[1])
num_train = max(1, num_train)
self.num_train = num_train
self.train_set = np.random.uniform(-1,1, (num_train, 2))
self.train_labels = self.line.calc_pts(self.train_set)
num_test = max(1,num_test)
self.num_test = num_test
self.test_set = np.random.uniform(-1,1, (num_test, 2))
self.test_labels = self.line.calc_pts(self.test_set)
def compute_lines(sol, tidy_path, all_lines):
with open(tidy_path, 'U') as f:
renamed_src = f.read()
#pprint.pprint(sol.getDict())
#This code renames all variables as placeholders, and saves a mapping
#from placeholder to original name and abstract variable object
mappings = {}
ctr = 0
for lvar in sol.local_vars:
placeholder = '___' + str(ctr) + '___'
try:
renamed_src = identifier_renamer.rename_identifier(
renamed_src, lvar.local_name, placeholder)
except:
raise RenamerException('Failed to rename ' + str(sol.solnum))
ctr += 1
mappings[placeholder] = (lvar.local_name, lvar.abstract_var)
#print mappings
#This code breaks solutions down into line objects
raw_lines = renamed_src.split('\n')
line_no = 0 #there is no line zero, but it will get incremented at the start of every loop
for raw_line in raw_lines:
line_no += 1
stripped_line = raw_line.strip()
#ignore empty lines
if stripped_line == '':
continue
indent = len(raw_line) - len(stripped_line)
blanks = re.findall(r'___\d___', stripped_line)
#print 'blanks',blanks
if len(blanks) > 0:
local_names, abstract_variables = zip(*[mappings[blank] for blank in blanks])
else:
local_names = ()
abstract_variables = ()
#print local_names, abstract_variables
template = re.sub(r'___\d___', '___', stripped_line)
line_values = {}
for loc_nam in local_names:
#print 'line_no: ', line_no, [a for (a,b) in sol.trace['__lineNo__'] if b==line_no] #zip(*sol.trace['__lineNo__'])
#print 'line_no: ', line_no, 'loc_nam', loc_nam, [ [d for (c,d) in sol.trace[loc_nam] if c==a and d!='myNaN' ] for (a,b) in sol.trace['__lineNo__'] if b==line_no]
line_values[loc_nam] = []
for loc_val in [ [d for (c,d) in sol.trace[loc_nam] if c==a ] for (a,b) in sol.trace['__lineNo__'] if b==line_no]:
#if loc_val[0]!='myNaN':
line_values[loc_nam].append(loc_val[0])
#print 'line_values',line_values
step_values = []
for loc_nam in local_names:
step_values.append(tuple(line_values[loc_nam]))
#print 'step_values', step_values
this_line_as_general_line = Line(template, abstract_variables, indent, step_values);
this_line_in_solution = (this_line_as_general_line, local_names);
sol.lines.append( this_line_in_solution );
#print 'adding ',this_line_as_general_line,' to all_lines'
add_to_setlist(this_line_as_general_line,all_lines)
np.array([]),
minLineLength=min_line_length,
maxLineGap=max_line_gap)
print(lines)
# <a id="line"/>
# ### Class Line
# In[48]:
get_ipython().run_line_magic('pinfo', 'Line')
# In[49]:
l1 = Line([318, 361], [425, 395])
l2 = Line([313, 354], [421, 392])
# In[50]:
l1.m, l1.b
# In[51]:
l1.is_vertical()
# In[52]:
l1.is_left_line()
# In[53]:
message = 'Vehicle is ' + '{:+.2f} m'.format(
off_center) + ' left of center'
else:
message = 'Vehicle is ' + '{:+.2f} m'.format(
off_center) + ' right of center'
# adding required text onto the output images
font = cv2.FONT_HERSHEY_SIMPLEX
text1 = 'Left line curvature: {:.0f} m'.format(left_curvature)
cv2.putText(result, text1, (50, 50), font, 1, [255, 255, 255], 2)
text2 = 'Right line curvature: ' + '{:.0f}'.format(right_curvature) + 'm'
cv2.putText(result, text2, (50, 100), font, 1, [255, 255, 255], 2)
cv2.putText(result, message, (50, 150), font, 1, [255, 255, 255], 2)
return result
# initial variables needed
with open('camera_cal.pickle', 'rb') as input_file:
mtx, dist = pickle.load(input_file)
M = getTransformMatrices()
Minv = np.linalg.inv(M)
# initializing lines
left_lane = Line()
right_lane = Line()
# video processing and saving
video_output = 'output_video/project_video_output.mp4'
clip1 = VideoFileClip("project_video.mp4")
video_clip = clip1.fl_image(
process_image) #NOTE: this function expects color images!!
video_clip.write_videofile(video_output, audio=False)