/
lane_finding_gui.py
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/
lane_finding_gui.py
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import matplotlib
matplotlib.use('TkAgg')
from tkinter import Tk, Label, Scale, HORIZONTAL, Button
from PIL import Image
from PIL.ImageTk import PhotoImage
import glob
import matplotlib.image as mpimg
import cv2
from pipeline import process_image
images = glob.glob('video_frames/frame*.jpg')
index = 0
sobel_thresh_min = 0
sobel_thresh_max = 255
s_thresh_min = 0
s_thresh_max = 255
def change_sobel_thresh_min(val):
global sobel_thresh_min
sobel_thresh_min = int(val)
update_gui()
def change_sobel_thresh_max(val):
global sobel_thresh_max
sobel_thresh_max = int(val)
update_gui()
def change_s_thresh_min(val):
global s_thresh_min
s_thresh_min = int(val)
update_gui()
def change_s_thresh_max(val):
global s_thresh_max
s_thresh_max = int(val)
update_gui()
def force_sliding():
update_gui(force_slide=True)
def update_gui(force_slide=False):
global index
original = mpimg.imread(images[index])
undisorted, thresholded, transformed, detected_lines, projected, left_curverad, right_curverad, position_of_the_car = process_image(original, sobel_thresh_min=sobel_thresh_min, sobel_thresh_max=sobel_thresh_max, s_thresh_min=s_thresh_min, s_thresh_max=s_thresh_max, force_sliding=force_slide)
original = Image.fromarray(resize_image(original))
undisorted = Image.fromarray(resize_image(undisorted))
thresholded = Image.fromarray(resize_image(thresholded))
transformed = Image.fromarray(resize_image(transformed))
detected_lines = Image.fromarray(resize_image(detected_lines))
projected = Image.fromarray(resize_image(projected))
originalPhotoImage = PhotoImage(original)
undistortedPhotoImage = PhotoImage(undisorted)
binaryPhotoImage = PhotoImage(thresholded)
birdViewPhotoImage = PhotoImage(transformed)
detectedLinesPhotoImage = PhotoImage(detected_lines)
projectedPhotoImage = PhotoImage(projected)
window.originalPhotoImage.configure(image=originalPhotoImage)
window.originalPhotoImage.image = originalPhotoImage
window.undistortedPhotoImage.configure(image=undistortedPhotoImage)
window.undistortedPhotoImage.image = undistortedPhotoImage
window.binaryPhotoImage.configure(image=binaryPhotoImage)
window.binaryPhotoImage.image = binaryPhotoImage
window.birdViewPhotoImage.configure(image=birdViewPhotoImage)
window.birdViewPhotoImage.image = birdViewPhotoImage
window.detectedLinesPhotoImage.configure(image=detectedLinesPhotoImage)
window.detectedLinesPhotoImage.image = detectedLinesPhotoImage
window.projectedPhotoImage.configure(image=projectedPhotoImage)
window.projectedPhotoImage.image = projectedPhotoImage
def resize_image(image):
return cv2.resize(image, (0, 0), fx=0.25, fy=0.25)
def left_button_pressed(e):
global index
if (index > 0):
index -= 1
update_gui()
def right_button_pressed(e):
global index
global images
if (index < len(images)):
index += 1
update_gui()
window = Tk()
window.title("Pre-processing configuration")
window.configure(background='grey')
window.bind("<Left>", left_button_pressed)
window.bind("<Right>", right_button_pressed)
Label(text="Original Image").grid(row=0, column=0, sticky='we')
Label(text="Undistorted Image").grid(row=0, column=1, sticky='we')
Label(text="Binary Image").grid(row=0, column=2, sticky='we')
Label(text="Bird View").grid(row=2, column=0, sticky='we')
Label(text="Found lanes").grid(row=2, column=1, sticky='we')
Label(text="Output").grid(row=2, column=2, sticky='we')
originalPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.originalPhotoImage = Label(window, image=originalPhotoImage)
window.originalPhotoImage.grid(row=1, column=0)
undistortedPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.undistortedPhotoImage = Label(window, image=undistortedPhotoImage)
window.undistortedPhotoImage.grid(row=1, column=1)
binaryPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.binaryPhotoImage = Label(window, image=binaryPhotoImage)
window.binaryPhotoImage.grid(row=1, column=2)
birdViewPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.birdViewPhotoImage = Label(window, image=birdViewPhotoImage)
window.birdViewPhotoImage.grid(row=3, column=0)
detectedLinesPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.detectedLinesPhotoImage = Label(window, image=detectedLinesPhotoImage)
window.detectedLinesPhotoImage.grid(row=3, column=1)
projectedPhotoImage = PhotoImage(Image.fromarray(resize_image(mpimg.imread(images[0]))))
window.projectedPhotoImage = Label(window, image= projectedPhotoImage)
window.projectedPhotoImage.grid(row=3, column=2)
window.sobelLowThreshold = Scale(window, from_=0, to=255, orient=HORIZONTAL,
command=change_sobel_thresh_min, label="Low Sobel Threshold")
window.sobelLowThreshold.grid(row=4, column=0, columnspan=3, sticky='we')
window.sobelHighThreshold = Scale(window, from_=0, to=255, orient=HORIZONTAL,
command=change_sobel_thresh_min, label="High Sobel Threshold")
window.sobelHighThreshold.grid(row=5, column=0, columnspan=3, sticky='we')
window.sobelHighThreshold.set(255)
window.sLowThreshold = Scale(window, from_=0, to=255, orient=HORIZONTAL,
command=change_s_thresh_min, label="Low S Threshold")
window.sLowThreshold.grid(row=6, column=0, columnspan=3, sticky='we')
window.sHighThreshold = Scale(window, from_=0, to=255, orient=HORIZONTAL,
command=change_s_thresh_max, label="High S Threshold")
window.sHighThreshold.grid(row=7, column=0, columnspan=3, sticky='we')
window.sHighThreshold.set(255)
Button(window, text="Run Sliding Windows", command=force_sliding).grid(row=8, column=0, columnspan=3, sticky='we')
update_gui()
window.mainloop()