calibrator.calculate()
# init lines
left_line = Line()
right_line = Line()
pipeline = Pipeline(calibrator)
output_imgs = []
for img in images:
show_img(img)
undist = calibrator.undistort(img)
# found gradient
gradient = pipeline.compute_gradient(undist)
# wrap imgs
wrapped = pipeline.wrap(gradient)
# find left and right pixel poses
# find left and right polyline
left_line.count_check()
right_line.count_check()
lx, ly, rx, ry = pipeline.find_lines(wrapped)
if len(rx) > 0 and len(ry) > 0:
# set was detected
right_line.was_detected = True
# add founded points to instanse
right_line.allx = rx
right_line.ally = ry
# add poly
l_fit, right_line.polx, right_line.ploty = pipeline.find_poly(wrapped.shape,right_line.allx, right_line.ally)
right_line.add_fit(l_fit)
# if find points of left line
if len(lx) > 0 and len(ly) > 0:
# set was detected
left_line.was_detected = True
