def defineLanesWithColor(image, name, r, g, b):
# Make a copy of image
color_select = imgUtil.copyImage(image)
# Mask pixels below the threshold
color_thresholds = cs.setColorThresholds(image, color_select, r, g, b)
#Save image
imgUtil.displayAndSaveImage(color_select, './imgs/' + name + '-color-lane-selection.jpg')
return color_select
def defineLanesWithRegion(image, name, r, g, b):
# Make a copy of image
region_select = imgUtil.copyImage(image)
color_select = imgUtil.copyImage(image)
# Find the region inside the lines
color_thresholds = cs.setColorThresholds(image, color_select, r, g, b)
region_thresholds = rgn.defineRegionOfInterest(image)
# Find where image is both colored right and in the region
region_select[~color_thresholds & region_thresholds] = [255,0,0]
#Save image
imgUtil.displayAndSaveImage(region_select, './imgs/' + name + '-region-lane-selection.jpg')
return region_select
def defineLanesWithColorAndRegion(image, name, r, g, b):
# Make a copy of image
color_select = imgUtil.copyImage(image)
region_select = imgUtil.copyImage(image)
# Mask pixels below the threshold
color_thresholds = cs.setColorThresholds(image, color_select, r, g, b)
# Find the region inside the lines
region_thresholds = rgn.defineRegionOfInterest(image)
# Mask color and region selection
region_color_select = imgUtil.copyImage(color_select)
region_color_select[color_thresholds | ~region_thresholds] = [0, 0, 0]
imgUtil.displayAndSaveImage(region_color_select, './imgs/' + name + '-region-color-lane-selection.jpg')
return region_color_select
def defineLanesWithHoughTransformAndRegionInterest(image, name):
edges = defineLanesWithCanny(image, name, False)
hough_transformed_select = ht.houghTransformAndRegionSelect(image, edges)
imgUtil.displayAndSaveImage(hough_transformed_select, './imgs/' + name + '-hough-transform-region-lane-selection.jpg')