def pipeline(img):
chessboard_images = glob.glob('../data/main/camera_cal/*.jpg')
nx = 9 # chessboard corners in x direction
ny = 6 # chessboard corners in y direction
calibration_result = calibrate_camera(chessboard_images, (nx, ny))
mtx = calibration_result["mtx"]
dist = calibration_result["dist"]
undistorted_img = cv2.undistort(img, mtx, dist, None, mtx)
binary = find_line_edges(undistorted_img)
line_edges = np.dstack((binary, binary, binary)) * 255
return line_edges
def pipeline(img):
out = np.array(img, copy=True)
chessboard_images = glob.glob('../data/main/camera_cal/*.jpg')
nx = 9 # chessboard corners in x direction
ny = 6 # chessboard corners in y direction
calibration_result = calibrate_camera(chessboard_images, (nx, ny))
mtx = calibration_result["mtx"]
dist = calibration_result["dist"]
undistorted_img = cv2.undistort(img, mtx, dist, None, mtx)
binary = find_line_edges(undistorted_img)
l_line, r_line = hough_transformation(binary)
cv2.line(out, (l_line.get_x1(), l_line.get_y1()),
(l_line.get_x2(), l_line.get_y2()), (250, 0, 0), 10)
cv2.line(out, (r_line.get_x1(), r_line.get_y1()),
(r_line.get_x2(), r_line.get_y2()), (250, 0, 0), 10)
return out
ax10.imshow(lab_l)
ax10.set_title('LAB(L channel)')
ax11.imshow(lab_a)
ax11.set_title('LAB(A channel)')
ax12.imshow(lab_b)
ax12.set_title('LAB(B channel)')
for ax in f.get_axes():
ax.label_outer()
plt.show()
# Compute the camera calibration matrix and distortion coefficients given a set of chessboard images
chessboard_images = glob.glob('../data/main/camera_cal/*.jpg')
nx = 9 # chessboard corners in x direction
ny = 6 # chessboard corners in y direction
calibration_result = calibrate_camera(chessboard_images, (nx, ny))
mtx = calibration_result["mtx"]
dist = calibration_result["dist"]
img = cv2.imread('../data/main/test_images/test5.jpg')
# Apply a distortion correction to raw images
undistorted_img = cv2.undistort(img, mtx, dist, None, mtx)
# let's try to use RGB,HLS, HSV,LAB color spaces and individual channels to identify the best options
display_all_channels_for_color_spaces(undistorted_img)
# I will stick to LAB color space (B channel). It gives good results for all test images I work with