def test_plot_all(self):
# calibrate image
raw_img = mpimg.imread("quiz_img/signs_vehicles_xygrad.png")
cal_fns = glob.glob("camera_cal/calibration??.jpg")
cal = lane_line_finding.Calibration(nx=9, ny=6)
cal.calibrate_camera_from_filenames(cal_fns)
img = cal.undistort_image(raw_img)
sobel = lane_line_finding.Sobel()
abs_x = sobel.abs_sobel_threshold(img,
orient='x',
sobel_kernel=9,
thresh=(20, 200),
plot=False)
abs_y = sobel.abs_sobel_threshold(img,
orient='y',
sobel_kernel=9,
thresh=(20, 200),
plot=False)
mag = sobel.mag_threshold(img,
sobel_kernel=11,
thresh=(40, 200),
plot=False)
direction = sobel.dir_threshold(img,
sobel_kernel=11,
thresh=(0.7, 1.3),
plot=False)
combined = sobel.plot_all(abs_x, abs_y, mag, direction)
if RUN_PLOTTING_TESTS:
plt.show()
def test_undistort_image_from_filename_ProperImage(self):
fn = "quiz_img/signs_vehicles_xygrad.png"
cal = lane_line_finding.Calibration(9, 6)
cal.calibrate_camera_from_filenames(self.cal_fns, proj_dir)
img = cal.undistort_image_from_filename(fn, proj_dir)
if RUN_PLOTTING_TESTS:
f, axes = plt.subplots(1, 2, figsize=[16, 6])
axes[0].imshow(mpimg.imread(fn))
axes[0].set_title("Original image")
axes[1].imshow(img)
axes[1].set_title("Undistorted image")
plt.tight_layout()
plt.show()
def test_undistort_image_from_filename(self):
fn = "camera_cal/calibration4.jpg"
cal = lane_line_finding.Calibration(9, 6)
cal.calibrate_camera_from_filenames(self.cal_fns, proj_dir)
img = cal.undistort_image_from_filename(fn, proj_dir)
if RUN_PLOTTING_TESTS:
f, axes = plt.subplots(1, 2, figsize=[16, 6])
axes[0].imshow(cv2.imread(fn))
axes[0].set_title("Original image")
axes[1].imshow(img)
axes[1].set_title("Undistorted image")
plt.tight_layout()
plt.show()
def test_transform_image(self):
# calibrate the camera
cal_fns = glob.glob("camera_cal/calibration??.jpg")
cal = lane_line_finding.Calibration(9, 6)
cal.calibrate_camera_from_filenames(cal_fns, proj_dir)
# open a chessboard image
fn = "camera_cal/calibration10.jpg"
cb = lane_line_finding.Chessboard(fn, proj_dir, 9, 6)
# undistort image
cb.img = cal.undistort_image(cb.img)
# find outer corners of chessboard
cb.get_chessboard_corners()
src_coords, dst_coords = cb.get_outer_corners()
# do a perspective transform
pt = lane_line_finding.PerspectiveTransform(src_coords, dst_coords)
trans_img = pt.transform_image(cb.img)
if RUN_PLOTTING_TESTS:
f, axes = plt.subplots(1, 2, figsize=[15, 5])
# plot original (undistorted) image
axes[0].imshow(cb.img)
axes[0].scatter(src_coords[:, 0],
src_coords[:, 1],
label='src_coords')
axes[0].scatter(dst_coords[:, 0],
dst_coords[:, 1],
label='dst_coords')
axes[0].legend()
axes[0].set_title("Original image (undistorted)")
axes[1].imshow(trans_img)
axes[1].set_title("Transformed image")
axes[1].imshow(trans_img)
plt.tight_layout()
plt.show()
def test_calibrate_camera_from_filenames(self):
cal = lane_line_finding.Calibration(9, 6)
cal.calibrate_camera_from_filenames(self.cal_fns, proj_dir)
self.assertIsNotNone(cal.dist)
self.assertIsNotNone(cal.mtx)