def wrapped(image):
frameWidth = 640
frameHeight = 480
c_img = utlis.undistort(img)
imgThres, imgCanny, imgColor = utlis.thresholding(c_img)
imgWarp = utlis.perspective_warp(imgColor,
dst_size=(frameWidth, frameHeight),
src=valTrackbars())
return imgWarp
arrayCounter=0
arrayCurve = np.zeros([noOfArrayValues])
myVals=[]
utlis.initializeTrackbars(intialTracbarVals)
while True:
success, img = cap.read()
#img = cv2.imread('test3.jpg')
if cameraFeed== False:img = cv2.resize(img, (frameWidth, frameHeight), None)
imgWarpPoints = img.copy()
imgFinal = img.copy()
imgCanny = img.copy()
imgUndis = utlis.undistort(img)
imgThres,imgCanny,imgColor = utlis.thresholding(imgUndis)
src = utlis.valTrackbars()
imgWarp = utlis.perspective_warp(imgThres, dst_size=(frameWidth, frameHeight), src=src)
imgWarpPoints = utlis.drawPoints(imgWarpPoints, src)
imgSliding, curves, lanes, ploty = utlis.sliding_window(imgWarp, draw_windows=True)
try:
curverad =utlis.get_curve(imgFinal, curves[0], curves[1])
lane_curve = np.mean([curverad[0], curverad[1]])
imgFinal = utlis.draw_lanes(img, curves[0], curves[1],frameWidth,frameHeight,src=src)
# ## Average
currentCurve = lane_curve // 50
if int(np.sum(arrayCurve)) == 0:averageCurve = currentCurve
else: