def _action(self, context):
lane = context.get(self.lane_input)
if lane is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.lane_input))
img = context.get(self.img_input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.img_input))
curv = lane.get_curv()
offset = lane.get_offset()
img_ar = img.copy()
h = img_ar.shape[0]
font = cv2.FONT_HERSHEY_DUPLEX
text = 'Curve radius: {:4.0f}m'.format(np.absolute(curv))
cv2.putText(img_ar, text, (40, 70), font, 1.5, (200, 255, 155), 2,
cv2.LINE_AA)
offset_dir = 'right' if offset > 0 else 'left'
text = '{:04.2f}m {} of center'.format(np.absolute(offset), offset_dir)
cv2.putText(img_ar, text, (40, 120), font, 1.5, (200, 255, 155), 2,
cv2.LINE_AA)
context[self.output] = img_ar
return img_ar
def _action(self, context):
img1 = context.get(self.input1)
if img1 is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input1))
img2 = context.get(self.input2)
if img2 is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input2))
out_img = cv2.addWeighted(img1, 1, img2, self.alpha, 0)
context[self.output] = out_img
return out_img
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
img_cvt = cv2.cvtColor(img, self.mode)
context[self.output] = img_cvt
return img_cvt
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
img_cal = calibration.undistort(img, self.mtx, self.dist)
context[self.output] = img_cal
return img_cal
def _action(self, context):
lane = context.get(self.input)
if lane is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
if self.mode == 'fit':
vis_img = lane.plot_fitted_lane()
elif self.mode == 'area':
vis_img = lane.draw_lane()
else:
raise exceptions.PipeException(
"unsupported mode argument in DrawLaneNode: {}".format(
self.mode))
context[self.output] = vis_img
return vis_img
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
cut = transform.cut_roi(img, self.roi_pts)
context[self.output] = cut
return cut
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
img_thresh = transform.combined_threshold(img)
context[self.output] = img_thresh
return img_thresh
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
img = img.copy()
pts = np.array(self.roi_pts, dtype=np.int32).reshape((-1, 1, 2))
cv2.polylines(img, [pts], True, (0, 0, 255), 2)
context[self.output] = img
return img
def _action(self, context):
img = context.get(self.input)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
img_thresh = np.zeros_like(img, dtype=np.uint8)
img_thresh[img > self.thresh] = 1
context[self.output] = img_thresh
return img_thresh
def _action(self, context):
binary_img = context.get(self.input)
if binary_img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
prior_lane = context.get(
self.prior_lane_input
) if self.prior_lane_input is not None else None
lane = detect.detect_llines(binary_img, prior_lane)
context[self.output] = lane
return lane
def _action(self, context):
img = context.get(self.input)
if self.dtype is not None:
img = img.astype(self.dtype)
if img is None:
raise exceptions.PipeException(
"missing context parameter: {}".format(self.input))
if not self.inv:
warped = transform.warpPerspective(img, self.M)
else:
warped = transform.warpPerspective(img, self.Minv)
context[self.output] = warped
return warped