def process_image(image):
# Undistort Image
undist = cam.undistort(image)
# Set up Frame pipeline
frame = Frame(image, undist)
# test(frame.image, "Original Frame", undist, "Undistorted Image")
S = frame.HLS[:, :, 2]
hLs = frame.HLS[:, :, 1]
# Luv = frame.LUV[:, :, 0]
# B = frame.LAB[:, :, 2]
# gray = frame.gray
# Absolute Value Sobel X Gradient using L-Channel in HLS
sobel_x_binary = frame.abs_sobel_thresh(hLs,
orient='x',
sobel_kernel=ksize,
thresh=(20, 255))
# test(frame.image, "Original Frame", sobel_x_binary, "Sobel X Binary")
# Binary Thresholded from S-Channel of HLS
s_binary = np.zeros_like(S)
s_binary[(S >= 120) & (S <= 255)] = 1
# test(frame.image, "Original Frame", s_binary, "S Binary")
# Thresholded Binary of L-Channel from HLS
l_binary = np.zeros_like(hLs)
l_binary[(hLs >= 40) & (hLs <= 255)] = 1
# test(frame.image, "Original Frame", l_binary, "L Binary")
# Combined Binary of previous 3 binary images
combined = 255 * np.dstack(
(l_binary, sobel_x_binary, s_binary)).astype('uint8')
# test(frame.image, "Original Frame", combined, "Combined")
binary = np.zeros_like(sobel_x_binary)
binary[((l_binary == 1) & (s_binary == 1) | (sobel_x_binary == 1))] = 1
binary = 255 * np.dstack((binary, binary, binary)).astype('uint8')
# test(frame.image, "Original Frame", binary, "New Binary")
# Perspective Transform of Combined Binary
p_t = frame.perspective_transform(binary)
p_t = frame.crop(p_t)
# test(frame.image, "Original Frame", p_t, "Perspective Transform and Crop")
# Find Lane Lines or return untouched and undistorted frame
if lane.find_lines(lane_left, lane_right, p_t, image):
return lane.draw(lane_left, lane_right, frame)
else:
return frame.undist
def morph(begin, end, pt, corner, factor):
""" interpolates a new frame between two given frames 'begin and 'end'
putting the given 'corner' of the new frame's rectangle to point 'pt'.
'factor' is the position bewteen begin (0.0) and end (1.0).
"""
result = Frame()
# calculate current size
size = fade(begin.size(), end.size(), factor)
# calculate current rectangle
result.rect = [
pt[X] if corner[X] is L else pt[X] - size[X],
pt[Y] if corner[Y] is T else pt[Y] - size[Y],
pt[X] if corner[X] is R else pt[X] + size[X],
pt[Y] if corner[Y] is B else pt[Y] + size[Y],
]
# calculate current alpha value and cropping
result.alpha = fade(begin.alpha, end.alpha, factor)
result.crop = fade(begin.crop, end.crop, factor)
# copy orignial size from begin
result.original_size = begin.original_size
return result
