def undistort(self, raw_image, show_dotted=False):
image = cv2.undistort(raw_image, self.cam_matrix, self.dist_coef, None,
self.cam_matrix)
if show_dotted:
show_dotted_image(image, self.spoints)
return image
def sky_view(self, ground_image, show_dotted=False):
temp_image = self.undistort(ground_image, show_dotted=False)
shape = (temp_image.shape[1], temp_image.shape[0])
warp_image = cv2.warpPerspective(temp_image,
self.warp_matrix,
shape,
flags=cv2.INTER_LINEAR)
if show_dotted:
show_dotted_image(warp_image, self.dpoints)
return warp_image