import glob
import cv2
import os
import pickle
from lane_detector import LaneDetector
from frame_composer import FrameComposer
from undistorter import Undistorter
with open('./undistorter.pkl', 'rb') as f:
undistorter = pickle.load(f)
ld = LaneDetector(undistorter)
files = glob.glob('./data/test_images/*.jpg')
# files = ['./data/test_images/test1.jpg']
for file in files:
image = cv2.imread(file)
frame_with_lane_filled, frame_with_lines_n_windows_2d, thresholded_frame, radius_of_curvature = ld.run(image)
base = os.path.basename(file)
fc = FrameComposer(image)
fc.add_mask_over_base(frame_with_lane_filled)
fc.add_upper_bar((frame_with_lines_n_windows_2d, thresholded_frame))
fc.add_text('Raduis of curvature: {}'.format(radius_of_curvature))
cv2.imwrite('./data/test_images_output/{}_{}.jpg'.format(os.path.splitext(base)[0], 'lane_detected'), fc.get_frame())
file_index = result["filename"][-5]
cv2.imwrite("OUTPUT/calibration/1-corners%s.jpg" % file_index,
result["img"])
cv2.imwrite("OUTPUT/calibration/2-corners-undistorted-%s.jpg" % file_index,
camera.undistort(result["img"]))
# HSV color mask
color_mask = (
((20, 50, 75), (110, 255, 255)), # yellow lines
((0, 0, 220), (255, 255, 255)) # white lines
)
# Process images
for filename in glob.glob("raw_images/*.jpg"):
detector = LaneDetector(camera, perspective, color_mask)
detector.run(cv2.imread(filename), "OUTPUT/test%s" % filename[-5])
# Process video
cap = cv2.VideoCapture("road.mp4")
out = cv2.VideoWriter("road_processed.avi", cv2.VideoWriter_fourcc(*'XVID'),
25, (1280, 720))
detector = LaneDetector(camera, perspective, color_mask)
i = 0
while cap.isOpened():
ret, frame = cap.read()
if not ret:
break
i += 1