def populateLines(left_fit, right_fit, left_fitx, right_fitx, ploty,
left_curvature, right_curvature):
left_line = Line()
left_line.current_fit = left_fit
left_line.recent_xfitted.append(left_fitx)
if len(left_line.recent_xfitted) > 10:
left_line.recent_xfitted.remove(0)
left_line.last_fits.append(left_fit)
if len(left_line.last_fits) > 5:
left_line.last_fits.remove(0)
left_line.allx = left_fitx
left_line.ally = ploty
right_line = Line()
right_line.current_fit = right_fit
right_line.recent_xfitted.append(right_fitx)
if len(right_line.recent_xfitted) > 10:
right_line.recent_xfitted.remove(0)
right_line.last_fits.append(right_fit)
if len(right_line.last_fits) > 5:
right_line.last_fits.remove(0)
right_line.allx = right_fitx
right_line.ally = ploty
left_line.radius_of_curvature = left_curvature
right_line.radius_of_curvature = right_curvature
left_line.shift = left_fitx[500]
right_line.shift = right_fitx[500]
return left_line, right_line
left_line.top.append(left_top)
left_x_int = np.mean(left_line.x_int)
left_top = np.mean(left_line.top)
left_line.lastx_int = left_x_int
left_line.last_top = left_top
#Add averaging top and bottom to avoid losing line
left_x = np.append(left_line.allx, left_x_int)
left_y = np.append(left_line.ally, 720)
left_x = np.append(left_x, left_top)
left_y = np.append(left_y, 0)
#sort values with added
left_x, left_y = left_line.sort(left_x, left_y)
left_line.allx = left_x
left_line.ally = left_y
# Recalculate polynomial
left_fit = np.polyfit(left_y, left_x, 2)
left_line.fit0.append(left_fit[0])
left_line.fit1.append(left_fit[1])
left_line.fit2.append(left_fit[2])
left_line.curvature.append(
cr.get_curvature(left_line.allx, left_line.ally))
if (right_line.detected):
right_fit = np.polyfit(right_line.ally, right_line.allx, 2)
right_x_int, right_top = right_line.get_top_and_bottom(right_fit)
show_img(img)
undist = calibrator.undistort(img)
# found gradient
gradient = pipeline.compute_gradient(undist)
# wrap imgs
wrapped = pipeline.wrap(gradient)
# find left and right pixel poses
# find left and right polyline
left_line.count_check()
right_line.count_check()
lx, ly, rx, ry = pipeline.find_lines(wrapped)
if len(rx) > 0 and len(ry) > 0:
# set was detected
right_line.was_detected = True
# add founded points to instanse
right_line.allx = rx
right_line.ally = ry
# add poly
l_fit, right_line.polx, right_line.ploty = pipeline.find_poly(wrapped.shape,right_line.allx, right_line.ally)
right_line.add_fit(l_fit)
# if find points of left line
if len(lx) > 0 and len(ly) > 0:
# set was detected
left_line.was_detected = True
# add founded points to instanse
left_line.allx = lx
left_line.ally = ly
# add poly
r_fit, left_line.polx, left_line.ploty = pipeline.find_poly(wrapped.shape,left_line.allx, left_line.ally)
left_line.add_fit(r_fit)
