def update_gui(force_slide=False):
global index
original = mpimg.imread(images[index])
undisorted, thresholded, transformed, detected_lines, projected, left_curverad, right_curverad, position_of_the_car = process_image(
original,
sobel_thresh_min=sobel_thresh_min,
sobel_thresh_max=sobel_thresh_max,
s_thresh_min=s_thresh_min,
s_thresh_max=s_thresh_max,
force_sliding=force_slide)
original = Image.fromarray(resize_image(original))
undisorted = Image.fromarray(resize_image(undisorted))
thresholded = Image.fromarray(resize_image(thresholded))
transformed = Image.fromarray(resize_image(transformed))
detected_lines = Image.fromarray(resize_image(detected_lines))
projected = Image.fromarray(resize_image(projected))
originalPhotoImage = PhotoImage(original)
undistortedPhotoImage = PhotoImage(undisorted)
binaryPhotoImage = PhotoImage(thresholded)
birdViewPhotoImage = PhotoImage(transformed)
detectedLinesPhotoImage = PhotoImage(detected_lines)
projectedPhotoImage = PhotoImage(projected)
window.originalPhotoImage.configure(image=originalPhotoImage)
window.originalPhotoImage.image = originalPhotoImage
window.undistortedPhotoImage.configure(image=undistortedPhotoImage)
window.undistortedPhotoImage.image = undistortedPhotoImage
window.binaryPhotoImage.configure(image=binaryPhotoImage)
window.binaryPhotoImage.image = binaryPhotoImage
window.birdViewPhotoImage.configure(image=birdViewPhotoImage)
window.birdViewPhotoImage.image = birdViewPhotoImage
window.detectedLinesPhotoImage.configure(image=detectedLinesPhotoImage)
window.detectedLinesPhotoImage.image = detectedLinesPhotoImage
window.projectedPhotoImage.configure(image=projectedPhotoImage)
window.projectedPhotoImage.image = projectedPhotoImage
def process_video(video):
return pipeline.process_image(video, False)
from moviepy.editor import VideoFileClip
import train
import pipeline
from conts import *
if "__main__" == __name__:
_train = False
_test = False
_video = True
if _train:
svc, X_scaler = train.run(params, max_sample_size=6000, save=True)
if _test:
for fname in [
os.path.join(TEST_IMAGES_DIR, f)
for f in os.listdir(TEST_IMAGES_DIR)
]:
if "" in fname:
img = plt.imread(fname)
draw_img = pipeline.process_image(img, fname=fname, save=True)
if _video:
white_output = 'project_video_out_v2.mp4'
clip1 = VideoFileClip("project_video.mp4")
white_clip = clip1.fl_image(pipeline.process_image)
white_clip.write_videofile(white_output, audio=False)
import cv2
import glob
from os.path import basename, splitext
from pipeline import process_image
TEST_IMG_DIR = './test_images/'
OUTPUT_IMG_DIR = './output_images/'
images = glob.glob(TEST_IMG_DIR + 'test*.jpg')
for idx, fname in enumerate(images):
img = cv2.imread(fname)
result, warpage, warped, preprocessImage, undistorted = process_image(
img, debug=True)
base_name = basename(fname)
write_name = OUTPUT_IMG_DIR + splitext(base_name)[0] + '_undistorted.jpg'
cv2.imwrite(write_name, undistorted)
write_name = OUTPUT_IMG_DIR + splitext(base_name)[0] + '_binary.jpg'
cv2.imwrite(write_name, preprocessImage)
write_name = OUTPUT_IMG_DIR + splitext(base_name)[0] + '_warped.jpg'
cv2.imwrite(write_name, warped)
write_name = OUTPUT_IMG_DIR + splitext(base_name)[0] + '_warpape.jpg'
cv2.imwrite(write_name, warpage)
write_name = OUTPUT_IMG_DIR + splitext(base_name)[0] + '_result.jpg'
cv2.imwrite(write_name, result)
import os
import cv2
from moviepy.editor import VideoFileClip
from pipeline import process_image
from calibration import calibrate
#challenge_output = 'challenge_out.mp4'
#clip = VideoFileClip('challenge_video.mp4').subclip(0,5)
#challenge_clip = clip.fl_image(process_image)
#challenge_clip.write_videofile(challenge_output, audio=False)
cal_images_dir = './camera_cal/calibration*.jpg'
ret, mtx, dist, rvecs, tvecs = calibrate(cal_images_dir)
for img_name in os.listdir("test_images/"):
print(img_name)
img = cv2.imread("test_images/" + img_name)
out = process_image(img, mtx, dist)
cv2.imwrite(img_name[:-4] + "_out.jpg", out)