def process_image(image):
lanes_found = True
leftx_pixel_pos = []
lefty_pixel_pos = []
rightx_pixel_pos = []
righty_pixel_pos = []
frame = Frame(l_line, r_line, mtx, dist)
# call method to return lane line pixels
lanes_found, leftx_pixel_pos, lefty_pixel_pos, \
rightx_pixel_pos, righty_pixel_pos = frame.get_raw_line_pixels(image)
l_line.set_ploty(frame.ploty)
r_line.set_ploty(frame.ploty)
# if a lane was found....
if lanes_found:
left_fit = l_line.fit_poly_lines(leftx_pixel_pos, lefty_pixel_pos)
right_fit = r_line.fit_poly_lines(rightx_pixel_pos, righty_pixel_pos)
left_fitx = l_line.get_line_poly_pix(left_fit)
right_fitx = r_line.get_line_poly_pix(right_fit)
l_line.addline(left_fit, left_fitx)
r_line.addline(right_fit, right_fitx)
# frame.visualise_poly()
else:
print('no lines found')
image_with_marking = frame.create_output_drive_view(frame.image_undistorted, \
l_line, r_line, frame.Minv)
return image_with_marking
