sys.exit(6)
# set up diagnostic pipeline options if requested
if valid:
scrType = args.diag
if (scrType & 3) > 0:
debug = True
if not args.notext:
scrType = scrType | 4
# initialization
# load or perform camera calibrations
camCal = CameraCal('camera_cal', 'camera_cal/calibrationdata.p')
# initialize road manager and its managed pipeline components/modules
roadMgr = RoadManager(camCal, debug=debug)
# initialize diag manager and its managed diagnostics components
if debug:
diagMgr = DiagManager(roadMgr)
else:
diagMgr = None
# Image only?
if image is not None:
print("image processing %s..." % (args.infilename))
imageout = process_image(image)
cv2.imwrite(args.outfilename,
cv2.cvtColor(imageout, cv2.COLOR_RGB2BGR))
print("done image processing %s..." % (args.infilename))
diagScreen, 'Road Horizon: %d Vanishing Point: %d' %
(imgFtr.roadhorizon, projMgr.lane_info[7][1]), (30, 180), font, 1,
(255, 255, 255), 2)
else:
cv2.putText(diagScreen, 'Road Horizon: NOT FOUND!', (30, 180), font, 1,
(255, 255, 0), 2)
cv2.putText(
diagScreen, 'Road Gradient: %d slope: %d' %
(projMgr.curGradient, projMgr.curGradient - projMgr.gradient0),
(30, 210), font, 1, (255, 255, 255), 2)
return diagScreen
def process_diagnostic_image(image):
global roadMgr
# NOTE: The output you return should be a color image (3 channel) for processing video below
# TODO: put your pipeline here,
# you should return the final output (image with lines are drawn on lanes)
result = diagnostic_process_image(image, roadMgr)
return result
camCal = CameraCal('camera_cal', 'camera_cal/calibrationdata.p')
roadMgr = RoadManager(camCal, debug=True)
videoout = 'project_video_diagnostics_test_filter18.mp4'
clip1 = VideoFileClip("project_video.mp4")
video_clip = clip1.fl_image(
process_diagnostic_image) #NOTE: this function expects color images!!
video_clip.write_videofile(videoout, audio=False)
from p4lib.roadManager import RoadManager
from p4lib.diagManager import DiagManager
from moviepy.editor import VideoFileClip
def process_road_image(img, roadMgr):
# Run the functions
roadMgr.findLanes(img)
roadMgr.drawLaneStats()
return roadMgr.final
def process_image(image):
global roadMgr
global diagMgr
# NOTE: The output you return should be a color image (3 channel) for processing video below
# TODO: put your pipeline here,
# you should return the final output (image with lines are drawn on lanes)
result = process_road_image(image, roadMgr)
return result
camCal = CameraCal('camera_cal', 'camera_cal/calibrationdata.p')
roadMgr = RoadManager(camCal)
videoout = 'project_video_diagnostics_test_filter28.mp4'
clip1 = VideoFileClip("project_video.mp4")
video_clip = clip1.fl_image(
process_image) #NOTE: this function expects color images!!
video_clip.write_videofile(videoout, audio=False)