th_sobelx, th_sobely, th_mag, th_dir = (35, 100), (30, 255), (30, 255), (0.7, 1.3)
th_h, th_l, th_s = (10, 100), (0, 60), (85, 255)
# camera matrix & distortion coefficient
mtx, dist = calib()
if __name__ == '__main__':
if input_type == 'image':
img = cv2.imread(input_name)
undist_img = undistort(img, mtx, dist)
undist_img = cv2.resize(undist_img, None, fx=1 / 2, fy=1 / 2, interpolation=cv2.INTER_AREA)
rows, cols = undist_img.shape[:2]
combined_gradient = gradient_combine(undist_img, th_sobelx, th_sobely, th_mag, th_dir)
combined_hls = hls_combine(undist_img, th_h, th_l, th_s)
combined_result = comb_result(combined_gradient, combined_hls)
c_rows, c_cols = combined_result.shape[:2]
s_LTop2, s_RTop2 = [c_cols / 2 - 24, 5], [c_cols / 2 + 24, 5]
s_LBot2, s_RBot2 = [110, c_rows], [c_cols - 110, c_rows]
src = np.float32([s_LBot2, s_LTop2, s_RTop2, s_RBot2])
dst = np.float32([(170, 720), (170, 0), (550, 0), (550, 720)])
warp_img, M, Minv = warp_image(combined_result, src, dst, (720, 720))
searching_img = find_LR_lines(warp_img, left_line, right_line)
w_comb_result, w_color_result = draw_lane(searching_img, left_line, right_line)
# Drawing the lines back down onto the road
color_result = cv2.warpPerspective(w_color_result, Minv, (c_cols, c_rows))
mtx, dist = calib()
if __name__ == '__main__':
if input_type == 'image':
img = cv2.imread(input_name)
undist_img = cv2.undistort(img, mtx, dist, None, mtx)
undist_img = cv2.resize(undist_img,
None,
fx=1 / 2,
fy=1 / 2,
interpolation=cv2.INTER_AREA)
rows, cols = undist_img.shape[:2]
combined_gradient = gradient_combine(undist_img, th_sobelx, th_sobely,
th_mag, th_dir) #gradient
combined_hls = hls_combine(undist_img, th_h, th_l, th_s) #color
combined_result = comb_result(combined_gradient, combined_hls)
c_rows, c_cols = combined_result.shape[:2]
s_LTop2, s_RTop2 = [c_cols / 2 - 24, 5], [c_cols / 2 + 24, 5]
s_LBot2, s_RBot2 = [110, c_rows], [c_cols - 110, c_rows]
src = np.float32([s_LBot2, s_LTop2, s_RTop2, s_RBot2])
dst = np.float32([(170, 720), (170, 0), (550, 0), (550, 720)])
warp_img, M, Minv = warp_image(combined_result, src, dst, (720, 720))
searching_img = find_LR_lines(warp_img, left_line, right_line)
w_comb_result, w_color_result = draw_lane(searching_img, left_line,
right_line)
# Drawing the lines back down onto the road