def __init__(self, laneFinding, testImagesMode):
self.ym_per_pix = eval(laneFinding["ym_per_pix"])
self.xm_per_pix = eval(laneFinding["xm_per_pix"])
self.nwindows = int(laneFinding["nwindows"])
self.margin = int(laneFinding["margin"])
self.minpix = int(laneFinding["minpix"])
self.right_line = Line()
self.left_line = Line()
self.lane = Lane()
self.test_images_mode = testImagesMode
def GenLines(self):
self.lines = []
if self.lineLen < 0:
for pa,pb in zip(self.points[:-1], self.points[1:]):
self.lines.append(Line(pa, pb))
if self.close:
self.lines.append(Line(self.points[-1], self.points[0]))
elif self.lineLen==0:
pass
else:
for i in range(len(self.points))[::self.lineLen+1]:
for j in range(self.lineLen):
self.lines.append(Line(*self.points[i+j:i+j+2]))
def parse_input(self):
lines = []
input = self._input.splitlines()
for i, content in enumerate(input):
line = Line(i, content)
lines.append(line)
self._lines = lines
def __init__(self, poleShape, ribsShape):
#code to make/fit/show capsule
capPoints = []
# cenLines is used later to help with the trajectory transforms
self.cenLines = []
self.radius = ribsShape.AvgMidRibLen()/2.0
for boo in (False, True):
cenVec = (self.radius*poleShape.lines[0].GetUnitVec(reverse=boo))
cen = poleShape.points[boo] + cenVec
line = Line(cen, poleShape.points[boo])
self.cenLines.append(Line(cen, cen + cenVec))
line.Rotate(-math.pi/2)
capPoints.append(line.b)
angStep = math.pi/500
for i in range(500):
line.Rotate(angStep)
capPoints.append(line.b)
super(self.__class__, self).__init__(capPoints)
def Overlay(self, seg0, seg1):
'''transforms all of the points and lines in self by the transformation matrix that overlays seg0 on seg1.
currently the section that deals with points only works correctly for shapes with self.lineLen = -1'''
transMat = Line.OverlaySegMat(seg0, seg1)
# transform points
homoPoints = np.zeros((self.points.shape[0],4))
homoPoints[:,:2] = self.points[:,:2]
homoPoints[:,3] = 1
self.points = transMat.dot(homoPoints.T).T[:,:2]
# regenerate segments from the newly transformed points
self.GenLines()
def construct_lines(self):
brace_points = find_all_dir_templates(self.image, brace_dir, 0.85,
5000)
all_bar_line_points = find_all_dir_templates(self.image, bar_line_dir,
0.85, 5000)
self.line_gap = int(
(brace_points[1][1] - brace_points[0][1] - self.line_height) / 2)
brace_points.sort(key=lambda brace_point: brace_point[1])
for brace_point in brace_points:
top_left_point = (0, brace_point[1] - self.line_gap)
line = Line(self.image, top_left_point, self.line_height,
self.line_gap, all_bar_line_points)
self.lines.append(line)
class LaneFinding:
def __init__(self, laneFinding, testImagesMode):
self.ym_per_pix = eval(laneFinding["ym_per_pix"])
self.xm_per_pix = eval(laneFinding["xm_per_pix"])
self.nwindows = int(laneFinding["nwindows"])
self.margin = int(laneFinding["margin"])
self.minpix = int(laneFinding["minpix"])
self.right_line = Line()
self.left_line = Line()
self.lane = Lane()
self.test_images_mode = testImagesMode
def findLines(self, img, binary_warped, pers_transform, file_name,
data_dir):
# check if a previous fit is detected
if (self.left_line.detected is False) or (self.right_line.detected is
False):
try:
print(file_name, "Line Fit")
left_fit, right_fit, lanes_colored, histogram, window_fit_img = self.lineFit(
binary_warped)
# if nothing was found, use previous fit
except TypeError:
left_fit = self.left_line.previous_fit
right_fit = self.right_line.previous_fit
lanes_colored = np.zeros_like(img)
else:
histogram = img
window_fit_img = img
try:
print(file_name, "Fine Fit")
left_fit, right_fit, lanes_colored = self.fineFit(
binary_warped, self.left_line.previous_fit,
self.right_line.previous_fit)
except TypeError:
try:
left_fit, right_fit, lanes_colored = self.lineFit(
binary_warped)
# if nothing was found, use previous fit
except TypeError:
left_fit = self.left_line.previous_fit
right_fit = self.right_line.previous_fit
lanes_colored = np.zeros_like(img)
self.left_line.current_fit = left_fit
self.right_line.current_fit = right_fit
# Calculate base position of lane lines to get lane distance
self.left_line.line_base_pos = left_fit[0] * (
binary_warped.shape[0] -
1)**2 + left_fit[1] * (binary_warped.shape[0] - 1) + left_fit[2]
self.right_line.line_base_pos = right_fit[0] * (
binary_warped.shape[0] -
1)**2 + right_fit[1] * (binary_warped.shape[0] - 1) + right_fit[2]
self.left_line.line_mid_pos = left_fit[0] * (
binary_warped.shape[0] //
2)**2 + left_fit[1] * (binary_warped.shape[0] // 2) + left_fit[2]
self.right_line.line_mid_pos = right_fit[0] * (
binary_warped.shape[0] //
2)**2 + right_fit[1] * (binary_warped.shape[0] // 2) + right_fit[2]
# Calculate top and bottom position of lane lines for sanity check
self.lane.top_width = right_fit[2] - left_fit[2]
self.lane.bottom_width = self.right_line.line_base_pos - self.left_line.line_base_pos
self.lane.middle_width = self.right_line.line_mid_pos - self.left_line.line_mid_pos
# Check if values make sense
if self.sanity_check() is False:
# If fit is not good, use previous values and indicate that lanes were not found
if len(self.left_line.previous_fits) == 5:
diff_left = [0.0, 0.0, 0.0]
diff_right = [0.0, 0.0, 0.0]
for i in range(0, 3):
for j in range(0, 3):
diff_left[i] += self.left_line.previous_fits[j][
i] - self.left_line.previous_fits[j + 1][i]
diff_right[i] += self.right_line.previous_fits[j][
i] - self.right_line.previous_fits[j + 1][i]
diff_left[i] /= 4
diff_right[i] /= 4
for i in range(0, 3):
self.left_line.current_fit[
i] = self.left_line.previous_fit[i] + diff_left[i]
self.right_line.current_fit[
i] = self.right_line.previous_fit[i] + diff_right[i]
print("prev: ", self.left_line.previous_fit)
print("diff: ", diff_left)
print("fit: ", self.left_line.current_fit)
self.left_line.detected = False
self.right_line.detected = False
else:
self.left_line.current_fit = self.left_line.previous_fit
self.right_line.current_fit = self.right_line.previous_fit
self.left_line.detected = False
self.right_line.detected = False
else:
# If fit is good, use current values and indicate that lanes were found
if not self.left_line.detected or not self.right_line.detected:
self.left_line.previous_fits.clear()
self.right_line.previous_fits.clear()
self.left_line.detected = True
self.right_line.detected = True
self.left_line.initialized = True
self.right_line.initialized = True
self.left_line.frame_cnt += 1
self.right_line.frame_cnt += 1
# Calculate the average of the recent fits and set this as the current fit
self.left_line.average_fit = self.average_fits(binary_warped.shape,
self.left_line)
self.right_line.average_fit = self.average_fits(
binary_warped.shape, self.right_line)
self.lane.average_bottom_width, self.lane.average_top_width = self.average_width(
binary_warped.shape)
# Determine lane curvature and position of the vehicle
self.left_line.radius_of_curvature = self.calc_curvature(
binary_warped.shape, left_fit)
self.right_line.radius_of_curvature = self.calc_curvature(
binary_warped.shape, right_fit)
curvature = self.left_line.radius_of_curvature + self.right_line.radius_of_curvature / 2
self.left_line.line_base_pos = left_fit[0] * (
binary_warped.shape[0] -
1)**2 + left_fit[1] * (binary_warped.shape[0] - 1) + left_fit[2]
self.right_line.line_base_pos = right_fit[0] * (
binary_warped.shape[0] -
1)**2 + right_fit[1] * (binary_warped.shape[0] - 1) + right_fit[2]
vehicle_position = self.vehicle_position(binary_warped.shape[1],
self.left_line.line_base_pos,
self.right_line.line_base_pos)
# Warp lane boundaries back & display lane boundaries, curvature and position
lanes_marked = self.visualize_lines(binary_warped, img,
self.left_line.average_fit,
self.right_line.average_fit,
curvature, vehicle_position,
pers_transform, file_name,
data_dir)
# Set current values as previous values for next frame
self.left_line.previous_fit = self.left_line.current_fit
self.right_line.previous_fit = self.right_line.current_fit
# Reset / empty current fit
self.left_line.current_fit = [np.array([False])]
self.right_line.current_fit = [np.array([False])]
if self.test_images_mode:
self.left_line.reset()
self.right_line.reset()
return lanes_marked, lanes_colored.astype(
"uint8"), histogram, window_fit_img
def lineFit(self, binary_warped):
"""
Find and fit lane lines
"""
# Assuming you have created a warped binary image called "binary_warped"
# Take a histogram of the bottom half of the image
bottom_half = binary_warped[binary_warped.shape[0] // 2:, :]
histogram = np.sum(bottom_half, axis=0)
# Output image for testing
out_img = np.dstack((binary_warped, binary_warped, binary_warped))
# Create starting point on left and right side and set them as current points
midpoint = np.int(histogram.shape[0] // 2)
leftx_base = np.argmax(histogram[:midpoint])
rightx_base = np.argmax(histogram[midpoint:]) + midpoint
leftx_current = leftx_base
rightx_current = rightx_base
# Parameters of sliding window
# Number of windows
nwindows = self.nwindows
# Width of windows
margin = self.margin
# Minimum number of pixels to recenter window
minpix = self.minpix
# Set window height
window_height = np.int(binary_warped.shape[0] // nwindows)
# Find nonzero pixels
nonzero = binary_warped.nonzero()
nonzerox = np.array(nonzero[1])
nonzeroy = np.array(nonzero[0])
# Empty lists for storing lane pixel indices
left_line_inds = []
right_line_inds = []
# Step through windows
for window in range(nwindows):
# Window boundaries:
win_y_low = binary_warped.shape[0] - (window + 1) * window_height
win_y_high = binary_warped.shape[0] - window * window_height
win_xleft_low = leftx_current - margin
win_xleft_high = leftx_current + margin
win_xright_low = rightx_current - margin
win_xright_high = rightx_current + margin
# Draw the windows on the visualization image
cv2.rectangle(out_img, (win_xleft_low, win_y_low),
(win_xleft_high, win_y_high), (0, 255, 0), 2)
cv2.rectangle(out_img, (win_xright_low, win_y_low),
(win_xright_high, win_y_high), (0, 255, 0), 2)
# Identify pixels within the windows
good_left_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high)
& (nonzerox >= win_xleft_low) &
(nonzerox < win_xleft_high)).nonzero()[0]
good_right_inds = ((nonzeroy >= win_y_low) &
(nonzeroy < win_y_high) &
(nonzerox >= win_xright_low) &
(nonzerox < win_xright_high)).nonzero()[0]
# Add the found pixels to lane line
left_line_inds.append(good_left_inds)
right_line_inds.append(good_right_inds)
# Update x axis position based on pixels found
if len(good_left_inds) > minpix:
leftx_current = np.int(np.mean(nonzerox[good_left_inds]))
if len(good_right_inds) > minpix:
rightx_current = np.int(np.mean(nonzerox[good_right_inds]))
# Concatenate list of pixels
try:
left_line_inds = np.concatenate(left_line_inds)
right_line_inds = np.concatenate(right_line_inds)
except ValueError:
pass
# Get left and right lane pixel positions
leftx = nonzerox[left_line_inds]
lefty = nonzeroy[left_line_inds]
rightx = nonzerox[right_line_inds]
righty = nonzeroy[right_line_inds]
# Color left and right line pixels
out_img[lefty, leftx] = [255, 0, 0]
out_img[righty, rightx] = [0, 0, 255]
# Fit polynomial based on pixels found
left_fit, right_fit = self.fit_poly(leftx, lefty, rightx, righty)
# Draw Histogram
fig = Figure()
canvas = FigureCanvas(fig)
ax = fig.gca()
ax.plot(histogram, color="b")
canvas.draw()
buf = canvas.buffer_rgba()
histogram_img = np.asarray(buf)
# Draw Fit line
left_fitx, right_fitx = self.calc_x_values(binary_warped.shape,
left_fit, right_fit)
ploty = np.linspace(0, binary_warped.shape[0] - 1,
binary_warped.shape[0])
fig = Figure()
canvas = FigureCanvas(fig)
ax = fig.gca()
ax.imshow(out_img.astype("uint8"), aspect='auto')
xlim, ylim = ax.get_xlim(), ax.get_ylim()
ax.plot(left_fitx, ploty, color='yellow')
ax.plot(right_fitx, ploty, color='yellow')
ax.set_xlim(xlim)
ax.set_ylim(ylim)
canvas.draw()
buf = canvas.buffer_rgba()
window_fit_img = np.asarray(buf)
return left_fit, right_fit, out_img, histogram_img, window_fit_img
def fineFit(self, binary_warped, left_fit, right_fit):
"""
Given a previously fit line, quickly try to find the line based on previous lines
"""
# Assume you now have a new warped binary image
# from the next frame of video (also called "binary_warped")
# It's now much easier to find line pixels!
# get activated pixels
# Margin for searching around curve
margin = self.margin
# Grab activated pixels
nonzero = binary_warped.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Mask to get non-zero pixels that are next to the curve within margin
left_lane_inds = (
(nonzerox >
(left_fit[0] *
(nonzeroy**2) + left_fit[1] * nonzeroy + left_fit[2] - margin)) &
(nonzerox <
(left_fit[0] *
(nonzeroy**2) + left_fit[1] * nonzeroy + left_fit[2] + margin)))
right_lane_inds = (
(nonzerox >
(right_fit[0] *
(nonzeroy**2) + right_fit[1] * nonzeroy + right_fit[2] - margin))
&
(nonzerox <
(right_fit[0] *
(nonzeroy**2) + right_fit[1] * nonzeroy + right_fit[2] + margin))
)
# Extract left and right line pixel positions
leftx = nonzerox[left_lane_inds]
lefty = nonzeroy[left_lane_inds]
rightx = nonzerox[right_lane_inds]
righty = nonzeroy[right_lane_inds]
# Generate y values for plotting
ploty = np.linspace(0, binary_warped.shape[0] - 1,
binary_warped.shape[0])
# Fit polynomial based on pixels found
left_fit, right_fit = self.fit_poly(leftx, lefty, rightx, righty)
left_fitx, right_fitx = self.calc_x_values(binary_warped.shape,
left_fit, right_fit)
# Create an image to draw on and an image to show the selection window
out_img = np.dstack(
(binary_warped, binary_warped, binary_warped)) * 255
window_img = np.zeros_like(out_img)
# Color left and right line pixels
out_img[nonzeroy[left_lane_inds],
nonzerox[left_lane_inds]] = [255, 0, 0]
out_img[nonzeroy[right_lane_inds],
nonzerox[right_lane_inds]] = [0, 0, 255]
# Generate a polygon to illustrate the search window area
# And recast the x and y points into usable format for cv2.fillPoly()
left_line_window1 = np.array(
[np.transpose(np.vstack([left_fitx - margin, ploty]))])
left_line_window2 = np.array(
[np.flipud(np.transpose(np.vstack([left_fitx + margin, ploty])))])
left_line_pts = np.hstack((left_line_window1, left_line_window2))
right_line_window1 = np.array(
[np.transpose(np.vstack([right_fitx - margin, ploty]))])
right_line_window2 = np.array(
[np.flipud(np.transpose(np.vstack([right_fitx + margin, ploty])))])
right_line_pts = np.hstack((right_line_window1, right_line_window2))
# Draw the lane onto the warped blank image
cv2.fillPoly(window_img, np.int_([left_line_pts]), (0, 255, 0))
cv2.fillPoly(window_img, np.int_([right_line_pts]), (0, 255, 0))
out_img = cv2.addWeighted(out_img, 1, window_img, 0.3, 0)
return left_fit, right_fit, out_img
def fit_poly(self, leftx, lefty, rightx, righty):
# Fit a second order polynomial to each
left_fit = np.polyfit(lefty, leftx, 2)
right_fit = np.polyfit(righty, rightx, 2)
return left_fit, right_fit
def sanity_check(self):
# Calculate widths at top and bottom
top_width_diff = abs(self.lane.top_width - self.lane.average_top_width)
bottom_width_diff = abs(self.lane.bottom_width -
self.lane.average_bottom_width)
# Define sanity checks
width_check_top = top_width_diff > 0.2 * self.lane.average_top_width or self.lane.top_width > 1.25 * self.lane.bottom_width
width_check_bottom = bottom_width_diff > 0.05 * self.lane.average_bottom_width
lane_intersect_check = self.lane.top_width < 0.0 or self.lane.bottom_width < 0.0
curve_check = self.right_line.current_fit[
0] * self.left_line.current_fit[0] < -0.00005 * 0.0001
# Check if parameters are ok (skip for first frame)
if (self.left_line.frame_cnt > 1) and (self.right_line.frame_cnt > 1):
if width_check_bottom:
result = False
elif width_check_top:
result = False
elif lane_intersect_check:
result = False
elif curve_check:
result = False
else:
result = True
else:
result = True
return result
def average_fits(self, img_shape, line):
n = 3
average_fit = [0, 0, 0]
# Append the previous fits in case of there are no fits stored
if len(line.previous_fits) < n:
line.previous_fits.append(line.current_fit)
# If list is full, replace the first fit with the current one
if len(line.previous_fits) == n:
line.previous_fits.pop(n - 1)
line.previous_fits.insert(0, line.current_fit)
# Average fit
if len(line.previous_fits) > 0:
for i in range(0, 3):
total = 0
for num in range(0, len(line.previous_fits)):
total = total + line.previous_fits[num][i]
average_fit[i] = total / len(line.previous_fits)
return average_fit
def average_width(self, img_shape):
sum_bottom = 0
sum_top = 0
n = 3
average_bottom_width = 0
average_top_width = 0
if len(self.lane.previous_bottom_widths) < n:
self.lane.previous_bottom_widths.append(self.lane.bottom_width)
# If list is full, replace the first fit with the current one
if len(self.lane.previous_bottom_widths) == n:
self.lane.previous_bottom_widths.pop(n - 1)
self.lane.previous_bottom_widths.insert(0, self.lane.bottom_width)
# Average width
if (len(self.lane.previous_bottom_widths) > 0):
for i in range(0, len(self.lane.previous_bottom_widths)):
sum_bottom = sum_bottom + self.lane.previous_bottom_widths[i]
average_bottom_width = sum_bottom / len(
self.lane.previous_bottom_widths)
if len(self.lane.previous_top_widths) < n:
self.lane.previous_top_widths.append(self.lane.top_width)
# If list is full, replace the first fit with the current one
if len(self.lane.previous_top_widths) == n:
self.lane.previous_top_widths.pop(n - 1)
self.lane.previous_top_widths.insert(0, self.lane.top_width)
# Average width
if len(self.lane.previous_top_widths) > 0:
for i in range(0, len(self.lane.previous_top_widths)):
sum_top = sum_top + self.lane.previous_top_widths[i]
average_top_width = sum_top / len(
self.lane.previous_top_widths)
return average_bottom_width, average_top_width
def visualize_lines(self, warped, undist, left_fit, right_fit, curvature,
position, persp_transform, file_name, data_dir):
# Generate y values
ploty = np.linspace(0, warped.shape[0] - 1, warped.shape[0])
# Calculate x values
left_fitx, right_fitx = self.calc_x_values(warped.shape, left_fit,
right_fit)
# Create image to draw lines onto
warp_zero = np.zeros_like(warped).astype(np.uint8)
color_warp = np.dstack((warp_zero, warp_zero, warp_zero))
# Recast the x and y points into usable format for cv2.fillPoly()
pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))])
pts_right = np.array(
[np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
pts = np.hstack((pts_left, pts_right))
# Draw the lane onto the warped blank image
cv2.fillPoly(color_warp, np.int_([pts]), (0, 255, 0))
cv2.polylines(color_warp,
np.array([pts_left], dtype=np.int32),
False, (255, 0, 0),
thickness=15)
cv2.polylines(color_warp,
np.array([pts_right], dtype=np.int32),
False, (0, 0, 255),
thickness=15)
# Warp the blank back to original image space
newwarp = persp_transform.warpInv(color_warp, file_name, data_dir,
"_lanes")
# Combine the result with the original image
lanes = cv2.addWeighted(undist, 1, newwarp, 0.3, 0)
# Texts to write on image
curv_text = "Radius of Curvature: %.2f meters" % curvature
if position >= 0:
pos_text = "Position: %.2f right from center" % position
else:
pos_text = "Position: %.2f left from center" % abs(position)
# Add text to image
cv2.putText(lanes, curv_text, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 1,
(255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(lanes, pos_text, (30, 60), cv2.FONT_HERSHEY_SIMPLEX, 1,
(255, 255, 255), 2, cv2.LINE_AA)
return lanes
def calc_curvature(self, img_shape, fit):
# Generate y values for plotting
ploty = np.linspace(0, img_shape[0] - 1, img_shape[0])
# Calculate x values using polynomial coeffs
fitx = fit[0] * ploty**2 + fit[1] * ploty + fit[2]
# Evaluate at bottom of image
y_eval = np.max(ploty)
# Fit curves with corrected axes
curve_fit = np.polyfit(ploty * self.ym_per_pix, fitx * self.xm_per_pix,
2)
# Calculate curvature values for left and right lanes
curvature = (
(1 +
(2 * curve_fit[0] * y_eval * self.ym_per_pix + curve_fit[1])**2)**
1.5) / np.absolute(2 * curve_fit[0])
return curvature
def vehicle_position(self, img_shape, left_lane_pos, right_lane_pos):
# Calculate position based on midpoint - center of lanes distance
midpoint = img_shape // 2
center_of_lanes = (right_lane_pos + left_lane_pos) / 2
position = midpoint - center_of_lanes
# Get value in meters
real_position = position * self.xm_per_pix
return real_position
def calc_x_values(self, img_shape, left_fit, right_fit):
# Generate y values for plotting
ploty = np.linspace(0, img_shape[0] - 1, img_shape[0])
# Calculate x values using polynomial coeffs
left_fitx = left_fit[0] * ploty**2 + left_fit[1] * ploty + left_fit[2]
right_fitx = right_fit[0] * ploty**2 + right_fit[
1] * ploty + right_fit[2]
return left_fitx, right_fitx
def test_intersect():
line1 = Line(Vector([1, 1]), 2)
line2 = Line(Vector([1, -1]), 2)
intersect = line1.intersection(line2)
assert intersect.coordinates[0] == pytest.approx(2, abs=1e-3)
assert intersect.coordinates[1] == pytest.approx(0, abs=1e-3)
def choose_line(self):
self.redactor.curr_tool = Line(self.redactor)
self.turn_back_buttons()
self.redactor.ui.Line.setStyleSheet('background-color: ' +
self.button_selected_bg + ';')
def test_Line_not_parallel():
line1 = Line(Vector([1, 1.1]), 1)
line2 = Line(Vector([1, 1]), 2)
assert line1 != line2
assert not line1.isParallel(line2)
def test_Line_ne():
line1 = Line(Vector([1, 1]), 1)
line2 = Line(Vector([-3, -3]), 3)
assert line1 != line2
def test_Line_eq():
line1 = Line(Vector([1, 1]), 1)
line2 = Line(Vector([-3, -3]), -3)
assert line1 == line2
def test_Line_init_labels():
line1 = Line(normal_vector=Vector([2, 2]), constant_term=3)
assert isinstance(line1, Line)
assert line1.normal_vector == Vector([2, 2])
assert line1.constant_term == 3
def test_Line_init_nolabels():
line1 = Line(Vector([1, 1]), 4)
assert isinstance(line1, Line)
assert line1.normal_vector == Vector([1, 1])
assert line1.constant_term == 4
def test_null_Line():
line1 = Line()
assert isinstance(line1, Line)
assert line1.normal_vector == Vector([0, 0])
assert line1.constant_term == 0
rline.radius_of_curvature = mean_rad
cv2.putText(result, "Radius of Curvature = " + str(mean_rad),
(10, 50), cv2.FONT_HERSHEY_PLAIN, fontScale=2, color=(255, 255, 255))
dist_str = "Vehicle is " + str(-car_dist) + " right off the center." if car_dist < 0 else "Vehicle is " + str(car_dist) + " left off the center."
cv2.putText(result, dist_str, (10, 100), cv2.FONT_HERSHEY_PLAIN, fontScale=2, color=(255, 255, 255))
return result
def main():
"""
Main method of the programm.
:return:
"""
# detect lanes in the video file
white_output = VIDEO_OUTPUT
clip1 = VideoFileClip(VIDEO_PATH)
white_clip = clip1.fl_image(process_image)
white_clip.write_videofile(white_output, audio=False)
if __name__ == '__main__':
# initialize camera undistortion
ret, mtx, dist, rvecs, tvecs = dc.get_dist_coeff()
# initialize line
lline = Line()
rline = Line()
# run
main()
def OverlayOnCell(self, capsuleShape):
self.Overlay(capsuleShape.cenLines[0], Line((0,0),(1,0)))
def test_intersect_parallel():
line1 = Line(Vector([2, 2]), 1)
line2 = Line(Vector([1, 1]), 2)
assert line1.intersection(line2) == None
def test_intersect_parallel_identical():
line1 = Line(Vector([2, 2]), 2)
line2 = Line(Vector([1, 1]), 1)
assert str(line1.intersection(line2)) == "2x_1 + 2x_2 = 2"
from src.line import Line from src.linsys import LinearSystem from src.plane import Plane from src.vector import Vector from src.hyperplane import Hyperplane answers = [] # Quiz1 # 1 4.046x + 2.836y = 1.21 # 10.115x + 7.09y = 3.025 A = 4.046 B = 2.836 k1 = 1.21 line1 = Line(normal_vector=Vector([A, B]), constant_term=k1) C = 10.115 D = 7.09 k2 = 3.025 line2 = Line(normal_vector=Vector([C, D]), constant_term=k2) answers.append(round(line1.intersection(line2), 3)) # 2 7.204x + 3.182y = 8.68 # 8.172x + 4.114y = 9.883 A = 7.204 B = 3.182 k1 = 8.68 line1 = Line(normal_vector=Vector([A, B]), constant_term=k1) C = 8.172 D = 4.114
