def wrapped(image):
frameWidth = 640
frameHeight = 480
c_img = utlis.undistort(img)
imgThres, imgCanny, imgColor = utlis.thresholding(c_img)
imgWarp = utlis.perspective_warp(imgColor,
dst_size=(frameWidth, frameHeight),
src=valTrackbars())
return imgWarp
def lane_detect(img):
frameWidth = w
frameHeight = h
intialTracbarVals = (38, 60, 12, 90)
count = 0
noOfArrayValues = 11
global arrayCurve, arrayCounter
arrayCounter = 0
arrayCurve = np.zeros([noOfArrayValues])
myVals = []
#utlis.initializeTrackbars(intialTracbarVals)
# imgWarpPoints = img.copy()
imgFinal = img.copy()
imgCanny = img.copy()
try:
# imgUndis = utlis.undistort(img)
imgThres, imgCanny, imgColor = utlis.thresholding(img)
src = utlis.valTrackbars()
imgWarp = utlis.perspective_warp(imgThres,
dst_size=(frameWidth, frameHeight),
src=src)
# imgWarpPoints = utlis.drawPoints(imgWarpPoints, src)
imgSliding, curves, lanes, ploty = utlis.sliding_window(
imgWarp, draw_windows=False)
curverad = utlis.get_curve(imgFinal, curves[0], curves[1])
lane_curve = np.mean([curverad[0], curverad[1]])
imgFinal = utlis.draw_lanes(img,
curves[0],
curves[1],
frameWidth,
frameHeight,
src=src)
#currentCurve = lane_curve // 50
# if int(np.sum(arrayCurve)) == 0:averageCurve = currentCurve
# else:
# averageCurve = np.sum(arrayCurve) // arrayCurve.shape[0]
# if abs(averageCurve-currentCurve) >200: arrayCurve[arrayCounter] = averageCurve
# else :arrayCurve[arrayCounter] = currentCurve
# arrayCounter +=1
# if arrayCounter >=noOfArrayValues : arrayCounter=0
# cv2.putText(imgFinal, str(int(averageCurve)), (frameWidth//2-70, 70), cv2.FONT_HERSHEY_DUPLEX, 1.75, (0, 0, 255), 2, cv2.LINE_AA)
# imgFinal= utlis.drawLines(imgFinal,lane_curve)
except:
# print("NO Lane Detected")
imgFinal = img
cv2.putText(imgFinal, "No Lane Detected", (10, 20),
cv2.FONT_HERSHEY_DUPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
return imgFinal
utlis.initializeTrackbars(intialTracbarVals)
while True:
success, img = cap.read()
#img = cv2.imread('test3.jpg')
if cameraFeed== False:img = cv2.resize(img, (frameWidth, frameHeight), None)
imgWarpPoints = img.copy()
imgFinal = img.copy()
imgCanny = img.copy()
imgUndis = utlis.undistort(img)
imgThres,imgCanny,imgColor = utlis.thresholding(imgUndis)
src = utlis.valTrackbars()
imgWarp = utlis.perspective_warp(imgThres, dst_size=(frameWidth, frameHeight), src=src)
imgWarpPoints = utlis.drawPoints(imgWarpPoints, src)
imgSliding, curves, lanes, ploty = utlis.sliding_window(imgWarp, draw_windows=True)
try:
curverad =utlis.get_curve(imgFinal, curves[0], curves[1])
lane_curve = np.mean([curverad[0], curverad[1]])
imgFinal = utlis.draw_lanes(img, curves[0], curves[1],frameWidth,frameHeight,src=src)
# ## Average
currentCurve = lane_curve // 50
if int(np.sum(arrayCurve)) == 0:averageCurve = currentCurve
else:
averageCurve = np.sum(arrayCurve) // arrayCurve.shape[0]
if abs(averageCurve-currentCurve) >200: arrayCurve[arrayCounter] = averageCurve
else :arrayCurve[arrayCounter] = currentCurve
