In [4]:

    

from LaneDetect import *


    

In [5]:

    

def imageprocess(frame):
    font = cv2.FONT_HERSHEY_SIMPLEX
    global mtx
    global dist
    orgImg=frame
    gray =cv2.cvtColor(frame,cv2.COLOR_RGB2GRAY)
    sobel_edge= SobelThr(gray) 
    color_threshld= ColorThreshold(orgImg)
    comI=combinI(sobel_edge,color_threshld) 

    roib=region_of_interest(comI)


    undistI=undistresult(roib, mtx,dist)
    pI, pM=prespectI(undistI)  
#     pI = cv2.inRange(pI, 10, 255)
    Minv = np.linalg.inv(pM)
    [left_fit, ploty,right_fit,lc, rc, offset]= LineFitting(pI)
    uW=unwrappedframe(orgImg,pI,Minv,left_fit, ploty,right_fit)
    uW=cv2.putText(uW,'Curvature left: %.1f m'%lc,(50,50), 
                    font, 1,(255,255,255),2,cv2.LINE_AA)
    uW=cv2.putText(uW,'Curvature right: %.1f m'%rc,(50,100),
                   font, 1,(255,255,255),2,cv2.LINE_AA)
    uW=cv2.putText(uW,'Center car offset: %.1f m'%offset,(50,150),
                   font, 1,(255,255,255),2,cv2.LINE_AA)
    return uW


    

In [6]:

    

clip = VideoFileClip('project_video.mp4') # Read clip
frameClibration= clip.get_frame(0)


[ret, mtx, dist, rvecs,tvecs] =undistorT(frameClibration)


from moviepy.editor import VideoFileClip
from IPython.display import HTML
cars=[]
test_ouput='project_output.mp4'

test_clip= clip.fl_image(imageprocess)
test_clip.write_videofile(test_ouput,audio=0)


    

    




[MoviePy] >>>> Building video project_output.mp4
[MoviePy] Writing video project_output.mp4






    




100%|█████████▉| 1260/1261 [06:40<00:00,  3.13it/s]






    




[MoviePy] Done.
[MoviePy] >>>> Video ready: project_output.mp4