In [1]:
import numpy as np
import cv2
import matplotlib
import matplotlib.pyplot as plt
import matplotlib as mpimg
import numpy as np
from IPython.display import HTML
import os, sys
import glob
import moviepy
from moviepy.editor import VideoFileClip
from moviepy.editor import *
from IPython import display
from IPython.core.display import display
from IPython.display import Image
import pylab
import scipy.misc
In [2]:
def region_of_interest(img):
mask = np.zeros(img.shape, dtype=np.uint8) #mask image
roi_corners = np.array([[(200,675), (1200,675), (700,430),(500,430)]],
dtype=np.int32) # vertisies seted to form trapezoidal scene
channel_count = 1#img.shape[2] # image channels
ignore_mask_color = (255,)*channel_count
cv2.fillPoly(mask, roi_corners, ignore_mask_color)
masked_image = cv2.bitwise_and(img, mask)
return masked_image
In [3]:
def ColorThreshold(img): # Threshold Yellow anf White Colos from RGB, HSV, HLS color spaces
HSV = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
# For yellow
yellow = cv2.inRange(HSV, (20, 100, 100), (50, 255, 255))
# For white
sensitivity_1 = 68
white = cv2.inRange(HSV, (0,0,255-sensitivity_1), (255,20,255))
sensitivity_2 = 60
HSL = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
white_2 = cv2.inRange(HSL, (0,255-sensitivity_2,0), (255,255,sensitivity_2))
white_3 = cv2.inRange(img, (200,200,200), (255,255,255))
bit_layer = yellow | white | white_2 | white_3
return bit_layer
In [4]:
from skimage import morphology
def SobelThr(img): # Sobel edge detection extraction
gray=img
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0,ksize=15)
sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1,ksize=15)
abs_sobelx = np.absolute(sobelx)
abs_sobely = np.absolute(sobely)
scaled_sobelx = np.uint8(255*abs_sobelx/np.max(abs_sobelx))
scaled_sobely = np.uint8(255*abs_sobely/np.max(abs_sobely))
binary_outputabsx = np.zeros_like(scaled_sobelx)
binary_outputabsx[(scaled_sobelx >= 70) & (scaled_sobelx <= 255)] = 1
binary_outputabsy = np.zeros_like(scaled_sobely)
binary_outputabsy[(scaled_sobely >= 100) & (scaled_sobely <= 150)] = 1
mag_thresh=(100, 200)
gradmag = np.sqrt(sobelx**2 + sobely**2)
scale_factor = np.max(gradmag)/255
gradmag = (gradmag/scale_factor).astype(np.uint8)
binary_outputmag = np.zeros_like(gradmag)
binary_outputmag[(gradmag >= mag_thresh[0]) & (gradmag <= mag_thresh[1])] = 1
combinedS = np.zeros_like(binary_outputabsx)
combinedS[(((binary_outputabsx == 1) | (binary_outputabsy == 1))|(binary_outputmag==1)) ] = 1
return combinedS
In [5]:
def combinI(b1,b2): ##Combine color threshold + Sobel edge detection
combined = np.zeros_like(b1)
combined[((b1 == 1)|(b2 == 255)) ] = 1
return combined
In [6]:
def prespectI(img): # Calculate the prespective transform and warp the Image to the eye bird view
src=np.float32([[728,475],
[1058,690],
[242,690],
[565,475]])
dst=np.float32([[1058,20],
[1058,700],
[242,700],
[242,20]])
M = cv2.getPerspectiveTransform(src, dst)
warped = cv2.warpPerspective(img, M, (1280,720), flags=cv2.INTER_LINEAR)
return (warped, M)
In [7]:
def undistorT(imgorg): # Calculate Undistortion coefficients
nx =9
ny = 6
objpoints = []
imgpoints = []
objp=np.zeros((6*9,3),np.float32)
objp[:,:2]=np.mgrid[0:6,0:9].T.reshape(-1,2)
images=glob.glob('./camera_cal/calibration*.jpg')
for fname in images: # find corner points and Make a list of calibration images
img = cv2.imread(fname)
# Convert to grayscale
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# Find the chessboard corners
ret, corners = cv2.findChessboardCorners(gray, (6,9),None)
# If found, draw corners
if ret == True:
imgpoints.append(corners)
objpoints.append(objp)
# Draw and display the corners
#cv2.drawChessboardCorners(img, (nx, ny), corners, ret)
return cv2.calibrateCamera(objpoints,imgpoints,gray.shape[::-1],None,None)
In [8]:
def undistresult(img, mtx,dist): # undistort frame
undist= cv2.undistort(img, mtx, dist, None, mtx)
return undist
In [9]:
def LineFitting(wimgun): #Fit Lane Lines
# Set minimum number of pixels found to recenter window
minpix = 20
# Create empty lists to receive left and right lane pixel indices
left_lane_inds = []
right_lane_inds = []
histogram = np.sum(wimgun[350:,:], axis=0)
# Create an output image to draw on and visualize the result
out_img = np.dstack((wimgun, wimgun, wimgun))
# Find the peak of the left and right halves of the histogram
# These will be the starting point for the left and right lines
midpoint = np.int(histogram.shape[0]/2)
leftx_base = np.argmax(histogram[:midpoint])
rightx_base = np.argmax(histogram[midpoint:]) + midpoint
nwindows = 9
# Set height of windows
window_height = np.int(wimgun.shape[0]/nwindows)
# Identify the x and y positions of all nonzero pixels in the image
nonzero = wimgun.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Current positions to be updated for each window
leftx_current = leftx_base
rightx_current = rightx_base
# Set the width of the windows +/- margin
margin =80
# Step through the windows one by one
for window in range(nwindows):
# Identify window boundaries in x and y (and right and left)
win_y_low = wimgun.shape[0] - (window+1)*window_height
win_y_high = wimgun.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 the nonzero pixels in x and y within the window
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]
# Append these indices to the lists
left_lane_inds.append(good_left_inds)
right_lane_inds.append(good_right_inds)
# If you found > minpix pixels, recenter next window on their mean position
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 the arrays of indices
left_lane_inds = np.concatenate(left_lane_inds)
right_lane_inds = np.concatenate(right_lane_inds)
# Again, 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]
# Fit a second order polynomial to each
left_fit = np.polyfit(lefty, leftx, 2)
right_fit = np.polyfit(righty, rightx, 2)
# Generate x and y values for plotting
ploty = np.linspace(0, wimgun.shape[0]-1, wimgun.shape[0] )
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]
# Create an image to draw on and an image to show the selection window
# out_img = np.dstack((wimgun, wimgun, wimgun))*255
window_img = np.zeros_like(out_img)
# Color in 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]
# plt.plot(left_fitx, ploty, color='yellow')
# plt.plot(right_fitx, ploty, color='yellow')
# plt.xlim(0, 1280)
# plt.ylim(720, 0)
# plt.imshow(out_img)
# # plt.savefig("./output_images/Window Image"+str(n)+".png")
# plt.show()
# 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))
result = cv2.addWeighted(out_img, 1, window_img, 0.3, 0)
# plt.title("r")
# plt.plot(left_fitx, ploty, color='yellow')
# plt.plot(right_fitx, ploty, color='yellow')
# plt.xlim(0, 1280)
# plt.ylim(720, 0)
# plt.imshow(result)
# # plt.savefig("./output_images/Line Image"+str(n)+".png")
# plt.show()
# Define y-value where we want radius of curvature
# I'll choose the maximum y-value, corresponding to the bottom of the image
y_eval = np.max(ploty)
left_curverad = ((1 + (2*left_fit[0]*y_eval + left_fit[1])**2)**1.5) / np.absolute(2*left_fit[0])
right_curverad = ((1 + (2*right_fit[0]*y_eval + right_fit[1])**2)**1.5) / np.absolute(2*right_fit[0])
#print(left_curverad, right_curverad)
ym_per_pix = 30/720 # meters per pixel in y dimension
xm_per_pix = 3.7/700 # meters per pixel in x dimension
# Fit new polynomials to x,y in world space
left_fit_cr = np.polyfit(ploty*ym_per_pix, left_fitx*xm_per_pix, 2)
right_fit_cr = np.polyfit(ploty*ym_per_pix, right_fitx*xm_per_pix, 2)
# y_eval = np.max(ploty)
# # Calculate the new radias of curvature
left_curverad = ((1 + (2*left_fit_cr[0]*y_eval*ym_per_pix + left_fit_cr[1])**2)**1.5) / np.absolute(2*left_fit_cr[0])
right_curverad = ((1 + (2*right_fit_cr[0]*y_eval*ym_per_pix + right_fit_cr[1])**2)**1.5) / np.absolute(2*right_fit_cr[0])
# # left_curverad = ((1 + (2*left_fit[0]*y_eval + left_fit[1])**2)**1.5) / np.absolute(2*left_fit[0])
# # right_curverad = ((1 + (2*right_fit[0]*y_eval + right_fit[1])**2)**1.5) / np.absolute(2*right_fit[0])
# camera_center=wimgun.shape[0]/2
# #lane_center = (right_fitx[719] + left_fitx[719])/2
lane_offset = (1280/2 - (left_fitx[-1]+right_fitx[-1])/2)*xm_per_pix
# print(left_curverad1, right_curverad1, lane_offset)
return (left_fit, ploty,right_fit,left_curverad, right_curverad,lane_offset)
# Create an image to draw the lines on
def unwrappedframe(img,pm, Minv, left_fit,ploty,right_fit):
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]
nonzero = img.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
warp_zero = np.zeros_like(pm).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))
# Warp the blank back to original image space using inverse perspective matrix (Minv)
newwarp = cv2.warpPerspective(color_warp, Minv, (img.shape[1], img.shape[0]))
# Combine the result with the original image
return cv2.addWeighted(img, 1, newwarp, 0.3, 0)