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Fixed paramers and slopes issues
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@lawga
lawga committed Dec 23, 2018
1 parent fe6ae04 commit f9cd7cf
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Showing 12 changed files with 37 additions and 113 deletions.
128 changes: 34 additions & 94 deletions Final - Fixed all.ipynb
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Expand Up @@ -10,17 +10,17 @@
"output_type": "stream",
"text": [
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidYellowCurve.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidYellowCurve2.jpg\n",
"Currently processing image: ./test_images/challenge_Moment.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidWhiteCurve.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidWhiteRight.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidYellowLeft.jpg\n",
"Currently processing image: ./test_images/solidYellowCurve.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/challenge_Moment.jpg\n",
"Currently processing image: ./test_images/solidYellowCurve2.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/solidYellowLeft.jpg\n",
"(540, 960, 3)\n",
"Currently processing image: ./test_images/whiteCarLaneSwitch.jpg\n"
]
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"name": "stderr",
"output_type": "stream",
"text": [
"100%|█████████▉| 221/222 [00:15<00:00, 13.45it/s]\n"
"100%|█████████▉| 221/222 [00:08<00:00, 25.66it/s]\n"
]
},
{
Expand All @@ -119,8 +119,8 @@
"[MoviePy] Done.\n",
"[MoviePy] >>>> Video ready: test_videos_output/solidWhiteRight.mp4 \n",
"\n",
"CPU times: user 3.78 s, sys: 239 ms, total: 4.02 s\n",
"Wall time: 16.8 s\n"
"CPU times: user 3.22 s, sys: 540 ms, total: 3.76 s\n",
"Wall time: 9.8 s\n"
]
}
],
Expand All @@ -138,8 +138,10 @@
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"execution_count": 3,
"metadata": {
"scrolled": true
},
"outputs": [
{
"data": {
Expand All @@ -154,7 +156,7 @@
"<IPython.core.display.HTML object>"
]
},
"execution_count": 4,
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
Expand All @@ -169,7 +171,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
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},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 5,
"metadata": {},
"outputs": [
{
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"name": "stderr",
"output_type": "stream",
"text": [
"\n",
" 0%| | 0/251 [00:00<?, ?it/s]\u001b[A\n",
" 1%| | 2/251 [00:00<00:13, 18.51it/s]"
"100%|██████████| 251/251 [00:13<00:00, 18.22it/s]\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"0 0 0 0\n",
"312.666666667 373.111111111 440.666666667 398.0\n"
]
},
{
"name": "stderr",
"output_type": "stream",
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]
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{
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"output_type": "stream",
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"0 0 0 0\n",
"283.4 352.8 459.6 411.1\n"
]
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{
"name": "stderr",
"output_type": "stream",
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"\u001b[A\n",
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},
{
"name": "stdout",
"output_type": "stream",
"text": [
"0 0 0 0\n",
"311.875 397.25 440.5 378.0\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"[MoviePy] Done.\n",
"[MoviePy] >>>> Video ready: test_videos_output/challenge.mp4 \n",
"\n",
" 12%|█▏ | 31/251 [00:01<00:10, 20.76it/s]\u001b[A\n",
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"CPU times: user 6.57 s, sys: 600 ms, total: 7.17 s\n",
"Wall time: 15.3 s\n"
]
}
],
Expand All @@ -305,7 +234,7 @@
},
{
"cell_type": "code",
"execution_count": 7,
"execution_count": 6,
"metadata": {},
"outputs": [
{
Expand All @@ -320,7 +249,7 @@
"<IPython.core.display.HTML object>"
]
},
"execution_count": 7,
"execution_count": 6,
"metadata": {},
"output_type": "execute_result"
}
Expand Down Expand Up @@ -351,6 +280,13 @@
"\n",
"print('Currently processing image: {}'.format('challenge_Moment.jpg'))"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
Expand All @@ -369,7 +305,11 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.6.3"
"version": "3.5.2"
},
"widgets": {
"state": {},
"version": "1.1.2"
}
},
"nbformat": 4,
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22 changes: 3 additions & 19 deletions lane_finding.py
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Expand Up @@ -113,26 +113,10 @@ def draw_lines(img, lines, color=[255, 0, 0], thickness=2):
#print((x2-x1)/(y2-y1))
nR += 1

if (y1AvgL== y2AvgL) or (y1AvgR==y2AvgR):
for x1,y1,x2,y2 in line:
gh +=1
if (x2-x1)/(y2-y1) > 0 :
x1AvgL = x1AvgL + (x1 - x1AvgL)/nL
x2AvgL = x2AvgL + (x2 - x2AvgL)/nL
y1AvgL = y1AvgL + (y1 - y1AvgL)/nL
y2AvgL = y2AvgL + (y2 - y2AvgL)/nL
nL += 1
elif (x2-x1)/(y2-y1) < 0 :
x1AvgR = x1AvgR + (x1 - x1AvgR)/nR
x2AvgR = x2AvgR + (x2 - x2AvgR)/nR
y1AvgR = y1AvgR + (y1 - y1AvgR)/nR
y2AvgR = y2AvgR + (y2 - y2AvgR)/nR
nR += 1


if (x1AvgL==0 and x2AvgL==0 and y1AvgL==0 and y2AvgL==0) or (x1AvgR==0 and x2AvgR==0 and y1AvgR==0 and y2AvgR):
print(x1AvgL, x2AvgL, y1AvgL, y2AvgL)
print(x1AvgR, x2AvgR, y1AvgR, y2AvgR)
else:
if (y1AvgL!=y2AvgL) and (y1AvgR!=y2AvgR):

[slopeL, interceptL] = np.polyfit([x1AvgL, x2AvgL], [y1AvgL, y2AvgL], 1)
[slopeR, interceptR] = np.polyfit([x1AvgR, x2AvgR], [y1AvgR, y2AvgR], 1)

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