python src/camera.py --cal_img_dir /path/to/calibration/chessboard/images --calibration_output_dir /path/to/directory/to/store/calibrated/images
more arguments
--input_img, input image to undistort
--output_dir, directory to save undistorted image
--cfg_filename, camera configuration file name
After calibrating the camera, we need to get the perspective transform of the road. This script helps us getting the transformation , and inverse transformation matrix.
python src/perspective_transform.py --image /path/to/image --cfg_filename /path/to/configuratio/file/to/save/configuration --camera_cfg_filename /path/to/camera/configuration/file
more arguments:
--threshold, threshold for perspective transformation. default: 400
--plot, to plot or not to plot.
After transforming the perspective, we have to get tune the binary thresholds. So that we can get the binary images.
python src/binary_transform.py --image_dir /path/to/images/to/get/binary/thresholds --cfg_filename /path/to/binary/threshold/configuration/file --camera_cfg_file /path/to/camera/configuration/file --pt_cfg_filename /path/to/perspective/transform/configuration/file
more argument:
--img_size, image size, default: 720,1280
After getting all the configuration files, i.e. Camera Calibration, Perspective Transformation, and Binary transformation , it is time to detect the lane.
python src/lane_detection.py --input test_images --camera_cfg_filename config/camera_config.yaml --pt_cfg_filename config/pt_config.yaml --binary_cfg_filename config/camera_config.yaml --img_size 720 1280
It will save the output images in test_images/lane_detected folder
python src/lane_detection.py --input project_video.mp4 --camera_cfg_filename config/camera_config.yaml --pt_cfg_filename config/pt_config.yaml --binary_cfg_filename config/camera_config.yaml --img_size 720 1280
It will save the output video as project_video_output.avi .
I have also written Notebook on this project. That is available here
- Tune more to get better results
- Work on Challenge Videos
- Make a Docker environment
- Refactor
- Make a package
- Refactor test scripts