add sobelx and s channel thresholding

cdemutiis · Mar 16, 2017 · 4f62cbe · 4f62cbe
1 parent 1b6ce5a
commit 4f62cbe
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Showing 51 changed files with 77 additions and 19 deletions.
diff --git a/.ipynb_checkpoints/P4_advanced_lanes_detection-checkpoint.ipynb b/.ipynb_checkpoints/P4_advanced_lanes_detection-checkpoint.ipynb
@@ -86,11 +86,11 @@
    "source": [
     "# This function makes sure that each processed image is saved in the \n",
     "# appropriate folder \n",
-    "def save_img(img, folder, fname, stage_name):\n",
+    "def save_img(img, folder, fname, stage_name, col_map):\n",
     "    fname = fname.split('/')[1]\n",
     "    fname = fname.split('.')[0]\n",
     "    new_filename = fname + \"_\" + stage_name + '.jpg'    \n",
-    "    mpimg.imsave(folder + \"/\" + new_filename, img)"
+    "    mpimg.imsave(folder + \"/\" + new_filename, img,cmap=col_map)"
    ]
   },
   {
@@ -121,7 +121,7 @@
     "    img = mpimg.imread(fname)\n",
     "    \n",
     "    # Convert image to grayscale\n",
-    "    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)\n",
+    "    gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)\n",
     "    \n",
     "    # Find the chessboard corners\n",
     "    ret, corners = cv2.findChessboardCorners(gray, (9,6),None)\n",
@@ -137,7 +137,7 @@
     "        # get the undistorted version of the calibration image\n",
     "        undistorted = cal_undistort(img, objpoints, imgpoints)\n",
     "        \n",
-    "        save_img(undistorted, \"camera_cal/undistorted_images\", fname, \"undist\")"
+    "        save_img(undistorted, \"camera_cal/undistorted_images\", fname, \"undist\", col_map = 'jet')"
    ]
   },
   {
@@ -153,21 +153,50 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 6,
    "metadata": {
     "collapsed": true
    },
    "outputs": [],
    "source": [
-    "# Create the output_images directory \n",
+    "# Create the undistorted directory \n",
     "if not os.path.exists(\"output_images/undistorted\"):\n",
     "    os.makedirs(\"output_images/undistorted\")\n",
+    "# Create the binary directory \n",
+    "if not os.path.exists(\"output_images/binary\"):\n",
+    "    os.makedirs(\"output_images/binary\")\n",
+    "    \n",
     "# This function processes each individual image coming from the video stream \n",
     "# and estimates where the lane lines are\n",
     "def image_pipeline(img, fname):\n",
     "    undistorted = cal_undistort(img, objpoints, imgpoints)\n",
-    "    save_img(undistorted, \"output_images/undistorted\", fname, \"_undistorted\")\n",
-    "    return undistorted"
+    "    save_img(undistorted, \"output_images/undistorted\", fname, \"undistorted\", col_map = 'jet')\n",
+    "    \n",
+    "    s_thresh=(170, 255)\n",
+    "    sx_thresh=(20, 100)\n",
+    "    \n",
+    "    # Convert to HSV color space and separate the V channel\n",
+    "    hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HLS).astype(np.float)\n",
+    "    l_channel = hsv[:,:,1]\n",
+    "    s_channel = hsv[:,:,2]\n",
+    "    \n",
+    "    # Sobel x\n",
+    "    sobelx = cv2.Sobel(l_channel, cv2.CV_64F, 1, 0) # Take the derivative in x\n",
+    "    abs_sobelx = np.absolute(sobelx) # Absolute x derivative to accentuate lines away from horizontal\n",
+    "    scaled_sobel = np.uint8(255*abs_sobelx/np.max(abs_sobelx))\n",
+    "\n",
+    "    # Threshold x gradient\n",
+    "    sxbinary = np.zeros_like(scaled_sobel)\n",
+    "    sxbinary[(scaled_sobel >= sx_thresh[0]) & (scaled_sobel <= sx_thresh[1])] = 1\n",
+    "    \n",
+    "    # Threshold color channel\n",
+    "    s_binary = np.zeros_like(s_channel)\n",
+    "    s_binary[(s_channel >= s_thresh[0]) & (s_channel <= s_thresh[1])] = 1\n",
+    "\n",
+    "    binary_final = sxbinary + s_binary\n",
+    "    save_img(binary_final, \"output_images/binary\", fname, \"binary\", col_map = 'gray')\n",
+    "    \n",
+    "    return binary_final "
    ]
   },
   {
@@ -181,7 +210,7 @@
    "cell_type": "code",
    "execution_count": 7,
    "metadata": {
-    "collapsed": true
+    "collapsed": false
    },
    "outputs": [],
    "source": [
@@ -198,7 +227,7 @@
     "    \n",
     "    result = image_pipeline(img, fname)\n",
     "    \n",
-    "    save_img(result, \"output_images\", fname, \"final\")"
+    "    save_img(result, \"output_images\", fname, \"final\", col_map = 'gray')"
    ]
   },
   {

diff --git a/P4_advanced_lanes_detection.ipynb b/P4_advanced_lanes_detection.ipynb
@@ -86,11 +86,11 @@
    "source": [
     "# This function makes sure that each processed image is saved in the \n",
     "# appropriate folder \n",
-    "def save_img(img, folder, fname, stage_name):\n",
+    "def save_img(img, folder, fname, stage_name, col_map):\n",
     "    fname = fname.split('/')[1]\n",
     "    fname = fname.split('.')[0]\n",
     "    new_filename = fname + \"_\" + stage_name + '.jpg'    \n",
-    "    mpimg.imsave(folder + \"/\" + new_filename, img)"
+    "    mpimg.imsave(folder + \"/\" + new_filename, img,cmap=col_map)"
    ]
   },
   {
@@ -121,7 +121,7 @@
     "    img = mpimg.imread(fname)\n",
     "    \n",
     "    # Convert image to grayscale\n",
-    "    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)\n",
+    "    gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)\n",
     "    \n",
     "    # Find the chessboard corners\n",
     "    ret, corners = cv2.findChessboardCorners(gray, (9,6),None)\n",
@@ -137,7 +137,7 @@
     "        # get the undistorted version of the calibration image\n",
     "        undistorted = cal_undistort(img, objpoints, imgpoints)\n",
     "        \n",
-    "        save_img(undistorted, \"camera_cal/undistorted_images\", fname, \"undist\")"
+    "        save_img(undistorted, \"camera_cal/undistorted_images\", fname, \"undist\", col_map = 'jet')"
    ]
   },
   {
@@ -159,15 +159,44 @@
    },
    "outputs": [],
    "source": [
-    "# Create the output_images directory \n",
+    "# Create the undistorted directory \n",
     "if not os.path.exists(\"output_images/undistorted\"):\n",
     "    os.makedirs(\"output_images/undistorted\")\n",
+    "# Create the binary directory \n",
+    "if not os.path.exists(\"output_images/binary\"):\n",
+    "    os.makedirs(\"output_images/binary\")\n",
+    "    \n",
     "# This function processes each individual image coming from the video stream \n",
     "# and estimates where the lane lines are\n",
     "def image_pipeline(img, fname):\n",
     "    undistorted = cal_undistort(img, objpoints, imgpoints)\n",
-    "    save_img(undistorted, \"output_images/undistorted\", fname, \"_undistorted\")\n",
-    "    return undistorted"
+    "    save_img(undistorted, \"output_images/undistorted\", fname, \"undistorted\", col_map = 'jet')\n",
+    "    \n",
+    "    s_thresh=(170, 255)\n",
+    "    sx_thresh=(20, 100)\n",
+    "    \n",
+    "    # Convert to HSV color space and separate the V channel\n",
+    "    hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HLS).astype(np.float)\n",
+    "    l_channel = hsv[:,:,1]\n",
+    "    s_channel = hsv[:,:,2]\n",
+    "    \n",
+    "    # Sobel x\n",
+    "    sobelx = cv2.Sobel(l_channel, cv2.CV_64F, 1, 0) # Take the derivative in x\n",
+    "    abs_sobelx = np.absolute(sobelx) # Absolute x derivative to accentuate lines away from horizontal\n",
+    "    scaled_sobel = np.uint8(255*abs_sobelx/np.max(abs_sobelx))\n",
+    "\n",
+    "    # Threshold x gradient\n",
+    "    sxbinary = np.zeros_like(scaled_sobel)\n",
+    "    sxbinary[(scaled_sobel >= sx_thresh[0]) & (scaled_sobel <= sx_thresh[1])] = 1\n",
+    "    \n",
+    "    # Threshold color channel\n",
+    "    s_binary = np.zeros_like(s_channel)\n",
+    "    s_binary[(s_channel >= s_thresh[0]) & (s_channel <= s_thresh[1])] = 1\n",
+    "\n",
+    "    binary_final = sxbinary + s_binary\n",
+    "    save_img(binary_final, \"output_images/binary\", fname, \"binary\", col_map = 'gray')\n",
+    "    \n",
+    "    return binary_final "
    ]
   },
   {
@@ -181,7 +210,7 @@
    "cell_type": "code",
    "execution_count": 7,
    "metadata": {
-    "collapsed": true
+    "collapsed": false
    },
    "outputs": [],
    "source": [
@@ -198,7 +227,7 @@
     "    \n",
     "    result = image_pipeline(img, fname)\n",
     "    \n",
-    "    save_img(result, \"output_images\", fname, \"final\")"
+    "    save_img(result, \"output_images\", fname, \"final\", col_map = 'gray')"
    ]
   },
   {

diff --git a/camera_cal/undistorted_images/calibration10_undist.jpg b/camera_cal/undistorted_images/calibration10_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration11_undist.jpg b/camera_cal/undistorted_images/calibration11_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration12_undist.jpg b/camera_cal/undistorted_images/calibration12_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration13_undist.jpg b/camera_cal/undistorted_images/calibration13_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration14_undist.jpg b/camera_cal/undistorted_images/calibration14_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration15_undist.jpg b/camera_cal/undistorted_images/calibration15_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration16_undist.jpg b/camera_cal/undistorted_images/calibration16_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration17_undist.jpg b/camera_cal/undistorted_images/calibration17_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration18_undist.jpg b/camera_cal/undistorted_images/calibration18_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration19_undist.jpg b/camera_cal/undistorted_images/calibration19_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration20_undist.jpg b/camera_cal/undistorted_images/calibration20_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration2_undist.jpg b/camera_cal/undistorted_images/calibration2_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration3_undist.jpg b/camera_cal/undistorted_images/calibration3_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration6_undist.jpg b/camera_cal/undistorted_images/calibration6_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration7_undist.jpg b/camera_cal/undistorted_images/calibration7_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration8_undist.jpg b/camera_cal/undistorted_images/calibration8_undist.jpg
diff --git a/camera_cal/undistorted_images/calibration9_undist.jpg b/camera_cal/undistorted_images/calibration9_undist.jpg
diff --git a/output_images/binary/straight_lines1_binary.jpg b/output_images/binary/straight_lines1_binary.jpg
diff --git a/output_images/binary/straight_lines2_binary.jpg b/output_images/binary/straight_lines2_binary.jpg
diff --git a/output_images/binary/test1_binary.jpg b/output_images/binary/test1_binary.jpg
diff --git a/output_images/binary/test2_binary.jpg b/output_images/binary/test2_binary.jpg
diff --git a/output_images/binary/test3_binary.jpg b/output_images/binary/test3_binary.jpg
diff --git a/output_images/binary/test4_binary.jpg b/output_images/binary/test4_binary.jpg
diff --git a/output_images/binary/test5_binary.jpg b/output_images/binary/test5_binary.jpg
diff --git a/output_images/binary/test6_binary.jpg b/output_images/binary/test6_binary.jpg
diff --git a/output_images/straight_lines1_final.jpg b/output_images/straight_lines1_final.jpg
diff --git a/output_images/straight_lines2_final.jpg b/output_images/straight_lines2_final.jpg
diff --git a/output_images/test1_final.jpg b/output_images/test1_final.jpg
diff --git a/output_images/test2_final.jpg b/output_images/test2_final.jpg
diff --git a/output_images/test3_final.jpg b/output_images/test3_final.jpg
diff --git a/output_images/test4_final.jpg b/output_images/test4_final.jpg
diff --git a/output_images/test5_final.jpg b/output_images/test5_final.jpg
diff --git a/output_images/test6_final.jpg b/output_images/test6_final.jpg
diff --git a/output_images/undistorted/straight_lines1__undistorted.jpg b/output_images/undistorted/straight_lines1__undistorted.jpg
diff --git a/output_images/undistorted/straight_lines1_undistorted.jpg b/output_images/undistorted/straight_lines1_undistorted.jpg
diff --git a/output_images/undistorted/straight_lines2__undistorted.jpg b/output_images/undistorted/straight_lines2__undistorted.jpg
diff --git a/output_images/undistorted/straight_lines2_undistorted.jpg b/output_images/undistorted/straight_lines2_undistorted.jpg
diff --git a/output_images/undistorted/test1__undistorted.jpg b/output_images/undistorted/test1__undistorted.jpg
diff --git a/output_images/undistorted/test1_undistorted.jpg b/output_images/undistorted/test1_undistorted.jpg
diff --git a/output_images/undistorted/test2__undistorted.jpg b/output_images/undistorted/test2__undistorted.jpg
diff --git a/output_images/undistorted/test2_undistorted.jpg b/output_images/undistorted/test2_undistorted.jpg
diff --git a/output_images/undistorted/test3__undistorted.jpg b/output_images/undistorted/test3__undistorted.jpg
diff --git a/output_images/undistorted/test3_undistorted.jpg b/output_images/undistorted/test3_undistorted.jpg
diff --git a/output_images/undistorted/test4__undistorted.jpg b/output_images/undistorted/test4__undistorted.jpg
diff --git a/output_images/undistorted/test4_undistorted.jpg b/output_images/undistorted/test4_undistorted.jpg
diff --git a/output_images/undistorted/test5__undistorted.jpg b/output_images/undistorted/test5__undistorted.jpg
diff --git a/output_images/undistorted/test5_undistorted.jpg b/output_images/undistorted/test5_undistorted.jpg
diff --git a/output_images/undistorted/test6__undistorted.jpg b/output_images/undistorted/test6__undistorted.jpg
diff --git a/output_images/undistorted/test6_undistorted.jpg b/output_images/undistorted/test6_undistorted.jpg