lane-detect-pi.py 文件源码

def binary_extraction(self,image, ksize=3):
        # undistort first
        #image = self.undistort(image)

        color_bin = self.color_thresh(image,thresh=(90, 150))              # initial values 110, 255

        gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

        sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize)
        sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize)

        gradx = self.abs_sobel_thresh(sobelx, thresh=(100, 190))             # initial values 40, 160
        grady = self.abs_sobel_thresh(sobely, thresh=(100, 190))             # initial values 40, 160
        mag_binary = self.mag_thresh(sobelx, sobely, mag_thresh=(100, 190))  # initial values 40, 160
        #dir_binary = self.dir_threshold(sobelx, sobely, thresh=(0.7, 1.3))

        combined = np.zeros_like(gradx)
        #combined[(((gradx == 1) & (grady == 1)) | ((mag_binary == 1) & (dir_binary == 1))) | (color_bin==1) ] = 1
        combined[(((gradx == 1) & (grady == 1)) | (mag_binary == 1)) | (color_bin==1) ] = 1
        #combined[(((gradx == 1) & (grady == 1)) | (mag_binary == 1)) ] = 1

        return combined

    # transform perspective