lane-detect-pi.py 文件源码

def color_thresh(self, img, thresh=(0, 255)):
        # convert to HSV color space and separate the V channel
        hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HLS).astype(np.float)
        s_channel = hsv[:,:,2]

        # threshold color channel
        s_binary = np.zeros_like(s_channel)
        s_binary[(s_channel >= thresh[0]) & (s_channel <= thresh[1])] = 1
        return s_binary

    # get binary image based on sobel gradient thresholding