lesson_functions.py 文件源码

def find_windows_from_heatmap(image):
    hot_windows = []
    # Threshold the heatmap
    thres = 0
    image[image <= thres] = 0
    # Set labels
    labels = ndi.label(image)
    # iterate through labels and find windows
    for car_number in range(1, labels[1]+1):
        # Find pixels with each car_number label value
        nonzero = (labels[0] == car_number).nonzero()
        # Identify x and y values of those pixels
        nonzeroy = np.array(nonzero[0])
        nonzerox = np.array(nonzero[1])
        # Define a bounding box based on min/max x and y
        bbox = ((np.min(nonzerox), np.min(nonzeroy)), (np.max(nonzerox), np.max(nonzeroy)))
        hot_windows.append(bbox)
    return hot_windows