About
This code is used for lane detection in driving environment.
How to use
- Set the FILE_PATH & IMAGE_FORMAT in main.py
- Run the main.py
tqdm is used to generate the processbar in the terminal. It's Optional. If you don't want to use it, you can replace the code at line_30 in main.py as below.
for file_path in find_files(SRC_PATH, '*.{}'.format(IMG_FORMAT)):
Code Info
- main.py --- Main Function
- basic_function --- Some Basic Function
- show_img(name, img) : Show the image
- find_files(directory, pattern) : Method to find target files in one directory, including subdirectory
- get_M_Minv() : Get Perspective Transform
- draw_area(img_origin, img_line, Minv, left_fit, right_fit) : Draw the road area in the image
- draw_demo(img_result, img_bin, img_line, img_bev_result, curvature, distance_from_center) : Generate the Demo image
- unit_process --- Unit Operation for Image
- detect_line(img, debug=False) : Main Function
- pre_process(img, debug=False) : Image Pre-process
- find_line(img, debug=False) : Detect the lane using Sliding Windows Methods
- calculate_curv_and_pos(img_line, left_fit, right_fit) : Calculate the curvature & distance from the center