记录一下学习笔记。这是一种传统方法，经过简单测试（cpu）帧率。
| 测试项目 | Value |
|---|---|
| 原始代码 | 1帧左右 |
| 去掉相机校正部分 | 6帧左右 |
| 去掉5个阈值过滤部分 | 15帧左右 |
| 加车道线类型检测部分 | 1.2帧左右 |
pipeline.py
# -*- coding: utf-8 -*-
import os
import cv2
import utils
import numpy as np
import line
import time
import matplotlib.pyplot as plt
def thresholding(img):
#setting all sorts of thresholds
x_thresh = utils.abs_sobel_thresh(img, orient='x', thresh_min=10 ,thresh_max=230)
mag_thresh = utils.mag_thresh(img, sobel_kernel=3, mag_thresh=(30, 150))
dir_thresh = utils.dir_threshold(img, sobel_kernel=3, thresh=(0.7, 1.3))
hls_thresh = utils.hls_select(img, thresh=(180, 255))
lab_thresh = utils.lab_select(img, thresh=(155, 200))
luv_thresh = utils.luv_select(img, thresh=(225, 255))
#Thresholding combination
threshholded = np.zeros_like(x_thresh)
threshholded[((x_thresh == 1) & (mag_thresh == 1)) | ((dir_thresh == 1) & (hls_thresh == 1)) | (lab_thresh == 1) | (luv_thresh == 1)] = 1
#threshholded[(x_thresh == 1)] = 1
return threshholded
def processing(img,M,Minv,left_line,right_line):
thresholded = thresholding(img)
#perform perspective transform
thresholded_wraped = cv2.warpPerspective(thresholded, M, img.shape[1::-1], flags=cv2.INTER_LINEAR)
#perform detection
if left_line.detected and right_line.detected:
print('执行find_line_by_previous')
left_fit, right_fit, left_lane_inds, right_lane_inds = utils.find_line_by_previous(thresholded_wraped,left_line.current_fit,right_line.current_fit)
else:
print('执行find_line')
left_fit, right_fit, left_lane_inds, right_lane_inds = utils.find_line(thresholded_wraped)
left_line.update(left_fit)
right_line.update(right_fit)
#draw the detected laneline and the information
area_img = utils.draw_area(img,thresholded_wraped,Minv,left_fit, right_fit)
curvature,pos_from_center = utils.calculate_curv_and_pos(thresholded_wraped,left_fit, right_fit)
result = utils.draw_values(area_img,curvature,pos_from_center)
return result
path = "project_video.mp4"
capture = cv2.VideoCapture(path)
# frame_width = int(capture.get(3))
# frame_height = int(capture.get(4))
# print(frame_height)
# print(frame_width)
# out = cv2.VideoWriter('outpy_no.avi',cv2.VideoWriter_fourcc('M','J','P','G'), 10, (frame_width,frame_height))
# 车道线类型检测
# weightsPath = "H:/desktop/Post-processing-10000lane/my_yolov3_10000.weights"
# configPath = "H:/desktop/Post-processing-10000lane/my_yolov3.cfg"
# labelsPath = "H:/desktop/Post-processing-10000lane/myData.names"
# LABELS = open(labelsPath).read().strip().split("\n")
# COLORS = np.random.randint(0, 255, size=(len(LABELS), 3), dtype="uint8")
# boxes = []
# confidences = []
# classIDs = []
# net = cv2.dnn.readNetFromDarknet(configPath, weightsPath)
while (True):
# #detection video
ref, image = capture.read()
# #detection image
# filename = './lane_000042.jpg'
# image = cv2.imread(filename)
# image= cv2.resize(image, (1280,720))
prevTime = time.time()
# (H, W) = image.shape[:2]
# ln = net.getLayerNames()
# ln = [ln[i[0] - 1] for i in net.getUnconnectedOutLayers()]
# blob = cv2.dnn.blobFromImage(image, 1 / 255.0, (416, 416), swapRB=True, crop=False)
# net.setInput(blob)
# layerOutputs = net.forward(ln)
# for output in layerOutputs:
# for detection in output:
# scores = detection[5:]
# classID = np.argmax(scores)
# confidence = scores[classID]
# if confidence > 0.9:
# box = detection[0:4] * np.array([W, H, W, H])
# (centerX, centerY, width, height) = box.astype("int")
# x = int(centerX - (width / 2))
# y = int(centerY - (height / 2))
# boxes.append([x, y, int(width), int(height)])
# confidences.append(float(confidence))
# classIDs.append(classID)
# idxs = cv2.dnn.NMSBoxes(boxes, confidences, 0.2, 0.3)
# if len(idxs) > 0:
# for i in idxs.flatten():
# (x, y) = (boxes[i][0], boxes[i][1])
# (w, h) = (boxes[i][2], boxes[i][3])
# color = [int(c) for c in COLORS[classIDs[i]]]
# print(x,y,x+w,y+h)
# print(type(color))
# cv2.rectangle(image, (x, y), (x + w, y + h), color, 2)
# text = "{}: {:.4f}".format(LABELS[classIDs[i]], confidences[i])
# cv2.putText(image, text, (x, y - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 2)
left_line = line.Line()
right_line = line.Line()
M,Minv = utils.get_M_Minv()
image = processing(image,M,Minv,left_line,right_line)
curTime = time.time()
sec = curTime - prevTime
fps = 1/(sec)
s = "FPS : "+ str(fps)
cv2.putText(image, s, (100, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
# out.write(image)
cv2.imshow("detection_results", image)
c = cv2.waitKey(30) & 0xff
if c == 27:
capture.release()
break
utils.py
# -*- coding: utf-8 -*-
import numpy as np
import os
import cv2
import matplotlib.pyplot as plt
def get_M_Minv():
src = np.float32([[(203, 720), (585, 460), (695, 460), (1127, 720)]])
dst = np.float32([[(320, 720), (320, 0), (960, 0), (960, 720)]])
M = cv2.getPerspectiveTransform(src, dst)
Minv = cv2.getPerspectiveTransform(dst,src)
return M,Minv
#function takes an image, object points, and image points
# performs the camera calibration, image distortion correction and
# returns the undistorted image
def cal_undistort(img, objpoints, imgpoints):
# Use cv2.calibrateCamera() and cv2.undistort()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, img.shape[1::-1], None, None)
dst = cv2.undistort(img, mtx, dist, None, mtx)
return dst
def abs_sobel_thresh(img, orient='x', thresh_min=0, thresh_max=255):
# Convert to grayscale
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
# Apply x or y gradient with the OpenCV Sobel() function
# and take the absolute value
if orient == 'x':
abs_sobel = np.absolute(cv2.Sobel(gray, cv2.CV_64F, 1, 0))
if orient == 'y':
abs_sobel = np.absolute(cv2.Sobel(gray, cv2.CV_64F, 0, 1))
# Rescale back to 8 bit integer
scaled_sobel = np.uint8(255*abs_sobel/np.max(abs_sobel))
# Create a copy and apply the threshold
binary_output = np.zeros_like(scaled_sobel)
# Here I'm using inclusive (>=, <=) thresholds, but exclusive is ok too
binary_output[(scaled_sobel >= thresh_min) & (scaled_sobel <= thresh_max)] = 1
# Return the result
return binary_output
def mag_thresh(img, sobel_kernel=3, mag_thresh=(0, 255)):
# Convert to grayscale
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
# Take both Sobel x and y gradients
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize=sobel_kernel)
sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize=sobel_kernel)
# Calculate the gradient magnitude
gradmag = np.sqrt(sobelx**2 + sobely**2)
# Rescale to 8 bit
scale_factor = np.max(gradmag)/255
gradmag = (gradmag/scale_factor).astype(np.uint8)
# Create a binary image of ones where threshold is met, zeros otherwise
binary_output = np.zeros_like(gradmag)
binary_output[(gradmag >= mag_thresh[0]) & (gradmag <= mag_thresh[1])] = 1
# Return the binary image
return binary_output
def dir_threshold(img, sobel_kernel=3, thresh=(0, np.pi/2)):
# Grayscale
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
# Calculate the x and y gradients
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize=sobel_kernel)
sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize=sobel_kernel)
# Take the absolute value of the gradient direction,
# apply a threshold, and create a binary image result
absgraddir = np.arctan2(np.absolute(sobely), np.absolute(sobelx))
binary_output = np.zeros_like(absgraddir)
binary_output[(absgraddir >= thresh[0]) & (absgraddir <= thresh[1])] = 1
# Return the binary image
return binary_output
def hls_select(img,channel='s',thresh=(0, 255)):
hls = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
if channel=='h':
channel = hls[:,:,0]
elif channel=='l':
channel=hls[:,:,1]
else:
channel=hls[:,:,2]
binary_output = np.zeros_like(channel)
binary_output[(channel > thresh[0]) & (channel <= thresh[1])] = 1
return binary_output
def luv_select(img, thresh=(0, 255)):
luv = cv2.cvtColor(img, cv2.COLOR_RGB2LUV)
l_channel = luv[:,:,0]
binary_output = np.zeros_like(l_channel)
binary_output[(l_channel > thresh[0]) & (l_channel <= thresh[1])] = 1
return binary_output
def lab_select(img, thresh=(0, 255)):
lab = cv2.cvtColor(img, cv2.COLOR_RGB2Lab)
b_channel = lab[:,:,2]
binary_output = np.zeros_like(b_channel)
binary_output[(b_channel > thresh[0]) & (b_channel <= thresh[1])] = 1
return binary_output
def find_line(binary_warped):
# Take a histogram of the bottom half of the image
histogram = np.sum(binary_warped[binary_warped.shape[0]//2:,:], axis=0)
# Find the peak of the left and right halves of the histogram
# These will be the starting point for the left and right lines
midpoint = np.int(histogram.shape[0]/2)
leftx_base = np.argmax(histogram[:midpoint])
rightx_base = np.argmax(histogram[midpoint:]) + midpoint
# Choose the number of sliding windows
nwindows = 3 #9
# Set height of windows
window_height = np.int(binary_warped.shape[0]/nwindows)
# Identify the x and y positions of all nonzero pixels in the image
nonzero = binary_warped.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Current positions to be updated for each window
leftx_current = leftx_base
rightx_current = rightx_base
# Set the width of the windows +/- margin
margin = 100
# Set minimum number of pixels found to recenter window
minpix = 50
# Create empty lists to receive left and right lane pixel indices
left_lane_inds = []
right_lane_inds = []
# Step through the windows one by one
for window in range(nwindows):
# Identify window boundaries in x and y (and right and left)
win_y_low = binary_warped.shape[0] - (window+1)*window_height
win_y_high = binary_warped.shape[0] - window*window_height
win_xleft_low = leftx_current - margin
win_xleft_high = leftx_current + margin
win_xright_low = rightx_current - margin
win_xright_high = rightx_current + margin
# Identify the nonzero pixels in x and y within the window
good_left_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xleft_low) & (nonzerox < win_xleft_high)).nonzero()[0]
good_right_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xright_low) & (nonzerox < win_xright_high)).nonzero()[0]
# Append these indices to the lists
left_lane_inds.append(good_left_inds)
right_lane_inds.append(good_right_inds)
# If you found > minpix pixels, recenter next window on their mean position
if len(good_left_inds) > minpix:
leftx_current = np.int(np.mean(nonzerox[good_left_inds]))
if len(good_right_inds) > minpix:
rightx_current = np.int(np.mean(nonzerox[good_right_inds]))
# Concatenate the arrays of indices
left_lane_inds = np.concatenate(left_lane_inds)
right_lane_inds = np.concatenate(right_lane_inds)
# Extract left and right line pixel positions
leftx = nonzerox[left_lane_inds]
lefty = nonzeroy[left_lane_inds]
rightx = nonzerox[right_lane_inds]
righty = nonzeroy[right_lane_inds]
# Fit a second order polynomial to each
left_fit = np.polyfit(lefty, leftx, 2)
right_fit = np.polyfit(righty, rightx, 2)
return left_fit, right_fit, left_lane_inds, right_lane_inds
def find_line_by_previous(binary_warped,left_fit,right_fit):
nonzero = binary_warped.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
margin = 100
left_lane_inds = ((nonzerox > (left_fit[0]*(nonzeroy**2) + left_fit[1]*nonzeroy +
left_fit[2] - margin)) & (nonzerox < (left_fit[0]*(nonzeroy**2) +
left_fit[1]*nonzeroy + left_fit[2] + margin)))
right_lane_inds = ((nonzerox > (right_fit[0]*(nonzeroy**2) + right_fit[1]*nonzeroy +
right_fit[2] - margin)) & (nonzerox < (right_fit[0]*(nonzeroy**2) +
right_fit[1]*nonzeroy + right_fit[2] + margin)))
# Again, extract left and right line pixel positions
leftx = nonzerox[left_lane_inds]
lefty = nonzeroy[left_lane_inds]
rightx = nonzerox[right_lane_inds]
righty = nonzeroy[right_lane_inds]
# Fit a second order polynomial to each
left_fit = np.polyfit(lefty, leftx, 2)
right_fit = np.polyfit(righty, rightx, 2)
print(left_fit)
print(right_fit)
return left_fit, right_fit, left_lane_inds, right_lane_inds
def draw_area(undist,binary_warped,Minv,left_fit, right_fit):
# Generate x and y values for plotting
ploty = np.linspace(0, binary_warped.shape[0]-1, binary_warped.shape[0] )
left_fitx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
right_fitx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
# Create an image to draw the lines on
warp_zero = np.zeros_like(binary_warped).astype(np.uint8)
color_warp = np.dstack((warp_zero, warp_zero, warp_zero))
# Recast the x and y points into usable format for cv2.fillPoly()
pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))]) #np.vstack(tup)：沿着竖直方向将矩阵堆叠起来
pts_right = np.array([np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
pts = np.hstack((pts_left, pts_right)) # np.hstack(tup)：沿着水平方向将数组堆叠起来。
# Draw the lane onto the warped blank image 渲染
cv2.fillPoly(color_warp, np.int_([pts]), (0,255, 0))
# matplotlib显示
# plt.plot(left_fitx, ploty, color='red', linewidth=4)
# plt.plot(right_fitx, ploty, color='red', linewidth=4)
# plt.show()
# # 在image上画点
# for i in range(len(ploty)):
# cv2.circle(color_warp,(int(left_fitx[i]),int(ploty[i])),1,(0, 0, 255),10)
# cv2.circle(color_warp,(int(right_fitx[i]),int(ploty[i])),1,(0, 0, 255),10)
# i = i + 1
# Warp the blank back to original image space using inverse perspective matrix (Minv)
newwarp = cv2.warpPerspective(color_warp, Minv, (undist.shape[1], undist.shape[0]))
# Combine the result with the original image
result = cv2.addWeighted(undist, 1, newwarp, 0.3, 0)
return result
def calculate_curv_and_pos(binary_warped,left_fit, right_fit):
# Define y-value where we want radius of curvature
ploty = np.linspace(0, binary_warped.shape[0]-1, binary_warped.shape[0] )
leftx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
rightx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
# Define conversions in x and y from pixels space to meters
ym_per_pix = 30/720 # meters per pixel in y dimension
xm_per_pix = 3.7/700 # meters per pixel in x dimension
y_eval = np.max(ploty)
# Fit new polynomials to x,y in world space
left_fit_cr = np.polyfit(ploty*ym_per_pix, leftx*xm_per_pix, 2)
right_fit_cr = np.polyfit(ploty*ym_per_pix, rightx*xm_per_pix, 2)
# Calculate the new radii of curvature
left_curverad = ((1 + (2*left_fit_cr[0]*y_eval*ym_per_pix + left_fit_cr[1])**2)**1.5) / np.absolute(2*left_fit_cr[0])
right_curverad = ((1 + (2*right_fit_cr[0]*y_eval*ym_per_pix + right_fit_cr[1])**2)**1.5) / np.absolute(2*right_fit_cr[0])
curvature = ((left_curverad + right_curverad) / 2)
#print(curvature)
lane_width = np.absolute(leftx[719] - rightx[719])
lane_xm_per_pix = 3.7 / lane_width
veh_pos = (((leftx[719] + rightx[719]) * lane_xm_per_pix) / 2.)
cen_pos = ((binary_warped.shape[1] * lane_xm_per_pix) / 2.)
distance_from_center = cen_pos - veh_pos
return curvature,distance_from_center
def draw_values(img,curvature,distance_from_center):
font = cv2.FONT_HERSHEY_SIMPLEX
radius_text = "Radius of Curvature: %sm"%(round(curvature))
if distance_from_center>0:
pos_flag = 'right'
else:
pos_flag= 'left'
cv2.putText(img,radius_text,(100,100), font, 1,(255,255,255),2)
center_text = "Vehicle is %.3fm %s of center"%(abs(distance_from_center),pos_flag)
cv2.putText(img,center_text,(100,150), font, 1,(255,255,255),2)
return img
line.py
# -*- coding: utf-8 -*-
import numpy as np
# Define a class to receive the characteristics of each line detection
class Line():
def __init__(self):
# was the line detected in the last iteration?
self.detected = False
# x values of the last n fits of the line
self.recent_fitted = [np.array([False])]
#average x values of the fitted line over the last n iterations
self.bestx = None
#polynomial coefficients averaged over the last n iterations
self.best_fit = None
#polynomial coefficients for the most recent fit
self.current_fit = [np.array([False])]
#radius of curvature of the line in some units
self.radius_of_curvature = None
#distance in meters of vehicle center from the line
self.line_base_pos = None
#difference in fit coefficients between last and new fits
self.diffs = np.array([0,0,0], dtype='float')
#x values for detected line pixels
self.allx = None
#y values for detected line pixels
self.ally = None
def check_detected(self):
if (self.diffs[0] < 0.001 and self.diffs[1] < 10.0 and self.diffs[2] < 1000.) and len(self.recent_fitted) > 0:
return True
else:
return False
def update(self,fit):
if fit is not None:
if self.best_fit is not None:
self.diffs = abs(fit - self.best_fit)
if self.check_detected():
self.detected =True
if len(self.recent_fitted)>10:
self.recent_fitted = self.recent_fitted[1:]
self.recent_fitted.append(fit)
else:
self.recent_fitted.append(fit)
self.best_fit = np.average(self.recent_fitted, axis=0)
self.current_fit = fit
else:
self.detected = False
else:
self.best_fit = fit
self.current_fit = fit
self.detected=True
self.recent_fitted.append(fit)
三个文件置于同一文件夹下，运行pipeline.py即可检测视频或者图片。
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