无人驾驶工程师学习笔记（八）——Magnitude of the Gradient

goal

在上一个练习中，我们看到x或者y方向的梯度会把一些图像清除掉，所以在这个练习中，我们apply a threshold to the overall magnitude of the gradient, in both x and y.（求x y的整体渐变幅度）

principle

1. The magnitude, or absolute value, of the gradient is just the square root of the squares of the individual x and y gradients. For a gradient in both the x and y directions, the magnitude is the square root of the sum of the squares.
   

sobelall = np.sqrt(sobelx**2 + sobely**2)

2. It’s also worth considering the size of the region in the image over which you’ll be taking the gradient. Taking the gradient over larger regions can smooth over noisy intensity fluctuations on small scales. the kernel size should be an odd number.
   here you’ll define a new function that takes kernel size as a parameter.

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

code

import numpy as np
import cv2
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
import pickle


# Read in an image
image = mpimg.imread('signs_vehicles_xygrad.png')

# Define a function that applies Sobel x and y, 
# then computes the magnitude of the gradient
# and applies a threshold
def mag_thresh(img, sobel_kernel=3, mag_thresh=(0, 255)):
    
    # Apply the following steps to img
    # 1) Convert to grayscale
    gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)

    # 2) Take the gradient in x and y separately
    sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize=sobel_kernel)
    sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize=sobel_kernel)
    # 3) Calculate the magnitude 
    sobelall = np.sqrt(sobelx**2 + sobely**2)
    # 4) Scale to 8-bit (0 - 255) and convert to type = np.uint8
    sobelall = (255*sobelall/np.max(sobelall)).astype(np.uint8) 
    # 5) Create a binary mask where mag thresholds are met
    binary_output = np.zeros_like(sobelall)
    binary_output[(sobelall >= mag_thresh[0]) & (sobelall <= mag_thresh[1])] = 1
    # 6) Return this mask as your binary_output image
    # binary_output = np.copy(img) # Remove this line
    return binary_output
    
# Run the function
mag_binary = mag_thresh(image, sobel_kernel=3, mag_thresh=(30, 100))
# Plot the result
f, (ax1, ax2) = plt.subplots(1, 2, figsize=(24, 9))
f.tight_layout()
ax1.imshow(image)
ax1.set_title('Original Image', fontsize=50)
ax2.imshow(mag_binary, cmap='gray')
ax2.set_title('Thresholded Magnitude', fontsize=50)
plt.subplots_adjust(left=0., right=1, top=0.9, bottom=0.)