sakshikakde / lane-detection

Python code to detect lanes from a video input.

Problem 1 : Histogram equilization

File structure

.
├── Code
|  ├── utils
|  ├── notebooks
|  ├── other .py files
├── Data
├── Results
└── images

How to run the code

• Change the directory to the root folder.
• Run the following code:

python3 Code/ImageCorrection.py  --BasePath ./ --VideoFilePath ./Data/Night\ Drive\ -\ 2689.mp4 --SaveFileName Results/Problem1/ImageCorrection.avi 

Parameters

• BasePath - BasePath - project folder
• VideoFilePath - absolute path of the video file
• SaveFileName - Path to the folder along with name where results are saved. Note: This path is relative to BasePath

Result

Problem 2: Lane Detection

Image Prepossessing

The following operations were performed before lane de- tection:

1. Image undistortion using cv2.undistort.
2. Image blurring using a Gaussian kernel of size 5 ×5.
3. Thresholding the gray image to get a binary image.
4. Obtained ROI, which is almost 55% of the image.

How to run the code - Approach 1

• Change the directory to the root folder.
• Run the following code:

python3 Code/LaneDetection_part1.py  --BasePath ./ --ImageFilePath ./Data/Project2_Dataset2/data_1/data --CamConfigFile ./Data/Project2_Dataset2/data_1/camera_params.yaml --SaveFileName Results/Problem2/lane_result_1.avi 

Parameters

1. BasePath - project folder
2. ImageFilePath - absolute path of the image files
3. CamConfigFile - path where the .yml file is
4. SaveFileName - file name for the saved video. Note: this path is relative to the BasePath

Results

How to run the code - Approach 2

• Change the directory to the root folder.
• Run the following code:

python3 Code/LaneDetection_part2.py --BasePath ./ --VideoFilePath ./Data/Project2_Dataset2/data_2/challenge_video.mp4 --CamConfigFile.Data/Project2_Dataset2/data_2/cam_params.yaml --SaveFileName Results/Problem2/lane_result_2.avi

Parameters

1. BasePath - project folder
2. VideoFilePath - absolute path of the video files
3. CamConfigFile - path where the .yml file is
4. SaveFileName - file name for the saved video. Note: this path is relative to the BasePath

Results