This project is a software pipeline to identify the lane boundaries in a video. There is a detailed writeup of the solution in WRITEUP_Submit.md
The goals / steps of this project are the following:
- Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.
- Apply a distortion correction to raw images.
- Use color transforms, gradients, etc., to create a thresholded binary image.
- Apply a perspective transform to rectify binary image ("birds-eye view").
- Detect lane pixels and fit to find the lane boundary.
- Determine the curvature of the lane and vehicle position with respect to center.
- Warp the detected lane boundaries back onto the original image.
- Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.
The images for camera calibration are stored in the folder called camera_cal. The images in test_images are for testing the pipeline on single frames.
./pipeline/cameracal.py - generate calibration matrix from chessboard images
./pipeline/iamgegen.py - main driver file
./pipeline/linefitter.py - LineFitter class for operations of extracting polyfit and buffering