{"id":2716,"date":"2016-12-16T20:38:26","date_gmt":"2016-12-17T03:38:26","guid":{"rendered":"http:\/\/mattfife.com\/?p=2716"},"modified":"2016-12-17T00:52:49","modified_gmt":"2016-12-17T07:52:49","slug":"lane-finding","status":"publish","type":"post","link":"https:\/\/mattfife.com\/?p=2716","title":{"rendered":"Lane Finding"},"content":{"rendered":"<p>My first homework assignment for my self-driving automotive class was to find lanes on still, then on captured video. Here was my first attempt, which seems to have come out pretty well. I still want to improve it a bit with some more frame-to-frame smoothing.<\/p>\n<p><span class=\"embed-youtube\" style=\"text-align:center; display: block;\"><iframe loading=\"lazy\" class=\"youtube-player\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/PL2TD-vcXkY?version=3&#038;rel=1&#038;showsearch=0&#038;showinfo=1&#038;iv_load_policy=1&#038;fs=1&#038;hl=en-US&#038;autohide=2&#038;wmode=transparent\" allowfullscreen=\"true\" style=\"border:0;\" sandbox=\"allow-scripts allow-same-origin allow-popups allow-presentation allow-popups-to-escape-sandbox\"><\/iframe><\/span><\/p>\n<p><span class=\"embed-youtube\" style=\"text-align:center; display: block;\"><iframe loading=\"lazy\" class=\"youtube-player\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/a7VwOqGetxo?version=3&#038;rel=1&#038;showsearch=0&#038;showinfo=1&#038;iv_load_policy=1&#038;fs=1&#038;hl=en-US&#038;autohide=2&#038;wmode=transparent\" allowfullscreen=\"true\" style=\"border:0;\" sandbox=\"allow-scripts allow-same-origin allow-popups allow-presentation allow-popups-to-escape-sandbox\"><\/iframe><\/span><\/p>\n<p>Useful links\/techniques:<\/p>\n<ul>\n<li>Hough Lines\n<ul>\n<li><a href=\"http:\/\/docs.opencv.org\/3.0-beta\/doc\/py_tutorials\/py_imgproc\/py_houghlines\/py_houghlines.html\" target=\"_blank\">OpenCV description of Hough lines<\/a><\/li>\n<li><a href=\"http:\/\/stackoverflow.com\/questions\/33541551\/hough-lines-in-opencv-python\" target=\"_blank\">Example of using OpenCV Hough lines<\/a><\/li>\n<li><a href=\"http:\/\/stackoverflow.com\/questions\/19054055\/python-cv2-houghlines-grid-line-detection\" target=\"_blank\">Another OpenCV Hough line example<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"http:\/\/www.varsitytutors.com\/hotmath\/hotmath_help\/topics\/line-of-best-fit\" target=\"_blank\">Least Squares method to find a line of best fit<\/a>\u00a0through points<\/li>\n<li>Python\n<ul>\n<li><a href=\"http:\/\/stackoverflow.com\/questions\/10987834\/importerror-no-module-named-cv2-when-running-django-project-from-pycharm-ide\" target=\"_blank\">Setting up PyCharm to use OpenCV<\/a> that you installed elsewhere (in our case Anaconda). Basically, you set the search path<\/li>\n<li><a href=\"http:\/\/docs.opencv.org\/trunk\/d0\/d86\/tutorial_py_image_arithmetics.html\" target=\"_blank\">Alpha blending OpenCV images<\/a><\/li>\n<li><a href=\"http:\/\/stackoverflow.com\/questions\/8459231\/sort-tuples-based-on-second-parameter\" target=\"_blank\">Sorting tuples<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>My first homework assignment for my self-driving automotive class was to find lanes on still, then on captured video. Here was my first attempt, which seems to have come out pretty well. I still want to improve it a bit with some more frame-to-frame smoothing. Useful links\/techniques: Hough Lines OpenCV description of Hough lines Example of using OpenCV Hough lines Another OpenCV Hough line example Least Squares method to find a line of best fit\u00a0through points Python Setting up PyCharm&#8230;<\/p>\n<p class=\"read-more\"><a class=\"btn btn-default\" href=\"https:\/\/mattfife.com\/?p=2716\"> Read More<span class=\"screen-reader-text\">  Read More<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":true,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[7,5],"tags":[],"class_list":["post-2716","post","type-post","status-publish","format-standard","hentry","category-technicalprogramming","category-technical"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p4WECr-HO","jetpack-related-posts":[],"_links":{"self":[{"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/posts\/2716","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/mattfife.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2716"}],"version-history":[{"count":3,"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/posts\/2716\/revisions"}],"predecessor-version":[{"id":2719,"href":"https:\/\/mattfife.com\/index.php?rest_route=\/wp\/v2\/posts\/2716\/revisions\/2719"}],"wp:attachment":[{"href":"https:\/\/mattfife.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2716"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mattfife.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2716"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mattfife.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2716"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}