kilichbek / advanced-lane-detection

Project: Advanced Lane Finding || Udacity: Self-Driving Car Engineer Nanodegree

Advanced Lane Detection

Udacity Self-Driving Cars ( Nanodegree )

This repository contains the code that can detect lane lines on the road. Advanced computer vision techniques are used in this project.

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.

Written in C++ with OpenCV library

advanced-lane-detection's Issues

error for different video

If I am running this code for different video and try to run then it is giving following error:
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(3.4.9) /home/opencv/modules/core/src/matrix.cpp:466: error: (-215:Assertion failed) 0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows in function 'Mat'