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modified '/' operator to '//' #12

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modified '/' operator to '//' #12

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10 changes: 5 additions & 5 deletions lane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -223,7 +223,7 @@ def warper(img, M):
## fit the lane line
def full_search(binary_warped, visualization=False):

histogram = np.sum(binary_warped[binary_warped.shape[0]/2:,:], axis=0)
histogram = np.sum(binary_warped[binary_warped.shape[0]//2:,:], axis=0)
# Create an output image to draw on and visualize the result
out_img = np.dstack((binary_warped, binary_warped, binary_warped))*255
out_img = out_img.astype('uint8')
Expand Down Expand Up @@ -484,10 +484,10 @@ def create_output_frame(offcenter, pts, undist_ori, fps, curvature, curve_direct
############## generate the combined output frame only for visualization purpose ################
whole_frame[40:40+h, 20:20+w, :] = undist_ori
whole_frame[40:40+h, 60+w:60+2*w, :] = output
whole_frame[220+h/2:220+2*h/2, 20:20+w/2, :] = undist_birdview
whole_frame[220+h/2:220+2*h/2, 40+w/2:40+w, 0] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)
whole_frame[220+h/2:220+2*h/2, 40+w/2:40+w, 1] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)
whole_frame[220+h/2:220+2*h/2, 40+w/2:40+w, 2] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)
whole_frame[220+h//2:220+2*h//2, 20:20+w//2, :] = undist_birdview
whole_frame[220+h//2:220+2*h//2, 40+w//2:40+w, 0] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)
whole_frame[220+h//2:220+2*h//2, 40+w//2:40+w, 1] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)
whole_frame[220+h//2:220+2*h//2, 40+w//2:40+w, 2] = cv2.resize((binary_sub*255).astype(np.uint8), (0,0), fx=1/2, fy=1/2)

font = cv2.FONT_HERSHEY_SIMPLEX
if offcenter >= 0:
Expand Down