added comments

Author: prateeksawhney97

.ipynb_checkpoints/P2-checkpoint.ipynb

@@ -360,6 +360,13 @@
     "    plt.imshow(combined_binary, cmap='gray')\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Defining Important parameters"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 7,
@@ -384,7 +391,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Performing"
+    "## Performing Perspective Transform on binary images to get warped images"
    ]
   },
   {
@@ -491,6 +498,13 @@
     "    binary_warped_images.append(warped_image)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Finding Lane Pixels and fitting a polynomial using Sliding Window"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 10,
@@ -703,6 +717,13 @@
     "    plt.figure()"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Function for finding the radius of curvature"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 11,
@@ -724,6 +745,13 @@
     "    return curverad"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Finding the Lines: Search from Prior"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 12,
@@ -936,6 +964,13 @@
     "    "
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Function for calculating the radius and offset"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 13,
@@ -977,6 +1012,13 @@
     "    return curvature_string, offset"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Drawing the Lane Area over final image"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 14,
@@ -1048,6 +1090,13 @@
     "from IPython.display import HTML"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Final Pipeline Function"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 16,
@@ -1136,6 +1185,13 @@
     "plt.imshow(result_image, cmap='gray')"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Project Video Output"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 21,
@@ -1205,6 +1261,13 @@
     "\"\"\".format(white_output))"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Challenge Video Output"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 70,
@@ -2254,6 +2317,13 @@
     "\"\"\".format(yellow_output))"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Output for harder challenge video"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 18,

P2.ipynb

@@ -360,6 +360,13 @@
     "    plt.imshow(combined_binary, cmap='gray')\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Defining Important parameters"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 7,
@@ -384,7 +391,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Performing"
+    "## Performing Perspective Transform on binary images to get warped images"
    ]
   },
   {
@@ -491,6 +498,13 @@
     "    binary_warped_images.append(warped_image)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Finding Lane Pixels and fitting a polynomial using Sliding Window"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 10,
@@ -703,6 +717,13 @@
     "    plt.figure()"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Function for finding the radius of curvature"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 11,
@@ -724,6 +745,13 @@
     "    return curverad"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Finding the Lines: Search from Prior"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 12,
@@ -936,6 +964,13 @@
     "    "
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Function for calculating the radius and offset"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 13,
@@ -977,6 +1012,13 @@
     "    return curvature_string, offset"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Drawing the Lane Area over final image"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 14,
@@ -1048,6 +1090,13 @@
     "from IPython.display import HTML"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Final Pipeline Function"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 16,
@@ -1136,6 +1185,13 @@
     "plt.imshow(result_image, cmap='gray')"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Project Video Output"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 21,
@@ -1205,6 +1261,13 @@
     "\"\"\".format(white_output))"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Challenge Video Output"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 70,
@@ -2254,6 +2317,13 @@
     "\"\"\".format(yellow_output))"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Output for harder challenge video"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 18,