def process_image(image):
# NOTE: The output you return should be a color image (3 channel) for processing video below
# TODO: put your pipeline here,
# you should return the final output (image with lines are drawn on lanes)
imshape = image.shape
initial_img = image
gray = grayscale(image)
blur = gaussian_blur(gray, 5)
can = canny(blur, 50, 100)
vertices = np.array([[(0,imshape[0]),(450, 290), (450, 290), (imshape[1],imshape[0])]], dtype=np.int32)
reg = region_of_interest(can, vertices)
theta = np.pi/180
hough = hough_lines(reg, 2, theta, 15, 40, 20)
# draw = draw_lines(image, lines, color=[255,0,0], thickness=2)
plt.imshow(hough)
return hough