draw_line.py

def draw_lane_lines(original_image, warped_image, Minv, draw_info):
    left_fitx = draw_info['left_fitx']
    right_fitx = draw_info['right_fitx']
    ploty = draw_info['ploty']

    warp_zero = np.zeros_like(warped_image).astype(np.uint8)
    color_warp = np.dstack((warp_zero, warp_zero, warp_zero))

    pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))])
    pts_right = np.array([np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
    pts = np.hstack((pts_left, pts_right))

    mean_x = np.mean((left_fitx, right_fitx), axis=0)
    pts_mean = np.array([np.flipud(np.transpose(np.vstack([mean_x, ploty])))])

    cv2.fillPoly(color_warp, np.int_([pts]), (216, 168, 74))
    cv2.fillPoly(color_warp, np.int_([pts_mean]), (216, 168, 74))

    newwarp = cv2.warpPerspective(color_warp, Minv, (original_image.shape[1], original_image.shape[0]))
    result = cv2.addWeighted(original_image, 1, newwarp, 0.4, 0)

    return pts_mean, result