def find_lane(self):
img = self.img
if self.last_frame and self.last_valid_left_lane_found < 12 and self.last_valid_right_lane_found < 12:
nonzero, left_lane_inds, right_lane_inds = self._extrapolate_from_last_frame(
)
else:
nonzero, left_lane_inds, right_lane_inds = self._sliding_window()
nonzerox = np.array(nonzero[1])
nonzeroy = np.array(nonzero[0])
# Extract left and right line pixel positions
leftx = nonzerox[left_lane_inds]
lefty = nonzeroy[left_lane_inds]
rightx = nonzerox[right_lane_inds]
righty = nonzeroy[right_lane_inds]
if len(leftx) == 0:
print('no left lane')
if len(rightx) == 0:
print('not right lane')
# Fit a second order polynomial to each
left_fit_polynomial = np.polyfit(lefty, leftx, 2)
right_fit_polynomial = np.polyfit(righty, rightx, 2)
# Generate x and y values for plotting
left_fitx, right_fitx, left_fity, right_fity = self._fit_polynomial_to_lane_data(
left_fit_polynomial, right_fit_polynomial)
left_lane = Lane(leftx, lefty, left_fit_polynomial, left_fitx,
left_fity)
right_lane = Lane(rightx, righty, right_fit_polynomial, right_fitx,
right_fity)
if left_lane.calculate_curvature() < 195:
# import ipdb; ipdb.set_trace()
left_lane = self.last_frame.left_lane if self.last_frame else None
self.last_valid_left_lane_found += 1
else:
self.last_valid_left_lane_found = 0
if right_lane.calculate_curvature() < 195:
# import ipdb; ipdb.set_trace()
right_lane = self.last_frame.right_lane if self.last_frame else None
self.last_valid_right_lane_found += 1
else:
self.last_valid_right_lane_found = 0
return left_lane, right_lane
