def get_lane_type(self, img, color_img):
right_lane = Lane()
left_lane = Lane()
# Detect color.
left_lane.color, right_lane.color = detect_color(color_img)
# Detect solid vs dotted and single vs double.
left_lane, right_lane, left_centers, right_centers = detect_dotted(
img, left_lane, right_lane)
# Handle errors. Don't update lane information unless new lane has been seen for 5 frames.
if left_lane != self.last_left:
if self.new_count_left >= 5 or self.first_frame:
self.last_left = left_lane
self.new_count_left = 0
else:
left_lane = self.last_left
self.new_count_left += 1
else:
self.new_count_left = 0
if right_lane != self.last_right:
if self.new_count_right >= 5 or self.first_frame:
self.last_right = right_lane
self.new_count_right = 0
self.first_frame = False
else:
right_lane = self.last_right
self.new_count_right += 1
else:
self.new_count_right = 0
return left_lane, right_lane, left_centers, right_centers
