def __init__(self):
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.c_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
self.lane_width_estimate = 3.7
self.lane_width_certainty = 1.0
self.lane_width = 3.7
def __init__(self):
self.l_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
self.p_poly = [0., 0., 0., 0.]
self.d_poly = [0., 0., 0., 0.]
self.lane_width_estimate = 3.7
self.lane_width_certainty = 1.0
self.lane_width = 3.7
self.l_prob = 0.
self.r_prob = 0.
self.lr_prob = 0.
self._path_pinv = compute_path_pinv()
self.x_points = np.arange(50)
def __init__(self):
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.l_poly = np.array([0., 0., 0., 0.])
self.r_poly = np.array([0., 0., 0., 0.])
self.p_poly = np.array([0., 0., 0., 0.])
self.c_prob = 0.
self.p_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
self.lane_width_estimate = 3.0
self.lane_width_certainty = 1.0
self.lane_width = 3.0
self.l_prob = 0.
self.r_prob = 0.
self.x_points = np.arange(50)
def __init__(self):
self.lane_width_array = np.zeros(50)
self.lane_width_array_counter = 0
self.fullarray = False
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
self.l_poly = [0., 0., 0., 0.]
self.c_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
self.lane_width_estimate = 2.85
self.lane_width_certainty = 1.0
self.lane_width = 2.85
self.l_prob = 0.
self.r_prob = 0.
def __init__(self, shouldUseAlca):
self.l_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
self.p_poly = [0., 0., 0., 0.]
self.d_poly = [0., 0., 0., 0.]
self.lane_width_estimate = 3.7
self.lane_width_certainty = 1.0
self.lane_width = 3.7
self.l_prob = 0.
self.r_prob = 0.
self.lr_prob = 0.
self._path_pinv = compute_path_pinv()
self.x_points = np.arange(50)
self.shouldUseAlca = shouldUseAlca
if shouldUseAlca:
self.ALCAMP = ALCAModelParser()
vision_test = True
except ImportError:
vision_test = False
HOR = os.getenv("HORIZONTAL") is not None
RED = (255, 0, 0)
GREEN = (0, 255, 0)
BLUE = (0, 0, 255)
YELLOW = (255, 255, 0)
BLACK = (0, 0, 0)
WHITE = (255, 255, 255)
_PATH_X = np.arange(101.)
_PATH_XD = np.arange(101.)
_PATH_PINV = compute_path_pinv(50)
#_BB_OFFSET = 290, 332
_BB_OFFSET = 0,0
_BB_SCALE = 1164/640.
_BB_TO_FULL_FRAME = np.asarray([
[_BB_SCALE, 0., _BB_OFFSET[0]],
[0., _BB_SCALE, _BB_OFFSET[1]],
[0., 0., 1.]])
_FULL_FRAME_TO_BB = np.linalg.inv(_BB_TO_FULL_FRAME)
ModelUIData = namedtuple("ModelUIData", ["cpath", "lpath", "rpath", "lead", "lead_std", "freepath"])
class CalibrationTransformsForWarpMatrix(object):
def __init__(self, model_to_full_frame, K, E):
self._model_to_full_frame = model_to_full_frame
