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60 lines
2.6 KiB
Python
60 lines
2.6 KiB
Python
#!/usr/bin/env python3
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"""
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MIT Non-Commercial License
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Copyright (c) 2019-, rav4kumar, Rick Lan, dragonpilot community, and a number of other of contributors.
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation
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files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use,
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copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, for non-commercial purposes only,
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subject to the following conditions:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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* Commercial use (e.g., use in a product, service, or activity intended to generate revenue) is prohibited without explicit written permission from dragonpilot. Contact ricklan@gmail.com for inquiries.
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* Any project that uses the Software must visibly mention the following acknowledgment: "This project uses software from dragonpilot and is licensed under a custom license requiring permission for use."
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
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ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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"""
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import numpy as np
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NEARSIDE_PROB = 0.2
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EDGE_PROB = 0.35
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class RoadEdgeDetector:
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def __init__(self, enabled = False):
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self._is_enabled = enabled
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self.left_edge_detected = False
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self.right_edge_detected = False
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def update(self, road_edge_stds, lane_line_probs):
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if not self._is_enabled:
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return
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left_road_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
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left_lane_nearside_prob = lane_line_probs[0]
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right_road_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
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right_lane_nearside_prob = lane_line_probs[3]
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self.left_edge_detected = (
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left_road_edge_prob > EDGE_PROB and
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left_lane_nearside_prob < NEARSIDE_PROB and
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right_lane_nearside_prob >= left_lane_nearside_prob
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)
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self.right_edge_detected = (
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right_road_edge_prob > EDGE_PROB and
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right_lane_nearside_prob < NEARSIDE_PROB and
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left_lane_nearside_prob >= right_lane_nearside_prob
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)
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def set_enabled(self, enabled):
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self._is_enabled = enabled
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def is_enabled(self):
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return self._is_enabled
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