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lane_planner.py/parse_model: follow capnp best practices (#23368)

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old-commit-hash: f2520b6e80
This commit is contained in:
Dean Lee
2022-01-04 07:08:24 +08:00
committed by GitHub
parent 64ba111cbb
commit 3723b3a877
1 changed files with 10 additions and 8 deletions
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selfdrive/controls/lib/lane_planner.py
+10 -8
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@@ -44,21 +44,23 @@ class LanePlanner:
self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
def parse_model(self, md):
if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE:
self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2
lane_lines = md.laneLines
if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE:
self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2
# left and right ll x is the same
self.ll_x = md.laneLines[1].x
self.ll_x = lane_lines[1].x
# only offset left and right lane lines; offsetting path does not make sense
self.lll_y = np.array(md.laneLines[1].y) - self.camera_offset
self.rll_y = np.array(md.laneLines[2].y) - self.camera_offset
self.lll_y = np.array(lane_lines[1].y) - self.camera_offset
self.rll_y = np.array(lane_lines[2].y) - self.camera_offset
self.lll_prob = md.laneLineProbs[1]
self.rll_prob = md.laneLineProbs[2]
self.lll_std = md.laneLineStds[1]
self.rll_std = md.laneLineStds[2]
if len(md.meta.desireState):
self.l_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeLeft]
self.r_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeRight]
desire_state = md.meta.desireState
if len(desire_state):
self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
def get_d_path(self, v_ego, path_t, path_xyz):
# Reduce reliance on lanelines that are too far apart or