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Revert to using the sum of the lane line probabilities instead of the the product

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pull/858/head
Riccardo 6 years ago
parent 70d17cd69b
commit 26dd7e27c8
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/controls/lib/lane_planner.py

2
selfdrive/controls/lib/lane_planner.py
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@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
path_from_right_lane = r_poly.copy() path_from_right_lane = r_poly.copy()
path_from_right_lane[3] += lane_width / 2.0 path_from_right_lane[3] += lane_width / 2.0
lr_prob = l_prob * r_prob lr_prob = l_prob + r_prob - l_prob * r_prob
d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001) d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly

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