Optimized lane_fit.py. Moved it to a separate folder with its own test.

[thedavidchu]

The branch name is a misnomer. Originally, I had intended to work on plotting the 2D line into 3D. That didn't happen of course.

[thedavidchu]

With Minor Optimizations

Minor code changes to use more built-in functions

Preprocessing: 0.001771800000000212 s
Clustering: 0.026063999999999865 s
Group Clusters: 14.482513800000001 s
Plot Lines: 0.026463299999999634 s
Elapsed time: end - start=14.538866800000001 s

With Optimization

Mostly grouping the cluster plotting functions into one call

Preprocessing: 0.0018540000000002443 s
Clustering: 0.02762999999999982 s
Group Clusters: 0.001914999999999889 s
Fit Lanes: 0.002709400000000084 s
Total time: end - start=0.22954419999999987 s

[Jason-Y000]

What did you change exactly? I think the version in cv-integration is the most up-to-date at the moment. If you can point out your changes we can add it into cv-integration stuff I think

[thedavidchu]

In sort_by_cluster

• type hints
• converted list outputs into np.ndarrays
• Replaced logic with a built-in function

In lane_fitting

• type hints + consistently typed output
• Replaced sorting functions with min/max

In main

• Moves all the logic inside main to remove global vars
• I moved the graphing to the end, so we can victories the cluster plotting
• Replaced if-else chain for colours with a hash lookup. I also grouped the cluster plots so we only have to do this lookup once per cluster
• Added timing in if-statements
• return the lane line fit
• I moved the y-axis flipping to outside the for-loop so it works for even-numbers of clusters too