Update openlane_data.py

Yutong-gannis · Sep 1, 2023 · c3851c3 · c3851c3
1 parent a4ceebb
commit c3851c3
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/loader/bev_road/openlane_data.py b/loader/bev_road/openlane_data.py
@@ -183,17 +183,14 @@ def get_seg_offset(self, idx, smooth=False):
                 if lane1['attribute'] not in [1, 2, 3, 4]:
                     continue
             elif left_lane == 1 and right_lane == 0: # 只有左车道线存在
-                if lane1['attribute'] != 2 and lane1['category'] != 21:
+                if lane1['attribute'] not in [1, 2] and lane1['category'] != 21:
                     continue
             elif left_lane == 0 and right_lane == 1: # 只有右车道线存在
-                if lane1['attribute'] != 3 and lane1['category'] != 20:
+                if lane1['attribute'] not in [3, 4] and lane1['category'] != 20:
                     continue
             else: #左右车道均不存在
                 if lane1['category'] not in [20, 21]:
                     continue
-
-        for idx in range(len(lanes)):
-            lane1 = lanes[idx]
             lane_camera_w = np.array(lane1['xyz']).T[np.array(lane1['visibility']) == 1.0].T
             lane_camera_w = np.vstack((lane_camera_w, np.ones((1, lane_camera_w.shape[1]))))
             lane_ego_persformer = matrix_lane2persformer @ lane_camera_w  #