Why extend the line to the edge of the image

[AvinsWang]

Hi,

Thanks for your great work and clean code!

There are a question, why extend the line to the edge of the image? I noticed that calc distance of line proposal and lane line on formula(5)

D(X_a, X_b) = ...

only calc the common valid indices, It seems do not need to extend line to image edge. Am I missing the point? Waiting for your reply,

Thanks.

The code:

two_closest_points = points[:2] extrap = np.polyfit(two_closest_points[:, 1], two_closest_points[:, 0], deg=1) extrap_ys = sample_ys[sample_ys > domain_max_y] extrap_xs = np.polyval(extrap, extrap_ys) all_xs = np.hstack((extrap_xs, interp_xs))