def search_pixel_around_poly(self, binary_warped):
    self.current_warped_binary = binary_warped
    self.current_warped_binary_shape = binary_warped.shape
    self.ploty = np.linspace(0, (binary_warped.shape[0] - 1), binary_warped.shape[0])
    margin = 80
    nonzero = binary_warped.nonzero()
    nonzeroy = np.array(nonzero[0])
    nonzerox = np.array(nonzero[1])
    fit = self.recent_fits[(- 1)]
    lane_inds = ((nonzerox > ((((fit[0] * (nonzeroy ** 2)) + (fit[1] * nonzeroy)) + fit[2]) - margin)) & (nonzerox < ((((fit[0] * (nonzeroy ** 2)) + (fit[1] * nonzeroy)) + fit[2]) + margin)))
    x = nonzerox[lane_inds]
    y = nonzeroy[lane_inds]
    self.allx = x
    self.ally = y
    return (x, y)
def search_pixel_around_poly(self, binary_warped):
    self.current_warped_binary = binary_warped
    self.current_warped_binary_shape = binary_warped.shape
    self.ploty = np.linspace(0, (binary_warped.shape[0] - 1), binary_warped.shape[0])
    margin = 80
    nonzero = binary_warped.nonzero()
    nonzeroy = np.array(nonzero[0])
    nonzerox = np.array(nonzero[1])
    fit = self.recent_fits[(- 1)]
    lane_inds = ((nonzerox > ((((fit[0] * (nonzeroy ** 2)) + (fit[1] * nonzeroy)) + fit[2]) - margin)) & (nonzerox < ((((fit[0] * (nonzeroy ** 2)) + (fit[1] * nonzeroy)) + fit[2]) + margin)))
    x = nonzerox[lane_inds]
    y = nonzeroy[lane_inds]
    self.allx = x
    self.ally = y
    return (x, y)