code: def filter_lines(self, coarse_cluster_list):
      lines = []
      angles = []
      for i in range(len(coarse_cluster_list)):
          if len(coarse_cluster_list[i]) == 0:
              continue
          coarse_cluster_list[i] = np.array(coarse_cluster_list[i])
          distance = abs(
              coarse_cluster_list[i][:, 3]
              - coarse_cluster_list[i][:, 1]
          ) + abs(
              coarse_cluster_list[i][:, 2]
              - coarse_cluster_list[i][:, 0]
          )
          l = coarse_cluster_list[i][np.argmax(distance)]
          angles.append(self.get_angle(l))
          lines.append(l)
  
      if len(lines) == 0:
          return [], None
      if not self.filter_horizontal_flag:
          return lines, None
  
      # filter horizontal roads
      angles = np.array(angles)
  
      max_angle, min_angle = np.max(angles), np.min(angles)
  
      if (max_angle - min_angle) < self.horizontal_filtration_degree:
          return lines, np.mean(angles)
  
      thr_angle = (
          max_angle + min_angle
      ) * self.horizontal_filtering_threshold
      lines = np.array(lines)
  
      min_angle_line = lines[np.where(angles < thr_angle)]
      max_angle_line = lines[np.where(angles >= thr_angle)]
  
      max_angle_line_pro = self.get_proportion(max_angle_line)
      min_angle_line_pro = self.get_proportion(min_angle_line)
  
      if max_angle_line_pro >= min_angle_line_pro:
          angle_list = angles[np.where(angles >= thr_angle)]
          return max_angle_line, np.mean(angle_list)
      else:
          angle_list = angles[np.where(angles < thr_angle)]
          return min_angle_line, np.mean(angle_list)
  
imports: import argparse
  import codecs
  import os
  import yaml
  import numpy
  import cv2
  from sklearn.cluster import DBSCAN
  from pptracking.python.det_infer import load_predictor
label_desc: Use image node_id 11 for calling the LaneSegPredictor obj's underlying member method code with example usage: obj.filter_lines(coarse_cluster_list) and returns: list,  None, lines,  None, lines,  np, max_angle_line,  np, min_angle_line,  np