caltech_lanes: /home/laradmin/lar/perception/road/caltech_lanes/src/LaneDetectorOpt.cpp Source File

00001 /**************************************************************************************************
00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
00008  provided that the following conditions are met:
00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
00013    conditions and the following disclaimer in the documentation and/or other materials provided
00014    with the distribution.
00015   *Neither the name of the University of Aveiro nor the names of its contributors may be used to
00016    endorse or promote products derived from this software without specific prior written permission.
00017  
00018  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
00019  IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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00024  IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
00025  OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 ***************************************************************************************************/
00027 /*
00028   File autogenerated by gengetopt version 2.18
00029   generated with the following command:
00030   gengetopt -i LaneDetectorOpt.ggo --conf-parser -F LaneDetectorOpt --func-name=LaneDetectorParser --arg-struct-name=LaneDetectorParserInfo
00031 
00032   The developers of gengetopt consider the fixed text that goes in all
00033   gengetopt output files to be in the public domain:
00034   we make no copyright claims on it.
00035 */
00036 
00037 /* If we use autoconf.  */
00038 #ifdef HAVE_CONFIG_H
00039 #include "config.h"
00040 #endif
00041 
00042 #include <stdio.h>
00043 #include <stdlib.h>
00044 #include <string.h>
00045 
00046 #include "getopt.h"
00047 
00048 #include "LaneDetectorOpt.h"
00049 
00050 const char *LaneDetectorParserInfo_purpose = "";
00051 
00052 const char *LaneDetectorParserInfo_usage = "Usage: LaneDetector [OPTIONS]...";
00053 
00054 const char *LaneDetectorParserInfo_help[] = {
00055   "  -h, --help                    Print help and exit",
00056   "  -V, --version                 Print version and exit",
00057   "      --ipmWidth=INT            width of IPM image to use",
00058   "      --ipmHeight=INT           height of IPM image to use",
00059   "      --ipmTop=INT              Top point in original image of region to make \n                                  IPM for",
00060   "      --ipmLeft=INT             Left point in original image of region to make \n                                  IPM for",
00061   "      --ipmRight=INT            Right point in original image region to make \n                                  IPM for",
00062   "      --ipmBottom=INT           Bottom point in original image region to make \n                                  IPM for",
00063   "      --ipmInterpolation=INT    The method to use for IPM interpolation",
00064   "      --lineWidth=DOUBLE        width of line to detect in mm (in the world)",
00065   "      --lineHeight=DOUBLE       height of line to detect in mm (in the world)",
00066   "      --kernelWidth=INT         widht of kernel to use for filtering",
00067   "      --kernelHeight=INT        Height of kernel to use for filtering",
00068   "      --lowerQuantile=DOUBLE    lower quantile to use for thresholding the \n                                  filtered image",
00069   "      --localMaxima=INT         whether to return local maxima or just the \n                                  maximum",
00070   "      --groupingType=INT        type of grouping to use (default 0: HV lines)",
00071   "      --binarize=DOUBLE         whether to binarize the thresholded image or \n                                  use the raw values",
00072   "      --detectionThreshold=DOUBLE\n                                threshold for line scores to declare as line",
00073   "      --smoothScores=INT        whether to smooth scores of lines detected or \n                                  not",
00074   "      --rMin=DOUBLE             rMin for Hough transform (in pixels)",
00075   "      --rMax=DOUBLE             rMax for Hough transform (in pixels)",
00076   "      --rStep=DOUBLE            rStep for Hough transform (in pixels)",
00077   "      --thetaMin=DOUBLE         thetaMin for Hough transform (in degrees)",
00078   "      --thetaMax=DOUBLE         thetaMax for Hough transform (in degrees)",
00079   "      --thetaStep=DOUBLE        thetaStep for Hough transform (in degrees)",
00080   "      --ipmVpPortion=DOUBLE     Portion of IPM image height to add to \n                                  y-coordinate of VP",
00081   "      --getEndPoints=INT        Get the endpoints of the line",
00082   "      --group=INT               group nearby lines or not (default 1: group)",
00083   "      --groupThreshold=DOUBLE   Threshold for grouping nearby lines (default \n                                  10)",
00084   "      --ransac=INT              use RANSAC (1) or not (0)",
00085   "      --ransacLineNumSamples=INT\n                                Number of samples to use for RANSAC",
00086   "      --ransacLineNumIterations=INT\n                                Number of iterations to use for RANSAC",
00087   "      --ransacLineNumGoodFit=INT\n                                Number of close points to consider a good line \n                                  fit",
00088   "      --ransacLineThreshold=DOUBLE\n                                Threshold to consider a point close",
00089   "      --ransacLineScoreThreshold=DOUBLE\n                                Threshold for detected line scores",
00090   "      --ransacLineBinarize=INT  Whether to binarize image for RANSAC or not",
00091   "      --ransacLineWindow=INT    Half width to use for ransac window",
00092   "      --ransacSplineNumSamples=INT\n                                Number of samples to use for RANSAC",
00093   "      --ransacSplineNumIterations=INT\n                                Number of iterations to use for RANSAC",
00094   "      --ransacSplineNumGoodFit=INT\n                                Number of close points to consider a good line \n                                  fit",
00095   "      --ransacSplineThreshold=DOUBLE\n                                Threshold to consider a point close",
00096   "      --ransacSplineScoreThreshold=DOUBLE\n                                Threshold for detected line scores",
00097   "      --ransacSplineBinarize=INT\n                                Whether to binarize image for RANSAC or not",
00098   "      --ransacSplineWindow=INT  Half width to use for ransac window",
00099   "      --ransacSplineDegree=INT  Degree of spline to use",
00100   "      --ransacSpline=INT        Whether to use splines",
00101   "      --ransacLine=INT          Whether to use lines",
00102   "      --ransacSplineStep=FLOAT  Step to use when pixelzing spline in ransac",
00103   "      --overlapThreshold=FLOAT  Overlap threshold to use for grouping of \n                                  bounding boxes",
00104   "      --localizeAngleThreshold=FLOAT\n                                Angle threshold used for localization (cosine, \n                                  1: most restrictive, 0: most liberal)",
00105   "      --localizeNumLinePixels=INT\n                                Number of pixels to go in normal direction for \n                                  localization",
00106   "      --extendAngleThreshold=FLOAT\n                                Angle threshold used for extending (cosine, 1: \n                                  most restrictive, 0: most liberal)",
00107   "      --extendMeanDirAngleThreshold=FLOAT\n                                Angle threshold from mean direction used for \n                                  extending (cosine, 1: most restrictive, 0: \n                                  most liberal)",
00108   "      --extendLinePixelsTangent=INT\n                                Number of pixels to go in tangent direction for \n                                  extending",
00109   "      --extendLinePixelsNormal=INT\n                                Number of pixels to go in tangent direction for \n                                  extending",
00110   "      --extendContThreshold=FLOAT\n                                Threhsold used for stopping the extending \n                                  process (higher -> less extending)",
00111   "      --extendDeviationThreshold=INT\n                                Stop extending when number of deviating points \n                                  exceeds this threshold",
00112   "      --extendRectTop=INT       Top point for extension bounding box",
00113   "      --extendRectBottom=INT    Bottom point for extension bounding box",
00114   "      --extendIPMAngleThreshold=FLOAT\n                                Angle threshold used for extending (cosine, 1: \n                                  most restrictive, 0: most liberal)",
00115   "      --extendIPMMeanDirAngleThreshold=FLOAT\n                                Angle threshold from mean direction used for \n                                  extending (cosine, 1: most restrictive, 0: \n                                  most liberal)",
00116   "      --extendIPMLinePixelsTangent=INT\n                                Number of pixels to go in tangent direction for \n                                  extending",
00117   "      --extendIPMLinePixelsNormal=INT\n                                Number of pixels to go in tangent direction for \n                                  extending",
00118   "      --extendIPMContThreshold=FLOAT\n                                Threhsold used for stopping the extending \n                                  process (higher -> less extending)",
00119   "      --extendIPMDeviationThreshold=INT\n                                Stop extending when number of deviating points \n                                  exceeds this threshold",
00120   "      --extendIPMRectTop=INT    Top point for extension bounding box",
00121   "      --extendIPMRectBottom=INT Bottom point for extension bounding box",
00122   "      --splineScoreJitter=INT   Number of pixels to go around the spline to \n                                  compute score",
00123   "      --splineScoreLengthRatio=FLOAT\n                                Ratio of spline length to use",
00124   "      --splineScoreAngleRatio=FLOAT\n                                Ratio of spline angle to use",
00125   "      --splineScoreStep=FLOAT   Step to use for spline score computation",
00126   "      --splineTrackingNumAbsentFrames=INT\n                                number of frames the track is allowed to be \n                                  absent before deleting it",
00127   "      --splineTrackingNumSeenFrames=INT\n                                number of frames before considering the track \n                                  good",
00128   "      --mergeSplineThetaThreshold=FLOAT\n                                Angle threshold for merging splines (radians)",
00129   "      --mergeSplineRThreshold=FLOAT\n                                R threshold (distance from origin) for merginn \n                                  splines",
00130   "      --mergeSplineMeanThetaThreshold=FLOAT\n                                Mean Angle threshold for merging splines \n                                  (radians)",
00131   "      --mergeSplineMeanRThreshold=FLOAT\n                                Mean R threshold (distance from origin) for \n                                  merginn splines",
00132   "      --mergeSplineCentroidThreshold=FLOAT\n                                Distance threshold between spline cetroids for \n                                  merging",
00133   "      --lineTrackingNumAbsentFrames=INT\n                                number of frames the track is allowed to be \n                                  absent before deleting it",
00134   "      --lineTrackingNumSeenFrames=INT\n                                number of frames before considering the track \n                                  good",
00135   "      --mergeLineThetaThreshold=FLOAT\n                                Angle threshold for merging lines (radians)",
00136   "      --mergeLineRThreshold=FLOAT\n                                R threshold (distance from origin) for merging \n                                  lines",
00137   "      --numStrips=INT           Number of horizontal strips to divide the image \n                                  to",
00138   "      --checkSplines=INT        Whtethet to check splines or not",
00139   "      --checkSplinesCurvenessThreshold=FLOAT\n                                Curveness Threshold for checking splines",
00140   "      --checkSplinesLengthThreshold=FLOAT\n                                Length Threshold for checking splines",
00141   "      --checkSplinesThetaDiffThreshold=FLOAT\n                                ThetaDiff Threshold for checking splines",
00142   "      --checkSplinesThetaThreshold=FLOAT\n                                ThetaThreshold Threshold for checking splines",
00143   "      --checkIPMSplines=INT     Whtethet to check IPM splines or not",
00144   "      --checkIPMSplinesCurvenessThreshold=FLOAT\n                                Curveness Threshold for checking splines",
00145   "      --checkIPMSplinesLengthThreshold=FLOAT\n                                Length Threshold for checking splines",
00146   "      --checkIPMSplinesThetaDiffThreshold=FLOAT\n                                ThetaDiff Threshold for checking splines",
00147   "      --checkIPMSplinesThetaThreshold=FLOAT\n                                ThetaThreshold Threshold for checking splines",
00148   "      --finalSplineScoreThreshold=FLOAT\n                                Final Threshold for declaring a valid spline",
00149   "      --useGroundPlane=INT      Use groudn plane or not when sending to map",
00150   "      --checkColor=INT          Whether to check colors or not",
00151   "      --checkColorWindow=INT    Size of window to use",
00152   "      --checkColorNumBins=INT   Number of bins to use",
00153   "      --checkColorNumYellowMin=FLOAT\n                                Min ratio of yellow points",
00154   "      --checkColorRGMin=FLOAT   Min RG diff",
00155   "      --checkColorRGMax=FLOAT   Max RG diff",
00156   "      --checkColorGBMin=FLOAT   Min GB diff",
00157   "      --checkColorRBMin=FLOAT   Min RB diff",
00158   "      --checkColorRBFThreshold=FLOAT\n                                RBF Threshold",
00159   "      --checkColorRBF=INT       Whether to use RBF or not",
00160   "      --ipmWindowClear=INT      Whether to clear part of the IPM image",
00161   "      --ipmWindowLeft=INT       Left corrdinate of window to keep in IPM",
00162   "      --ipmWindowRight=INT      Left corrdinate of window to keep in IPM",
00163   "      --checkLaneWidth=INT      Whether to check lane width or not",
00164   "      --checkLaneWidthMean=FLOAT\n                                Mean of lane width to look for",
00165   "      --checkLaneWidthStd=FLOAT Std deviation of lane width to look for",
00166     0
00167 };
00168 
00169 static
00170 void clear_given (struct LaneDetectorParserInfo *args_info);
00171 static
00172 void clear_args (struct LaneDetectorParserInfo *args_info);
00173 
00174 static int
00175 LaneDetectorParser_internal (int argc, char * const *argv, struct LaneDetectorParserInfo *args_info, int override, int initialize, int check_required, const char *additional_error);
00176 
00177 static int
00178 LaneDetectorParser_required2 (struct LaneDetectorParserInfo *args_info, const char *prog_name, const char *additional_error);
00179 struct line_list
00180 {
00181   char * string_arg;
00182   struct line_list * next;
00183 };
00184 
00185 static struct line_list *cmd_line_list = 0;
00186 static struct line_list *cmd_line_list_tmp = 0;
00187 
00188 static void
00189 free_cmd_list(void)
00190 {
00191   /* free the list of a previous call */
00192   if (cmd_line_list)
00193     {
00194       while (cmd_line_list) {
00195         cmd_line_list_tmp = cmd_line_list;
00196         cmd_line_list = cmd_line_list->next;
00197         free (cmd_line_list_tmp->string_arg);
00198         free (cmd_line_list_tmp);
00199       }
00200     }
00201 }
00202 
00203 
00204 static char *
00205 gengetopt_strdup (const char *s);
00206 
00207 static
00208 void clear_given (struct LaneDetectorParserInfo *args_info)
00209 {
00210   args_info->help_given = 0 ;
00211   args_info->version_given = 0 ;
00212   args_info->ipmWidth_given = 0 ;
00213   args_info->ipmHeight_given = 0 ;
00214   args_info->ipmTop_given = 0 ;
00215   args_info->ipmLeft_given = 0 ;
00216   args_info->ipmRight_given = 0 ;
00217   args_info->ipmBottom_given = 0 ;
00218   args_info->ipmInterpolation_given = 0 ;
00219   args_info->lineWidth_given = 0 ;
00220   args_info->lineHeight_given = 0 ;
00221   args_info->kernelWidth_given = 0 ;
00222   args_info->kernelHeight_given = 0 ;
00223   args_info->lowerQuantile_given = 0 ;
00224   args_info->localMaxima_given = 0 ;
00225   args_info->groupingType_given = 0 ;
00226   args_info->binarize_given = 0 ;
00227   args_info->detectionThreshold_given = 0 ;
00228   args_info->smoothScores_given = 0 ;
00229   args_info->rMin_given = 0 ;
00230   args_info->rMax_given = 0 ;
00231   args_info->rStep_given = 0 ;
00232   args_info->thetaMin_given = 0 ;
00233   args_info->thetaMax_given = 0 ;
00234   args_info->thetaStep_given = 0 ;
00235   args_info->ipmVpPortion_given = 0 ;
00236   args_info->getEndPoints_given = 0 ;
00237   args_info->group_given = 0 ;
00238   args_info->groupThreshold_given = 0 ;
00239   args_info->ransac_given = 0 ;
00240   args_info->ransacLineNumSamples_given = 0 ;
00241   args_info->ransacLineNumIterations_given = 0 ;
00242   args_info->ransacLineNumGoodFit_given = 0 ;
00243   args_info->ransacLineThreshold_given = 0 ;
00244   args_info->ransacLineScoreThreshold_given = 0 ;
00245   args_info->ransacLineBinarize_given = 0 ;
00246   args_info->ransacLineWindow_given = 0 ;
00247   args_info->ransacSplineNumSamples_given = 0 ;
00248   args_info->ransacSplineNumIterations_given = 0 ;
00249   args_info->ransacSplineNumGoodFit_given = 0 ;
00250   args_info->ransacSplineThreshold_given = 0 ;
00251   args_info->ransacSplineScoreThreshold_given = 0 ;
00252   args_info->ransacSplineBinarize_given = 0 ;
00253   args_info->ransacSplineWindow_given = 0 ;
00254   args_info->ransacSplineDegree_given = 0 ;
00255   args_info->ransacSpline_given = 0 ;
00256   args_info->ransacLine_given = 0 ;
00257   args_info->ransacSplineStep_given = 0 ;
00258   args_info->overlapThreshold_given = 0 ;
00259   args_info->localizeAngleThreshold_given = 0 ;
00260   args_info->localizeNumLinePixels_given = 0 ;
00261   args_info->extendAngleThreshold_given = 0 ;
00262   args_info->extendMeanDirAngleThreshold_given = 0 ;
00263   args_info->extendLinePixelsTangent_given = 0 ;
00264   args_info->extendLinePixelsNormal_given = 0 ;
00265   args_info->extendContThreshold_given = 0 ;
00266   args_info->extendDeviationThreshold_given = 0 ;
00267   args_info->extendRectTop_given = 0 ;
00268   args_info->extendRectBottom_given = 0 ;
00269   args_info->extendIPMAngleThreshold_given = 0 ;
00270   args_info->extendIPMMeanDirAngleThreshold_given = 0 ;
00271   args_info->extendIPMLinePixelsTangent_given = 0 ;
00272   args_info->extendIPMLinePixelsNormal_given = 0 ;
00273   args_info->extendIPMContThreshold_given = 0 ;
00274   args_info->extendIPMDeviationThreshold_given = 0 ;
00275   args_info->extendIPMRectTop_given = 0 ;
00276   args_info->extendIPMRectBottom_given = 0 ;
00277   args_info->splineScoreJitter_given = 0 ;
00278   args_info->splineScoreLengthRatio_given = 0 ;
00279   args_info->splineScoreAngleRatio_given = 0 ;
00280   args_info->splineScoreStep_given = 0 ;
00281   args_info->splineTrackingNumAbsentFrames_given = 0 ;
00282   args_info->splineTrackingNumSeenFrames_given = 0 ;
00283   args_info->mergeSplineThetaThreshold_given = 0 ;
00284   args_info->mergeSplineRThreshold_given = 0 ;
00285   args_info->mergeSplineMeanThetaThreshold_given = 0 ;
00286   args_info->mergeSplineMeanRThreshold_given = 0 ;
00287   args_info->mergeSplineCentroidThreshold_given = 0 ;
00288   args_info->lineTrackingNumAbsentFrames_given = 0 ;
00289   args_info->lineTrackingNumSeenFrames_given = 0 ;
00290   args_info->mergeLineThetaThreshold_given = 0 ;
00291   args_info->mergeLineRThreshold_given = 0 ;
00292   args_info->numStrips_given = 0 ;
00293   args_info->checkSplines_given = 0 ;
00294   args_info->checkSplinesCurvenessThreshold_given = 0 ;
00295   args_info->checkSplinesLengthThreshold_given = 0 ;
00296   args_info->checkSplinesThetaDiffThreshold_given = 0 ;
00297   args_info->checkSplinesThetaThreshold_given = 0 ;
00298   args_info->checkIPMSplines_given = 0 ;
00299   args_info->checkIPMSplinesCurvenessThreshold_given = 0 ;
00300   args_info->checkIPMSplinesLengthThreshold_given = 0 ;
00301   args_info->checkIPMSplinesThetaDiffThreshold_given = 0 ;
00302   args_info->checkIPMSplinesThetaThreshold_given = 0 ;
00303   args_info->finalSplineScoreThreshold_given = 0 ;
00304   args_info->useGroundPlane_given = 0 ;
00305   args_info->checkColor_given = 0 ;
00306   args_info->checkColorWindow_given = 0 ;
00307   args_info->checkColorNumBins_given = 0 ;
00308   args_info->checkColorNumYellowMin_given = 0 ;
00309   args_info->checkColorRGMin_given = 0 ;
00310   args_info->checkColorRGMax_given = 0 ;
00311   args_info->checkColorGBMin_given = 0 ;
00312   args_info->checkColorRBMin_given = 0 ;
00313   args_info->checkColorRBFThreshold_given = 0 ;
00314   args_info->checkColorRBF_given = 0 ;
00315   args_info->ipmWindowClear_given = 0 ;
00316   args_info->ipmWindowLeft_given = 0 ;
00317   args_info->ipmWindowRight_given = 0 ;
00318   args_info->checkLaneWidth_given = 0 ;
00319   args_info->checkLaneWidthMean_given = 0 ;
00320   args_info->checkLaneWidthStd_given = 0 ;
00321 }
00322 
00323 static
00324 void clear_args (struct LaneDetectorParserInfo *args_info)
00325 {
00326   args_info->ipmWidth_orig = NULL;
00327   args_info->ipmHeight_orig = NULL;
00328   args_info->ipmTop_orig = NULL;
00329   args_info->ipmLeft_orig = NULL;
00330   args_info->ipmRight_orig = NULL;
00331   args_info->ipmBottom_orig = NULL;
00332   args_info->ipmInterpolation_orig = NULL;
00333   args_info->lineWidth_orig = NULL;
00334   args_info->lineHeight_orig = NULL;
00335   args_info->kernelWidth_orig = NULL;
00336   args_info->kernelHeight_orig = NULL;
00337   args_info->lowerQuantile_orig = NULL;
00338   args_info->localMaxima_orig = NULL;
00339   args_info->groupingType_orig = NULL;
00340   args_info->binarize_orig = NULL;
00341   args_info->detectionThreshold_orig = NULL;
00342   args_info->smoothScores_orig = NULL;
00343   args_info->rMin_orig = NULL;
00344   args_info->rMax_orig = NULL;
00345   args_info->rStep_orig = NULL;
00346   args_info->thetaMin_orig = NULL;
00347   args_info->thetaMax_orig = NULL;
00348   args_info->thetaStep_orig = NULL;
00349   args_info->ipmVpPortion_orig = NULL;
00350   args_info->getEndPoints_orig = NULL;
00351   args_info->group_orig = NULL;
00352   args_info->groupThreshold_orig = NULL;
00353   args_info->ransac_orig = NULL;
00354   args_info->ransacLineNumSamples_orig = NULL;
00355   args_info->ransacLineNumIterations_orig = NULL;
00356   args_info->ransacLineNumGoodFit_orig = NULL;
00357   args_info->ransacLineThreshold_orig = NULL;
00358   args_info->ransacLineScoreThreshold_orig = NULL;
00359   args_info->ransacLineBinarize_orig = NULL;
00360   args_info->ransacLineWindow_orig = NULL;
00361   args_info->ransacSplineNumSamples_orig = NULL;
00362   args_info->ransacSplineNumIterations_orig = NULL;
00363   args_info->ransacSplineNumGoodFit_orig = NULL;
00364   args_info->ransacSplineThreshold_orig = NULL;
00365   args_info->ransacSplineScoreThreshold_orig = NULL;
00366   args_info->ransacSplineBinarize_orig = NULL;
00367   args_info->ransacSplineWindow_orig = NULL;
00368   args_info->ransacSplineDegree_orig = NULL;
00369   args_info->ransacSpline_orig = NULL;
00370   args_info->ransacLine_orig = NULL;
00371   args_info->ransacSplineStep_orig = NULL;
00372   args_info->overlapThreshold_orig = NULL;
00373   args_info->localizeAngleThreshold_orig = NULL;
00374   args_info->localizeNumLinePixels_orig = NULL;
00375   args_info->extendAngleThreshold_orig = NULL;
00376   args_info->extendMeanDirAngleThreshold_orig = NULL;
00377   args_info->extendLinePixelsTangent_orig = NULL;
00378   args_info->extendLinePixelsNormal_orig = NULL;
00379   args_info->extendContThreshold_orig = NULL;
00380   args_info->extendDeviationThreshold_orig = NULL;
00381   args_info->extendRectTop_orig = NULL;
00382   args_info->extendRectBottom_orig = NULL;
00383   args_info->extendIPMAngleThreshold_orig = NULL;
00384   args_info->extendIPMMeanDirAngleThreshold_orig = NULL;
00385   args_info->extendIPMLinePixelsTangent_orig = NULL;
00386   args_info->extendIPMLinePixelsNormal_orig = NULL;
00387   args_info->extendIPMContThreshold_orig = NULL;
00388   args_info->extendIPMDeviationThreshold_orig = NULL;
00389   args_info->extendIPMRectTop_orig = NULL;
00390   args_info->extendIPMRectBottom_orig = NULL;
00391   args_info->splineScoreJitter_orig = NULL;
00392   args_info->splineScoreLengthRatio_orig = NULL;
00393   args_info->splineScoreAngleRatio_orig = NULL;
00394   args_info->splineScoreStep_orig = NULL;
00395   args_info->splineTrackingNumAbsentFrames_orig = NULL;
00396   args_info->splineTrackingNumSeenFrames_orig = NULL;
00397   args_info->mergeSplineThetaThreshold_orig = NULL;
00398   args_info->mergeSplineRThreshold_orig = NULL;
00399   args_info->mergeSplineMeanThetaThreshold_orig = NULL;
00400   args_info->mergeSplineMeanRThreshold_orig = NULL;
00401   args_info->mergeSplineCentroidThreshold_orig = NULL;
00402   args_info->lineTrackingNumAbsentFrames_orig = NULL;
00403   args_info->lineTrackingNumSeenFrames_orig = NULL;
00404   args_info->mergeLineThetaThreshold_orig = NULL;
00405   args_info->mergeLineRThreshold_orig = NULL;
00406   args_info->numStrips_orig = NULL;
00407   args_info->checkSplines_orig = NULL;
00408   args_info->checkSplinesCurvenessThreshold_orig = NULL;
00409   args_info->checkSplinesLengthThreshold_orig = NULL;
00410   args_info->checkSplinesThetaDiffThreshold_orig = NULL;
00411   args_info->checkSplinesThetaThreshold_orig = NULL;
00412   args_info->checkIPMSplines_orig = NULL;
00413   args_info->checkIPMSplinesCurvenessThreshold_orig = NULL;
00414   args_info->checkIPMSplinesLengthThreshold_orig = NULL;
00415   args_info->checkIPMSplinesThetaDiffThreshold_orig = NULL;
00416   args_info->checkIPMSplinesThetaThreshold_orig = NULL;
00417   args_info->finalSplineScoreThreshold_orig = NULL;
00418   args_info->useGroundPlane_orig = NULL;
00419   args_info->checkColor_orig = NULL;
00420   args_info->checkColorWindow_orig = NULL;
00421   args_info->checkColorNumBins_orig = NULL;
00422   args_info->checkColorNumYellowMin_orig = NULL;
00423   args_info->checkColorRGMin_orig = NULL;
00424   args_info->checkColorRGMax_orig = NULL;
00425   args_info->checkColorGBMin_orig = NULL;
00426   args_info->checkColorRBMin_orig = NULL;
00427   args_info->checkColorRBFThreshold_orig = NULL;
00428   args_info->checkColorRBF_orig = NULL;
00429   args_info->ipmWindowClear_orig = NULL;
00430   args_info->ipmWindowLeft_orig = NULL;
00431   args_info->ipmWindowRight_orig = NULL;
00432   args_info->checkLaneWidth_orig = NULL;
00433   args_info->checkLaneWidthMean_orig = NULL;
00434   args_info->checkLaneWidthStd_orig = NULL;
00435 
00436 }
00437 
00438 static
00439 void init_args_info(struct LaneDetectorParserInfo *args_info)
00440 {
00441   args_info->help_help = LaneDetectorParserInfo_help[0] ;
00442   args_info->version_help = LaneDetectorParserInfo_help[1] ;
00443   args_info->ipmWidth_help = LaneDetectorParserInfo_help[2] ;
00444   args_info->ipmHeight_help = LaneDetectorParserInfo_help[3] ;
00445   args_info->ipmTop_help = LaneDetectorParserInfo_help[4] ;
00446   args_info->ipmLeft_help = LaneDetectorParserInfo_help[5] ;
00447   args_info->ipmRight_help = LaneDetectorParserInfo_help[6] ;
00448   args_info->ipmBottom_help = LaneDetectorParserInfo_help[7] ;
00449   args_info->ipmInterpolation_help = LaneDetectorParserInfo_help[8] ;
00450   args_info->lineWidth_help = LaneDetectorParserInfo_help[9] ;
00451   args_info->lineHeight_help = LaneDetectorParserInfo_help[10] ;
00452   args_info->kernelWidth_help = LaneDetectorParserInfo_help[11] ;
00453   args_info->kernelHeight_help = LaneDetectorParserInfo_help[12] ;
00454   args_info->lowerQuantile_help = LaneDetectorParserInfo_help[13] ;
00455   args_info->localMaxima_help = LaneDetectorParserInfo_help[14] ;
00456   args_info->groupingType_help = LaneDetectorParserInfo_help[15] ;
00457   args_info->binarize_help = LaneDetectorParserInfo_help[16] ;
00458   args_info->detectionThreshold_help = LaneDetectorParserInfo_help[17] ;
00459   args_info->smoothScores_help = LaneDetectorParserInfo_help[18] ;
00460   args_info->rMin_help = LaneDetectorParserInfo_help[19] ;
00461   args_info->rMax_help = LaneDetectorParserInfo_help[20] ;
00462   args_info->rStep_help = LaneDetectorParserInfo_help[21] ;
00463   args_info->thetaMin_help = LaneDetectorParserInfo_help[22] ;
00464   args_info->thetaMax_help = LaneDetectorParserInfo_help[23] ;
00465   args_info->thetaStep_help = LaneDetectorParserInfo_help[24] ;
00466   args_info->ipmVpPortion_help = LaneDetectorParserInfo_help[25] ;
00467   args_info->getEndPoints_help = LaneDetectorParserInfo_help[26] ;
00468   args_info->group_help = LaneDetectorParserInfo_help[27] ;
00469   args_info->groupThreshold_help = LaneDetectorParserInfo_help[28] ;
00470   args_info->ransac_help = LaneDetectorParserInfo_help[29] ;
00471   args_info->ransacLineNumSamples_help = LaneDetectorParserInfo_help[30] ;
00472   args_info->ransacLineNumIterations_help = LaneDetectorParserInfo_help[31] ;
00473   args_info->ransacLineNumGoodFit_help = LaneDetectorParserInfo_help[32] ;
00474   args_info->ransacLineThreshold_help = LaneDetectorParserInfo_help[33] ;
00475   args_info->ransacLineScoreThreshold_help = LaneDetectorParserInfo_help[34] ;
00476   args_info->ransacLineBinarize_help = LaneDetectorParserInfo_help[35] ;
00477   args_info->ransacLineWindow_help = LaneDetectorParserInfo_help[36] ;
00478   args_info->ransacSplineNumSamples_help = LaneDetectorParserInfo_help[37] ;
00479   args_info->ransacSplineNumIterations_help = LaneDetectorParserInfo_help[38] ;
00480   args_info->ransacSplineNumGoodFit_help = LaneDetectorParserInfo_help[39] ;
00481   args_info->ransacSplineThreshold_help = LaneDetectorParserInfo_help[40] ;
00482   args_info->ransacSplineScoreThreshold_help = LaneDetectorParserInfo_help[41] ;
00483   args_info->ransacSplineBinarize_help = LaneDetectorParserInfo_help[42] ;
00484   args_info->ransacSplineWindow_help = LaneDetectorParserInfo_help[43] ;
00485   args_info->ransacSplineDegree_help = LaneDetectorParserInfo_help[44] ;
00486   args_info->ransacSpline_help = LaneDetectorParserInfo_help[45] ;
00487   args_info->ransacLine_help = LaneDetectorParserInfo_help[46] ;
00488   args_info->ransacSplineStep_help = LaneDetectorParserInfo_help[47] ;
00489   args_info->overlapThreshold_help = LaneDetectorParserInfo_help[48] ;
00490   args_info->localizeAngleThreshold_help = LaneDetectorParserInfo_help[49] ;
00491   args_info->localizeNumLinePixels_help = LaneDetectorParserInfo_help[50] ;
00492   args_info->extendAngleThreshold_help = LaneDetectorParserInfo_help[51] ;
00493   args_info->extendMeanDirAngleThreshold_help = LaneDetectorParserInfo_help[52] ;
00494   args_info->extendLinePixelsTangent_help = LaneDetectorParserInfo_help[53] ;
00495   args_info->extendLinePixelsNormal_help = LaneDetectorParserInfo_help[54] ;
00496   args_info->extendContThreshold_help = LaneDetectorParserInfo_help[55] ;
00497   args_info->extendDeviationThreshold_help = LaneDetectorParserInfo_help[56] ;
00498   args_info->extendRectTop_help = LaneDetectorParserInfo_help[57] ;
00499   args_info->extendRectBottom_help = LaneDetectorParserInfo_help[58] ;
00500   args_info->extendIPMAngleThreshold_help = LaneDetectorParserInfo_help[59] ;
00501   args_info->extendIPMMeanDirAngleThreshold_help = LaneDetectorParserInfo_help[60] ;
00502   args_info->extendIPMLinePixelsTangent_help = LaneDetectorParserInfo_help[61] ;
00503   args_info->extendIPMLinePixelsNormal_help = LaneDetectorParserInfo_help[62] ;
00504   args_info->extendIPMContThreshold_help = LaneDetectorParserInfo_help[63] ;
00505   args_info->extendIPMDeviationThreshold_help = LaneDetectorParserInfo_help[64] ;
00506   args_info->extendIPMRectTop_help = LaneDetectorParserInfo_help[65] ;
00507   args_info->extendIPMRectBottom_help = LaneDetectorParserInfo_help[66] ;
00508   args_info->splineScoreJitter_help = LaneDetectorParserInfo_help[67] ;
00509   args_info->splineScoreLengthRatio_help = LaneDetectorParserInfo_help[68] ;
00510   args_info->splineScoreAngleRatio_help = LaneDetectorParserInfo_help[69] ;
00511   args_info->splineScoreStep_help = LaneDetectorParserInfo_help[70] ;
00512   args_info->splineTrackingNumAbsentFrames_help = LaneDetectorParserInfo_help[71] ;
00513   args_info->splineTrackingNumSeenFrames_help = LaneDetectorParserInfo_help[72] ;
00514   args_info->mergeSplineThetaThreshold_help = LaneDetectorParserInfo_help[73] ;
00515   args_info->mergeSplineRThreshold_help = LaneDetectorParserInfo_help[74] ;
00516   args_info->mergeSplineMeanThetaThreshold_help = LaneDetectorParserInfo_help[75] ;
00517   args_info->mergeSplineMeanRThreshold_help = LaneDetectorParserInfo_help[76] ;
00518   args_info->mergeSplineCentroidThreshold_help = LaneDetectorParserInfo_help[77] ;
00519   args_info->lineTrackingNumAbsentFrames_help = LaneDetectorParserInfo_help[78] ;
00520   args_info->lineTrackingNumSeenFrames_help = LaneDetectorParserInfo_help[79] ;
00521   args_info->mergeLineThetaThreshold_help = LaneDetectorParserInfo_help[80] ;
00522   args_info->mergeLineRThreshold_help = LaneDetectorParserInfo_help[81] ;
00523   args_info->numStrips_help = LaneDetectorParserInfo_help[82] ;
00524   args_info->checkSplines_help = LaneDetectorParserInfo_help[83] ;
00525   args_info->checkSplinesCurvenessThreshold_help = LaneDetectorParserInfo_help[84] ;
00526   args_info->checkSplinesLengthThreshold_help = LaneDetectorParserInfo_help[85] ;
00527   args_info->checkSplinesThetaDiffThreshold_help = LaneDetectorParserInfo_help[86] ;
00528   args_info->checkSplinesThetaThreshold_help = LaneDetectorParserInfo_help[87] ;
00529   args_info->checkIPMSplines_help = LaneDetectorParserInfo_help[88] ;
00530   args_info->checkIPMSplinesCurvenessThreshold_help = LaneDetectorParserInfo_help[89] ;
00531   args_info->checkIPMSplinesLengthThreshold_help = LaneDetectorParserInfo_help[90] ;
00532   args_info->checkIPMSplinesThetaDiffThreshold_help = LaneDetectorParserInfo_help[91] ;
00533   args_info->checkIPMSplinesThetaThreshold_help = LaneDetectorParserInfo_help[92] ;
00534   args_info->finalSplineScoreThreshold_help = LaneDetectorParserInfo_help[93] ;
00535   args_info->useGroundPlane_help = LaneDetectorParserInfo_help[94] ;
00536   args_info->checkColor_help = LaneDetectorParserInfo_help[95] ;
00537   args_info->checkColorWindow_help = LaneDetectorParserInfo_help[96] ;
00538   args_info->checkColorNumBins_help = LaneDetectorParserInfo_help[97] ;
00539   args_info->checkColorNumYellowMin_help = LaneDetectorParserInfo_help[98] ;
00540   args_info->checkColorRGMin_help = LaneDetectorParserInfo_help[99] ;
00541   args_info->checkColorRGMax_help = LaneDetectorParserInfo_help[100] ;
00542   args_info->checkColorGBMin_help = LaneDetectorParserInfo_help[101] ;
00543   args_info->checkColorRBMin_help = LaneDetectorParserInfo_help[102] ;
00544   args_info->checkColorRBFThreshold_help = LaneDetectorParserInfo_help[103] ;
00545   args_info->checkColorRBF_help = LaneDetectorParserInfo_help[104] ;
00546   args_info->ipmWindowClear_help = LaneDetectorParserInfo_help[105] ;
00547   args_info->ipmWindowLeft_help = LaneDetectorParserInfo_help[106] ;
00548   args_info->ipmWindowRight_help = LaneDetectorParserInfo_help[107] ;
00549   args_info->checkLaneWidth_help = LaneDetectorParserInfo_help[108] ;
00550   args_info->checkLaneWidthMean_help = LaneDetectorParserInfo_help[109] ;
00551   args_info->checkLaneWidthStd_help = LaneDetectorParserInfo_help[110] ;
00552 
00553 }
00554 
00555 void
00556 LaneDetectorParser_print_version (void)
00557 {
00558   printf ("%s %s\n", LANEDETECTORPARSER_PACKAGE, LANEDETECTORPARSER_VERSION);
00559 }
00560 
00561 void
00562 LaneDetectorParser_print_help (void)
00563 {
00564   int i = 0;
00565   LaneDetectorParser_print_version ();
00566 
00567   if (strlen(LaneDetectorParserInfo_purpose) > 0)
00568     printf("\n%s\n", LaneDetectorParserInfo_purpose);
00569 
00570   printf("\n%s\n\n", LaneDetectorParserInfo_usage);
00571   while (LaneDetectorParserInfo_help[i])
00572     printf("%s\n", LaneDetectorParserInfo_help[i++]);
00573 }
00574 
00575 void
00576 LaneDetectorParser_init (struct LaneDetectorParserInfo *args_info)
00577 {
00578   clear_given (args_info);
00579   clear_args (args_info);
00580   init_args_info (args_info);
00581 }
00582 
00583 static void
00584 LaneDetectorParser_release (struct LaneDetectorParserInfo *args_info)
00585 {
00586 
00587   if (args_info->ipmWidth_orig)
00588     {
00589       free (args_info->ipmWidth_orig); /* free previous argument */
00590       args_info->ipmWidth_orig = 0;
00591     }
00592   if (args_info->ipmHeight_orig)
00593     {
00594       free (args_info->ipmHeight_orig); /* free previous argument */
00595       args_info->ipmHeight_orig = 0;
00596     }
00597   if (args_info->ipmTop_orig)
00598     {
00599       free (args_info->ipmTop_orig); /* free previous argument */
00600       args_info->ipmTop_orig = 0;
00601     }
00602   if (args_info->ipmLeft_orig)
00603     {
00604       free (args_info->ipmLeft_orig); /* free previous argument */
00605       args_info->ipmLeft_orig = 0;
00606     }
00607   if (args_info->ipmRight_orig)
00608     {
00609       free (args_info->ipmRight_orig); /* free previous argument */
00610       args_info->ipmRight_orig = 0;
00611     }
00612   if (args_info->ipmBottom_orig)
00613     {
00614       free (args_info->ipmBottom_orig); /* free previous argument */
00615       args_info->ipmBottom_orig = 0;
00616     }
00617   if (args_info->ipmInterpolation_orig)
00618     {
00619       free (args_info->ipmInterpolation_orig); /* free previous argument */
00620       args_info->ipmInterpolation_orig = 0;
00621     }
00622   if (args_info->lineWidth_orig)
00623     {
00624       free (args_info->lineWidth_orig); /* free previous argument */
00625       args_info->lineWidth_orig = 0;
00626     }
00627   if (args_info->lineHeight_orig)
00628     {
00629       free (args_info->lineHeight_orig); /* free previous argument */
00630       args_info->lineHeight_orig = 0;
00631     }
00632   if (args_info->kernelWidth_orig)
00633     {
00634       free (args_info->kernelWidth_orig); /* free previous argument */
00635       args_info->kernelWidth_orig = 0;
00636     }
00637   if (args_info->kernelHeight_orig)
00638     {
00639       free (args_info->kernelHeight_orig); /* free previous argument */
00640       args_info->kernelHeight_orig = 0;
00641     }
00642   if (args_info->lowerQuantile_orig)
00643     {
00644       free (args_info->lowerQuantile_orig); /* free previous argument */
00645       args_info->lowerQuantile_orig = 0;
00646     }
00647   if (args_info->localMaxima_orig)
00648     {
00649       free (args_info->localMaxima_orig); /* free previous argument */
00650       args_info->localMaxima_orig = 0;
00651     }
00652   if (args_info->groupingType_orig)
00653     {
00654       free (args_info->groupingType_orig); /* free previous argument */
00655       args_info->groupingType_orig = 0;
00656     }
00657   if (args_info->binarize_orig)
00658     {
00659       free (args_info->binarize_orig); /* free previous argument */
00660       args_info->binarize_orig = 0;
00661     }
00662   if (args_info->detectionThreshold_orig)
00663     {
00664       free (args_info->detectionThreshold_orig); /* free previous argument */
00665       args_info->detectionThreshold_orig = 0;
00666     }
00667   if (args_info->smoothScores_orig)
00668     {
00669       free (args_info->smoothScores_orig); /* free previous argument */
00670       args_info->smoothScores_orig = 0;
00671     }
00672   if (args_info->rMin_orig)
00673     {
00674       free (args_info->rMin_orig); /* free previous argument */
00675       args_info->rMin_orig = 0;
00676     }
00677   if (args_info->rMax_orig)
00678     {
00679       free (args_info->rMax_orig); /* free previous argument */
00680       args_info->rMax_orig = 0;
00681     }
00682   if (args_info->rStep_orig)
00683     {
00684       free (args_info->rStep_orig); /* free previous argument */
00685       args_info->rStep_orig = 0;
00686     }
00687   if (args_info->thetaMin_orig)
00688     {
00689       free (args_info->thetaMin_orig); /* free previous argument */
00690       args_info->thetaMin_orig = 0;
00691     }
00692   if (args_info->thetaMax_orig)
00693     {
00694       free (args_info->thetaMax_orig); /* free previous argument */
00695       args_info->thetaMax_orig = 0;
00696     }
00697   if (args_info->thetaStep_orig)
00698     {
00699       free (args_info->thetaStep_orig); /* free previous argument */
00700       args_info->thetaStep_orig = 0;
00701     }
00702   if (args_info->ipmVpPortion_orig)
00703     {
00704       free (args_info->ipmVpPortion_orig); /* free previous argument */
00705       args_info->ipmVpPortion_orig = 0;
00706     }
00707   if (args_info->getEndPoints_orig)
00708     {
00709       free (args_info->getEndPoints_orig); /* free previous argument */
00710       args_info->getEndPoints_orig = 0;
00711     }
00712   if (args_info->group_orig)
00713     {
00714       free (args_info->group_orig); /* free previous argument */
00715       args_info->group_orig = 0;
00716     }
00717   if (args_info->groupThreshold_orig)
00718     {
00719       free (args_info->groupThreshold_orig); /* free previous argument */
00720       args_info->groupThreshold_orig = 0;
00721     }
00722   if (args_info->ransac_orig)
00723     {
00724       free (args_info->ransac_orig); /* free previous argument */
00725       args_info->ransac_orig = 0;
00726     }
00727   if (args_info->ransacLineNumSamples_orig)
00728     {
00729       free (args_info->ransacLineNumSamples_orig); /* free previous argument */
00730       args_info->ransacLineNumSamples_orig = 0;
00731     }
00732   if (args_info->ransacLineNumIterations_orig)
00733     {
00734       free (args_info->ransacLineNumIterations_orig); /* free previous argument */
00735       args_info->ransacLineNumIterations_orig = 0;
00736     }
00737   if (args_info->ransacLineNumGoodFit_orig)
00738     {
00739       free (args_info->ransacLineNumGoodFit_orig); /* free previous argument */
00740       args_info->ransacLineNumGoodFit_orig = 0;
00741     }
00742   if (args_info->ransacLineThreshold_orig)
00743     {
00744       free (args_info->ransacLineThreshold_orig); /* free previous argument */
00745       args_info->ransacLineThreshold_orig = 0;
00746     }
00747   if (args_info->ransacLineScoreThreshold_orig)
00748     {
00749       free (args_info->ransacLineScoreThreshold_orig); /* free previous argument */
00750       args_info->ransacLineScoreThreshold_orig = 0;
00751     }
00752   if (args_info->ransacLineBinarize_orig)
00753     {
00754       free (args_info->ransacLineBinarize_orig); /* free previous argument */
00755       args_info->ransacLineBinarize_orig = 0;
00756     }
00757   if (args_info->ransacLineWindow_orig)
00758     {
00759       free (args_info->ransacLineWindow_orig); /* free previous argument */
00760       args_info->ransacLineWindow_orig = 0;
00761     }
00762   if (args_info->ransacSplineNumSamples_orig)
00763     {
00764       free (args_info->ransacSplineNumSamples_orig); /* free previous argument */
00765       args_info->ransacSplineNumSamples_orig = 0;
00766     }
00767   if (args_info->ransacSplineNumIterations_orig)
00768     {
00769       free (args_info->ransacSplineNumIterations_orig); /* free previous argument */
00770       args_info->ransacSplineNumIterations_orig = 0;
00771     }
00772   if (args_info->ransacSplineNumGoodFit_orig)
00773     {
00774       free (args_info->ransacSplineNumGoodFit_orig); /* free previous argument */
00775       args_info->ransacSplineNumGoodFit_orig = 0;
00776     }
00777   if (args_info->ransacSplineThreshold_orig)
00778     {
00779       free (args_info->ransacSplineThreshold_orig); /* free previous argument */
00780       args_info->ransacSplineThreshold_orig = 0;
00781     }
00782   if (args_info->ransacSplineScoreThreshold_orig)
00783     {
00784       free (args_info->ransacSplineScoreThreshold_orig); /* free previous argument */
00785       args_info->ransacSplineScoreThreshold_orig = 0;
00786     }
00787   if (args_info->ransacSplineBinarize_orig)
00788     {
00789       free (args_info->ransacSplineBinarize_orig); /* free previous argument */
00790       args_info->ransacSplineBinarize_orig = 0;
00791     }
00792   if (args_info->ransacSplineWindow_orig)
00793     {
00794       free (args_info->ransacSplineWindow_orig); /* free previous argument */
00795       args_info->ransacSplineWindow_orig = 0;
00796     }
00797   if (args_info->ransacSplineDegree_orig)
00798     {
00799       free (args_info->ransacSplineDegree_orig); /* free previous argument */
00800       args_info->ransacSplineDegree_orig = 0;
00801     }
00802   if (args_info->ransacSpline_orig)
00803     {
00804       free (args_info->ransacSpline_orig); /* free previous argument */
00805       args_info->ransacSpline_orig = 0;
00806     }
00807   if (args_info->ransacLine_orig)
00808     {
00809       free (args_info->ransacLine_orig); /* free previous argument */
00810       args_info->ransacLine_orig = 0;
00811     }
00812   if (args_info->ransacSplineStep_orig)
00813     {
00814       free (args_info->ransacSplineStep_orig); /* free previous argument */
00815       args_info->ransacSplineStep_orig = 0;
00816     }
00817   if (args_info->overlapThreshold_orig)
00818     {
00819       free (args_info->overlapThreshold_orig); /* free previous argument */
00820       args_info->overlapThreshold_orig = 0;
00821     }
00822   if (args_info->localizeAngleThreshold_orig)
00823     {
00824       free (args_info->localizeAngleThreshold_orig); /* free previous argument */
00825       args_info->localizeAngleThreshold_orig = 0;
00826     }
00827   if (args_info->localizeNumLinePixels_orig)
00828     {
00829       free (args_info->localizeNumLinePixels_orig); /* free previous argument */
00830       args_info->localizeNumLinePixels_orig = 0;
00831     }
00832   if (args_info->extendAngleThreshold_orig)
00833     {
00834       free (args_info->extendAngleThreshold_orig); /* free previous argument */
00835       args_info->extendAngleThreshold_orig = 0;
00836     }
00837   if (args_info->extendMeanDirAngleThreshold_orig)
00838     {
00839       free (args_info->extendMeanDirAngleThreshold_orig); /* free previous argument */
00840       args_info->extendMeanDirAngleThreshold_orig = 0;
00841     }
00842   if (args_info->extendLinePixelsTangent_orig)
00843     {
00844       free (args_info->extendLinePixelsTangent_orig); /* free previous argument */
00845       args_info->extendLinePixelsTangent_orig = 0;
00846     }
00847   if (args_info->extendLinePixelsNormal_orig)
00848     {
00849       free (args_info->extendLinePixelsNormal_orig); /* free previous argument */
00850       args_info->extendLinePixelsNormal_orig = 0;
00851     }
00852   if (args_info->extendContThreshold_orig)
00853     {
00854       free (args_info->extendContThreshold_orig); /* free previous argument */
00855       args_info->extendContThreshold_orig = 0;
00856     }
00857   if (args_info->extendDeviationThreshold_orig)
00858     {
00859       free (args_info->extendDeviationThreshold_orig); /* free previous argument */
00860       args_info->extendDeviationThreshold_orig = 0;
00861     }
00862   if (args_info->extendRectTop_orig)
00863     {
00864       free (args_info->extendRectTop_orig); /* free previous argument */
00865       args_info->extendRectTop_orig = 0;
00866     }
00867   if (args_info->extendRectBottom_orig)
00868     {
00869       free (args_info->extendRectBottom_orig); /* free previous argument */
00870       args_info->extendRectBottom_orig = 0;
00871     }
00872   if (args_info->extendIPMAngleThreshold_orig)
00873     {
00874       free (args_info->extendIPMAngleThreshold_orig); /* free previous argument */
00875       args_info->extendIPMAngleThreshold_orig = 0;
00876     }
00877   if (args_info->extendIPMMeanDirAngleThreshold_orig)
00878     {
00879       free (args_info->extendIPMMeanDirAngleThreshold_orig); /* free previous argument */
00880       args_info->extendIPMMeanDirAngleThreshold_orig = 0;
00881     }
00882   if (args_info->extendIPMLinePixelsTangent_orig)
00883     {
00884       free (args_info->extendIPMLinePixelsTangent_orig); /* free previous argument */
00885       args_info->extendIPMLinePixelsTangent_orig = 0;
00886     }
00887   if (args_info->extendIPMLinePixelsNormal_orig)
00888     {
00889       free (args_info->extendIPMLinePixelsNormal_orig); /* free previous argument */
00890       args_info->extendIPMLinePixelsNormal_orig = 0;
00891     }
00892   if (args_info->extendIPMContThreshold_orig)
00893     {
00894       free (args_info->extendIPMContThreshold_orig); /* free previous argument */
00895       args_info->extendIPMContThreshold_orig = 0;
00896     }
00897   if (args_info->extendIPMDeviationThreshold_orig)
00898     {
00899       free (args_info->extendIPMDeviationThreshold_orig); /* free previous argument */
00900       args_info->extendIPMDeviationThreshold_orig = 0;
00901     }
00902   if (args_info->extendIPMRectTop_orig)
00903     {
00904       free (args_info->extendIPMRectTop_orig); /* free previous argument */
00905       args_info->extendIPMRectTop_orig = 0;
00906     }
00907   if (args_info->extendIPMRectBottom_orig)
00908     {
00909       free (args_info->extendIPMRectBottom_orig); /* free previous argument */
00910       args_info->extendIPMRectBottom_orig = 0;
00911     }
00912   if (args_info->splineScoreJitter_orig)
00913     {
00914       free (args_info->splineScoreJitter_orig); /* free previous argument */
00915       args_info->splineScoreJitter_orig = 0;
00916     }
00917   if (args_info->splineScoreLengthRatio_orig)
00918     {
00919       free (args_info->splineScoreLengthRatio_orig); /* free previous argument */
00920       args_info->splineScoreLengthRatio_orig = 0;
00921     }
00922   if (args_info->splineScoreAngleRatio_orig)
00923     {
00924       free (args_info->splineScoreAngleRatio_orig); /* free previous argument */
00925       args_info->splineScoreAngleRatio_orig = 0;
00926     }
00927   if (args_info->splineScoreStep_orig)
00928     {
00929       free (args_info->splineScoreStep_orig); /* free previous argument */
00930       args_info->splineScoreStep_orig = 0;
00931     }
00932   if (args_info->splineTrackingNumAbsentFrames_orig)
00933     {
00934       free (args_info->splineTrackingNumAbsentFrames_orig); /* free previous argument */
00935       args_info->splineTrackingNumAbsentFrames_orig = 0;
00936     }
00937   if (args_info->splineTrackingNumSeenFrames_orig)
00938     {
00939       free (args_info->splineTrackingNumSeenFrames_orig); /* free previous argument */
00940       args_info->splineTrackingNumSeenFrames_orig = 0;
00941     }
00942   if (args_info->mergeSplineThetaThreshold_orig)
00943     {
00944       free (args_info->mergeSplineThetaThreshold_orig); /* free previous argument */
00945       args_info->mergeSplineThetaThreshold_orig = 0;
00946     }
00947   if (args_info->mergeSplineRThreshold_orig)
00948     {
00949       free (args_info->mergeSplineRThreshold_orig); /* free previous argument */
00950       args_info->mergeSplineRThreshold_orig = 0;
00951     }
00952   if (args_info->mergeSplineMeanThetaThreshold_orig)
00953     {
00954       free (args_info->mergeSplineMeanThetaThreshold_orig); /* free previous argument */
00955       args_info->mergeSplineMeanThetaThreshold_orig = 0;
00956     }
00957   if (args_info->mergeSplineMeanRThreshold_orig)
00958     {
00959       free (args_info->mergeSplineMeanRThreshold_orig); /* free previous argument */
00960       args_info->mergeSplineMeanRThreshold_orig = 0;
00961     }
00962   if (args_info->mergeSplineCentroidThreshold_orig)
00963     {
00964       free (args_info->mergeSplineCentroidThreshold_orig); /* free previous argument */
00965       args_info->mergeSplineCentroidThreshold_orig = 0;
00966     }
00967   if (args_info->lineTrackingNumAbsentFrames_orig)
00968     {
00969       free (args_info->lineTrackingNumAbsentFrames_orig); /* free previous argument */
00970       args_info->lineTrackingNumAbsentFrames_orig = 0;
00971     }
00972   if (args_info->lineTrackingNumSeenFrames_orig)
00973     {
00974       free (args_info->lineTrackingNumSeenFrames_orig); /* free previous argument */
00975       args_info->lineTrackingNumSeenFrames_orig = 0;
00976     }
00977   if (args_info->mergeLineThetaThreshold_orig)
00978     {
00979       free (args_info->mergeLineThetaThreshold_orig); /* free previous argument */
00980       args_info->mergeLineThetaThreshold_orig = 0;
00981     }
00982   if (args_info->mergeLineRThreshold_orig)
00983     {
00984       free (args_info->mergeLineRThreshold_orig); /* free previous argument */
00985       args_info->mergeLineRThreshold_orig = 0;
00986     }
00987   if (args_info->numStrips_orig)
00988     {
00989       free (args_info->numStrips_orig); /* free previous argument */
00990       args_info->numStrips_orig = 0;
00991     }
00992   if (args_info->checkSplines_orig)
00993     {
00994       free (args_info->checkSplines_orig); /* free previous argument */
00995       args_info->checkSplines_orig = 0;
00996     }
00997   if (args_info->checkSplinesCurvenessThreshold_orig)
00998     {
00999       free (args_info->checkSplinesCurvenessThreshold_orig); /* free previous argument */
01000       args_info->checkSplinesCurvenessThreshold_orig = 0;
01001     }
01002   if (args_info->checkSplinesLengthThreshold_orig)
01003     {
01004       free (args_info->checkSplinesLengthThreshold_orig); /* free previous argument */
01005       args_info->checkSplinesLengthThreshold_orig = 0;
01006     }
01007   if (args_info->checkSplinesThetaDiffThreshold_orig)
01008     {
01009       free (args_info->checkSplinesThetaDiffThreshold_orig); /* free previous argument */
01010       args_info->checkSplinesThetaDiffThreshold_orig = 0;
01011     }
01012   if (args_info->checkSplinesThetaThreshold_orig)
01013     {
01014       free (args_info->checkSplinesThetaThreshold_orig); /* free previous argument */
01015       args_info->checkSplinesThetaThreshold_orig = 0;
01016     }
01017   if (args_info->checkIPMSplines_orig)
01018     {
01019       free (args_info->checkIPMSplines_orig); /* free previous argument */
01020       args_info->checkIPMSplines_orig = 0;
01021     }
01022   if (args_info->checkIPMSplinesCurvenessThreshold_orig)
01023     {
01024       free (args_info->checkIPMSplinesCurvenessThreshold_orig); /* free previous argument */
01025       args_info->checkIPMSplinesCurvenessThreshold_orig = 0;
01026     }
01027   if (args_info->checkIPMSplinesLengthThreshold_orig)
01028     {
01029       free (args_info->checkIPMSplinesLengthThreshold_orig); /* free previous argument */
01030       args_info->checkIPMSplinesLengthThreshold_orig = 0;
01031     }
01032   if (args_info->checkIPMSplinesThetaDiffThreshold_orig)
01033     {
01034       free (args_info->checkIPMSplinesThetaDiffThreshold_orig); /* free previous argument */
01035       args_info->checkIPMSplinesThetaDiffThreshold_orig = 0;
01036     }
01037   if (args_info->checkIPMSplinesThetaThreshold_orig)
01038     {
01039       free (args_info->checkIPMSplinesThetaThreshold_orig); /* free previous argument */
01040       args_info->checkIPMSplinesThetaThreshold_orig = 0;
01041     }
01042   if (args_info->finalSplineScoreThreshold_orig)
01043     {
01044       free (args_info->finalSplineScoreThreshold_orig); /* free previous argument */
01045       args_info->finalSplineScoreThreshold_orig = 0;
01046     }
01047   if (args_info->useGroundPlane_orig)
01048     {
01049       free (args_info->useGroundPlane_orig); /* free previous argument */
01050       args_info->useGroundPlane_orig = 0;
01051     }
01052   if (args_info->checkColor_orig)
01053     {
01054       free (args_info->checkColor_orig); /* free previous argument */
01055       args_info->checkColor_orig = 0;
01056     }
01057   if (args_info->checkColorWindow_orig)
01058     {
01059       free (args_info->checkColorWindow_orig); /* free previous argument */
01060       args_info->checkColorWindow_orig = 0;
01061     }
01062   if (args_info->checkColorNumBins_orig)
01063     {
01064       free (args_info->checkColorNumBins_orig); /* free previous argument */
01065       args_info->checkColorNumBins_orig = 0;
01066     }
01067   if (args_info->checkColorNumYellowMin_orig)
01068     {
01069       free (args_info->checkColorNumYellowMin_orig); /* free previous argument */
01070       args_info->checkColorNumYellowMin_orig = 0;
01071     }
01072   if (args_info->checkColorRGMin_orig)
01073     {
01074       free (args_info->checkColorRGMin_orig); /* free previous argument */
01075       args_info->checkColorRGMin_orig = 0;
01076     }
01077   if (args_info->checkColorRGMax_orig)
01078     {
01079       free (args_info->checkColorRGMax_orig); /* free previous argument */
01080       args_info->checkColorRGMax_orig = 0;
01081     }
01082   if (args_info->checkColorGBMin_orig)
01083     {
01084       free (args_info->checkColorGBMin_orig); /* free previous argument */
01085       args_info->checkColorGBMin_orig = 0;
01086     }
01087   if (args_info->checkColorRBMin_orig)
01088     {
01089       free (args_info->checkColorRBMin_orig); /* free previous argument */
01090       args_info->checkColorRBMin_orig = 0;
01091     }
01092   if (args_info->checkColorRBFThreshold_orig)
01093     {
01094       free (args_info->checkColorRBFThreshold_orig); /* free previous argument */
01095       args_info->checkColorRBFThreshold_orig = 0;
01096     }
01097   if (args_info->checkColorRBF_orig)
01098     {
01099       free (args_info->checkColorRBF_orig); /* free previous argument */
01100       args_info->checkColorRBF_orig = 0;
01101     }
01102   if (args_info->ipmWindowClear_orig)
01103     {
01104       free (args_info->ipmWindowClear_orig); /* free previous argument */
01105       args_info->ipmWindowClear_orig = 0;
01106     }
01107   if (args_info->ipmWindowLeft_orig)
01108     {
01109       free (args_info->ipmWindowLeft_orig); /* free previous argument */
01110       args_info->ipmWindowLeft_orig = 0;
01111     }
01112   if (args_info->ipmWindowRight_orig)
01113     {
01114       free (args_info->ipmWindowRight_orig); /* free previous argument */
01115       args_info->ipmWindowRight_orig = 0;
01116     }
01117   if (args_info->checkLaneWidth_orig)
01118     {
01119       free (args_info->checkLaneWidth_orig); /* free previous argument */
01120       args_info->checkLaneWidth_orig = 0;
01121     }
01122   if (args_info->checkLaneWidthMean_orig)
01123     {
01124       free (args_info->checkLaneWidthMean_orig); /* free previous argument */
01125       args_info->checkLaneWidthMean_orig = 0;
01126     }
01127   if (args_info->checkLaneWidthStd_orig)
01128     {
01129       free (args_info->checkLaneWidthStd_orig); /* free previous argument */
01130       args_info->checkLaneWidthStd_orig = 0;
01131     }
01132 
01133   clear_given (args_info);
01134 }
01135 
01136 int
01137 LaneDetectorParser_file_save(const char *filename, struct LaneDetectorParserInfo *args_info)
01138 {
01139   FILE *outfile;
01140   int i = 0;
01141 
01142   outfile = fopen(filename, "w");
01143 
01144   if (!outfile)
01145     {
01146       fprintf (stderr, "%s: cannot open file for writing: %s\n", LANEDETECTORPARSER_PACKAGE, filename);
01147       return EXIT_FAILURE;
01148     }
01149 
01150   if (args_info->help_given) {
01151     fprintf(outfile, "%s\n", "help");
01152   }
01153   if (args_info->version_given) {
01154     fprintf(outfile, "%s\n", "version");
01155   }
01156   if (args_info->ipmWidth_given) {
01157     if (args_info->ipmWidth_orig) {
01158       fprintf(outfile, "%s=\"%s\"\n", "ipmWidth", args_info->ipmWidth_orig);
01159     } else {
01160       fprintf(outfile, "%s\n", "ipmWidth");
01161     }
01162   }
01163   if (args_info->ipmHeight_given) {
01164     if (args_info->ipmHeight_orig) {
01165       fprintf(outfile, "%s=\"%s\"\n", "ipmHeight", args_info->ipmHeight_orig);
01166     } else {
01167       fprintf(outfile, "%s\n", "ipmHeight");
01168     }
01169   }
01170   if (args_info->ipmTop_given) {
01171     if (args_info->ipmTop_orig) {
01172       fprintf(outfile, "%s=\"%s\"\n", "ipmTop", args_info->ipmTop_orig);
01173     } else {
01174       fprintf(outfile, "%s\n", "ipmTop");
01175     }
01176   }
01177   if (args_info->ipmLeft_given) {
01178     if (args_info->ipmLeft_orig) {
01179       fprintf(outfile, "%s=\"%s\"\n", "ipmLeft", args_info->ipmLeft_orig);
01180     } else {
01181       fprintf(outfile, "%s\n", "ipmLeft");
01182     }
01183   }
01184   if (args_info->ipmRight_given) {
01185     if (args_info->ipmRight_orig) {
01186       fprintf(outfile, "%s=\"%s\"\n", "ipmRight", args_info->ipmRight_orig);
01187     } else {
01188       fprintf(outfile, "%s\n", "ipmRight");
01189     }
01190   }
01191   if (args_info->ipmBottom_given) {
01192     if (args_info->ipmBottom_orig) {
01193       fprintf(outfile, "%s=\"%s\"\n", "ipmBottom", args_info->ipmBottom_orig);
01194     } else {
01195       fprintf(outfile, "%s\n", "ipmBottom");
01196     }
01197   }
01198   if (args_info->ipmInterpolation_given) {
01199     if (args_info->ipmInterpolation_orig) {
01200       fprintf(outfile, "%s=\"%s\"\n", "ipmInterpolation", args_info->ipmInterpolation_orig);
01201     } else {
01202       fprintf(outfile, "%s\n", "ipmInterpolation");
01203     }
01204   }
01205   if (args_info->lineWidth_given) {
01206     if (args_info->lineWidth_orig) {
01207       fprintf(outfile, "%s=\"%s\"\n", "lineWidth", args_info->lineWidth_orig);
01208     } else {
01209       fprintf(outfile, "%s\n", "lineWidth");
01210     }
01211   }
01212   if (args_info->lineHeight_given) {
01213     if (args_info->lineHeight_orig) {
01214       fprintf(outfile, "%s=\"%s\"\n", "lineHeight", args_info->lineHeight_orig);
01215     } else {
01216       fprintf(outfile, "%s\n", "lineHeight");
01217     }
01218   }
01219   if (args_info->kernelWidth_given) {
01220     if (args_info->kernelWidth_orig) {
01221       fprintf(outfile, "%s=\"%s\"\n", "kernelWidth", args_info->kernelWidth_orig);
01222     } else {
01223       fprintf(outfile, "%s\n", "kernelWidth");
01224     }
01225   }
01226   if (args_info->kernelHeight_given) {
01227     if (args_info->kernelHeight_orig) {
01228       fprintf(outfile, "%s=\"%s\"\n", "kernelHeight", args_info->kernelHeight_orig);
01229     } else {
01230       fprintf(outfile, "%s\n", "kernelHeight");
01231     }
01232   }
01233   if (args_info->lowerQuantile_given) {
01234     if (args_info->lowerQuantile_orig) {
01235       fprintf(outfile, "%s=\"%s\"\n", "lowerQuantile", args_info->lowerQuantile_orig);
01236     } else {
01237       fprintf(outfile, "%s\n", "lowerQuantile");
01238     }
01239   }
01240   if (args_info->localMaxima_given) {
01241     if (args_info->localMaxima_orig) {
01242       fprintf(outfile, "%s=\"%s\"\n", "localMaxima", args_info->localMaxima_orig);
01243     } else {
01244       fprintf(outfile, "%s\n", "localMaxima");
01245     }
01246   }
01247   if (args_info->groupingType_given) {
01248     if (args_info->groupingType_orig) {
01249       fprintf(outfile, "%s=\"%s\"\n", "groupingType", args_info->groupingType_orig);
01250     } else {
01251       fprintf(outfile, "%s\n", "groupingType");
01252     }
01253   }
01254   if (args_info->binarize_given) {
01255     if (args_info->binarize_orig) {
01256       fprintf(outfile, "%s=\"%s\"\n", "binarize", args_info->binarize_orig);
01257     } else {
01258       fprintf(outfile, "%s\n", "binarize");
01259     }
01260   }
01261   if (args_info->detectionThreshold_given) {
01262     if (args_info->detectionThreshold_orig) {
01263       fprintf(outfile, "%s=\"%s\"\n", "detectionThreshold", args_info->detectionThreshold_orig);
01264     } else {
01265       fprintf(outfile, "%s\n", "detectionThreshold");
01266     }
01267   }
01268   if (args_info->smoothScores_given) {
01269     if (args_info->smoothScores_orig) {
01270       fprintf(outfile, "%s=\"%s\"\n", "smoothScores", args_info->smoothScores_orig);
01271     } else {
01272       fprintf(outfile, "%s\n", "smoothScores");
01273     }
01274   }
01275   if (args_info->rMin_given) {
01276     if (args_info->rMin_orig) {
01277       fprintf(outfile, "%s=\"%s\"\n", "rMin", args_info->rMin_orig);
01278     } else {
01279       fprintf(outfile, "%s\n", "rMin");
01280     }
01281   }
01282   if (args_info->rMax_given) {
01283     if (args_info->rMax_orig) {
01284       fprintf(outfile, "%s=\"%s\"\n", "rMax", args_info->rMax_orig);
01285     } else {
01286       fprintf(outfile, "%s\n", "rMax");
01287     }
01288   }
01289   if (args_info->rStep_given) {
01290     if (args_info->rStep_orig) {
01291       fprintf(outfile, "%s=\"%s\"\n", "rStep", args_info->rStep_orig);
01292     } else {
01293       fprintf(outfile, "%s\n", "rStep");
01294     }
01295   }
01296   if (args_info->thetaMin_given) {
01297     if (args_info->thetaMin_orig) {
01298       fprintf(outfile, "%s=\"%s\"\n", "thetaMin", args_info->thetaMin_orig);
01299     } else {
01300       fprintf(outfile, "%s\n", "thetaMin");
01301     }
01302   }
01303   if (args_info->thetaMax_given) {
01304     if (args_info->thetaMax_orig) {
01305       fprintf(outfile, "%s=\"%s\"\n", "thetaMax", args_info->thetaMax_orig);
01306     } else {
01307       fprintf(outfile, "%s\n", "thetaMax");
01308     }
01309   }
01310   if (args_info->thetaStep_given) {
01311     if (args_info->thetaStep_orig) {
01312       fprintf(outfile, "%s=\"%s\"\n", "thetaStep", args_info->thetaStep_orig);
01313     } else {
01314       fprintf(outfile, "%s\n", "thetaStep");
01315     }
01316   }
01317   if (args_info->ipmVpPortion_given) {
01318     if (args_info->ipmVpPortion_orig) {
01319       fprintf(outfile, "%s=\"%s\"\n", "ipmVpPortion", args_info->ipmVpPortion_orig);
01320     } else {
01321       fprintf(outfile, "%s\n", "ipmVpPortion");
01322     }
01323   }
01324   if (args_info->getEndPoints_given) {
01325     if (args_info->getEndPoints_orig) {
01326       fprintf(outfile, "%s=\"%s\"\n", "getEndPoints", args_info->getEndPoints_orig);
01327     } else {
01328       fprintf(outfile, "%s\n", "getEndPoints");
01329     }
01330   }
01331   if (args_info->group_given) {
01332     if (args_info->group_orig) {
01333       fprintf(outfile, "%s=\"%s\"\n", "group", args_info->group_orig);
01334     } else {
01335       fprintf(outfile, "%s\n", "group");
01336     }
01337   }
01338   if (args_info->groupThreshold_given) {
01339     if (args_info->groupThreshold_orig) {
01340       fprintf(outfile, "%s=\"%s\"\n", "groupThreshold", args_info->groupThreshold_orig);
01341     } else {
01342       fprintf(outfile, "%s\n", "groupThreshold");
01343     }
01344   }
01345   if (args_info->ransac_given) {
01346     if (args_info->ransac_orig) {
01347       fprintf(outfile, "%s=\"%s\"\n", "ransac", args_info->ransac_orig);
01348     } else {
01349       fprintf(outfile, "%s\n", "ransac");
01350     }
01351   }
01352   if (args_info->ransacLineNumSamples_given) {
01353     if (args_info->ransacLineNumSamples_orig) {
01354       fprintf(outfile, "%s=\"%s\"\n", "ransacLineNumSamples", args_info->ransacLineNumSamples_orig);
01355     } else {
01356       fprintf(outfile, "%s\n", "ransacLineNumSamples");
01357     }
01358   }
01359   if (args_info->ransacLineNumIterations_given) {
01360     if (args_info->ransacLineNumIterations_orig) {
01361       fprintf(outfile, "%s=\"%s\"\n", "ransacLineNumIterations", args_info->ransacLineNumIterations_orig);
01362     } else {
01363       fprintf(outfile, "%s\n", "ransacLineNumIterations");
01364     }
01365   }
01366   if (args_info->ransacLineNumGoodFit_given) {
01367     if (args_info->ransacLineNumGoodFit_orig) {
01368       fprintf(outfile, "%s=\"%s\"\n", "ransacLineNumGoodFit", args_info->ransacLineNumGoodFit_orig);
01369     } else {
01370       fprintf(outfile, "%s\n", "ransacLineNumGoodFit");
01371     }
01372   }
01373   if (args_info->ransacLineThreshold_given) {
01374     if (args_info->ransacLineThreshold_orig) {
01375       fprintf(outfile, "%s=\"%s\"\n", "ransacLineThreshold", args_info->ransacLineThreshold_orig);
01376     } else {
01377       fprintf(outfile, "%s\n", "ransacLineThreshold");
01378     }
01379   }
01380   if (args_info->ransacLineScoreThreshold_given) {
01381     if (args_info->ransacLineScoreThreshold_orig) {
01382       fprintf(outfile, "%s=\"%s\"\n", "ransacLineScoreThreshold", args_info->ransacLineScoreThreshold_orig);
01383     } else {
01384       fprintf(outfile, "%s\n", "ransacLineScoreThreshold");
01385     }
01386   }
01387   if (args_info->ransacLineBinarize_given) {
01388     if (args_info->ransacLineBinarize_orig) {
01389       fprintf(outfile, "%s=\"%s\"\n", "ransacLineBinarize", args_info->ransacLineBinarize_orig);
01390     } else {
01391       fprintf(outfile, "%s\n", "ransacLineBinarize");
01392     }
01393   }
01394   if (args_info->ransacLineWindow_given) {
01395     if (args_info->ransacLineWindow_orig) {
01396       fprintf(outfile, "%s=\"%s\"\n", "ransacLineWindow", args_info->ransacLineWindow_orig);
01397     } else {
01398       fprintf(outfile, "%s\n", "ransacLineWindow");
01399     }
01400   }
01401   if (args_info->ransacSplineNumSamples_given) {
01402     if (args_info->ransacSplineNumSamples_orig) {
01403       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineNumSamples", args_info->ransacSplineNumSamples_orig);
01404     } else {
01405       fprintf(outfile, "%s\n", "ransacSplineNumSamples");
01406     }
01407   }
01408   if (args_info->ransacSplineNumIterations_given) {
01409     if (args_info->ransacSplineNumIterations_orig) {
01410       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineNumIterations", args_info->ransacSplineNumIterations_orig);
01411     } else {
01412       fprintf(outfile, "%s\n", "ransacSplineNumIterations");
01413     }
01414   }
01415   if (args_info->ransacSplineNumGoodFit_given) {
01416     if (args_info->ransacSplineNumGoodFit_orig) {
01417       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineNumGoodFit", args_info->ransacSplineNumGoodFit_orig);
01418     } else {
01419       fprintf(outfile, "%s\n", "ransacSplineNumGoodFit");
01420     }
01421   }
01422   if (args_info->ransacSplineThreshold_given) {
01423     if (args_info->ransacSplineThreshold_orig) {
01424       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineThreshold", args_info->ransacSplineThreshold_orig);
01425     } else {
01426       fprintf(outfile, "%s\n", "ransacSplineThreshold");
01427     }
01428   }
01429   if (args_info->ransacSplineScoreThreshold_given) {
01430     if (args_info->ransacSplineScoreThreshold_orig) {
01431       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineScoreThreshold", args_info->ransacSplineScoreThreshold_orig);
01432     } else {
01433       fprintf(outfile, "%s\n", "ransacSplineScoreThreshold");
01434     }
01435   }
01436   if (args_info->ransacSplineBinarize_given) {
01437     if (args_info->ransacSplineBinarize_orig) {
01438       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineBinarize", args_info->ransacSplineBinarize_orig);
01439     } else {
01440       fprintf(outfile, "%s\n", "ransacSplineBinarize");
01441     }
01442   }
01443   if (args_info->ransacSplineWindow_given) {
01444     if (args_info->ransacSplineWindow_orig) {
01445       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineWindow", args_info->ransacSplineWindow_orig);
01446     } else {
01447       fprintf(outfile, "%s\n", "ransacSplineWindow");
01448     }
01449   }
01450   if (args_info->ransacSplineDegree_given) {
01451     if (args_info->ransacSplineDegree_orig) {
01452       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineDegree", args_info->ransacSplineDegree_orig);
01453     } else {
01454       fprintf(outfile, "%s\n", "ransacSplineDegree");
01455     }
01456   }
01457   if (args_info->ransacSpline_given) {
01458     if (args_info->ransacSpline_orig) {
01459       fprintf(outfile, "%s=\"%s\"\n", "ransacSpline", args_info->ransacSpline_orig);
01460     } else {
01461       fprintf(outfile, "%s\n", "ransacSpline");
01462     }
01463   }
01464   if (args_info->ransacLine_given) {
01465     if (args_info->ransacLine_orig) {
01466       fprintf(outfile, "%s=\"%s\"\n", "ransacLine", args_info->ransacLine_orig);
01467     } else {
01468       fprintf(outfile, "%s\n", "ransacLine");
01469     }
01470   }
01471   if (args_info->ransacSplineStep_given) {
01472     if (args_info->ransacSplineStep_orig) {
01473       fprintf(outfile, "%s=\"%s\"\n", "ransacSplineStep", args_info->ransacSplineStep_orig);
01474     } else {
01475       fprintf(outfile, "%s\n", "ransacSplineStep");
01476     }
01477   }
01478   if (args_info->overlapThreshold_given) {
01479     if (args_info->overlapThreshold_orig) {
01480       fprintf(outfile, "%s=\"%s\"\n", "overlapThreshold", args_info->overlapThreshold_orig);
01481     } else {
01482       fprintf(outfile, "%s\n", "overlapThreshold");
01483     }
01484   }
01485   if (args_info->localizeAngleThreshold_given) {
01486     if (args_info->localizeAngleThreshold_orig) {
01487       fprintf(outfile, "%s=\"%s\"\n", "localizeAngleThreshold", args_info->localizeAngleThreshold_orig);
01488     } else {
01489       fprintf(outfile, "%s\n", "localizeAngleThreshold");
01490     }
01491   }
01492   if (args_info->localizeNumLinePixels_given) {
01493     if (args_info->localizeNumLinePixels_orig) {
01494       fprintf(outfile, "%s=\"%s\"\n", "localizeNumLinePixels", args_info->localizeNumLinePixels_orig);
01495     } else {
01496       fprintf(outfile, "%s\n", "localizeNumLinePixels");
01497     }
01498   }
01499   if (args_info->extendAngleThreshold_given) {
01500     if (args_info->extendAngleThreshold_orig) {
01501       fprintf(outfile, "%s=\"%s\"\n", "extendAngleThreshold", args_info->extendAngleThreshold_orig);
01502     } else {
01503       fprintf(outfile, "%s\n", "extendAngleThreshold");
01504     }
01505   }
01506   if (args_info->extendMeanDirAngleThreshold_given) {
01507     if (args_info->extendMeanDirAngleThreshold_orig) {
01508       fprintf(outfile, "%s=\"%s\"\n", "extendMeanDirAngleThreshold", args_info->extendMeanDirAngleThreshold_orig);
01509     } else {
01510       fprintf(outfile, "%s\n", "extendMeanDirAngleThreshold");
01511     }
01512   }
01513   if (args_info->extendLinePixelsTangent_given) {
01514     if (args_info->extendLinePixelsTangent_orig) {
01515       fprintf(outfile, "%s=\"%s\"\n", "extendLinePixelsTangent", args_info->extendLinePixelsTangent_orig);
01516     } else {
01517       fprintf(outfile, "%s\n", "extendLinePixelsTangent");
01518     }
01519   }
01520   if (args_info->extendLinePixelsNormal_given) {
01521     if (args_info->extendLinePixelsNormal_orig) {
01522       fprintf(outfile, "%s=\"%s\"\n", "extendLinePixelsNormal", args_info->extendLinePixelsNormal_orig);
01523     } else {
01524       fprintf(outfile, "%s\n", "extendLinePixelsNormal");
01525     }
01526   }
01527   if (args_info->extendContThreshold_given) {
01528     if (args_info->extendContThreshold_orig) {
01529       fprintf(outfile, "%s=\"%s\"\n", "extendContThreshold", args_info->extendContThreshold_orig);
01530     } else {
01531       fprintf(outfile, "%s\n", "extendContThreshold");
01532     }
01533   }
01534   if (args_info->extendDeviationThreshold_given) {
01535     if (args_info->extendDeviationThreshold_orig) {
01536       fprintf(outfile, "%s=\"%s\"\n", "extendDeviationThreshold", args_info->extendDeviationThreshold_orig);
01537     } else {
01538       fprintf(outfile, "%s\n", "extendDeviationThreshold");
01539     }
01540   }
01541   if (args_info->extendRectTop_given) {
01542     if (args_info->extendRectTop_orig) {
01543       fprintf(outfile, "%s=\"%s\"\n", "extendRectTop", args_info->extendRectTop_orig);
01544     } else {
01545       fprintf(outfile, "%s\n", "extendRectTop");
01546     }
01547   }
01548   if (args_info->extendRectBottom_given) {
01549     if (args_info->extendRectBottom_orig) {
01550       fprintf(outfile, "%s=\"%s\"\n", "extendRectBottom", args_info->extendRectBottom_orig);
01551     } else {
01552       fprintf(outfile, "%s\n", "extendRectBottom");
01553     }
01554   }
01555   if (args_info->extendIPMAngleThreshold_given) {
01556     if (args_info->extendIPMAngleThreshold_orig) {
01557       fprintf(outfile, "%s=\"%s\"\n", "extendIPMAngleThreshold", args_info->extendIPMAngleThreshold_orig);
01558     } else {
01559       fprintf(outfile, "%s\n", "extendIPMAngleThreshold");
01560     }
01561   }
01562   if (args_info->extendIPMMeanDirAngleThreshold_given) {
01563     if (args_info->extendIPMMeanDirAngleThreshold_orig) {
01564       fprintf(outfile, "%s=\"%s\"\n", "extendIPMMeanDirAngleThreshold", args_info->extendIPMMeanDirAngleThreshold_orig);
01565     } else {
01566       fprintf(outfile, "%s\n", "extendIPMMeanDirAngleThreshold");
01567     }
01568   }
01569   if (args_info->extendIPMLinePixelsTangent_given) {
01570     if (args_info->extendIPMLinePixelsTangent_orig) {
01571       fprintf(outfile, "%s=\"%s\"\n", "extendIPMLinePixelsTangent", args_info->extendIPMLinePixelsTangent_orig);
01572     } else {
01573       fprintf(outfile, "%s\n", "extendIPMLinePixelsTangent");
01574     }
01575   }
01576   if (args_info->extendIPMLinePixelsNormal_given) {
01577     if (args_info->extendIPMLinePixelsNormal_orig) {
01578       fprintf(outfile, "%s=\"%s\"\n", "extendIPMLinePixelsNormal", args_info->extendIPMLinePixelsNormal_orig);
01579     } else {
01580       fprintf(outfile, "%s\n", "extendIPMLinePixelsNormal");
01581     }
01582   }
01583   if (args_info->extendIPMContThreshold_given) {
01584     if (args_info->extendIPMContThreshold_orig) {
01585       fprintf(outfile, "%s=\"%s\"\n", "extendIPMContThreshold", args_info->extendIPMContThreshold_orig);
01586     } else {
01587       fprintf(outfile, "%s\n", "extendIPMContThreshold");
01588     }
01589   }
01590   if (args_info->extendIPMDeviationThreshold_given) {
01591     if (args_info->extendIPMDeviationThreshold_orig) {
01592       fprintf(outfile, "%s=\"%s\"\n", "extendIPMDeviationThreshold", args_info->extendIPMDeviationThreshold_orig);
01593     } else {
01594       fprintf(outfile, "%s\n", "extendIPMDeviationThreshold");
01595     }
01596   }
01597   if (args_info->extendIPMRectTop_given) {
01598     if (args_info->extendIPMRectTop_orig) {
01599       fprintf(outfile, "%s=\"%s\"\n", "extendIPMRectTop", args_info->extendIPMRectTop_orig);
01600     } else {
01601       fprintf(outfile, "%s\n", "extendIPMRectTop");
01602     }
01603   }
01604   if (args_info->extendIPMRectBottom_given) {
01605     if (args_info->extendIPMRectBottom_orig) {
01606       fprintf(outfile, "%s=\"%s\"\n", "extendIPMRectBottom", args_info->extendIPMRectBottom_orig);
01607     } else {
01608       fprintf(outfile, "%s\n", "extendIPMRectBottom");
01609     }
01610   }
01611   if (args_info->splineScoreJitter_given) {
01612     if (args_info->splineScoreJitter_orig) {
01613       fprintf(outfile, "%s=\"%s\"\n", "splineScoreJitter", args_info->splineScoreJitter_orig);
01614     } else {
01615       fprintf(outfile, "%s\n", "splineScoreJitter");
01616     }
01617   }
01618   if (args_info->splineScoreLengthRatio_given) {
01619     if (args_info->splineScoreLengthRatio_orig) {
01620       fprintf(outfile, "%s=\"%s\"\n", "splineScoreLengthRatio", args_info->splineScoreLengthRatio_orig);
01621     } else {
01622       fprintf(outfile, "%s\n", "splineScoreLengthRatio");
01623     }
01624   }
01625   if (args_info->splineScoreAngleRatio_given) {
01626     if (args_info->splineScoreAngleRatio_orig) {
01627       fprintf(outfile, "%s=\"%s\"\n", "splineScoreAngleRatio", args_info->splineScoreAngleRatio_orig);
01628     } else {
01629       fprintf(outfile, "%s\n", "splineScoreAngleRatio");
01630     }
01631   }
01632   if (args_info->splineScoreStep_given) {
01633     if (args_info->splineScoreStep_orig) {
01634       fprintf(outfile, "%s=\"%s\"\n", "splineScoreStep", args_info->splineScoreStep_orig);
01635     } else {
01636       fprintf(outfile, "%s\n", "splineScoreStep");
01637     }
01638   }
01639   if (args_info->splineTrackingNumAbsentFrames_given) {
01640     if (args_info->splineTrackingNumAbsentFrames_orig) {
01641       fprintf(outfile, "%s=\"%s\"\n", "splineTrackingNumAbsentFrames", args_info->splineTrackingNumAbsentFrames_orig);
01642     } else {
01643       fprintf(outfile, "%s\n", "splineTrackingNumAbsentFrames");
01644     }
01645   }
01646   if (args_info->splineTrackingNumSeenFrames_given) {
01647     if (args_info->splineTrackingNumSeenFrames_orig) {
01648       fprintf(outfile, "%s=\"%s\"\n", "splineTrackingNumSeenFrames", args_info->splineTrackingNumSeenFrames_orig);
01649     } else {
01650       fprintf(outfile, "%s\n", "splineTrackingNumSeenFrames");
01651     }
01652   }
01653   if (args_info->mergeSplineThetaThreshold_given) {
01654     if (args_info->mergeSplineThetaThreshold_orig) {
01655       fprintf(outfile, "%s=\"%s\"\n", "mergeSplineThetaThreshold", args_info->mergeSplineThetaThreshold_orig);
01656     } else {
01657       fprintf(outfile, "%s\n", "mergeSplineThetaThreshold");
01658     }
01659   }
01660   if (args_info->mergeSplineRThreshold_given) {
01661     if (args_info->mergeSplineRThreshold_orig) {
01662       fprintf(outfile, "%s=\"%s\"\n", "mergeSplineRThreshold", args_info->mergeSplineRThreshold_orig);
01663     } else {
01664       fprintf(outfile, "%s\n", "mergeSplineRThreshold");
01665     }
01666   }
01667   if (args_info->mergeSplineMeanThetaThreshold_given) {
01668     if (args_info->mergeSplineMeanThetaThreshold_orig) {
01669       fprintf(outfile, "%s=\"%s\"\n", "mergeSplineMeanThetaThreshold", args_info->mergeSplineMeanThetaThreshold_orig);
01670     } else {
01671       fprintf(outfile, "%s\n", "mergeSplineMeanThetaThreshold");
01672     }
01673   }
01674   if (args_info->mergeSplineMeanRThreshold_given) {
01675     if (args_info->mergeSplineMeanRThreshold_orig) {
01676       fprintf(outfile, "%s=\"%s\"\n", "mergeSplineMeanRThreshold", args_info->mergeSplineMeanRThreshold_orig);
01677     } else {
01678       fprintf(outfile, "%s\n", "mergeSplineMeanRThreshold");
01679     }
01680   }
01681   if (args_info->mergeSplineCentroidThreshold_given) {
01682     if (args_info->mergeSplineCentroidThreshold_orig) {
01683       fprintf(outfile, "%s=\"%s\"\n", "mergeSplineCentroidThreshold", args_info->mergeSplineCentroidThreshold_orig);
01684     } else {
01685       fprintf(outfile, "%s\n", "mergeSplineCentroidThreshold");
01686     }
01687   }
01688   if (args_info->lineTrackingNumAbsentFrames_given) {
01689     if (args_info->lineTrackingNumAbsentFrames_orig) {
01690       fprintf(outfile, "%s=\"%s\"\n", "lineTrackingNumAbsentFrames", args_info->lineTrackingNumAbsentFrames_orig);
01691     } else {
01692       fprintf(outfile, "%s\n", "lineTrackingNumAbsentFrames");
01693     }
01694   }
01695   if (args_info->lineTrackingNumSeenFrames_given) {
01696     if (args_info->lineTrackingNumSeenFrames_orig) {
01697       fprintf(outfile, "%s=\"%s\"\n", "lineTrackingNumSeenFrames", args_info->lineTrackingNumSeenFrames_orig);
01698     } else {
01699       fprintf(outfile, "%s\n", "lineTrackingNumSeenFrames");
01700     }
01701   }
01702   if (args_info->mergeLineThetaThreshold_given) {
01703     if (args_info->mergeLineThetaThreshold_orig) {
01704       fprintf(outfile, "%s=\"%s\"\n", "mergeLineThetaThreshold", args_info->mergeLineThetaThreshold_orig);
01705     } else {
01706       fprintf(outfile, "%s\n", "mergeLineThetaThreshold");
01707     }
01708   }
01709   if (args_info->mergeLineRThreshold_given) {
01710     if (args_info->mergeLineRThreshold_orig) {
01711       fprintf(outfile, "%s=\"%s\"\n", "mergeLineRThreshold", args_info->mergeLineRThreshold_orig);
01712     } else {
01713       fprintf(outfile, "%s\n", "mergeLineRThreshold");
01714     }
01715   }
01716   if (args_info->numStrips_given) {
01717     if (args_info->numStrips_orig) {
01718       fprintf(outfile, "%s=\"%s\"\n", "numStrips", args_info->numStrips_orig);
01719     } else {
01720       fprintf(outfile, "%s\n", "numStrips");
01721     }
01722   }
01723   if (args_info->checkSplines_given) {
01724     if (args_info->checkSplines_orig) {
01725       fprintf(outfile, "%s=\"%s\"\n", "checkSplines", args_info->checkSplines_orig);
01726     } else {
01727       fprintf(outfile, "%s\n", "checkSplines");
01728     }
01729   }
01730   if (args_info->checkSplinesCurvenessThreshold_given) {
01731     if (args_info->checkSplinesCurvenessThreshold_orig) {
01732       fprintf(outfile, "%s=\"%s\"\n", "checkSplinesCurvenessThreshold", args_info->checkSplinesCurvenessThreshold_orig);
01733     } else {
01734       fprintf(outfile, "%s\n", "checkSplinesCurvenessThreshold");
01735     }
01736   }
01737   if (args_info->checkSplinesLengthThreshold_given) {
01738     if (args_info->checkSplinesLengthThreshold_orig) {
01739       fprintf(outfile, "%s=\"%s\"\n", "checkSplinesLengthThreshold", args_info->checkSplinesLengthThreshold_orig);
01740     } else {
01741       fprintf(outfile, "%s\n", "checkSplinesLengthThreshold");
01742     }
01743   }
01744   if (args_info->checkSplinesThetaDiffThreshold_given) {
01745     if (args_info->checkSplinesThetaDiffThreshold_orig) {
01746       fprintf(outfile, "%s=\"%s\"\n", "checkSplinesThetaDiffThreshold", args_info->checkSplinesThetaDiffThreshold_orig);
01747     } else {
01748       fprintf(outfile, "%s\n", "checkSplinesThetaDiffThreshold");
01749     }
01750   }
01751   if (args_info->checkSplinesThetaThreshold_given) {
01752     if (args_info->checkSplinesThetaThreshold_orig) {
01753       fprintf(outfile, "%s=\"%s\"\n", "checkSplinesThetaThreshold", args_info->checkSplinesThetaThreshold_orig);
01754     } else {
01755       fprintf(outfile, "%s\n", "checkSplinesThetaThreshold");
01756     }
01757   }
01758   if (args_info->checkIPMSplines_given) {
01759     if (args_info->checkIPMSplines_orig) {
01760       fprintf(outfile, "%s=\"%s\"\n", "checkIPMSplines", args_info->checkIPMSplines_orig);
01761     } else {
01762       fprintf(outfile, "%s\n", "checkIPMSplines");
01763     }
01764   }
01765   if (args_info->checkIPMSplinesCurvenessThreshold_given) {
01766     if (args_info->checkIPMSplinesCurvenessThreshold_orig) {
01767       fprintf(outfile, "%s=\"%s\"\n", "checkIPMSplinesCurvenessThreshold", args_info->checkIPMSplinesCurvenessThreshold_orig);
01768     } else {
01769       fprintf(outfile, "%s\n", "checkIPMSplinesCurvenessThreshold");
01770     }
01771   }
01772   if (args_info->checkIPMSplinesLengthThreshold_given) {
01773     if (args_info->checkIPMSplinesLengthThreshold_orig) {
01774       fprintf(outfile, "%s=\"%s\"\n", "checkIPMSplinesLengthThreshold", args_info->checkIPMSplinesLengthThreshold_orig);
01775     } else {
01776       fprintf(outfile, "%s\n", "checkIPMSplinesLengthThreshold");
01777     }
01778   }
01779   if (args_info->checkIPMSplinesThetaDiffThreshold_given) {
01780     if (args_info->checkIPMSplinesThetaDiffThreshold_orig) {
01781       fprintf(outfile, "%s=\"%s\"\n", "checkIPMSplinesThetaDiffThreshold", args_info->checkIPMSplinesThetaDiffThreshold_orig);
01782     } else {
01783       fprintf(outfile, "%s\n", "checkIPMSplinesThetaDiffThreshold");
01784     }
01785   }
01786   if (args_info->checkIPMSplinesThetaThreshold_given) {
01787     if (args_info->checkIPMSplinesThetaThreshold_orig) {
01788       fprintf(outfile, "%s=\"%s\"\n", "checkIPMSplinesThetaThreshold", args_info->checkIPMSplinesThetaThreshold_orig);
01789     } else {
01790       fprintf(outfile, "%s\n", "checkIPMSplinesThetaThreshold");
01791     }
01792   }
01793   if (args_info->finalSplineScoreThreshold_given) {
01794     if (args_info->finalSplineScoreThreshold_orig) {
01795       fprintf(outfile, "%s=\"%s\"\n", "finalSplineScoreThreshold", args_info->finalSplineScoreThreshold_orig);
01796     } else {
01797       fprintf(outfile, "%s\n", "finalSplineScoreThreshold");
01798     }
01799   }
01800   if (args_info->useGroundPlane_given) {
01801     if (args_info->useGroundPlane_orig) {
01802       fprintf(outfile, "%s=\"%s\"\n", "useGroundPlane", args_info->useGroundPlane_orig);
01803     } else {
01804       fprintf(outfile, "%s\n", "useGroundPlane");
01805     }
01806   }
01807   if (args_info->checkColor_given) {
01808     if (args_info->checkColor_orig) {
01809       fprintf(outfile, "%s=\"%s\"\n", "checkColor", args_info->checkColor_orig);
01810     } else {
01811       fprintf(outfile, "%s\n", "checkColor");
01812     }
01813   }
01814   if (args_info->checkColorWindow_given) {
01815     if (args_info->checkColorWindow_orig) {
01816       fprintf(outfile, "%s=\"%s\"\n", "checkColorWindow", args_info->checkColorWindow_orig);
01817     } else {
01818       fprintf(outfile, "%s\n", "checkColorWindow");
01819     }
01820   }
01821   if (args_info->checkColorNumBins_given) {
01822     if (args_info->checkColorNumBins_orig) {
01823       fprintf(outfile, "%s=\"%s\"\n", "checkColorNumBins", args_info->checkColorNumBins_orig);
01824     } else {
01825       fprintf(outfile, "%s\n", "checkColorNumBins");
01826     }
01827   }
01828   if (args_info->checkColorNumYellowMin_given) {
01829     if (args_info->checkColorNumYellowMin_orig) {
01830       fprintf(outfile, "%s=\"%s\"\n", "checkColorNumYellowMin", args_info->checkColorNumYellowMin_orig);
01831     } else {
01832       fprintf(outfile, "%s\n", "checkColorNumYellowMin");
01833     }
01834   }
01835   if (args_info->checkColorRGMin_given) {
01836     if (args_info->checkColorRGMin_orig) {
01837       fprintf(outfile, "%s=\"%s\"\n", "checkColorRGMin", args_info->checkColorRGMin_orig);
01838     } else {
01839       fprintf(outfile, "%s\n", "checkColorRGMin");
01840     }
01841   }
01842   if (args_info->checkColorRGMax_given) {
01843     if (args_info->checkColorRGMax_orig) {
01844       fprintf(outfile, "%s=\"%s\"\n", "checkColorRGMax", args_info->checkColorRGMax_orig);
01845     } else {
01846       fprintf(outfile, "%s\n", "checkColorRGMax");
01847     }
01848   }
01849   if (args_info->checkColorGBMin_given) {
01850     if (args_info->checkColorGBMin_orig) {
01851       fprintf(outfile, "%s=\"%s\"\n", "checkColorGBMin", args_info->checkColorGBMin_orig);
01852     } else {
01853       fprintf(outfile, "%s\n", "checkColorGBMin");
01854     }
01855   }
01856   if (args_info->checkColorRBMin_given) {
01857     if (args_info->checkColorRBMin_orig) {
01858       fprintf(outfile, "%s=\"%s\"\n", "checkColorRBMin", args_info->checkColorRBMin_orig);
01859     } else {
01860       fprintf(outfile, "%s\n", "checkColorRBMin");
01861     }
01862   }
01863   if (args_info->checkColorRBFThreshold_given) {
01864     if (args_info->checkColorRBFThreshold_orig) {
01865       fprintf(outfile, "%s=\"%s\"\n", "checkColorRBFThreshold", args_info->checkColorRBFThreshold_orig);
01866     } else {
01867       fprintf(outfile, "%s\n", "checkColorRBFThreshold");
01868     }
01869   }
01870   if (args_info->checkColorRBF_given) {
01871     if (args_info->checkColorRBF_orig) {
01872       fprintf(outfile, "%s=\"%s\"\n", "checkColorRBF", args_info->checkColorRBF_orig);
01873     } else {
01874       fprintf(outfile, "%s\n", "checkColorRBF");
01875     }
01876   }
01877   if (args_info->ipmWindowClear_given) {
01878     if (args_info->ipmWindowClear_orig) {
01879       fprintf(outfile, "%s=\"%s\"\n", "ipmWindowClear", args_info->ipmWindowClear_orig);
01880     } else {
01881       fprintf(outfile, "%s\n", "ipmWindowClear");
01882     }
01883   }
01884   if (args_info->ipmWindowLeft_given) {
01885     if (args_info->ipmWindowLeft_orig) {
01886       fprintf(outfile, "%s=\"%s\"\n", "ipmWindowLeft", args_info->ipmWindowLeft_orig);
01887     } else {
01888       fprintf(outfile, "%s\n", "ipmWindowLeft");
01889     }
01890   }
01891   if (args_info->ipmWindowRight_given) {
01892     if (args_info->ipmWindowRight_orig) {
01893       fprintf(outfile, "%s=\"%s\"\n", "ipmWindowRight", args_info->ipmWindowRight_orig);
01894     } else {
01895       fprintf(outfile, "%s\n", "ipmWindowRight");
01896     }
01897   }
01898   if (args_info->checkLaneWidth_given) {
01899     if (args_info->checkLaneWidth_orig) {
01900       fprintf(outfile, "%s=\"%s\"\n", "checkLaneWidth", args_info->checkLaneWidth_orig);
01901     } else {
01902       fprintf(outfile, "%s\n", "checkLaneWidth");
01903     }
01904   }
01905   if (args_info->checkLaneWidthMean_given) {
01906     if (args_info->checkLaneWidthMean_orig) {
01907       fprintf(outfile, "%s=\"%s\"\n", "checkLaneWidthMean", args_info->checkLaneWidthMean_orig);
01908     } else {
01909       fprintf(outfile, "%s\n", "checkLaneWidthMean");
01910     }
01911   }
01912   if (args_info->checkLaneWidthStd_given) {
01913     if (args_info->checkLaneWidthStd_orig) {
01914       fprintf(outfile, "%s=\"%s\"\n", "checkLaneWidthStd", args_info->checkLaneWidthStd_orig);
01915     } else {
01916       fprintf(outfile, "%s\n", "checkLaneWidthStd");
01917     }
01918   }
01919 
01920   fclose (outfile);
01921 
01922   i = EXIT_SUCCESS;
01923   return i;
01924 }
01925 
01926 void
01927 LaneDetectorParser_free (struct LaneDetectorParserInfo *args_info)
01928 {
01929   LaneDetectorParser_release (args_info);
01930 }
01931 
01932 
01933 /* gengetopt_strdup() */
01934 /* strdup.c replacement of strdup, which is not standard */
01935 char *
01936 gengetopt_strdup (const char *s)
01937 {
01938   char *result = NULL;
01939   if (!s)
01940     return result;
01941 
01942   result = (char*)malloc(strlen(s) + 1);
01943   if (result == (char*)0)
01944     return (char*)0;
01945   strcpy(result, s);
01946   return result;
01947 }
01948 
01949 int
01950 LaneDetectorParser (int argc, char * const *argv, struct LaneDetectorParserInfo *args_info)
01951 {
01952   return LaneDetectorParser2 (argc, argv, args_info, 0, 1, 1);
01953 }
01954 
01955 int
01956 LaneDetectorParser2 (int argc, char * const *argv, struct LaneDetectorParserInfo *args_info, int override, int initialize, int check_required)
01957 {
01958   int result;
01959 
01960   result = LaneDetectorParser_internal (argc, argv, args_info, override, initialize, check_required, NULL);
01961 
01962   if (result == EXIT_FAILURE)
01963     {
01964       LaneDetectorParser_free (args_info);
01965       exit (EXIT_FAILURE);
01966     }
01967 
01968   return result;
01969 }
01970 
01971 int
01972 LaneDetectorParser_required (struct LaneDetectorParserInfo *args_info, const char *prog_name)
01973 {
01974   int result = EXIT_SUCCESS;
01975 
01976   if (LaneDetectorParser_required2(args_info, prog_name, NULL) > 0)
01977     result = EXIT_FAILURE;
01978 
01979   if (result == EXIT_FAILURE)
01980     {
01981       LaneDetectorParser_free (args_info);
01982       exit (EXIT_FAILURE);
01983     }
01984 
01985   return result;
01986 }
01987 
01988 int
01989 LaneDetectorParser_required2 (struct LaneDetectorParserInfo *args_info, const char *prog_name, const char *additional_error)
01990 {
01991   int error = 0;
01992 
01993   /* checks for required options */
01994   if (! args_info->ipmWidth_given)
01995     {
01996       fprintf (stderr, "%s: '--ipmWidth' option required%s\n", prog_name, (additional_error ? additional_error : ""));
01997       error = 1;
01998     }
01999 
02000   if (! args_info->ipmHeight_given)
02001     {
02002       fprintf (stderr, "%s: '--ipmHeight' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02003       error = 1;
02004     }
02005 
02006   if (! args_info->ipmTop_given)
02007     {
02008       fprintf (stderr, "%s: '--ipmTop' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02009       error = 1;
02010     }
02011 
02012   if (! args_info->ipmLeft_given)
02013     {
02014       fprintf (stderr, "%s: '--ipmLeft' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02015       error = 1;
02016     }
02017 
02018   if (! args_info->ipmRight_given)
02019     {
02020       fprintf (stderr, "%s: '--ipmRight' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02021       error = 1;
02022     }
02023 
02024   if (! args_info->ipmBottom_given)
02025     {
02026       fprintf (stderr, "%s: '--ipmBottom' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02027       error = 1;
02028     }
02029 
02030   if (! args_info->ipmInterpolation_given)
02031     {
02032       fprintf (stderr, "%s: '--ipmInterpolation' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02033       error = 1;
02034     }
02035 
02036   if (! args_info->lineWidth_given)
02037     {
02038       fprintf (stderr, "%s: '--lineWidth' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02039       error = 1;
02040     }
02041 
02042   if (! args_info->lineHeight_given)
02043     {
02044       fprintf (stderr, "%s: '--lineHeight' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02045       error = 1;
02046     }
02047 
02048   if (! args_info->kernelWidth_given)
02049     {
02050       fprintf (stderr, "%s: '--kernelWidth' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02051       error = 1;
02052     }
02053 
02054   if (! args_info->kernelHeight_given)
02055     {
02056       fprintf (stderr, "%s: '--kernelHeight' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02057       error = 1;
02058     }
02059 
02060   if (! args_info->lowerQuantile_given)
02061     {
02062       fprintf (stderr, "%s: '--lowerQuantile' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02063       error = 1;
02064     }
02065 
02066   if (! args_info->localMaxima_given)
02067     {
02068       fprintf (stderr, "%s: '--localMaxima' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02069       error = 1;
02070     }
02071 
02072   if (! args_info->groupingType_given)
02073     {
02074       fprintf (stderr, "%s: '--groupingType' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02075       error = 1;
02076     }
02077 
02078   if (! args_info->binarize_given)
02079     {
02080       fprintf (stderr, "%s: '--binarize' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02081       error = 1;
02082     }
02083 
02084   if (! args_info->detectionThreshold_given)
02085     {
02086       fprintf (stderr, "%s: '--detectionThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02087       error = 1;
02088     }
02089 
02090   if (! args_info->smoothScores_given)
02091     {
02092       fprintf (stderr, "%s: '--smoothScores' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02093       error = 1;
02094     }
02095 
02096   if (! args_info->rMin_given)
02097     {
02098       fprintf (stderr, "%s: '--rMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02099       error = 1;
02100     }
02101 
02102   if (! args_info->rMax_given)
02103     {
02104       fprintf (stderr, "%s: '--rMax' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02105       error = 1;
02106     }
02107 
02108   if (! args_info->rStep_given)
02109     {
02110       fprintf (stderr, "%s: '--rStep' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02111       error = 1;
02112     }
02113 
02114   if (! args_info->thetaMin_given)
02115     {
02116       fprintf (stderr, "%s: '--thetaMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02117       error = 1;
02118     }
02119 
02120   if (! args_info->thetaMax_given)
02121     {
02122       fprintf (stderr, "%s: '--thetaMax' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02123       error = 1;
02124     }
02125 
02126   if (! args_info->thetaStep_given)
02127     {
02128       fprintf (stderr, "%s: '--thetaStep' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02129       error = 1;
02130     }
02131 
02132   if (! args_info->ipmVpPortion_given)
02133     {
02134       fprintf (stderr, "%s: '--ipmVpPortion' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02135       error = 1;
02136     }
02137 
02138   if (! args_info->getEndPoints_given)
02139     {
02140       fprintf (stderr, "%s: '--getEndPoints' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02141       error = 1;
02142     }
02143 
02144   if (! args_info->group_given)
02145     {
02146       fprintf (stderr, "%s: '--group' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02147       error = 1;
02148     }
02149 
02150   if (! args_info->groupThreshold_given)
02151     {
02152       fprintf (stderr, "%s: '--groupThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02153       error = 1;
02154     }
02155 
02156   if (! args_info->ransac_given)
02157     {
02158       fprintf (stderr, "%s: '--ransac' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02159       error = 1;
02160     }
02161 
02162   if (! args_info->ransacLineNumSamples_given)
02163     {
02164       fprintf (stderr, "%s: '--ransacLineNumSamples' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02165       error = 1;
02166     }
02167 
02168   if (! args_info->ransacLineNumIterations_given)
02169     {
02170       fprintf (stderr, "%s: '--ransacLineNumIterations' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02171       error = 1;
02172     }
02173 
02174   if (! args_info->ransacLineNumGoodFit_given)
02175     {
02176       fprintf (stderr, "%s: '--ransacLineNumGoodFit' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02177       error = 1;
02178     }
02179 
02180   if (! args_info->ransacLineThreshold_given)
02181     {
02182       fprintf (stderr, "%s: '--ransacLineThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02183       error = 1;
02184     }
02185 
02186   if (! args_info->ransacLineScoreThreshold_given)
02187     {
02188       fprintf (stderr, "%s: '--ransacLineScoreThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02189       error = 1;
02190     }
02191 
02192   if (! args_info->ransacLineBinarize_given)
02193     {
02194       fprintf (stderr, "%s: '--ransacLineBinarize' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02195       error = 1;
02196     }
02197 
02198   if (! args_info->ransacLineWindow_given)
02199     {
02200       fprintf (stderr, "%s: '--ransacLineWindow' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02201       error = 1;
02202     }
02203 
02204   if (! args_info->ransacSplineNumSamples_given)
02205     {
02206       fprintf (stderr, "%s: '--ransacSplineNumSamples' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02207       error = 1;
02208     }
02209 
02210   if (! args_info->ransacSplineNumIterations_given)
02211     {
02212       fprintf (stderr, "%s: '--ransacSplineNumIterations' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02213       error = 1;
02214     }
02215 
02216   if (! args_info->ransacSplineNumGoodFit_given)
02217     {
02218       fprintf (stderr, "%s: '--ransacSplineNumGoodFit' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02219       error = 1;
02220     }
02221 
02222   if (! args_info->ransacSplineThreshold_given)
02223     {
02224       fprintf (stderr, "%s: '--ransacSplineThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02225       error = 1;
02226     }
02227 
02228   if (! args_info->ransacSplineScoreThreshold_given)
02229     {
02230       fprintf (stderr, "%s: '--ransacSplineScoreThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02231       error = 1;
02232     }
02233 
02234   if (! args_info->ransacSplineBinarize_given)
02235     {
02236       fprintf (stderr, "%s: '--ransacSplineBinarize' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02237       error = 1;
02238     }
02239 
02240   if (! args_info->ransacSplineWindow_given)
02241     {
02242       fprintf (stderr, "%s: '--ransacSplineWindow' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02243       error = 1;
02244     }
02245 
02246   if (! args_info->ransacSplineDegree_given)
02247     {
02248       fprintf (stderr, "%s: '--ransacSplineDegree' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02249       error = 1;
02250     }
02251 
02252   if (! args_info->ransacSpline_given)
02253     {
02254       fprintf (stderr, "%s: '--ransacSpline' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02255       error = 1;
02256     }
02257 
02258   if (! args_info->ransacLine_given)
02259     {
02260       fprintf (stderr, "%s: '--ransacLine' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02261       error = 1;
02262     }
02263 
02264   if (! args_info->ransacSplineStep_given)
02265     {
02266       fprintf (stderr, "%s: '--ransacSplineStep' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02267       error = 1;
02268     }
02269 
02270   if (! args_info->overlapThreshold_given)
02271     {
02272       fprintf (stderr, "%s: '--overlapThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02273       error = 1;
02274     }
02275 
02276   if (! args_info->localizeAngleThreshold_given)
02277     {
02278       fprintf (stderr, "%s: '--localizeAngleThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02279       error = 1;
02280     }
02281 
02282   if (! args_info->localizeNumLinePixels_given)
02283     {
02284       fprintf (stderr, "%s: '--localizeNumLinePixels' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02285       error = 1;
02286     }
02287 
02288   if (! args_info->extendAngleThreshold_given)
02289     {
02290       fprintf (stderr, "%s: '--extendAngleThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02291       error = 1;
02292     }
02293 
02294   if (! args_info->extendMeanDirAngleThreshold_given)
02295     {
02296       fprintf (stderr, "%s: '--extendMeanDirAngleThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02297       error = 1;
02298     }
02299 
02300   if (! args_info->extendLinePixelsTangent_given)
02301     {
02302       fprintf (stderr, "%s: '--extendLinePixelsTangent' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02303       error = 1;
02304     }
02305 
02306   if (! args_info->extendLinePixelsNormal_given)
02307     {
02308       fprintf (stderr, "%s: '--extendLinePixelsNormal' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02309       error = 1;
02310     }
02311 
02312   if (! args_info->extendContThreshold_given)
02313     {
02314       fprintf (stderr, "%s: '--extendContThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02315       error = 1;
02316     }
02317 
02318   if (! args_info->extendDeviationThreshold_given)
02319     {
02320       fprintf (stderr, "%s: '--extendDeviationThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02321       error = 1;
02322     }
02323 
02324   if (! args_info->extendRectTop_given)
02325     {
02326       fprintf (stderr, "%s: '--extendRectTop' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02327       error = 1;
02328     }
02329 
02330   if (! args_info->extendRectBottom_given)
02331     {
02332       fprintf (stderr, "%s: '--extendRectBottom' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02333       error = 1;
02334     }
02335 
02336   if (! args_info->extendIPMAngleThreshold_given)
02337     {
02338       fprintf (stderr, "%s: '--extendIPMAngleThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02339       error = 1;
02340     }
02341 
02342   if (! args_info->extendIPMMeanDirAngleThreshold_given)
02343     {
02344       fprintf (stderr, "%s: '--extendIPMMeanDirAngleThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02345       error = 1;
02346     }
02347 
02348   if (! args_info->extendIPMLinePixelsTangent_given)
02349     {
02350       fprintf (stderr, "%s: '--extendIPMLinePixelsTangent' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02351       error = 1;
02352     }
02353 
02354   if (! args_info->extendIPMLinePixelsNormal_given)
02355     {
02356       fprintf (stderr, "%s: '--extendIPMLinePixelsNormal' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02357       error = 1;
02358     }
02359 
02360   if (! args_info->extendIPMContThreshold_given)
02361     {
02362       fprintf (stderr, "%s: '--extendIPMContThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02363       error = 1;
02364     }
02365 
02366   if (! args_info->extendIPMDeviationThreshold_given)
02367     {
02368       fprintf (stderr, "%s: '--extendIPMDeviationThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02369       error = 1;
02370     }
02371 
02372   if (! args_info->extendIPMRectTop_given)
02373     {
02374       fprintf (stderr, "%s: '--extendIPMRectTop' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02375       error = 1;
02376     }
02377 
02378   if (! args_info->extendIPMRectBottom_given)
02379     {
02380       fprintf (stderr, "%s: '--extendIPMRectBottom' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02381       error = 1;
02382     }
02383 
02384   if (! args_info->splineScoreJitter_given)
02385     {
02386       fprintf (stderr, "%s: '--splineScoreJitter' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02387       error = 1;
02388     }
02389 
02390   if (! args_info->splineScoreLengthRatio_given)
02391     {
02392       fprintf (stderr, "%s: '--splineScoreLengthRatio' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02393       error = 1;
02394     }
02395 
02396   if (! args_info->splineScoreAngleRatio_given)
02397     {
02398       fprintf (stderr, "%s: '--splineScoreAngleRatio' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02399       error = 1;
02400     }
02401 
02402   if (! args_info->splineScoreStep_given)
02403     {
02404       fprintf (stderr, "%s: '--splineScoreStep' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02405       error = 1;
02406     }
02407 
02408   if (! args_info->splineTrackingNumAbsentFrames_given)
02409     {
02410       fprintf (stderr, "%s: '--splineTrackingNumAbsentFrames' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02411       error = 1;
02412     }
02413 
02414   if (! args_info->splineTrackingNumSeenFrames_given)
02415     {
02416       fprintf (stderr, "%s: '--splineTrackingNumSeenFrames' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02417       error = 1;
02418     }
02419 
02420   if (! args_info->mergeSplineThetaThreshold_given)
02421     {
02422       fprintf (stderr, "%s: '--mergeSplineThetaThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02423       error = 1;
02424     }
02425 
02426   if (! args_info->mergeSplineRThreshold_given)
02427     {
02428       fprintf (stderr, "%s: '--mergeSplineRThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02429       error = 1;
02430     }
02431 
02432   if (! args_info->mergeSplineMeanThetaThreshold_given)
02433     {
02434       fprintf (stderr, "%s: '--mergeSplineMeanThetaThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02435       error = 1;
02436     }
02437 
02438   if (! args_info->mergeSplineMeanRThreshold_given)
02439     {
02440       fprintf (stderr, "%s: '--mergeSplineMeanRThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02441       error = 1;
02442     }
02443 
02444   if (! args_info->mergeSplineCentroidThreshold_given)
02445     {
02446       fprintf (stderr, "%s: '--mergeSplineCentroidThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02447       error = 1;
02448     }
02449 
02450   if (! args_info->lineTrackingNumAbsentFrames_given)
02451     {
02452       fprintf (stderr, "%s: '--lineTrackingNumAbsentFrames' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02453       error = 1;
02454     }
02455 
02456   if (! args_info->lineTrackingNumSeenFrames_given)
02457     {
02458       fprintf (stderr, "%s: '--lineTrackingNumSeenFrames' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02459       error = 1;
02460     }
02461 
02462   if (! args_info->mergeLineThetaThreshold_given)
02463     {
02464       fprintf (stderr, "%s: '--mergeLineThetaThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02465       error = 1;
02466     }
02467 
02468   if (! args_info->mergeLineRThreshold_given)
02469     {
02470       fprintf (stderr, "%s: '--mergeLineRThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02471       error = 1;
02472     }
02473 
02474   if (! args_info->numStrips_given)
02475     {
02476       fprintf (stderr, "%s: '--numStrips' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02477       error = 1;
02478     }
02479 
02480   if (! args_info->checkSplines_given)
02481     {
02482       fprintf (stderr, "%s: '--checkSplines' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02483       error = 1;
02484     }
02485 
02486   if (! args_info->checkSplinesCurvenessThreshold_given)
02487     {
02488       fprintf (stderr, "%s: '--checkSplinesCurvenessThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02489       error = 1;
02490     }
02491 
02492   if (! args_info->checkSplinesLengthThreshold_given)
02493     {
02494       fprintf (stderr, "%s: '--checkSplinesLengthThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02495       error = 1;
02496     }
02497 
02498   if (! args_info->checkSplinesThetaDiffThreshold_given)
02499     {
02500       fprintf (stderr, "%s: '--checkSplinesThetaDiffThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02501       error = 1;
02502     }
02503 
02504   if (! args_info->checkSplinesThetaThreshold_given)
02505     {
02506       fprintf (stderr, "%s: '--checkSplinesThetaThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02507       error = 1;
02508     }
02509 
02510   if (! args_info->checkIPMSplines_given)
02511     {
02512       fprintf (stderr, "%s: '--checkIPMSplines' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02513       error = 1;
02514     }
02515 
02516   if (! args_info->checkIPMSplinesCurvenessThreshold_given)
02517     {
02518       fprintf (stderr, "%s: '--checkIPMSplinesCurvenessThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02519       error = 1;
02520     }
02521 
02522   if (! args_info->checkIPMSplinesLengthThreshold_given)
02523     {
02524       fprintf (stderr, "%s: '--checkIPMSplinesLengthThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02525       error = 1;
02526     }
02527 
02528   if (! args_info->checkIPMSplinesThetaDiffThreshold_given)
02529     {
02530       fprintf (stderr, "%s: '--checkIPMSplinesThetaDiffThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02531       error = 1;
02532     }
02533 
02534   if (! args_info->checkIPMSplinesThetaThreshold_given)
02535     {
02536       fprintf (stderr, "%s: '--checkIPMSplinesThetaThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02537       error = 1;
02538     }
02539 
02540   if (! args_info->finalSplineScoreThreshold_given)
02541     {
02542       fprintf (stderr, "%s: '--finalSplineScoreThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02543       error = 1;
02544     }
02545 
02546   if (! args_info->useGroundPlane_given)
02547     {
02548       fprintf (stderr, "%s: '--useGroundPlane' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02549       error = 1;
02550     }
02551 
02552   if (! args_info->checkColor_given)
02553     {
02554       fprintf (stderr, "%s: '--checkColor' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02555       error = 1;
02556     }
02557 
02558   if (! args_info->checkColorWindow_given)
02559     {
02560       fprintf (stderr, "%s: '--checkColorWindow' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02561       error = 1;
02562     }
02563 
02564   if (! args_info->checkColorNumBins_given)
02565     {
02566       fprintf (stderr, "%s: '--checkColorNumBins' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02567       error = 1;
02568     }
02569 
02570   if (! args_info->checkColorNumYellowMin_given)
02571     {
02572       fprintf (stderr, "%s: '--checkColorNumYellowMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02573       error = 1;
02574     }
02575 
02576   if (! args_info->checkColorRGMin_given)
02577     {
02578       fprintf (stderr, "%s: '--checkColorRGMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02579       error = 1;
02580     }
02581 
02582   if (! args_info->checkColorRGMax_given)
02583     {
02584       fprintf (stderr, "%s: '--checkColorRGMax' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02585       error = 1;
02586     }
02587 
02588   if (! args_info->checkColorGBMin_given)
02589     {
02590       fprintf (stderr, "%s: '--checkColorGBMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02591       error = 1;
02592     }
02593 
02594   if (! args_info->checkColorRBMin_given)
02595     {
02596       fprintf (stderr, "%s: '--checkColorRBMin' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02597       error = 1;
02598     }
02599 
02600   if (! args_info->checkColorRBFThreshold_given)
02601     {
02602       fprintf (stderr, "%s: '--checkColorRBFThreshold' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02603       error = 1;
02604     }
02605 
02606   if (! args_info->checkColorRBF_given)
02607     {
02608       fprintf (stderr, "%s: '--checkColorRBF' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02609       error = 1;
02610     }
02611 
02612   if (! args_info->ipmWindowClear_given)
02613     {
02614       fprintf (stderr, "%s: '--ipmWindowClear' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02615       error = 1;
02616     }
02617 
02618   if (! args_info->ipmWindowLeft_given)
02619     {
02620       fprintf (stderr, "%s: '--ipmWindowLeft' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02621       error = 1;
02622     }
02623 
02624   if (! args_info->ipmWindowRight_given)
02625     {
02626       fprintf (stderr, "%s: '--ipmWindowRight' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02627       error = 1;
02628     }
02629 
02630   if (! args_info->checkLaneWidth_given)
02631     {
02632       fprintf (stderr, "%s: '--checkLaneWidth' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02633       error = 1;
02634     }
02635 
02636   if (! args_info->checkLaneWidthMean_given)
02637     {
02638       fprintf (stderr, "%s: '--checkLaneWidthMean' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02639       error = 1;
02640     }
02641 
02642   if (! args_info->checkLaneWidthStd_given)
02643     {
02644       fprintf (stderr, "%s: '--checkLaneWidthStd' option required%s\n", prog_name, (additional_error ? additional_error : ""));
02645       error = 1;
02646     }
02647 
02648 
02649   /* checks for dependences among options */
02650 
02651   return error;
02652 }
02653 
02654 int
02655 LaneDetectorParser_internal (int argc, char * const *argv, struct LaneDetectorParserInfo *args_info, int override, int initialize, int check_required, const char *additional_error)
02656 {
02657   int c;        /* Character of the parsed option.  */
02658 
02659   int error = 0;
02660   struct LaneDetectorParserInfo local_args_info;
02661 
02662   if (initialize)
02663     LaneDetectorParser_init (args_info);
02664 
02665   LaneDetectorParser_init (&local_args_info);
02666 
02667   optarg = 0;
02668   optind = 0;
02669   opterr = 1;
02670   optopt = '?';
02671 
02672   while (1)
02673     {
02674       int option_index = 0;
02675       char *stop_char;
02676 
02677       static struct option long_options[] = {
02678         { "help",       0, NULL, 'h' },
02679         { "version",    0, NULL, 'V' },
02680         { "ipmWidth",   1, NULL, 0 },
02681         { "ipmHeight",  1, NULL, 0 },
02682         { "ipmTop",     1, NULL, 0 },
02683         { "ipmLeft",    1, NULL, 0 },
02684         { "ipmRight",   1, NULL, 0 },
02685         { "ipmBottom",  1, NULL, 0 },
02686         { "ipmInterpolation",   1, NULL, 0 },
02687         { "lineWidth",  1, NULL, 0 },
02688         { "lineHeight", 1, NULL, 0 },
02689         { "kernelWidth",        1, NULL, 0 },
02690         { "kernelHeight",       1, NULL, 0 },
02691         { "lowerQuantile",      1, NULL, 0 },
02692         { "localMaxima",        1, NULL, 0 },
02693         { "groupingType",       1, NULL, 0 },
02694         { "binarize",   1, NULL, 0 },
02695         { "detectionThreshold", 1, NULL, 0 },
02696         { "smoothScores",       1, NULL, 0 },
02697         { "rMin",       1, NULL, 0 },
02698         { "rMax",       1, NULL, 0 },
02699         { "rStep",      1, NULL, 0 },
02700         { "thetaMin",   1, NULL, 0 },
02701         { "thetaMax",   1, NULL, 0 },
02702         { "thetaStep",  1, NULL, 0 },
02703         { "ipmVpPortion",       1, NULL, 0 },
02704         { "getEndPoints",       1, NULL, 0 },
02705         { "group",      1, NULL, 0 },
02706         { "groupThreshold",     1, NULL, 0 },
02707         { "ransac",     1, NULL, 0 },
02708         { "ransacLineNumSamples",       1, NULL, 0 },
02709         { "ransacLineNumIterations",    1, NULL, 0 },
02710         { "ransacLineNumGoodFit",       1, NULL, 0 },
02711         { "ransacLineThreshold",        1, NULL, 0 },
02712         { "ransacLineScoreThreshold",   1, NULL, 0 },
02713         { "ransacLineBinarize", 1, NULL, 0 },
02714         { "ransacLineWindow",   1, NULL, 0 },
02715         { "ransacSplineNumSamples",     1, NULL, 0 },
02716         { "ransacSplineNumIterations",  1, NULL, 0 },
02717         { "ransacSplineNumGoodFit",     1, NULL, 0 },
02718         { "ransacSplineThreshold",      1, NULL, 0 },
02719         { "ransacSplineScoreThreshold", 1, NULL, 0 },
02720         { "ransacSplineBinarize",       1, NULL, 0 },
02721         { "ransacSplineWindow", 1, NULL, 0 },
02722         { "ransacSplineDegree", 1, NULL, 0 },
02723         { "ransacSpline",       1, NULL, 0 },
02724         { "ransacLine", 1, NULL, 0 },
02725         { "ransacSplineStep",   1, NULL, 0 },
02726         { "overlapThreshold",   1, NULL, 0 },
02727         { "localizeAngleThreshold",     1, NULL, 0 },
02728         { "localizeNumLinePixels",      1, NULL, 0 },
02729         { "extendAngleThreshold",       1, NULL, 0 },
02730         { "extendMeanDirAngleThreshold",        1, NULL, 0 },
02731         { "extendLinePixelsTangent",    1, NULL, 0 },
02732         { "extendLinePixelsNormal",     1, NULL, 0 },
02733         { "extendContThreshold",        1, NULL, 0 },
02734         { "extendDeviationThreshold",   1, NULL, 0 },
02735         { "extendRectTop",      1, NULL, 0 },
02736         { "extendRectBottom",   1, NULL, 0 },
02737         { "extendIPMAngleThreshold",    1, NULL, 0 },
02738         { "extendIPMMeanDirAngleThreshold",     1, NULL, 0 },
02739         { "extendIPMLinePixelsTangent", 1, NULL, 0 },
02740         { "extendIPMLinePixelsNormal",  1, NULL, 0 },
02741         { "extendIPMContThreshold",     1, NULL, 0 },
02742         { "extendIPMDeviationThreshold",        1, NULL, 0 },
02743         { "extendIPMRectTop",   1, NULL, 0 },
02744         { "extendIPMRectBottom",        1, NULL, 0 },
02745         { "splineScoreJitter",  1, NULL, 0 },
02746         { "splineScoreLengthRatio",     1, NULL, 0 },
02747         { "splineScoreAngleRatio",      1, NULL, 0 },
02748         { "splineScoreStep",    1, NULL, 0 },
02749         { "splineTrackingNumAbsentFrames",      1, NULL, 0 },
02750         { "splineTrackingNumSeenFrames",        1, NULL, 0 },
02751         { "mergeSplineThetaThreshold",  1, NULL, 0 },
02752         { "mergeSplineRThreshold",      1, NULL, 0 },
02753         { "mergeSplineMeanThetaThreshold",      1, NULL, 0 },
02754         { "mergeSplineMeanRThreshold",  1, NULL, 0 },
02755         { "mergeSplineCentroidThreshold",       1, NULL, 0 },
02756         { "lineTrackingNumAbsentFrames",        1, NULL, 0 },
02757         { "lineTrackingNumSeenFrames",  1, NULL, 0 },
02758         { "mergeLineThetaThreshold",    1, NULL, 0 },
02759         { "mergeLineRThreshold",        1, NULL, 0 },
02760         { "numStrips",  1, NULL, 0 },
02761         { "checkSplines",       1, NULL, 0 },
02762         { "checkSplinesCurvenessThreshold",     1, NULL, 0 },
02763         { "checkSplinesLengthThreshold",        1, NULL, 0 },
02764         { "checkSplinesThetaDiffThreshold",     1, NULL, 0 },
02765         { "checkSplinesThetaThreshold", 1, NULL, 0 },
02766         { "checkIPMSplines",    1, NULL, 0 },
02767         { "checkIPMSplinesCurvenessThreshold",  1, NULL, 0 },
02768         { "checkIPMSplinesLengthThreshold",     1, NULL, 0 },
02769         { "checkIPMSplinesThetaDiffThreshold",  1, NULL, 0 },
02770         { "checkIPMSplinesThetaThreshold",      1, NULL, 0 },
02771         { "finalSplineScoreThreshold",  1, NULL, 0 },
02772         { "useGroundPlane",     1, NULL, 0 },
02773         { "checkColor", 1, NULL, 0 },
02774         { "checkColorWindow",   1, NULL, 0 },
02775         { "checkColorNumBins",  1, NULL, 0 },
02776         { "checkColorNumYellowMin",     1, NULL, 0 },
02777         { "checkColorRGMin",    1, NULL, 0 },
02778         { "checkColorRGMax",    1, NULL, 0 },
02779         { "checkColorGBMin",    1, NULL, 0 },
02780         { "checkColorRBMin",    1, NULL, 0 },
02781         { "checkColorRBFThreshold",     1, NULL, 0 },
02782         { "checkColorRBF",      1, NULL, 0 },
02783         { "ipmWindowClear",     1, NULL, 0 },
02784         { "ipmWindowLeft",      1, NULL, 0 },
02785         { "ipmWindowRight",     1, NULL, 0 },
02786         { "checkLaneWidth",     1, NULL, 0 },
02787         { "checkLaneWidthMean", 1, NULL, 0 },
02788         { "checkLaneWidthStd",  1, NULL, 0 },
02789         { NULL, 0, NULL, 0 }
02790       };
02791 
02792       stop_char = 0;
02793       c = getopt_long (argc, argv, "hV", long_options, &option_index);
02794 
02795       if (c == -1) break;       /* Exit from `while (1)' loop.  */
02796 
02797       switch (c)
02798         {
02799         case 'h':       /* Print help and exit.  */
02800           LaneDetectorParser_print_help ();
02801           LaneDetectorParser_free (&local_args_info);
02802           exit (EXIT_SUCCESS);
02803 
02804         case 'V':       /* Print version and exit.  */
02805           LaneDetectorParser_print_version ();
02806           LaneDetectorParser_free (&local_args_info);
02807           exit (EXIT_SUCCESS);
02808 
02809 
02810         case 0: /* Long option with no short option */
02811           /* width of IPM image to use.  */
02812           if (strcmp (long_options[option_index].name, "ipmWidth") == 0)
02813           {
02814             if (local_args_info.ipmWidth_given)
02815               {
02816                 fprintf (stderr, "%s: `--ipmWidth' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02817                 goto failure;
02818               }
02819             if (args_info->ipmWidth_given && ! override)
02820               continue;
02821             local_args_info.ipmWidth_given = 1;
02822             args_info->ipmWidth_given = 1;
02823             args_info->ipmWidth_arg = strtol (optarg, &stop_char, 0);
02824             if (!(stop_char && *stop_char == '\0')) {
02825               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02826               goto failure;
02827             }
02828             if (args_info->ipmWidth_orig)
02829               free (args_info->ipmWidth_orig); /* free previous string */
02830             args_info->ipmWidth_orig = gengetopt_strdup (optarg);
02831           }
02832           /* height of IPM image to use.  */
02833           else if (strcmp (long_options[option_index].name, "ipmHeight") == 0)
02834           {
02835             if (local_args_info.ipmHeight_given)
02836               {
02837                 fprintf (stderr, "%s: `--ipmHeight' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02838                 goto failure;
02839               }
02840             if (args_info->ipmHeight_given && ! override)
02841               continue;
02842             local_args_info.ipmHeight_given = 1;
02843             args_info->ipmHeight_given = 1;
02844             args_info->ipmHeight_arg = strtol (optarg, &stop_char, 0);
02845             if (!(stop_char && *stop_char == '\0')) {
02846               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02847               goto failure;
02848             }
02849             if (args_info->ipmHeight_orig)
02850               free (args_info->ipmHeight_orig); /* free previous string */
02851             args_info->ipmHeight_orig = gengetopt_strdup (optarg);
02852           }
02853           /* Top point in original image of region to make IPM for.  */
02854           else if (strcmp (long_options[option_index].name, "ipmTop") == 0)
02855           {
02856             if (local_args_info.ipmTop_given)
02857               {
02858                 fprintf (stderr, "%s: `--ipmTop' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02859                 goto failure;
02860               }
02861             if (args_info->ipmTop_given && ! override)
02862               continue;
02863             local_args_info.ipmTop_given = 1;
02864             args_info->ipmTop_given = 1;
02865             args_info->ipmTop_arg = strtol (optarg, &stop_char, 0);
02866             if (!(stop_char && *stop_char == '\0')) {
02867               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02868               goto failure;
02869             }
02870             if (args_info->ipmTop_orig)
02871               free (args_info->ipmTop_orig); /* free previous string */
02872             args_info->ipmTop_orig = gengetopt_strdup (optarg);
02873           }
02874           /* Left point in original image of region to make IPM for.  */
02875           else if (strcmp (long_options[option_index].name, "ipmLeft") == 0)
02876           {
02877             if (local_args_info.ipmLeft_given)
02878               {
02879                 fprintf (stderr, "%s: `--ipmLeft' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02880                 goto failure;
02881               }
02882             if (args_info->ipmLeft_given && ! override)
02883               continue;
02884             local_args_info.ipmLeft_given = 1;
02885             args_info->ipmLeft_given = 1;
02886             args_info->ipmLeft_arg = strtol (optarg, &stop_char, 0);
02887             if (!(stop_char && *stop_char == '\0')) {
02888               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02889               goto failure;
02890             }
02891             if (args_info->ipmLeft_orig)
02892               free (args_info->ipmLeft_orig); /* free previous string */
02893             args_info->ipmLeft_orig = gengetopt_strdup (optarg);
02894           }
02895           /* Right point in original image region to make IPM for.  */
02896           else if (strcmp (long_options[option_index].name, "ipmRight") == 0)
02897           {
02898             if (local_args_info.ipmRight_given)
02899               {
02900                 fprintf (stderr, "%s: `--ipmRight' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02901                 goto failure;
02902               }
02903             if (args_info->ipmRight_given && ! override)
02904               continue;
02905             local_args_info.ipmRight_given = 1;
02906             args_info->ipmRight_given = 1;
02907             args_info->ipmRight_arg = strtol (optarg, &stop_char, 0);
02908             if (!(stop_char && *stop_char == '\0')) {
02909               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02910               goto failure;
02911             }
02912             if (args_info->ipmRight_orig)
02913               free (args_info->ipmRight_orig); /* free previous string */
02914             args_info->ipmRight_orig = gengetopt_strdup (optarg);
02915           }
02916           /* Bottom point in original image region to make IPM for.  */
02917           else if (strcmp (long_options[option_index].name, "ipmBottom") == 0)
02918           {
02919             if (local_args_info.ipmBottom_given)
02920               {
02921                 fprintf (stderr, "%s: `--ipmBottom' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02922                 goto failure;
02923               }
02924             if (args_info->ipmBottom_given && ! override)
02925               continue;
02926             local_args_info.ipmBottom_given = 1;
02927             args_info->ipmBottom_given = 1;
02928             args_info->ipmBottom_arg = strtol (optarg, &stop_char, 0);
02929             if (!(stop_char && *stop_char == '\0')) {
02930               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02931               goto failure;
02932             }
02933             if (args_info->ipmBottom_orig)
02934               free (args_info->ipmBottom_orig); /* free previous string */
02935             args_info->ipmBottom_orig = gengetopt_strdup (optarg);
02936           }
02937           /* The method to use for IPM interpolation.  */
02938           else if (strcmp (long_options[option_index].name, "ipmInterpolation") == 0)
02939           {
02940             if (local_args_info.ipmInterpolation_given)
02941               {
02942                 fprintf (stderr, "%s: `--ipmInterpolation' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02943                 goto failure;
02944               }
02945             if (args_info->ipmInterpolation_given && ! override)
02946               continue;
02947             local_args_info.ipmInterpolation_given = 1;
02948             args_info->ipmInterpolation_given = 1;
02949             args_info->ipmInterpolation_arg = strtol (optarg, &stop_char, 0);
02950             if (!(stop_char && *stop_char == '\0')) {
02951               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02952               goto failure;
02953             }
02954             if (args_info->ipmInterpolation_orig)
02955               free (args_info->ipmInterpolation_orig); /* free previous string */
02956             args_info->ipmInterpolation_orig = gengetopt_strdup (optarg);
02957           }
02958           /* width of line to detect in mm (in the world).  */
02959           else if (strcmp (long_options[option_index].name, "lineWidth") == 0)
02960           {
02961             if (local_args_info.lineWidth_given)
02962               {
02963                 fprintf (stderr, "%s: `--lineWidth' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02964                 goto failure;
02965               }
02966             if (args_info->lineWidth_given && ! override)
02967               continue;
02968             local_args_info.lineWidth_given = 1;
02969             args_info->lineWidth_given = 1;
02970             args_info->lineWidth_arg = strtod (optarg, &stop_char);
02971             if (!(stop_char && *stop_char == '\0')) {
02972               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02973               goto failure;
02974             }
02975             if (args_info->lineWidth_orig)
02976               free (args_info->lineWidth_orig); /* free previous string */
02977             args_info->lineWidth_orig = gengetopt_strdup (optarg);
02978           }
02979           /* height of line to detect in mm (in the world).  */
02980           else if (strcmp (long_options[option_index].name, "lineHeight") == 0)
02981           {
02982             if (local_args_info.lineHeight_given)
02983               {
02984                 fprintf (stderr, "%s: `--lineHeight' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
02985                 goto failure;
02986               }
02987             if (args_info->lineHeight_given && ! override)
02988               continue;
02989             local_args_info.lineHeight_given = 1;
02990             args_info->lineHeight_given = 1;
02991             args_info->lineHeight_arg = strtod (optarg, &stop_char);
02992             if (!(stop_char && *stop_char == '\0')) {
02993               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
02994               goto failure;
02995             }
02996             if (args_info->lineHeight_orig)
02997               free (args_info->lineHeight_orig); /* free previous string */
02998             args_info->lineHeight_orig = gengetopt_strdup (optarg);
02999           }
03000           /* widht of kernel to use for filtering.  */
03001           else if (strcmp (long_options[option_index].name, "kernelWidth") == 0)
03002           {
03003             if (local_args_info.kernelWidth_given)
03004               {
03005                 fprintf (stderr, "%s: `--kernelWidth' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03006                 goto failure;
03007               }
03008             if (args_info->kernelWidth_given && ! override)
03009               continue;
03010             local_args_info.kernelWidth_given = 1;
03011             args_info->kernelWidth_given = 1;
03012             args_info->kernelWidth_arg = strtol (optarg, &stop_char, 0);
03013             if (!(stop_char && *stop_char == '\0')) {
03014               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03015               goto failure;
03016             }
03017             if (args_info->kernelWidth_orig)
03018               free (args_info->kernelWidth_orig); /* free previous string */
03019             args_info->kernelWidth_orig = gengetopt_strdup (optarg);
03020           }
03021           /* Height of kernel to use for filtering.  */
03022           else if (strcmp (long_options[option_index].name, "kernelHeight") == 0)
03023           {
03024             if (local_args_info.kernelHeight_given)
03025               {
03026                 fprintf (stderr, "%s: `--kernelHeight' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03027                 goto failure;
03028               }
03029             if (args_info->kernelHeight_given && ! override)
03030               continue;
03031             local_args_info.kernelHeight_given = 1;
03032             args_info->kernelHeight_given = 1;
03033             args_info->kernelHeight_arg = strtol (optarg, &stop_char, 0);
03034             if (!(stop_char && *stop_char == '\0')) {
03035               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03036               goto failure;
03037             }
03038             if (args_info->kernelHeight_orig)
03039               free (args_info->kernelHeight_orig); /* free previous string */
03040             args_info->kernelHeight_orig = gengetopt_strdup (optarg);
03041           }
03042           /* lower quantile to use for thresholding the filtered image.  */
03043           else if (strcmp (long_options[option_index].name, "lowerQuantile") == 0)
03044           {
03045             if (local_args_info.lowerQuantile_given)
03046               {
03047                 fprintf (stderr, "%s: `--lowerQuantile' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03048                 goto failure;
03049               }
03050             if (args_info->lowerQuantile_given && ! override)
03051               continue;
03052             local_args_info.lowerQuantile_given = 1;
03053             args_info->lowerQuantile_given = 1;
03054             args_info->lowerQuantile_arg = strtod (optarg, &stop_char);
03055             if (!(stop_char && *stop_char == '\0')) {
03056               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03057               goto failure;
03058             }
03059             if (args_info->lowerQuantile_orig)
03060               free (args_info->lowerQuantile_orig); /* free previous string */
03061             args_info->lowerQuantile_orig = gengetopt_strdup (optarg);
03062           }
03063           /* whether to return local maxima or just the maximum.  */
03064           else if (strcmp (long_options[option_index].name, "localMaxima") == 0)
03065           {
03066             if (local_args_info.localMaxima_given)
03067               {
03068                 fprintf (stderr, "%s: `--localMaxima' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03069                 goto failure;
03070               }
03071             if (args_info->localMaxima_given && ! override)
03072               continue;
03073             local_args_info.localMaxima_given = 1;
03074             args_info->localMaxima_given = 1;
03075             args_info->localMaxima_arg = strtol (optarg, &stop_char, 0);
03076             if (!(stop_char && *stop_char == '\0')) {
03077               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03078               goto failure;
03079             }
03080             if (args_info->localMaxima_orig)
03081               free (args_info->localMaxima_orig); /* free previous string */
03082             args_info->localMaxima_orig = gengetopt_strdup (optarg);
03083           }
03084           /* type of grouping to use (default 0: HV lines).  */
03085           else if (strcmp (long_options[option_index].name, "groupingType") == 0)
03086           {
03087             if (local_args_info.groupingType_given)
03088               {
03089                 fprintf (stderr, "%s: `--groupingType' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03090                 goto failure;
03091               }
03092             if (args_info->groupingType_given && ! override)
03093               continue;
03094             local_args_info.groupingType_given = 1;
03095             args_info->groupingType_given = 1;
03096             args_info->groupingType_arg = strtol (optarg, &stop_char, 0);
03097             if (!(stop_char && *stop_char == '\0')) {
03098               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03099               goto failure;
03100             }
03101             if (args_info->groupingType_orig)
03102               free (args_info->groupingType_orig); /* free previous string */
03103             args_info->groupingType_orig = gengetopt_strdup (optarg);
03104           }
03105           /* whether to binarize the thresholded image or use the raw values.  */
03106           else if (strcmp (long_options[option_index].name, "binarize") == 0)
03107           {
03108             if (local_args_info.binarize_given)
03109               {
03110                 fprintf (stderr, "%s: `--binarize' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03111                 goto failure;
03112               }
03113             if (args_info->binarize_given && ! override)
03114               continue;
03115             local_args_info.binarize_given = 1;
03116             args_info->binarize_given = 1;
03117             args_info->binarize_arg = strtod (optarg, &stop_char);
03118             if (!(stop_char && *stop_char == '\0')) {
03119               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03120               goto failure;
03121             }
03122             if (args_info->binarize_orig)
03123               free (args_info->binarize_orig); /* free previous string */
03124             args_info->binarize_orig = gengetopt_strdup (optarg);
03125           }
03126           /* threshold for line scores to declare as line.  */
03127           else if (strcmp (long_options[option_index].name, "detectionThreshold") == 0)
03128           {
03129             if (local_args_info.detectionThreshold_given)
03130               {
03131                 fprintf (stderr, "%s: `--detectionThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03132                 goto failure;
03133               }
03134             if (args_info->detectionThreshold_given && ! override)
03135               continue;
03136             local_args_info.detectionThreshold_given = 1;
03137             args_info->detectionThreshold_given = 1;
03138             args_info->detectionThreshold_arg = strtod (optarg, &stop_char);
03139             if (!(stop_char && *stop_char == '\0')) {
03140               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03141               goto failure;
03142             }
03143             if (args_info->detectionThreshold_orig)
03144               free (args_info->detectionThreshold_orig); /* free previous string */
03145             args_info->detectionThreshold_orig = gengetopt_strdup (optarg);
03146           }
03147           /* whether to smooth scores of lines detected or not.  */
03148           else if (strcmp (long_options[option_index].name, "smoothScores") == 0)
03149           {
03150             if (local_args_info.smoothScores_given)
03151               {
03152                 fprintf (stderr, "%s: `--smoothScores' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03153                 goto failure;
03154               }
03155             if (args_info->smoothScores_given && ! override)
03156               continue;
03157             local_args_info.smoothScores_given = 1;
03158             args_info->smoothScores_given = 1;
03159             args_info->smoothScores_arg = strtol (optarg, &stop_char, 0);
03160             if (!(stop_char && *stop_char == '\0')) {
03161               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03162               goto failure;
03163             }
03164             if (args_info->smoothScores_orig)
03165               free (args_info->smoothScores_orig); /* free previous string */
03166             args_info->smoothScores_orig = gengetopt_strdup (optarg);
03167           }
03168           /* rMin for Hough transform (in pixels).  */
03169           else if (strcmp (long_options[option_index].name, "rMin") == 0)
03170           {
03171             if (local_args_info.rMin_given)
03172               {
03173                 fprintf (stderr, "%s: `--rMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03174                 goto failure;
03175               }
03176             if (args_info->rMin_given && ! override)
03177               continue;
03178             local_args_info.rMin_given = 1;
03179             args_info->rMin_given = 1;
03180             args_info->rMin_arg = strtod (optarg, &stop_char);
03181             if (!(stop_char && *stop_char == '\0')) {
03182               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03183               goto failure;
03184             }
03185             if (args_info->rMin_orig)
03186               free (args_info->rMin_orig); /* free previous string */
03187             args_info->rMin_orig = gengetopt_strdup (optarg);
03188           }
03189           /* rMax for Hough transform (in pixels).  */
03190           else if (strcmp (long_options[option_index].name, "rMax") == 0)
03191           {
03192             if (local_args_info.rMax_given)
03193               {
03194                 fprintf (stderr, "%s: `--rMax' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03195                 goto failure;
03196               }
03197             if (args_info->rMax_given && ! override)
03198               continue;
03199             local_args_info.rMax_given = 1;
03200             args_info->rMax_given = 1;
03201             args_info->rMax_arg = strtod (optarg, &stop_char);
03202             if (!(stop_char && *stop_char == '\0')) {
03203               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03204               goto failure;
03205             }
03206             if (args_info->rMax_orig)
03207               free (args_info->rMax_orig); /* free previous string */
03208             args_info->rMax_orig = gengetopt_strdup (optarg);
03209           }
03210           /* rStep for Hough transform (in pixels).  */
03211           else if (strcmp (long_options[option_index].name, "rStep") == 0)
03212           {
03213             if (local_args_info.rStep_given)
03214               {
03215                 fprintf (stderr, "%s: `--rStep' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03216                 goto failure;
03217               }
03218             if (args_info->rStep_given && ! override)
03219               continue;
03220             local_args_info.rStep_given = 1;
03221             args_info->rStep_given = 1;
03222             args_info->rStep_arg = strtod (optarg, &stop_char);
03223             if (!(stop_char && *stop_char == '\0')) {
03224               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03225               goto failure;
03226             }
03227             if (args_info->rStep_orig)
03228               free (args_info->rStep_orig); /* free previous string */
03229             args_info->rStep_orig = gengetopt_strdup (optarg);
03230           }
03231           /* thetaMin for Hough transform (in degrees).  */
03232           else if (strcmp (long_options[option_index].name, "thetaMin") == 0)
03233           {
03234             if (local_args_info.thetaMin_given)
03235               {
03236                 fprintf (stderr, "%s: `--thetaMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03237                 goto failure;
03238               }
03239             if (args_info->thetaMin_given && ! override)
03240               continue;
03241             local_args_info.thetaMin_given = 1;
03242             args_info->thetaMin_given = 1;
03243             args_info->thetaMin_arg = strtod (optarg, &stop_char);
03244             if (!(stop_char && *stop_char == '\0')) {
03245               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03246               goto failure;
03247             }
03248             if (args_info->thetaMin_orig)
03249               free (args_info->thetaMin_orig); /* free previous string */
03250             args_info->thetaMin_orig = gengetopt_strdup (optarg);
03251           }
03252           /* thetaMax for Hough transform (in degrees).  */
03253           else if (strcmp (long_options[option_index].name, "thetaMax") == 0)
03254           {
03255             if (local_args_info.thetaMax_given)
03256               {
03257                 fprintf (stderr, "%s: `--thetaMax' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03258                 goto failure;
03259               }
03260             if (args_info->thetaMax_given && ! override)
03261               continue;
03262             local_args_info.thetaMax_given = 1;
03263             args_info->thetaMax_given = 1;
03264             args_info->thetaMax_arg = strtod (optarg, &stop_char);
03265             if (!(stop_char && *stop_char == '\0')) {
03266               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03267               goto failure;
03268             }
03269             if (args_info->thetaMax_orig)
03270               free (args_info->thetaMax_orig); /* free previous string */
03271             args_info->thetaMax_orig = gengetopt_strdup (optarg);
03272           }
03273           /* thetaStep for Hough transform (in degrees).  */
03274           else if (strcmp (long_options[option_index].name, "thetaStep") == 0)
03275           {
03276             if (local_args_info.thetaStep_given)
03277               {
03278                 fprintf (stderr, "%s: `--thetaStep' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03279                 goto failure;
03280               }
03281             if (args_info->thetaStep_given && ! override)
03282               continue;
03283             local_args_info.thetaStep_given = 1;
03284             args_info->thetaStep_given = 1;
03285             args_info->thetaStep_arg = strtod (optarg, &stop_char);
03286             if (!(stop_char && *stop_char == '\0')) {
03287               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03288               goto failure;
03289             }
03290             if (args_info->thetaStep_orig)
03291               free (args_info->thetaStep_orig); /* free previous string */
03292             args_info->thetaStep_orig = gengetopt_strdup (optarg);
03293           }
03294           /* Portion of IPM image height to add to y-coordinate of VP.  */
03295           else if (strcmp (long_options[option_index].name, "ipmVpPortion") == 0)
03296           {
03297             if (local_args_info.ipmVpPortion_given)
03298               {
03299                 fprintf (stderr, "%s: `--ipmVpPortion' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03300                 goto failure;
03301               }
03302             if (args_info->ipmVpPortion_given && ! override)
03303               continue;
03304             local_args_info.ipmVpPortion_given = 1;
03305             args_info->ipmVpPortion_given = 1;
03306             args_info->ipmVpPortion_arg = strtod (optarg, &stop_char);
03307             if (!(stop_char && *stop_char == '\0')) {
03308               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03309               goto failure;
03310             }
03311             if (args_info->ipmVpPortion_orig)
03312               free (args_info->ipmVpPortion_orig); /* free previous string */
03313             args_info->ipmVpPortion_orig = gengetopt_strdup (optarg);
03314           }
03315           /* Get the endpoints of the line.  */
03316           else if (strcmp (long_options[option_index].name, "getEndPoints") == 0)
03317           {
03318             if (local_args_info.getEndPoints_given)
03319               {
03320                 fprintf (stderr, "%s: `--getEndPoints' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03321                 goto failure;
03322               }
03323             if (args_info->getEndPoints_given && ! override)
03324               continue;
03325             local_args_info.getEndPoints_given = 1;
03326             args_info->getEndPoints_given = 1;
03327             args_info->getEndPoints_arg = strtol (optarg, &stop_char, 0);
03328             if (!(stop_char && *stop_char == '\0')) {
03329               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03330               goto failure;
03331             }
03332             if (args_info->getEndPoints_orig)
03333               free (args_info->getEndPoints_orig); /* free previous string */
03334             args_info->getEndPoints_orig = gengetopt_strdup (optarg);
03335           }
03336           /* group nearby lines or not (default 1: group).  */
03337           else if (strcmp (long_options[option_index].name, "group") == 0)
03338           {
03339             if (local_args_info.group_given)
03340               {
03341                 fprintf (stderr, "%s: `--group' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03342                 goto failure;
03343               }
03344             if (args_info->group_given && ! override)
03345               continue;
03346             local_args_info.group_given = 1;
03347             args_info->group_given = 1;
03348             args_info->group_arg = strtol (optarg, &stop_char, 0);
03349             if (!(stop_char && *stop_char == '\0')) {
03350               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03351               goto failure;
03352             }
03353             if (args_info->group_orig)
03354               free (args_info->group_orig); /* free previous string */
03355             args_info->group_orig = gengetopt_strdup (optarg);
03356           }
03357           /* Threshold for grouping nearby lines (default 10).  */
03358           else if (strcmp (long_options[option_index].name, "groupThreshold") == 0)
03359           {
03360             if (local_args_info.groupThreshold_given)
03361               {
03362                 fprintf (stderr, "%s: `--groupThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03363                 goto failure;
03364               }
03365             if (args_info->groupThreshold_given && ! override)
03366               continue;
03367             local_args_info.groupThreshold_given = 1;
03368             args_info->groupThreshold_given = 1;
03369             args_info->groupThreshold_arg = strtod (optarg, &stop_char);
03370             if (!(stop_char && *stop_char == '\0')) {
03371               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03372               goto failure;
03373             }
03374             if (args_info->groupThreshold_orig)
03375               free (args_info->groupThreshold_orig); /* free previous string */
03376             args_info->groupThreshold_orig = gengetopt_strdup (optarg);
03377           }
03378           /* use RANSAC (1) or not (0).  */
03379           else if (strcmp (long_options[option_index].name, "ransac") == 0)
03380           {
03381             if (local_args_info.ransac_given)
03382               {
03383                 fprintf (stderr, "%s: `--ransac' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03384                 goto failure;
03385               }
03386             if (args_info->ransac_given && ! override)
03387               continue;
03388             local_args_info.ransac_given = 1;
03389             args_info->ransac_given = 1;
03390             args_info->ransac_arg = strtol (optarg, &stop_char, 0);
03391             if (!(stop_char && *stop_char == '\0')) {
03392               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03393               goto failure;
03394             }
03395             if (args_info->ransac_orig)
03396               free (args_info->ransac_orig); /* free previous string */
03397             args_info->ransac_orig = gengetopt_strdup (optarg);
03398           }
03399           /* Number of samples to use for RANSAC.  */
03400           else if (strcmp (long_options[option_index].name, "ransacLineNumSamples") == 0)
03401           {
03402             if (local_args_info.ransacLineNumSamples_given)
03403               {
03404                 fprintf (stderr, "%s: `--ransacLineNumSamples' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03405                 goto failure;
03406               }
03407             if (args_info->ransacLineNumSamples_given && ! override)
03408               continue;
03409             local_args_info.ransacLineNumSamples_given = 1;
03410             args_info->ransacLineNumSamples_given = 1;
03411             args_info->ransacLineNumSamples_arg = strtol (optarg, &stop_char, 0);
03412             if (!(stop_char && *stop_char == '\0')) {
03413               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03414               goto failure;
03415             }
03416             if (args_info->ransacLineNumSamples_orig)
03417               free (args_info->ransacLineNumSamples_orig); /* free previous string */
03418             args_info->ransacLineNumSamples_orig = gengetopt_strdup (optarg);
03419           }
03420           /* Number of iterations to use for RANSAC.  */
03421           else if (strcmp (long_options[option_index].name, "ransacLineNumIterations") == 0)
03422           {
03423             if (local_args_info.ransacLineNumIterations_given)
03424               {
03425                 fprintf (stderr, "%s: `--ransacLineNumIterations' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03426                 goto failure;
03427               }
03428             if (args_info->ransacLineNumIterations_given && ! override)
03429               continue;
03430             local_args_info.ransacLineNumIterations_given = 1;
03431             args_info->ransacLineNumIterations_given = 1;
03432             args_info->ransacLineNumIterations_arg = strtol (optarg, &stop_char, 0);
03433             if (!(stop_char && *stop_char == '\0')) {
03434               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03435               goto failure;
03436             }
03437             if (args_info->ransacLineNumIterations_orig)
03438               free (args_info->ransacLineNumIterations_orig); /* free previous string */
03439             args_info->ransacLineNumIterations_orig = gengetopt_strdup (optarg);
03440           }
03441           /* Number of close points to consider a good line fit.  */
03442           else if (strcmp (long_options[option_index].name, "ransacLineNumGoodFit") == 0)
03443           {
03444             if (local_args_info.ransacLineNumGoodFit_given)
03445               {
03446                 fprintf (stderr, "%s: `--ransacLineNumGoodFit' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03447                 goto failure;
03448               }
03449             if (args_info->ransacLineNumGoodFit_given && ! override)
03450               continue;
03451             local_args_info.ransacLineNumGoodFit_given = 1;
03452             args_info->ransacLineNumGoodFit_given = 1;
03453             args_info->ransacLineNumGoodFit_arg = strtol (optarg, &stop_char, 0);
03454             if (!(stop_char && *stop_char == '\0')) {
03455               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03456               goto failure;
03457             }
03458             if (args_info->ransacLineNumGoodFit_orig)
03459               free (args_info->ransacLineNumGoodFit_orig); /* free previous string */
03460             args_info->ransacLineNumGoodFit_orig = gengetopt_strdup (optarg);
03461           }
03462           /* Threshold to consider a point close.  */
03463           else if (strcmp (long_options[option_index].name, "ransacLineThreshold") == 0)
03464           {
03465             if (local_args_info.ransacLineThreshold_given)
03466               {
03467                 fprintf (stderr, "%s: `--ransacLineThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03468                 goto failure;
03469               }
03470             if (args_info->ransacLineThreshold_given && ! override)
03471               continue;
03472             local_args_info.ransacLineThreshold_given = 1;
03473             args_info->ransacLineThreshold_given = 1;
03474             args_info->ransacLineThreshold_arg = strtod (optarg, &stop_char);
03475             if (!(stop_char && *stop_char == '\0')) {
03476               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03477               goto failure;
03478             }
03479             if (args_info->ransacLineThreshold_orig)
03480               free (args_info->ransacLineThreshold_orig); /* free previous string */
03481             args_info->ransacLineThreshold_orig = gengetopt_strdup (optarg);
03482           }
03483           /* Threshold for detected line scores.  */
03484           else if (strcmp (long_options[option_index].name, "ransacLineScoreThreshold") == 0)
03485           {
03486             if (local_args_info.ransacLineScoreThreshold_given)
03487               {
03488                 fprintf (stderr, "%s: `--ransacLineScoreThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03489                 goto failure;
03490               }
03491             if (args_info->ransacLineScoreThreshold_given && ! override)
03492               continue;
03493             local_args_info.ransacLineScoreThreshold_given = 1;
03494             args_info->ransacLineScoreThreshold_given = 1;
03495             args_info->ransacLineScoreThreshold_arg = strtod (optarg, &stop_char);
03496             if (!(stop_char && *stop_char == '\0')) {
03497               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03498               goto failure;
03499             }
03500             if (args_info->ransacLineScoreThreshold_orig)
03501               free (args_info->ransacLineScoreThreshold_orig); /* free previous string */
03502             args_info->ransacLineScoreThreshold_orig = gengetopt_strdup (optarg);
03503           }
03504           /* Whether to binarize image for RANSAC or not.  */
03505           else if (strcmp (long_options[option_index].name, "ransacLineBinarize") == 0)
03506           {
03507             if (local_args_info.ransacLineBinarize_given)
03508               {
03509                 fprintf (stderr, "%s: `--ransacLineBinarize' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03510                 goto failure;
03511               }
03512             if (args_info->ransacLineBinarize_given && ! override)
03513               continue;
03514             local_args_info.ransacLineBinarize_given = 1;
03515             args_info->ransacLineBinarize_given = 1;
03516             args_info->ransacLineBinarize_arg = strtol (optarg, &stop_char, 0);
03517             if (!(stop_char && *stop_char == '\0')) {
03518               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03519               goto failure;
03520             }
03521             if (args_info->ransacLineBinarize_orig)
03522               free (args_info->ransacLineBinarize_orig); /* free previous string */
03523             args_info->ransacLineBinarize_orig = gengetopt_strdup (optarg);
03524           }
03525           /* Half width to use for ransac window.  */
03526           else if (strcmp (long_options[option_index].name, "ransacLineWindow") == 0)
03527           {
03528             if (local_args_info.ransacLineWindow_given)
03529               {
03530                 fprintf (stderr, "%s: `--ransacLineWindow' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03531                 goto failure;
03532               }
03533             if (args_info->ransacLineWindow_given && ! override)
03534               continue;
03535             local_args_info.ransacLineWindow_given = 1;
03536             args_info->ransacLineWindow_given = 1;
03537             args_info->ransacLineWindow_arg = strtol (optarg, &stop_char, 0);
03538             if (!(stop_char && *stop_char == '\0')) {
03539               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03540               goto failure;
03541             }
03542             if (args_info->ransacLineWindow_orig)
03543               free (args_info->ransacLineWindow_orig); /* free previous string */
03544             args_info->ransacLineWindow_orig = gengetopt_strdup (optarg);
03545           }
03546           /* Number of samples to use for RANSAC.  */
03547           else if (strcmp (long_options[option_index].name, "ransacSplineNumSamples") == 0)
03548           {
03549             if (local_args_info.ransacSplineNumSamples_given)
03550               {
03551                 fprintf (stderr, "%s: `--ransacSplineNumSamples' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03552                 goto failure;
03553               }
03554             if (args_info->ransacSplineNumSamples_given && ! override)
03555               continue;
03556             local_args_info.ransacSplineNumSamples_given = 1;
03557             args_info->ransacSplineNumSamples_given = 1;
03558             args_info->ransacSplineNumSamples_arg = strtol (optarg, &stop_char, 0);
03559             if (!(stop_char && *stop_char == '\0')) {
03560               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03561               goto failure;
03562             }
03563             if (args_info->ransacSplineNumSamples_orig)
03564               free (args_info->ransacSplineNumSamples_orig); /* free previous string */
03565             args_info->ransacSplineNumSamples_orig = gengetopt_strdup (optarg);
03566           }
03567           /* Number of iterations to use for RANSAC.  */
03568           else if (strcmp (long_options[option_index].name, "ransacSplineNumIterations") == 0)
03569           {
03570             if (local_args_info.ransacSplineNumIterations_given)
03571               {
03572                 fprintf (stderr, "%s: `--ransacSplineNumIterations' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03573                 goto failure;
03574               }
03575             if (args_info->ransacSplineNumIterations_given && ! override)
03576               continue;
03577             local_args_info.ransacSplineNumIterations_given = 1;
03578             args_info->ransacSplineNumIterations_given = 1;
03579             args_info->ransacSplineNumIterations_arg = strtol (optarg, &stop_char, 0);
03580             if (!(stop_char && *stop_char == '\0')) {
03581               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03582               goto failure;
03583             }
03584             if (args_info->ransacSplineNumIterations_orig)
03585               free (args_info->ransacSplineNumIterations_orig); /* free previous string */
03586             args_info->ransacSplineNumIterations_orig = gengetopt_strdup (optarg);
03587           }
03588           /* Number of close points to consider a good line fit.  */
03589           else if (strcmp (long_options[option_index].name, "ransacSplineNumGoodFit") == 0)
03590           {
03591             if (local_args_info.ransacSplineNumGoodFit_given)
03592               {
03593                 fprintf (stderr, "%s: `--ransacSplineNumGoodFit' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03594                 goto failure;
03595               }
03596             if (args_info->ransacSplineNumGoodFit_given && ! override)
03597               continue;
03598             local_args_info.ransacSplineNumGoodFit_given = 1;
03599             args_info->ransacSplineNumGoodFit_given = 1;
03600             args_info->ransacSplineNumGoodFit_arg = strtol (optarg, &stop_char, 0);
03601             if (!(stop_char && *stop_char == '\0')) {
03602               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03603               goto failure;
03604             }
03605             if (args_info->ransacSplineNumGoodFit_orig)
03606               free (args_info->ransacSplineNumGoodFit_orig); /* free previous string */
03607             args_info->ransacSplineNumGoodFit_orig = gengetopt_strdup (optarg);
03608           }
03609           /* Threshold to consider a point close.  */
03610           else if (strcmp (long_options[option_index].name, "ransacSplineThreshold") == 0)
03611           {
03612             if (local_args_info.ransacSplineThreshold_given)
03613               {
03614                 fprintf (stderr, "%s: `--ransacSplineThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03615                 goto failure;
03616               }
03617             if (args_info->ransacSplineThreshold_given && ! override)
03618               continue;
03619             local_args_info.ransacSplineThreshold_given = 1;
03620             args_info->ransacSplineThreshold_given = 1;
03621             args_info->ransacSplineThreshold_arg = strtod (optarg, &stop_char);
03622             if (!(stop_char && *stop_char == '\0')) {
03623               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03624               goto failure;
03625             }
03626             if (args_info->ransacSplineThreshold_orig)
03627               free (args_info->ransacSplineThreshold_orig); /* free previous string */
03628             args_info->ransacSplineThreshold_orig = gengetopt_strdup (optarg);
03629           }
03630           /* Threshold for detected line scores.  */
03631           else if (strcmp (long_options[option_index].name, "ransacSplineScoreThreshold") == 0)
03632           {
03633             if (local_args_info.ransacSplineScoreThreshold_given)
03634               {
03635                 fprintf (stderr, "%s: `--ransacSplineScoreThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03636                 goto failure;
03637               }
03638             if (args_info->ransacSplineScoreThreshold_given && ! override)
03639               continue;
03640             local_args_info.ransacSplineScoreThreshold_given = 1;
03641             args_info->ransacSplineScoreThreshold_given = 1;
03642             args_info->ransacSplineScoreThreshold_arg = strtod (optarg, &stop_char);
03643             if (!(stop_char && *stop_char == '\0')) {
03644               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03645               goto failure;
03646             }
03647             if (args_info->ransacSplineScoreThreshold_orig)
03648               free (args_info->ransacSplineScoreThreshold_orig); /* free previous string */
03649             args_info->ransacSplineScoreThreshold_orig = gengetopt_strdup (optarg);
03650           }
03651           /* Whether to binarize image for RANSAC or not.  */
03652           else if (strcmp (long_options[option_index].name, "ransacSplineBinarize") == 0)
03653           {
03654             if (local_args_info.ransacSplineBinarize_given)
03655               {
03656                 fprintf (stderr, "%s: `--ransacSplineBinarize' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03657                 goto failure;
03658               }
03659             if (args_info->ransacSplineBinarize_given && ! override)
03660               continue;
03661             local_args_info.ransacSplineBinarize_given = 1;
03662             args_info->ransacSplineBinarize_given = 1;
03663             args_info->ransacSplineBinarize_arg = strtol (optarg, &stop_char, 0);
03664             if (!(stop_char && *stop_char == '\0')) {
03665               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03666               goto failure;
03667             }
03668             if (args_info->ransacSplineBinarize_orig)
03669               free (args_info->ransacSplineBinarize_orig); /* free previous string */
03670             args_info->ransacSplineBinarize_orig = gengetopt_strdup (optarg);
03671           }
03672           /* Half width to use for ransac window.  */
03673           else if (strcmp (long_options[option_index].name, "ransacSplineWindow") == 0)
03674           {
03675             if (local_args_info.ransacSplineWindow_given)
03676               {
03677                 fprintf (stderr, "%s: `--ransacSplineWindow' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03678                 goto failure;
03679               }
03680             if (args_info->ransacSplineWindow_given && ! override)
03681               continue;
03682             local_args_info.ransacSplineWindow_given = 1;
03683             args_info->ransacSplineWindow_given = 1;
03684             args_info->ransacSplineWindow_arg = strtol (optarg, &stop_char, 0);
03685             if (!(stop_char && *stop_char == '\0')) {
03686               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03687               goto failure;
03688             }
03689             if (args_info->ransacSplineWindow_orig)
03690               free (args_info->ransacSplineWindow_orig); /* free previous string */
03691             args_info->ransacSplineWindow_orig = gengetopt_strdup (optarg);
03692           }
03693           /* Degree of spline to use.  */
03694           else if (strcmp (long_options[option_index].name, "ransacSplineDegree") == 0)
03695           {
03696             if (local_args_info.ransacSplineDegree_given)
03697               {
03698                 fprintf (stderr, "%s: `--ransacSplineDegree' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03699                 goto failure;
03700               }
03701             if (args_info->ransacSplineDegree_given && ! override)
03702               continue;
03703             local_args_info.ransacSplineDegree_given = 1;
03704             args_info->ransacSplineDegree_given = 1;
03705             args_info->ransacSplineDegree_arg = strtol (optarg, &stop_char, 0);
03706             if (!(stop_char && *stop_char == '\0')) {
03707               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03708               goto failure;
03709             }
03710             if (args_info->ransacSplineDegree_orig)
03711               free (args_info->ransacSplineDegree_orig); /* free previous string */
03712             args_info->ransacSplineDegree_orig = gengetopt_strdup (optarg);
03713           }
03714           /* Whether to use splines.  */
03715           else if (strcmp (long_options[option_index].name, "ransacSpline") == 0)
03716           {
03717             if (local_args_info.ransacSpline_given)
03718               {
03719                 fprintf (stderr, "%s: `--ransacSpline' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03720                 goto failure;
03721               }
03722             if (args_info->ransacSpline_given && ! override)
03723               continue;
03724             local_args_info.ransacSpline_given = 1;
03725             args_info->ransacSpline_given = 1;
03726             args_info->ransacSpline_arg = strtol (optarg, &stop_char, 0);
03727             if (!(stop_char && *stop_char == '\0')) {
03728               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03729               goto failure;
03730             }
03731             if (args_info->ransacSpline_orig)
03732               free (args_info->ransacSpline_orig); /* free previous string */
03733             args_info->ransacSpline_orig = gengetopt_strdup (optarg);
03734           }
03735           /* Whether to use lines.  */
03736           else if (strcmp (long_options[option_index].name, "ransacLine") == 0)
03737           {
03738             if (local_args_info.ransacLine_given)
03739               {
03740                 fprintf (stderr, "%s: `--ransacLine' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03741                 goto failure;
03742               }
03743             if (args_info->ransacLine_given && ! override)
03744               continue;
03745             local_args_info.ransacLine_given = 1;
03746             args_info->ransacLine_given = 1;
03747             args_info->ransacLine_arg = strtol (optarg, &stop_char, 0);
03748             if (!(stop_char && *stop_char == '\0')) {
03749               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03750               goto failure;
03751             }
03752             if (args_info->ransacLine_orig)
03753               free (args_info->ransacLine_orig); /* free previous string */
03754             args_info->ransacLine_orig = gengetopt_strdup (optarg);
03755           }
03756           /* Step to use when pixelzing spline in ransac.  */
03757           else if (strcmp (long_options[option_index].name, "ransacSplineStep") == 0)
03758           {
03759             if (local_args_info.ransacSplineStep_given)
03760               {
03761                 fprintf (stderr, "%s: `--ransacSplineStep' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03762                 goto failure;
03763               }
03764             if (args_info->ransacSplineStep_given && ! override)
03765               continue;
03766             local_args_info.ransacSplineStep_given = 1;
03767             args_info->ransacSplineStep_given = 1;
03768             args_info->ransacSplineStep_arg = (float)strtod (optarg, &stop_char);
03769             if (!(stop_char && *stop_char == '\0')) {
03770               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03771               goto failure;
03772             }
03773             if (args_info->ransacSplineStep_orig)
03774               free (args_info->ransacSplineStep_orig); /* free previous string */
03775             args_info->ransacSplineStep_orig = gengetopt_strdup (optarg);
03776           }
03777           /* Overlap threshold to use for grouping of bounding boxes.  */
03778           else if (strcmp (long_options[option_index].name, "overlapThreshold") == 0)
03779           {
03780             if (local_args_info.overlapThreshold_given)
03781               {
03782                 fprintf (stderr, "%s: `--overlapThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03783                 goto failure;
03784               }
03785             if (args_info->overlapThreshold_given && ! override)
03786               continue;
03787             local_args_info.overlapThreshold_given = 1;
03788             args_info->overlapThreshold_given = 1;
03789             args_info->overlapThreshold_arg = (float)strtod (optarg, &stop_char);
03790             if (!(stop_char && *stop_char == '\0')) {
03791               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03792               goto failure;
03793             }
03794             if (args_info->overlapThreshold_orig)
03795               free (args_info->overlapThreshold_orig); /* free previous string */
03796             args_info->overlapThreshold_orig = gengetopt_strdup (optarg);
03797           }
03798           /* Angle threshold used for localization (cosine, 1: most restrictive, 0: most liberal).  */
03799           else if (strcmp (long_options[option_index].name, "localizeAngleThreshold") == 0)
03800           {
03801             if (local_args_info.localizeAngleThreshold_given)
03802               {
03803                 fprintf (stderr, "%s: `--localizeAngleThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03804                 goto failure;
03805               }
03806             if (args_info->localizeAngleThreshold_given && ! override)
03807               continue;
03808             local_args_info.localizeAngleThreshold_given = 1;
03809             args_info->localizeAngleThreshold_given = 1;
03810             args_info->localizeAngleThreshold_arg = (float)strtod (optarg, &stop_char);
03811             if (!(stop_char && *stop_char == '\0')) {
03812               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03813               goto failure;
03814             }
03815             if (args_info->localizeAngleThreshold_orig)
03816               free (args_info->localizeAngleThreshold_orig); /* free previous string */
03817             args_info->localizeAngleThreshold_orig = gengetopt_strdup (optarg);
03818           }
03819           /* Number of pixels to go in normal direction for localization.  */
03820           else if (strcmp (long_options[option_index].name, "localizeNumLinePixels") == 0)
03821           {
03822             if (local_args_info.localizeNumLinePixels_given)
03823               {
03824                 fprintf (stderr, "%s: `--localizeNumLinePixels' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03825                 goto failure;
03826               }
03827             if (args_info->localizeNumLinePixels_given && ! override)
03828               continue;
03829             local_args_info.localizeNumLinePixels_given = 1;
03830             args_info->localizeNumLinePixels_given = 1;
03831             args_info->localizeNumLinePixels_arg = strtol (optarg, &stop_char, 0);
03832             if (!(stop_char && *stop_char == '\0')) {
03833               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03834               goto failure;
03835             }
03836             if (args_info->localizeNumLinePixels_orig)
03837               free (args_info->localizeNumLinePixels_orig); /* free previous string */
03838             args_info->localizeNumLinePixels_orig = gengetopt_strdup (optarg);
03839           }
03840           /* Angle threshold used for extending (cosine, 1: most restrictive, 0: most liberal).  */
03841           else if (strcmp (long_options[option_index].name, "extendAngleThreshold") == 0)
03842           {
03843             if (local_args_info.extendAngleThreshold_given)
03844               {
03845                 fprintf (stderr, "%s: `--extendAngleThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03846                 goto failure;
03847               }
03848             if (args_info->extendAngleThreshold_given && ! override)
03849               continue;
03850             local_args_info.extendAngleThreshold_given = 1;
03851             args_info->extendAngleThreshold_given = 1;
03852             args_info->extendAngleThreshold_arg = (float)strtod (optarg, &stop_char);
03853             if (!(stop_char && *stop_char == '\0')) {
03854               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03855               goto failure;
03856             }
03857             if (args_info->extendAngleThreshold_orig)
03858               free (args_info->extendAngleThreshold_orig); /* free previous string */
03859             args_info->extendAngleThreshold_orig = gengetopt_strdup (optarg);
03860           }
03861           /* Angle threshold from mean direction used for extending (cosine, 1: most restrictive, 0: most liberal).  */
03862           else if (strcmp (long_options[option_index].name, "extendMeanDirAngleThreshold") == 0)
03863           {
03864             if (local_args_info.extendMeanDirAngleThreshold_given)
03865               {
03866                 fprintf (stderr, "%s: `--extendMeanDirAngleThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03867                 goto failure;
03868               }
03869             if (args_info->extendMeanDirAngleThreshold_given && ! override)
03870               continue;
03871             local_args_info.extendMeanDirAngleThreshold_given = 1;
03872             args_info->extendMeanDirAngleThreshold_given = 1;
03873             args_info->extendMeanDirAngleThreshold_arg = (float)strtod (optarg, &stop_char);
03874             if (!(stop_char && *stop_char == '\0')) {
03875               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03876               goto failure;
03877             }
03878             if (args_info->extendMeanDirAngleThreshold_orig)
03879               free (args_info->extendMeanDirAngleThreshold_orig); /* free previous string */
03880             args_info->extendMeanDirAngleThreshold_orig = gengetopt_strdup (optarg);
03881           }
03882           /* Number of pixels to go in tangent direction for extending.  */
03883           else if (strcmp (long_options[option_index].name, "extendLinePixelsTangent") == 0)
03884           {
03885             if (local_args_info.extendLinePixelsTangent_given)
03886               {
03887                 fprintf (stderr, "%s: `--extendLinePixelsTangent' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03888                 goto failure;
03889               }
03890             if (args_info->extendLinePixelsTangent_given && ! override)
03891               continue;
03892             local_args_info.extendLinePixelsTangent_given = 1;
03893             args_info->extendLinePixelsTangent_given = 1;
03894             args_info->extendLinePixelsTangent_arg = strtol (optarg, &stop_char, 0);
03895             if (!(stop_char && *stop_char == '\0')) {
03896               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03897               goto failure;
03898             }
03899             if (args_info->extendLinePixelsTangent_orig)
03900               free (args_info->extendLinePixelsTangent_orig); /* free previous string */
03901             args_info->extendLinePixelsTangent_orig = gengetopt_strdup (optarg);
03902           }
03903           /* Number of pixels to go in tangent direction for extending.  */
03904           else if (strcmp (long_options[option_index].name, "extendLinePixelsNormal") == 0)
03905           {
03906             if (local_args_info.extendLinePixelsNormal_given)
03907               {
03908                 fprintf (stderr, "%s: `--extendLinePixelsNormal' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03909                 goto failure;
03910               }
03911             if (args_info->extendLinePixelsNormal_given && ! override)
03912               continue;
03913             local_args_info.extendLinePixelsNormal_given = 1;
03914             args_info->extendLinePixelsNormal_given = 1;
03915             args_info->extendLinePixelsNormal_arg = strtol (optarg, &stop_char, 0);
03916             if (!(stop_char && *stop_char == '\0')) {
03917               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03918               goto failure;
03919             }
03920             if (args_info->extendLinePixelsNormal_orig)
03921               free (args_info->extendLinePixelsNormal_orig); /* free previous string */
03922             args_info->extendLinePixelsNormal_orig = gengetopt_strdup (optarg);
03923           }
03924           /* Threhsold used for stopping the extending process (higher -> less extending).  */
03925           else if (strcmp (long_options[option_index].name, "extendContThreshold") == 0)
03926           {
03927             if (local_args_info.extendContThreshold_given)
03928               {
03929                 fprintf (stderr, "%s: `--extendContThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03930                 goto failure;
03931               }
03932             if (args_info->extendContThreshold_given && ! override)
03933               continue;
03934             local_args_info.extendContThreshold_given = 1;
03935             args_info->extendContThreshold_given = 1;
03936             args_info->extendContThreshold_arg = (float)strtod (optarg, &stop_char);
03937             if (!(stop_char && *stop_char == '\0')) {
03938               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03939               goto failure;
03940             }
03941             if (args_info->extendContThreshold_orig)
03942               free (args_info->extendContThreshold_orig); /* free previous string */
03943             args_info->extendContThreshold_orig = gengetopt_strdup (optarg);
03944           }
03945           /* Stop extending when number of deviating points exceeds this threshold.  */
03946           else if (strcmp (long_options[option_index].name, "extendDeviationThreshold") == 0)
03947           {
03948             if (local_args_info.extendDeviationThreshold_given)
03949               {
03950                 fprintf (stderr, "%s: `--extendDeviationThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03951                 goto failure;
03952               }
03953             if (args_info->extendDeviationThreshold_given && ! override)
03954               continue;
03955             local_args_info.extendDeviationThreshold_given = 1;
03956             args_info->extendDeviationThreshold_given = 1;
03957             args_info->extendDeviationThreshold_arg = strtol (optarg, &stop_char, 0);
03958             if (!(stop_char && *stop_char == '\0')) {
03959               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03960               goto failure;
03961             }
03962             if (args_info->extendDeviationThreshold_orig)
03963               free (args_info->extendDeviationThreshold_orig); /* free previous string */
03964             args_info->extendDeviationThreshold_orig = gengetopt_strdup (optarg);
03965           }
03966           /* Top point for extension bounding box.  */
03967           else if (strcmp (long_options[option_index].name, "extendRectTop") == 0)
03968           {
03969             if (local_args_info.extendRectTop_given)
03970               {
03971                 fprintf (stderr, "%s: `--extendRectTop' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03972                 goto failure;
03973               }
03974             if (args_info->extendRectTop_given && ! override)
03975               continue;
03976             local_args_info.extendRectTop_given = 1;
03977             args_info->extendRectTop_given = 1;
03978             args_info->extendRectTop_arg = strtol (optarg, &stop_char, 0);
03979             if (!(stop_char && *stop_char == '\0')) {
03980               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
03981               goto failure;
03982             }
03983             if (args_info->extendRectTop_orig)
03984               free (args_info->extendRectTop_orig); /* free previous string */
03985             args_info->extendRectTop_orig = gengetopt_strdup (optarg);
03986           }
03987           /* Bottom point for extension bounding box.  */
03988           else if (strcmp (long_options[option_index].name, "extendRectBottom") == 0)
03989           {
03990             if (local_args_info.extendRectBottom_given)
03991               {
03992                 fprintf (stderr, "%s: `--extendRectBottom' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
03993                 goto failure;
03994               }
03995             if (args_info->extendRectBottom_given && ! override)
03996               continue;
03997             local_args_info.extendRectBottom_given = 1;
03998             args_info->extendRectBottom_given = 1;
03999             args_info->extendRectBottom_arg = strtol (optarg, &stop_char, 0);
04000             if (!(stop_char && *stop_char == '\0')) {
04001               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04002               goto failure;
04003             }
04004             if (args_info->extendRectBottom_orig)
04005               free (args_info->extendRectBottom_orig); /* free previous string */
04006             args_info->extendRectBottom_orig = gengetopt_strdup (optarg);
04007           }
04008           /* Angle threshold used for extending (cosine, 1: most restrictive, 0: most liberal).  */
04009           else if (strcmp (long_options[option_index].name, "extendIPMAngleThreshold") == 0)
04010           {
04011             if (local_args_info.extendIPMAngleThreshold_given)
04012               {
04013                 fprintf (stderr, "%s: `--extendIPMAngleThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04014                 goto failure;
04015               }
04016             if (args_info->extendIPMAngleThreshold_given && ! override)
04017               continue;
04018             local_args_info.extendIPMAngleThreshold_given = 1;
04019             args_info->extendIPMAngleThreshold_given = 1;
04020             args_info->extendIPMAngleThreshold_arg = (float)strtod (optarg, &stop_char);
04021             if (!(stop_char && *stop_char == '\0')) {
04022               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04023               goto failure;
04024             }
04025             if (args_info->extendIPMAngleThreshold_orig)
04026               free (args_info->extendIPMAngleThreshold_orig); /* free previous string */
04027             args_info->extendIPMAngleThreshold_orig = gengetopt_strdup (optarg);
04028           }
04029           /* Angle threshold from mean direction used for extending (cosine, 1: most restrictive, 0: most liberal).  */
04030           else if (strcmp (long_options[option_index].name, "extendIPMMeanDirAngleThreshold") == 0)
04031           {
04032             if (local_args_info.extendIPMMeanDirAngleThreshold_given)
04033               {
04034                 fprintf (stderr, "%s: `--extendIPMMeanDirAngleThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04035                 goto failure;
04036               }
04037             if (args_info->extendIPMMeanDirAngleThreshold_given && ! override)
04038               continue;
04039             local_args_info.extendIPMMeanDirAngleThreshold_given = 1;
04040             args_info->extendIPMMeanDirAngleThreshold_given = 1;
04041             args_info->extendIPMMeanDirAngleThreshold_arg = (float)strtod (optarg, &stop_char);
04042             if (!(stop_char && *stop_char == '\0')) {
04043               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04044               goto failure;
04045             }
04046             if (args_info->extendIPMMeanDirAngleThreshold_orig)
04047               free (args_info->extendIPMMeanDirAngleThreshold_orig); /* free previous string */
04048             args_info->extendIPMMeanDirAngleThreshold_orig = gengetopt_strdup (optarg);
04049           }
04050           /* Number of pixels to go in tangent direction for extending.  */
04051           else if (strcmp (long_options[option_index].name, "extendIPMLinePixelsTangent") == 0)
04052           {
04053             if (local_args_info.extendIPMLinePixelsTangent_given)
04054               {
04055                 fprintf (stderr, "%s: `--extendIPMLinePixelsTangent' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04056                 goto failure;
04057               }
04058             if (args_info->extendIPMLinePixelsTangent_given && ! override)
04059               continue;
04060             local_args_info.extendIPMLinePixelsTangent_given = 1;
04061             args_info->extendIPMLinePixelsTangent_given = 1;
04062             args_info->extendIPMLinePixelsTangent_arg = strtol (optarg, &stop_char, 0);
04063             if (!(stop_char && *stop_char == '\0')) {
04064               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04065               goto failure;
04066             }
04067             if (args_info->extendIPMLinePixelsTangent_orig)
04068               free (args_info->extendIPMLinePixelsTangent_orig); /* free previous string */
04069             args_info->extendIPMLinePixelsTangent_orig = gengetopt_strdup (optarg);
04070           }
04071           /* Number of pixels to go in tangent direction for extending.  */
04072           else if (strcmp (long_options[option_index].name, "extendIPMLinePixelsNormal") == 0)
04073           {
04074             if (local_args_info.extendIPMLinePixelsNormal_given)
04075               {
04076                 fprintf (stderr, "%s: `--extendIPMLinePixelsNormal' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04077                 goto failure;
04078               }
04079             if (args_info->extendIPMLinePixelsNormal_given && ! override)
04080               continue;
04081             local_args_info.extendIPMLinePixelsNormal_given = 1;
04082             args_info->extendIPMLinePixelsNormal_given = 1;
04083             args_info->extendIPMLinePixelsNormal_arg = strtol (optarg, &stop_char, 0);
04084             if (!(stop_char && *stop_char == '\0')) {
04085               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04086               goto failure;
04087             }
04088             if (args_info->extendIPMLinePixelsNormal_orig)
04089               free (args_info->extendIPMLinePixelsNormal_orig); /* free previous string */
04090             args_info->extendIPMLinePixelsNormal_orig = gengetopt_strdup (optarg);
04091           }
04092           /* Threhsold used for stopping the extending process (higher -> less extending).  */
04093           else if (strcmp (long_options[option_index].name, "extendIPMContThreshold") == 0)
04094           {
04095             if (local_args_info.extendIPMContThreshold_given)
04096               {
04097                 fprintf (stderr, "%s: `--extendIPMContThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04098                 goto failure;
04099               }
04100             if (args_info->extendIPMContThreshold_given && ! override)
04101               continue;
04102             local_args_info.extendIPMContThreshold_given = 1;
04103             args_info->extendIPMContThreshold_given = 1;
04104             args_info->extendIPMContThreshold_arg = (float)strtod (optarg, &stop_char);
04105             if (!(stop_char && *stop_char == '\0')) {
04106               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04107               goto failure;
04108             }
04109             if (args_info->extendIPMContThreshold_orig)
04110               free (args_info->extendIPMContThreshold_orig); /* free previous string */
04111             args_info->extendIPMContThreshold_orig = gengetopt_strdup (optarg);
04112           }
04113           /* Stop extending when number of deviating points exceeds this threshold.  */
04114           else if (strcmp (long_options[option_index].name, "extendIPMDeviationThreshold") == 0)
04115           {
04116             if (local_args_info.extendIPMDeviationThreshold_given)
04117               {
04118                 fprintf (stderr, "%s: `--extendIPMDeviationThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04119                 goto failure;
04120               }
04121             if (args_info->extendIPMDeviationThreshold_given && ! override)
04122               continue;
04123             local_args_info.extendIPMDeviationThreshold_given = 1;
04124             args_info->extendIPMDeviationThreshold_given = 1;
04125             args_info->extendIPMDeviationThreshold_arg = strtol (optarg, &stop_char, 0);
04126             if (!(stop_char && *stop_char == '\0')) {
04127               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04128               goto failure;
04129             }
04130             if (args_info->extendIPMDeviationThreshold_orig)
04131               free (args_info->extendIPMDeviationThreshold_orig); /* free previous string */
04132             args_info->extendIPMDeviationThreshold_orig = gengetopt_strdup (optarg);
04133           }
04134           /* Top point for extension bounding box.  */
04135           else if (strcmp (long_options[option_index].name, "extendIPMRectTop") == 0)
04136           {
04137             if (local_args_info.extendIPMRectTop_given)
04138               {
04139                 fprintf (stderr, "%s: `--extendIPMRectTop' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04140                 goto failure;
04141               }
04142             if (args_info->extendIPMRectTop_given && ! override)
04143               continue;
04144             local_args_info.extendIPMRectTop_given = 1;
04145             args_info->extendIPMRectTop_given = 1;
04146             args_info->extendIPMRectTop_arg = strtol (optarg, &stop_char, 0);
04147             if (!(stop_char && *stop_char == '\0')) {
04148               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04149               goto failure;
04150             }
04151             if (args_info->extendIPMRectTop_orig)
04152               free (args_info->extendIPMRectTop_orig); /* free previous string */
04153             args_info->extendIPMRectTop_orig = gengetopt_strdup (optarg);
04154           }
04155           /* Bottom point for extension bounding box.  */
04156           else if (strcmp (long_options[option_index].name, "extendIPMRectBottom") == 0)
04157           {
04158             if (local_args_info.extendIPMRectBottom_given)
04159               {
04160                 fprintf (stderr, "%s: `--extendIPMRectBottom' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04161                 goto failure;
04162               }
04163             if (args_info->extendIPMRectBottom_given && ! override)
04164               continue;
04165             local_args_info.extendIPMRectBottom_given = 1;
04166             args_info->extendIPMRectBottom_given = 1;
04167             args_info->extendIPMRectBottom_arg = strtol (optarg, &stop_char, 0);
04168             if (!(stop_char && *stop_char == '\0')) {
04169               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04170               goto failure;
04171             }
04172             if (args_info->extendIPMRectBottom_orig)
04173               free (args_info->extendIPMRectBottom_orig); /* free previous string */
04174             args_info->extendIPMRectBottom_orig = gengetopt_strdup (optarg);
04175           }
04176           /* Number of pixels to go around the spline to compute score.  */
04177           else if (strcmp (long_options[option_index].name, "splineScoreJitter") == 0)
04178           {
04179             if (local_args_info.splineScoreJitter_given)
04180               {
04181                 fprintf (stderr, "%s: `--splineScoreJitter' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04182                 goto failure;
04183               }
04184             if (args_info->splineScoreJitter_given && ! override)
04185               continue;
04186             local_args_info.splineScoreJitter_given = 1;
04187             args_info->splineScoreJitter_given = 1;
04188             args_info->splineScoreJitter_arg = strtol (optarg, &stop_char, 0);
04189             if (!(stop_char && *stop_char == '\0')) {
04190               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04191               goto failure;
04192             }
04193             if (args_info->splineScoreJitter_orig)
04194               free (args_info->splineScoreJitter_orig); /* free previous string */
04195             args_info->splineScoreJitter_orig = gengetopt_strdup (optarg);
04196           }
04197           /* Ratio of spline length to use.  */
04198           else if (strcmp (long_options[option_index].name, "splineScoreLengthRatio") == 0)
04199           {
04200             if (local_args_info.splineScoreLengthRatio_given)
04201               {
04202                 fprintf (stderr, "%s: `--splineScoreLengthRatio' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04203                 goto failure;
04204               }
04205             if (args_info->splineScoreLengthRatio_given && ! override)
04206               continue;
04207             local_args_info.splineScoreLengthRatio_given = 1;
04208             args_info->splineScoreLengthRatio_given = 1;
04209             args_info->splineScoreLengthRatio_arg = (float)strtod (optarg, &stop_char);
04210             if (!(stop_char && *stop_char == '\0')) {
04211               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04212               goto failure;
04213             }
04214             if (args_info->splineScoreLengthRatio_orig)
04215               free (args_info->splineScoreLengthRatio_orig); /* free previous string */
04216             args_info->splineScoreLengthRatio_orig = gengetopt_strdup (optarg);
04217           }
04218           /* Ratio of spline angle to use.  */
04219           else if (strcmp (long_options[option_index].name, "splineScoreAngleRatio") == 0)
04220           {
04221             if (local_args_info.splineScoreAngleRatio_given)
04222               {
04223                 fprintf (stderr, "%s: `--splineScoreAngleRatio' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04224                 goto failure;
04225               }
04226             if (args_info->splineScoreAngleRatio_given && ! override)
04227               continue;
04228             local_args_info.splineScoreAngleRatio_given = 1;
04229             args_info->splineScoreAngleRatio_given = 1;
04230             args_info->splineScoreAngleRatio_arg = (float)strtod (optarg, &stop_char);
04231             if (!(stop_char && *stop_char == '\0')) {
04232               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04233               goto failure;
04234             }
04235             if (args_info->splineScoreAngleRatio_orig)
04236               free (args_info->splineScoreAngleRatio_orig); /* free previous string */
04237             args_info->splineScoreAngleRatio_orig = gengetopt_strdup (optarg);
04238           }
04239           /* Step to use for spline score computation.  */
04240           else if (strcmp (long_options[option_index].name, "splineScoreStep") == 0)
04241           {
04242             if (local_args_info.splineScoreStep_given)
04243               {
04244                 fprintf (stderr, "%s: `--splineScoreStep' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04245                 goto failure;
04246               }
04247             if (args_info->splineScoreStep_given && ! override)
04248               continue;
04249             local_args_info.splineScoreStep_given = 1;
04250             args_info->splineScoreStep_given = 1;
04251             args_info->splineScoreStep_arg = (float)strtod (optarg, &stop_char);
04252             if (!(stop_char && *stop_char == '\0')) {
04253               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04254               goto failure;
04255             }
04256             if (args_info->splineScoreStep_orig)
04257               free (args_info->splineScoreStep_orig); /* free previous string */
04258             args_info->splineScoreStep_orig = gengetopt_strdup (optarg);
04259           }
04260           /* number of frames the track is allowed to be absent before deleting it.  */
04261           else if (strcmp (long_options[option_index].name, "splineTrackingNumAbsentFrames") == 0)
04262           {
04263             if (local_args_info.splineTrackingNumAbsentFrames_given)
04264               {
04265                 fprintf (stderr, "%s: `--splineTrackingNumAbsentFrames' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04266                 goto failure;
04267               }
04268             if (args_info->splineTrackingNumAbsentFrames_given && ! override)
04269               continue;
04270             local_args_info.splineTrackingNumAbsentFrames_given = 1;
04271             args_info->splineTrackingNumAbsentFrames_given = 1;
04272             args_info->splineTrackingNumAbsentFrames_arg = strtol (optarg, &stop_char, 0);
04273             if (!(stop_char && *stop_char == '\0')) {
04274               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04275               goto failure;
04276             }
04277             if (args_info->splineTrackingNumAbsentFrames_orig)
04278               free (args_info->splineTrackingNumAbsentFrames_orig); /* free previous string */
04279             args_info->splineTrackingNumAbsentFrames_orig = gengetopt_strdup (optarg);
04280           }
04281           /* number of frames before considering the track good.  */
04282           else if (strcmp (long_options[option_index].name, "splineTrackingNumSeenFrames") == 0)
04283           {
04284             if (local_args_info.splineTrackingNumSeenFrames_given)
04285               {
04286                 fprintf (stderr, "%s: `--splineTrackingNumSeenFrames' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04287                 goto failure;
04288               }
04289             if (args_info->splineTrackingNumSeenFrames_given && ! override)
04290               continue;
04291             local_args_info.splineTrackingNumSeenFrames_given = 1;
04292             args_info->splineTrackingNumSeenFrames_given = 1;
04293             args_info->splineTrackingNumSeenFrames_arg = strtol (optarg, &stop_char, 0);
04294             if (!(stop_char && *stop_char == '\0')) {
04295               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04296               goto failure;
04297             }
04298             if (args_info->splineTrackingNumSeenFrames_orig)
04299               free (args_info->splineTrackingNumSeenFrames_orig); /* free previous string */
04300             args_info->splineTrackingNumSeenFrames_orig = gengetopt_strdup (optarg);
04301           }
04302           /* Angle threshold for merging splines (radians).  */
04303           else if (strcmp (long_options[option_index].name, "mergeSplineThetaThreshold") == 0)
04304           {
04305             if (local_args_info.mergeSplineThetaThreshold_given)
04306               {
04307                 fprintf (stderr, "%s: `--mergeSplineThetaThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04308                 goto failure;
04309               }
04310             if (args_info->mergeSplineThetaThreshold_given && ! override)
04311               continue;
04312             local_args_info.mergeSplineThetaThreshold_given = 1;
04313             args_info->mergeSplineThetaThreshold_given = 1;
04314             args_info->mergeSplineThetaThreshold_arg = (float)strtod (optarg, &stop_char);
04315             if (!(stop_char && *stop_char == '\0')) {
04316               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04317               goto failure;
04318             }
04319             if (args_info->mergeSplineThetaThreshold_orig)
04320               free (args_info->mergeSplineThetaThreshold_orig); /* free previous string */
04321             args_info->mergeSplineThetaThreshold_orig = gengetopt_strdup (optarg);
04322           }
04323           /* R threshold (distance from origin) for merginn splines.  */
04324           else if (strcmp (long_options[option_index].name, "mergeSplineRThreshold") == 0)
04325           {
04326             if (local_args_info.mergeSplineRThreshold_given)
04327               {
04328                 fprintf (stderr, "%s: `--mergeSplineRThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04329                 goto failure;
04330               }
04331             if (args_info->mergeSplineRThreshold_given && ! override)
04332               continue;
04333             local_args_info.mergeSplineRThreshold_given = 1;
04334             args_info->mergeSplineRThreshold_given = 1;
04335             args_info->mergeSplineRThreshold_arg = (float)strtod (optarg, &stop_char);
04336             if (!(stop_char && *stop_char == '\0')) {
04337               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04338               goto failure;
04339             }
04340             if (args_info->mergeSplineRThreshold_orig)
04341               free (args_info->mergeSplineRThreshold_orig); /* free previous string */
04342             args_info->mergeSplineRThreshold_orig = gengetopt_strdup (optarg);
04343           }
04344           /* Mean Angle threshold for merging splines (radians).  */
04345           else if (strcmp (long_options[option_index].name, "mergeSplineMeanThetaThreshold") == 0)
04346           {
04347             if (local_args_info.mergeSplineMeanThetaThreshold_given)
04348               {
04349                 fprintf (stderr, "%s: `--mergeSplineMeanThetaThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04350                 goto failure;
04351               }
04352             if (args_info->mergeSplineMeanThetaThreshold_given && ! override)
04353               continue;
04354             local_args_info.mergeSplineMeanThetaThreshold_given = 1;
04355             args_info->mergeSplineMeanThetaThreshold_given = 1;
04356             args_info->mergeSplineMeanThetaThreshold_arg = (float)strtod (optarg, &stop_char);
04357             if (!(stop_char && *stop_char == '\0')) {
04358               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04359               goto failure;
04360             }
04361             if (args_info->mergeSplineMeanThetaThreshold_orig)
04362               free (args_info->mergeSplineMeanThetaThreshold_orig); /* free previous string */
04363             args_info->mergeSplineMeanThetaThreshold_orig = gengetopt_strdup (optarg);
04364           }
04365           /* Mean R threshold (distance from origin) for merginn splines.  */
04366           else if (strcmp (long_options[option_index].name, "mergeSplineMeanRThreshold") == 0)
04367           {
04368             if (local_args_info.mergeSplineMeanRThreshold_given)
04369               {
04370                 fprintf (stderr, "%s: `--mergeSplineMeanRThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04371                 goto failure;
04372               }
04373             if (args_info->mergeSplineMeanRThreshold_given && ! override)
04374               continue;
04375             local_args_info.mergeSplineMeanRThreshold_given = 1;
04376             args_info->mergeSplineMeanRThreshold_given = 1;
04377             args_info->mergeSplineMeanRThreshold_arg = (float)strtod (optarg, &stop_char);
04378             if (!(stop_char && *stop_char == '\0')) {
04379               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04380               goto failure;
04381             }
04382             if (args_info->mergeSplineMeanRThreshold_orig)
04383               free (args_info->mergeSplineMeanRThreshold_orig); /* free previous string */
04384             args_info->mergeSplineMeanRThreshold_orig = gengetopt_strdup (optarg);
04385           }
04386           /* Distance threshold between spline cetroids for merging.  */
04387           else if (strcmp (long_options[option_index].name, "mergeSplineCentroidThreshold") == 0)
04388           {
04389             if (local_args_info.mergeSplineCentroidThreshold_given)
04390               {
04391                 fprintf (stderr, "%s: `--mergeSplineCentroidThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04392                 goto failure;
04393               }
04394             if (args_info->mergeSplineCentroidThreshold_given && ! override)
04395               continue;
04396             local_args_info.mergeSplineCentroidThreshold_given = 1;
04397             args_info->mergeSplineCentroidThreshold_given = 1;
04398             args_info->mergeSplineCentroidThreshold_arg = (float)strtod (optarg, &stop_char);
04399             if (!(stop_char && *stop_char == '\0')) {
04400               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04401               goto failure;
04402             }
04403             if (args_info->mergeSplineCentroidThreshold_orig)
04404               free (args_info->mergeSplineCentroidThreshold_orig); /* free previous string */
04405             args_info->mergeSplineCentroidThreshold_orig = gengetopt_strdup (optarg);
04406           }
04407           /* number of frames the track is allowed to be absent before deleting it.  */
04408           else if (strcmp (long_options[option_index].name, "lineTrackingNumAbsentFrames") == 0)
04409           {
04410             if (local_args_info.lineTrackingNumAbsentFrames_given)
04411               {
04412                 fprintf (stderr, "%s: `--lineTrackingNumAbsentFrames' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04413                 goto failure;
04414               }
04415             if (args_info->lineTrackingNumAbsentFrames_given && ! override)
04416               continue;
04417             local_args_info.lineTrackingNumAbsentFrames_given = 1;
04418             args_info->lineTrackingNumAbsentFrames_given = 1;
04419             args_info->lineTrackingNumAbsentFrames_arg = strtol (optarg, &stop_char, 0);
04420             if (!(stop_char && *stop_char == '\0')) {
04421               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04422               goto failure;
04423             }
04424             if (args_info->lineTrackingNumAbsentFrames_orig)
04425               free (args_info->lineTrackingNumAbsentFrames_orig); /* free previous string */
04426             args_info->lineTrackingNumAbsentFrames_orig = gengetopt_strdup (optarg);
04427           }
04428           /* number of frames before considering the track good.  */
04429           else if (strcmp (long_options[option_index].name, "lineTrackingNumSeenFrames") == 0)
04430           {
04431             if (local_args_info.lineTrackingNumSeenFrames_given)
04432               {
04433                 fprintf (stderr, "%s: `--lineTrackingNumSeenFrames' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04434                 goto failure;
04435               }
04436             if (args_info->lineTrackingNumSeenFrames_given && ! override)
04437               continue;
04438             local_args_info.lineTrackingNumSeenFrames_given = 1;
04439             args_info->lineTrackingNumSeenFrames_given = 1;
04440             args_info->lineTrackingNumSeenFrames_arg = strtol (optarg, &stop_char, 0);
04441             if (!(stop_char && *stop_char == '\0')) {
04442               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04443               goto failure;
04444             }
04445             if (args_info->lineTrackingNumSeenFrames_orig)
04446               free (args_info->lineTrackingNumSeenFrames_orig); /* free previous string */
04447             args_info->lineTrackingNumSeenFrames_orig = gengetopt_strdup (optarg);
04448           }
04449           /* Angle threshold for merging lines (radians).  */
04450           else if (strcmp (long_options[option_index].name, "mergeLineThetaThreshold") == 0)
04451           {
04452             if (local_args_info.mergeLineThetaThreshold_given)
04453               {
04454                 fprintf (stderr, "%s: `--mergeLineThetaThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04455                 goto failure;
04456               }
04457             if (args_info->mergeLineThetaThreshold_given && ! override)
04458               continue;
04459             local_args_info.mergeLineThetaThreshold_given = 1;
04460             args_info->mergeLineThetaThreshold_given = 1;
04461             args_info->mergeLineThetaThreshold_arg = (float)strtod (optarg, &stop_char);
04462             if (!(stop_char && *stop_char == '\0')) {
04463               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04464               goto failure;
04465             }
04466             if (args_info->mergeLineThetaThreshold_orig)
04467               free (args_info->mergeLineThetaThreshold_orig); /* free previous string */
04468             args_info->mergeLineThetaThreshold_orig = gengetopt_strdup (optarg);
04469           }
04470           /* R threshold (distance from origin) for merging lines.  */
04471           else if (strcmp (long_options[option_index].name, "mergeLineRThreshold") == 0)
04472           {
04473             if (local_args_info.mergeLineRThreshold_given)
04474               {
04475                 fprintf (stderr, "%s: `--mergeLineRThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04476                 goto failure;
04477               }
04478             if (args_info->mergeLineRThreshold_given && ! override)
04479               continue;
04480             local_args_info.mergeLineRThreshold_given = 1;
04481             args_info->mergeLineRThreshold_given = 1;
04482             args_info->mergeLineRThreshold_arg = (float)strtod (optarg, &stop_char);
04483             if (!(stop_char && *stop_char == '\0')) {
04484               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04485               goto failure;
04486             }
04487             if (args_info->mergeLineRThreshold_orig)
04488               free (args_info->mergeLineRThreshold_orig); /* free previous string */
04489             args_info->mergeLineRThreshold_orig = gengetopt_strdup (optarg);
04490           }
04491           /* Number of horizontal strips to divide the image to.  */
04492           else if (strcmp (long_options[option_index].name, "numStrips") == 0)
04493           {
04494             if (local_args_info.numStrips_given)
04495               {
04496                 fprintf (stderr, "%s: `--numStrips' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04497                 goto failure;
04498               }
04499             if (args_info->numStrips_given && ! override)
04500               continue;
04501             local_args_info.numStrips_given = 1;
04502             args_info->numStrips_given = 1;
04503             args_info->numStrips_arg = strtol (optarg, &stop_char, 0);
04504             if (!(stop_char && *stop_char == '\0')) {
04505               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04506               goto failure;
04507             }
04508             if (args_info->numStrips_orig)
04509               free (args_info->numStrips_orig); /* free previous string */
04510             args_info->numStrips_orig = gengetopt_strdup (optarg);
04511           }
04512           /* Whtethet to check splines or not.  */
04513           else if (strcmp (long_options[option_index].name, "checkSplines") == 0)
04514           {
04515             if (local_args_info.checkSplines_given)
04516               {
04517                 fprintf (stderr, "%s: `--checkSplines' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04518                 goto failure;
04519               }
04520             if (args_info->checkSplines_given && ! override)
04521               continue;
04522             local_args_info.checkSplines_given = 1;
04523             args_info->checkSplines_given = 1;
04524             args_info->checkSplines_arg = strtol (optarg, &stop_char, 0);
04525             if (!(stop_char && *stop_char == '\0')) {
04526               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04527               goto failure;
04528             }
04529             if (args_info->checkSplines_orig)
04530               free (args_info->checkSplines_orig); /* free previous string */
04531             args_info->checkSplines_orig = gengetopt_strdup (optarg);
04532           }
04533           /* Curveness Threshold for checking splines.  */
04534           else if (strcmp (long_options[option_index].name, "checkSplinesCurvenessThreshold") == 0)
04535           {
04536             if (local_args_info.checkSplinesCurvenessThreshold_given)
04537               {
04538                 fprintf (stderr, "%s: `--checkSplinesCurvenessThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04539                 goto failure;
04540               }
04541             if (args_info->checkSplinesCurvenessThreshold_given && ! override)
04542               continue;
04543             local_args_info.checkSplinesCurvenessThreshold_given = 1;
04544             args_info->checkSplinesCurvenessThreshold_given = 1;
04545             args_info->checkSplinesCurvenessThreshold_arg = (float)strtod (optarg, &stop_char);
04546             if (!(stop_char && *stop_char == '\0')) {
04547               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04548               goto failure;
04549             }
04550             if (args_info->checkSplinesCurvenessThreshold_orig)
04551               free (args_info->checkSplinesCurvenessThreshold_orig); /* free previous string */
04552             args_info->checkSplinesCurvenessThreshold_orig = gengetopt_strdup (optarg);
04553           }
04554           /* Length Threshold for checking splines.  */
04555           else if (strcmp (long_options[option_index].name, "checkSplinesLengthThreshold") == 0)
04556           {
04557             if (local_args_info.checkSplinesLengthThreshold_given)
04558               {
04559                 fprintf (stderr, "%s: `--checkSplinesLengthThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04560                 goto failure;
04561               }
04562             if (args_info->checkSplinesLengthThreshold_given && ! override)
04563               continue;
04564             local_args_info.checkSplinesLengthThreshold_given = 1;
04565             args_info->checkSplinesLengthThreshold_given = 1;
04566             args_info->checkSplinesLengthThreshold_arg = (float)strtod (optarg, &stop_char);
04567             if (!(stop_char && *stop_char == '\0')) {
04568               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04569               goto failure;
04570             }
04571             if (args_info->checkSplinesLengthThreshold_orig)
04572               free (args_info->checkSplinesLengthThreshold_orig); /* free previous string */
04573             args_info->checkSplinesLengthThreshold_orig = gengetopt_strdup (optarg);
04574           }
04575           /* ThetaDiff Threshold for checking splines.  */
04576           else if (strcmp (long_options[option_index].name, "checkSplinesThetaDiffThreshold") == 0)
04577           {
04578             if (local_args_info.checkSplinesThetaDiffThreshold_given)
04579               {
04580                 fprintf (stderr, "%s: `--checkSplinesThetaDiffThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04581                 goto failure;
04582               }
04583             if (args_info->checkSplinesThetaDiffThreshold_given && ! override)
04584               continue;
04585             local_args_info.checkSplinesThetaDiffThreshold_given = 1;
04586             args_info->checkSplinesThetaDiffThreshold_given = 1;
04587             args_info->checkSplinesThetaDiffThreshold_arg = (float)strtod (optarg, &stop_char);
04588             if (!(stop_char && *stop_char == '\0')) {
04589               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04590               goto failure;
04591             }
04592             if (args_info->checkSplinesThetaDiffThreshold_orig)
04593               free (args_info->checkSplinesThetaDiffThreshold_orig); /* free previous string */
04594             args_info->checkSplinesThetaDiffThreshold_orig = gengetopt_strdup (optarg);
04595           }
04596           /* ThetaThreshold Threshold for checking splines.  */
04597           else if (strcmp (long_options[option_index].name, "checkSplinesThetaThreshold") == 0)
04598           {
04599             if (local_args_info.checkSplinesThetaThreshold_given)
04600               {
04601                 fprintf (stderr, "%s: `--checkSplinesThetaThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04602                 goto failure;
04603               }
04604             if (args_info->checkSplinesThetaThreshold_given && ! override)
04605               continue;
04606             local_args_info.checkSplinesThetaThreshold_given = 1;
04607             args_info->checkSplinesThetaThreshold_given = 1;
04608             args_info->checkSplinesThetaThreshold_arg = (float)strtod (optarg, &stop_char);
04609             if (!(stop_char && *stop_char == '\0')) {
04610               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04611               goto failure;
04612             }
04613             if (args_info->checkSplinesThetaThreshold_orig)
04614               free (args_info->checkSplinesThetaThreshold_orig); /* free previous string */
04615             args_info->checkSplinesThetaThreshold_orig = gengetopt_strdup (optarg);
04616           }
04617           /* Whtethet to check IPM splines or not.  */
04618           else if (strcmp (long_options[option_index].name, "checkIPMSplines") == 0)
04619           {
04620             if (local_args_info.checkIPMSplines_given)
04621               {
04622                 fprintf (stderr, "%s: `--checkIPMSplines' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04623                 goto failure;
04624               }
04625             if (args_info->checkIPMSplines_given && ! override)
04626               continue;
04627             local_args_info.checkIPMSplines_given = 1;
04628             args_info->checkIPMSplines_given = 1;
04629             args_info->checkIPMSplines_arg = strtol (optarg, &stop_char, 0);
04630             if (!(stop_char && *stop_char == '\0')) {
04631               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04632               goto failure;
04633             }
04634             if (args_info->checkIPMSplines_orig)
04635               free (args_info->checkIPMSplines_orig); /* free previous string */
04636             args_info->checkIPMSplines_orig = gengetopt_strdup (optarg);
04637           }
04638           /* Curveness Threshold for checking splines.  */
04639           else if (strcmp (long_options[option_index].name, "checkIPMSplinesCurvenessThreshold") == 0)
04640           {
04641             if (local_args_info.checkIPMSplinesCurvenessThreshold_given)
04642               {
04643                 fprintf (stderr, "%s: `--checkIPMSplinesCurvenessThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04644                 goto failure;
04645               }
04646             if (args_info->checkIPMSplinesCurvenessThreshold_given && ! override)
04647               continue;
04648             local_args_info.checkIPMSplinesCurvenessThreshold_given = 1;
04649             args_info->checkIPMSplinesCurvenessThreshold_given = 1;
04650             args_info->checkIPMSplinesCurvenessThreshold_arg = (float)strtod (optarg, &stop_char);
04651             if (!(stop_char && *stop_char == '\0')) {
04652               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04653               goto failure;
04654             }
04655             if (args_info->checkIPMSplinesCurvenessThreshold_orig)
04656               free (args_info->checkIPMSplinesCurvenessThreshold_orig); /* free previous string */
04657             args_info->checkIPMSplinesCurvenessThreshold_orig = gengetopt_strdup (optarg);
04658           }
04659           /* Length Threshold for checking splines.  */
04660           else if (strcmp (long_options[option_index].name, "checkIPMSplinesLengthThreshold") == 0)
04661           {
04662             if (local_args_info.checkIPMSplinesLengthThreshold_given)
04663               {
04664                 fprintf (stderr, "%s: `--checkIPMSplinesLengthThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04665                 goto failure;
04666               }
04667             if (args_info->checkIPMSplinesLengthThreshold_given && ! override)
04668               continue;
04669             local_args_info.checkIPMSplinesLengthThreshold_given = 1;
04670             args_info->checkIPMSplinesLengthThreshold_given = 1;
04671             args_info->checkIPMSplinesLengthThreshold_arg = (float)strtod (optarg, &stop_char);
04672             if (!(stop_char && *stop_char == '\0')) {
04673               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04674               goto failure;
04675             }
04676             if (args_info->checkIPMSplinesLengthThreshold_orig)
04677               free (args_info->checkIPMSplinesLengthThreshold_orig); /* free previous string */
04678             args_info->checkIPMSplinesLengthThreshold_orig = gengetopt_strdup (optarg);
04679           }
04680           /* ThetaDiff Threshold for checking splines.  */
04681           else if (strcmp (long_options[option_index].name, "checkIPMSplinesThetaDiffThreshold") == 0)
04682           {
04683             if (local_args_info.checkIPMSplinesThetaDiffThreshold_given)
04684               {
04685                 fprintf (stderr, "%s: `--checkIPMSplinesThetaDiffThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04686                 goto failure;
04687               }
04688             if (args_info->checkIPMSplinesThetaDiffThreshold_given && ! override)
04689               continue;
04690             local_args_info.checkIPMSplinesThetaDiffThreshold_given = 1;
04691             args_info->checkIPMSplinesThetaDiffThreshold_given = 1;
04692             args_info->checkIPMSplinesThetaDiffThreshold_arg = (float)strtod (optarg, &stop_char);
04693             if (!(stop_char && *stop_char == '\0')) {
04694               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04695               goto failure;
04696             }
04697             if (args_info->checkIPMSplinesThetaDiffThreshold_orig)
04698               free (args_info->checkIPMSplinesThetaDiffThreshold_orig); /* free previous string */
04699             args_info->checkIPMSplinesThetaDiffThreshold_orig = gengetopt_strdup (optarg);
04700           }
04701           /* ThetaThreshold Threshold for checking splines.  */
04702           else if (strcmp (long_options[option_index].name, "checkIPMSplinesThetaThreshold") == 0)
04703           {
04704             if (local_args_info.checkIPMSplinesThetaThreshold_given)
04705               {
04706                 fprintf (stderr, "%s: `--checkIPMSplinesThetaThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04707                 goto failure;
04708               }
04709             if (args_info->checkIPMSplinesThetaThreshold_given && ! override)
04710               continue;
04711             local_args_info.checkIPMSplinesThetaThreshold_given = 1;
04712             args_info->checkIPMSplinesThetaThreshold_given = 1;
04713             args_info->checkIPMSplinesThetaThreshold_arg = (float)strtod (optarg, &stop_char);
04714             if (!(stop_char && *stop_char == '\0')) {
04715               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04716               goto failure;
04717             }
04718             if (args_info->checkIPMSplinesThetaThreshold_orig)
04719               free (args_info->checkIPMSplinesThetaThreshold_orig); /* free previous string */
04720             args_info->checkIPMSplinesThetaThreshold_orig = gengetopt_strdup (optarg);
04721           }
04722           /* Final Threshold for declaring a valid spline.  */
04723           else if (strcmp (long_options[option_index].name, "finalSplineScoreThreshold") == 0)
04724           {
04725             if (local_args_info.finalSplineScoreThreshold_given)
04726               {
04727                 fprintf (stderr, "%s: `--finalSplineScoreThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04728                 goto failure;
04729               }
04730             if (args_info->finalSplineScoreThreshold_given && ! override)
04731               continue;
04732             local_args_info.finalSplineScoreThreshold_given = 1;
04733             args_info->finalSplineScoreThreshold_given = 1;
04734             args_info->finalSplineScoreThreshold_arg = (float)strtod (optarg, &stop_char);
04735             if (!(stop_char && *stop_char == '\0')) {
04736               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04737               goto failure;
04738             }
04739             if (args_info->finalSplineScoreThreshold_orig)
04740               free (args_info->finalSplineScoreThreshold_orig); /* free previous string */
04741             args_info->finalSplineScoreThreshold_orig = gengetopt_strdup (optarg);
04742           }
04743           /* Use groudn plane or not when sending to map.  */
04744           else if (strcmp (long_options[option_index].name, "useGroundPlane") == 0)
04745           {
04746             if (local_args_info.useGroundPlane_given)
04747               {
04748                 fprintf (stderr, "%s: `--useGroundPlane' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04749                 goto failure;
04750               }
04751             if (args_info->useGroundPlane_given && ! override)
04752               continue;
04753             local_args_info.useGroundPlane_given = 1;
04754             args_info->useGroundPlane_given = 1;
04755             args_info->useGroundPlane_arg = strtol (optarg, &stop_char, 0);
04756             if (!(stop_char && *stop_char == '\0')) {
04757               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04758               goto failure;
04759             }
04760             if (args_info->useGroundPlane_orig)
04761               free (args_info->useGroundPlane_orig); /* free previous string */
04762             args_info->useGroundPlane_orig = gengetopt_strdup (optarg);
04763           }
04764           /* Whether to check colors or not.  */
04765           else if (strcmp (long_options[option_index].name, "checkColor") == 0)
04766           {
04767             if (local_args_info.checkColor_given)
04768               {
04769                 fprintf (stderr, "%s: `--checkColor' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04770                 goto failure;
04771               }
04772             if (args_info->checkColor_given && ! override)
04773               continue;
04774             local_args_info.checkColor_given = 1;
04775             args_info->checkColor_given = 1;
04776             args_info->checkColor_arg = strtol (optarg, &stop_char, 0);
04777             if (!(stop_char && *stop_char == '\0')) {
04778               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04779               goto failure;
04780             }
04781             if (args_info->checkColor_orig)
04782               free (args_info->checkColor_orig); /* free previous string */
04783             args_info->checkColor_orig = gengetopt_strdup (optarg);
04784           }
04785           /* Size of window to use.  */
04786           else if (strcmp (long_options[option_index].name, "checkColorWindow") == 0)
04787           {
04788             if (local_args_info.checkColorWindow_given)
04789               {
04790                 fprintf (stderr, "%s: `--checkColorWindow' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04791                 goto failure;
04792               }
04793             if (args_info->checkColorWindow_given && ! override)
04794               continue;
04795             local_args_info.checkColorWindow_given = 1;
04796             args_info->checkColorWindow_given = 1;
04797             args_info->checkColorWindow_arg = strtol (optarg, &stop_char, 0);
04798             if (!(stop_char && *stop_char == '\0')) {
04799               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04800               goto failure;
04801             }
04802             if (args_info->checkColorWindow_orig)
04803               free (args_info->checkColorWindow_orig); /* free previous string */
04804             args_info->checkColorWindow_orig = gengetopt_strdup (optarg);
04805           }
04806           /* Number of bins to use.  */
04807           else if (strcmp (long_options[option_index].name, "checkColorNumBins") == 0)
04808           {
04809             if (local_args_info.checkColorNumBins_given)
04810               {
04811                 fprintf (stderr, "%s: `--checkColorNumBins' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04812                 goto failure;
04813               }
04814             if (args_info->checkColorNumBins_given && ! override)
04815               continue;
04816             local_args_info.checkColorNumBins_given = 1;
04817             args_info->checkColorNumBins_given = 1;
04818             args_info->checkColorNumBins_arg = strtol (optarg, &stop_char, 0);
04819             if (!(stop_char && *stop_char == '\0')) {
04820               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04821               goto failure;
04822             }
04823             if (args_info->checkColorNumBins_orig)
04824               free (args_info->checkColorNumBins_orig); /* free previous string */
04825             args_info->checkColorNumBins_orig = gengetopt_strdup (optarg);
04826           }
04827           /* Min ratio of yellow points.  */
04828           else if (strcmp (long_options[option_index].name, "checkColorNumYellowMin") == 0)
04829           {
04830             if (local_args_info.checkColorNumYellowMin_given)
04831               {
04832                 fprintf (stderr, "%s: `--checkColorNumYellowMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04833                 goto failure;
04834               }
04835             if (args_info->checkColorNumYellowMin_given && ! override)
04836               continue;
04837             local_args_info.checkColorNumYellowMin_given = 1;
04838             args_info->checkColorNumYellowMin_given = 1;
04839             args_info->checkColorNumYellowMin_arg = (float)strtod (optarg, &stop_char);
04840             if (!(stop_char && *stop_char == '\0')) {
04841               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04842               goto failure;
04843             }
04844             if (args_info->checkColorNumYellowMin_orig)
04845               free (args_info->checkColorNumYellowMin_orig); /* free previous string */
04846             args_info->checkColorNumYellowMin_orig = gengetopt_strdup (optarg);
04847           }
04848           /* Min RG diff.  */
04849           else if (strcmp (long_options[option_index].name, "checkColorRGMin") == 0)
04850           {
04851             if (local_args_info.checkColorRGMin_given)
04852               {
04853                 fprintf (stderr, "%s: `--checkColorRGMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04854                 goto failure;
04855               }
04856             if (args_info->checkColorRGMin_given && ! override)
04857               continue;
04858             local_args_info.checkColorRGMin_given = 1;
04859             args_info->checkColorRGMin_given = 1;
04860             args_info->checkColorRGMin_arg = (float)strtod (optarg, &stop_char);
04861             if (!(stop_char && *stop_char == '\0')) {
04862               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04863               goto failure;
04864             }
04865             if (args_info->checkColorRGMin_orig)
04866               free (args_info->checkColorRGMin_orig); /* free previous string */
04867             args_info->checkColorRGMin_orig = gengetopt_strdup (optarg);
04868           }
04869           /* Max RG diff.  */
04870           else if (strcmp (long_options[option_index].name, "checkColorRGMax") == 0)
04871           {
04872             if (local_args_info.checkColorRGMax_given)
04873               {
04874                 fprintf (stderr, "%s: `--checkColorRGMax' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04875                 goto failure;
04876               }
04877             if (args_info->checkColorRGMax_given && ! override)
04878               continue;
04879             local_args_info.checkColorRGMax_given = 1;
04880             args_info->checkColorRGMax_given = 1;
04881             args_info->checkColorRGMax_arg = (float)strtod (optarg, &stop_char);
04882             if (!(stop_char && *stop_char == '\0')) {
04883               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04884               goto failure;
04885             }
04886             if (args_info->checkColorRGMax_orig)
04887               free (args_info->checkColorRGMax_orig); /* free previous string */
04888             args_info->checkColorRGMax_orig = gengetopt_strdup (optarg);
04889           }
04890           /* Min GB diff.  */
04891           else if (strcmp (long_options[option_index].name, "checkColorGBMin") == 0)
04892           {
04893             if (local_args_info.checkColorGBMin_given)
04894               {
04895                 fprintf (stderr, "%s: `--checkColorGBMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04896                 goto failure;
04897               }
04898             if (args_info->checkColorGBMin_given && ! override)
04899               continue;
04900             local_args_info.checkColorGBMin_given = 1;
04901             args_info->checkColorGBMin_given = 1;
04902             args_info->checkColorGBMin_arg = (float)strtod (optarg, &stop_char);
04903             if (!(stop_char && *stop_char == '\0')) {
04904               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04905               goto failure;
04906             }
04907             if (args_info->checkColorGBMin_orig)
04908               free (args_info->checkColorGBMin_orig); /* free previous string */
04909             args_info->checkColorGBMin_orig = gengetopt_strdup (optarg);
04910           }
04911           /* Min RB diff.  */
04912           else if (strcmp (long_options[option_index].name, "checkColorRBMin") == 0)
04913           {
04914             if (local_args_info.checkColorRBMin_given)
04915               {
04916                 fprintf (stderr, "%s: `--checkColorRBMin' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04917                 goto failure;
04918               }
04919             if (args_info->checkColorRBMin_given && ! override)
04920               continue;
04921             local_args_info.checkColorRBMin_given = 1;
04922             args_info->checkColorRBMin_given = 1;
04923             args_info->checkColorRBMin_arg = (float)strtod (optarg, &stop_char);
04924             if (!(stop_char && *stop_char == '\0')) {
04925               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04926               goto failure;
04927             }
04928             if (args_info->checkColorRBMin_orig)
04929               free (args_info->checkColorRBMin_orig); /* free previous string */
04930             args_info->checkColorRBMin_orig = gengetopt_strdup (optarg);
04931           }
04932           /* RBF Threshold.  */
04933           else if (strcmp (long_options[option_index].name, "checkColorRBFThreshold") == 0)
04934           {
04935             if (local_args_info.checkColorRBFThreshold_given)
04936               {
04937                 fprintf (stderr, "%s: `--checkColorRBFThreshold' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04938                 goto failure;
04939               }
04940             if (args_info->checkColorRBFThreshold_given && ! override)
04941               continue;
04942             local_args_info.checkColorRBFThreshold_given = 1;
04943             args_info->checkColorRBFThreshold_given = 1;
04944             args_info->checkColorRBFThreshold_arg = (float)strtod (optarg, &stop_char);
04945             if (!(stop_char && *stop_char == '\0')) {
04946               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04947               goto failure;
04948             }
04949             if (args_info->checkColorRBFThreshold_orig)
04950               free (args_info->checkColorRBFThreshold_orig); /* free previous string */
04951             args_info->checkColorRBFThreshold_orig = gengetopt_strdup (optarg);
04952           }
04953           /* Whether to use RBF or not.  */
04954           else if (strcmp (long_options[option_index].name, "checkColorRBF") == 0)
04955           {
04956             if (local_args_info.checkColorRBF_given)
04957               {
04958                 fprintf (stderr, "%s: `--checkColorRBF' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04959                 goto failure;
04960               }
04961             if (args_info->checkColorRBF_given && ! override)
04962               continue;
04963             local_args_info.checkColorRBF_given = 1;
04964             args_info->checkColorRBF_given = 1;
04965             args_info->checkColorRBF_arg = strtol (optarg, &stop_char, 0);
04966             if (!(stop_char && *stop_char == '\0')) {
04967               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04968               goto failure;
04969             }
04970             if (args_info->checkColorRBF_orig)
04971               free (args_info->checkColorRBF_orig); /* free previous string */
04972             args_info->checkColorRBF_orig = gengetopt_strdup (optarg);
04973           }
04974           /* Whether to clear part of the IPM image.  */
04975           else if (strcmp (long_options[option_index].name, "ipmWindowClear") == 0)
04976           {
04977             if (local_args_info.ipmWindowClear_given)
04978               {
04979                 fprintf (stderr, "%s: `--ipmWindowClear' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
04980                 goto failure;
04981               }
04982             if (args_info->ipmWindowClear_given && ! override)
04983               continue;
04984             local_args_info.ipmWindowClear_given = 1;
04985             args_info->ipmWindowClear_given = 1;
04986             args_info->ipmWindowClear_arg = strtol (optarg, &stop_char, 0);
04987             if (!(stop_char && *stop_char == '\0')) {
04988               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
04989               goto failure;
04990             }
04991             if (args_info->ipmWindowClear_orig)
04992               free (args_info->ipmWindowClear_orig); /* free previous string */
04993             args_info->ipmWindowClear_orig = gengetopt_strdup (optarg);
04994           }
04995           /* Left corrdinate of window to keep in IPM.  */
04996           else if (strcmp (long_options[option_index].name, "ipmWindowLeft") == 0)
04997           {
04998             if (local_args_info.ipmWindowLeft_given)
04999               {
05000                 fprintf (stderr, "%s: `--ipmWindowLeft' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
05001                 goto failure;
05002               }
05003             if (args_info->ipmWindowLeft_given && ! override)
05004               continue;
05005             local_args_info.ipmWindowLeft_given = 1;
05006             args_info->ipmWindowLeft_given = 1;
05007             args_info->ipmWindowLeft_arg = strtol (optarg, &stop_char, 0);
05008             if (!(stop_char && *stop_char == '\0')) {
05009               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
05010               goto failure;
05011             }
05012             if (args_info->ipmWindowLeft_orig)
05013               free (args_info->ipmWindowLeft_orig); /* free previous string */
05014             args_info->ipmWindowLeft_orig = gengetopt_strdup (optarg);
05015           }
05016           /* Left corrdinate of window to keep in IPM.  */
05017           else if (strcmp (long_options[option_index].name, "ipmWindowRight") == 0)
05018           {
05019             if (local_args_info.ipmWindowRight_given)
05020               {
05021                 fprintf (stderr, "%s: `--ipmWindowRight' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
05022                 goto failure;
05023               }
05024             if (args_info->ipmWindowRight_given && ! override)
05025               continue;
05026             local_args_info.ipmWindowRight_given = 1;
05027             args_info->ipmWindowRight_given = 1;
05028             args_info->ipmWindowRight_arg = strtol (optarg, &stop_char, 0);
05029             if (!(stop_char && *stop_char == '\0')) {
05030               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
05031               goto failure;
05032             }
05033             if (args_info->ipmWindowRight_orig)
05034               free (args_info->ipmWindowRight_orig); /* free previous string */
05035             args_info->ipmWindowRight_orig = gengetopt_strdup (optarg);
05036           }
05037           /* Whether to check lane width or not.  */
05038           else if (strcmp (long_options[option_index].name, "checkLaneWidth") == 0)
05039           {
05040             if (local_args_info.checkLaneWidth_given)
05041               {
05042                 fprintf (stderr, "%s: `--checkLaneWidth' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
05043                 goto failure;
05044               }
05045             if (args_info->checkLaneWidth_given && ! override)
05046               continue;
05047             local_args_info.checkLaneWidth_given = 1;
05048             args_info->checkLaneWidth_given = 1;
05049             args_info->checkLaneWidth_arg = strtol (optarg, &stop_char, 0);
05050             if (!(stop_char && *stop_char == '\0')) {
05051               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
05052               goto failure;
05053             }
05054             if (args_info->checkLaneWidth_orig)
05055               free (args_info->checkLaneWidth_orig); /* free previous string */
05056             args_info->checkLaneWidth_orig = gengetopt_strdup (optarg);
05057           }
05058           /* Mean of lane width to look for.  */
05059           else if (strcmp (long_options[option_index].name, "checkLaneWidthMean") == 0)
05060           {
05061             if (local_args_info.checkLaneWidthMean_given)
05062               {
05063                 fprintf (stderr, "%s: `--checkLaneWidthMean' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
05064                 goto failure;
05065               }
05066             if (args_info->checkLaneWidthMean_given && ! override)
05067               continue;
05068             local_args_info.checkLaneWidthMean_given = 1;
05069             args_info->checkLaneWidthMean_given = 1;
05070             args_info->checkLaneWidthMean_arg = (float)strtod (optarg, &stop_char);
05071             if (!(stop_char && *stop_char == '\0')) {
05072               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
05073               goto failure;
05074             }
05075             if (args_info->checkLaneWidthMean_orig)
05076               free (args_info->checkLaneWidthMean_orig); /* free previous string */
05077             args_info->checkLaneWidthMean_orig = gengetopt_strdup (optarg);
05078           }
05079           /* Std deviation of lane width to look for.  */
05080           else if (strcmp (long_options[option_index].name, "checkLaneWidthStd") == 0)
05081           {
05082             if (local_args_info.checkLaneWidthStd_given)
05083               {
05084                 fprintf (stderr, "%s: `--checkLaneWidthStd' option given more than once%s\n", argv[0], (additional_error ? additional_error : ""));
05085                 goto failure;
05086               }
05087             if (args_info->checkLaneWidthStd_given && ! override)
05088               continue;
05089             local_args_info.checkLaneWidthStd_given = 1;
05090             args_info->checkLaneWidthStd_given = 1;
05091             args_info->checkLaneWidthStd_arg = (float)strtod (optarg, &stop_char);
05092             if (!(stop_char && *stop_char == '\0')) {
05093               fprintf(stderr, "%s: invalid numeric value: %s\n", argv[0], optarg);
05094               goto failure;
05095             }
05096             if (args_info->checkLaneWidthStd_orig)
05097               free (args_info->checkLaneWidthStd_orig); /* free previous string */
05098             args_info->checkLaneWidthStd_orig = gengetopt_strdup (optarg);
05099           }
05100 
05101           break;
05102         case '?':       /* Invalid option.  */
05103           /* `getopt_long' already printed an error message.  */
05104           goto failure;
05105 
05106         default:        /* bug: option not considered.  */
05107           fprintf (stderr, "%s: option unknown: %c%s\n", LANEDETECTORPARSER_PACKAGE, c, (additional_error ? additional_error : ""));
05108           abort ();
05109         } /* switch */
05110     } /* while */
05111 
05112 
05113 
05114   if (check_required)
05115     {
05116       error += LaneDetectorParser_required2 (args_info, argv[0], additional_error);
05117     }
05118 
05119   LaneDetectorParser_release (&local_args_info);
05120 
05121   if ( error )
05122     return (EXIT_FAILURE);
05123 
05124   return 0;
05125 
05126 failure:
05127 
05128   LaneDetectorParser_release (&local_args_info);
05129   return (EXIT_FAILURE);
05130 }
05131 
05132 #ifndef CONFIG_FILE_LINE_SIZE
05133 #define CONFIG_FILE_LINE_SIZE 2048
05134 #endif
05135 #define ADDITIONAL_ERROR " in configuration file "
05136 
05137 #define CONFIG_FILE_LINE_BUFFER_SIZE (CONFIG_FILE_LINE_SIZE+3)
05138 /* 3 is for "--" and "=" */
05139 
05140 char my1_argv[CONFIG_FILE_LINE_BUFFER_SIZE+1];
05141 
05142 int
05143 LaneDetectorParser_configfile (char * const filename, struct
05144 LaneDetectorParserInfo *args_info, int override, int initialize, int
05145 check_required)
05146 {
05147   FILE* file;
05148   char linebuf[CONFIG_FILE_LINE_SIZE];
05149   int line_num = 0;
05150   int i, result, equal;
05151   char *fopt, *farg;
05152   char *str_index;
05153   size_t len, next_token;
05154   char delimiter;
05155   int my_argc = 0;
05156   char **my1_argv_arg;
05157   char *additional_error;
05158 
05159   /* store the program name */
05160   cmd_line_list_tmp = (struct line_list *) malloc (sizeof (struct line_list));
05161   cmd_line_list_tmp->next = cmd_line_list;
05162   cmd_line_list = cmd_line_list_tmp;
05163   cmd_line_list->string_arg = gengetopt_strdup (LANEDETECTORPARSER_PACKAGE);
05164 
05165   if ((file = fopen(filename, "r")) == NULL)
05166     {
05167       fprintf (stderr, "%s: Error opening configuration file '%s'\n",
05168                LANEDETECTORPARSER_PACKAGE, filename);
05169       result = EXIT_FAILURE;
05170       goto conf_failure;
05171     }
05172 
05173   while ((fgets(linebuf, CONFIG_FILE_LINE_SIZE, file)) != NULL)
05174     {
05175       ++line_num;
05176       my1_argv[0] = '\0';
05177       len = strlen(linebuf);
05178       if (len > (CONFIG_FILE_LINE_BUFFER_SIZE-1))
05179         {
05180           fprintf (stderr, "%s:%s:%d: Line too long in configuration file\n",
05181                    LANEDETECTORPARSER_PACKAGE, filename, line_num);
05182           result = EXIT_FAILURE;
05183           goto conf_failure;
05184         }
05185 
05186       /* find first non-whitespace character in the line */
05187       next_token = strspn ( linebuf, " \t\r\n");
05188       str_index  = linebuf + next_token;
05189 
05190       if ( str_index[0] == '\0' || str_index[0] == '#')
05191         continue; /* empty line or comment line is skipped */
05192 
05193       fopt = str_index;
05194 
05195       /* truncate fopt at the end of the first non-valid character */
05196       next_token = strcspn (fopt, " \t\r\n=");
05197 
05198       if (fopt[next_token] == '\0') /* the line is over */
05199         {
05200           farg  = NULL;
05201           equal = 0;
05202           goto noarg;
05203         }
05204 
05205       /* remember if equal sign is present */
05206       equal = (fopt[next_token] == '=');
05207       fopt[next_token++] = '\0';
05208 
05209       /* advance pointers to the next token after the end of fopt */
05210       next_token += strspn (fopt + next_token, " \t\r\n");
05211       /* check for the presence of equal sign, and if so, skip it */
05212       if ( !equal )
05213         if ((equal = (fopt[next_token] == '=')))
05214           {
05215             next_token++;
05216             next_token += strspn (fopt + next_token, " \t\r\n");
05217           }
05218       str_index  += next_token;
05219 
05220       /* find argument */
05221       farg = str_index;
05222       if ( farg[0] == '\"' || farg[0] == '\'' )
05223         { /* quoted argument */
05224           str_index = strchr (++farg, str_index[0] ); /* skip opening quote */
05225           if (! str_index)
05226             {
05227               fprintf
05228                 (stderr,
05229                  "%s:%s:%d: unterminated string in configuration file\n",
05230                  LANEDETECTORPARSER_PACKAGE, filename, line_num);
05231               result = EXIT_FAILURE;
05232               goto conf_failure;
05233             }
05234         }
05235       else
05236         { /* read up the remaining part up to a delimiter */
05237           next_token = strcspn (farg, " \t\r\n#\'\"");
05238           str_index += next_token;
05239         }
05240 
05241       /* truncate farg at the delimiter and store it for further check */
05242       delimiter = *str_index, *str_index++ = '\0';
05243 
05244       /* everything but comment is illegal at the end of line */
05245       if (delimiter != '\0' && delimiter != '#')
05246         {
05247           str_index += strspn(str_index, " \t\r\n");
05248           if (*str_index != '\0' && *str_index != '#')
05249             {
05250               fprintf
05251                 (stderr,
05252                  "%s:%s:%d: malformed string in configuration file\n",
05253                  LANEDETECTORPARSER_PACKAGE, filename, line_num);
05254               result = EXIT_FAILURE;
05255               goto conf_failure;
05256             }
05257         }
05258 
05259     noarg:
05260       ++my_argc;
05261       len = strlen(fopt);
05262 
05263       strcat (my1_argv, len > 1 ? "--" : "-");
05264       strcat (my1_argv, fopt);
05265       if (len > 1 && ((farg &&*farg) || equal))
05266           strcat (my1_argv, "=");
05267       if (farg && *farg)
05268           strcat (my1_argv, farg);
05269 
05270       cmd_line_list_tmp = (struct line_list *) malloc (sizeof (struct
05271 line_list));
05272       cmd_line_list_tmp->next = cmd_line_list;
05273       cmd_line_list = cmd_line_list_tmp;
05274       cmd_line_list->string_arg = gengetopt_strdup(my1_argv);
05275     } /* while */
05276 
05277   ++my_argc; /* for program name */
05278   my1_argv_arg = (char **) malloc((my_argc+1) * sizeof(char *));
05279   cmd_line_list_tmp = cmd_line_list;
05280   for (i = my_argc - 1; i >= 0; --i) {
05281     my1_argv_arg[i] = cmd_line_list_tmp->string_arg;
05282     cmd_line_list_tmp = cmd_line_list_tmp->next;
05283   }
05284   my1_argv_arg[my_argc] = 0;
05285 
05286   additional_error = (char *)malloc(strlen(filename) + strlen(ADDITIONAL_ERROR)
05287 + 1);
05288   strcpy (additional_error, ADDITIONAL_ERROR);
05289   strcat (additional_error, filename);
05290   result =
05291     LaneDetectorParser_internal (my_argc, my1_argv_arg, args_info, override,
05292 initialize, check_required, additional_error);
05293 
05294   free (additional_error);
05295   free (my1_argv_arg);
05296 
05297 conf_failure:
05298   if (file)
05299     fclose(file);
05300 
05301   free_cmd_list();
05302   if (result == EXIT_FAILURE)
05303     {
05304       LaneDetectorParser_free (args_info);
05305       exit (EXIT_FAILURE);
05306     }
05307 
05308   return result;
05309 }