LaneDetector::LaneDetectorConf Struct Reference

Structure to hold lane detector settings. More...

#include <LaneDetector.hh>

List of all members.

Public Attributes

bool binarize
bool checkColor
 Whether to check colors or not.
float checkColorGBMin
 Min GB diff.
int checkColorNumBins
 Number of bins to use for histogram.
float checkColorNumYellowMin
 Min ratio of yellow points.
bool checkColorRBF
 Whether to use RBF or not.
float checkColorRBFThreshold
 RBF Threshold.
float checkColorRBMin
 Min RB diff.
float checkColorRGMax
 Max RG diff.
float checkColorRGMin
 Min RG diff.
int checkColorWindow
 Size of window to use.
bool checkIPMSplines
 Whtethet to check IPM splines or not.
float checkIPMSplinesCurvenessThreshold
 Curveness Threshold for checking splines.
float checkIPMSplinesLengthThreshold
 Length Threshold for checking splines.
float checkIPMSplinesThetaDiffThreshold
 ThetaDiff Threshold for checking splines.
float checkIPMSplinesThetaThreshold
 ThetaThreshold Threshold for checking splines.
bool checkLaneWidth
 Whether to check lane width or not.
float checkLaneWidthMean
 Mean of lane width to look for.
float checkLaneWidthStd
 Std deviation of lane width to look for.
bool checkSplines
 Whtethet to check splines or not.
float checkSplinesCurvenessThreshold
 Curveness Threshold for checking splines.
float checkSplinesLengthThreshold
 Length Threshold for checking splines.
float checkSplinesThetaDiffThreshold
 ThetaDiff Threshold for checking splines.
float checkSplinesThetaThreshold
 ThetaThreshold Threshold for checking splines.
FLOAT detectionThreshold
 threshold for line scores to declare as line
float extendAngleThreshold
float extendContThreshold
int extendDeviationThreshold
 Stop extending when number of deviating points exceeds this threshold.
float extendIPMAngleThreshold
float extendIPMContThreshold
int extendIPMDeviationThreshold
 Stop extending when number of deviating points exceeds this threshold.
int extendIPMLinePixelsNormal
 Number of pixels to go in normal direction for extending.
int extendIPMLinePixelsTangent
 Number of pixels to go in tangent direction for extending.
float extendIPMMeanDirAngleThreshold
int extendIPMRectBottom
 Bottom point for extension bounding box.
int extendIPMRectTop
 Top point for extension bounding box.
int extendLinePixelsNormal
 Number of pixels to go in normal direction for extending.
int extendLinePixelsTangent
 Number of pixels to go in tangent direction for extending.
float extendMeanDirAngleThreshold
int extendRectBottom
 Bottom point for extension bounding box.
int extendRectTop
 Top point for extension bounding box.
float finalSplineScoreThreshold
 Final Threshold for declaring a valid spline.
bool getEndPoints
 get end points or not
bool group
 group nearby lines
unsigned char groupingType
 the type of grouping to use: 0 for HV lines and 1 for Hough Transform
float groupThreshold
 threshold for grouping nearby lines
int ipmBottom
 Bottom point in original image of region to make IPM for.
FLOAT ipmHeight
 height of IPM image
int ipmInterpolation
 The method to use for IPM interpolation.
int ipmLeft
 Left point in original image of region to make IPM for.
int ipmRight
 Right point in original image of region to make IPM for.
int ipmTop
 Top point in original image of region to make IPM for.
float ipmVpPortion
FLOAT ipmWidth
 width of IPM image to use
bool ipmWindowClear
 Whether to clear part of the IPM image.
int ipmWindowLeft
 Left corrdinate of window to keep in IPM.
int ipmWindowRight
 Left corrdinate of window to keep in IPM.
unsigned char kernelHeight
unsigned char kernelWidth
 kernel size to use for filtering
FLOAT lineHeight
 height of line we are detecting
int lineTrackingNumAbsentFrames
 number of frames the track is allowed to be absent before deleting it
int lineTrackingNumSeenFrames
 number of frames before considering the track good
FLOAT lineWidth
 width of line we are detecting
float localizeAngleThreshold
int localizeNumLinePixels
 Number of pixels to go in normal direction for localization.
bool localMaxima
 whether to return local maxima or just the maximum
FLOAT lowerQuantile
 lower quantile to use for thresholding the filtered image
float mergeLineRThreshold
 R threshold (distance from origin) for merging lines.
float mergeLineThetaThreshold
 Angle threshold for merging lines (radians).
float mergeSplineCentroidThreshold
 Distance threshold between spline cetroids for merging.
float mergeSplineMeanRThreshold
 Mean R threshold (distance from origin) for merginn splines.
float mergeSplineMeanThetaThreshold
 Mean Angle threshold for merging splines (radians).
float mergeSplineRThreshold
 R threshold (distance from origin) for merginn splines.
float mergeSplineThetaThreshold
 Angle threshold for merging splines (radians).
int numStrips
 Number of horizontal strips to divide the image to.
float overlapThreshold
 Overlap threshold to use for grouping of bounding boxes.
bool ransac
 use RANSAC or not
bool ransacLine
bool ransacLineBinarize
int ransacLineNumGoodFit
int ransacLineNumIterations
int ransacLineNumSamples
 RANSAC Line parameters.
float ransacLineScoreThreshold
float ransacLineThreshold
int ransacLineWindow
 half width to use for ransac window
bool ransacSpline
 use a spline or straight line
bool ransacSplineBinarize
int ransacSplineDegree
 degree of spline to use
int ransacSplineNumGoodFit
int ransacSplineNumIterations
int ransacSplineNumSamples
 RANSAC Spline parameters.
float ransacSplineScoreThreshold
float ransacSplineStep
 step used to pixelize spline in ransac
float ransacSplineThreshold
int ransacSplineWindow
float rMax
float rMin
 rMin, rMax and rStep for Hough Transform (pixels)
float rStep
bool smoothScores
 whtehter to smooth the line scores detected or not
float splineScoreAngleRatio
 Ratio of spline angle to use.
int splineScoreJitter
 Number of pixels to go around the spline to compute score.
float splineScoreLengthRatio
 Ratio of spline length to use.
float splineScoreStep
 Step to use for spline score computation.
int splineTrackingNumAbsentFrames
 number of frames the track is allowed to be absent before deleting it
int splineTrackingNumSeenFrames
 number of frames before considering the track good
float thetaMax
float thetaMin
 thetaMin, thetaMax, thetaStep for Hough Transform (radians)
float thetaStep
bool useGroundPlane
 Use ground plane when sending to map or not.

Detailed Description

Structure to hold lane detector settings.

Definition at line 84 of file LaneDetector.hh.


Member Data Documentation

whether to binarize the thresholded image or use the raw filtered image

Definition at line 116 of file LaneDetector.hh.

Whether to check colors or not.

Definition at line 280 of file LaneDetector.hh.

Min GB diff.

Definition at line 292 of file LaneDetector.hh.

Number of bins to use for histogram.

Definition at line 284 of file LaneDetector.hh.

Min ratio of yellow points.

Definition at line 286 of file LaneDetector.hh.

Whether to use RBF or not.

Definition at line 298 of file LaneDetector.hh.

RBF Threshold.

Definition at line 296 of file LaneDetector.hh.

Min RB diff.

Definition at line 294 of file LaneDetector.hh.

Max RG diff.

Definition at line 290 of file LaneDetector.hh.

Min RG diff.

Definition at line 288 of file LaneDetector.hh.

Size of window to use.

Definition at line 282 of file LaneDetector.hh.

Whtethet to check IPM splines or not.

Definition at line 263 of file LaneDetector.hh.

Curveness Threshold for checking splines.

Definition at line 265 of file LaneDetector.hh.

Length Threshold for checking splines.

Definition at line 267 of file LaneDetector.hh.

ThetaDiff Threshold for checking splines.

Definition at line 269 of file LaneDetector.hh.

ThetaThreshold Threshold for checking splines.

Definition at line 271 of file LaneDetector.hh.

Whether to check lane width or not.

Definition at line 308 of file LaneDetector.hh.

Mean of lane width to look for.

Definition at line 310 of file LaneDetector.hh.

Std deviation of lane width to look for.

Definition at line 312 of file LaneDetector.hh.

Whtethet to check splines or not.

Definition at line 252 of file LaneDetector.hh.

Curveness Threshold for checking splines.

Definition at line 254 of file LaneDetector.hh.

Length Threshold for checking splines.

Definition at line 256 of file LaneDetector.hh.

ThetaDiff Threshold for checking splines.

Definition at line 258 of file LaneDetector.hh.

ThetaThreshold Threshold for checking splines.

Definition at line 260 of file LaneDetector.hh.

threshold for line scores to declare as line

Definition at line 119 of file LaneDetector.hh.

Angle threshold used for extending (cosine, 1: most restrictive, 0: most liberal)

Definition at line 174 of file LaneDetector.hh.

Trehsold used for stopping the extending process (higher -> less extending)

Definition at line 184 of file LaneDetector.hh.

Stop extending when number of deviating points exceeds this threshold.

Definition at line 186 of file LaneDetector.hh.

Angle threshold used for extending (cosine, 1: most restrictive, 0: most liberal)

Definition at line 194 of file LaneDetector.hh.

Trehsold used for stopping the extending process (higher -> less extending)

Definition at line 204 of file LaneDetector.hh.

Stop extending when number of deviating points exceeds this threshold.

Definition at line 206 of file LaneDetector.hh.

Number of pixels to go in normal direction for extending.

Definition at line 201 of file LaneDetector.hh.

Number of pixels to go in tangent direction for extending.

Definition at line 199 of file LaneDetector.hh.

Angle threshold from mean direction used for extending (cosine, 1: most restrictive, 0: most liberal)

Definition at line 197 of file LaneDetector.hh.

Bottom point for extension bounding box.

Definition at line 210 of file LaneDetector.hh.

Top point for extension bounding box.

Definition at line 208 of file LaneDetector.hh.

Number of pixels to go in normal direction for extending.

Definition at line 181 of file LaneDetector.hh.

Number of pixels to go in tangent direction for extending.

Definition at line 179 of file LaneDetector.hh.

Angle threshold from mean direction used for extending (cosine, 1: most restrictive, 0: most liberal)

Definition at line 177 of file LaneDetector.hh.

Bottom point for extension bounding box.

Definition at line 190 of file LaneDetector.hh.

Top point for extension bounding box.

Definition at line 188 of file LaneDetector.hh.

Final Threshold for declaring a valid spline.

Definition at line 274 of file LaneDetector.hh.

get end points or not

Definition at line 130 of file LaneDetector.hh.

group nearby lines

Definition at line 132 of file LaneDetector.hh.

the type of grouping to use: 0 for HV lines and 1 for Hough Transform

Definition at line 113 of file LaneDetector.hh.

threshold for grouping nearby lines

Definition at line 134 of file LaneDetector.hh.

Bottom point in original image of region to make IPM for.

Definition at line 97 of file LaneDetector.hh.

height of IPM image

Definition at line 89 of file LaneDetector.hh.

The method to use for IPM interpolation.

Definition at line 99 of file LaneDetector.hh.

Left point in original image of region to make IPM for.

Definition at line 91 of file LaneDetector.hh.

Right point in original image of region to make IPM for.

Definition at line 93 of file LaneDetector.hh.

Top point in original image of region to make IPM for.

Definition at line 95 of file LaneDetector.hh.

portion of image height to add to y-coordinate of vanishing point when computing the IPM image

Definition at line 128 of file LaneDetector.hh.

width of IPM image to use

Definition at line 87 of file LaneDetector.hh.

Whether to clear part of the IPM image.

Definition at line 301 of file LaneDetector.hh.

Left corrdinate of window to keep in IPM.

Definition at line 303 of file LaneDetector.hh.

Left corrdinate of window to keep in IPM.

Definition at line 305 of file LaneDetector.hh.

Definition at line 107 of file LaneDetector.hh.

kernel size to use for filtering

Definition at line 106 of file LaneDetector.hh.

height of line we are detecting

Definition at line 104 of file LaneDetector.hh.

number of frames the track is allowed to be absent before deleting it

Definition at line 239 of file LaneDetector.hh.

number of frames before considering the track good

Definition at line 241 of file LaneDetector.hh.

width of line we are detecting

Definition at line 102 of file LaneDetector.hh.

Angle threshold used for localization (cosine, 1: most restrictive, 0: most liberal)

Definition at line 168 of file LaneDetector.hh.

Number of pixels to go in normal direction for localization.

Definition at line 170 of file LaneDetector.hh.

whether to return local maxima or just the maximum

Definition at line 111 of file LaneDetector.hh.

lower quantile to use for thresholding the filtered image

Definition at line 109 of file LaneDetector.hh.

R threshold (distance from origin) for merging lines.

Definition at line 246 of file LaneDetector.hh.

Angle threshold for merging lines (radians).

Definition at line 244 of file LaneDetector.hh.

Distance threshold between spline cetroids for merging.

Definition at line 236 of file LaneDetector.hh.

Mean R threshold (distance from origin) for merginn splines.

Definition at line 234 of file LaneDetector.hh.

Mean Angle threshold for merging splines (radians).

Definition at line 232 of file LaneDetector.hh.

R threshold (distance from origin) for merginn splines.

Definition at line 230 of file LaneDetector.hh.

Angle threshold for merging splines (radians).

Definition at line 228 of file LaneDetector.hh.

Number of horizontal strips to divide the image to.

Definition at line 249 of file LaneDetector.hh.

Overlap threshold to use for grouping of bounding boxes.

Definition at line 164 of file LaneDetector.hh.

use RANSAC or not

Definition at line 136 of file LaneDetector.hh.

Definition at line 158 of file LaneDetector.hh.

Definition at line 143 of file LaneDetector.hh.

Definition at line 140 of file LaneDetector.hh.

Definition at line 139 of file LaneDetector.hh.

RANSAC Line parameters.

Definition at line 138 of file LaneDetector.hh.

Definition at line 142 of file LaneDetector.hh.

Definition at line 141 of file LaneDetector.hh.

half width to use for ransac window

Definition at line 145 of file LaneDetector.hh.

use a spline or straight line

Definition at line 157 of file LaneDetector.hh.

Definition at line 152 of file LaneDetector.hh.

degree of spline to use

Definition at line 155 of file LaneDetector.hh.

Definition at line 149 of file LaneDetector.hh.

Definition at line 148 of file LaneDetector.hh.

RANSAC Spline parameters.

Definition at line 147 of file LaneDetector.hh.

Definition at line 151 of file LaneDetector.hh.

step used to pixelize spline in ransac

Definition at line 161 of file LaneDetector.hh.

Definition at line 150 of file LaneDetector.hh.

Definition at line 153 of file LaneDetector.hh.

Definition at line 123 of file LaneDetector.hh.

rMin, rMax and rStep for Hough Transform (pixels)

Definition at line 123 of file LaneDetector.hh.

Definition at line 123 of file LaneDetector.hh.

whtehter to smooth the line scores detected or not

Definition at line 121 of file LaneDetector.hh.

Ratio of spline angle to use.

Definition at line 218 of file LaneDetector.hh.

Number of pixels to go around the spline to compute score.

Definition at line 214 of file LaneDetector.hh.

Ratio of spline length to use.

Definition at line 216 of file LaneDetector.hh.

Step to use for spline score computation.

Definition at line 220 of file LaneDetector.hh.

number of frames the track is allowed to be absent before deleting it

Definition at line 223 of file LaneDetector.hh.

number of frames before considering the track good

Definition at line 225 of file LaneDetector.hh.

Definition at line 125 of file LaneDetector.hh.

thetaMin, thetaMax, thetaStep for Hough Transform (radians)

Definition at line 125 of file LaneDetector.hh.

Definition at line 125 of file LaneDetector.hh.

Use ground plane when sending to map or not.

Definition at line 277 of file LaneDetector.hh.


The documentation for this struct was generated from the following file:
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caltech_lanes
Author(s): Morais
autogenerated on Wed Jul 23 04:33:35 2014