Structure to hold lane detector settings. More...
#include <LaneDetector.hh>
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. | |
Structure to hold lane detector settings.
Definition at line 84 of file LaneDetector.hh.
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.
| unsigned char LaneDetector::LaneDetectorConf::groupingType |
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.
| unsigned char LaneDetector::LaneDetectorConf::kernelHeight |
Definition at line 107 of file LaneDetector.hh.
| unsigned char LaneDetector::LaneDetectorConf::kernelWidth |
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.
