/home/laradmin/lar/perception/road/road_recognition/src/lane_departure.cpp File Reference

Matlab - lane departure warning system. More...

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <vector>
#include <cmath>
#include <iostream>
#include <signal.h>
#include <Eigen/Dense>
#include "linefinder.h"
#include <opencv2/core/core.hpp>
#include <boost/shared_ptr.hpp>
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Defines

#define PI   3.1415926

Functions

static VectorXi Count_ref (20)
int framedivider (Mat image)
int imageCallback (const sensor_msgs::ImageConstPtr &original_image)
int main (int argc, char **argv)
void printPts (Point *p, uint size)
static Eigen::MatrixXd Rep_ref (2, 20)
void sighandler (int sig)
int videodeparturewarning (MatrixXi Pts, cv::Mat Imlow, MatrixXi &TwoLanes, int &TwoValidLanes, int &NumNormalDriving, int &MaxLaneNum)
VectorXi videodetectcolorandtype (MatrixXi twoLines_0b, cv::Mat image, MatrixXi li)
int videolanematching (int &MaxLaneNum, int &ExpLaneNum, VectorXi &Enable, MatrixXd &Line, int &TrackThreshold, int &CountUpperThresh)

Variables

int CountUpperThresh
int frame
int frame_lost
int OutMsg
image_transport::Publisher pub
Scalar stddev_old
static const char WINDOW0 [] = "Image Raw"
static const char WINDOW1 [] = "Image Processed"

Detailed Description

Matlab - lane departure warning system.

Author:
Ricardo Morais
Date:
Março 2013

Definition in file lane_departure.cpp.


Define Documentation

#define PI   3.1415926

Definition at line 45 of file lane_departure.cpp.


Function Documentation

static VectorXi Count_ref ( 20   )  [static]
int framedivider ( Mat  image  ) 

Detect the limit to cut the image

Definition at line 605 of file lane_departure.cpp.

int imageCallback ( const sensor_msgs::ImageConstPtr &  original_image  ) 

This function is called everytime a new image is published

Definition at line 671 of file lane_departure.cpp.

int main ( int  argc,
char **  argv 
)

Always running ( check if there is a new message )

Definition at line 1051 of file lane_departure.cpp.

void printPts ( Point *  p,
uint  size 
)

função para imprimir os pontos do poligno

Definition at line 1031 of file lane_departure.cpp.

static Eigen::MatrixXd Rep_ref ( ,
20   
) [static]
void sighandler ( int  sig  ) 

intersept Ctrt+C handler

Definition at line 1041 of file lane_departure.cpp.

int videodeparturewarning ( MatrixXi  Pts,
cv::Mat  Imlow,
MatrixXi &  TwoLanes,
int &  TwoValidLanes,
int &  NumNormalDriving,
int &  MaxLaneNum 
)

Detect whether there is a lane departure

Definition at line 444 of file lane_departure.cpp.

VectorXi videodetectcolorandtype ( MatrixXi  twoLines_0b,
cv::Mat  image,
MatrixXi  li 
)

Detectar se a linha e amarela/branca e se e traço continuo ou tracejado

Definition at line 182 of file lane_departure.cpp.

int videolanematching ( int &  MaxLaneNum,
int &  ExpLaneNum,
VectorXi &  Enable,
MatrixXd &  Line,
int &  TrackThreshold,
int &  CountUpperThresh 
)

Chooses the best lines finded

Definition at line 76 of file lane_departure.cpp.


Variable Documentation

Definition at line 60 of file lane_departure.cpp.

int frame

Definition at line 70 of file lane_departure.cpp.

Definition at line 70 of file lane_departure.cpp.

int OutMsg

Definition at line 70 of file lane_departure.cpp.

image_transport::Publisher pub

Definition at line 65 of file lane_departure.cpp.

Scalar stddev_old

Definition at line 71 of file lane_departure.cpp.

const char WINDOW0[] = "Image Raw" [static]

Definition at line 58 of file lane_departure.cpp.

const char WINDOW1[] = "Image Processed" [static]

Definition at line 57 of file lane_departure.cpp.

 All Classes Files Functions Variables Defines


road_recognition
Author(s): Morais
autogenerated on Wed Jul 23 04:35:03 2014