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 "edgedetector.h"
#include "lines.h"
#include "road_representation.h"
#include "watershedSegmentation.h"

Include dependency graph for lane_departure.cpp:

Go to the source code of this file.

Macros
#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.

Macro Definition 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 ( 2  , 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

int CountUpperThresh

Definition at line 60 of file lane_departure.cpp.

int frame

Definition at line 70 of file lane_departure.cpp.

int frame_lost

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.