Navigation by finding road. More...

#include <jevoisbase/Components/RoadFinder/RoadFinder.H>

Inheritance diagram for RoadFinder:

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Collaboration diagram for RoadFinder:

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Public Member Functions
	RoadFinder (std::string const &instance)
	constructor More...

virtual	~RoadFinder ()
	desctructor More...

void	process (cv::Mat const &img, jevois::RawImage &visual)
	Compute the vanishing point location using the full blown algorithm. More...

std::pair< Point2D< int >, float >	getCurrVanishingPoint () const
	Get the current vanishing point and confidence. More...

Point2D< float >	getCurrCenterPoint () const
	Get the current road center point. More...

Point2D< float >	getCurrTargetPoint () const
	Get the current target point. More...

float	getFilteredTargetX () const
	Get the kalman-fitered target X, can be used to set robot steering. More...

void	resetRoadModel ()
	Reset all tracker internals and start fresh (e.g., when changing goal direction) More...

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)

virtual	~Component ()

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

std::shared_ptr< Comp >	addSubComponent (std::string const &instance, Args &&...args)

void	removeSubComponent (std::shared_ptr< Comp > &component)

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)

std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const

bool	isTopLevel () const

Engine *	engine () const

bool	initialized () const

const std::string &	className () const

const std::string &	instanceName () const

std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)

void	setParamValUnique (std::string const &paramdescriptor, T const &val)

std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const

T	getParamValUnique (std::string const &paramdescriptor) const

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const

std::string	getParamStringUnique (std::string const &paramdescriptor) const

void	freezeParam (std::string const &paramdescriptor)

void	unFreezeParam (std::string const &paramdescriptor)

void	freezeAllParams ()

void	unFreezeAllParams ()

std::string	descriptor () const

void	setParamsFromFile (std::string const &filename)

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)

virtual void	paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)

std::shared_ptr< DynamicParameter< T > >	addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)

void	setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)

void	removeDynamicParameter (std::string const &name)

void	setPath (std::string const &path)

std::filesystem::path	absolutePath (std::filesystem::path const &path="")

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()

Protected Member Functions
void	postInit () override
	This class has state and does not support some online param changes. More...

void	preUninit () override
	This class has state and does not support some online param changes. More...

void	computeHoughSegments (cv::Mat const &cvImage)
	compute the hough segments in the image More...

std::vector< Line >	computeVanishingLines (cv::Mat const &edgeMap, Point2D< int > const &vanishingPoint, jevois::RawImage &visual)
	main function to detect the road More...

Point2D< float >	computeRoadCenterPoint (cv::Mat const &edgeMap, std::vector< Line > &lines, Point2D< int > &vanishing_point, Point2D< float > &road_center_point, float &confidence)
	computes the road center point to servo to More...

void	updateRoadModel (std::vector< Line > &lines, int index)
	update road model and incoming lines NOTE: also change the line parameters to sync them this avoids drifts More...

Point2D< int >	getVanishingPoint (std::vector< Line > const &lines, float &confidence)
	estimate the vanishing point from the tracked lines More...

void	trackVanishingLines (cv::Mat const &edgeMap, std::vector< Line > &currentLines, jevois::RawImage &visual)
	track vanishing lines by to fit to the new, inputted, edgemap More...

std::vector< Point2D< int > >	getPixels (Point2D< int > const &p1, Point2D< int > const &p2, cv::Mat const &edgeMap)
	get pixels for segment defined by p1 and p2 have added complexity to search within 1.5 pixels of the line More...

std::vector< Point2D< int > >	getPixels (Point2D< int > const &p1, Point2D< int > const &p2, cv::Mat const &edgeMap, std::vector< uint > &startIndexes)
	get pixels for segment defined by p1 and p2 have added complexity to search within 1.5 pixels of the line More...

std::vector< Point2D< int > >	getPixelsQuick (Point2D< int > const &p1, Point2D< int > const &p2, cv::Mat const &edgeMap)
	get pixels that make up the segment defined by p1 and p2 More...

Line	findLine2 (Segment const &s, cv::Mat const &edgeMap, std::list< Segment > const &supportingSegments, std::vector< bool > &is_used, float &totalLength, uint &numSegments)
	find lines given the found supporting segments More...

void	fitLine (std::vector< Point2D< int > > const &points, Point2D< float > &p1, Point2D< float > &p2, int const width, int const height)
	openCV wrapper function to fit a line to an input vector of points More...

float	getLineFitness (Point2D< int > const &horizonPoint, Point2D< int > const &roadBottomPoint, cv::Mat const &edgeMap, jevois::RawImage &visual)
	compute how well the line equation fit the edgels in edgemap More...

float	getLineFitness (Point2D< int > const &horizonPoint, Point2D< int > const &roadBottomPoint, cv::Mat const &edgeMap, std::vector< Point2D< int > > &points, jevois::RawImage &visual)
	compute how well the line equation fit the edgels in edgemap More...

void	updateLine (Line &l, std::vector< Point2D< int > > const &points, float score, int const width, int const height)
	update the information in by updating the input points, score and various handy coordinate locations More...

void	projectForwardVanishingLines (std::vector< Line > &lines, std::vector< cv::Mat > const &edgeMaps, jevois::RawImage &visual)
	update the lines with the inputted set of edgemaps More...

std::vector< Line >	combine (std::vector< Line > &prevLines, std::vector< Line > const &currentLines, int width, int height)
	combine two lines sets, discard duplicates and overlaps More...

std::vector< Line >	discardDuplicates (std::vector< Line > const &currentLines)
	discard duplicate lines in a set More...

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	postUninit ()

virtual void	preInit ()

virtual void	postUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Protected Attributes
double	itsRoadHeading
	the current road heading More...

Point2D< float >	itsAccumulatedTrajectory
	the accumulated trajectory More...

std::mutex	itsAccTrajMtx
	locking accunulated trajectory More...

std::vector< Segment >	itsCurrentSegments
	current segments found using CVHoughlines More...

std::mutex	itsTrackMtx
	locking line trackers vars More...

bool	itsTrackingFlag
	indicate whether tracking More...

std::vector< Line >	itsCurrentLines
	the current lines being tracked More...

uint	itsNumIdentifiedLines
	indicate how many unique lines have been identified NOTE: never reset More...

RoadModel	itsRoadModel

std::vector< VanishingPoint >	itsVanishingPoints
	vanishing points being considered More...

std::mutex	itsRoadMtx

Point2D< int >	itsVanishingPoint
	current vanishing point More...

Point2D< float >	itsCenterPoint
	current center of road point More...

Point2D< float >	itsTargetPoint
	target servo point More...

float	itsVanishingPointConfidence
	current vanishing point More...

std::vector< bool >	itsVanishingPointStability
	vanishing point score tracker More...

int	itsCurrentMessageID
	for visualizer More...

cv::KalmanFilter	itsTPXfilter

float	itsFilteredTPX

bool	itsKalmanNeedInit

Related Functions
(Note that these are not member functions.)
	JEVOIS_DECLARE_PARAMETER (horizon, int, "Estimated vertical (Y) position of the horizon (pixels, " "with 0 at the top of the frame). Adjust this depending on the tilt angle of your camera " "and video input resolution.", 70, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (support, int, "Offset (in pixels) between horizon line and horizon support line (positive " "values means support line is below horizon line.", 20, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (spacing, unsigned int, "Spacing between vanishing point candidates (pixels).", 20, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (distthresh, unsigned int, "Vanishing point distance threshold (pixels).", 40, ParamCateg)
	Parameter. More...

Detailed Description

Navigation by finding road.

This algorithm implements the algorithm described in: C.-K. Chang, C. Siagian, L. Itti, Mobile Robot Monocular Vision Navigation Based on Road Region and Boundary Estimation, In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1043-1050, Oct 2012.

See the research paper at http://ilab.usc.edu/publications/doc/Chang_etal12iros.pdf

Definition at line 176 of file RoadFinder.H.

Constructor & Destructor Documentation

◆ RoadFinder()

RoadFinder::RoadFinder ( std::string const & instance )

constructor

Definition at line 181 of file RoadFinder.C.

References Point2D< T >::i, itsAccumulatedTrajectory, itsCenterPoint, itsNumIdentifiedLines, itsTargetPoint, itsTPXfilter, itsTrackingFlag, itsVanishingPoint, itsVanishingPointConfidence, and Point2D< T >::j.

◆ ~RoadFinder()

RoadFinder::~RoadFinder ( )

virtual

desctructor

Definition at line 209 of file RoadFinder.C.

Member Function Documentation

◆ combine()

std::vector< Line > RoadFinder::combine	(	std::vector< Line > &	prevLines,
		std::vector< Line > const &	currentLines,
		int	width,
		int	height
	)

protected

combine two lines sets, discard duplicates and overlaps

Definition at line 1422 of file RoadFinder.C.

References Line::angleToCenter, discardDuplicates(), Point2D< T >::distance(), Line::index, Line::isActive, Line::offset, demo::points, Line::pointToServo, Line::scores, Line::start_scores, and updateLine().

Referenced by process().

◆ computeHoughSegments()

void RoadFinder::computeHoughSegments ( cv::Mat const & cvImage )

protected

compute the hough segments in the image

Definition at line 789 of file RoadFinder.C.

References cvImage(), Point2D< T >::i, itsCurrentSegments, and Point2D< T >::j.

Referenced by process().

◆ computeRoadCenterPoint()

Point2D< float > RoadFinder::computeRoadCenterPoint	(	cv::Mat const &	edgeMap,
		std::vector< Line > &	lines,
		Point2D< int > &	vanishing_point,
		Point2D< float > &	road_center_point,
		float &	confidence
	)

protected

computes the road center point to servo to

Definition at line 436 of file RoadFinder.C.

References demo::float, getVanishingPoint(), Point2D< T >::i, itsRoadMtx, itsVanishingPoint, itsVanishingPointStability, and Point2D< T >::j.

Referenced by process().

◆ computeVanishingLines()

std::vector< Line > RoadFinder::computeVanishingLines	(	cv::Mat const &	edgeMap,
		Point2D< int > const &	vanishingPoint,
		jevois::RawImage &	visual
	)

protected

main function to detect the road

Definition at line 822 of file RoadFinder.C.

References Point2D< T >::distance(), findLine2(), getLineFitness(), Point2D< T >::i, demo::int, itsCurrentSegments, itsRoadMtx, itsVanishingPoint, itsVanishingPoints, Point2D< T >::j, Segment::length, Line::onScreenHorizonSupportPoint, Line::onScreenRoadBottomPoint, Segment::p1, Segment::p2, demo::score, Line::score, and Line::start_scores.

Referenced by process().

◆ discardDuplicates()

std::vector< Line > RoadFinder::discardDuplicates ( std::vector< Line > const & currentLines )

protected

discard duplicate lines in a set

Definition at line 1490 of file RoadFinder.C.

References Point2D< T >::distance(), Line::onScreenHorizonSupportPoint, Line::onScreenRoadBottomPoint, and Line::score.

Referenced by combine().

◆ findLine2()

Line RoadFinder::findLine2	(	Segment const &	s,
		cv::Mat const &	edgeMap,
		std::list< Segment > const &	supportingSegments,
		std::vector< bool > &	is_used,
		float &	totalLength,
		uint &	numSegments
	)

protected

find lines given the found supporting segments

Definition at line 1096 of file RoadFinder.C.

References Point2D< T >::distance(), getPixels(), Segment::length, Line::length, Line::onScreenHorizonSupportPoint, Line::onScreenRoadBottomPoint, Segment::p1, Segment::p2, demo::points, demo::score, Line::score, Line::segments, and updateLine().

Referenced by computeVanishingLines().

◆ fitLine()

void RoadFinder::fitLine	(	std::vector< Point2D< int > > const &	points,
		Point2D< float > &	p1,
		Point2D< float > &	p2,
		int const	width,
		int const	height
	)

protected

openCV wrapper function to fit a line to an input vector of points

Definition at line 1207 of file RoadFinder.C.

References Point2D< T >::i, Point2D< T >::j, and demo::points.

Referenced by updateLine().

◆ getCurrCenterPoint()

Point2D< float > RoadFinder::getCurrCenterPoint ( ) const

Get the current road center point.

Definition at line 233 of file RoadFinder.C.

References itsCenterPoint.

◆ getCurrTargetPoint()

Point2D< float > RoadFinder::getCurrTargetPoint ( ) const

Get the current target point.

Definition at line 237 of file RoadFinder.C.

References itsTargetPoint.

◆ getCurrVanishingPoint()

std::pair< Point2D< int >, float > RoadFinder::getCurrVanishingPoint ( ) const

Get the current vanishing point and confidence.

Definition at line 229 of file RoadFinder.C.

References itsVanishingPoint, and itsVanishingPointConfidence.

◆ getFilteredTargetX()

float RoadFinder::getFilteredTargetX ( ) const

Get the kalman-fitered target X, can be used to set robot steering.

Definition at line 241 of file RoadFinder.C.

References itsFilteredTPX.

◆ getLineFitness() [1/2]

float RoadFinder::getLineFitness	(	Point2D< int > const &	horizonPoint,
		Point2D< int > const &	roadBottomPoint,
		cv::Mat const &	edgeMap,
		jevois::RawImage &	visual
	)

protected

compute how well the line equation fit the edgels in edgemap

Definition at line 1233 of file RoadFinder.C.

References demo::points.

Referenced by computeVanishingLines(), and trackVanishingLines().

◆ getLineFitness() [2/2]

float RoadFinder::getLineFitness	(	Point2D< int > const &	horizonPoint,
		Point2D< int > const &	roadBottomPoint,
		cv::Mat const &	edgeMap,
		std::vector< Point2D< int > > &	points,
		jevois::RawImage &	visual
	)

protected

compute how well the line equation fit the edgels in edgemap

Definition at line 1241 of file RoadFinder.C.

References Point2D< T >::distance(), jevois::rawimage::drawDisk(), jevois::rawimage::drawLine(), getPixels(), getPixelsQuick(), Point2D< T >::i, demo::int, Point2D< T >::j, demo::points, demo::score, test-model::size, and jevois::RawImage::valid().

◆ getPixels() [1/2]

std::vector< Point2D< int > > RoadFinder::getPixels	(	Point2D< int > const &	p1,
		Point2D< int > const &	p2,
		cv::Mat const &	edgeMap
	)

protected

get pixels for segment defined by p1 and p2 have added complexity to search within 1.5 pixels of the line

Definition at line 957 of file RoadFinder.C.

Referenced by findLine2(), and getLineFitness().

◆ getPixels() [2/2]

std::vector< Point2D< int > > RoadFinder::getPixels	(	Point2D< int > const &	p1,
		Point2D< int > const &	p2,
		cv::Mat const &	edgeMap,
		std::vector< uint > &	startIndexes
	)

protected

get pixels for segment defined by p1 and p2 have added complexity to search within 1.5 pixels of the line

Definition at line 965 of file RoadFinder.C.

References Point2D< T >::distance(), h, Point2D< T >::i, Point2D< T >::j, demo::points, test-model::size, and demo::w.

◆ getPixelsQuick()

std::vector< Point2D< int > > RoadFinder::getPixelsQuick	(	Point2D< int > const &	p1,
		Point2D< int > const &	p2,
		cv::Mat const &	edgeMap
	)

protected

get pixels that make up the segment defined by p1 and p2

Definition at line 1060 of file RoadFinder.C.

References h, Point2D< T >::i, Point2D< T >::j, demo::points, and demo::w.

Referenced by getLineFitness().

◆ getVanishingPoint()

Point2D< int > RoadFinder::getVanishingPoint	(	std::vector< Line > const &	lines,
		float &	confidence
	)

protected

estimate the vanishing point from the tracked lines

Definition at line 760 of file RoadFinder.C.

References Point2D< T >::i.

Referenced by computeRoadCenterPoint().

◆ postInit()

void RoadFinder::postInit ( )

overrideprotectedvirtual

This class has state and does not support some online param changes.

Reimplemented from jevois::Component.

Definition at line 213 of file RoadFinder.C.

References freeze().

◆ preUninit()

void RoadFinder::preUninit ( )

overrideprotectedvirtual

This class has state and does not support some online param changes.

Reimplemented from jevois::Component.

Definition at line 221 of file RoadFinder.C.

References unFreeze().

◆ process()

void RoadFinder::process	(	cv::Mat const &	img,
		jevois::RawImage &	visual
	)

Compute the vanishing point location using the full blown algorithm.

img should be greyscale. If visual is valid, it should be YUYV with same or larger dims, with the assumption that it contains a color copy of the input frame in the top-left corner (this is used for debug visualizations of the various things computed).

FIXME

Definition at line 256 of file RoadFinder.C.

References jevois::Profiler::checkpoint(), test-model::color, combine(), computeHoughSegments(), computeRoadCenterPoint(), computeVanishingLines(), jevois::rawimage::drawDisk(), jevois::rawimage::drawLine(), Point2D< T >::i, demo::int, Point2D< T >::isValid(), itsCenterPoint, itsCurrentLines, itsCurrentSegments, itsFilteredTPX, itsKalmanNeedInit, itsTargetPoint, itsTPXfilter, itsVanishingPoint, itsVanishingPointConfidence, itsVanishingPoints, Point2D< T >::j, JEVOIS_WAIT_GET_FUTURE, jevois::Profiler::start(), jevois::Profiler::stop(), trackVanishingLines(), updateRoadModel(), and jevois::RawImage::valid().

◆ projectForwardVanishingLines()

void RoadFinder::projectForwardVanishingLines	(	std::vector< Line > &	lines,
		std::vector< cv::Mat > const &	edgeMaps,
		jevois::RawImage &	visual
	)

protected

update the lines with the inputted set of edgemaps

Definition at line 1414 of file RoadFinder.C.

References trackVanishingLines().

◆ resetRoadModel()

void RoadFinder::resetRoadModel ( )

Reset all tracker internals and start fresh (e.g., when changing goal direction)

Thread-safe, ok to call concurrently with process().

Definition at line 245 of file RoadFinder.C.

◆ trackVanishingLines()

void RoadFinder::trackVanishingLines	(	cv::Mat const &	edgeMap,
		std::vector< Line > &	currentLines,
		jevois::RawImage &	visual
	)

protected

track vanishing lines by to fit to the new, inputted, edgemap

Definition at line 1321 of file RoadFinder.C.

References jevois::rawimage::drawDisk(), jevois::rawimage::drawLine(), getLineFitness(), Point2D< T >::i, Point2D< T >::j, demo::points, demo::score, test-model::size, updateLine(), and jevois::RawImage::valid().

Referenced by process(), and projectForwardVanishingLines().

◆ updateLine()

void RoadFinder::updateLine	(	Line &	l,
		std::vector< Point2D< int > > const &	points,
		float	score,
		int const	width,
		int const	height
	)

protected

update the information in by updating the input points, score and various handy coordinate locations

Definition at line 1154 of file RoadFinder.C.

References Line::angle, fitLine(), Line::horizonPoint, Line::horizonSupportPoint, Point2D< T >::i, Point2D< T >::j, Line::onScreenHorizonPoint, Line::onScreenHorizonSupportPoint, Line::onScreenRoadBottomPoint, demo::points, Line::points, Line::roadBottomPoint, demo::score, and Line::score.

Referenced by combine(), findLine2(), and trackVanishingLines().

◆ updateRoadModel()

void RoadFinder::updateRoadModel	(	std::vector< Line > &	lines,
		int	index
	)

protected

update road model and incoming lines NOTE: also change the line parameters to sync them this avoids drifts

Definition at line 597 of file RoadFinder.C.

References Point2D< T >::distance(), itsNumIdentifiedLines, itsRoadModel, RoadModel::lastActiveIndex, RoadModel::lastSeenHorizonPoint, RoadModel::lastSeenLocation, RoadModel::lines, and RoadModel::numMatches.

Referenced by process().

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/4]

JEVOIS_DECLARE_PARAMETER	(	distthresh	,
		unsigned int	,
		"Vanishing point distance threshold (pixels)."	,
		40	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/4]

JEVOIS_DECLARE_PARAMETER	(	horizon	,
		int	,
		"Estimated vertical (Y) position of the horizon (pixels, " "with 0 at the top of the frame). Adjust this depending on the tilt angle of your camera " "and video input resolution."	,
		70	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/4]

JEVOIS_DECLARE_PARAMETER	(	spacing	,
		unsigned int	,
		"Spacing between vanishing point candidates (pixels)."	,
		20	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [4/4]

JEVOIS_DECLARE_PARAMETER	(	support	,
		int
	)

Member Data Documentation

◆ itsAccTrajMtx

std::mutex RoadFinder::itsAccTrajMtx

protected

locking accunulated trajectory

Definition at line 288 of file RoadFinder.H.

◆ itsAccumulatedTrajectory

Point2D<float> RoadFinder::itsAccumulatedTrajectory

protected

the accumulated trajectory

Definition at line 285 of file RoadFinder.H.

Referenced by RoadFinder().

◆ itsCenterPoint

Point2D<float> RoadFinder::itsCenterPoint

protected

current center of road point

Definition at line 311 of file RoadFinder.H.

Referenced by getCurrCenterPoint(), process(), and RoadFinder().

◆ itsCurrentLines

std::vector<Line> RoadFinder::itsCurrentLines

protected

the current lines being tracked

Definition at line 299 of file RoadFinder.H.

Referenced by process().

◆ itsCurrentMessageID

int RoadFinder::itsCurrentMessageID

protected

for visualizer

Definition at line 317 of file RoadFinder.H.

◆ itsCurrentSegments

std::vector<Segment> RoadFinder::itsCurrentSegments

protected

current segments found using CVHoughlines

Definition at line 291 of file RoadFinder.H.

Referenced by computeHoughSegments(), computeVanishingLines(), and process().

◆ itsFilteredTPX

float RoadFinder::itsFilteredTPX

protected

Definition at line 320 of file RoadFinder.H.

Referenced by getFilteredTargetX(), and process().

◆ itsKalmanNeedInit

bool RoadFinder::itsKalmanNeedInit

protected

Definition at line 321 of file RoadFinder.H.

Referenced by process().

◆ itsNumIdentifiedLines

uint RoadFinder::itsNumIdentifiedLines

protected

indicate how many unique lines have been identified NOTE: never reset

Definition at line 302 of file RoadFinder.H.

Referenced by RoadFinder(), and updateRoadModel().

◆ itsRoadHeading

double RoadFinder::itsRoadHeading

protected

the current road heading

Definition at line 282 of file RoadFinder.H.

◆ itsRoadModel

RoadModel RoadFinder::itsRoadModel

protected

Definition at line 304 of file RoadFinder.H.

Referenced by updateRoadModel().

◆ itsRoadMtx

std::mutex RoadFinder::itsRoadMtx

protected

Definition at line 309 of file RoadFinder.H.

Referenced by computeRoadCenterPoint(), and computeVanishingLines().

◆ itsTargetPoint

Point2D<float> RoadFinder::itsTargetPoint

protected

target servo point

Definition at line 312 of file RoadFinder.H.

Referenced by getCurrTargetPoint(), process(), and RoadFinder().

◆ itsTPXfilter

cv::KalmanFilter RoadFinder::itsTPXfilter

protected

Definition at line 319 of file RoadFinder.H.

Referenced by process(), and RoadFinder().

◆ itsTrackingFlag

bool RoadFinder::itsTrackingFlag

protected

indicate whether tracking

Definition at line 296 of file RoadFinder.H.

Referenced by RoadFinder().

◆ itsTrackMtx

std::mutex RoadFinder::itsTrackMtx

protected

locking line trackers vars

Definition at line 293 of file RoadFinder.H.

◆ itsVanishingPoint

Point2D<int> RoadFinder::itsVanishingPoint

protected

current vanishing point

Definition at line 310 of file RoadFinder.H.

Referenced by computeRoadCenterPoint(), computeVanishingLines(), getCurrVanishingPoint(), process(), and RoadFinder().

◆ itsVanishingPointConfidence

float RoadFinder::itsVanishingPointConfidence

protected

current vanishing point

Definition at line 313 of file RoadFinder.H.

Referenced by getCurrVanishingPoint(), process(), and RoadFinder().

◆ itsVanishingPoints

std::vector<VanishingPoint> RoadFinder::itsVanishingPoints

protected

vanishing points being considered

Definition at line 307 of file RoadFinder.H.

Referenced by computeVanishingLines(), and process().

◆ itsVanishingPointStability

std::vector<bool> RoadFinder::itsVanishingPointStability

protected

vanishing point score tracker

Definition at line 314 of file RoadFinder.H.

Referenced by computeRoadCenterPoint().

The documentation for this class was generated from the following files:

include/jevoisbase/Components/RoadFinder/RoadFinder.H
src/Components/RoadFinder/RoadFinder.C

Public Member Functions

Protected Member Functions

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ RoadFinder()

◆ ~RoadFinder()

Member Function Documentation

◆ combine()

◆ computeHoughSegments()

◆ computeRoadCenterPoint()

◆ computeVanishingLines()

◆ discardDuplicates()

◆ findLine2()

◆ fitLine()

◆ getCurrCenterPoint()

◆ getCurrTargetPoint()

◆ getCurrVanishingPoint()

◆ getFilteredTargetX()

◆ getLineFitness() [1/2]

◆ getLineFitness() [2/2]

◆ getPixels() [1/2]

◆ getPixels() [2/2]

◆ getPixelsQuick()

◆ getVanishingPoint()

◆ postInit()

◆ preUninit()

◆ process()

◆ projectForwardVanishingLines()

◆ resetRoadModel()

◆ trackVanishingLines()

◆ updateLine()

◆ updateRoadModel()

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/4]

◆ JEVOIS_DECLARE_PARAMETER() [2/4]

◆ JEVOIS_DECLARE_PARAMETER() [3/4]

◆ JEVOIS_DECLARE_PARAMETER() [4/4]

Member Data Documentation

◆ itsAccTrajMtx

◆ itsAccumulatedTrajectory

◆ itsCenterPoint

◆ itsCurrentLines

◆ itsCurrentMessageID

◆ itsCurrentSegments

◆ itsFilteredTPX

◆ itsKalmanNeedInit

◆ itsNumIdentifiedLines

◆ itsRoadHeading

◆ itsRoadModel

◆ itsRoadMtx

◆ itsTargetPoint

◆ itsTPXfilter

◆ itsTrackingFlag

◆ itsTrackMtx

◆ itsVanishingPoint

◆ itsVanishingPointConfidence

◆ itsVanishingPoints

◆ itsVanishingPointStability