lane_8's Introduction
1.can_serial.hpp 主要包含了can的端口设置、波特率设置等。 2.Common.h 主要包含一些类型的更名,例如typedef int INT8等,另外包含一些LDW预警的缺省,和世界坐标系下的宽度!!!! 3.ffttools 主要包含一些图像预处理函数. 4.fhog.hpp 涉及一些fhog特征提取内容,不过hpp内的函数并没有具体实现. 5.kcftracker.cpp 主要涉及一些kcf跟踪,继承了虚基类track.h,也没有函数的实现. 6.track.h 作为一个虚基类,没什么用. 7.labdata.hpp 是一个矩阵,包含一些参数。 8.land_detection.hpp 包含了逆透视图像中相邻两条车道线间距的像素约束范围,定义了ROI范围,丢失帧数的阈值,初始、筛选后的车道线集合的结构体(struct),存储映射至原始图像的车道线识别参数结果(back_lines),车道线检测核心函数:定义原图像和逆透视图像中的ROI,卡尔曼滤波设定,经过高斯横纵向滤波,随后canny提取边缘.分别进行初提取,后提取,按照灰度进行排序,选择最大灰度的图像进行。若不满足,取次之。出现偏差过大,就取历史值。 9.measure.hpp表示盲区范围 10.measure_distance.hpp 指的是纵向距离。包括计算纵向距离. 11.lane.cpp为主程序,主要是对提取出的车道线进行距离计算。func_lane_detect在检测车道线的同时进行距离计算。 突变压线? CCanLaneRes LaneRes? 12.
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