diff options
Diffstat (limited to 'detect_road_borders.cpp')
| -rw-r--r-- | detect_road_borders.cpp | 34 |
1 files changed, 22 insertions, 12 deletions
diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp index af35651..6ca7153 100644 --- a/detect_road_borders.cpp +++ b/detect_road_borders.cpp @@ -352,7 +352,7 @@ double* calc_angle_deriv(double* angles, int first_nonbottom_idx, int size, int int find_bestquality_index(const vector<Point>& contour, double* angle_derivative, int xlen, int ylen, int high_y, int first_nonbottom_idx, Mat& drawing, - int* bestquality_j_out, int* bestquality_width_out, int* bestquality_out) + int* bestquality_j_out, int* bestquality_width_out, int* bestquality_out, int* bestquality_max_out) { assert(bestquality_out!=NULL); assert(bestquality_j_out!=NULL); @@ -378,7 +378,7 @@ int find_bestquality_index(const vector<Point>& contour, double* angle_derivativ angle_derivative[j+1] < MAX_HYST*lastmax && angle_derivative[j+2] < MAX_HYST*lastmax) { - if (lastmax > 5) // threshold the maximum. + if (lastmax > 7) // threshold the maximum. { // search backward for the begin of that maximum region int j0; @@ -398,7 +398,7 @@ int find_bestquality_index(const vector<Point>& contour, double* angle_derivativ // 3) the corresponding point's x-coordinates are near the middle of the image, if in doubt int middle_x = xlen/2; int distance_from_middle_x = abs(xlen/2 - contour[j].x); - double quality = median_of_max_region + double quality = lastmax * linear( contour[j].y, high_y, 1.0, high_y+ (ylen-high_y)/10, 0.0, true) // excessively punish points far away from the top border * linear( distance_from_middle_x, 0.8*middle_x, 1.0, middle_x, 0.6, true); // moderately punish point far away from the x-middle. @@ -424,6 +424,7 @@ int find_bestquality_index(const vector<Point>& contour, double* angle_derivativ // now bestquality_j holds the index of the point with the best quality. *bestquality_out = bestquality; + *bestquality_max_out = bestquality_max; *bestquality_j_out = bestquality_j; *bestquality_width_out = bestquality_width; } @@ -543,12 +544,15 @@ void draw_it_all(Mat drawing, vector< vector<Point> >& contours, const vector<Ve line(drawing, contour[steering_point], origin_point, Scalar(0,255,255)); } -#define SMOOTHEN_BOTTOM 25 -#define SMOOTHEN_MIDDLE 10 +#define SMOOTHEN_BOTTOM 20 +#define SMOOTHEN_MIDDLE 7 #define ANG_SMOOTH 9 // return the index of the point to steer to. -int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat& drawing) // orig_img is a binary image +int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat& drawing, double* confidence) // orig_img is a binary image +// confidence is between 0.0 (not sure at all) and 1.0 (definitely sure) { + assert(confidence!=NULL); + Mat img; orig_img.copyTo(img); // this is needed because findContours destroys its input. drawing = Mat::zeros( img.size(), CV_8UC3 ); @@ -568,9 +572,9 @@ int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat double* angles = calc_contour_angles(contour, first_nonbottom_idx, img.rows, SMOOTHEN_MIDDLE, SMOOTHEN_BOTTOM); double* angle_derivative = calc_angle_deriv(angles, first_nonbottom_idx, contour.size(), ANG_SMOOTH); - int bestquality, bestquality_j, bestquality_width; + int bestquality, bestquality_j, bestquality_width, bestquality_max; find_bestquality_index(contour, angle_derivative, img.cols, img.rows, high_y, first_nonbottom_idx, drawing, - &bestquality_j, &bestquality_width, &bestquality); + &bestquality_j, &bestquality_width, &bestquality, &bestquality_max); // now we have a naive steering point. the way to it might lead // us offroad, however. @@ -578,10 +582,14 @@ int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat int steering_point=find_ideal_line(img.cols,img.rows, contour, origin_point, contour_map, bestquality_j); - draw_it_all(drawing, contours, hierarchy, first_nonbottom_idx, contour, angles, angle_derivative,bestquality_j,bestquality_width,bestquality,steering_point, origin_point); - + draw_it_all(drawing, contours, hierarchy, first_nonbottom_idx, contour, angles, angle_derivative,bestquality_j,bestquality_width,bestquality_max,steering_point, origin_point); + cout << bestquality << "\t" << bestquality_max<<endl; delete [] angle_derivative; delete [] angles; + + *confidence = (bestquality-1.0) / 3.0; + if (*confidence<0.0) *confidence=0; + if (*confidence>1.0) *confidence=1.0; return steering_point; } @@ -648,7 +656,8 @@ int main(int argc, char* argv[]) Mat drawing; - find_steering_point(thres, Point(thres.cols/2, thres.rows-thres.rows/5), contour_map, drawing); + double confidence; + find_steering_point(thres, Point(thres.cols/2, thres.rows-2*thres.rows/5), contour_map, drawing, &confidence); @@ -658,8 +667,9 @@ int main(int argc, char* argv[]) area_history_ptr=(area_history_ptr+1)%AREA_HISTORY; int prev_area=area_history_sum/AREA_HISTORY; - cout << "\r\e[2A area = "<<area_abs<<",\tratio="<< area_ratio <<" \n" << + cout << "area = "<<area_abs<<",\tratio="<< area_ratio <<" \n" << "prev area = "<<prev_area<<",\tchange="<< (100*area_abs/prev_area -100) <<"%\n"<<flush; + cout << "confidence = "<<confidence<<endl; if (area_ratio>0.1) { |