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caltech-lane-detection下载
资源介绍
# Author: Mohamed Aly
# Date: 10/7/2010
============================================================================
REAL TIME LANE DETECTOR SOFTWARE
============================================================================
This package contains source code and dataset that implements the work in the
paper [1].
=========
Contents
=========
src/: contains the C/C++ source files
|_ CameraInfo.conf: contains the camera calibration ifo
|_ CameraInfoOpt.*: contain gengetopt files for parsing the camera info files
|_ cmdline.*: contains gengetopt files for parsing command lines
|_ InversePerspectiveMapping.*: code for obtainig the IPM of an image
|_ LaneDetector.*: code for the bulk of the algorithm, including Hough
Transforms, Spline fitting, Post processing, ...
|_ Lanes.conf: the typical configuration file for lane detection
|_ main.*: code for the main binary
|_ Makefile: the Make file
|_ mcv.*: contain utility functions
|_ ranker.h: code for obtaining the median of a vector
|_ run.sh: Shell script for running the detector on the four clips in
Caltech Lanes Dataset
matlab/: contains the Matlab source files
|_ ccvCheckMergeSplines.m: checks if two splines are matching
|_ ccvEvalBezSpline.m: returns points on a spline given its control points
|_ ccvGetLaneDetectionStats.m: computes stats from detections and ground truth
|_ ccvLabel.m: handles the ground truth labels
|_ ccvReadLaneDetectionResultsFile.m: reads a detection file output from the
binary file LaneDetector32/64
|_ Stats.m: computes stats for the detections on the Caltech Lanes Dataset and
its ground truth labels
==============
Prerequisites
==============
1. OpenCV 2.0 or higher http://sourceforge.net/projects/opencvlibrary/
3. (Optional) Gengetopt http://www.gnu.org/software/gengetopt/
===========
Compiling
===========
Unzip the archive somewhere, let's say ~/lane-detector:
unzip lane-detector.zip -d ~/lane-detector
cd ~/lane-detector/src
make release
This will generate LaneDetector32 or LaneDetector64 depending on your system.
======================
Caltech Lanes Dataset
======================
To view the lane detector in action, you can download the Caltech Lanes Dataset
available at http://www.vision.caltech.edu/malaa/datasets/caltech-lanes
===========
Running
===========
To run the detector on the Caltech Lanes dataset, which might be in
~/caltech-lanes/
cd ~/lane-detector/
ln -s ~/caltech-lanes/ clips
cd ~/lane-detector/src/
bash run.sh
This will create the results files inside
~/caltech-lanes/*/list.txt_results.txt
To view the statistics of the results, open Matlab and run the file:
cd ~/lane-detector/matlab/
matlab&
>>Stats
======================
Command line options
======================
LinePerceptor 1.0
Detects lanes in street images.
Usage: LinePerceptor [OPTIONS]... [FILES]...
-h, --help Print help and exit
-V, --version Print version and exit
Basic options:
--lanes-conf=STRING Configuration file for lane detection
(default=`Lanes.conf')
--stoplines-conf=STRING Configuration file for stopline detection
(default=`StopLines.conf')
--no-stoplines Don't detect stop lines (default=on)
--no-lanes Don't detect lanes (default=off)
--camera-conf=STRING Configuration file for the camera paramters
(default=`CameraInfo.conf')
--list-file=STRING Text file containing a list of images one per
line
--list-path=STRING Path where the image files are located, this is
just appended at the front of each line in
--list-file (default=`')
--image-file=STRING The path to an image
Debugging options:
--wait=INT Number of milliseconds to show the detected
lanes. Put 0 for infinite i.e. waits for
keypress. (default=`0')
--show Show the detected lines (default=off)
--step Step through each image (needs a keypress) or
fall through (waits for --wait msecs)
(default=off)
--show-lane-numbers Show the lane numbers on the output image
(default=off)
--output-suffix=STRING Suffix of images and results
(default=`_results')
--save-images Export all images with detected lanes to the by
appending --output-suffix + '.png' to each
input image (default=off)
--save-lanes Export all detected lanes to a text file by
appending --output-suffix + '.txt' to
--list-file (default=off)
--debug Show debugging information and images
(default=off)
===========
References
===========
[1] Mohamed Aly, Real time Detection of Lane Markers in Urban Streets,
IEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, June 2008.
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