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Parameters.xml
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<?xml version="1.0" encoding="UTF-8"?>
<Document>
<Solvers>
<RoadSegment>
<!--
dataRoot = directory from which relative paths to images are given in dataFile
dataFile = file listing relative paths of images to test
saveVizImg = true if overlaid images are desired
vizImgPrefix = prefix name for saved image
segImgPrefix = prefix put before the name of segmented image
overlayedRoot = directory where overlaid images would be stored
-->
<SolverInstance
dataRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/data/"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
segRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/segment_img/"
saveVizImg="true"
vizImgPrefix="overlayed_"
segImgPrefix="segmented_"
overlayedRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/overlayed_img/"/>
</RoadSegment>
<LMsfromCam>
<!-- k = percent of pixels to label as lanes -->
<KPercentExtractor k="8"/>
<!-- dataRoot = directory from which relative paths to images are given in dataFile
dataFile = file listing relative paths of images to test
segRoot = directory where binary segmented images are stored
refinedRoot = directory where refined and overlaid images should be stored
saveVizImg = true if overlaid images are desired
vizImgPrefix = prefix put before the name of overlaid image
refinedImgPrefix = prefix put before the name of refined image -->
<SolverInstance
dataRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/data/"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
segRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/segment_img/"
refinedRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/lane_from_img/"
OverlayRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/overlayed_img/"
saveVizImg="true"
vizImgPrefix="Overlayed_"
refinedImgPrefix="thredholded_"/>
</LMsfromCam>
<VeloPtsProjectCam>
<!-- segRoot = directory where segmented images are stored
maxWidth = points with |y| <= |maxWidth| would only be considered (y is defined with respect to the lidar frame of reference)
maxWidth = points with |x| <= |maxLength| would only be considered (x is defined with respect to the lidar frame of reference)
refinedRoot = directory where refined images are stored
refImgPrefix = prefix before all refined images
segImgPrefix = prefix before all segmented images
outputFile = file where all points that lie in the intersection would be stored
saveVizImg = true if image which has circles at all intersected points is needed
vizImgPrefix = prefix before the visualization image (one with circles)
printOnly2D = true if only x and y coordinates (lidar space) must be printed in file
dThrehold = distance threshold value for ransac
nIter = maximum iteration for ransac
-->
<LMintersection
segRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/segment_img/"
maxWidth="3"
maxLength="20"
refinedRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/lane_from_img/"
refImgPrefix="thredholded_"
segImgPrefix="segmented_"
outputFile="intersected3DPts.txt"
saveVizImg="true"
vizImgPrefix="intersected_"
printOnly2D="false"
dThrehold="0.15"
nIter="5000"
/>
<!-- segRoot = directory where segmented images are stored
segImgPrefix = prefix before all segmented images
outputFilePrefix = prefix before all output files
saveVizImg = true if image which has circles at all intersected points is needed
vizImgPrefix = prefix before the visualization image (one with circles)
printProjectedPts = true if points are to be printed after projecting to image space
minPoints = minimum number of points to be there for an entry to go in file
printProjectedPts = true if print the points in file
-->
<SurfaceDataMaker
segRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/segment_img/"
segImgPrefix="segmented_"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
outputFilePrefix="lidarRoad2DPts_"
saveVizImg="false"
vizImgPrefix="lidar_"
minPoints="15"
printProjectedPts="true"
/>
<!-- dataRoot = directory from which relative paths to images are given in dataFile
dataFile = file listing relative paths of images to test
veloRoot = directory where .bin files are stored containing Lidar points
calibRoot = directory where calibration files are stored
outputRoot = directory where any output should be stored
retentionFrequency= only 1 of every retentionFrequency number of lidar points would be considered
camNum = the camera number used (0,1,2,3)
minX = the minimum x coordinate a Lidar point must have to be considered to lie on the image -->
<LidarImageProjector saveVizImg="true" vizImgPrefix="avg_" maxDist="5"/>
<LaneQualityChecker dx="20.0" dy="3.0"/>
<SolverInstance
dataRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/data/"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
veloRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/data/"
calibRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26-calib/"
outputRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/intersect_img_lidar/"
retentionFrequency="3"
camNum="2"
minX="5"/>
</VeloPtsProjectCam>
<TLinkage>
<Samplers maxIterationsFactor="10" maxTries = "3">
<Uniform/>
<!-- sigma = an implementation detail (should be good at 5)
maxDiff = maximum difference to tolerate while sampling (in m or degrees)
measurementWay = way to measure "distance"
AbsVerticalDegree if the angle with respect to y axis is measured between points
Euclidean if simple geometric distance is supposed to be measured-->
<DistBased sigma="3" maxDiff="60" measurementWay="AbsVerticalDegree" shouldXUnique="true"/>
</Samplers>
<Models>
<!-- minShift = minimum distance to push a line by when finding parallel line on other side
maxShift = maximum distance to push a line by when finding parallel line on other side
resolution = distance by which each increment happens
errorThreshold = the maximum average least square distance from all points in a cluster to the parallel line constructed
-->
<Line3D minShift="2.7" maxShift="5" resolution="0.025" errorThreshold="1"/>
<BSpline minSamples="8" regularizationConst="2" resolution="0.25" minX="5" maxX="80"/>
</Models>
<!-- inlierThreshold = maximum distance between a model and a sample that fits the model-->
<PreferenceFinders inlierThreshold="0.5">
<Exp divFactor="5"/>
<Hard/>
<Gauss divFactor="4"/>
<Tukey/>
</PreferenceFinders>
<OutlierRejectors>
<MaxSizeChange/>
<KLargest k="2"/>
</OutlierRejectors>
<!--
dataFile = file that lists all points
shouldTranspose = true if colums in dataFile = number of dimensions of points
modelFile = file which would store all model parameters
saveClusters = true if clusters should be saved
clusterFile = file which would store all clusters
preferenceFinder = name of preference finder (any child of PreferenceFinders node)
sampler = name of sampler to use (any child of Samplers node (for DistBased, use PreferNear as its name)
outlierRejector = name of outlier rejector (None or any child of OutlierRejectors node)
samplesPerDataPt = total samples generated would samplesPerDataPt * data points
minShift = minimum distance to shift the model
maxShift = maximum distance to shift the model
shiftIncrement = distance interval to shift the model
errorThreshold = threshold setting for T-linkage
-->
<SolverInstance
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/intersect_img_lidar/intersected3DPts.txt"
shouldTranspose="true"
modelFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/lidar_res/lineModel/spline3DModels.txt"
saveClusters="true"
clusterFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/lidar_res/lineCluster/spline3DClusters.txt"
preferenceFinder="Exp"
sampler="PreferNear"
outlierRejector="None"
samplesPerDataPt="5"
minShift="2.7"
maxShift="10"
shiftIncrement="0.02"
errorThreshold="1"
/>
</TLinkage>
<!-- eps, maxMinPts = usual parameters of DBScan
minMinPts = minimum number of minPts if minPts decline with distance
declineSlope = slope by which minPts reduces as distance increases (should be +ve)
dataRoot = directory where all files generated by SurfaceDataMaker are stored
dataFile = file which lists image names of images to test
inputFilePrefix = prefix with which files are saved by SurfaceDataMaker (should equal outputFilePrefix attribute of surface data maker)
outputFilePrefix = prefix of all output files
shouldTranspose = true if number of columns in input file equal dimensions of points
outputRoot = directory where all output should be stored
-->
<DBScan eps="30" maxMinPts="30" minMinPts="5" minX="6" declineSlope="0"
dataRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/lidar_res/LIDAR"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
inputFilePrefix="lidarRoad2DPts_"
outputRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/DBSCAN"
outputFilePrefix="dbs_"
shouldTranspose="true"/>
<!-- imgRoot = directory from which relative paths are listed in imgFile
imgFile = file that stores all relative paths to images
veloRoot = directory which stores all bin files containing Lidar points
ratioFile = directory which store the metrics related to lane quality
saveVizImg = true if the spine lane model is diplayed on image
lassAsses = true if the program runs at lane quality assessment mode
vizImgPrefix = directory where the spline lane image is saved
-->
<LaneDetector
dataRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/data/"
dataFile="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/demo.txt"
veloRoot="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/data/"
ratiosFile = "/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/ratio.txt"
saveVizImg="true"
lassAsses="false"
vizImgPrefix="/home/binbin/disk/project-code/lane_quality_assessment/ICNet-master/laneAssess/data/2011_09_26/2011_09_26_drive_0056_sync/image_02/splineLane/spline_"
/>
</Solvers>
<Main solver="LaneDetector" debug="true"/>
</Document>
<!-- Example
<Main solver="RoadSegment" debug="true"/>
<Main solver="KPercentExtractor" debug="true"/>
<Main solver="LMsintersection" debug="true"/>
<Main solver="BSplineTLinkage" debug="true"/>
<Main solver="LaneDetector" debug="true"/>
-->