Detects the lane the vehicle is in and other lane-related metrics. More...

#include "LaneDetector.hpp"

Classes
class	RollingAverage
	Calculates a rolling average to provide a smoothed view of state trends over time. This class is in the private scope as the implementation is LaneDetector-specific. More...

Public Member Functions
	LaneDetector ()
	Construct a new LaneDetector object.
void	RunLaneDetector (const cv::Mat &p_frame, const ObjectDetectionInformation &p_objectDetectionInformation, const bool &p_debugMode)
	Runs the lane detector against p_frame.
LaneDetectionInformation	GetInformation ()
	Get the LaneDetectionInformation struct.

Private Member Functions
void	AnalyseHoughLines (const std::vector< cv::Vec4i > &p_houghLines, const ObjectDetectionInformation &p_objectDetectionInformation, const bool &p_debugMode)
	Determines whether the detected hough lines are left, middle or right lane lines. The majority of the noise removal occurs here.
void	UpdateLineTypes ()
	Determines whether the left, middle, and right lane lines detected are solid, dashed or empty.
void	UpdateDrivingState ()
	Determines the current driving state depending upon the absence/presence of left, right and middle lane lines.
void	ExecuteDrivingState ()
	Execute logic based on the current driving state.
void	CalculateLanePosition ()
	Determines the lane overlay for the current lane.
void	CalculateChangingLanesTurningDirection ()
	Determines the direction (left, right or neither) that the vehicle is turning while changing lanes.

Static Private Member Functions
static bool	IsLineWithinObjectBoundingBoxes (const cv::Vec4i &p_houghLine, const ObjectDetectionInformation &p_objectDetectionInformation)
	Determines whether p_houghLine is within any one of the p_objectDetectionInformation object bounding boxes.

Private Attributes
LaneDetectionInformation	m_laneDetectionInformation
	The LaneDetectionInformation struct containing all lane detection-related information.
RollingAverage< Globals::DrivingState >	m_drivingStateRollingAverage
	The rolling average to determine the driving state.
Globals::DrivingState	m_currentDrivingState
	The current driving state.
double	m_changingLanesPreviousDistanceDifference
	The distance difference that will be compared to in order to determine the direction the vehicle is moving while changing lanes.
uint32_t	m_changingLanesFrameCount
	The number of frames passed since a distance difference was calculated while the vehicle is changing lanes.
bool	m_changingLanesFirstFrame
	Whether the current frame is the frame in which the driving state changed to CHANGING_LANES.

std::vector< cv::Vec4i >	m_leftLaneLines
	The left, middle and right lane lines that have been detected for the current frame.
std::vector< cv::Vec4i >	m_middleLaneLines
	The left, middle and right lane lines that have been detected for the current frame.
std::vector< cv::Vec4i >	m_rightLaneLines
	The left, middle and right lane lines that have been detected for the current frame.

double	m_leftLineAverageLength
	The average left, middle and right lane line lengths for the current frame.
double	m_middleLineAverageLength
	The average left, middle and right lane line lengths for the current frame.
double	m_rightLineAverageLength
	The average left, middle and right lane line lengths for the current frame.

Detailed Description

Detects the lane the vehicle is in and other lane-related metrics.

Definition at line 23 of file LaneDetector.hpp.

Constructor & Destructor Documentation

◆ LaneDetector()

LaneAndObjectDetection::LaneDetector::LaneDetector ( )

explicit

Construct a new LaneDetector object.

Definition at line 24 of file LaneDetector.cpp.

Member Function Documentation

◆ RunLaneDetector()

void LaneAndObjectDetection::LaneDetector::RunLaneDetector	(	const cv::Mat &	p_frame,
		const ObjectDetectionInformation &	p_objectDetectionInformation,
		const bool &	p_debugMode )

Runs the lane detector against p_frame.

Parameters

p_frame	The frame to run the lane detector against.
p_objectDetectionInformation	The ObjectDetectionInformation struct containing all object detection-related information.
p_debugMode	Whether in debug mode.

Definition at line 34 of file LaneDetector.cpp.

◆ GetInformation()

LaneDetectionInformation LaneAndObjectDetection::LaneDetector::GetInformation ( )

Get the LaneDetectionInformation struct.

Returns: LaneDetectionInformation The LaneDetectionInformation struct.

Definition at line 70 of file LaneDetector.cpp.

◆ AnalyseHoughLines()

void LaneAndObjectDetection::LaneDetector::AnalyseHoughLines	(	const std::vector< cv::Vec4i > &	p_houghLines,
		const ObjectDetectionInformation &	p_objectDetectionInformation,
		const bool &	p_debugMode )

private

Determines whether the detected hough lines are left, middle or right lane lines. The majority of the noise removal occurs here.

Parameters

p_houghLines	The hough lines that have been detected.
p_objectDetectionInformation	The ObjectDetectionInformation struct containing the object bounding boxes.
p_debugMode	Whether in debug mode.

Definition at line 108 of file LaneDetector.cpp.

◆ IsLineWithinObjectBoundingBoxes()

bool LaneAndObjectDetection::LaneDetector::IsLineWithinObjectBoundingBoxes	(	const cv::Vec4i &	p_houghLine,
		const ObjectDetectionInformation &	p_objectDetectionInformation )

staticprivate

Determines whether p_houghLine is within any one of the p_objectDetectionInformation object bounding boxes.

Parameters

p_houghLine	The line to check.
p_objectDetectionInformation	The ObjectDetectionInformation struct containing the object bounding boxes.

Returns: true If p_houghLine is within the object bounding boxes found within p_objectDetectionInformation.; false If p_houghLine is NOT within the object bounding boxes found within p_objectDetectionInformation.

Definition at line 256 of file LaneDetector.cpp.

◆ UpdateLineTypes()

void LaneAndObjectDetection::LaneDetector::UpdateLineTypes ( )

private

Determines whether the left, middle, and right lane lines detected are solid, dashed or empty.

Definition at line 279 of file LaneDetector.cpp.

◆ UpdateDrivingState()

void LaneAndObjectDetection::LaneDetector::UpdateDrivingState ( )

private

Determines the current driving state depending upon the absence/presence of left, right and middle lane lines.

Definition at line 306 of file LaneDetector.cpp.

◆ ExecuteDrivingState()

void LaneAndObjectDetection::LaneDetector::ExecuteDrivingState ( )

private

Execute logic based on the current driving state.

Definition at line 368 of file LaneDetector.cpp.

◆ CalculateLanePosition()

void LaneAndObjectDetection::LaneDetector::CalculateLanePosition ( )

private

Determines the lane overlay for the current lane.

Definition at line 400 of file LaneDetector.cpp.

◆ CalculateChangingLanesTurningDirection()

void LaneAndObjectDetection::LaneDetector::CalculateChangingLanesTurningDirection ( )

private

Determines the direction (left, right or neither) that the vehicle is turning while changing lanes.

Definition at line 492 of file LaneDetector.cpp.

Member Data Documentation

◆ m_laneDetectionInformation

LaneDetectionInformation LaneAndObjectDetection::LaneDetector::m_laneDetectionInformation

private

The LaneDetectionInformation struct containing all lane detection-related information.

Definition at line 128 of file LaneDetector.hpp.

◆ m_drivingStateRollingAverage

RollingAverage<Globals::DrivingState> LaneAndObjectDetection::LaneDetector::m_drivingStateRollingAverage

private

The rolling average to determine the driving state.

Definition at line 133 of file LaneDetector.hpp.

◆ m_currentDrivingState

Globals::DrivingState LaneAndObjectDetection::LaneDetector::m_currentDrivingState

private

The current driving state.

Definition at line 138 of file LaneDetector.hpp.

◆ m_leftLaneLines

std::vector<cv::Vec4i> LaneAndObjectDetection::LaneDetector::m_leftLaneLines

private

The left, middle and right lane lines that have been detected for the current frame.

Definition at line 144 of file LaneDetector.hpp.

◆ m_middleLaneLines

std::vector<cv::Vec4i> LaneAndObjectDetection::LaneDetector::m_middleLaneLines

private

The left, middle and right lane lines that have been detected for the current frame.

Definition at line 145 of file LaneDetector.hpp.

◆ m_rightLaneLines

std::vector<cv::Vec4i> LaneAndObjectDetection::LaneDetector::m_rightLaneLines

private

The left, middle and right lane lines that have been detected for the current frame.

Definition at line 146 of file LaneDetector.hpp.

◆ m_changingLanesPreviousDistanceDifference

double LaneAndObjectDetection::LaneDetector::m_changingLanesPreviousDistanceDifference

private

The distance difference that will be compared to in order to determine the direction the vehicle is moving while changing lanes.

Definition at line 153 of file LaneDetector.hpp.

◆ m_leftLineAverageLength

double LaneAndObjectDetection::LaneDetector::m_leftLineAverageLength

private

The average left, middle and right lane line lengths for the current frame.

Definition at line 159 of file LaneDetector.hpp.

◆ m_middleLineAverageLength

double LaneAndObjectDetection::LaneDetector::m_middleLineAverageLength

private

The average left, middle and right lane line lengths for the current frame.

Definition at line 160 of file LaneDetector.hpp.

◆ m_rightLineAverageLength

double LaneAndObjectDetection::LaneDetector::m_rightLineAverageLength

private

The average left, middle and right lane line lengths for the current frame.

Definition at line 161 of file LaneDetector.hpp.

◆ m_changingLanesFrameCount

uint32_t LaneAndObjectDetection::LaneDetector::m_changingLanesFrameCount

private

The number of frames passed since a distance difference was calculated while the vehicle is changing lanes.

Definition at line 167 of file LaneDetector.hpp.

◆ m_changingLanesFirstFrame

bool LaneAndObjectDetection::LaneDetector::m_changingLanesFirstFrame

private

Whether the current frame is the frame in which the driving state changed to CHANGING_LANES.

Definition at line 172 of file LaneDetector.hpp.

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

include/detectors/LaneDetector.hpp
source/detectors/LaneDetector.cpp

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LaneDetector()

Member Function Documentation

◆ RunLaneDetector()

◆ GetInformation()

◆ AnalyseHoughLines()

◆ IsLineWithinObjectBoundingBoxes()

◆ UpdateLineTypes()

◆ UpdateDrivingState()

◆ ExecuteDrivingState()

◆ CalculateLanePosition()

◆ CalculateChangingLanesTurningDirection()

Member Data Documentation

◆ m_laneDetectionInformation

◆ m_drivingStateRollingAverage

◆ m_currentDrivingState

◆ m_leftLaneLines

◆ m_middleLaneLines

◆ m_rightLaneLines

◆ m_changingLanesPreviousDistanceDifference

◆ m_leftLineAverageLength

◆ m_middleLineAverageLength

◆ m_rightLineAverageLength

◆ m_changingLanesFrameCount

◆ m_changingLanesFirstFrame