Final Worked code

CMakeLists.txt

@@ -68,10 +68,17 @@ cuda_add_library(gSLICr_lib
 target_link_libraries(gSLICr_lib ${CUDA_LIBRARY})
 
 add_executable(lanes src/lanes_way.cpp)
+<<<<<<< f5cb4bf155597ceab254227a1ef8c474b31c7587
+=======
+
+>>>>>>> Final Worked code
 
 target_link_libraries(lanes
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
   gSLICr_lib
 )
+<<<<<<< f5cb4bf155597ceab254227a1ef8c474b31c7587
 
+=======
+>>>>>>> Final Worked code

include/lane_detector/lanes_way.hpp

@@ -30,12 +30,18 @@
 #define SHOW 0
 #define W 400
 #define SUBSTRACTION_CONSTANT 30
-#define INTENSITY_TH 160
+#define INTENSITY_TH 140
 #define PI 3.14159265
 
+<<<<<<< f5cb4bf155597ceab254227a1ef8c474b31c7587
 #define TH_REM_GRASS 190
 #define TH_DOT 170 //130
 #define TH_SMALL_SUPERPIXEL 20
+=======
+#define TH_REM_GRASS 140
+#define TH_DOT 150 //130
+#define TH_SMALL_SUPERPIXEL 10
+>>>>>>> Final Worked code
 #define TH_MIN_WHITE_REGION 0.5
 #define NUM_ITER 1000
 #define PPM 150
@@ -49,7 +55,11 @@
 #define JUMP_OF_WAYPOINT 15
 #define extrapolation_factor 5
 #define frames_to_skip_when_obstacle_detected 4
+<<<<<<< f5cb4bf155597ceab254227a1ef8c474b31c7587
 #define degree_for_horizontal 30
+=======
+#define degree_for_horizontal 40
+>>>>>>> Final Worked code
 
 #define THRESHOLD_FOR_ANY_LANE 70
 #define LANE_THRESHOLD 70
@@ -84,7 +94,6 @@ vector<int> obstacle_coords (Mat img, vector<double> old_way);
 vector<double> gen_new_way(Mat top_view_rgb,double a_gl,double lam_gl,double lam2_gl,double w_gl, vector<double>);
 bool waypoint_on_obstacle(Mat img, vector<double>);
 bool is_lane_horizontal (Mat img, float a, float lam1);
-Mat checkPothole(Mat);
 MatrixXd homo(3,3);  
 sensor_msgs::LaserScan imageConvert(cv::Mat image);
 
@@ -136,8 +145,6 @@ class Lanes
 	int frameHeight;
 	quadratic left_fy,right_gy;
 	quadratic array_l[5],array_r[5];
-	double width_lanes;
-	int flag_width;
 	double gamma_,v,sigma;
 	double THRESH;
 

src/lanes_chalne_wala.cpp

@@ -556,6 +556,8 @@ void Lanes::parabola()
 	// cvtColor(top_view_rgb, top_view, CV_BGR2GRAY);
 	Mat temp(top_view.rows, top_view.cols, CV_8UC3, Scalar(0,0,0));
 	Mat mario(top_view.rows, top_view.cols, CV_8UC1, Scalar(0));  
+	imshow("temp", temp);
+	waitKey(5);
 
 	for(int i = 0; i < top_view.rows; i++)
 		for(int j = 0; j < top_view.cols; j++)
@@ -568,8 +570,7 @@ void Lanes::parabola()
                                        Point(1,1 ));
     dilate(temp, temp, element);
 
-	imshow("temp", temp);
-	waitKey(5);
+
     int w = temp.rows, h = temp.cols;
     int nr_superpixels = 600;
     int nc = 100;