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comparison c/Parameters.cpp @ 348:c64a4f889b97

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added safety analysis options to feature tracking (with default values for backward compatibility)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Jun 2013 18:40:31 -0400
parents f21ef87f98f1
children e3f910c26fae
comparison
equal deleted inserted replaced
347:7b865f4174aa 348:c64a4f889b97
16 // configuration filename 16 // configuration filename
17 onlyCmdLine.add_options() 17 onlyCmdLine.add_options()
18 ("help,h", "displays this help message") 18 ("help,h", "displays this help message")
19 ("tf", "tracks features") 19 ("tf", "tracks features")
20 ("gf", "groups features") 20 ("gf", "groups features")
21 ("config-file", po::value<string>(&configurationFilename)->default_value("tracking.cfg"), "configuration file") 21 ("config-file", po::value<string>(&configurationFilename), "configuration file")
22 ; 22 ;
23 23
24 po::positional_options_description p; 24 po::positional_options_description p;
25 p.add("config-file", 1); 25 p.add("config-file", 1);
26 26
54 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping") 54 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping")
55 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping") 55 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping")
56 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping") 56 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping")
57 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping") 57 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping")
58 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis") 58 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis")
59 ;
60 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn") 59 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn")
61 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn") 60 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn")
62 61 // Safety Analysis
63 62 ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)")
63 ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)")
64 ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)")
65 ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET")
66 ;
67
64 po::options_description cmdLine; 68 po::options_description cmdLine;
65 cmdLine.add(onlyCmdLine).add(cmdLineAndFile); 69 cmdLine.add(onlyCmdLine).add(cmdLineAndFile);
66 try { 70 try {
67 po::variables_map vm; 71 po::variables_map vm;
68 store(po::command_line_parser(argc, argv). 72 store(po::command_line_parser(argc, argv).
69 options(cmdLine).positional(p).allow_unregistered().run(), vm); 73 options(cmdLine).positional(p).allow_unregistered().run(), vm);
70 notify(vm); 74 notify(vm);
71 75
76 if (vm.count("config-file") == 0) {
77 cout << "Missing configuration file" << endl;
78 cout << cmdLine << endl;
79 exit(0);
80 }
81
72 cout << "Using configuration file " << configurationFilename << endl; 82 cout << "Using configuration file " << configurationFilename << endl;
73 83
74 ifstream configurationFile(configurationFilename.c_str()); 84 ifstream configurationFile(configurationFilename.c_str());
75 store(po::parse_config_file(configurationFile, cmdLineAndFile), vm); 85 store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm);
76 notify(vm); 86 notify(vm);
77 87
78 parameterDescription = getParameterDescription(cmdLineAndFile, vm); 88 parameterDescription = getParameterDescription(cmdLineAndFile, vm);
79 89
80 trackFeatures = vm.count("tf")>0; 90 trackFeatures = vm.count("tf")>0;