#Program Output
*** RUNNING EXPERIMENT 0 WITH detector = FAST and descriptor = BRISK ***
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1864 keypoints in 0.672326 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 14.0338 ms
#6 : EXTRACT DESCRIPTORS done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1898 keypoints in 0.628636 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.5391 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1806 matches in 6.12915 ms; matches = 1023, KNN matches = 1806 => keypoints removed = 783 (43.3555%)
ALL OK
Result Line Item
Frame: 0
TTC Lidar: 0
TTC Camera: 0
Lidar Points: 0
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1865 keypoints in 0.653763 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.9155 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1841 matches in 5.72104 ms; matches = 994, KNN matches = 1841 => keypoints removed = 847 (46.0076%)
ALL OK
Result Line Item
Frame: 1
TTC Lidar: 12.5156
TTC Camera: 12.3
Lidar Points: 340
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1840 keypoints in 0.647547 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 14.3909 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1810 matches in 5.48811 ms; matches = 962, KNN matches = 1810 => keypoints removed = 848 (46.8508%)
ALL OK
Result Line Item
Frame: 2
TTC Lidar: 12.6142
TTC Camera: 12.3453
Lidar Points: 309
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1867 keypoints in 0.66609 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 18.5139 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1789 matches in 7.63324 ms; matches = 960, KNN matches = 1789 => keypoints removed = 829 (46.3387%)
ALL OK
Result Line Item
Frame: 3
TTC Lidar: 14.091
TTC Camera: 16.6163
Lidar Points: 326
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1876 keypoints in 0.631829 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.9375 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1819 matches in 5.93545 ms; matches = 1016, KNN matches = 1819 => keypoints removed = 803 (44.1451%)
ALL OK
Result Line Item
Frame: 4
TTC Lidar: 16.6894
TTC Camera: 12.8857
Lidar Points: 322
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1843 keypoints in 0.613103 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.0565 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1823 matches in 5.57371 ms; matches = 969, KNN matches = 1823 => keypoints removed = 854 (46.8459%)
ALL OK
Result Line Item
Frame: 5
TTC Lidar: 15.9082
TTC Camera: -inf
Lidar Points: 344
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1829 keypoints in 0.61421 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.5135 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1788 matches in 5.62451 ms; matches = 917, KNN matches = 1788 => keypoints removed = 871 (48.7136%)
ALL OK
Result Line Item
Frame: 6
TTC Lidar: 12.6787
TTC Camera: 13.0386
Lidar Points: 352
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1843 keypoints in 0.61512 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.8673 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1772 matches in 6.1946 ms; matches = 925, KNN matches = 1772 => keypoints removed = 847 (47.7991%)
ALL OK
Result Line Item
Frame: 7
TTC Lidar: 11.9844
TTC Camera: 12.041
Lidar Points: 317
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1818 keypoints in 0.621331 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 14.2892 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1785 matches in 5.19639 ms; matches = 927, KNN matches = 1785 => keypoints removed = 858 (48.0672%)
ALL OK
Result Line Item
Frame: 8
TTC Lidar: 13.1241
TTC Camera: 11.4066
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1879 keypoints in 0.627965 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.6947 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1737 matches in 5.86018 ms; matches = 956, KNN matches = 1737 => keypoints removed = 781 (44.9626%)
ALL OK
Result Line Item
Frame: 9
TTC Lidar: 13.0241
TTC Camera: 11.8684
Lidar Points: 311
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1849 keypoints in 0.618933 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 20.471 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1798 matches in 5.62654 ms; matches = 954, KNN matches = 1798 => keypoints removed = 844 (46.941%)
ALL OK
Result Line Item
Frame: 10
TTC Lidar: 11.1746
TTC Camera: 13.3473
Lidar Points: 286
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1826 keypoints in 0.620214 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 20.335 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1796 matches in 5.37598 ms; matches = 965, KNN matches = 1796 => keypoints removed = 831 (46.2695%)
ALL OK
Result Line Item
Frame: 11
TTC Lidar: 12.8086
TTC Camera: 12.9492
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1842 keypoints in 0.623907 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 20.2617 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1760 matches in 5.3909 ms; matches = 966, KNN matches = 1760 => keypoints removed = 794 (45.1136%)
ALL OK
Result Line Item
Frame: 12
TTC Lidar: 8.95978
TTC Camera: 12.1174
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1833 keypoints in 0.616763 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 13.2891 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1787 matches in 5.57879 ms; matches = 998, KNN matches = 1787 => keypoints removed = 789 (44.1522%)
ALL OK
Result Line Item
Frame: 13
TTC Lidar: 9.96439
TTC Camera: 12.7784
Lidar Points: 316
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1921 keypoints in 0.638791 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 14.1906 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1773 matches in 5.6185 ms; matches = 1004, KNN matches = 1773 => keypoints removed = 769 (43.3728%)
ALL OK
Result Line Item
Frame: 14
TTC Lidar: 9.59863
TTC Camera: 11.6077
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1934 keypoints in 0.643119 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 14.3797 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1871 matches in 6.20661 ms; matches = 1037, KNN matches = 1871 => keypoints removed = 834 (44.5751%)
ALL OK
Result Line Item
Frame: 15
TTC Lidar: 8.57352
TTC Camera: 11.4079
Lidar Points: 289
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1946 keypoints in 0.64265 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 21.1205 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1877 matches in 5.83368 ms; matches = 1095, KNN matches = 1877 => keypoints removed = 782 (41.6622%)
ALL OK
Result Line Item
Frame: 16
TTC Lidar: 9.51617
TTC Camera: 12.2566
Lidar Points: 297
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1961 keypoints in 0.647712 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 21.5306 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1872 matches in 6.04565 ms; matches = 1068, KNN matches = 1872 => keypoints removed = 804 (42.9487%)
ALL OK
Result Line Item
Frame: 17
TTC Lidar: 9.54658
TTC Camera: 9.2933
Lidar Points: 279
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
*** RUNNING EXPERIMENT 1 WITH detector = FAST and descriptor = BRIEF ***
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1864 keypoints in 0.595364 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.88746 ms
#6 : EXTRACT DESCRIPTORS done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1898 keypoints in 0.615322 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.71233 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1729 matches in 4.78791 ms; matches = 1305, KNN matches = 1729 => keypoints removed = 424 (24.5228%)
ALL OK
Result Line Item
Frame: 0
TTC Lidar: 0
TTC Camera: 0
Lidar Points: 0
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1865 keypoints in 0.615468 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.8862 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1771 matches in 4.79197 ms; matches = 1333, KNN matches = 1771 => keypoints removed = 438 (24.7318%)
ALL OK
Result Line Item
Frame: 1
TTC Lidar: 12.5156
TTC Camera: 11.1776
Lidar Points: 340
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1840 keypoints in 0.611161 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.72787 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1745 matches in 5.22434 ms; matches = 1308, KNN matches = 1745 => keypoints removed = 437 (25.043%)
ALL OK
Result Line Item
Frame: 2
TTC Lidar: 12.6142
TTC Camera: 13.0069
Lidar Points: 309
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1867 keypoints in 0.615973 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 9.64657 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1725 matches in 5.47245 ms; matches = 1252, KNN matches = 1725 => keypoints removed = 473 (27.4203%)
ALL OK
Result Line Item
Frame: 3
TTC Lidar: 14.091
TTC Camera: 14.8206
Lidar Points: 326
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1876 keypoints in 0.612905 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.96321 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1736 matches in 6.67333 ms; matches = 1284, KNN matches = 1736 => keypoints removed = 452 (26.0369%)
ALL OK
Result Line Item
Frame: 4
TTC Lidar: 16.6894
TTC Camera: 13.6686
Lidar Points: 322
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1843 keypoints in 0.625643 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 9.81933 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1732 matches in 5.84229 ms; matches = 1274, KNN matches = 1732 => keypoints removed = 458 (26.4434%)
ALL OK
Result Line Item
Frame: 5
TTC Lidar: 15.9082
TTC Camera: -inf
Lidar Points: 344
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1829 keypoints in 0.612163 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.82744 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1707 matches in 4.68554 ms; matches = 1242, KNN matches = 1707 => keypoints removed = 465 (27.2408%)
ALL OK
Result Line Item
Frame: 6
TTC Lidar: 12.6787
TTC Camera: 41.7823
Lidar Points: 352
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1843 keypoints in 0.614717 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.71787 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1675 matches in 5.28542 ms; matches = 1237, KNN matches = 1675 => keypoints removed = 438 (26.1493%)
ALL OK
Result Line Item
Frame: 7
TTC Lidar: 11.9844
TTC Camera: 12.7583
Lidar Points: 317
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1818 keypoints in 0.623582 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.6964 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1690 matches in 4.36153 ms; matches = 1277, KNN matches = 1690 => keypoints removed = 413 (24.4379%)
ALL OK
Result Line Item
Frame: 8
TTC Lidar: 13.1241
TTC Camera: 12.7664
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1879 keypoints in 0.63492 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.71623 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1665 matches in 4.97814 ms; matches = 1237, KNN matches = 1665 => keypoints removed = 428 (25.7057%)
ALL OK
Result Line Item
Frame: 9
TTC Lidar: 13.0241
TTC Camera: 13.9231
Lidar Points: 311
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1849 keypoints in 0.623428 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.8767 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1714 matches in 5.04505 ms; matches = 1252, KNN matches = 1714 => keypoints removed = 462 (26.9545%)
ALL OK
Result Line Item
Frame: 10
TTC Lidar: 11.1746
TTC Camera: 16.2141
Lidar Points: 286
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1826 keypoints in 0.621917 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.6318 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1705 matches in 4.93447 ms; matches = 1275, KNN matches = 1705 => keypoints removed = 430 (25.2199%)
ALL OK
Result Line Item
Frame: 11
TTC Lidar: 12.8086
TTC Camera: 13.6355
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1842 keypoints in 0.625948 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.7515 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1668 matches in 4.74565 ms; matches = 1246, KNN matches = 1668 => keypoints removed = 422 (25.2998%)
ALL OK
Result Line Item
Frame: 12
TTC Lidar: 8.95978
TTC Camera: 12.9831
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1833 keypoints in 0.623558 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.71694 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1688 matches in 4.91908 ms; matches = 1265, KNN matches = 1688 => keypoints removed = 423 (25.0592%)
ALL OK
Result Line Item
Frame: 13
TTC Lidar: 9.96439
TTC Camera: 13.1487
Lidar Points: 316
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1921 keypoints in 0.640663 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.7624 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1677 matches in 4.62994 ms; matches = 1238, KNN matches = 1677 => keypoints removed = 439 (26.1777%)
ALL OK
Result Line Item
Frame: 14
TTC Lidar: 9.59863
TTC Camera: 11.7034
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1934 keypoints in 0.636757 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.83027 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1752 matches in 4.7974 ms; matches = 1297, KNN matches = 1752 => keypoints removed = 455 (25.9703%)
ALL OK
Result Line Item
Frame: 15
TTC Lidar: 8.57352
TTC Camera: 12.6071
Lidar Points: 289
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1946 keypoints in 0.643794 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.61766 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1762 matches in 4.85837 ms; matches = 1348, KNN matches = 1762 => keypoints removed = 414 (23.496%)
ALL OK
Result Line Item
Frame: 16
TTC Lidar: 9.51617
TTC Camera: 13.0069
Lidar Points: 297
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
FAST with n= 1961 keypoints in 0.647343 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.83863 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=1763 matches in 4.87749 ms; matches = 1355, KNN matches = 1763 => keypoints removed = 408 (23.1424%)
ALL OK
Result Line Item
Frame: 17
TTC Lidar: 9.54658
TTC Camera: 11.2586
Lidar Points: 279
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: FAST
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
*** RUNNING EXPERIMENT 2 WITH detector = ORB and descriptor = BRISK ***
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 11.1633 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.03526 ms
#6 : EXTRACT DESCRIPTORS done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.9289 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 12.226 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=391 matches in 0.397474 ms; matches = 311, KNN matches = 391 => keypoints removed = 80 (20.4604%)
ALL OK
Result Line Item
Frame: 0
TTC Lidar: 0
TTC Camera: 0
Lidar Points: 0
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.42825 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.95852 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=386 matches in 0.408365 ms; matches = 290, KNN matches = 386 => keypoints removed = 96 (24.8705%)
ALL OK
Result Line Item
Frame: 1
TTC Lidar: 12.5156
TTC Camera: 37.4084
Lidar Points: 340
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.79827 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.84325 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=394 matches in 0.437634 ms; matches = 298, KNN matches = 394 => keypoints removed = 96 (24.3655%)
ALL OK
Result Line Item
Frame: 2
TTC Lidar: 12.6142
TTC Camera: -inf
Lidar Points: 309
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.96508 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.62562 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=388 matches in 0.420117 ms; matches = 291, KNN matches = 388 => keypoints removed = 97 (25%)
ALL OK
Result Line Item
Frame: 3
TTC Lidar: 14.091
TTC Camera: 36.2012
Lidar Points: 326
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.79584 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.23431 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=398 matches in 0.403781 ms; matches = 316, KNN matches = 398 => keypoints removed = 82 (20.603%)
ALL OK
Result Line Item
Frame: 4
TTC Lidar: 16.6894
TTC Camera: 21.7788
Lidar Points: 322
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.84126 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.98121 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=402 matches in 0.450235 ms; matches = 318, KNN matches = 402 => keypoints removed = 84 (20.8955%)
ALL OK
Result Line Item
Frame: 5
TTC Lidar: 15.9082
TTC Camera: -inf
Lidar Points: 344
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.12484 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.09644 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=410 matches in 0.455647 ms; matches = 306, KNN matches = 410 => keypoints removed = 104 (25.3659%)
ALL OK
Result Line Item
Frame: 6
TTC Lidar: 12.6787
TTC Camera: 11.1075
Lidar Points: 352
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.92185 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.92648 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=413 matches in 0.453424 ms; matches = 309, KNN matches = 413 => keypoints removed = 104 (25.1816%)
ALL OK
Result Line Item
Frame: 7
TTC Lidar: 11.9844
TTC Camera: -inf
Lidar Points: 317
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.69559 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.11486 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=406 matches in 0.472481 ms; matches = 309, KNN matches = 406 => keypoints removed = 97 (23.8916%)
ALL OK
Result Line Item
Frame: 8
TTC Lidar: 13.1241
TTC Camera: 51.3026
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.67016 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 11.1366 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=405 matches in 0.448559 ms; matches = 315, KNN matches = 405 => keypoints removed = 90 (22.2222%)
ALL OK
Result Line Item
Frame: 9
TTC Lidar: 13.0241
TTC Camera: -inf
Lidar Points: 311
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.66874 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.04307 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=404 matches in 0.452982 ms; matches = 311, KNN matches = 404 => keypoints removed = 93 (23.0198%)
ALL OK
Result Line Item
Frame: 10
TTC Lidar: 11.1746
TTC Camera: -inf
Lidar Points: 286
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.29351 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.18048 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=403 matches in 0.469227 ms; matches = 315, KNN matches = 403 => keypoints removed = 88 (21.8362%)
ALL OK
Result Line Item
Frame: 11
TTC Lidar: 12.8086
TTC Camera: 8.46717
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.96959 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 11.3659 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=404 matches in 0.455412 ms; matches = 316, KNN matches = 404 => keypoints removed = 88 (21.7822%)
ALL OK
Result Line Item
Frame: 12
TTC Lidar: 8.95978
TTC Camera: -inf
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.96574 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 3.82165 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=394 matches in 0.445684 ms; matches = 300, KNN matches = 394 => keypoints removed = 94 (23.8579%)
ALL OK
Result Line Item
Frame: 13
TTC Lidar: 9.96439
TTC Camera: 7.53169
Lidar Points: 316
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.93161 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 11.332 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=400 matches in 0.412447 ms; matches = 313, KNN matches = 400 => keypoints removed = 87 (21.75%)
ALL OK
Result Line Item
Frame: 14
TTC Lidar: 9.59863
TTC Camera: 24.6173
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.12971 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 10.5297 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=405 matches in 0.433453 ms; matches = 326, KNN matches = 405 => keypoints removed = 79 (19.5062%)
ALL OK
Result Line Item
Frame: 15
TTC Lidar: 8.57352
TTC Camera: 13.594
Lidar Points: 289
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.72857 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 10.42 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=414 matches in 0.4621 ms; matches = 320, KNN matches = 414 => keypoints removed = 94 (22.7053%)
ALL OK
Result Line Item
Frame: 16
TTC Lidar: 9.51617
TTC Camera: -inf
Lidar Points: 297
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.82051 ms
#5 : DETECT KEYPOINTS done
BRISK descriptor extraction in 4.0125 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=422 matches in 0.481668 ms; matches = 340, KNN matches = 422 => keypoints removed = 82 (19.4313%)
ALL OK
Result Line Item
Frame: 17
TTC Lidar: 9.54658
TTC Camera: 23.6587
Lidar Points: 279
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRISK
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
*** RUNNING EXPERIMENT 3 WITH detector = ORB and descriptor = BRIEF ***
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.46333 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 0.903363 ms
#6 : EXTRACT DESCRIPTORS done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.74536 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.20043 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.550171 ms; matches = 221, KNN matches = 500 => keypoints removed = 279 (55.8%)
ALL OK
Result Line Item
Frame: 0
TTC Lidar: 0
TTC Camera: 0
Lidar Points: 0
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.79894 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.16602 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.566827 ms; matches = 247, KNN matches = 500 => keypoints removed = 253 (50.6%)
ALL OK
Result Line Item
Frame: 1
TTC Lidar: 12.5156
TTC Camera: 27.5288
Lidar Points: 340
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.87125 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.1893 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.56241 ms; matches = 229, KNN matches = 500 => keypoints removed = 271 (54.2%)
ALL OK
Result Line Item
Frame: 2
TTC Lidar: 12.6142
TTC Camera: -inf
Lidar Points: 309
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.613 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.28771 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.608612 ms; matches = 222, KNN matches = 500 => keypoints removed = 278 (55.6%)
ALL OK
Result Line Item
Frame: 3
TTC Lidar: 14.091
TTC Camera: 113.496
Lidar Points: 326
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.48955 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 0.955864 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.523088 ms; matches = 248, KNN matches = 500 => keypoints removed = 252 (50.4%)
ALL OK
Result Line Item
Frame: 4
TTC Lidar: 16.6894
TTC Camera: 16.7244
Lidar Points: 322
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.63349 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 6.64668 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.552711 ms; matches = 233, KNN matches = 500 => keypoints removed = 267 (53.4%)
ALL OK
Result Line Item
Frame: 5
TTC Lidar: 15.9082
TTC Camera: 28.5454
Lidar Points: 344
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.01501 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.11888 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.546003 ms; matches = 234, KNN matches = 500 => keypoints removed = 266 (53.2%)
ALL OK
Result Line Item
Frame: 6
TTC Lidar: 12.6787
TTC Camera: -48.152
Lidar Points: 352
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.6617 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 0.925767 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.533589 ms; matches = 244, KNN matches = 500 => keypoints removed = 256 (51.2%)
ALL OK
Result Line Item
Frame: 7
TTC Lidar: 11.9844
TTC Camera: -inf
Lidar Points: 317
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.96583 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.58231 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.546441 ms; matches = 242, KNN matches = 500 => keypoints removed = 258 (51.6%)
ALL OK
Result Line Item
Frame: 8
TTC Lidar: 13.1241
TTC Camera: 34.6298
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.03695 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.01007 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.52102 ms; matches = 223, KNN matches = 500 => keypoints removed = 277 (55.4%)
ALL OK
Result Line Item
Frame: 9
TTC Lidar: 13.0241
TTC Camera: -inf
Lidar Points: 311
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.56903 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.2034 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.58487 ms; matches = 226, KNN matches = 500 => keypoints removed = 274 (54.8%)
ALL OK
Result Line Item
Frame: 10
TTC Lidar: 11.1746
TTC Camera: 168.345
Lidar Points: 286
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.70399 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 3.14238 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.561645 ms; matches = 252, KNN matches = 500 => keypoints removed = 248 (49.6%)
ALL OK
Result Line Item
Frame: 11
TTC Lidar: 12.8086
TTC Camera: 33.5123
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 5.11813 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.13787 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.531123 ms; matches = 229, KNN matches = 500 => keypoints removed = 271 (54.2%)
ALL OK
Result Line Item
Frame: 12
TTC Lidar: 8.95978
TTC Camera: 36.2236
Lidar Points: 302
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.89738 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 3.71962 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.642738 ms; matches = 238, KNN matches = 500 => keypoints removed = 262 (52.4%)
ALL OK
Result Line Item
Frame: 13
TTC Lidar: 9.96439
TTC Camera: -inf
Lidar Points: 316
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.94982 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 2.11069 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.564912 ms; matches = 262, KNN matches = 500 => keypoints removed = 238 (47.6%)
ALL OK
Result Line Item
Frame: 14
TTC Lidar: 9.59863
TTC Camera: 13.5006
Lidar Points: 312
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.8912 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.37777 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.563763 ms; matches = 219, KNN matches = 500 => keypoints removed = 281 (56.2%)
ALL OK
Result Line Item
Frame: 15
TTC Lidar: 8.57352
TTC Camera: -inf
Lidar Points: 289
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.72173 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.10983 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.567373 ms; matches = 223, KNN matches = 500 => keypoints removed = 277 (55.4%)
ALL OK
Result Line Item
Frame: 16
TTC Lidar: 9.51617
TTC Camera: 13.0005
Lidar Points: 297
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
#1 : LOAD IMAGE INTO BUFFER done
#2 : DETECT & CLASSIFY OBJECTS done
#3 : CROP LIDAR POINTS done
#4 : CLUSTER LIDAR POINT CLOUD done
ORB with n= 500 keypoints in 4.97662 ms
#5 : DETECT KEYPOINTS done
BRIEF descriptor extraction in 1.14595 ms
#6 : EXTRACT DESCRIPTORS done
(KNN) with n=500 matches in 0.584075 ms; matches = 240, KNN matches = 500 => keypoints removed = 260 (52%)
ALL OK
Result Line Item
Frame: 17
TTC Lidar: 9.54658
TTC Camera: 20.3758
Lidar Points: 279
--- Experiment Details ---
Number of results: 0
Hyperparpameters:
-- Detector: ORB
-- Descriptor: BRIEF
-- Matcher Type: MAT_BF
-- Descriptor Type: DES_BINARY
-- Selector Type: SEL_KNN
Visualization Settings:
-- Display Image Windows: 0
-- Focus on Preceding Vehicle Only: 1
-- Save Keypoint Detection Images: 0
-- Save Keypoint Matching Images: 1
#7 : MATCH KEYPOINT DESCRIPTORS done
#8 : TRACK 3D OBJECT BOUNDING BOXES done
# Performance Evaluation
These results are recorded from running a total of 4 experiments based on combinations of 2 detectors and 2 descriptors.