Undefined function or variable 'validateBoundaryFcn'.

Hi all, I have been working with the toolbox "ADAS", and is currently trying the documentation of the same. The task involves working with determination of lanes and obstacles on roads.

While implementing the same, i am getting the following error:

Trial>> file1
Undefined function or variable 'validateBoundaryFcn'.

Error in vision.internal.ransac.msac (line 73)
    isValidModel = funcs.checkFunc(modelParams, varargin{:});

Error in fitPolynomialRANSAC (line 102)
        vision.internal.ransac.msac(xyPoints, ransacParams, ransacFuncs);

Error in findParabolicLaneBoundaries (line 135)
    [~, inlierIdx] = fitPolynomialRANSAC(xyBoundaryPoints, N, maxDistance,...

Error in file1 (line 65)
[boundaries, boundaryPoints] = findParabolicLaneBoundaries(xyBoundaryPoints,boundaryWidth,'MaxNumBoundaries', maxLanes,
'validateBoundaryFcn', @validateBoundaryFcn);

This error is occurring when i am using the following function/command:

[boundaries, boundaryPoints] = findParabolicLaneBoundaries(xyBoundaryPoints,boundaryWidth,'MaxNumBoundaries', maxLanes, 'validateBoundaryFcn', @validateBoundaryFcn);

I have tried the suggestions from the Mathwork on how to fix this issue and have re-set the path as per the mentioned instructions.

Kindly help me in this regards. Thanks

Answer 1

[Walter Roberson]

The code for validateBoundaryFcn appears to be posted at https://www.mathworks.com/help/driving/examples/visual-perception-using-monocular-camera.html and the source should be in MonoCameraExample which is provided with the Automated Driving System Toolbox (which I had never heard of before)

[Ayush Sharma]

Thank you for the reply. Seems the copying option from the documentation pdf was causing the error. Can you provide me the link to the other tutorials of the Automated Driving System Toolbox? ie: "Forward Collision Warning Using Sensor Fusion" & "Sensor Fusion Using Synthetic Radar and Vision Data" I am working from the pdf files and that is causing error while copying codes.

Thank you. Regards

[Walter Roberson]

https://www.mathworks.com/help/driving/examples/forward-collision-warning-using-sensor-fusion.html which is ForwardCollisionWarningTrackingExample.m

https://www.mathworks.com/help/driving/examples/sensor-fusion-using-synthetic-radar-and-vision-data.html which is SensorFusionUsingSyntheticDataExample.m

Answer 2

[Anand]

The 'ValidateBoundaryFcn' parameter needs to be a function handle that returns a logical true or false allowing you to choose when to accept or reject a lane boundary. It looks like you are not defining this function handle. If you know under what circumstances to reject a boundary, define this function:

    function isValid = myValidateBoundaryFcn(params)
      % define a custom boundary validation function

      % my custom code

    end

Then invoke the findParabolicLaneBoundaries function:

[boundaries, boundaryPoints] = findParabolicLaneBoundaries(xyBoundaryPoints, boundaryWidth, ...
    'MaxNumBoundaries', maxLanes, 'validateBoundaryFcn', @myValidateBoundaryFcn);

If you do not have this information, simply don't include the last parameter-value pair.

[boundaries, boundaryPoints] = findParabolicLaneBoundaries(xyBoundaryPoints, boundaryWidth, ...
    'MaxNumBoundaries', maxLanes);