LaneAnalysis using partclefilter

[ManasaJyothi]

Haii. .I'm working on lanedetection using particle filter ( to work on curves) . . Ive seen the code but got few doubts regarding particle filter

1. y there are two files for particle filter???
2. One file ( filterDeParticleHough. Cpp) with hough and another file ( filterDeParticle.cpp) without using hough. . Is there any difference. ..whats this hough exactly meant for????? Is it only central lane top, bottom point and also lanewidth means right and left most lanes distance??
3. I thought of using particlefilter without hough. ..is that ok to use in my lane detection???? . .
4. Can u pls tell me what is the input and output for particle filter without hough ( filterDeParticles.Cpp) ..????
5. The input is filtered, thresholded binary ipm image right???? . . Only all lanes white pixels correct???? . .
6. How will be the output. .was it those 3 spline points????
7. How will b resampled particles will be???? Weights of particle and what does those spline points represents and what is lanewidth here???

pls it would be very greatfull if u rly. .

[shamri2203]

HELLO how to get sdd file for MRS400001SO1 TO INSTALL IN SOPAS ET