GitHub - johnybang/CarND-Vehicle-Detection

Vehicle Detection

John Bang - 4/28/17

As a part of the Udacity Self Driving Car Engineer Nanodegree program, we use computer vision and supervised machine learning to detect the presence and location of vehicles on the road from the perspective of a moving car.

Vehicle Detection Project

The goals / steps of this project are the following:

Perform a Histogram of Oriented Gradients (HOG) feature extraction on a labeled training set of images and train a classifier Linear SVM classifier
Optionally, you can also apply a color transform and append binned color features, as well as histograms of color, to your HOG feature vector.
Note: for those first two steps don't forget to normalize your features and randomize a selection for training and testing.
Implement a sliding-window technique and use your trained classifier to search for vehicles in images.
Run your pipeline on a video stream (start with the test_video.mp4 and later implement on full project_video.mp4) and create a heat map of recurring detections frame by frame to reject outliers and follow detected vehicles.
Estimate a bounding box for vehicles detected.

Rubric Points

Here I will consider the rubric points individually and describe how I addressed each point in my implementation.

Writeup / README

1. Provide a Writeup / README that includes all the rubric points and how you addressed each one. You can submit your writeup as markdown or pdf. Here is a template writeup for this project you can use as a guide and a starting point.

You're reading it!

Histogram of Oriented Gradients (HOG)

1. Explain how (and identify where in your code) you extracted HOG features from the training images.

The code for this step is contained cells 1 through 4 of the jupyter notebook.

In cell 1, I started by reading in all the vehicle and non-vehicle images. Here is an example of one of each of the vehicle and non-vehicle classes:

I then explored different color spaces and different skimage.hog() parameters (orientations, pixels_per_cell, and cells_per_block). I grabbed random images from each of the two classes and displayed them to get a feel for what the skimage.hog() output looks like, but ultimately decided to do a parameter sweep using linear SVM classification performance as the figure of merit.

In cell 4, I plotted a visualization of the RGB and YUV and the extraction/visualization of HOG features with parameterization of orientations=12, pixels_per_cell=(8, 8) and cells_per_block=(2, 2):

Since it showed top results in my parameter sweep, I ultimately used a concatenation of hog features for all three channels of the YUV color space. If I were to speculate from the visualization why YUV may be better than RGB, on thing that I might argue is that since I'm using all three channels of HOG features, it may be beneficial to the classifier that the channels show some independence from one another. In the visualization above, R, G, and B HOG feature images look quite similar to one another, whereas the Y, U and V HOG feature images look a little bit more distinct from each other.

2. Explain how you settled on your final choice of HOG parameters.

Using itertools.product(), I tried various combinations of parameters on a class-balanced 2250 sample subset of the full dataset over the course of a multi-hour automated test. The results of that experiment are at the end of this document. I then took the top ten from that test and ran them on the full dataset, yielding the results shown here. I chose the best outcome (in bold) out of these, sorted by test accuracy, prediction speed, and training speed. Here they are:

cell_per_block	colorspace	hog_channel	n_predict	nfeatures	orient	pix_per_cell	predict_secs	test_accy	train_secs
2	YUV	ALL	10	7056	12	8	0.00296	0.9909	3.73
2	YCrCb	ALL	10	32400	12	4	0.00268	0.99	15.64
3	YCrCb	ALL	10	14580	15	8	0.00276	0.9875	7.58
2	YUV	ALL	10	1296	12	16	0.00242	0.9855	2.16
2	YUV	ALL	10	3528	6	8	0.00265	0.9846	9.65
2	YCrCb	ALL	10	1620	15	16	0.00254	0.9835	2.68
3	YUV	ALL	10	31752	6	4	0.00299	0.9832	18.67
3	YCrCb	ALL	10	1458	6	12	0.0026	0.9809	2.9
2	YUV	ALL	10	972	9	16	0.0024	0.9801	1.52
2	LUV	ALL	10	1152	6	12	0.00255	0.9733	2.36

I also chose to include spatial and color histogram features. I used the top parameter set from a similar experiment. Here are the top 10 candidates of which I used the best YUV candidate (in bold):

colorspace	histbin	n_predict	nfeatures	predict_secs	spatial	test_accy	train_secs
YCrCb	36	10	540	0.00266	12	0.9741	4.81
HSV	40	10	552	0.00273	12	0.9738	4.18
HSV	36	10	300	0.00243	8	0.9727	4.37
YUV	28	10	276	0.00258	8	0.9727	3.9
YUV	36	10	540	0.00403	12	0.9727	4.95
YCrCb	32	10	288	0.00204	8	0.9724	3.36
YUV	32	10	288	0.00261	8	0.9724	3.55
YUV	40	10	552	0.00263	12	0.9724	5.06
YUV	40	10	312	0.00195	8	0.9721	3.41
LUV	40	10	552	0.00263	12	0.9721	5.29

3. Describe how (and identify where in your code) you trained a classifier using your selected HOG features (and color features if you used them).

In cell 3, after extracting the HOG features I split the feature vectors into a 80/20 train/test split, and created a scaler which standarized each training feature. I then trained a linear SVM classifier which I subsequently tested with the test data scaled in the same way. After that, I run training again on the entire dataset (no train/test split) to be used by the vehicle detection system.

Sliding Window Search

1. Describe how (and identify where in your code) you implemented a sliding window search. How did you decide what scales to search and how much to overlap windows?

In cells 5 and 6, I implemented a sliding window search. I used "hog-subsampling" which extracts hog features for the entire image which can then be sliced according to the window desired. This saves unnecessary repeated computations that would take place due to window overlap if hog features were extracted per window. One acceptable but resultant constraint of this approach is that the possible window overlaps have cell granularity rather than pixel granularity. My windowing was influenced by the following motivations:

Don't search the sky
Use smaller scale for vehicles further away
Don't search the hood of the car

My final choices were determined by looking at the identified windows on test images and seeking to balance vehicle detection with false positives. I used two groups of windows:

ystart=360, ystop=500, scale=1.0, cells_per_step=1
ystart=400, ystop=600, scale=1.5, cells_per_step=1

And here is a visualization of the search grid:

2. Show some examples of test images to demonstrate how your pipeline is working. What did you do to optimize the performance of your classifier?

Ultimately I searched on two scales using YUV 3-channel HOG features plus spatially binned color and histograms of color in the feature vector, which provided a decent though admittedly imperfect result. (Though, I'm still motivated to pursue further improvements in the future as time permits.) I allowed some false positives knowing these could be filtered at the heatmapping stage. I originally searched the entire lower half of the image with a couple scales but constrained it to what I mentioned above when I found excessive falsing. I also tried thresholding the decision funciton on a value other than zero; however, I found that the score information was best kept as soft information going into the heatmapping stage explained in the next section. I suspect this could be further optimized in the future. Here are some example images:

Video Implementation

1. Provide a link to your final video output. Your pipeline should perform reasonably well on the entire project video (somewhat wobbly or unstable bounding boxes are ok as long as you are identifying the vehicles most of the time with minimal false positives.)

I favored avoidance of false positives over detection of the car at distance, so that it would be a smooth result. Swerving to avoid a false obstacle seemed more important than knowledge of a car a further distance away. In the future, I would like to pursue a strategy where I apply a dense detection grid around the likely future location of an already detected car, taking inspiration from the margin around the polynomials for the advanced lane finding project. Here's a link to my video result

2. Describe how (and identify where in your code) you implemented some kind of filter for false positives and some method for combining overlapping bounding boxes.

I recorded the bounding boxes of positive detections in each frame of the video. From the positive detections I created a heatmap, in code cell 7, which accumulated classifier confidences scores (svc.decision_function()). I did this instead of the overlap counting method to preserve the soft confidence information; this led to better performance. I then thresholded that map to identify vehicle positions. I used scipy.ndimage.measurements.label() to identify individual blobs in the heatmap and constructed bounding boxes to cover the area of each blob (presumed vehicle) detected.

Here's an example result showing the heatmap of several test images and their corresponding bounding boxes then overlaid:

Discussion

1. Briefly discuss any problems / issues you faced in your implementation of this project. Where will your pipeline likely fail? What could you do to make it more robust?

This project proved to be a rich problem with many interesting challenges. Here are some thoughts of note:

I found that my first attempt at the video produced very jittery bounding boxes and more false positives than I wanted. I turned at first to frame-wise exponential smoothing of the heatmap and found that the boxes lagged the car position a bit; I scaled back the time constant from 0.75 to 0.67 to increase responsiveness while still preserving its false positive filtering effect.
I still found the false positive (and false negative) unsatisfactory on the video so I decided to play more with scale. I had originally scanned the entire lower part of the image with a couple scales with modest (50%) overlap. I found that increasing overlap and reducing coverage, even varying coverage with scale helped improve both aspects of performance.
I made an attempt at hard negative mining without initial success. Since most of the bounding boxes on the left were false positives in the video, I was able to filter by bounding box position to extract the hard negative images. However, when I introduced the new data, the performance degraded. I suspect I had a bug and will have to revisit hard neg mining in the future.
As mentioned above, I think the system could benefit from using knowledge of an already detected car's trajectory. My system seems pretty robust to close range cars but starts to fail as cars get further away. In the future I'd like to apply a dense grid to likely future car locations according to existing cars. I also believe that my window scale groups could be even further optimized, but much further experimentation is required.
The 0.67 exponential averaging constant could still pose a problem if a car were particularly fast-moving relative to the camera. Further robustness on each frame should be pursued further.
Overall, the many components from the SVM to color feature design to hog feature design to sliding window design to heatmapping design could all benefit from their own deep dives and literature searches.

Appendix Tables

Color feature experiment:

colorspace	histbin	n_predict	nfeatures	predict_secs	spatial	test_accy	train_secs
YCrCb	36	10	540	0.00266	12	0.9741	4.81
HSV	40	10	552	0.00273	12	0.9738	4.18
HSV	36	10	300	0.00243	8	0.9727	4.37
YUV	28	10	276	0.00258	8	0.9727	3.9
YUV	36	10	540	0.00403	12	0.9727	4.95
YCrCb	32	10	288	0.00204	8	0.9724	3.36
YUV	32	10	288	0.00261	8	0.9724	3.55
YUV	40	10	552	0.00263	12	0.9724	5.06
YUV	40	10	312	0.00195	8	0.9721	3.41
LUV	40	10	552	0.00263	12	0.9721	5.29
LUV	32	10	288	0.00221	8	0.9707	4.28
YCrCb	36	10	300	0.00261	8	0.9704	4.12
LUV	32	10	528	0.00263	12	0.9704	6.26
YCrCb	24	10	504	0.0026	12	0.9702	6.57
YCrCb	20	10	252	0.00254	8	0.9699	3.15
YCrCb	32	10	528	0.00257	12	0.9696	5.5
YCrCb	40	10	312	0.00264	8	0.9696	3.29
LUV	40	10	312	0.00284	8	0.9693	4.19
LUV	28	10	276	0.00207	8	0.969	4.36
YUV	36	10	300	0.00417	8	0.969	3.79
YCrCb	24	10	264	0.00232	8	0.9688	3.32
YCrCb	28	10	516	0.00268	12	0.9688	5.52
HSV	32	10	528	0.00272	12	0.9688	5.2
HLS	32	10	288	0.00235	8	0.9685	5.21
LUV	28	10	516	0.00263	12	0.9682	5.72
YCrCb	20	10	492	0.00255	12	0.9679	5.45
YUV	20	10	492	0.00263	12	0.9679	6.15
HSV	28	10	516	0.0027	12	0.9676	5.43
HSV	24	10	264	0.00263	8	0.9673	4.36
YUV	28	10	516	0.00409	12	0.9673	5.32
LUV	36	10	540	0.00291	12	0.9668	5.36
LUV	36	10	300	0.00217	8	0.9665	4
YUV	24	10	264	0.00234	8	0.9665	3.37
YCrCb	40	10	552	0.00241	12	0.9665	4.9
YUV	32	10	528	0.00261	12	0.9662	4.51
HLS	36	10	300	0.00267	8	0.9662	4.81
LUV	20	10	492	0.00215	12	0.9659	6.36
HSV	28	10	276	0.00271	8	0.9657	3.88
LUV	24	10	264	0.00205	8	0.9654	4.39
RGB	36	10	300	0.0026	8	0.9654	5.75
HSV	24	10	504	0.00269	12	0.9654	5.21
RGB	40	10	312	0.00271	8	0.9654	5.82
HSV	32	10	288	0.00271	8	0.9651	3.81
LUV	24	10	504	0.00201	12	0.9648	6.24
HSV	20	10	492	0.00208	12	0.9648	6.99
YCrCb	32	10	864	0.00264	16	0.9648	6.15
RGB	40	10	552	0.00262	12	0.9645	6.52
LUV	20	10	252	0.00281	8	0.9645	4.29
RGB	24	10	840	0.00266	16	0.9642	10.6
YCrCb	36	10	876	0.0016	16	0.964	5.55
YUV	20	10	252	0.00437	8	0.964	3.42
RGB	40	10	888	0.00264	16	0.9637	8.12
RGB	32	10	528	0.00261	12	0.9634	6.89
YUV	24	10	504	0.0028	12	0.9634	6.27
HSV	36	10	540	0.00263	12	0.9631	4.1
YCrCb	40	10	888	0.00419	16	0.9628	4.98
HLS	40	10	552	0.00253	12	0.9626	5.24
HLS	24	10	504	0.00258	12	0.9626	7.8
RGB	36	10	1308	0.00258	20	0.9626	11.88
RGB	36	10	540	0.00262	12	0.9623	6.55
RGB	32	10	288	0.00268	8	0.962	5.29
LUV	24	10	840	0.0027	16	0.962	8.11
HSV	40	10	312	0.00266	8	0.9617	4.89
HLS	32	10	528	0.00257	12	0.9614	5.88
YCrCb	28	10	276	0.00259	8	0.9614	3.2
HLS	28	10	516	0.00261	12	0.9611	7.39
RGB	28	10	516	0.00268	12	0.9611	7.77
HLS	40	10	312	0.00242	8	0.9609	4.49
YUV	32	10	864	0.00256	16	0.9606	5.3
YUV	40	10	888	0.00263	16	0.9606	5.53
HLS	24	10	264	0.00254	8	0.9603	4.86
RGB	28	10	852	0.00285	16	0.96	9.92
YCrCb	28	10	852	0.00297	16	0.96	7.06
LUV	36	10	876	0.00255	16	0.9597	5.66
LUV	32	10	864	0.00258	16	0.9595	6.58
RGB	32	10	864	0.00261	16	0.9595	9.56
RGB	20	10	828	0.0026	16	0.9592	11.32
RGB	32	10	1296	0.0026	20	0.9592	12.08
RGB	40	10	3192	0.00217	32	0.9589	25.48
RGB	24	10	264	0.00258	8	0.9589	5.53
YUV	28	10	852	0.0026	16	0.9589	6.3
HLS	28	10	276	0.00261	8	0.9589	4.56
RGB	36	10	876	0.00261	16	0.9589	8.86
HSV	20	10	252	0.00263	8	0.9589	4.58
RGB	28	10	276	0.00271	8	0.9589	5.32
RGB	24	10	1272	0.00288	20	0.9583	13.14
HSV	36	10	3180	0.00264	32	0.9581	19.39
LUV	36	10	1308	0.00475	20	0.9575	8.52
YUV	24	10	840	0.00256	16	0.9572	6.61
RGB	24	10	504	0.00265	12	0.9572	6.82
YUV	36	10	3180	0.00256	32	0.9569	21.16
HSV	36	10	1308	0.00281	20	0.9569	5.79
RGB	20	10	492	0.00255	12	0.9566	7.68
YUV	40	10	2472	0.00236	28	0.9564	14.8
RGB	36	10	1836	0.00242	24	0.9564	16.01
YUV	20	10	828	0.00257	16	0.9564	7.92
RGB	32	10	3168	0.00244	32	0.9561	25.44
RGB	40	10	1848	0.00252	24	0.9561	14.9
HLS	20	10	252	0.00258	8	0.9561	5.02
RGB	28	10	1284	0.0026	20	0.9561	12.38
HSV	24	10	840	0.00261	16	0.9561	4.61
LUV	40	10	888	0.00262	16	0.9561	5.79
YUV	36	10	876	0.00263	16	0.9561	5.28
HSV	40	10	888	0.00269	16	0.9561	4.66
YUV	32	10	2448	0.00243	28	0.9558	15.89
HSV	28	10	852	0.00273	16	0.9558	4.49
YUV	32	10	1296	0.00291	20	0.9558	7.11
HLS	36	10	540	0.0026	12	0.9555	5.29
YUV	40	10	1320	0.00261	20	0.9555	6.48
YUV	32	10	3168	0.00271	32	0.9552	20.27
YCrCb	24	10	840	0.00276	16	0.9552	7.33
YUV	36	10	1308	0.00287	20	0.9552	6.93
YCrCb	36	10	1308	0.00204	20	0.955	7.16
HSV	36	10	1836	0.00238	24	0.955	9.5
YUV	40	10	1848	0.00231	24	0.9547	10.24
RGB	40	10	1320	0.00255	20	0.9547	11.21
YUV	36	10	2460	0.00273	28	0.9547	16.2
YCrCb	40	10	1848	0.00274	24	0.9547	10.79
YCrCb	20	10	828	0.0028	16	0.9547	7.19
RGB	28	10	1812	0.00233	24	0.9544	17.03
YUV	36	10	1836	0.00248	24	0.9541	10.37
LUV	40	10	3192	0.0029	32	0.9541	20.88
YCrCb	32	10	1296	0.00222	20	0.9538	7.71
HLS	28	10	852	0.00259	16	0.9538	6.7
YCrCb	28	10	1812	0.00279	24	0.9535	11.69
LUV	36	10	1836	0.00297	24	0.9535	12.36
YCrCb	28	10	1284	0.00262	20	0.9533	8.66
HSV	32	10	1824	0.00257	24	0.953	9.28
HSV	32	10	864	0.00266	16	0.953	4.48
LUV	40	10	2472	0.00312	28	0.953	15.97
YUV	32	10	1824	0.00273	24	0.9527	10.78
RGB	32	10	1824	0.00238	24	0.9524	16.01
HSV	36	10	876	0.00276	16	0.9524	4.04
HSV	32	10	3168	0.00284	32	0.9524	19.18
LUV	20	10	828	0.00265	16	0.9521	8.71
LUV	40	10	1848	0.00281	24	0.9521	11.28
RGB	28	10	3156	0.00319	32	0.9521	27.42
HSV	24	10	1800	0.00249	24	0.9519	9.71
YCrCb	36	10	3180	0.00261	32	0.9519	21.06
HSV	24	10	3144	0.00294	32	0.9519	19.21
YCrCb	40	10	2472	0.00305	28	0.9519	15.67
HLS	40	10	3192	0.00518	32	0.9519	20.04
RGB	32	10	2448	0.00267	28	0.9516	20.83
YCrCb	32	10	1824	0.00211	24	0.9513	11.64
LUV	28	10	852	0.0026	16	0.9513	6.09
YCrCb	32	10	3168	0.00387	32	0.9513	22.37
HSV	28	10	1812	0.00253	24	0.951	9.55
YUV	40	10	3192	0.00259	32	0.951	20.03
HSV	28	10	3156	0.00207	32	0.9507	18.42
RGB	40	10	2472	0.00257	28	0.9507	18.15
LUV	32	10	3168	0.00262	32	0.9507	22.94
RGB	20	10	1260	0.00263	20	0.9507	14.78
HLS	20	10	828	0.00264	16	0.9507	9.2
YCrCb	36	10	1836	0.0028	24	0.9507	10.74
HSV	40	10	1320	0.00287	20	0.9507	5.65
HSV	40	10	3192	0.00205	32	0.9505	18.34
YUV	28	10	1812	0.00213	24	0.9505	11.17
LUV	28	10	1284	0.00227	20	0.9505	8.8
YCrCb	24	10	1800	0.0021	24	0.9502	12.51
HLS	40	10	888	0.00258	16	0.9502	4.8
YCrCb	20	10	1260	0.00268	20	0.9502	9.01
HLS	32	10	864	0.00265	16	0.9499	5.19
HSV	36	10	2460	0.00216	28	0.9496	14.15
RGB	24	10	1800	0.0025	24	0.9496	18.79
YUV	28	10	2436	0.00216	28	0.9493	15.21
RGB	20	10	3132	0.00237	32	0.9493	29.43
RGB	24	10	3144	0.00256	32	0.9493	26.58
HLS	24	10	840	0.00261	16	0.9493	6.92
RGB	36	10	3180	0.01171	32	0.9493	26.53
YCrCb	32	10	2448	0.00208	28	0.949	16.49
HLS	20	10	492	0.00263	12	0.949	7.5
HSV	20	10	828	0.00269	16	0.949	6.36
LUV	36	10	3180	0.00281	32	0.949	22.04
HLS	36	10	1836	0.00287	24	0.949	9.15
LUV	24	10	1272	0.00207	20	0.9488	8.66
YCrCb	28	10	2436	0.00224	28	0.9488	16.66
RGB	24	10	2424	0.00255	28	0.9488	21.88
YUV	28	10	3156	0.00256	32	0.9488	21.37
LUV	32	10	1296	0.00249	20	0.9485	8.56
YUV	24	10	2424	0.00264	28	0.9485	16.22
HSV	32	10	1296	0.00269	20	0.9485	5.98
LUV	32	10	2448	0.00404	28	0.9485	17.19
HSV	40	10	2472	0.00205	28	0.9482	13.57
RGB	20	10	1788	0.00267	24	0.9482	18.68
HSV	20	10	3132	0.00279	32	0.9479	21.02
HLS	36	10	1308	0.00259	20	0.9476	6.12
YCrCb	40	10	3192	0.00264	32	0.9476	21.19
YUV	20	10	3132	0.00212	32	0.9474	23.84
YCrCb	36	10	2460	0.00223	28	0.9474	15.15
HLS	36	10	2460	0.00244	28	0.9474	14.71
YCrCb	40	10	1320	0.00506	20	0.9474	6.85
YUV	24	10	3144	0.00202	32	0.9471	21.82
LUV	24	10	3144	0.00211	32	0.9471	24.19
LUV	32	10	1824	0.00261	24	0.9471	11.81
RGB	28	10	2436	0.00259	28	0.9468	19.72
HSV	28	10	1284	0.0027	20	0.9468	6.2
LUV	40	10	1320	0.00249	20	0.9465	7.7
YCrCb	20	10	1788	0.00283	24	0.9465	12.5
HLS	32	10	2448	0.0029	28	0.9462	14.35
HSV	40	10	1848	0.00267	24	0.9459	9.39
LUV	28	10	3156	0.00302	32	0.9459	23.81
HSV	20	10	1788	0.00243	24	0.9457	10.21
YCrCb	24	10	2424	0.00246	28	0.9457	17.29
RGB	36	10	2460	0.00261	28	0.9457	19.41
YUV	20	10	1260	0.00268	20	0.9457	9.77
HSV	32	10	2448	0.00243	28	0.9454	14.11
HSV	24	10	2424	0.00259	28	0.9454	14.49
YCrCb	20	10	3132	0.00205	32	0.9451	24.21
YCrCb	28	10	3156	0.0024	32	0.9451	23.24
YUV	24	10	1272	0.00261	20	0.9451	8.31
YCrCb	24	10	1272	0.00264	20	0.9448	8
HLS	36	10	876	0.00253	16	0.9445	4.56
LUV	20	10	2412	0.00263	28	0.9443	18.81
RGB	20	10	2412	0.00266	28	0.9443	23.15
HLS	36	10	3180	0.00293	32	0.944	19.8
LUV	24	10	2424	0.00271	28	0.9437	17.62
LUV	20	10	3132	0.00248	32	0.9434	25.86
HSV	24	10	1272	0.00261	20	0.9434	6.32
YUV	20	10	1788	0.00288	24	0.9434	12.02
HLS	40	10	1848	0.00252	24	0.9431	9.3
HSV	20	10	2412	0.00295	28	0.9431	15.31
YCrCb	24	10	3144	0.009	32	0.9428	23.6
YUV	20	10	2412	0.00268	28	0.9426	17.27
HLS	24	10	3144	0.00285	32	0.9426	21.36
LUV	20	10	1788	0.00259	24	0.9423	13.44
LUV	24	10	1800	0.00295	24	0.9423	13.69
LUV	36	10	2460	0.00216	28	0.942	15.75
YUV	24	10	1800	0.00244	24	0.942	11.51
LUV	28	10	2436	0.00258	28	0.9414	17.1
RGB	20	10	252	0.00261	8	0.9414	6.11
HLS	32	10	3168	0.00291	32	0.9414	19.89
HLS	32	10	1824	0.00262	24	0.9406	9.55
LUV	20	10	1260	0.00245	20	0.94	8.65
HLS	40	10	2472	0.00288	28	0.94	14.55
HLS	40	10	1320	0.00262	20	0.9395	5.98
YUV	28	10	1284	0.00266	20	0.9392	7.38
LUV	28	10	1812	0.00256	24	0.9389	11.76
HLS	28	10	3156	0.00277	32	0.9389	20.09
YCrCb	20	10	2412	0.00441	28	0.9389	18.5
HSV	20	10	1260	0.00242	20	0.9381	6.94
HLS	32	10	1296	0.00252	20	0.9381	5.98
HLS	24	10	2424	0.00254	28	0.9375	15.01
HLS	24	10	1800	0.00255	24	0.9372	10.46
HLS	28	10	1812	0.00245	24	0.9367	9.44
HSV	28	10	2436	0.00231	28	0.9361	13.75
HLS	28	10	1284	0.00262	20	0.935	6.83
HLS	28	10	2436	0.00255	28	0.9336	15.34
HLS	24	10	1272	0.00259	20	0.9327	7.29
HLS	20	10	1788	0.00252	24	0.9324	10.28
HLS	20	10	1260	0.00259	20	0.9313	7.94
HLS	20	10	3132	0.00259	32	0.9296	21.45
HLS	20	10	2412	0.00259	28	0.9178	16.63

HOG feature experiment:

cell_per_block	colorspace	hog_channel	n_predict	nfeatures	orient	pix_per_cell	predict_secs	test_accy	train_secs
2	YUV	ALL	10	1296	12	16	0.00237	1	0.07
3	YUV	ALL	10	31752	6	4	0.003	1	2.32
2	YCrCb	ALL	10	1620	15	16	0.00179	0.9978	0.11
2	LUV	ALL	10	1152	6	12	0.0019	0.9978	0.09
3	YCrCb	ALL	10	1458	6	12	0.00192	0.9978	0.11
2	YCrCb	ALL	10	32400	12	4	0.0021	0.9978	2.12
3	YCrCb	ALL	10	14580	15	8	0.00235	0.9978	1.02
2	YUV	ALL	10	7056	12	8	0.00239	0.9978	0.43
2	YUV	ALL	10	972	9	16	0.0025	0.9978	0.08
2	YUV	ALL	10	3528	6	8	0.0025	0.9978	0.24
3	YCrCb	ALL	10	972	9	16	0.00254	0.9978	0.07
3	YUV	ALL	10	8748	9	8	0.0026	0.9978	0.58
1	HLS	ALL	10	9216	12	4	0.00264	0.9978	0.59
2	YUV	ALL	10	2880	15	12	0.00268	0.9978	0.15
3	LUV	ALL	10	11664	12	8	0.0027	0.9978	0.83
4	YUV	ALL	10	10800	9	8	0.0029	0.9978	0.87
2	YUV	ALL	10	24300	9	4	0.00292	0.9978	1.68
2	HLS	ALL	10	40500	15	4	0.00309	0.9978	3.13
3	YCrCb	ALL	10	47628	9	4	0.00315	0.9978	4.25
4	YCrCb	ALL	10	48672	6	4	0.00324	0.9978	3.69
3	YUV	ALL	10	47628	9	4	0.00325	0.9978	3.27
3	HSV	ALL	10	63504	12	4	0.00344	0.9978	4.83
3	YCrCb	ALL	10	79380	15	4	0.00353	0.9978	6.28
3	YUV	ALL	10	3645	15	12	0.00455	0.9978	0.22
3	LUV	ALL	10	79380	15	4	0.00656	0.9978	6.12
3	YUV	ALL	10	1620	15	16	0.002	0.9956	0.1
2	HLS	ALL	10	2304	12	12	0.00201	0.9956	0.17
4	LUV	ALL	10	7200	6	8	0.00206	0.9956	0.61
4	YUV	ALL	10	1152	6	12	0.00211	0.9956	0.08
2	YUV	ALL	10	8820	15	8	0.00212	0.9956	0.58
2	YUV	ALL	10	16200	6	4	0.00226	0.9956	1.07
4	YCrCb	ALL	10	288	6	16	0.0023	0.9956	0.03
3	LUV	ALL	10	5832	6	8	0.00246	0.9956	0.51
4	LUV	ALL	10	576	12	16	0.00249	0.9956	0.04
2	YUV	ALL	10	648	6	16	0.00251	0.9956	0.05
4	YUV	ALL	10	2304	12	12	0.00252	0.9956	0.16
2	HLS	ALL	10	8820	15	8	0.00255	0.9956	0.57
4	YCrCb	ALL	10	720	15	16	0.00257	0.9956	0.05
1	YUV	ALL	10	11520	15	4	0.0027	0.9956	0.76
2	YUV	ALL	10	5292	9	8	0.00273	0.9956	0.32
4	YCrCb	ALL	10	10800	9	8	0.00276	0.9956	0.83
3	HSV	0	10	21168	12	4	0.00278	0.9956	1.45
3	YCrCb	ALL	10	31752	6	4	0.00285	0.9956	2.55
3	LUV	ALL	10	47628	9	4	0.00309	0.9956	4.86
4	HLS	ALL	10	48672	6	4	0.0032	0.9956	4.1
3	LUV	ALL	10	63504	12	4	0.00332	0.9956	5.46
3	HLS	ALL	10	63504	12	4	0.00339	0.9956	4.73
4	HLS	ALL	10	97344	12	4	0.00381	0.9956	7.34
4	HSV	ALL	10	97344	12	4	0.00384	0.9956	7.3
4	LUV	ALL	10	97344	12	4	0.00393	0.9956	7.55
2	HLS	ALL	10	24300	9	4	0.0056	0.9956	2.16
3	YCrCb	ALL	10	11664	12	8	0.002	0.9933	0.78
4	LUV	ALL	10	10800	9	8	0.00211	0.9933	0.9
1	HLS	ALL	10	1125	15	12	0.00226	0.9933	0.06
3	YUV	ALL	10	14580	15	8	0.00231	0.9933	0.98
1	YCrCb	ALL	10	2880	15	8	0.00235	0.9933	0.14
4	YUV	ALL	10	18000	15	8	0.00235	0.9933	1.3
4	YUV	ALL	10	7200	6	8	0.00239	0.9933	0.61
1	YCrCb	ALL	10	1152	6	8	0.00243	0.9933	0.06
2	HSV	ALL	10	8820	15	8	0.00244	0.9933	0.63
2	HSV	ALL	10	7056	12	8	0.00245	0.9933	0.47
3	YUV	ALL	10	1458	6	12	0.00249	0.9933	0.1
1	YUV	ALL	10	432	9	16	0.0025	0.9933	0.03
1	YUV	ALL	10	6912	9	4	0.00252	0.9933	0.45
2	YCrCb	ALL	10	1296	12	16	0.00254	0.9933	0.07
2	LUV	ALL	10	7056	12	8	0.00254	0.9933	0.51
2	YCrCb	ALL	10	1152	6	12	0.00256	0.9933	0.07
1	YUV	ALL	10	2304	12	8	0.00257	0.9933	0.11
2	HLS	ALL	10	3528	6	8	0.0026	0.9933	0.29
1	HLS	ALL	10	6912	9	4	0.0026	0.9933	0.55
4	YCrCb	ALL	10	2880	15	12	0.00261	0.9933	0.16
4	LUV	ALL	10	2304	12	12	0.00264	0.9933	0.15
4	YCrCb	ALL	10	1152	6	12	0.00265	0.9933	0.1
1	YCrCb	ALL	10	9216	12	4	0.00265	0.9933	0.63
2	YUV	ALL	10	2304	12	12	0.00268	0.9933	0.13
3	HLS	ALL	10	31752	6	4	0.00268	0.9933	2.55
1	LUV	ALL	10	1125	15	12	0.00274	0.9933	0.06
1	LUV	ALL	10	2880	15	8	0.00274	0.9933	0.25
4	YUV	ALL	10	14400	12	8	0.00274	0.9933	1.14
2	YCrCb	ALL	10	24300	9	4	0.00274	0.9933	2.28
3	LUV	ALL	10	14580	15	8	0.00289	0.9933	1.17
2	HSV	ALL	10	24300	9	4	0.00289	0.9933	2.12
3	YUV	ALL	10	2916	12	12	0.0029	0.9933	0.2
2	LUV	ALL	10	32400	12	4	0.0029	0.9933	3.47
4	HSV	ALL	10	14400	12	8	0.00293	0.9933	1.29
2	YCrCb	ALL	10	40500	15	4	0.00319	0.9933	3.28
3	HSV	ALL	10	47628	9	4	0.00322	0.9933	4.05
3	YUV	ALL	10	63504	12	4	0.00347	0.9933	4.31
4	YCrCb	ALL	10	73008	9	4	0.0035	0.9933	5.19
4	LUV	ALL	10	73008	9	4	0.00353	0.9933	5.96
3	YCrCb	ALL	10	1296	12	16	0.00415	0.9933	0.07
4	YCrCb	ALL	10	121680	15	4	0.00417	0.9933	8.38
3	YCrCb	ALL	10	8748	9	8	0.00457	0.9933	0.69
1	HLS	ALL	10	1728	9	8	0.00535	0.9933	0.1
1	HLS	ALL	10	4608	6	4	0.01479	0.9933	0.28
4	YCrCb	ALL	10	432	9	16	0.00153	0.9911	0.04
4	YUV	ALL	10	720	15	16	0.00181	0.9911	0.05
2	YCrCb	ALL	10	3528	6	8	0.00187	0.9911	0.24
3	HSV	ALL	10	5832	6	8	0.00189	0.9911	0.44
3	YUV	ALL	10	972	9	16	0.0019	0.9911	0.07
4	LUV	ALL	10	720	15	16	0.00193	0.9911	0.04
4	YCrCb	1	10	960	15	12	0.00199	0.9911	0.07
2	LUV	ALL	10	8820	15	8	0.00206	0.9911	0.66
1	YCrCb	ALL	10	6912	9	4	0.00209	0.9911	0.54
3	HLS	ALL	10	8748	9	8	0.00212	0.9911	0.74
1	HSV	ALL	10	11520	15	4	0.00216	0.9911	0.78
2	YCrCb	ALL	10	16200	6	4	0.00241	0.9911	1.26
3	LUV	ALL	10	2187	9	12	0.00245	0.9911	0.15
3	HSV	0	10	3888	12	8	0.00245	0.9911	0.26
3	YCrCb	ALL	10	1620	15	16	0.00246	0.9911	0.1
1	HSV	ALL	10	4608	6	4	0.00247	0.9911	0.27
4	YUV	ALL	10	288	6	16	0.00249	0.9911	0.03
1	YUV	ALL	10	4608	6	4	0.00249	0.9911	0.26
3	YUV	1	10	3888	12	8	0.00249	0.9911	0.39
1	HSV	ALL	10	2304	12	8	0.0025	0.9911	0.12
3	HLS	ALL	10	1620	15	16	0.0025	0.9911	0.15
4	YUV	1	10	32448	12	4	0.0025	0.9911	3.73
1	LUV	ALL	10	900	12	12	0.00251	0.9911	0.05
2	YUV	ALL	10	1152	6	12	0.00252	0.9911	0.08
1	HLS	ALL	10	720	15	16	0.00253	0.9911	0.05
1	HSV	ALL	10	9216	12	4	0.00253	0.9911	0.61
2	HSV	ALL	10	3528	6	8	0.00254	0.9911	0.26
1	HSV	ALL	10	2880	15	8	0.00256	0.9911	0.16
4	YCrCb	ALL	10	576	12	16	0.00257	0.9911	0.03
3	YUV	ALL	10	2187	9	12	0.00257	0.9911	0.16
1	LUV	ALL	10	11520	15	4	0.00258	0.9911	0.88
2	LUV	ALL	10	1620	15	16	0.00259	0.9911	0.1
2	LUV	ALL	10	648	6	16	0.00263	0.9911	0.07
4	YCrCb	ALL	10	7200	6	8	0.00263	0.9911	0.56
3	YCrCb	1	10	972	12	12	0.00265	0.9911	0.32
3	YUV	ALL	10	11664	12	8	0.00266	0.9911	0.79
3	YCrCb	ALL	10	3645	15	12	0.00267	0.9911	0.21
3	YCrCb	ALL	10	648	6	16	0.00268	0.9911	0.07
1	YCrCb	ALL	10	11520	15	4	0.00271	0.9911	0.79
2	HSV	ALL	10	40500	15	4	0.00274	0.9911	3.18
2	YCrCb	ALL	10	2304	12	12	0.00275	0.9911	0.15
3	HLS	ALL	10	14580	15	8	0.00275	0.9911	1.12
4	YCrCb	ALL	10	18000	15	8	0.00276	0.9911	1.43
3	YUV	1	10	26460	15	4	0.00287	0.9911	2.58
2	HSV	ALL	10	32400	12	4	0.00289	0.9911	2.54
3	HLS	ALL	10	47628	9	4	0.00291	0.9911	3.76
2	HLS	ALL	10	32400	12	4	0.00294	0.9911	2.23
3	YUV	ALL	10	79380	15	4	0.00312	0.9911	5.45
4	YUV	ALL	10	48672	6	4	0.00318	0.9911	3.66
2	HLS	ALL	10	16200	6	4	0.00341	0.9911	1.2
3	YCrCb	ALL	10	63504	12	4	0.00349	0.9911	4.26
2	YCrCb	ALL	10	648	6	16	0.00353	0.9911	0.06
3	HSV	ALL	10	79380	15	4	0.00356	0.9911	6.15
3	HLS	ALL	10	79380	15	4	0.00361	0.9911	5.94
4	YCrCb	ALL	10	97344	12	4	0.0038	0.9911	6.93
4	LUV	ALL	10	121680	15	4	0.00401	0.9911	9.09
4	LUV	ALL	10	18000	15	8	0.00463	0.9911	1.45
4	LUV	1	10	4800	12	8	0.00145	0.9889	0.34
3	YCrCb	1	10	1215	15	12	0.00181	0.9889	0.09
1	HSV	ALL	10	900	12	12	0.00182	0.9889	0.04
1	YCrCb	ALL	10	2304	12	8	0.00186	0.9889	0.11
1	LUV	ALL	10	720	15	16	0.00191	0.9889	0.04
2	YUV	ALL	10	1620	15	16	0.00193	0.9889	0.1
4	LUV	ALL	10	432	9	16	0.00195	0.9889	0.04
1	YUV	ALL	10	900	12	12	0.00195	0.9889	0.04
4	YCrCb	1	10	192	12	16	0.00199	0.9889	0.02
1	YUV	ALL	10	9216	12	4	0.00208	0.9889	0.6
4	HLS	ALL	10	720	15	16	0.00217	0.9889	0.06
2	HLS	0	10	10800	12	4	0.00217	0.9889	0.69
2	YCrCb	1	10	2352	12	8	0.00235	0.9889	0.16
1	YCrCb	ALL	10	720	15	16	0.00242	0.9889	0.04
1	YCrCb	ALL	10	1125	15	12	0.00242	0.9889	0.05
1	YUV	ALL	10	450	6	12	0.00243	0.9889	0.03
2	LUV	ALL	10	1296	12	16	0.00245	0.9889	0.08
1	LUV	ALL	10	9216	12	4	0.00245	0.9889	0.87
1	YCrCb	ALL	10	900	12	12	0.00247	0.9889	0.04
2	HLS	ALL	10	1296	12	16	0.00247	0.9889	0.11
2	HSV	ALL	10	2304	12	12	0.00249	0.9889	0.16
1	LUV	ALL	10	6912	9	4	0.00249	0.9889	0.58
2	HLS	ALL	10	1620	15	16	0.0025	0.9889	0.11
1	YCrCb	ALL	10	450	6	12	0.00251	0.9889	0.03
2	YUV	ALL	10	1728	9	12	0.00251	0.9889	0.1
3	LUV	ALL	10	972	9	16	0.00252	0.9889	0.07
1	YUV	ALL	10	1728	9	8	0.00252	0.9889	0.09
4	YCrCb	ALL	10	1728	9	12	0.00252	0.9889	0.13
1	LUV	ALL	10	1728	9	8	0.00253	0.9889	0.1
2	HLS	ALL	10	7056	12	8	0.00254	0.9889	0.47
3	LUV	ALL	10	8748	9	8	0.00254	0.9889	0.72
4	YUV	2	10	16224	6	4	0.00265	0.9889	1.35
3	HSV	ALL	10	14580	15	8	0.00266	0.9889	1.19
1	YUV	ALL	10	2880	15	8	0.00269	0.9889	0.15
4	YCrCb	ALL	10	14400	12	8	0.00269	0.9889	1.07
4	HSV	ALL	10	18000	15	8	0.00272	0.9889	1.62
2	LUV	ALL	10	16200	6	4	0.00274	0.9889	1.45
3	HSV	0	10	26460	15	4	0.00283	0.9889	2
3	HLS	0	10	26460	15	4	0.00284	0.9889	1.99
3	LUV	ALL	10	31752	6	4	0.003	0.9889	2.25
4	HSV	ALL	10	121680	15	4	0.00365	0.9889	10
4	HSV	ALL	10	7200	6	8	0.00373	0.9889	0.69
3	LUV	ALL	10	3645	15	12	0.00395	0.9889	0.28
4	YUV	ALL	10	121680	15	4	0.00409	0.9889	8.28
3	YCrCb	ALL	10	5832	6	8	0.0054	0.9889	0.41
4	YCrCb	ALL	10	2304	12	12	0.0067	0.9889	0.14
2	LUV	ALL	10	2880	15	12	0.0016	0.9867	0.2
2	YCrCb	1	10	768	12	12	0.00174	0.9867	0.06
4	YUV	ALL	10	576	12	16	0.00196	0.9867	0.04
1	YUV	ALL	10	288	6	16	0.00217	0.9867	0.03
2	LUV	1	10	13500	15	4	0.00227	0.9867	1.54
3	LUV	ALL	10	1620	15	16	0.00233	0.9867	0.12
3	YUV	ALL	10	5832	6	8	0.00235	0.9867	0.47
4	YCrCb	1	10	4800	12	8	0.00236	0.9867	2.76
1	YCrCb	1	10	375	15	12	0.00237	0.9867	0.02
3	YUV	1	10	432	12	16	0.00237	0.9867	0.12
1	YCrCb	ALL	10	288	6	16	0.00239	0.9867	0.03
3	LUV	1	10	21168	12	4	0.0024	0.9867	2.15
1	HSV	ALL	10	576	12	16	0.00243	0.9867	0.04
1	YUV	ALL	10	576	12	16	0.00244	0.9867	0.03
4	LUV	1	10	3600	9	8	0.00247	0.9867	0.33
1	HSV	ALL	10	720	15	16	0.00249	0.9867	0.05
2	HSV	ALL	10	1296	12	16	0.0025	0.9867	0.1
4	YUV	1	10	960	15	12	0.00251	0.9867	0.07
1	HLS	ALL	10	1152	6	8	0.00251	0.9867	0.08
1	YCrCb	ALL	10	1728	9	8	0.00251	0.9867	0.09
1	HLS	ALL	10	2880	15	8	0.00251	0.9867	0.16
4	LUV	1	10	32448	12	4	0.00251	0.9867	2.97
4	HSV	ALL	10	2304	12	12	0.00252	0.9867	0.25
1	YCrCb	ALL	10	576	12	16	0.00253	0.9867	0.03
3	HSV	ALL	10	31752	6	4	0.00253	0.9867	2.39
1	YUV	ALL	10	1152	6	8	0.00254	0.9867	0.06
1	YUV	1	10	3072	12	4	0.00254	0.9867	0.59
2	LUV	ALL	10	2304	12	12	0.00256	0.9867	0.13
2	HSV	ALL	10	2880	15	12	0.00257	0.9867	0.19
1	HLS	ALL	10	11520	15	4	0.00257	0.9867	0.86
2	YCrCb	ALL	10	2880	15	12	0.00259	0.9867	0.18
1	HSV	ALL	10	6912	9	4	0.0026	0.9867	0.48
3	HLS	ALL	10	2916	12	12	0.00261	0.9867	0.22
1	LUV	ALL	10	2304	12	8	0.00269	0.9867	0.16
2	YCrCb	ALL	10	7056	12	8	0.0027	0.9867	0.46
3	HSV	ALL	10	2916	12	12	0.00272	0.9867	0.27
1	HLS	ALL	10	2304	12	8	0.0028	0.9867	0.13
4	LUV	ALL	10	14400	12	8	0.0028	0.9867	1.11
2	HSV	ALL	10	16200	6	4	0.00283	0.9867	1.15
1	HLS	0	10	3840	15	4	0.00297	0.9867	0.25
2	LUV	ALL	10	40500	15	4	0.00308	0.9867	4.95
4	YUV	1	10	40560	15	4	0.00313	0.9867	2.8
4	YUV	2	10	40560	15	4	0.00315	0.9867	3.09
3	RGB	ALL	10	47628	9	4	0.00327	0.9867	5.13
4	LUV	ALL	10	1152	6	12	0.00338	0.9867	0.09
4	YUV	ALL	10	73008	9	4	0.00364	0.9867	5.72
4	YUV	ALL	10	97344	12	4	0.00392	0.9867	6.44
2	YCrCb	ALL	10	5292	9	8	0.00597	0.9867	0.33
3	LUV	1	10	3888	12	8	0.01466	0.9867	0.28
2	YUV	1	10	2940	15	8	0.00105	0.9844	0.16
1	LUV	ALL	10	675	9	12	0.00163	0.9844	0.05
4	LUV	ALL	10	288	6	16	0.0018	0.9844	0.03
2	LUV	ALL	10	5292	9	8	0.00185	0.9844	0.34
1	YCrCb	ALL	10	4608	6	4	0.00195	0.9844	0.29
2	YCrCb	ALL	10	8820	15	8	0.00197	0.9844	0.53
1	HLS	ALL	10	576	12	16	0.00198	0.9844	0.04
4	YCrCb	1	10	6000	15	8	0.00202	0.9844	0.4
1	LUV	ALL	10	1152	6	8	0.00232	0.9844	0.09
4	HLS	ALL	10	18000	15	8	0.00232	0.9844	1.54
2	HSV	ALL	10	648	6	16	0.00239	0.9844	0.06
4	YUV	ALL	10	432	9	16	0.00241	0.9844	0.04
1	HLS	ALL	10	900	12	12	0.00241	0.9844	0.05
1	YUV	ALL	10	675	9	12	0.00243	0.9844	0.04
3	YUV	ALL	10	1296	12	16	0.00244	0.9844	0.06
1	YUV	ALL	10	1125	15	12	0.00245	0.9844	0.06
2	LUV	ALL	10	972	9	16	0.00246	0.9844	0.07
1	HSV	ALL	10	288	6	16	0.00247	0.9844	0.05
2	YUV	1	10	576	9	12	0.00247	0.9844	0.08
4	YUV	1	10	768	12	12	0.00247	0.9844	0.27
1	HSV	ALL	10	1152	6	8	0.00248	0.9844	0.05
1	HLS	ALL	10	432	9	16	0.0025	0.9844	0.05
3	YUV	ALL	10	648	6	16	0.0025	0.9844	0.06
2	HLS	ALL	10	972	9	16	0.0025	0.9844	0.1
4	YUV	1	10	2400	6	8	0.0025	0.9844	1.07
4	LUV	ALL	10	2880	15	12	0.00251	0.9844	0.2
2	LUV	ALL	10	3528	6	8	0.00253	0.9844	0.25
4	LUV	1	10	768	12	12	0.00253	0.9844	0.3
1	HSV	0	10	3072	12	4	0.00255	0.9844	0.16
3	LUV	ALL	10	1458	6	12	0.00257	0.9844	0.11
2	YUV	ALL	10	32400	12	4	0.00259	0.9844	2.21
3	LUV	ALL	10	2916	12	12	0.0026	0.9844	0.22
4	HLS	ALL	10	10800	9	8	0.00263	0.9844	1.06
3	HSV	ALL	10	1296	12	16	0.00265	0.9844	0.11
2	HSV	0	10	10800	12	4	0.00266	0.9844	0.73
4	HLS	ALL	10	14400	12	8	0.00266	0.9844	1.26
3	HLS	ALL	10	11664	12	8	0.00268	0.9844	0.91
2	LUV	1	10	2940	15	8	0.0027	0.9844	0.19
3	YCrCb	1	10	15876	9	4	0.00271	0.9844	1.6
1	HLS	0	10	3072	12	4	0.00273	0.9844	0.15
4	HSV	0	10	40560	15	4	0.00273	0.9844	3.5
2	LUV	ALL	10	24300	9	4	0.00284	0.9844	1.86
3	HSV	0	10	10584	6	4	0.00286	0.9844	0.75
3	HLS	0	10	21168	12	4	0.00295	0.9844	1.42
4	YUV	1	10	24336	9	4	0.00296	0.9844	2.13
4	LUV	ALL	10	48672	6	4	0.00337	0.9844	3.81
4	HLS	ALL	10	121680	15	4	0.0042	0.9844	9.26
3	YUV	1	10	540	15	16	0.00152	0.9822	0.06
2	HLS	ALL	10	2880	15	12	0.00155	0.9822	0.18
2	YCrCb	ALL	10	1728	9	12	0.00157	0.9822	0.12
1	YCrCb	1	10	576	9	8	0.00178	0.9822	0.04
4	HSV	ALL	10	720	15	16	0.00181	0.9822	0.06
1	YCrCb	1	10	3840	15	4	0.00193	0.9822	0.6
1	HSV	ALL	10	450	6	12	0.00197	0.9822	0.04
2	HSV	ALL	10	1152	6	12	0.00199	0.9822	0.08
4	YCrCb	1	10	768	12	12	0.00201	0.9822	0.25
3	HLS	ALL	10	5832	6	8	0.00201	0.9822	0.48
2	LUV	ALL	10	1728	9	12	0.00225	0.9822	0.12
3	YUV	1	10	15876	9	4	0.00237	0.9822	1.19
1	LUV	ALL	10	576	12	16	0.00239	0.9822	0.03
2	YCrCb	1	10	432	12	16	0.0024	0.9822	0.04
3	YUV	1	10	2916	9	8	0.00241	0.9822	0.33
2	YUV	1	10	1764	9	8	0.00242	0.9822	0.1
1	HSV	ALL	10	432	9	16	0.00244	0.9822	0.04
4	LUV	ALL	10	1728	9	12	0.00246	0.9822	0.14
2	YUV	0	10	5400	6	4	0.00246	0.9822	0.58
1	HSV	ALL	10	1125	15	12	0.00249	0.9822	0.06
2	HSV	0	10	2940	15	8	0.00249	0.9822	0.19
4	YUV	1	10	4800	12	8	0.0025	0.9822	2.42
1	HSV	0	10	1536	6	4	0.00251	0.9822	0.09
2	YCrCb	ALL	10	972	9	16	0.00252	0.9822	0.06
2	LUV	2	10	768	12	12	0.00252	0.9822	0.1
1	YUV	0	10	2304	9	4	0.00252	0.9822	0.17
3	LUV	1	10	4860	15	8	0.00252	0.9822	0.43
3	YUV	1	10	1944	6	8	0.00255	0.9822	0.15
1	HLS	0	10	768	12	8	0.00256	0.9822	0.04
1	YCrCb	ALL	10	675	9	12	0.00256	0.9822	0.04
3	YUV	1	10	729	9	12	0.00256	0.9822	0.07
2	HSV	ALL	10	5292	9	8	0.00259	0.9822	0.37
3	YCrCb	ALL	10	2187	9	12	0.00264	0.9822	0.15
2	YCrCb	2	10	13500	15	4	0.00268	0.9822	1.05
4	HLS	ALL	10	2880	15	12	0.00269	0.9822	0.23
3	LUV	1	10	1215	15	12	0.00271	0.9822	0.12
4	HLS	ALL	10	7200	6	8	0.00272	0.9822	0.71
4	HSV	ALL	10	48672	6	4	0.00272	0.9822	3.68
3	YCrCb	ALL	10	2916	12	12	0.00274	0.9822	0.18
4	YUV	1	10	16224	6	4	0.00274	0.9822	1.45
2	YCrCb	1	10	13500	15	4	0.00275	0.9822	1.04
3	YUV	1	10	21168	12	4	0.00286	0.9822	1.73
3	YCrCb	2	10	21168	12	4	0.00288	0.9822	1.52
4	YUV	2	10	32448	12	4	0.00294	0.9822	2.39
3	YUV	2	10	26460	15	4	0.00295	0.9822	1.74
4	HSV	ALL	10	73008	9	4	0.00305	0.9822	5.93
4	YCrCb	2	10	40560	15	4	0.00311	0.9822	3.03
2	YUV	ALL	10	40500	15	4	0.00312	0.9822	2.84
3	RGB	2	10	26460	15	4	0.00331	0.9822	2.39
3	RGB	ALL	10	63504	12	4	0.00339	0.9822	6.09
4	HLS	ALL	10	288	6	16	0.00475	0.9822	0.05
3	YCrCb	0	10	15876	9	4	0.00601	0.9822	2.02
4	YUV	ALL	10	2880	15	12	0.00157	0.98	0.21
3	YCrCb	2	10	1215	15	12	0.00178	0.98	0.11
1	HLS	0	10	960	15	8	0.00186	0.98	0.05
1	YCrCb	ALL	10	432	9	16	0.00187	0.98	0.03
2	HLS	0	10	2352	12	8	0.00187	0.98	0.13
4	HSV	ALL	10	576	12	16	0.0019	0.98	0.06
4	HLS	ALL	10	576	12	16	0.00191	0.98	0.05
1	HSV	ALL	10	675	9	12	0.00193	0.98	0.04
2	HLS	0	10	5400	6	4	0.00197	0.98	0.39
3	LUV	2	10	432	12	16	0.002	0.98	0.18
2	LUV	1	10	432	12	16	0.00206	0.98	0.09
2	HLS	0	10	8100	9	4	0.00211	0.98	0.63
4	YUV	1	10	6000	15	8	0.00216	0.98	0.37
3	HLS	ALL	10	1296	12	16	0.00221	0.98	0.1
4	YUV	ALL	10	1728	9	12	0.00224	0.98	0.11
3	YCrCb	1	10	2916	9	8	0.00224	0.98	1.66
1	LUV	ALL	10	432	9	16	0.00243	0.98	0.03
3	LUV	ALL	10	648	6	16	0.00244	0.98	0.08
2	YCrCb	1	10	2940	15	8	0.00244	0.98	0.16
1	HLS	ALL	10	675	9	12	0.00246	0.98	0.05
3	YUV	2	10	2916	9	8	0.00246	0.98	0.33
4	LUV	1	10	6000	15	8	0.0025	0.98	4.1
4	YUV	1	10	576	9	12	0.00252	0.98	0.05
2	HLS	ALL	10	648	6	16	0.00252	0.98	0.1
2	YCrCb	2	10	10800	12	4	0.00253	0.98	0.95
1	HLS	ALL	10	288	6	16	0.00257	0.98	0.02
2	YUV	1	10	10800	12	4	0.00259	0.98	1
4	LUV	1	10	40560	15	4	0.00263	0.98	4.21
3	YCrCb	0	10	4860	15	8	0.00264	0.98	0.57
2	HSV	0	10	13500	15	4	0.00268	0.98	1.19
3	LUV	1	10	15876	9	4	0.00274	0.98	1.13
1	LUV	ALL	10	4608	6	4	0.00277	0.98	0.28
3	YCrCb	1	10	26460	15	4	0.00283	0.98	1.82
4	YCrCb	1	10	32448	12	4	0.00294	0.98	2.15
4	RGB	1	10	40560	15	4	0.003	0.98	3.87
4	LUV	2	10	32448	12	4	0.00301	0.98	2.48
1	YUV	1	10	3840	15	4	0.00305	0.98	0.57
4	LUV	2	10	40560	15	4	0.0031	0.98	3.38
4	HSV	0	10	32448	12	4	0.00322	0.98	2.49
4	RGB	ALL	10	97344	12	4	0.00386	0.98	9.22
1	YCrCb	0	10	2304	9	4	0.00433	0.98	0.17
2	HSV	ALL	10	1620	15	16	0.00161	0.9778	0.13
3	YCrCb	1	10	1944	6	8	0.00189	0.9778	1.03
2	HLS	ALL	10	5292	9	8	0.00196	0.9778	0.36
1	HSV	0	10	3840	15	4	0.00198	0.9778	0.23
3	YCrCb	1	10	4860	15	8	0.00201	0.9778	0.28
2	HSV	2	10	13500	15	4	0.00202	0.9778	1.28
4	HLS	0	10	16224	6	4	0.00207	0.9778	1.27
1	YUV	1	10	225	9	12	0.00242	0.9778	0.03
1	LUV	ALL	10	450	6	12	0.00242	0.9778	0.04
4	YCrCb	1	10	3600	9	8	0.00242	0.9778	0.28
4	YUV	1	10	144	9	16	0.00243	0.9778	0.05
1	YUV	1	10	144	9	16	0.00243	0.9778	0.06
2	YUV	1	10	432	12	16	0.00244	0.9778	0.04
1	RGB	1	10	768	12	8	0.00244	0.9778	0.07
3	LUV	ALL	10	1296	12	16	0.00244	0.9778	0.08
3	LUV	1	10	972	12	12	0.00245	0.9778	0.13
2	YUV	1	10	960	15	12	0.00246	0.9778	0.06
3	HSV	ALL	10	648	6	16	0.00246	0.9778	0.09
3	HSV	ALL	10	3645	15	12	0.00246	0.9778	0.31
4	YCrCb	1	10	2400	6	8	0.00246	0.9778	1.16
2	YUV	1	10	5400	6	4	0.00247	0.9778	0.37
2	YUV	1	10	384	6	12	0.00248	0.9778	0.05
3	HLS	ALL	10	972	9	16	0.00248	0.9778	0.14
3	HLS	ALL	10	648	6	16	0.00249	0.9778	0.15
4	LUV	1	10	960	15	12	0.00249	0.9778	0.48
2	HSV	0	10	768	12	12	0.00251	0.9778	0.05
4	YUV	1	10	192	12	16	0.00252	0.9778	0.03
3	LUV	1	10	540	15	16	0.00252	0.9778	0.13
1	HLS	0	10	375	15	12	0.00253	0.9778	0.03
3	HLS	ALL	10	2187	9	12	0.00253	0.9778	0.23
3	HSV	ALL	10	1620	15	16	0.00255	0.9778	0.16
2	LUV	1	10	10800	12	4	0.00255	0.9778	0.83
1	HSV	2	10	3840	15	4	0.00256	0.9778	0.38
2	LUV	2	10	10800	12	4	0.00258	0.9778	0.76
3	YCrCb	1	10	3888	12	8	0.00261	0.9778	2.13
4	YUV	1	10	384	6	12	0.00262	0.9778	0.11
3	HSV	ALL	10	11664	12	8	0.00262	0.9778	0.94
3	YUV	2	10	10584	6	4	0.00263	0.9778	0.83
4	HSV	ALL	10	10800	9	8	0.00263	0.9778	1.12
3	YCrCb	2	10	3888	12	8	0.0027	0.9778	0.27
2	HLS	1	10	2940	15	8	0.00273	0.9778	0.29
3	HLS	ALL	10	3645	15	12	0.00275	0.9778	0.29
3	LUV	2	10	15876	9	4	0.00278	0.9778	1.33
3	YCrCb	1	10	21168	12	4	0.00278	0.9778	1.41
4	HSV	0	10	16224	6	4	0.0028	0.9778	1.29
3	LUV	0	10	21168	12	4	0.00286	0.9778	1.97
3	YCrCb	0	10	26460	15	4	0.00298	0.9778	2.76
4	HLS	ALL	10	73008	9	4	0.00957	0.9778	6.01
2	HLS	ALL	10	1152	6	12	0.00159	0.9756	0.09
1	YUV	2	10	3840	15	4	0.0016	0.9756	0.28
1	YUV	1	10	576	9	8	0.00192	0.9756	0.21
4	YCrCb	1	10	240	15	16	0.00202	0.9756	0.03
3	HSV	ALL	10	8748	9	8	0.00204	0.9756	0.73
3	YCrCb	1	10	10584	6	4	0.00204	0.9756	0.83
3	HLS	ALL	10	1458	6	12	0.00213	0.9756	0.13
3	RGB	1	10	26460	15	4	0.00233	0.9756	2.67
2	YCrCb	1	10	960	15	12	0.00236	0.9756	0.05
1	YUV	2	10	375	15	12	0.00239	0.9756	0.04
1	YCrCb	1	10	300	12	12	0.0024	0.9756	0.02
4	YCrCb	1	10	16224	6	4	0.0024	0.9756	1.65
2	YUV	1	10	768	12	12	0.00241	0.9756	0.04
1	YUV	1	10	768	12	8	0.00242	0.9756	0.04
1	YUV	ALL	10	720	15	16	0.00242	0.9756	0.04
2	YCrCb	1	10	324	9	16	0.00243	0.9756	0.07
1	LUV	2	10	3072	12	4	0.00244	0.9756	0.2
3	LUV	1	10	1944	6	8	0.00248	0.9756	0.18
3	YUV	1	10	972	12	12	0.00248	0.9756	0.27
1	YUV	1	10	2304	9	4	0.00248	0.9756	0.69
1	YUV	2	10	3072	12	4	0.0025	0.9756	0.16
4	LUV	1	10	2400	6	8	0.0025	0.9756	0.23
3	LUV	2	10	26460	15	4	0.0025	0.9756	3.06
2	LUV	2	10	8100	9	4	0.00253	0.9756	0.64
4	HSV	ALL	10	288	6	16	0.00254	0.9756	0.07
2	LUV	1	10	768	12	12	0.00255	0.9756	0.06
2	RGB	1	10	13500	15	4	0.00259	0.9756	1.29
4	YCrCb	1	10	96	6	16	0.00262	0.9756	0.03
2	YUV	2	10	10800	12	4	0.00264	0.9756	0.73
2	HLS	0	10	13500	15	4	0.00271	0.9756	1.12
2	YCrCb	0	10	10800	12	4	0.00278	0.9756	0.94
3	YUV	2	10	15876	9	4	0.00279	0.9756	1.16
3	YCrCb	0	10	21168	12	4	0.00279	0.9756	2.03
3	YUV	0	10	21168	12	4	0.00287	0.9756	2.26
3	YUV	0	10	26460	15	4	0.00288	0.9756	2.5
4	YCrCb	1	10	24336	9	4	0.00292	0.9756	1.88
4	HSV	2	10	40560	15	4	0.00305	0.9756	4.07
4	RGB	ALL	10	48672	6	4	0.00326	0.9756	5.4
3	RGB	ALL	10	79380	15	4	0.00364	0.9756	7.44
2	LUV	1	10	2352	12	8	0.00416	0.9756	0.16
3	YUV	1	10	4860	15	8	0.00947	0.9756	0.26
1	HLS	ALL	10	450	6	12	0.00168	0.9733	0.03
2	YCrCb	1	10	540	15	16	0.00185	0.9733	0.04
1	LUV	1	10	768	12	8	0.00191	0.9733	0.06
1	HLS	0	10	1536	6	4	0.00196	0.9733	0.09
1	YUV	1	10	960	15	8	0.00199	0.9733	0.55
2	YUV	0	10	10800	12	4	0.00201	0.9733	0.97
3	YCrCb	2	10	10584	6	4	0.0021	0.9733	0.97
3	YUV	1	10	10584	6	4	0.00214	0.9733	0.76
2	YUV	1	10	8100	9	4	0.00215	0.9733	0.55
1	HSV	ALL	10	1728	9	8	0.00221	0.9733	0.1
2	YCrCb	1	10	10800	12	4	0.00227	0.9733	0.95
4	YCrCb	1	10	384	6	12	0.0023	0.9733	0.12
2	YCrCb	1	10	1176	6	8	0.00234	0.9733	0.58
1	YUV	1	10	375	15	12	0.00238	0.9733	0.13
1	HLS	0	10	300	12	12	0.00239	0.9733	0.03
4	LUV	1	10	96	6	16	0.00239	0.9733	0.06
4	YCrCb	0	10	24336	9	4	0.0024	0.9733	3.07
1	YCrCb	1	10	1536	6	4	0.00244	0.9733	0.13
1	LUV	ALL	10	288	6	16	0.00246	0.9733	0.03
1	RGB	ALL	10	9216	12	4	0.00246	0.9733	0.7
3	LUV	1	10	2916	9	8	0.00247	0.9733	0.24
4	LUV	2	10	768	12	12	0.00247	0.9733	0.34
1	YCrCb	1	10	960	15	8	0.00248	0.9733	0.05
3	HSV	ALL	10	972	9	16	0.00249	0.9733	0.12
2	RGB	ALL	10	7056	12	8	0.00251	0.9733	0.88
1	YCrCb	1	10	768	12	8	0.00252	0.9733	0.04
1	LUV	0	10	3840	15	4	0.00252	0.9733	0.28
3	YCrCb	1	10	432	12	16	0.00253	0.9733	0.04
1	RGB	ALL	10	1728	9	8	0.00253	0.9733	0.19
1	LUV	2	10	3840	15	4	0.00253	0.9733	0.24
3	HSV	0	10	972	12	12	0.00254	0.9733	0.1
1	YCrCb	0	10	3840	15	4	0.00254	0.9733	0.3
1	RGB	ALL	10	11520	15	4	0.00258	0.9733	1.14
2	LUV	0	10	13500	15	4	0.00261	0.9733	1.29
1	HSV	0	10	768	12	8	0.00264	0.9733	0.04
2	RGB	2	10	13500	15	4	0.00264	0.9733	1.21
2	YUV	1	10	2352	12	8	0.00265	0.9733	0.12
2	LUV	1	10	5400	6	4	0.00269	0.9733	0.38
4	LUV	1	10	16224	6	4	0.0027	0.9733	1.82
2	HLS	0	10	2940	15	8	0.00274	0.9733	0.2
4	LUV	1	10	24336	9	4	0.00279	0.9733	1.93
4	LUV	2	10	24336	9	4	0.00285	0.9733	2.26
2	RGB	ALL	10	40500	15	4	0.00303	0.9733	3.49
4	YCrCb	1	10	40560	15	4	0.00307	0.9733	2.82
4	HLS	0	10	40560	15	4	0.00316	0.9733	3.34
4	LUV	0	10	40560	15	4	0.0033	0.9733	4.64
1	RGB	2	10	3840	15	4	0.00159	0.9711	0.3
4	HSV	ALL	10	432	9	16	0.00172	0.9711	0.11
1	YUV	2	10	768	12	8	0.00174	0.9711	0.04
1	YCrCb	1	10	240	15	16	0.00182	0.9711	0.04
1	YCrCb	0	10	768	12	8	0.00182	0.9711	0.08
4	LUV	1	10	240	15	16	0.00189	0.9711	0.06
3	YCrCb	1	10	216	6	16	0.0019	0.9711	0.06
3	YCrCb	2	10	972	12	12	0.00195	0.9711	0.15
2	HSV	2	10	5400	6	4	0.0022	0.9711	0.57
3	LUV	1	10	10584	6	4	0.00226	0.9711	0.8
2	YUV	1	10	540	15	16	0.00238	0.9711	0.05
3	HLS	0	10	4860	15	8	0.00238	0.9711	0.36
4	YUV	1	10	3600	9	8	0.00239	0.9711	1.81
2	LUV	0	10	5400	6	4	0.00243	0.9711	0.5
3	YUV	1	10	1215	15	12	0.00244	0.9711	0.07
4	HSV	ALL	10	1152	6	12	0.00246	0.9711	0.13
2	RGB	1	10	1764	9	8	0.00249	0.9711	0.24
3	HSV	ALL	10	2187	9	12	0.00249	0.9711	0.25
2	LUV	1	10	960	15	12	0.0025	0.9711	0.08
4	HLS	0	10	24336	9	4	0.0025	0.9711	2.4
4	YUV	1	10	96	6	16	0.00251	0.9711	0.03
3	RGB	ALL	10	972	9	16	0.00251	0.9711	0.55
2	RGB	ALL	10	3528	6	8	0.00252	0.9711	0.49
3	RGB	1	10	10584	6	4	0.00258	0.9711	1.21
2	YCrCb	0	10	8100	9	4	0.0026	0.9711	1.02
3	YUV	2	10	4860	15	8	0.00263	0.9711	0.36
1	HSV	0	10	960	15	8	0.00265	0.9711	0.06
2	HSV	0	10	5400	6	4	0.00269	0.9711	0.34
2	YUV	2	10	13500	15	4	0.00274	0.9711	0.96
3	YUV	2	10	21168	12	4	0.00275	0.9711	1.4
2	LUV	2	10	13500	15	4	0.00282	0.9711	2.04
4	HLS	0	10	32448	12	4	0.00285	0.9711	2.36
4	YCrCb	2	10	24336	9	4	0.00288	0.9711	2.25
3	RGB	2	10	21168	12	4	0.00292	0.9711	2.08
2	RGB	ALL	10	24300	9	4	0.003	0.9711	2.07
4	HLS	1	10	32448	12	4	0.003	0.9711	3.52
4	RGB	2	10	40560	15	4	0.00309	0.9711	4.11
2	RGB	ALL	10	32400	12	4	0.00335	0.9711	2.91
4	YCrCb	2	10	32448	12	4	0.00412	0.9711	2.48
1	YCrCb	1	10	3072	12	4	0.00459	0.9711	0.25
4	HLS	ALL	10	2304	12	12	0.00593	0.9711	0.19
3	LUV	0	10	15876	9	4	0.0097	0.9711	2.08
2	HSV	0	10	1764	9	8	0.00141	0.9689	0.15
2	LUV	1	10	540	15	16	0.00156	0.9689	0.07
1	HSV	0	10	300	12	12	0.00169	0.9689	0.02
3	LUV	2	10	2916	9	8	0.00182	0.9689	2.03
1	YCrCb	2	10	1536	6	4	0.00191	0.9689	0.11
1	LUV	1	10	960	15	8	0.00196	0.9689	0.07
2	YUV	1	10	216	6	16	0.00198	0.9689	0.07
2	YCrCb	2	10	960	15	12	0.00198	0.9689	0.09
2	HSV	2	10	2940	15	8	0.00199	0.9689	0.35
2	YUV	0	10	216	6	16	0.00203	0.9689	0.15
4	YCrCb	0	10	16224	6	4	0.00207	0.9689	2.03
3	HSV	0	10	15876	9	4	0.00218	0.9689	1.3
4	YUV	1	10	240	15	16	0.00236	0.9689	0.04
3	LUV	0	10	26460	15	4	0.00236	0.9689	2.65
4	LUV	0	10	24336	9	4	0.00237	0.9689	2.92
3	YCrCb	1	10	540	15	16	0.0024	0.9689	0.05
2	HSV	0	10	1176	6	8	0.00243	0.9689	0.08
4	HLS	ALL	10	432	9	16	0.00244	0.9689	0.07
4	YUV	0	10	24336	9	4	0.00244	0.9689	2.87
2	YUV	2	10	540	15	16	0.00246	0.9689	0.13
3	HLS	0	10	1944	6	8	0.00246	0.9689	0.22
4	HLS	1	10	4800	12	8	0.00246	0.9689	0.66
2	YCrCb	1	10	384	6	12	0.00247	0.9689	0.05
2	YCrCb	2	10	768	12	12	0.00248	0.9689	0.09
2	RGB	ALL	10	1620	15	16	0.00248	0.9689	0.37
4	HLS	0	10	4800	12	8	0.0025	0.9689	0.37
2	RGB	1	10	8100	9	4	0.00251	0.9689	0.73
4	YCrCb	2	10	768	12	12	0.00252	0.9689	0.1
1	RGB	1	10	2304	9	4	0.00254	0.9689	0.16
2	LUV	0	10	2940	15	8	0.00259	0.9689	0.36
2	LUV	1	10	8100	9	4	0.0026	0.9689	0.65
3	HLS	0	10	15876	9	4	0.0026	0.9689	1.4
3	LUV	2	10	4860	15	8	0.0027	0.9689	0.4
2	YUV	1	10	13500	15	4	0.00271	0.9689	1.51
2	YCrCb	0	10	13500	15	4	0.00272	0.9689	1.87
2	RGB	ALL	10	16200	6	4	0.00279	0.9689	1.58
4	YUV	2	10	3600	9	8	0.0028	0.9689	0.38
3	HSV	2	10	15876	9	4	0.00294	0.9689	1.73
4	YUV	0	10	32448	12	4	0.00301	0.9689	4.11
4	RGB	ALL	10	73008	9	4	0.00354	0.9689	7.64
1	LUV	1	10	2304	9	4	0.0052	0.9689	0.14
3	RGB	ALL	10	11664	12	8	0.0064	0.9689	1.8
2	HLS	ALL	10	1728	9	12	0.0016	0.9667	0.14
2	LUV	1	10	1764	9	8	0.00162	0.9667	0.13
1	LUV	2	10	2304	9	4	0.00162	0.9667	0.15
1	LUV	0	10	1536	6	4	0.00181	0.9667	0.12
2	HLS	1	10	2352	12	8	0.00192	0.9667	0.23
1	YUV	2	10	96	6	16	0.00193	0.9667	0.08
1	RGB	ALL	10	1152	6	8	0.002	0.9667	0.13
1	YUV	2	10	960	15	8	0.00201	0.9667	0.05
1	RGB	ALL	10	2880	15	8	0.00205	0.9667	0.26
2	YCrCb	1	10	8100	9	4	0.00223	0.9667	0.76
3	HLS	0	10	10584	6	4	0.00235	0.9667	0.82
3	HLS	1	10	21168	12	4	0.00235	0.9667	2.04
3	LUV	1	10	432	12	16	0.00242	0.9667	0.08
2	YCrCb	0	10	2940	15	8	0.00245	0.9667	0.3
1	YUV	1	10	300	12	12	0.00246	0.9667	0.03
2	YUV	2	10	2940	15	8	0.00246	0.9667	0.18
3	YUV	2	10	972	12	12	0.00248	0.9667	0.13
2	RGB	1	10	5400	6	4	0.00249	0.9667	0.49
2	HSV	ALL	10	1728	9	12	0.0025	0.9667	0.13
2	HSV	0	10	2352	12	8	0.0025	0.9667	0.14
3	YCrCb	1	10	486	6	12	0.0025	0.9667	0.15
1	HLS	1	10	3072	12	4	0.00252	0.9667	0.24
2	HSV	0	10	8100	9	4	0.00252	0.9667	0.66
4	LUV	2	10	960	15	12	0.00253	0.9667	0.52
1	HSV	0	10	2304	9	4	0.00256	0.9667	0.14
3	YUV	2	10	3888	12	8	0.00256	0.9667	0.33
2	YCrCb	0	10	1764	9	8	0.00257	0.9667	0.19
1	RGB	1	10	3072	12	4	0.00257	0.9667	0.24
2	YUV	2	10	8100	9	4	0.0026	0.9667	0.57
4	HSV	0	10	6000	15	8	0.0026	0.9667	0.59
2	LUV	2	10	2352	12	8	0.00266	0.9667	0.16
1	LUV	0	10	2304	9	4	0.00277	0.9667	0.16
3	RGB	2	10	15876	9	4	0.00279	0.9667	1.58
3	YUV	0	10	15876	9	4	0.00282	0.9667	1.83
2	YUV	0	10	13500	15	4	0.00285	0.9667	1.28
4	YCrCb	0	10	40560	15	4	0.00296	0.9667	3.93
4	RGB	1	10	32448	12	4	0.00298	0.9667	3.83
3	HSV	ALL	10	1458	6	12	0.00323	0.9667	0.16
3	RGB	1	10	21168	12	4	0.00323	0.9667	1.95
1	YCrCb	2	10	3072	12	4	0.00421	0.9667	0.21
2	YCrCb	1	10	5400	6	4	0.00445	0.9667	0.41
4	RGB	ALL	10	121680	15	4	0.0047	0.9667	11.42
2	HLS	1	10	8100	9	4	0.00537	0.9667	0.73
2	RGB	ALL	10	2880	15	12	0.00635	0.9667	0.39
2	HSV	0	10	540	15	16	0.00101	0.9644	0.15
1	LUV	2	10	960	15	8	0.00149	0.9644	0.06
1	YUV	1	10	1536	6	4	0.00173	0.9644	0.23
1	YCrCb	1	10	384	6	8	0.00189	0.9644	0.03
3	HSV	0	10	4860	15	8	0.0019	0.9644	0.36
4	LUV	1	10	192	12	16	0.00194	0.9644	0.06
3	YCrCb	1	10	324	9	16	0.00196	0.9644	0.11
2	LUV	1	10	324	9	16	0.00198	0.9644	0.09
2	YCrCb	0	10	768	12	12	0.00229	0.9644	0.18
2	YCrCb	2	10	540	15	16	0.0024	0.9644	0.09
3	LUV	1	10	486	6	12	0.00241	0.9644	0.19
1	HSV	0	10	240	15	16	0.00243	0.9644	0.03
1	YCrCb	1	10	192	12	16	0.00243	0.9644	0.03
1	HSV	0	10	384	6	8	0.00244	0.9644	0.03
4	LUV	2	10	4800	12	8	0.00244	0.9644	0.39
3	RGB	ALL	10	1620	15	16	0.00244	0.9644	0.43
4	HLS	0	10	6000	15	8	0.00244	0.9644	0.56
2	YCrCb	1	10	1764	9	8	0.00244	0.9644	1
2	YUV	2	10	432	12	16	0.00246	0.9644	0.1
3	LUV	2	10	972	12	12	0.00246	0.9644	0.41
2	YCrCb	2	10	432	12	16	0.00248	0.9644	0.07
2	HSV	0	10	432	12	16	0.00248	0.9644	0.08
1	YUV	0	10	3072	12	4	0.00248	0.9644	0.2
2	RGB	ALL	10	5292	9	8	0.00248	0.9644	0.61
4	HLS	1	10	6000	15	8	0.00249	0.9644	0.81
1	LUV	2	10	300	12	12	0.00254	0.9644	0.07
3	LUV	2	10	1944	6	8	0.00256	0.9644	0.29
3	HSV	2	10	10584	6	4	0.00256	0.9644	1.08
3	YCrCb	2	10	26460	15	4	0.00256	0.9644	1.83
2	YUV	1	10	1176	6	8	0.00257	0.9644	0.14
3	LUV	2	10	3888	12	8	0.00257	0.9644	2.14
2	RGB	2	10	8100	9	4	0.00258	0.9644	0.7
2	YCrCb	1	10	216	6	16	0.0026	0.9644	0.07
1	YUV	2	10	2304	9	4	0.0026	0.9644	0.14
2	LUV	0	10	10800	12	4	0.00261	0.9644	0.94
3	LUV	2	10	10584	6	4	0.00263	0.9644	0.9
4	YUV	0	10	16224	6	4	0.00266	0.9644	2.31
2	RGB	2	10	10800	12	4	0.00267	0.9644	0.89
3	LUV	0	10	10584	6	4	0.00267	0.9644	1.34
1	HLS	0	10	150	6	12	0.0027	0.9644	0.05
4	LUV	2	10	16224	6	4	0.00279	0.9644	1.42
3	LUV	2	10	21168	12	4	0.00285	0.9644	1.65
3	RGB	ALL	10	31752	6	4	0.00294	0.9644	3.42
4	YCrCb	0	10	32448	12	4	0.00298	0.9644	3.31
4	RGB	0	10	40560	15	4	0.003	0.9644	4.1
4	RGB	2	10	32448	12	4	0.00304	0.9644	3.21
4	HSV	2	10	32448	12	4	0.00317	0.9644	3.15
2	LUV	2	10	540	15	16	0.00325	0.9644	0.09
3	LUV	0	10	4860	15	8	0.00403	0.9644	0.67
2	YCrCb	2	10	5400	6	4	0.00583	0.9644	0.42
1	HLS	0	10	384	6	8	0.00146	0.9622	0.03
4	HSV	ALL	10	2880	15	12	0.00156	0.9622	0.24
4	LUV	1	10	144	9	16	0.00179	0.9622	0.06
4	RGB	ALL	10	7200	6	8	0.00194	0.9622	1.38
1	YCrCb	1	10	144	9	16	0.00195	0.9622	0.06
2	LUV	0	10	8100	9	4	0.00196	0.9622	0.77
2	HLS	0	10	432	12	16	0.00199	0.9622	0.06
4	YUV	2	10	768	12	12	0.00199	0.9622	0.1
2	YUV	2	10	5400	6	4	0.00199	0.9622	0.35
1	HLS	0	10	2304	9	4	0.00203	0.9622	0.14
4	HSV	0	10	768	12	12	0.00203	0.9622	0.17
2	YUV	0	10	8100	9	4	0.0021	0.9622	0.84
4	YCrCb	2	10	16224	6	4	0.00219	0.9622	1.61
3	RGB	ALL	10	14580	15	8	0.00221	0.9622	1.72
3	HLS	0	10	1215	15	12	0.00228	0.9622	0.14
1	YCrCb	1	10	2304	9	4	0.00238	0.9622	0.27
3	RGB	0	10	21168	12	4	0.00238	0.9622	2.05
3	HSV	2	10	26460	15	4	0.00239	0.9622	2.6
4	YUV	2	10	96	6	16	0.00243	0.9622	0.07
4	YCrCb	2	10	96	6	16	0.00243	0.9622	0.09
1	YCrCb	2	10	375	15	12	0.00244	0.9622	0.04
3	YUV	2	10	540	15	16	0.00244	0.9622	0.17
3	LUV	2	10	729	9	12	0.00246	0.9622	0.35
2	RGB	2	10	5400	6	4	0.00246	0.9622	0.5
4	RGB	ALL	10	720	15	16	0.00247	0.9622	0.15
4	LUV	2	10	384	6	12	0.00247	0.9622	0.17
4	YUV	2	10	576	9	12	0.00247	0.9622	0.2
3	YUV	2	10	1215	15	12	0.00248	0.9622	0.12
3	RGB	1	10	1944	6	8	0.00248	0.9622	0.52
2	YUV	0	10	1176	6	8	0.0025	0.9622	0.17
1	LUV	1	10	3840	15	4	0.0025	0.9622	0.49
1	YUV	1	10	150	6	12	0.00251	0.9622	0.05
2	RGB	2	10	2940	15	8	0.00252	0.9622	0.28
3	YCrCb	0	10	1944	6	8	0.00252	0.9622	0.53
1	RGB	ALL	10	2304	12	8	0.00254	0.9622	0.18
4	YUV	0	10	2400	6	8	0.00254	0.9622	0.77
1	HLS	0	10	240	15	16	0.00265	0.9622	0.07
2	LUV	2	10	576	9	12	0.00266	0.9622	0.2
3	LUV	0	10	540	15	16	0.00266	0.9622	0.29
4	YUV	2	10	4800	12	8	0.00271	0.9622	0.34
4	RGB	2	10	16224	6	4	0.00274	0.9622	2.05
4	HSV	2	10	24336	9	4	0.00274	0.9622	2.64
3	HLS	1	10	15876	9	4	0.0028	0.9622	1.6
4	HLS	1	10	24336	9	4	0.00283	0.9622	3.16
4	YUV	0	10	40560	15	4	0.00304	0.9622	4.38
3	HLS	0	10	3888	12	8	0.00315	0.9622	0.25
4	HLS	1	10	40560	15	4	0.00319	0.9622	4.03
3	YCrCb	2	10	15876	9	4	0.00428	0.9622	1.27
2	LUV	0	10	1764	9	8	0.001	0.96	0.2
1	HSV	0	10	375	15	12	0.00175	0.96	0.03
2	LUV	1	10	576	9	12	0.00177	0.96	0.14
1	YUV	2	10	225	9	12	0.00183	0.96	0.1
3	YUV	1	10	486	6	12	0.0019	0.96	0.14
4	LUV	2	10	144	9	16	0.00191	0.96	0.09
1	YUV	0	10	3840	15	4	0.00197	0.96	0.29
4	YUV	2	10	6000	15	8	0.002	0.96	0.46
3	LUV	0	10	1215	15	12	0.00201	0.96	0.38
1	HSV	0	10	150	6	12	0.00207	0.96	0.05
3	YCrCb	2	10	4860	15	8	0.00211	0.96	0.35
2	RGB	1	10	10800	12	4	0.00219	0.96	0.93
2	RGB	0	10	13500	15	4	0.00219	0.96	1.21
3	YCrCb	2	10	729	9	12	0.00236	0.96	0.3
2	HSV	2	10	8100	9	4	0.0024	0.96	0.73
4	YCrCb	2	10	192	12	16	0.00243	0.96	0.07
1	RGB	ALL	10	432	9	16	0.00243	0.96	0.23
1	YUV	1	10	240	15	16	0.00244	0.96	0.04
1	YCrCb	2	10	300	12	12	0.00244	0.96	0.04
1	LUV	0	10	960	15	8	0.00244	0.96	0.08
2	HSV	0	10	960	15	12	0.00244	0.96	0.09
3	HLS	0	10	2916	9	8	0.00244	0.96	0.28
2	LUV	1	10	1176	6	8	0.00245	0.96	0.09
3	YCrCb	2	10	432	12	16	0.00245	0.96	0.1
2	HSV	ALL	10	972	9	16	0.00246	0.96	0.1
3	YCrCb	2	10	540	15	16	0.00246	0.96	0.12
3	HSV	2	10	3888	12	8	0.00247	0.96	0.43
3	LUV	0	10	3888	12	8	0.00247	0.96	0.47
2	HLS	0	10	1176	6	8	0.00248	0.96	0.11
1	LUV	2	10	150	6	12	0.00248	0.96	0.13
2	RGB	ALL	10	972	9	16	0.00248	0.96	0.51
4	YCrCb	1	10	576	9	12	0.00249	0.96	0.06
1	YCrCb	0	10	960	15	8	0.00249	0.96	0.08
3	RGB	ALL	10	3645	15	12	0.00249	0.96	0.71
2	YUV	2	10	768	12	12	0.0025	0.96	0.06
4	LUV	1	10	384	6	12	0.0025	0.96	0.15
4	HSV	0	10	2400	6	8	0.00251	0.96	0.24
2	RGB	0	10	8100	9	4	0.00251	0.96	0.72
3	RGB	1	10	2916	9	8	0.00256	0.96	0.43
2	RGB	ALL	10	8820	15	8	0.00257	0.96	1.07
2	YUV	2	10	1764	9	8	0.00259	0.96	0.12
4	RGB	ALL	10	2304	12	12	0.00269	0.96	0.67
2	YUV	2	10	2352	12	8	0.0027	0.96	0.15
2	HSV	2	10	384	6	12	0.00272	0.96	0.23
3	RGB	1	10	15876	9	4	0.00274	0.96	1.58
3	RGB	0	10	15876	9	4	0.00275	0.96	1.72
2	HLS	0	10	1764	9	8	0.0028	0.96	0.17
3	RGB	0	10	26460	15	4	0.0028	0.96	2.48
1	YUV	2	10	576	9	8	0.00282	0.96	0.04
4	HSV	0	10	24336	9	4	0.00284	0.96	2.12
3	HSV	2	10	21168	12	4	0.00287	0.96	2.2
4	RGB	2	10	24336	9	4	0.00294	0.96	2.67
2	YCrCb	2	10	384	6	12	0.00412	0.96	0.18
2	LUV	2	10	2940	15	8	0.00432	0.96	0.22
1	HLS	1	10	96	6	16	0.00505	0.96	0.13
4	YCrCb	2	10	576	9	12	0.00522	0.96	0.32
3	LUV	1	10	26460	15	4	0.00589	0.96	1.99
1	HSV	2	10	3072	12	4	0.00157	0.9578	0.2
1	RGB	1	10	3840	15	4	0.00158	0.9578	0.35
1	RGB	1	10	576	9	8	0.00163	0.9578	0.08
2	LUV	2	10	5400	6	4	0.00182	0.9578	0.4
2	LUV	2	10	432	12	16	0.00183	0.9578	0.09
1	LUV	1	10	3072	12	4	0.00183	0.9578	0.18
1	LUV	2	10	768	12	8	0.00185	0.9578	0.05
2	YCrCb	0	10	5400	6	4	0.0019	0.9578	0.5
4	YUV	2	10	192	12	16	0.00191	0.9578	0.05
4	YUV	0	10	3600	9	8	0.00191	0.9578	0.79
1	LUV	0	10	3072	12	4	0.00192	0.9578	0.26
2	YCrCb	1	10	576	9	12	0.00194	0.9578	0.05
4	YUV	2	10	960	15	12	0.00196	0.9578	0.1
4	RGB	1	10	4800	12	8	0.002	0.9578	0.8
1	YCrCb	2	10	960	15	8	0.00208	0.9578	0.05
2	YCrCb	2	10	2940	15	8	0.00219	0.9578	0.2
3	YCrCb	1	10	729	9	12	0.00234	0.9578	0.1
1	YCrCb	2	10	192	12	16	0.00241	0.9578	0.09
3	HLS	1	10	1944	6	8	0.00244	0.9578	0.43
3	YCrCb	0	10	10584	6	4	0.00244	0.9578	1.1
2	YUV	1	10	324	9	16	0.00246	0.9578	0.08
1	RGB	2	10	768	12	8	0.00247	0.9578	0.08
3	YUV	0	10	3888	12	8	0.00247	0.9578	0.42
1	HSV	0	10	96	6	16	0.00248	0.9578	0.05
1	HSV	2	10	2304	9	4	0.00248	0.9578	0.17
1	HLS	0	10	576	9	8	0.0025	0.9578	0.05
2	YCrCb	0	10	216	6	16	0.0025	0.9578	0.17
4	YUV	0	10	4800	12	8	0.0025	0.9578	0.7
2	LUV	0	10	2352	12	8	0.00252	0.9578	0.2
1	RGB	ALL	10	4608	6	4	0.00252	0.9578	0.37
4	HLS	1	10	3600	9	8	0.00254	0.9578	0.57
4	LUV	2	10	2400	6	8	0.00255	0.9578	1.41
2	YUV	0	10	1764	9	8	0.00259	0.9578	0.2
3	RGB	0	10	1944	6	8	0.00259	0.9578	0.48
1	LUV	1	10	192	12	16	0.0026	0.9578	0.08
3	YUV	2	10	486	6	12	0.00262	0.9578	0.19
4	YCrCb	2	10	4800	12	8	0.00262	0.9578	0.36
1	YCrCb	2	10	3840	15	4	0.00267	0.9578	0.24
1	YCrCb	0	10	3072	12	4	0.00268	0.9578	0.22
1	RGB	ALL	10	576	12	16	0.00269	0.9578	0.25
4	LUV	0	10	16224	6	4	0.00269	0.9578	1.86
4	HSV	2	10	16224	6	4	0.00271	0.9578	2
1	HLS	1	10	1536	6	4	0.00274	0.9578	0.12
1	HLS	1	10	2304	9	4	0.00279	0.9578	0.16
4	HLS	ALL	10	1152	6	12	0.0028	0.9578	0.18
3	HLS	1	10	26460	15	4	0.0028	0.9578	2.46
4	YUV	2	10	24336	9	4	0.00296	0.9578	1.97
4	LUV	0	10	32448	12	4	0.00298	0.9578	3.31
3	LUV	1	10	216	6	16	0.00181	0.9556	0.09
2	RGB	0	10	2940	15	8	0.00189	0.9556	0.29
4	LUV	2	10	3600	9	8	0.0019	0.9556	2.48
4	YCrCb	2	10	6000	15	8	0.00199	0.9556	0.48
2	RGB	2	10	2352	12	8	0.00209	0.9556	0.25
1	YCrCb	2	10	576	9	8	0.00214	0.9556	0.05
1	HLS	1	10	768	12	8	0.00231	0.9556	0.07
3	YUV	2	10	729	9	12	0.00235	0.9556	0.25
1	YCrCb	0	10	576	9	8	0.00239	0.9556	0.08
1	LUV	0	10	144	9	16	0.00242	0.9556	0.13
1	RGB	1	10	300	12	12	0.00243	0.9556	0.18
1	YCrCb	1	10	150	6	12	0.00244	0.9556	0.05
2	HLS	0	10	540	15	16	0.00245	0.9556	0.08
2	RGB	2	10	216	6	16	0.00245	0.9556	0.17
4	HLS	ALL	10	1728	9	12	0.00246	0.9556	0.18
1	HSV	0	10	192	12	16	0.00247	0.9556	0.02
1	LUV	2	10	375	15	12	0.00247	0.9556	0.04
4	YCrCb	2	10	240	15	16	0.00247	0.9556	0.07
3	YUV	1	10	324	9	16	0.00247	0.9556	0.09
2	HSV	2	10	2352	12	8	0.00247	0.9556	0.26
4	YCrCb	1	10	144	9	16	0.00248	0.9556	0.06
3	YCrCb	2	10	216	6	16	0.00248	0.9556	0.1
3	LUV	2	10	486	6	12	0.00248	0.9556	0.21
3	LUV	0	10	972	12	12	0.00248	0.9556	0.55
1	LUV	1	10	375	15	12	0.00249	0.9556	0.04
3	YUV	2	10	432	12	16	0.00249	0.9556	0.11
3	HLS	0	10	432	12	16	0.00249	0.9556	0.14
1	HLS	1	10	960	15	8	0.0025	0.9556	0.09
1	RGB	ALL	10	6912	9	4	0.0025	0.9556	0.82
3	LUV	1	10	729	9	12	0.00251	0.9556	0.28
1	RGB	0	10	3072	12	4	0.00251	0.9556	0.36
1	YUV	2	10	300	12	12	0.00252	0.9556	0.02
2	LUV	1	10	384	6	12	0.00252	0.9556	0.08
1	HSV	2	10	144	9	16	0.00252	0.9556	0.17
3	RGB	ALL	10	8748	9	8	0.00255	0.9556	1.43
4	HLS	1	10	96	6	16	0.0026	0.9556	0.14
3	HLS	0	10	540	15	16	0.0026	0.9556	0.2
2	LUV	0	10	768	12	12	0.00261	0.9556	0.23
1	YCrCb	1	10	225	9	12	0.00265	0.9556	0.04
3	HLS	1	10	540	15	16	0.00265	0.9556	0.3
4	HLS	1	10	16224	6	4	0.00269	0.9556	2.28
3	RGB	0	10	3888	12	8	0.00271	0.9556	0.51
2	LUV	2	10	1764	9	8	0.00277	0.9556	0.16
4	LUV	0	10	3600	9	8	0.00283	0.9556	0.51
3	HSV	2	10	216	6	16	0.00421	0.9556	0.19
3	YCrCb	2	10	2916	9	8	0.00476	0.9556	0.3
1	YUV	0	10	144	9	16	0.00102	0.9533	0.13
3	RGB	2	10	3888	12	8	0.00183	0.9533	0.43
1	LUV	0	10	768	12	8	0.002	0.9533	0.08
4	HSV	0	10	192	12	16	0.00219	0.9533	0.09
2	HSV	2	10	10800	12	4	0.00225	0.9533	0.92
3	RGB	2	10	10584	6	4	0.00229	0.9533	1.11
4	LUV	2	10	96	6	16	0.0023	0.9533	0.08
2	RGB	0	10	10800	12	4	0.00234	0.9533	0.95
2	HLS	0	10	768	12	12	0.00238	0.9533	0.06
3	RGB	0	10	4860	15	8	0.00238	0.9533	0.61
1	HSV	0	10	144	9	16	0.00241	0.9533	0.1
1	RGB	1	10	150	6	12	0.00241	0.9533	0.14
1	HSV	0	10	576	9	8	0.00243	0.9533	0.05
1	LUV	2	10	1536	6	4	0.00245	0.9533	0.11
2	HSV	2	10	1176	6	8	0.00245	0.9533	0.25
1	YUV	0	10	192	12	16	0.00247	0.9533	0.1
4	RGB	0	10	3600	9	8	0.00247	0.9533	0.96
1	YUV	1	10	192	12	16	0.00248	0.9533	0.04
2	HLS	0	10	960	15	12	0.0025	0.9533	0.08
3	YUV	0	10	216	6	16	0.0025	0.9533	0.18
2	RGB	ALL	10	1296	12	16	0.0025	0.9533	0.31
3	HLS	1	10	4860	15	8	0.0025	0.9533	0.54
1	YCrCb	0	10	1536	6	4	0.00251	0.9533	0.12
1	RGB	2	10	3072	12	4	0.00251	0.9533	0.25
3	LUV	0	10	1944	6	8	0.00251	0.9533	0.58
4	LUV	2	10	240	15	16	0.00254	0.9533	0.1
4	LUV	1	10	576	9	12	0.00254	0.9533	0.13
3	HSV	0	10	1944	6	8	0.00254	0.9533	0.19
4	YCrCb	2	10	2400	6	8	0.00257	0.9533	0.31
2	RGB	1	10	2352	12	8	0.00262	0.9533	0.26
2	LUV	0	10	1176	6	8	0.00265	0.9533	0.26
1	RGB	ALL	10	1125	15	12	0.00267	0.9533	0.23
3	YCrCb	2	10	1944	6	8	0.00269	0.9533	0.2
2	HLS	1	10	13500	15	4	0.00269	0.9533	1.19
4	YUV	0	10	6000	15	8	0.0027	0.9533	0.83
3	YUV	0	10	2916	9	8	0.00272	0.9533	0.36
4	HLS	0	10	96	6	16	0.00279	0.9533	0.1
4	RGB	ALL	10	14400	12	8	0.00283	0.9533	1.94
4	RGB	0	10	24336	9	4	0.00284	0.9533	3.21
4	RGB	ALL	10	18000	15	8	0.00293	0.9533	2.32
1	HLS	1	10	576	9	8	0.00324	0.9533	0.08
3	LUV	2	10	540	15	16	0.00377	0.9533	0.18
2	LUV	0	10	960	15	12	0.00422	0.9533	0.24
4	LUV	2	10	6000	15	8	0.00494	0.9533	5.58
4	RGB	ALL	10	576	12	16	0.00528	0.9533	0.17
3	LUV	2	10	1215	15	12	0.00725	0.9533	0.2
1	HSV	2	10	576	9	8	0.00141	0.9511	0.11
2	YCrCb	0	10	540	15	16	0.00151	0.9511	0.28
2	HSV	2	10	960	15	12	0.0018	0.9511	0.26
3	LUV	0	10	2916	9	8	0.00184	0.9511	0.44
2	YCrCb	2	10	2352	12	8	0.00197	0.9511	0.14
4	YCrCb	0	10	6000	15	8	0.002	0.9511	0.76
2	HSV	0	10	384	6	12	0.00201	0.9511	0.11
1	RGB	ALL	10	720	15	16	0.00207	0.9511	0.24
1	YUV	0	10	768	12	8	0.00212	0.9511	0.07
1	RGB	2	10	960	15	8	0.00212	0.9511	0.08
2	HLS	1	10	1176	6	8	0.00227	0.9511	0.24
4	YCrCb	2	10	144	9	16	0.00231	0.9511	0.08
3	YCrCb	0	10	3888	12	8	0.00238	0.9511	0.4
4	HSV	0	10	4800	12	8	0.0024	0.9511	0.35
4	HSV	0	10	240	15	16	0.00241	0.9511	0.12
2	HLS	1	10	768	12	12	0.00241	0.9511	0.25
4	HSV	ALL	10	1728	9	12	0.00244	0.9511	0.19
1	LUV	1	10	300	12	12	0.00246	0.9511	0.03
3	YUV	2	10	216	6	16	0.00246	0.9511	0.09
1	RGB	2	10	2304	9	4	0.00246	0.9511	0.17
3	HSV	2	10	2916	9	8	0.00246	0.9511	0.39
3	HSV	1	10	4860	15	8	0.00247	0.9511	0.74
2	YUV	2	10	1176	6	8	0.00248	0.9511	0.09
2	RGB	2	10	1176	6	8	0.00248	0.9511	0.36
1	YUV	1	10	384	6	8	0.00249	0.9511	0.04
3	YUV	2	10	324	9	16	0.0025	0.9511	0.13
3	RGB	0	10	2916	9	8	0.0025	0.9511	0.45
4	RGB	2	10	192	12	16	0.00253	0.9511	0.13
3	RGB	2	10	2916	9	8	0.00253	0.9511	0.42
4	RGB	2	10	3600	9	8	0.00254	0.9511	0.94
1	HLS	0	10	96	6	16	0.00258	0.9511	0.06
4	RGB	ALL	10	10800	9	8	0.00258	0.9511	1.52
2	YCrCb	0	10	2352	12	8	0.00264	0.9511	0.21
2	YUV	0	10	2940	15	8	0.00276	0.9511	0.32
4	RGB	1	10	24336	9	4	0.00295	0.9511	2.63
1	YCrCb	2	10	768	12	8	0.00428	0.9511	0.05
1	YCrCb	2	10	2304	9	4	0.00436	0.9511	0.14
1	RGB	0	10	3840	15	4	0.00567	0.9511	0.33
3	HSV	1	10	26460	15	4	0.0058	0.9511	2.5
1	YCrCb	1	10	96	6	16	0.0014	0.9489	0.05
2	YUV	0	10	960	15	12	0.00151	0.9489	0.3
1	RGB	2	10	1536	6	4	0.00157	0.9489	0.13
4	YUV	2	10	240	15	16	0.00173	0.9489	0.09
1	LUV	1	10	240	15	16	0.00176	0.9489	0.06
3	HLS	0	10	972	12	12	0.00182	0.9489	0.1
2	YCrCb	0	10	576	9	12	0.00187	0.9489	0.37
3	YCrCb	2	10	486	6	12	0.00189	0.9489	0.21
2	LUV	0	10	432	12	16	0.00192	0.9489	0.21
3	LUV	1	10	324	9	16	0.00197	0.9489	0.12
3	RGB	1	10	216	6	16	0.00198	0.9489	0.18
2	RGB	ALL	10	1152	6	12	0.00202	0.9489	0.57
2	LUV	0	10	216	6	16	0.00233	0.9489	0.17
1	YUV	2	10	1536	6	4	0.00234	0.9489	0.1
1	RGB	0	10	2304	9	4	0.00234	0.9489	0.18
2	HSV	0	10	216	6	16	0.00239	0.9489	0.1
3	HLS	1	10	432	12	16	0.00242	0.9489	0.22
2	RGB	2	10	540	15	16	0.00242	0.9489	0.3
3	YUV	1	10	216	6	16	0.00243	0.9489	0.07
1	LUV	1	10	1536	6	4	0.00243	0.9489	0.1
3	HSV	0	10	216	6	16	0.00243	0.9489	0.11
1	RGB	ALL	10	900	12	12	0.00243	0.9489	0.13
3	RGB	1	10	324	9	16	0.00243	0.9489	0.17
3	RGB	1	10	4860	15	8	0.00243	0.9489	0.59
1	YUV	2	10	384	6	8	0.00244	0.9489	0.05
2	YUV	2	10	576	9	12	0.00244	0.9489	0.09
1	LUV	1	10	96	6	16	0.00245	0.9489	0.1
1	RGB	2	10	144	9	16	0.00245	0.9489	0.12
3	RGB	ALL	10	648	6	16	0.00248	0.9489	0.32
2	RGB	ALL	10	1728	9	12	0.00249	0.9489	0.39
4	RGB	1	10	960	15	12	0.00249	0.9489	0.43
2	LUV	2	10	1176	6	8	0.0025	0.9489	0.12
3	HSV	0	10	432	12	16	0.00252	0.9489	0.14
2	HSV	1	10	2940	15	8	0.00252	0.9489	0.32
3	YUV	0	10	1944	6	8	0.00253	0.9489	0.47
4	LUV	0	10	4800	12	8	0.00253	0.9489	0.6
2	HLS	1	10	10800	12	4	0.00257	0.9489	0.91
2	YCrCb	2	10	1176	6	8	0.00263	0.9489	0.11
3	YUV	0	10	10584	6	4	0.00263	0.9489	1.31
1	LUV	1	10	225	9	12	0.00264	0.9489	0.09
4	RGB	1	10	6000	15	8	0.00272	0.9489	0.86
2	HLS	1	10	1764	9	8	0.00275	0.9489	0.23
4	RGB	0	10	32448	12	4	0.00312	0.9489	3.79
2	RGB	ALL	10	2304	12	12	0.00359	0.9489	0.45
1	RGB	0	10	1536	6	4	0.00177	0.9467	0.14
1	HLS	0	10	192	12	16	0.00208	0.9467	0.04
1	YCrCb	0	10	96	6	16	0.00211	0.9467	0.15
4	RGB	ALL	10	288	6	16	0.00236	0.9467	0.18
3	RGB	2	10	4860	15	8	0.00236	0.9467	0.48
4	RGB	2	10	144	9	16	0.00238	0.9467	0.13
3	YUV	0	10	4860	15	8	0.00238	0.9467	0.52
4	RGB	0	10	4800	12	8	0.00238	0.9467	0.82
4	HLS	0	10	768	12	12	0.00239	0.9467	0.14
4	HLS	1	10	240	15	16	0.0024	0.9467	0.14
4	HLS	0	10	240	15	16	0.00242	0.9467	0.13
2	LUV	0	10	540	15	16	0.00242	0.9467	0.26
2	RGB	1	10	540	15	16	0.00242	0.9467	0.31
1	LUV	0	10	300	12	12	0.00244	0.9467	0.13
1	YUV	0	10	384	6	8	0.00245	0.9467	0.13
1	YCrCb	2	10	240	15	16	0.00247	0.9467	0.05
4	LUV	2	10	192	12	16	0.00247	0.9467	0.06
1	YUV	2	10	192	12	16	0.00247	0.9467	0.08
4	YUV	2	10	144	9	16	0.00248	0.9467	0.07
4	RGB	1	10	2400	6	8	0.00248	0.9467	0.84
3	RGB	ALL	10	2187	9	12	0.0025	0.9467	0.84
3	HLS	1	10	3888	12	8	0.00251	0.9467	0.43
1	HLS	1	10	3840	15	4	0.00252	0.9467	0.29
3	YUV	0	10	729	9	12	0.00252	0.9467	0.39
3	YCrCb	0	10	216	6	16	0.00253	0.9467	0.2
3	RGB	2	10	216	6	16	0.00255	0.9467	0.2
3	HSV	0	10	1215	15	12	0.00256	0.9467	0.19
2	YCrCb	2	10	576	9	12	0.0026	0.9467	0.16
3	RGB	ALL	10	1296	12	16	0.0026	0.9467	0.56
3	YUV	0	10	486	6	12	0.00265	0.9467	0.26
3	YCrCb	0	10	540	15	16	0.00269	0.9467	0.26
1	LUV	0	10	576	9	8	0.00271	0.9467	0.06
1	HLS	2	10	3072	12	4	0.00271	0.9467	0.24
4	RGB	1	10	16224	6	4	0.0029	0.9467	2.12
3	HLS	1	10	324	9	16	0.00301	0.9467	0.18
2	HLS	1	10	5400	6	4	0.00302	0.9467	0.54
2	HSV	2	10	324	9	16	0.00398	0.9467	0.18
3	YCrCb	0	10	2916	9	8	0.00178	0.9444	0.57
3	LUV	0	10	729	9	12	0.00185	0.9444	0.4
4	LUV	0	10	144	9	16	0.00189	0.9444	0.12
1	RGB	1	10	960	15	8	0.00192	0.9444	0.07
3	HSV	2	10	972	12	12	0.00199	0.9444	0.57
3	HSV	2	10	4860	15	8	0.00202	0.9444	0.52
4	RGB	2	10	6000	15	8	0.00204	0.9444	0.84
2	HLS	1	10	216	6	16	0.0021	0.9444	0.15
1	YUV	0	10	576	9	8	0.00213	0.9444	0.06
2	HLS	2	10	10800	12	4	0.00214	0.9444	0.95
3	RGB	0	10	10584	6	4	0.00231	0.9444	1.29
3	HLS	1	10	10584	6	4	0.00232	0.9444	1.28
4	YCrCb	0	10	4800	12	8	0.00236	0.9444	0.61
4	HSV	0	10	96	6	16	0.0024	0.9444	0.09
2	YCrCb	2	10	8100	9	4	0.00241	0.9444	0.63
2	LUV	0	10	576	9	12	0.00243	0.9444	0.26
2	RGB	0	10	540	15	16	0.00247	0.9444	0.31
3	HSV	2	10	1944	6	8	0.00247	0.9444	0.35
1	LUV	1	10	576	9	8	0.00249	0.9444	0.06
2	YUV	2	10	384	6	12	0.00249	0.9444	0.13
1	LUV	0	10	96	6	16	0.00249	0.9444	0.14
4	YUV	2	10	2400	6	8	0.0025	0.9444	0.28
4	HSV	2	10	6000	15	8	0.0025	0.9444	0.83
2	RGB	1	10	384	6	12	0.00251	0.9444	0.2
1	RGB	ALL	10	675	9	12	0.00251	0.9444	0.33
2	HLS	1	10	960	15	12	0.00252	0.9444	0.23
4	RGB	1	10	3600	9	8	0.00253	0.9444	0.68
3	HSV	0	10	2916	9	8	0.00258	0.9444	0.29
1	YUV	0	10	96	6	16	0.00259	0.9444	0.13
4	LUV	0	10	2400	6	8	0.0026	0.9444	0.85
2	LUV	1	10	216	6	16	0.00262	0.9444	0.08
3	YCrCb	0	10	432	12	16	0.00263	0.9444	0.21
2	HSV	1	10	5400	6	4	0.00265	0.9444	0.56
2	RGB	0	10	2352	12	8	0.00269	0.9444	0.24
4	RGB	0	10	16224	6	4	0.00279	0.9444	2.09
3	HSV	0	10	540	15	16	0.00284	0.9444	0.19
4	LUV	0	10	6000	15	8	0.00286	0.9444	0.93
2	YCrCb	0	10	1176	6	8	0.00302	0.9444	0.23
2	RGB	1	10	432	12	16	0.00599	0.9444	0.21
2	YCrCb	2	10	216	6	16	0.00158	0.9422	0.11
1	LUV	2	10	240	15	16	0.00169	0.9422	0.12
3	HLS	1	10	972	12	12	0.00179	0.9422	0.51
1	YUV	0	10	1536	6	4	0.00183	0.9422	0.11
1	LUV	2	10	192	12	16	0.00187	0.9422	0.08
1	RGB	2	10	576	9	8	0.00188	0.9422	0.08
2	HSV	0	10	576	9	12	0.00189	0.9422	0.11
3	LUV	2	10	324	9	16	0.0019	0.9422	0.14
4	RGB	0	10	6000	15	8	0.0019	0.9422	1.08
3	RGB	1	10	3888	12	8	0.00204	0.9422	0.56
2	HLS	2	10	13500	15	4	0.00227	0.9422	1.29
1	HLS	0	10	144	9	16	0.00239	0.9422	0.09
2	YUV	2	10	324	9	16	0.00239	0.9422	0.13
3	RGB	0	10	324	9	16	0.0024	0.9422	0.21
1	YUV	0	10	240	15	16	0.00241	0.9422	0.13
3	HLS	0	10	486	6	12	0.00242	0.9422	0.23
1	YCrCb	0	10	300	12	12	0.00243	0.9422	0.1
1	YUV	2	10	240	15	16	0.00244	0.9422	0.05
1	LUV	1	10	144	9	16	0.00244	0.9422	0.07
4	HSV	2	10	144	9	16	0.00244	0.9422	0.13
4	YCrCb	2	10	384	6	12	0.00244	0.9422	0.16
2	LUV	2	10	960	15	12	0.00245	0.9422	0.11
3	RGB	0	10	216	6	16	0.00245	0.9422	0.2
2	HLS	2	10	2352	12	8	0.00247	0.9422	0.37
3	YUV	0	10	1215	15	12	0.00247	0.9422	0.42
2	YCrCb	2	10	324	9	16	0.00248	0.9422	0.15
4	RGB	0	10	2400	6	8	0.00249	0.9422	0.71
2	RGB	2	10	432	12	16	0.0025	0.9422	0.22
2	HSV	1	10	2352	12	8	0.00251	0.9422	0.28
4	HLS	0	10	3600	9	8	0.00251	0.9422	0.46
4	YUV	0	10	192	12	16	0.00252	0.9422	0.11
2	RGB	2	10	1764	9	8	0.00252	0.9422	0.23
2	RGB	1	10	768	12	12	0.00253	0.9422	0.15
2	YCrCb	0	10	960	15	12	0.00253	0.9422	0.17
3	RGB	ALL	10	1458	6	12	0.00254	0.9422	0.77
2	HLS	0	10	216	6	16	0.00256	0.9422	0.09
2	HSV	1	10	10800	12	4	0.00266	0.9422	0.96
4	LUV	0	10	960	15	12	0.00272	0.9422	0.6
3	HLS	2	10	26460	15	4	0.00301	0.9422	2.56
1	RGB	1	10	375	15	12	0.00171	0.94	0.14
2	YUV	2	10	960	15	12	0.0018	0.94	0.08
4	RGB	ALL	10	2880	15	12	0.00191	0.94	0.49
2	HSV	2	10	1764	9	8	0.00197	0.94	0.2
3	YUV	0	10	540	15	16	0.00201	0.94	0.32
1	LUV	2	10	144	9	16	0.00235	0.94	0.11
2	YUV	0	10	2352	12	8	0.00237	0.94	0.23
1	HLS	0	10	225	9	12	0.00241	0.94	0.1
4	HSV	2	10	96	6	16	0.00242	0.94	0.14
1	RGB	ALL	10	450	6	12	0.00243	0.94	0.27
2	RGB	1	10	1176	6	8	0.00244	0.94	0.19
4	YCrCb	2	10	960	15	12	0.00245	0.94	0.12
1	LUV	2	10	576	9	8	0.00246	0.94	0.05
2	RGB	1	10	576	9	12	0.00246	0.94	0.32
1	HSV	2	10	960	15	8	0.00248	0.94	0.09
4	YUV	0	10	144	9	16	0.00248	0.94	0.13
3	HSV	1	10	486	6	12	0.00248	0.94	0.39
1	YUV	2	10	144	9	16	0.00249	0.94	0.07
4	LUV	2	10	576	9	12	0.00249	0.94	0.31
4	HLS	1	10	768	12	12	0.00249	0.94	0.5
4	RGB	0	10	96	6	16	0.0025	0.94	0.18
2	HLS	0	10	576	9	12	0.00252	0.94	0.15
4	HLS	1	10	2400	6	8	0.00257	0.94	1.04
3	HLS	1	10	486	6	12	0.00258	0.94	0.32
1	YUV	1	10	96	6	16	0.00261	0.94	0.05
3	YUV	2	10	1944	6	8	0.00272	0.94	0.23
2	YUV	0	10	768	12	12	0.00274	0.94	0.28
2	RGB	1	10	960	15	12	0.00278	0.94	0.17
4	HLS	2	10	40560	15	4	0.00308	0.94	4.27
2	HSV	2	10	768	12	12	0.00532	0.94	0.19
1	YCrCb	2	10	96	6	16	0.00147	0.9378	0.11
4	HSV	0	10	960	15	12	0.00153	0.9378	0.22
1	YCrCb	0	10	240	15	16	0.00175	0.9378	0.13
3	LUV	0	10	324	9	16	0.00183	0.9378	0.17
3	HLS	1	10	2916	9	8	0.00184	0.9378	0.38
1	RGB	0	10	768	12	8	0.00186	0.9378	0.09
2	RGB	1	10	216	6	16	0.00192	0.9378	0.16
2	RGB	1	10	2940	15	8	0.00192	0.9378	0.29
3	RGB	ALL	10	2916	12	12	0.00193	0.9378	0.55
4	RGB	1	10	96	6	16	0.00233	0.9378	0.13
1	HLS	1	10	375	15	12	0.00241	0.9378	0.1
3	YUV	0	10	324	9	16	0.00241	0.9378	0.17
2	HLS	1	10	540	15	16	0.00242	0.9378	0.29
4	RGB	2	10	4800	12	8	0.00242	0.9378	0.72
4	RGB	1	10	768	12	12	0.00243	0.9378	0.4
1	HSV	2	10	768	12	8	0.00244	0.9378	0.07
2	HSV	2	10	540	15	16	0.00244	0.9378	0.3
2	LUV	0	10	324	9	16	0.00245	0.9378	0.16
3	RGB	1	10	540	15	16	0.00246	0.9378	0.28
3	RGB	1	10	1215	15	12	0.00246	0.9378	0.37
3	RGB	1	10	729	9	12	0.00246	0.9378	0.39
1	YCrCb	2	10	144	9	16	0.00247	0.9378	0.1
1	YCrCb	2	10	384	6	8	0.00248	0.9378	0.1
2	YUV	0	10	576	9	12	0.00248	0.9378	0.31
2	HSV	2	10	432	12	16	0.00249	0.9378	0.21
2	RGB	0	10	1176	6	8	0.00249	0.9378	0.36
4	HSV	0	10	3600	9	8	0.00249	0.9378	0.51
2	RGB	ALL	10	648	6	16	0.0025	0.9378	0.35
4	RGB	ALL	10	1728	9	12	0.0025	0.9378	1
1	HSV	2	10	240	15	16	0.00251	0.9378	0.14
3	RGB	2	10	432	12	16	0.00251	0.9378	0.22
3	YCrCb	0	10	729	9	12	0.00251	0.9378	0.44
2	RGB	0	10	324	9	16	0.00253	0.9378	0.21
3	YUV	0	10	432	12	16	0.00261	0.9378	0.21
4	HLS	0	10	2400	6	8	0.00263	0.9378	0.31
2	RGB	0	10	960	15	12	0.00271	0.9378	0.34
4	YUV	0	10	384	6	12	0.00274	0.9378	0.23
2	RGB	0	10	5400	6	4	0.0039	0.9378	0.54
3	YUV	0	10	972	12	12	0.0042	0.9378	0.38
2	HLS	0	10	384	6	12	0.00441	0.9378	0.13
3	LUV	0	10	432	12	16	0.00504	0.9378	0.21
3	HSV	2	10	432	12	16	0.00508	0.9378	0.21
2	RGB	0	10	216	6	16	0.00155	0.9356	0.19
1	RGB	0	10	96	6	16	0.00177	0.9356	0.19
2	RGB	0	10	1764	9	8	0.0018	0.9356	0.24
1	YUV	0	10	375	15	12	0.00195	0.9356	0.19
1	YCrCb	2	10	225	9	12	0.00199	0.9356	0.11
2	HLS	2	10	5400	6	4	0.002	0.9356	0.63
4	HSV	2	10	192	12	16	0.00204	0.9356	0.11
4	YUV	2	10	384	6	12	0.00206	0.9356	0.15
4	YUV	0	10	240	15	16	0.00232	0.9356	0.14
4	YUV	0	10	576	9	12	0.00235	0.9356	0.31
4	RGB	0	10	144	9	16	0.00237	0.9356	0.18
4	RGB	1	10	240	15	16	0.00239	0.9356	0.14
1	YUV	0	10	300	12	12	0.00243	0.9356	0.12
1	RGB	1	10	240	15	16	0.00243	0.9356	0.13
1	LUV	0	10	384	6	8	0.00245	0.9356	0.07
3	RGB	2	10	324	9	16	0.00245	0.9356	0.18
1	RGB	1	10	1536	6	4	0.00246	0.9356	0.11
1	RGB	1	10	384	6	8	0.00246	0.9356	0.15
1	HLS	1	10	144	9	16	0.00247	0.9356	0.13
3	RGB	0	10	432	12	16	0.00247	0.9356	0.26
2	HSV	1	10	540	15	16	0.00247	0.9356	0.34
3	HLS	2	10	3888	12	8	0.00247	0.9356	0.61
2	YUV	0	10	432	12	16	0.00248	0.9356	0.2
1	RGB	1	10	96	6	16	0.00249	0.9356	0.12
1	RGB	1	10	192	12	16	0.0025	0.9356	0.09
2	YCrCb	2	10	1764	9	8	0.00251	0.9356	0.14
3	RGB	ALL	10	5832	6	8	0.00251	0.9356	0.83
4	YCrCb	0	10	3600	9	8	0.00252	0.9356	0.68
4	HSV	1	10	6000	15	8	0.00255	0.9356	0.99
4	HLS	1	10	192	12	16	0.00259	0.9356	0.11
3	HSV	2	10	324	9	16	0.00263	0.9356	0.21
1	LUV	0	10	240	15	16	0.00273	0.9356	0.13
3	HSV	1	10	15876	9	4	0.00273	0.9356	1.6
4	HSV	1	10	32448	12	4	0.00306	0.9356	3.17
4	HSV	1	10	40560	15	4	0.00423	0.9356	4.19
1	HSV	2	10	375	15	12	0.00427	0.9356	0.18
3	RGB	0	10	1215	15	12	0.00104	0.9333	0.9
2	RGB	2	10	768	12	12	0.00168	0.9333	0.32
3	LUV	2	10	216	6	16	0.0018	0.9333	0.1
1	YCrCb	0	10	144	9	16	0.00193	0.9333	0.14
2	YUV	2	10	216	6	16	0.00196	0.9333	0.09
1	RGB	2	10	384	6	8	0.002	0.9333	0.13
1	RGB	0	10	192	12	16	0.00221	0.9333	0.17
3	HSV	1	10	21168	12	4	0.00231	0.9333	2.06
3	HSV	2	10	486	6	12	0.00242	0.9333	0.29
2	HSV	2	10	216	6	16	0.00244	0.9333	0.16
4	RGB	2	10	2400	6	8	0.00245	0.9333	0.89
2	LUV	0	10	384	6	12	0.00247	0.9333	0.2
1	RGB	1	10	144	9	16	0.00248	0.9333	0.13
3	RGB	2	10	540	15	16	0.00248	0.9333	0.28
2	RGB	0	10	768	12	12	0.00249	0.9333	0.34
1	YCrCb	0	10	150	6	12	0.0025	0.9333	0.13
2	HSV	2	10	576	9	12	0.00251	0.9333	0.23
4	HSV	0	10	384	6	12	0.00252	0.9333	0.19
2	YCrCb	0	10	432	12	16	0.00253	0.9333	0.22
4	RGB	ALL	10	1152	6	12	0.00253	0.9333	0.7
4	LUV	0	10	240	15	16	0.00254	0.9333	0.13
4	HSV	1	10	192	12	16	0.00257	0.9333	0.15
4	HSV	2	10	4800	12	8	0.00264	0.9333	0.89
1	LUV	0	10	150	6	12	0.00265	0.9333	0.13
2	YUV	0	10	540	15	16	0.00265	0.9333	0.25
1	YUV	0	10	960	15	8	0.00269	0.9333	0.08
1	HSV	1	10	3072	12	4	0.00269	0.9333	0.23
4	YCrCb	0	10	576	9	12	0.00269	0.9333	0.32
3	HSV	1	10	10584	6	4	0.00269	0.9333	1.17
3	HLS	2	10	15876	9	4	0.00277	0.9333	1.84
1	HLS	1	10	150	6	12	0.00282	0.9333	0.14
1	HLS	2	10	3840	15	4	0.00604	0.9333	0.28
1	HSV	2	10	300	12	12	0.00177	0.9311	0.18
4	YUV	0	10	768	12	12	0.0019	0.9311	0.52
2	HLS	1	10	324	9	16	0.00193	0.9311	0.18
1	HSV	2	10	150	6	12	0.00194	0.9311	0.17
2	HLS	1	10	432	12	16	0.00194	0.9311	0.21
2	HSV	1	10	1764	9	8	0.00195	0.9311	0.31
1	HSV	1	10	3840	15	4	0.00197	0.9311	0.31
4	YCrCb	0	10	768	12	12	0.00205	0.9311	0.45
3	YCrCb	0	10	486	6	12	0.00211	0.9311	0.27
4	YUV	0	10	960	15	12	0.00215	0.9311	0.48
4	HSV	1	10	24336	9	4	0.00238	0.9311	2.9
1	YUV	2	10	150	6	12	0.0024	0.9311	0.06
3	HSV	2	10	1215	15	12	0.00241	0.9311	0.47
4	LUV	0	10	192	12	16	0.00243	0.9311	0.1
4	RGB	2	10	576	9	12	0.00243	0.9311	0.36
4	YUV	0	10	96	6	16	0.00244	0.9311	0.13
4	HSV	2	10	240	15	16	0.00244	0.9311	0.15
1	HSV	2	10	384	6	8	0.00245	0.9311	0.17
1	YCrCb	0	10	384	6	8	0.00246	0.9311	0.13
4	YCrCb	0	10	2400	6	8	0.00246	0.9311	0.59
1	HLS	1	10	240	15	16	0.00247	0.9311	0.13
1	HSV	2	10	96	6	16	0.00247	0.9311	0.15
3	HSV	0	10	486	6	12	0.00247	0.9311	0.21
2	HSV	1	10	8100	9	4	0.00247	0.9311	0.76
4	RGB	1	10	576	9	12	0.00248	0.9311	0.32
1	HSV	0	10	225	9	12	0.00249	0.9311	0.11
3	RGB	1	10	432	12	16	0.00249	0.9311	0.2
2	RGB	2	10	576	9	12	0.00249	0.9311	0.31
1	LUV	1	10	384	6	8	0.0025	0.9311	0.07
2	HSV	1	10	768	12	12	0.0025	0.9311	0.43
4	RGB	2	10	384	6	12	0.00251	0.9311	0.29
1	LUV	2	10	225	9	12	0.00257	0.9311	0.11
2	RGB	1	10	324	9	16	0.00268	0.9311	0.16
2	YCrCb	0	10	324	9	16	0.00315	0.9311	0.18
4	RGB	2	10	768	12	12	0.00429	0.9311	0.6
3	HSV	2	10	540	15	16	0.00439	0.9311	0.33
1	HLS	1	10	300	12	12	0.00177	0.9289	0.17
2	LUV	2	10	384	6	12	0.00194	0.9289	0.11
4	HLS	0	10	192	12	16	0.00205	0.9289	0.09
1	HLS	1	10	225	9	12	0.00208	0.9289	0.13
3	HLS	2	10	10584	6	4	0.00214	0.9289	1.36
4	HLS	1	10	144	9	16	0.0023	0.9289	0.12
2	RGB	2	10	324	9	16	0.00241	0.9289	0.18
4	RGB	2	10	96	6	16	0.00242	0.9289	0.13
4	HLS	1	10	576	9	12	0.00244	0.9289	0.3
1	LUV	0	10	192	12	16	0.00247	0.9289	0.1
2	HSV	1	10	216	6	16	0.00247	0.9289	0.23
2	HLS	1	10	576	9	12	0.00247	0.9289	0.32
3	HSV	1	10	3888	12	8	0.00248	0.9289	0.58
4	HSV	2	10	576	9	12	0.00249	0.9289	0.33
3	YCrCb	0	10	324	9	16	0.0025	0.9289	0.18
1	RGB	0	10	960	15	8	0.00257	0.9289	0.1
2	RGB	2	10	960	15	12	0.00267	0.9289	0.21
2	HSV	1	10	13500	15	4	0.0028	0.9289	1.32
3	YCrCb	2	10	324	9	16	0.00416	0.9289	0.14
4	YCrCb	0	10	96	6	16	0.0043	0.9289	0.13
3	RGB	0	10	972	12	12	0.00156	0.9267	0.63
4	HLS	1	10	960	15	12	0.00205	0.9267	0.49
1	YCrCb	0	10	192	12	16	0.00237	0.9267	0.11
1	LUV	2	10	384	6	8	0.00242	0.9267	0.12
1	YUV	0	10	225	9	12	0.00243	0.9267	0.12
3	RGB	2	10	1215	15	12	0.00243	0.9267	0.61
4	HSV	2	10	384	6	12	0.00244	0.9267	0.27
1	HSV	2	10	1536	6	4	0.00245	0.9267	0.12
4	RGB	1	10	144	9	16	0.00246	0.9267	0.09
3	HSV	1	10	729	9	12	0.00246	0.9267	0.47
3	YCrCb	0	10	972	12	12	0.00248	0.9267	0.48
2	LUV	2	10	216	6	16	0.00249	0.9267	0.1
2	HLS	2	10	8100	9	4	0.00249	0.9267	0.87
3	RGB	1	10	486	6	12	0.00252	0.9267	0.26
4	YCrCb	0	10	144	9	16	0.00258	0.9267	0.12
2	YCrCb	0	10	384	6	12	0.00259	0.9267	0.22
4	YCrCb	0	10	192	12	16	0.00267	0.9267	0.11
4	YCrCb	2	10	3600	9	8	0.00271	0.9267	0.45
3	YCrCb	0	10	1215	15	12	0.00272	0.9267	0.26
4	HSV	1	10	4800	12	8	0.00275	0.9267	0.8
4	HLS	0	10	384	6	12	0.00401	0.9267	0.18
1	LUV	0	10	375	15	12	0.00505	0.9267	0.16
3	HLS	2	10	216	6	16	0.00184	0.9244	0.34
1	RGB	2	10	192	12	16	0.00196	0.9244	0.1
1	HLS	2	10	1536	6	4	0.00196	0.9244	0.14
1	HLS	2	10	768	12	8	0.00201	0.9244	0.1
3	HLS	1	10	1215	15	12	0.00223	0.9244	0.38
4	LUV	0	10	96	6	16	0.00237	0.9244	0.12
1	RGB	ALL	10	288	6	16	0.00246	0.9244	0.18
1	HSV	1	10	144	9	16	0.00246	0.9244	0.21
1	HSV	1	10	768	12	8	0.00247	0.9244	0.09
3	HSV	1	10	324	9	16	0.00247	0.9244	0.29
2	HLS	2	10	216	6	16	0.00247	0.9244	0.3
4	HSV	2	10	3600	9	8	0.0025	0.9244	0.63
4	RGB	1	10	192	12	16	0.00251	0.9244	0.11
3	RGB	2	10	1944	6	8	0.00252	0.9244	0.34
4	HSV	2	10	2400	6	8	0.00255	0.9244	0.8
4	HLS	2	10	32448	12	4	0.00291	0.9244	3.24
4	HLS	0	10	960	15	12	0.00384	0.9244	0.16
4	HLS	2	10	24336	9	4	0.0043	0.9244	3.17
3	RGB	2	10	972	12	12	0.00198	0.9222	0.48
3	HLS	2	10	21168	12	4	0.00229	0.9222	1.89
1	RGB	2	10	96	6	16	0.00239	0.9222	0.14
4	LUV	0	10	576	9	12	0.00239	0.9222	0.32
4	RGB	1	10	384	6	12	0.00249	0.9222	0.27
4	RGB	0	10	960	15	12	0.00249	0.9222	0.61
1	RGB	2	10	225	9	12	0.0025	0.9222	0.12
2	RGB	0	10	576	9	12	0.0025	0.9222	0.35
1	HLS	2	10	960	15	8	0.00252	0.9222	0.1
3	HLS	0	10	216	6	16	0.00264	0.9222	0.12
2	HLS	1	10	384	6	12	0.00264	0.9222	0.21
1	RGB	0	10	144	9	16	0.00415	0.9222	0.19
1	RGB	2	10	150	6	12	0.00196	0.92	0.16
3	HLS	0	10	729	9	12	0.00238	0.92	0.28
2	LUV	2	10	324	9	16	0.00239	0.92	0.15
2	YUV	0	10	324	9	16	0.00243	0.92	0.17
1	LUV	2	10	96	6	16	0.00245	0.92	0.1
2	RGB	0	10	432	12	16	0.00245	0.92	0.26
1	HSV	1	10	2304	9	4	0.00246	0.92	0.17
3	HSV	2	10	729	9	12	0.00248	0.92	0.42
1	YCrCb	0	10	375	15	12	0.0025	0.92	0.14
2	HLS	2	10	2940	15	8	0.0025	0.92	0.38
4	RGB	0	10	192	12	16	0.00251	0.92	0.17
4	LUV	0	10	384	6	12	0.00251	0.92	0.24
3	HLS	1	10	729	9	12	0.00254	0.92	0.39
3	HSV	1	10	432	12	16	0.00255	0.92	0.24
2	HSV	1	10	432	12	16	0.00262	0.92	0.24
1	HSV	2	10	192	12	16	0.00263	0.92	0.11
3	RGB	2	10	486	6	12	0.00264	0.92	0.28
1	RGB	2	10	375	15	12	0.00267	0.92	0.16
3	HLS	0	10	324	9	16	0.0027	0.92	0.25
4	HSV	1	10	96	6	16	0.00286	0.92	0.2
1	RGB	1	10	225	9	12	0.00182	0.9178	0.12
3	HLS	1	10	216	6	16	0.00234	0.9178	0.23
4	RGB	0	10	768	12	12	0.00237	0.9178	0.48
1	YUV	0	10	150	6	12	0.00241	0.9178	0.09
4	RGB	0	10	576	9	12	0.00242	0.9178	0.36
1	LUV	1	10	150	6	12	0.00245	0.9178	0.07
3	HSV	0	10	729	9	12	0.00254	0.9178	0.38
1	HSV	1	10	1536	6	4	0.00257	0.9178	0.14
1	HLS	2	10	384	6	8	0.00402	0.9178	0.27
4	YCrCb	0	10	240	15	16	0.0018	0.9156	0.13
3	LUV	0	10	216	6	16	0.0018	0.9156	0.18
4	HSV	0	10	144	9	16	0.00184	0.9156	0.18
1	LUV	0	10	225	9	12	0.00189	0.9156	0.11
1	HLS	1	10	192	12	16	0.00193	0.9156	0.11
2	RGB	2	10	384	6	12	0.00194	0.9156	0.21
4	YCrCb	0	10	960	15	12	0.00199	0.9156	0.36
1	YCrCb	0	10	225	9	12	0.00231	0.9156	0.12
2	HLS	2	10	1764	9	8	0.0024	0.9156	0.48
1	YCrCb	2	10	150	6	12	0.00241	0.9156	0.08
4	HSV	1	10	240	15	16	0.00244	0.9156	0.17
1	HSV	1	10	192	12	16	0.00248	0.9156	0.13
3	HSV	1	10	1944	6	8	0.00248	0.9156	0.58
1	HSV	1	10	300	12	12	0.00249	0.9156	0.19
3	RGB	0	10	540	15	16	0.00249	0.9156	0.31
4	HSV	2	10	960	15	12	0.00249	0.9156	0.51
1	HLS	2	10	2304	9	4	0.0028	0.9156	0.2
3	LUV	0	10	486	6	12	0.00315	0.9156	0.26
2	HLS	0	10	324	9	16	0.0043	0.9156	0.18
3	HSV	0	10	324	9	16	0.01446	0.9156	0.24
2	HSV	0	10	324	9	16	0.00201	0.9133	0.19
1	RGB	2	10	240	15	16	0.00233	0.9133	0.12
1	RGB	2	10	300	12	12	0.00243	0.9133	0.18
3	HSV	1	10	216	6	16	0.00244	0.9133	0.25
4	HSV	0	10	576	9	12	0.00248	0.9133	0.35
4	HSV	2	10	768	12	12	0.00252	0.9133	0.49
3	HSV	1	10	2916	9	8	0.00253	0.9133	0.69
4	HLS	2	10	96	6	16	0.00261	0.9133	0.24
4	HLS	2	10	16224	6	4	0.00288	0.9133	2.37
3	RGB	2	10	729	9	12	0.00229	0.9111	0.41
2	HSV	1	10	576	9	12	0.00246	0.9111	0.37
4	HSV	1	10	3600	9	8	0.00251	0.9111	0.89
2	HSV	1	10	324	9	16	0.00252	0.9111	0.21
1	HLS	1	10	384	6	8	0.00266	0.9111	0.1
1	RGB	0	10	576	9	8	0.00268	0.9111	0.14
3	RGB	1	10	972	12	12	0.00432	0.9111	0.41
4	HSV	1	10	16224	6	4	0.00229	0.9089	2.03
3	HLS	2	10	4860	15	8	0.00242	0.9089	0.88
4	LUV	0	10	768	12	12	0.00243	0.9089	0.42
3	RGB	0	10	486	6	12	0.00244	0.9089	0.36
3	HLS	2	10	324	9	16	0.00249	0.9089	0.42
4	HLS	0	10	144	9	16	0.00251	0.9089	0.16
1	HSV	1	10	960	15	8	0.00261	0.9089	0.13
4	RGB	ALL	10	432	9	16	0.00272	0.9089	0.25
4	HLS	2	10	192	12	16	0.00198	0.9067	0.22
1	RGB	0	10	150	6	12	0.00202	0.9067	0.23
3	HSV	1	10	972	12	12	0.00209	0.9067	0.6
2	HLS	2	10	768	12	12	0.00249	0.9067	0.51
4	HLS	1	10	384	6	12	0.00259	0.9067	0.27
3	RGB	0	10	729	9	12	0.00191	0.9044	0.44
4	HLS	2	10	384	6	12	0.00194	0.9044	0.48
2	HSV	1	10	384	6	12	0.00198	0.9044	0.28
4	YCrCb	0	10	384	6	12	0.00209	0.9044	0.27
2	HLS	2	10	432	12	16	0.0023	0.9044	0.3
2	HLS	2	10	324	9	16	0.0024	0.9044	0.36
4	RGB	2	10	960	15	12	0.00244	0.9044	0.57
2	HSV	1	10	1176	6	8	0.00246	0.9044	0.38
4	HSV	1	10	576	9	12	0.0025	0.9044	0.39
1	HSV	1	10	150	6	12	0.00269	0.9044	0.24
4	HSV	1	10	384	6	12	0.00251	0.9022	0.34
4	HLS	0	10	576	9	12	0.00253	0.9022	0.32
1	HLS	2	10	96	6	16	0.00281	0.9022	0.27
1	RGB	0	10	375	15	12	0.00299	0.9022	0.2
1	HLS	2	10	144	9	16	0.00195	0.9	0.24
4	RGB	2	10	240	15	16	0.00211	0.9	0.15
1	HLS	2	10	150	6	12	0.00222	0.9	0.25
4	RGB	0	10	384	6	12	0.00244	0.9	0.39
2	YUV	0	10	384	6	12	0.00251	0.9	0.19
2	HLS	2	10	1176	6	8	0.00251	0.9	0.51
3	HLS	2	10	1944	6	8	0.0028	0.9	0.81
3	HSV	1	10	1215	15	12	0.00182	0.8978	0.75
4	HSV	1	10	960	15	12	0.00198	0.8978	0.7
3	HSV	1	10	540	15	16	0.00207	0.8978	0.34
2	HLS	2	10	384	6	12	0.00212	0.8978	0.37
1	HSV	1	10	96	6	16	0.00243	0.8978	0.18
4	HSV	1	10	2400	6	8	0.00246	0.8978	1.24
1	HLS	2	10	192	12	16	0.00264	0.8978	0.15
4	HSV	1	10	768	12	12	0.00267	0.8978	0.53
4	HLS	2	10	2400	6	8	0.00199	0.8956	1.63
2	HSV	1	10	960	15	12	0.00243	0.8956	0.64
4	HLS	2	10	144	9	16	0.00251	0.8956	0.29
4	HLS	2	10	576	9	12	0.00252	0.8956	0.6
3	HLS	2	10	972	12	12	0.00187	0.8933	0.68
3	HLS	2	10	2916	9	8	0.00196	0.8933	0.76
3	HLS	2	10	432	12	16	0.00243	0.8933	0.3
4	HLS	2	10	768	12	12	0.00247	0.8933	0.54
2	RGB	0	10	384	6	12	0.00249	0.8933	0.25
4	HLS	2	10	3600	9	8	0.00249	0.8933	1.25
4	HSV	1	10	144	9	16	0.00254	0.8933	0.17
4	HLS	2	10	240	15	16	0.00266	0.8933	0.29
1	HSV	1	10	240	15	16	0.00212	0.8911	0.16
4	HLS	2	10	4800	12	8	0.00237	0.8911	0.85
1	HSV	1	10	384	6	8	0.00247	0.8911	0.25
4	HLS	2	10	6000	15	8	0.00247	0.8911	1.12
1	HSV	1	10	225	9	12	0.00242	0.8889	0.15
1	HLS	2	10	240	15	16	0.00242	0.8889	0.21
4	RGB	0	10	240	15	16	0.00246	0.8889	0.15
3	HLS	2	10	540	15	16	0.00249	0.8889	0.44
1	HLS	2	10	300	12	12	0.00312	0.8889	0.18
2	HLS	2	10	540	15	16	0.00245	0.8844	0.38
1	HLS	2	10	225	9	12	0.00263	0.8822	0.29
3	HLS	2	10	486	6	12	0.00727	0.8822	0.49
1	RGB	0	10	300	12	12	0.00223	0.88	0.19
1	HSV	2	10	225	9	12	0.0025	0.88	0.13
1	HLS	2	10	375	15	12	0.00251	0.88	0.28
3	HLS	2	10	1215	15	12	0.00225	0.8778	0.98
2	HLS	2	10	576	9	12	0.00251	0.8778	0.47
1	RGB	0	10	384	6	8	0.00243	0.8733	0.21
1	HSV	1	10	375	15	12	0.00268	0.8733	0.26
1	HSV	1	10	576	9	8	0.00258	0.8711	0.12
3	HLS	2	10	729	9	12	0.00247	0.8689	0.62
2	HLS	2	10	960	15	12	0.00251	0.8689	0.7
4	HLS	2	10	960	15	12	0.00264	0.8689	0.76
1	RGB	0	10	240	15	16	0.00227	0.8667	0.17
1	HLS	2	10	576	9	8	0.00237	0.8622	0.2
1	RGB	0	10	225	9	12	0.00244	0.8622	0.14

Name		Name	Last commit message	Last commit date
Latest commit History 32 Commits
data		data
examples		examples
lessons		lessons
output_images		output_images
pickles		pickles
test_images		test_images
.gitignore		.gitignore
README.md		README.md
VehicleDetection.ipynb		VehicleDetection.ipynb
project_instructions.md		project_instructions.md
project_video.mp4		project_video.mp4
project_video_out.mp4		project_video_out.mp4
test_video.mp4		test_video.mp4
writeup_template.md		writeup_template.md

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Vehicle Detection

As a part of the Udacity Self Driving Car Engineer Nanodegree program, we use computer vision and supervised machine learning to detect the presence and location of vehicles on the road from the perspective of a moving car.

Rubric Points

Here I will consider the rubric points individually and describe how I addressed each point in my implementation.

Writeup / README

1. Provide a Writeup / README that includes all the rubric points and how you addressed each one. You can submit your writeup as markdown or pdf. Here is a template writeup for this project you can use as a guide and a starting point.

Histogram of Oriented Gradients (HOG)

1. Explain how (and identify where in your code) you extracted HOG features from the training images.

2. Explain how you settled on your final choice of HOG parameters.

3. Describe how (and identify where in your code) you trained a classifier using your selected HOG features (and color features if you used them).

Sliding Window Search

1. Describe how (and identify where in your code) you implemented a sliding window search. How did you decide what scales to search and how much to overlap windows?

2. Show some examples of test images to demonstrate how your pipeline is working. What did you do to optimize the performance of your classifier?

Video Implementation

1. Provide a link to your final video output. Your pipeline should perform reasonably well on the entire project video (somewhat wobbly or unstable bounding boxes are ok as long as you are identifying the vehicles most of the time with minimal false positives.)

2. Describe how (and identify where in your code) you implemented some kind of filter for false positives and some method for combining overlapping bounding boxes.

Discussion

1. Briefly discuss any problems / issues you faced in your implementation of this project. Where will your pipeline likely fail? What could you do to make it more robust?

Appendix Tables

Color feature experiment:

HOG feature experiment:

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Vehicle Detection

As a part of the Udacity Self Driving Car Engineer Nanodegree program, we use computer vision and supervised machine learning to detect the presence and location of vehicles on the road from the perspective of a moving car.

Rubric Points

Here I will consider the rubric points individually and describe how I addressed each point in my implementation.

Writeup / README

1. Provide a Writeup / README that includes all the rubric points and how you addressed each one. You can submit your writeup as markdown or pdf. Here is a template writeup for this project you can use as a guide and a starting point.

Histogram of Oriented Gradients (HOG)

1. Explain how (and identify where in your code) you extracted HOG features from the training images.

2. Explain how you settled on your final choice of HOG parameters.

3. Describe how (and identify where in your code) you trained a classifier using your selected HOG features (and color features if you used them).

Sliding Window Search

1. Describe how (and identify where in your code) you implemented a sliding window search. How did you decide what scales to search and how much to overlap windows?

2. Show some examples of test images to demonstrate how your pipeline is working. What did you do to optimize the performance of your classifier?

Video Implementation

1. Provide a link to your final video output. Your pipeline should perform reasonably well on the entire project video (somewhat wobbly or unstable bounding boxes are ok as long as you are identifying the vehicles most of the time with minimal false positives.)

2. Describe how (and identify where in your code) you implemented some kind of filter for false positives and some method for combining overlapping bounding boxes.

Discussion

1. Briefly discuss any problems / issues you faced in your implementation of this project. Where will your pipeline likely fail? What could you do to make it more robust?

Appendix Tables

Color feature experiment:

HOG feature experiment:

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