Usage
Get the Code and Compile
mkdir catkin_ws
git clone git@192.168.3.54:root/vision_lane_detection.git
cd vision_lane_detection
git checkout dev
cd ..
git clone git@192.168.3.54:root/trunktech_msgs.git
cd catkin_ws
mkdir src
ln -s $PWD/../vision_lane_detection src/
ln -s $PWD/../trunktech_msgs/hadmap_msgs src/
catkin_make
. devel/setup.bash
Configurations
config/gantry.yaml
config/proto.txt
config/gantry.yaml
- use
ipm_calibration
tool to obtain the following two parameters
num_pixels_per_meter_x_dir: 30 # number of pixels per meter in the horizontal direction in the IPM image
num_pixels_per_meter_y_dir: 20 # number of pixel per meter in the vertical direction in the IPM image
- Change the camera topic
camera_topic: /pylon_camera_node/image_raw/compressed
- refer to the comment in
config/gantry.yaml
for other parameters
config/proto.txt
- use
ipm_calibration
tool to obtain the following 9 parameters (image_to_ipm_tf
)
ipm_param {
width: 448
height: 448
use_precomputed_H: true
image_to_ipm_tf: -0.23864383
image_to_ipm_tf: -0.59772766
image_to_ipm_tf: 412.28256
image_to_ipm_tf: -0.044471879
image_to_ipm_tf: -1.4135034
image_to_ipm_tf: 689.36011
image_to_ipm_tf: -8.53082e-05
image_to_ipm_tf: -0.0027097312
image_to_ipm_tf: 1
}
- read the comments in
proto/lane_line.proto
for usages of other parameters. In general, the default parameters are fine.
Run
roslaunch lane_line gantry.launch
Subscribe to the image topic /lane_detection/visualization
to view the detection results.