PSES - Lane Detector
- ROS (code tested with ROS Indigo)
- MRPT:
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt-get update
sudo apt-get install libmrpt-dev
- To use lane detector with the PSES-Car in a real scenario:
roslaunch lane_detector lane_follower.launch
- To use lane detector with an image dataset:
roslaunch lane_detector lane_follower_simulation.launch
- /image (sensor_msgs/Image): Input image.
- /camera_info (sensor_msgs/CameraInfo): Camera calibration data.
- /lane_detector/driving_orientation (std_msgs::Int32): Topic to change lane. 0 to drive on the right and 1 to drive on the left.
- /lane_detector/lane (lane_detector::Lane)
- header (Header): Header with time stamp
- left_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the left line.
- right_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the right line.
- guide_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the guide (middle) line.
- The used camera has to be calibrated and should send the calibration data over the camera_info topic.
- The camera extrinsics (height and pitch angle) have to be known and should be set with dynamic reconfigure with:
rosrun rqt_reconfigure rqt_reconfigure
- The used camera has to have both lane marks in sight while driving a curve.