Autoware.auto 相机车道线检测demo展示

Autoware.auto 相机车道线检测demo 展示

依赖：正确安装Autoware.auto（未安装参见 Autoware.auto安装）

1. 代码及录制视频下载

1. 代码下载

$ cd ~/adehome/AutowareAuto/
$ ade start
$ ade enter
$ git clone https://gitee.com/knowmefly/camera-hands-on-ws.git

2. 视频下载：https://download.csdn.net/download/jiluonian/22771297
   下载 laneVideo.h264 视频文件放置在 ~/adehome/camera-hands-on-ws/src/lane_detection_data_loader/resources/ 目录下

2. 编译安装

$ ade enter
$ cd camera-hands-on-ws/
$ colcon build

3.运行视频加载、图像处理、可视化节点

1. 运行视频加载节点

# terminal 1
$ ade enter
$ cd  camera-hands-on-ws/
$ source install/setup.bash
$ ros2 run lane_detection_data_loader lane_detection_data_loader_node

2. 运行图像处理节点

# terminal 2
$ ade enter
$ cd  camera-hands-on-ws/
$ source install/setup.bash
$ ros2 run lane_detection_projection lane_detection_projection_node

3. 运行可视化节点

# terminal 3
$ ade enter
$ cd  camera-hands-on-ws/
$ source install/setup.bash
$ ros2 run lane_detection_visualization lane_detection_visualization_node

# terminal 4
$ ade enter
$ rviz2