# lane_detection_ros

**Repository Path**: sldasm2666_admin/lane_detection_ros

## Basic Information

- **Project Name**: lane_detection_ros
- **Description**: 车道线检测ros节点
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2021-06-05
- **Last Updated**: 2022-06-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 概述
单目车道线检测ROS节点，大致方法为`车道线像素提取`+`有导向的滑窗拟合`，滑窗的具体实现参见`lane_node/src/helper.cpp/findPixels0()`

## 功能
### cam_cap_node_0
读取USB摄像头图像，发布到`cam_cap_0`话题
### lane_node
基于图像计算子车道左右车道线的多项式拟合参数（默认为二次多项式），发布到`lane_line`话题

## 依赖
### cam_cap_node_0
1. OpenCV 3
   ```bash
   sudo apt install libopencv-dev
   ```
2. image_transport
    ```bash
   sudo apt install ros-melodic-image-transport
   ```
3. sensor_msgs
    ```bash
   sudo apt install ros-melodic-sensor-msgs
   ```
4. cv_bridge
    ```bash
   sudo apt install ros-melodic-cv_bridge
   ```
### lane_node
Same as cam_cap_node_*