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# LaneKerbNet Ros Node

This project is implemented for lane and kerb detection. Input and output parameters can be config at launch file.

### Dependencies

Install the dependencies:

```
pip install -r requirements.txt
```

Then you need to install the ROS kinetic.

That's all.


### Launch the node
In you catkin workspace `src` dir, clone the project:
```
cd catkin_ws/src/
git clone git@gitlab.com:ugv_stereo/lanekerbnetros.git
```

Download the trained weights from [lanekerbnet/model/tusimple_lanenet](https://gitlab.com/ugv_stereo/lanekerbnet/tree/master/model/tusimple_lanenet).

Copy these checkpoints files to the folder [lanekerbnetros/model/tusimple_lanenet](https://gitlab.com/ugv_stereo/lanekerbnetros/tree/master/model/tusimple_lanenet).

Change the `weight_path` in [`lanenet.launch`](launch/lanenet.launch) file.

Set the output image folder `save_dir` in [`lanenet.launch`](launch/lanenet.launch) file.

Build and source (in the workspace)
```
cd ..
catkin_make
sorce devel/setup.bash
```

You may need to change the mode of the python script, as follows:
```
cd lanekerbnetros/scripts/
sudo chmod +x lanenet_node.py
```

Open one terminal and run
```
roscore
```

Open a new terminal and play one of you rosbag which contains the images
```
rosbag play --pause -l '/media/zh/Data/Dataset/rosbag/201905demo/stereo_2019-06-04-10-02-02_soonlee_loop.bag'
```

subscirbe to `/long/left/image_raw` image topic by roslaunch
```
roslaunch stereo_viewer capture.launch
```

Then you can launch the lane detector node with
```
roslaunch lane_detector lanenet.launch
```

It's realtime(30fps) in my GTX1080.

### Demo on bus
I run the ros node on the collected rosbag data and make it a video. You may catch a glimpse of it bellow.

![test_gif](images/lanekerbnetros_every2ndframe.gif)