1 Star 0 Fork 5

geyanwu / lidarimg_ws

forked from leox24 / lidarimg_ws 
加入 Gitee
与超过 1200万 开发者一起发现、参与优秀开源项目,私有仓库也完全免费 :)
免费加入
克隆/下载
贡献代码
同步代码
取消
提示: 由于 Git 不支持空文件夾,创建文件夹后会生成空的 .keep 文件
Loading...
README
BSD-3-Clause-Clear

lidarimg_ws

没啥用的读研demo==

介绍

激光雷达与相机融合车辆检测

环境

Ubuntu16.04、ros-melodic、opencv3.4、pcl1.7

编译

git clone https://gitee.com/leox24/lidarimg_ws.git
catkin_make
激光雷达检测:roslaunch obstacle_detection tradition.launch
地面分割:roslaunch ground_segmentation ground_seg.launch
图像激光雷达后融合:roslaunch fusionv2 fusionv2.launch

功能模块

fusion

利用opencv库自带的yolo网络进行图像障碍物检测,载入相应的模型和权重即可。opencv库仅利用cpu,速度较慢,后续更改为fusionV2。 激光雷达和图像的数据利用KITTI的raw data,转换成bag包,利用ros的时间同步回调功能实现时间同步,空间同步利用外内参矩阵相乘即可。

fusionv2

利用yolov3官网的代码编译好后,链接动态库,复制darknet.h等头文件,采用GPU和cuda加速实现图像检测,速度较快。
激光雷达的障碍物聚类的bbox信息和图像的车辆box信息同步融合,最近领中心点匹配,匹配结果更新为最终车辆检测。
fusion

ground_segmentation

地面分割。精简Run_based_segmentation的代码,将地面划分为多个网格,处理第二平面如台阶,人行道,以及上下斜坡的问题,每个网格进行ground plane fitting主程序处理,实现地面分割。 分割

imagedetec

利用opencv库自带的yolo网络进行图像障碍物检测demo

kitti_pub

KITTI数据集的激光雷达bin文件发布成ros的消息格式sensor_msgs::PointCloud2,voxelnet里面截取出来的Python文件

lidarmarkers_msgs

将激光雷达的障碍物的bbox的markers数据加上一个header数据,存储时间戳,使融合时间同步。

obstacle_detection

激光雷达障碍物检测,利用环形欧式聚类,不同环形距离下采用不同的聚类阈值,使用PCL库实现。使用霍夫直线检测计算障碍物的主方向,进而计算障碍物的方向包围框。
cluster1 cluster2 cluster

ttc

TODO

yolo

存储yolo训练权重和网络模型

The Clear BSD License Copyright (c) 2020, leo-x All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted (subject to the limitations in the disclaimer below) provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

简介

激光雷达与相机融合车辆检测 展开 收起
C++
BSD-3-Clause-Clear
取消

发行版

暂无发行版

贡献者

全部

近期动态

加载更多
不能加载更多了
C++
1
https://gitee.com/geyanwu/lidarimg_ws.git
git@gitee.com:geyanwu/lidarimg_ws.git
geyanwu
lidarimg_ws
lidarimg_ws
master

搜索帮助