README

目录

• perception-lane-detection
  • Introduction
  • Directory Structure
  • Modules
    • LaneDetectionComponent
      • Input
      • Output
      • How to run
  • 文档意见反馈

perception-lane-detection

Introduction

The lane detection module detects lane lines through the camera sensor. Lane lines can be used as an aid to other modules.

Directory Structure

lane_detection
├── BUILD       // bazel build file
├── README.md
├── app         // main process
├── common      // common functions
├── conf        // dag config file
├── cyberfile.xml  // package description file
├── dag
├── data        // lib's configuration file
├── interface
├── lane_detection_component.cc   // component
├── lane_detection_component.h
├── launch
├── lib        // algorithm library
└── proto      // proto file

Modules

LaneDetectionComponent

apollo::perception::onboard::LaneDetectionComponent

Input

Channel	Type	Description
/apollo/sensor/camera/front_6mm/image	apollo::drivers::Image	camera drive message
/apollo/sensor/camera/front_12mm/image	apollo::drivers::Image	camera drive message
/apollo/perception/motion_service	apollo::perception::onboard::LaneDetectionComponent::MotionServiceMsgType	motion service message

Output

Channel	Type	Description
/perception/lanes	apollo::perception::PerceptionLanes	lane line

How to run

You can start the lane detection module with the following command.

cyber_launch start modules/perception/launch/perception_lane.launch

文档意见反馈

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