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.

bash

cyber_launch start modules/perception/launch/perception_lane.launch