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PSES - Lane Detector

• ROS (code tested with ROS Kinetic)
• MRPT:

sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt-get update
sudo apt-get install libmrpt-dev

• To use lane detector with the PSES-Car in a real scenario:

roslaunch lane_detector lane_follower.launch

• To use lane detector with an image dataset:

roslaunch lane_detector lane_follower_simulation.launch

• /image (sensor_msgs/Image): Input image.
• /camera_info (sensor_msgs/CameraInfo): Camera calibration data.
• /lane_detector/driving_orientation (std_msgs::Int32): Topic to change lane. 0 to drive on the right and 1 to drive on the left.

• /lane_detector/lane (lane_detector::Lane)

• header (Header): Header with time stamp
• left_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the left line.
• right_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the right line.
• guide_line (geometry_msgs/Point32[]): Sorted Array of points with the x,y coordinates (in meters) of the guide (middle) line.

• The used camera has to be calibrated and should send the calibration data over the camera_info topic.
• The camera extrinsics (height and pitch angle) have to be known and should be set with dynamic reconfigure with:

rosrun rqt_reconfigure rqt_reconfigure

• The used camera has to have both lane marks in sight while driving a curve.