lidar-and-camera-ttc-measurement

Dependencies for Running Locally

• cmake >= 2.8
  • All OSes: click here for installation instructions
• make >= 4.1 (Linux, Mac), 3.81 (Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• Git LFS
  • Weight files are handled using LFS
• OpenCV >= 4.1
  • This must be compiled from source using the -D OPENCV_ENABLE_NONFREE=ON cmake flag for testing the SIFT and SURF detectors.
  • The OpenCV 4.1.0 source code can be found here
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW
• ROS
  • All OSes: click here for installation instructions (ROS Kinetic is recommended)

Device

• Camera (Logitech C920 PRO HD Webcam@640×480px, 60fps)
• LiDAR (Leishen-lidar C16 from Shenzhen Leishen Intelligence System Co, Ltd., Driver)

Usage

Make sure that USB camera and LiDAR are connected and LiDAR driver is working properly. (For lslidar_c16 please refer the insturction to better prepare for your LiDAR. In addition, edit cv::VideoCapture cap(2); to setup your camera.

Note

1. The weight file under folder dat/yolo/ is a dummy file. Open dat/yolo/yolo.weight via your code editor and follow the procedure to download the true pre-trained weight to replace the existed dummy file.

2. If you would like to try out this program with your sensors, please replace with your calibration parameters in the file dat/calibration.yaml first.

Then run:

cd /path/to/your/workspace
mkdir src
cd src
git clone https://github.com/txfs1926/lidar-and-camera-ttc-measurement.git
cd ..
catkin_make
source devel/setup.bash
rosrun ttc_measurement ttc_measurement

TODOs

Please refer TODOs in source code files.