swc-17 / robot_LaneDetection

This repo is for deploy Ultra Fast Lane Detection in C++

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robot_LaneDetection

This repo is for deploy Ultra Fast Lane Detection in C++.

Environment

Hardware: Nvidia AGX Xavier(ARM)
Software:

  • JetPack 4.4
  • CUDA 10.2
  • CUDNN 8.0.0
  • TensorRT 7.1.3
    Tested with above but can be transfered to other environments.

Usage

  • Build: mkdir build && cd build && cmake .. && make
  • Model conversion:
    • Download lane.wts from model (code:14je) and put it into models/
    • Convert to tensorrt engine ./model_conversion
  • Lane_detection: ./main

Details

  • Input: Define variable video in UFLD.h to be the input video file path
  • Output: In this algorithm, row locations of lanes are predefined as tusimple_row_anchor in UFLD.h, column locations are put into lanes which is a 2-dimensional array with shape (4,56), 4 is the number of lanes, 56 is the number of row-anchors, to get one lane represented by 56 points, refer to function 'display()' in UFLD.cpp.

About

This repo is for deploy Ultra Fast Lane Detection in C++


Languages

Language:C++ 98.3%Language:CMake 1.7%