You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
|
# Prj-ROS
|
|
|
|
|
|
|
|
|
|
|
|
HyperLPR的ROS包，封装了Prj-Linux的代码并为适配ROS进行了少量修改，在Ubuntu20.04中ros-noetic上进行了测试。
|
|
|
|
|
|
|
|
|
|
|
|
## 安装依赖
|
|
|
|
|
|
|
|
|
|
|
|
``` bash
|
|
|
|
|
|
sudo apt install ros-noetic-desktop-full
|
|
|
|
|
|
```
|
|
|
|
|
|
ros-noetic使用的opencv版本为opencv4，可能会与opencv3冲突，请注意停用opencv3以免无法编译运行
|
|
|
|
|
|
|
|
|
|
|
|
## 编译
|
|
|
|
|
|
|
|
|
|
|
|
本文件所在路径为catkin_ws，rospackage路径为 `/HyperLPR/Prj-ROS/src/hyperlpr`
|
|
|
|
|
|
|
|
|
|
|
|
``` bash
|
|
|
|
|
|
cd Prj-ROS
|
|
|
|
|
|
catkin build
|
|
|
|
|
|
echo "source ${PATH_TO_HYPERLPR}/Prj-ROS/devel/setup.bash" >> ~/.bashrc
|
|
|
|
|
|
```
|
|
|
|
|
|
|
|
|
|
|
|
进入`/Prj-ROS/src/hyperlpr/launch/bringup.launch`，修改`CameraTopic`为自己相机图像的topic
|
|
|
|
|
|
|
|
|
|
|
|
## 运行
|
|
|
|
|
|
|
|
|
|
|
|
``` bash
|
|
|
|
|
|
roslaunch hyperlpr bringup.launch
|
|
|
|
|
|
```
|
|
|
|
|
|
|
|
|
|
|
|
## 说明
|
|
|
|
|
|
|
|
|
|
|
|
与ros node有关的代码位于`/Prj-ROS/src/hyperlpr/src`中的`hyperlpr_node.h`和`hyperlpr_node.cpp`中，可以按需修改
|
|
|
|
|
|
|
|
|
|
|
|
运行时的rqt_graph如下
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
测试时使用的相机为Intel-RealSense D455，`bringup.launch`中默认CameraTopic为RealSense彩色图像topic
|
|
|
|
|
|
|
|
|
|
|
|
发布的三个topic分别为
|
|
|
|
|
|
|
|
|
|
|
|
+ /recognition_confidence 识别的置信度
|
|
|
|
|
|
|
|
|
|
|
|
+ /recognition_result 识别的结果，不过ROS不支持中文字符，所以在使用时需要对订阅的数据另作处理，想立即确定中文结果也可以查看terminal中ROS_INFO输出的结果
|
|
|
|
|
|
|
|
|
|
|
|
+ /recognized_image 框选出一帧所有可识别车牌的图像
|
|
|
|
|
|
|
|
|
|
|
|
以上三个topic均只对置信度大于75%的识别作出反应，可以调整代码中的置信度阈值以获得期待的识别效果
|
