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# Prj-ROS
HyperLPR的ROS包， ，
## 安装依赖
``` bash
sudo apt install ros-noetic-desktop-full
```
， ，
## 编译
本文件所在路径为catkin_ws，
``` 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，
发布的三个topic分别为
+ /recognition_confidence 识别的置信度
+ /recognition_result 识别的结果， ， ，
+ /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