update README

README.md

+<!--
+ * @Author: yangxue && xue.yang@waytous.com
+ * @Date: 2025-04-07 09:26:17
+ * @LastEditors: yangxue xue.yang@waytous.com
+ * @LastEditTime: 2025-04-07 09:56:20
+ * @FilePath: /ubuntu/projects/ros_camera_bev/README.md
+ * @Description: 
+ * 
+ * Copyright (c) 2025 by ${git_name_email}, All Rights Reserved. 
+-->
+# 编译
+- 将ros_camera_bev和deepinfer放在同一目录下
+- 依次编译waytous_perception_msgs和perception_camera_bev
+```
+catkin_make -DCATKIN_WHITELIST_PACKAGES="waytous_perception_msgs"
+catkin_make -DCATKIN_WHITELIST_PACKAGES="perception_camera_bev"
+
+# 如果报错找不到nppim相关的库，则用如下命令
+catkin_make -DCATKIN_WHITELIST_PACKAGES="perception_camera_bev" -DCUDA_nppicom_LIBRARY="/usr/local/cuda/lib64/libnppim.so"
+```
+
+
+# 参数修改
+    ■ 删除文件： /configs/weights/ips_241107m_stone_best_fp16.engine
+    ■ 修改参数文件 configs/CameraBevParam.yaml
+      ● rgb_sub_topic_name 图像数据话题
+      ● pointcloud_sub_topic_name 点云数据话题
+      ● config_root_path 配置文件夹(configs)的根目录
+      ● camera_intrinsic 相机内参
+      ● distortion_coefficients 畸变系数
+      ● camera2lidar_extrinsic 外参
+
+
+# 运行脚本
+先修改launch.sh中--working-directory参数为ros_camera_bev所在目录，然后可以运行脚本：
+
+```
+bash launch.sh
+```
+
+# 本地天准域控测试的一些关键命令
+```
+# 编译
+catkin_make -DCATKIN_WHITELIST_PACKAGES="waytous_perception_msgs"
+catkin_make -DCATKIN_WHITELIST_PACKAGES="perception_camera_bev" -DCUDA_nppicom_LIBRARY="/usr/local/cuda/lib64/libnppim.so"
+
+# 启动ros
+roscore
+# 播放bag数据
+cd ~/projects/bags
+rosbag play -l jidong/vision_person.bag 
+# 启动感知程序
+cd ~/projects/ros_camera_bev
+source devel/setup.bash
+rosrun perception_camera_bev camera_bev_infer 
+# moba xterm里打开rviz
+rviz
+```
+# 压缩部署关键文件
+```
+zip -r ros_camera_bev.zip ros_camera_bev/ -x "ros_camera_bev/.vscode/*" -x "ros_camera_bev/devel/*" -x "ros_camera_bev/build/*" -x "ros_camera_bev/sdk/*" -x "ros_camera_bev/src/camera_back_warn/*" -x "*.engine" -x "*.bag" -x "ros_camera_bev/.git/*"
+```
\ No newline at end of file

launch.sh

@@ -5,18 +5,18 @@
  # @Author: wxin
  # @Date: 2023-12-05 00:31:06
  # @email: xin.wang@waytous.com
- # @LastEditors: wxin
- # @LastEditTime: 2023-12-14 10:30:39
+ # @LastEditors: yangxue xue.yang@waytous.com
+ # @LastEditTime: 2025-04-07 09:24:44
 ### 
 
-gnome-terminal --tab --title="driver" --working-directory="/home/nvidia" \
--- bash -c  "awe run --killall; awe run -a; exec bash "
+# gnome-terminal --tab --title="driver" --working-directory="/home/nvidia" \
+# -- bash -c  "awe run --killall; awe run -a; exec bash "
 
 gnome-terminal --tab --title="ros_camera_bev" --working-directory="/home/nvidia/Projects/perception/ros_camera_bev" \
 -- bash -c  "source  ./devel/setup.bash; rosrun perception_camera_bev camera_bev_infer; exec bash "
 
-gnome-terminal --tab --title="camera_back_warn" --working-directory="/home/nvidia/Projects/perception/ros_camera_bev" \
--- bash -c  "source  ./devel/setup.bash; source sdk/aarch64-bionic/eon_v0.1.8/setup.bash; rosrun camera_back_warn camera_back_warn; exec bash "
+# gnome-terminal --tab --title="camera_back_warn" --working-directory="/home/nvidia/Projects/perception/ros_camera_bev" \
+# -- bash -c  "source  ./devel/setup.bash; source sdk/aarch64-bionic/eon_v0.1.8/setup.bash; rosrun camera_back_warn camera_back_warn; exec bash "
 
-gnome-terminal --tab --title="rviz" --working-directory="/home/nvidia/Projects/perception/ros_camera_bev" \
--- bash -c  "rviz -d t.rviz; exec bash "
+# gnome-terminal --tab --title="rviz" --working-directory="/home/nvidia/Projects/perception/ros_camera_bev" \
+# -- bash -c  "rviz -d t.rviz; exec bash "