Build

cd source dir
mkdir build & cmake .. & make -j12

Run
cd source dir
sh run.sh

Detailed description
this is a vision project, which contain stereo match and detectioin of vision.
the stereo match is used sgm algorithm, the detection of vision is used centernet and yolo-v3 algorithm
some yaml files in dir of params,you can change the front_vision.yaml and the file of front_vision.yaml contains files to Configure some startup items.
the stereo match algorithm can obtain three-dimensional information, the detection algorithm can obtain obstacles and ground marking on pixel coordinates.
the project also contain a sample fusion algorithm, whith combines 3D information and pixel information.
for center net detection algorithm, you need to change the onnx mode path in params/cneter_net_mark_ground.prototxt, make sure the program can find the file.

Run