Modify steering visualization

VisionPilot/Production_Releases/0.5/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
 project(egolanes_pipeline LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -9,21 +9,21 @@
 find_package(Threads REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 # ONNX Runtime - user must set ONNXRUNTIME_ROOT
 if(NOT DEFINED ENV{ONNXRUNTIME_ROOT})
     message(FATAL_ERROR "Please set ONNXRUNTIME_ROOT environment variable to ONNX Runtime installation directory\n"
                         "Example: export ONNXRUNTIME_ROOT=/path/to/onnxruntime-linux-x64-gpu-1.22.0")
 endif()
 
 set(ONNXRUNTIME_ROOT $ENV{ONNXRUNTIME_ROOT})
 set(ONNXRUNTIME_INCLUDE_DIR ${ONNXRUNTIME_ROOT}/include)
 set(ONNXRUNTIME_LIB_DIR ${ONNXRUNTIME_ROOT}/lib)
 
 # Find library (handle versioned .so files)
 file(GLOB ONNXRUNTIME_LIBRARY "${ONNXRUNTIME_LIB_DIR}/libonnxruntime.so*")
 list(GET ONNXRUNTIME_LIBRARY 0 ONNXRUNTIME_LIBRARY)
 
 if(NOT EXISTS ${ONNXRUNTIME_INCLUDE_DIR}/onnxruntime_cxx_api.h)
     message(FATAL_ERROR "ONNX Runtime headers not found at: ${ONNXRUNTIME_INCLUDE_DIR}")
 endif()
 
@@ -40,7 +40,7 @@
 )
 
 # EgoLanes inference backend
 add_library(egolanes_inference
     src/inference/onnxruntime_session.cpp
     src/inference/onnxruntime_engine.cpp
     src/inference/autosteer_engine.cpp
@@ -97,6 +97,8 @@
 # Steering control module
 add_library(steering_control
     src/steering_control/steering_controller.cpp
+        src/steering_control/steering_filter.cpp
+        include/steering_control/steering_filter.hpp
 )
 target_link_libraries(steering_control
     # No external dependencies, pure C++ math
@@ -162,6 +164,9 @@
 )
 
 # Main executable
+file(COPY ${CMAKE_SOURCE_DIR}/images
+        DESTINATION ${CMAKE_BINARY_DIR})
+
 add_executable(egolanes_pipeline
     main.cpp
 )

VisionPilot/Production_Releases/0.5/README.md

@@ -1,6 +1,7 @@
-# VisionPilot 0.5 - EgoLanes Production Release
+# VisionPilot 0.5 - AutoSteer Production Release
 
-This release enables autonomous steering using the EgoLanes neural network to detect lane lines and navigate roads at a predetermined, desired speed.
+This release enables autonomous steering using the EgoLanes and AutoSteer neural networks to detect lane lines determine
+steering angle and navigate roads at a predetermined, desired speed.
 
 This includes autonomous lane keeping with cruise control.
 
@@ -10,26 +11,22 @@ Multi-threaded lane detection inference system with ONNX Runtime backend.
 
 ### Quick Start
 
-1. **Set ONNX Runtime path**:
+[Download](https://github.com/microsoft/onnxruntime/releases) ONNX Runtime for the appropriate CUDA version and OS.
+
+**Set ONNX Runtime path**
+
+Unpack the ONNX runtime archive and set `ONNXRUNTIME_ROOT` to point to the directory as for example:
+
 ```bash
 export ONNXRUNTIME_ROOT=/path/to/onnxruntime-linux-x64-gpu-1.22.0
 ```
 
-2. **Build**:
-```bash
-mkdir -p build && cd build
-cmake ..
-make -j$(nproc)
-cd ..
-```
+_Note_: For Jetson AGX download appropriate ONNX runetime from [Jetson Zoo](https://elinux.org/Jetson_Zoo#ONNX_Runtime).
 
-3. **Configure and Run**:
-```bash
-# Edit run.sh to set paths and options
-./run.sh
-```
+**Build**
 
-### Directory Structure
+[Download](https://github.com/autowarefoundation/autoware.privately-owned-vehicles.git) VisionPilot source code.
+Navigate to `VisionPilot/Production_Releases/0.5` subdirectory  which looks like:
 
 ```
 0.5/
@@ -46,6 +43,27 @@ cd ..
 └── run.sh                  # Runner script
 ```
 
+and create `build` subdirectory:
+
+```bash
+mkdir -p build && cd build
+```
+
+build the code
+
+```bash
+cmake ../
+make -j$(nproc)
+cd ..
+```
+
+**Configure and Run**
+
+```bash
+# Edit run.sh to set paths and options
+./run.sh
+```
+
 ### Configuration (run.sh)
 
 - `VIDEO_PATH`: Input video file

VisionPilot/Production_Releases/0.5/include/steering_control/steering_filter.hpp

@@ -0,0 +1,26 @@
+//
+// Created by atanasko on 12/14/25.
+//
+
+#ifndef EGOLANES_PIPELINE_LOW_PASS_FILTER_HPP
+#define EGOLANES_PIPELINE_LOW_PASS_FILTER_HPP
+
+namespace autoware_pov::vision::steering_control
+{
+class SteeringFilter
+{
+public:
+  explicit SteeringFilter(float smoothing_factor, float initial = 0.0f);
+
+  float filter(float current_steering, float dt);
+
+  void reset(float value = 0.0f);
+
+private:
+  float tau_;
+  float previous_steering;
+};
+}
+
+
+#endif //EGOLANES_PIPELINE_LOW_PASS_FILTER_HPP

VisionPilot/Production_Releases/0.5/include/visualization/draw_lanes.hpp

@@ -87,6 +87,9 @@ void drawMetricVerification(
     const std::vector<double>& right_metric_coeffs
 );
 
+cv::Mat rotateSteeringWheel(const cv::Mat& img, float steering_angle_deg);
+void visualizeSteering(cv::Mat& img, float steering_angle, const cv::Mat& steeringWheelImage);
+
 }  // namespace autoware_pov::vision::egolanes
 
 #endif  // AUTOWARE_POV_VISION_EGOLANES_DRAW_LANES_HPP_