xiaojake/vision_ws

Vision code for P100 quadrotor platform

vision_ws

Vision code for P100 quadrotor platform

方向定义： 目标位置 [机体系下：前方x为正，右方y为正，下方z为正]

标志位： orientation.w 用作标志位 1代表识别到目标 0代表丢失目标

发布话题适用于椭圆、二维码、yolo等视觉算法

安装

cd ~
mkdir vision_ws
cd vision_ws
mkdir src
cd src
git clone https://github.com/amov-lab/vision_ws.git
cd ..
catkin_make

相机标定

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.0245 image:=/usb_cam/image_raw camera:=/usb_cam

size为标点板尺寸，square为每个方格宽度(m)，image:=相机话题 将得到的参数写入

vision_ws/src/vision_ws/config/camera_param.yaml

修改每个算法的launch文件，指向以上参数文件camera_param.yaml

vision_ws/src/vision_ws/aruco_det_ros/launch/aruco_det.launch
vision_ws/src/vision_ws/darknet_ros/darknet_ros/launch/darknet_ros.launch
vision_ws/src/vision_ws/ellipse_det_ros/launch/ellipse_det.launch
vision_ws/src/vision_ws/ellipse_det_ros/launch/ellipse_det_wt.launch
vision_ws/src/vision_ws/landpad_det_ros/launch/landpad_det.launch

运行

1.降落板检测

roslaunch aruco_det aruco_det.launch # 二维码检测
roslaunch landpad_det landpad_det.launch # 降落板检测

2.椭圆检测

roslaunch ellipse_det ellipse_det.launch # 所有的椭圆
roslaunch ellipse_det ellipse_det_wt.launch # 带训练的指定椭圆

3.YOLO检测

roslaunch darknet_ros darknet_ros.launch

4.数字检测

roslaunch digitnum_det_ros num_det.launch