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rune_detector package from fyt2024_vision repo

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

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Maintainers

  • uu

Authors

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rm_rune/rune_detector/README.md

rune_detector

FYT视觉24赛季能量机关识别ROS2包。从图像中识别出能量机关的5个关键点。

OpenVINO推理部分参考了rm_vision-OpenVINO

fyt::rune::RuneDetectorNode

能量机关识别器节点，订阅图像话题，调用OpenVINO进行网络推理，定位出能量机关的五个关键点

发布话题

  • rune_target (rm_interfaces/msg/RuneTarget) - 识别到的待击打能量机关五个关键点
  • bebug_img (sensor_msgs/msg/Image) - debug图像，绘制出识别到的目标和识别R标的二值化ROI

订阅话题

  • image_raw (sensor_msgs/msg/Image) - 工业相机采集的图像

参数

  • detector.model (string, default: “yolox_rune.onnx”) - 训练好的网络权重文件.
  • detector.device_type (string, default: CPU) - 推理网络的设备，可选，CPU/GPU/AUTO 之一.
  • debug (bool, default: true) - 是否开启debug模式.
  • requests_limit (int, default: 5) - 推理请求队列的最大长度，大于0时意味着异步推理，会消耗更多的处理器资源换取推理速度.
  • detect_r_tag (bool, default: true) - 是否使用传统方法识别R标，相比网络预测，传统方法识别R标会更稳定.
CHANGELOG
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Recent questions tagged rune_detector at Robotics Stack Exchange

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