This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
cs:vision:start [2017/04/13 18:45] Sean Kallaher [UML] |
cs:vision:start [2017/09/12 17:49] Sean Kallaher |
||
---|---|---|---|
Line 1: | Line 1: | ||
====== Vision ====== | ====== Vision ====== | ||
+ | <WRAP alert> | ||
+ | This page is **stale** and needs to be reviewed. It may be deleted or radically changed in the near future. | ||
+ | </WRAP> | ||
===== Core Functionality ===== | ===== Core Functionality ===== | ||
* The vision system on the sub is performed by multiple vision nodes. Each currently contains a number of different processors, explained later, which perform a task on the latest images captured from the [[cs:cameras:start|cameras]]. These images are synchronized with each other in time. | * The vision system on the sub is performed by multiple vision nodes. Each currently contains a number of different processors, explained later, which perform a task on the latest images captured from the [[cs:cameras:start|cameras]]. These images are synchronized with each other in time. | ||
- | * There is one vision node spawned for each task required to be performed using the [[https://github.com/PalouseRobosub/robosub/blob/dev/launch/vision.launch|vision.launch]] file. For more information on using this launch file, see [[cs:vision:start#Running the Vision System in ROS|Running the Vision System in ROS]] below. | + | * There is one vision node spawned for each task required to be performed using the [[https://github.com/PalouseRobosub/robosub/blob/master/launch/vision.launch|vision.launch]] file. For more information on using this launch file, see [[cs:vision:start#Running the Vision System in ROS|Running the Vision System in ROS]] below. |
*The processors used by the vision node currently are as follows and described below. | *The processors used by the vision node currently are as follows and described below. | ||
* [[cs:vision:start#ColorProcessor|ColorProcessor]] | * [[cs:vision:start#ColorProcessor|ColorProcessor]] | ||
Line 66: | Line 69: | ||
===== Running the Vision System in ROS ===== | ===== Running the Vision System in ROS ===== | ||
+ | |||
+ | After making sure that the [[cs:cameras:start|cameras]] are running if needed, use the following command to start the vision system. | ||
roslaunch robosub vision.launch | roslaunch robosub vision.launch |