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cs:fusion:start [2019/04/13 23:16] Andrew Rink created |
cs:fusion:start [2019/04/16 21:40] Andrew Rink Added fusion structure |
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====== Fusion ====== | ====== Fusion ====== | ||
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+ | ===== Overview ===== | ||
+ | The fusion node is responsible for taking the outputs of our SLAM system and the output of our object detection system, | ||
+ | combining them, and publishing the results to the /tf topic. | ||
+ | |||
+ | ===== Structure ===== | ||
+ | Subscribes to: | ||
+ | * /vision/left - Object detections for left camera | ||
+ | * /SLAMpoints - Points for objects detected in SLAM | ||
+ | |||
+ | Publishes to: | ||
+ | * /tf - Global coordinates provided by SLAM combined with the labels from object detection | ||
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