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cs:vision:start [2017/04/13 01:09] Sean Kallaher |
cs:vision:start [2017/09/11 15:53] James Irwin |
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| ====== 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]] | ||
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| ===== 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 | ||
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| If you would like to see the images that the system is using, you can run the following command: | If you would like to see the images that the system is using, you can run the following command: | ||
| - | rosparam set /{vision node name}/processing/doImShow true | + | rosparam set /[vision node name]/processing/doImShow true |
| You will then see many windows open each with a unique image. | You will then see many windows open each with a unique image. | ||
| ===== UML ===== | ===== UML ===== | ||
| + | |||
| + | {{ :cs:vision:visionuml.png?direct&1000 | Vision UML}} | ||
| + | |||
| {{ :cs:vision:visionuml.pdf | Vision UML }} | {{ :cs:vision:visionuml.pdf | Vision UML }} | ||
