This repo is used to maintain the tongji sanitation-car project's visual perception codes.
Ros melodic + Ubuntu 18.04 + Python 2.7
Due to the requirements of the Ros, Python 2.7 is required.
you should first configure your local static network ip address to make sure your device and the wr_lidar are in the same network segment. (The lidar's default ip is 192.168.0.10
)
run the wr_lidar:
roslaunch wr_ls1207de_udp_with_1_lidar.launch
it evolves changing the permission of accessing the cameras, see http://wiki.ros.org/libuvc_camera for details.
read fisheye camera image:
rosrun libuvc_camera camera_node _width:=1920 _height:=1080 _frame_rate:=30 _video_mode:=mjpeg # should not change the args
calibrate it
rosrun camera_calibration camera_calibrator_tj.py # will print params at end
show undistorted
rosrun camera_calibration camera_undistorted_tj_lower.py # should be modified by infomation printed by camera_calibrator_tj.py
The lidar_camera_fusion_detection
package evolves three scripts.
extract camera_input img.
rosrun camera_lidar_fusion_detectn img_extract.py
extract wr_lidar laser_scan msg.
rosrun camera_lidar_fusion_detectn laser_point_extract.py
fusion wr_lidar and input_undistorted img
rosrun camera_lidar_fusion_detection img_laser_fusion.py --debug_mode # use --help to see more detail configurations.