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armors_choose_node package from double-headed-sentinel repo

armors_choose_node info_separate armor_detector_first armor_detector_second armor_tracker auto_aim_interfaces rm_auto_aim rm_gimbal_description rm_serial_driver rm_vision_bringup hik_camera_first hik_camera_second mindvision_camera

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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
Checkout URI https://github.com/jiduowang/double-headed-sentinel.git
VCS Type git
VCS Version main
Last Updated 2024-04-15
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

Additional Links

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Maintainers

  • yang

Authors

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armors_choose_node/README.md

装甲获取处理包

该包用于接受两个detector发送出来的装甲板信息，通过比较两份信息的装甲板信息来比较其数量信息，该包处理基本逻辑为哪个相机先识别到则优先先发布哪个相机的装甲板。</br> 同时由于接收到图像时间戳差距较大的原因（考虑到相机的延迟和中间处理过程的延迟），在采用ros2自带的系统同步的精准同步和模糊同步仍然不能很好地解决问题。因此只能采用比较笨的方法去进行信息的比较并发送出去，同时为了避免插帧的问题（即逻辑上为只发送第一个相机的数据但第二个相机的数据会在第一个相机发送数据之间插进去发出去），因此设了两个time_的变量，该变量的作用为多少帧内没接收到信息则视为没有侦测到目标。在本包里该变量设为80，结合派勤实际帧率在六七十上下，即可视为一秒多没接收到信息则视为没有侦测到目标，并允许第二个相机发送数据。

订阅：

  • 左边相机识别到的装甲板信息 /detector/armors_first
  • 右边相机识别到的装甲板信息 /detector/armors_second

发布：

  • 最终需要传给tracker的装甲板信息 /detector/armor
CHANGELOG
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