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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
Checkout URI | https://github.com/jiduowang/double-headed-sentinel.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-04-15 |
Dev Status | UNMAINTAINED |
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
No additional links.
Maintainers
- yang
Authors
No additional authors.
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
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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