php管理系统 网站模版,连江县建设局网站,在淘宝做网站和网络公司做网站区别,贵阳网络科技有限公司1. 简介 apriltag标签码追踪是在apriltag标签码识别的基础上#xff0c;增加了小车摄像头云台运动的功能#xff0c;摄像头会保持标签码在视觉中间而运动#xff0c;根据这一特性#xff0c;从而实现标签码追踪功能。
2. 启动
2.1 程序启动前的准备 本次apriltag标签码使…1. 简介 apriltag标签码追踪是在apriltag标签码识别的基础上增加了小车摄像头云台运动的功能摄像头会保持标签码在视觉中间而运动根据这一特性从而实现标签码追踪功能。
2. 启动
2.1 程序启动前的准备 本次apriltag标签码使用的是TAG36H11格式出厂已配套相关标签码并贴在积木块上需要将积木块拿出来放置到摄像头画面识别。
2.2 程序说明 程序启动后摄像头捕获到图像将标签码放入摄像头画面系统会识别并框出标签码的四个顶点并显示标签码的ID号。然后缓慢移动积木块的位置摄像头云台会跟着积木块移动。
注意积木块移动时标签码要对着摄像头并且移动速度不可以太快避免摄像头云台跟不上。 2.3 程序启动
打开一个终端输入以下指令进入docker ./docker_ros2.sh 出现以下界面就是进入docker成功 在docker终端输入以下命令启动程序 ros2 launch yahboomcar_apriltag apriltag_tracking.launch.py 3. 源码
#!/usr/bin/env python3
# encoding: utf-8
import cv2 as cv
import time
from dt_apriltags import Detector
from yahboomcar_apriltag.vutils import draw_tags
import logging
import yahboomcar_apriltag.logger_config as logger_config
import rclpy
from rclpy.node import Node
from std_msgs.msg import String, Float32MultiArray
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2
import yahboomcar_apriltag.fps as fps
import numpy as np
from yahboomcar_apriltag.vutils import draw_tags
from dt_apriltags import Detector
from yahboomcar_apriltag.PID import PositionalPID
from Raspbot_Lib import Raspbot
import math
class TagTrackingNode(Node):def __init__(self):super().__init__(tag_tracking_node)# 初始化 Raspbot 实例self.bot Raspbot()self.bridge CvBridge()self.xservo_pid PositionalPID(0.6, 0.2, 0.01) # PID控制器用于X轴self.yservo_pid PositionalPID(0.8, 0.6, 0.01) # PID控制器用于Y轴self.numxself.numy1target_servox 90target_servoy 25self.bot.Ctrl_Servo(1,target_servox)self.bot.Ctrl_Servo(2,target_servoy)self.at_detector Detector(searchpath[apriltags],familiestag36h11,nthreads8,quad_decimate2.0,quad_sigma0.0,refine_edges1,decode_sharpening0.25,debug0)self.fps fps.FPS() # 帧率统计器
self.subscription self.create_subscription(Image,/image_raw,self.image_callback,100)self.subscription
def image_callback(self, ros_image):# cv_bridge try:cv_image self.bridge.imgmsg_to_cv2(ros_image, desired_encodingbgr8)except Exception as e:self.get_logger().error(fFailed to convert image: {e})return
# 使用 AprilTags 检测器tags self.at_detector.detect(cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY), False, None, 0.025)tags sorted(tags, keylambda tag: tag.tag_id)
# 绘制标签result_image draw_tags(cv_image, tags, corners_color(0, 0, 255), center_color(0, 255, 0))
# 处理 AprilTagsif len(tags) 1:x, y, w, h tags[0].bboxif math.fabs(180 - (x w/2)) 20:#调试方块半径 Debug Block Radiusself.xservo_pid.SystemOutput x w/2self.xservo_pid.SetStepSignal(350)self.xservo_pid.SetInertiaTime(0.01, 0.1)target_valuex int(1000self.xservo_pid.SystemOutput)target_servox int((target_valuex)/10)#self.get_logger().info(x {}.format([x w/2]))#self.get_logger().info(joints_x {} {}.format([target_servox],[target_valuex]))if target_servox 180:target_servox 180if target_servox 0:target_servox 0self.bot.Ctrl_Servo(1, target_servox)
if math.fabs(180 - (y h/2)) 20: #调试方块半径 Debug Block Radiusself.yservo_pid.SystemOutput y h/2self.yservo_pid.SetStepSignal(220)self.yservo_pid.SetInertiaTime(0.01, 0.1)target_valuey int(650self.yservo_pid.SystemOutput)target_servoy int((target_valuey)/10)#self.get_logger().info(joints_y {} {}.format([target_servoy],[target_valuey])) if target_servoy 110:target_servoy 110if target_servoy 0:target_servoy 0self.bot.Ctrl_Servo(2, target_servoy)# 更新并显示 FPSself.fps.update()self.fps.show_fps(result_image)cv2.imshow(result_image, result_image)key cv2.waitKey(1)if key ! -1:cv2.destroyAllWindows()
def main(argsNone):rclpy.init(argsargs)
tag_tracking_node TagTrackingNode()
try:rclpy.spin(tag_tracking_node)except KeyboardInterrupt:tag_tracking_node.bot.Ctrl_Servo(1, 90)tag_tracking_node.bot.Ctrl_Servo(2, 25)pass
if __name__ __main__:main()
