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HiveCoreR0/src/robot_vision/src/README.md

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+# cv
+
+
+
+#### 安装教程
+
+1.  Camera SDK:
+
+	> 安装 deb 依赖项:
+	```	
+	# ssume you have sourced ROS environment, same blow
+	sudo apt install libgflags-dev nlohmann-json3-dev  \
+	ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
+	ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
+	ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
+	ros-$ROS_DISTRO-backward-ros libdw-dev
+	```
+	> 安装 udev 规则
+	```
+	cd  ~/workspace/src/orbbec_camera/scripts
+	sudo bash install_udev_rules.sh
+	sudo udevadm control --reload-rules && sudo udevadm trigger
+	```
+	
+2.  YOLOv11 Dependency:
+
+	```
+	"idge=3.2.1"
+	"numpy>=1.23.0, <2.0.0",
+	"matplotlib>=3.3.0",
+	"opencv-python>=4.6.0",
+	"pillow>=7.1.2",
+	"pyyaml>=5.3.1",
+	"requests>=2.23.0",
+	"scipy>=1.4.1",
+	"torch>=2.7.1",
+	"torch>=1.8.0,!=2.4.0; sys_platform == 'win32'",
+	"torchvision>=0.9.0",
+	"tqdm>=4.64.0",
+	"psutil",
+	"py-cpuinfo",
+	"pandas>=1.1.4",
+	```
+
+#### 使用说明
+1. 启动相机和检测节点: 
+
+        ros2 launch detect_part camera_detect.launch.py
+
+	> camera_detect.launch.py 中可以修改部分参数:set_confidence,   output_detect_image,  checkpoint_name
+
+2. 接收位置话题节点: 
+
+        ros2 run detect_part sub_pose_node
+
+3. 位置话题接口: 
+
+        interface/msg/PointWithID.msg, PointWithIDArray.msg
+		
+4. 话题名称: 
+	 
+        /pose/cv_detect_pose # 位置
+        /image/detect_image  # 目标识别图片
+		
+5. PointWithID.msg：
+
+        string class_name
+        int32 class_id
+        geometry_msgs/Point[] points
+
+6. PointWithIDArray.msg：
+
+        PointWithID[] objects
+