2025-09-29 10:57:03 +08:00
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# hivecore_robot_vision
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2025-11-17 17:44:41 +08:00
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#### 安装教程
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1. Gemini SDK:
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> 安装 deb 依赖项:
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```
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# ssume you have sourced ROS environment, same blow
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sudo apt install libgflags-dev nlohmann-json3-dev \
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ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
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ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
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ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
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ros-$ROS_DISTRO-backward-ros libdw-dev
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```
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> 安装 udev 规则
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```
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cd ~/workspace/src/orbbec_camera/scripts
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sudo bash install_udev_rules.sh
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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2. RealSense SDK:
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```
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sudo apt install ros-humble-librealsense2*
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```
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3. Dependency:
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```
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"idge=3.2.1"
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"numpy>=1.23.0, <2.0.0",
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"matplotlib>=3.3.0",
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"opencv-python>=4.6.0",
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"pillow>=7.1.2",
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"pyyaml>=5.3.1",
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"requests>=2.23.0",
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"scipy>=1.4.1",
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"torch>=2.7.1",
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"torch>=1.8.0,!=2.4.0; sys_platform == 'win32'",
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"torchvision>=0.9.0",
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"tqdm>=4.64.0",
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"psutil",
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"py-cpuinfo",
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"pandas>=1.1.4",
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"open3d",
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```
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#### 使用说明
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1. 启动相机和检测节点:
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ros2 launch detect_part camera_detect.launch.py
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> camera_detect.launch.py 中可以修改部分参数:set_confidence, output_boxes, output_masks, checkpoint_name
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> 坐标系设置为：Z为图像深度，XY平面为图像成象平面
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2. 接收位置话题节点:
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ros2 run detect_part sub_pose_node
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3. 位置话题接口:
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interface/msg/PoseWithID.msg, PoseWithIDArray.msg
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4. 话题名称:
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/pose/cv_detect_pose # 位置
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/image/detect_image # 目标识别图片
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5. PoseWithID.msg：
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string class_name
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int32 class_id
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geometry_msgs/Pose[] pose_list
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6. PoseWithIDArray.msg：
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PoseWithID[] objects
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