1

README.md

@@ -1,2 +1,82 @@
 # hivecore_robot_vision
 
+
+
+#### 安装教程
+
+1.  Gemini 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.  RealSense SDK:
+
+	```
+	sudo apt install ros-humble-librealsense2*
+	```
+	
+3.  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",
+	"open3d",
+	```
+
+#### 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_boxes, output_masks, checkpoint_name
+
+	> 坐标系设置为：Z为图像深度，XY平面为图像成象平面
+
+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/PoseWithID.msg, PoseWithIDArray.msg
+		
+4. 话题名称: 
+	 
+        /pose/cv_detect_pose # 位置
+        /image/detect_image  # 目标识别图片
+		
+5. PoseWithID.msg：
+
+        string class_name
+        int32 class_id
+        geometry_msgs/Pose[] pose_list
+
+6. PoseWithIDArray.msg：
+
+        PoseWithID[] objects

src/robot_vision/README.md

@@ -1,82 +0,0 @@
-# cv
-
-
-
-#### 安装教程
-
-1.  Gemini 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.  RealSense SDK:
-
-	```
-	sudo apt install ros-humble-librealsense2*
-	```
-	
-3.  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",
-	"open3d",
-	```
-
-#### 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_boxes, output_masks, checkpoint_name
-
-	> 坐标系设置为：Z为图像深度，XY平面为图像成象平面
-
-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/PoseWithID.msg, PoseWithIDArray.msg
-		
-4. 话题名称: 
-	 
-        /pose/cv_detect_pose # 位置
-        /image/detect_image  # 目标识别图片
-		
-5. PoseWithID.msg：
-
-        string class_name
-        int32 class_id
-        geometry_msgs/Pose[] pose_list
-
-6. PoseWithIDArray.msg：
-
-        PoseWithID[] objects

vision_detect/vision_detect/flexivaidk_detect_service.py

@@ -128,9 +128,9 @@ class DetectNode(Node):
         self.declare_parameter('classes', 'None')
         self.classes = ast.literal_eval(self.get_parameter('classes').value)
 
-        self.declare_parameter('eye_in_left_hand_path', "configs/hand_eye_mat/eye_in_left_hand.yaml")
-        self.declare_parameter('eye_in_right_hand_path', "configs/hand_eye_mat/eye_in_left_hand.yaml")
-        self.declare_parameter('eye_to_hand_path', "configs/hand_eye_mat/eye_in_left_hand.yaml")
+        self.declare_parameter('eye_in_left_hand_path', "configs/hand_eye_mat/eye_in_left_hand.json")
+        self.declare_parameter('eye_in_right_hand_path', "configs/hand_eye_mat/eye_in_left_hand.json")
+        self.declare_parameter('eye_to_hand_path', "configs/hand_eye_mat/eye_in_left_hand.json")
 
     def _init_model(self):
         """init model"""