From 6e26ea5d671cb30ed65281a4d2d5b4e520ac3bff Mon Sep 17 00:00:00 2001 From: liangyuxuan <16126883+liangyuxuan123@user.noreply.gitee.com> Date: Mon, 17 Nov 2025 17:44:41 +0800 Subject: [PATCH] 1 --- README.md | 80 +++++++++++++++++ src/robot_vision/README.md | 82 ------------------ .../__pycache__/__init__.cpython-310.pyc | Bin 168 -> 0 bytes .../.idea/.gitignore | 0 .../.idea/cv_part.iml | 0 .../.idea/dictionaries/project.xml | 0 .../inspectionProfiles/profiles_settings.xml | 0 .../.idea/misc.xml | 0 .../.idea/modules.xml | 0 .../checkpoints/hivecorebox-seg.pt | Bin .../checkpoints/yolo11n-seg.pt | Bin .../checkpoints/yolo11s-seg.pt | Bin .../flexiv_configs/default_config.json | 0 .../hand_eye_mat/eye_in_left_hand.json | 0 .../hand_eye_mat/eye_in_right_hand.json | 0 .../configs/hand_eye_mat/eye_to_hand.json | 0 .../bottle_detect_service_icp.json | 0 .../bottle_detect_service_pca.json | 0 .../launch_configs/crossboard_topic_pca.json | 0 .../launch_configs/default_config.json | 0 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vision_detect}/vision_detect/service_client.py (100%) rename {src/robot_vision/vision_detect => vision_detect}/vision_detect/sub_pose.py (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/CMakeLists.txt (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/LICENSE (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/msg/PoseArrayClassAndID.msg (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/msg/PoseClassAndID.msg (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/package.xml (100%) rename {src/robot_vision/vision_pose_msgs => vision_pose_msgs}/srv/VisionObjectRecognition.srv (100%) diff --git a/README.md b/README.md index dc4412f..cf6fbe0 100644 --- a/README.md +++ b/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-$ROS_DISTRO-backward-ros libdw-dev + ``` + > 安装 udev 规则 + ``` + cd ~/workspace/src/orbbec_camera/scripts + sudo bash install_udev_rules.sh + sudo udevadm control --reload-rules && sudo udevadm trigger + ``` + +2. RealSense SDK: + + ``` + sudo apt install ros-humble-librealsense2* + ``` + +3. Dependency: + + ``` + "idge=3.2.1" + "numpy>=1.23.0, <2.0.0", + "matplotlib>=3.3.0", + "opencv-python>=4.6.0", + "pillow>=7.1.2", + "pyyaml>=5.3.1", + "requests>=2.23.0", + "scipy>=1.4.1", + "torch>=2.7.1", + "torch>=1.8.0,!=2.4.0; sys_platform == 'win32'", + "torchvision>=0.9.0", + "tqdm>=4.64.0", + "psutil", + "py-cpuinfo", + "pandas>=1.1.4", + "open3d", + ``` + +#### 使用说明 +1. 启动相机和检测节点: + + ros2 launch detect_part camera_detect.launch.py + + > camera_detect.launch.py 中可以修改部分参数:set_confidence, output_boxes, output_masks, checkpoint_name + + > 坐标系设置为：Z为图像深度，XY平面为图像成象平面 + +2. 接收位置话题节点: + + ros2 run detect_part sub_pose_node + +3. 位置话题接口: + + interface/msg/PoseWithID.msg, PoseWithIDArray.msg + +4. 话题名称: + + /pose/cv_detect_pose # 位置 + /image/detect_image # 目标识别图片 + +5. PoseWithID.msg： + + string class_name + int32 class_id + geometry_msgs/Pose[] pose_list + +6. PoseWithIDArray.msg： + + PoseWithID[] objects diff --git a/src/robot_vision/README.md b/src/robot_vision/README.md deleted file mode 100644 index fa5ae77..0000000 --- a/src/robot_vision/README.md +++ /dev/null @@ -1,82 +0,0 @@ -# cv - - - -#### 安装教程 - -1. Gemini SDK: - - > 安装 deb 依赖项: - ``` - # ssume you have sourced ROS environment, same blow - sudo apt install libgflags-dev nlohmann-json3-dev \ - ros-$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 diff --git a/src/robot_vision/vision_detect/vision_detect/__pycache__/__init__.cpython-310.pyc b/src/robot_vision/vision_detect/vision_detect/__pycache__/__init__.cpython-310.pyc deleted file mode 100644 index 449f1a46db528f4567718c8988e577ea91934e07..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 168 zcmd1j<>g`kf?2^cGnjz%V-N=!FakLaKwQiMBvKfH88jLFRx%WUgb~CqZ~ct?+*JLX z$_o7;|6n8i`R!{gl*_)Z`L~Br-cbJ~J<~BtBlR Xpz;=nO>TZlX-=vg$dY1^t5_HSAO$IX diff --git a/src/robot_vision/vision_detect/.idea/.gitignore b/vision_detect/.idea/.gitignore similarity index 100% rename from src/robot_vision/vision_detect/.idea/.gitignore rename to vision_detect/.idea/.gitignore diff --git a/src/robot_vision/vision_detect/.idea/cv_part.iml b/vision_detect/.idea/cv_part.iml similarity index 100% rename from src/robot_vision/vision_detect/.idea/cv_part.iml rename to vision_detect/.idea/cv_part.iml diff --git 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--git a/src/robot_vision/vision_detect/launch/example_configs.launch.py b/vision_detect/launch/example_configs.launch.py similarity index 100% rename from src/robot_vision/vision_detect/launch/example_configs.launch.py rename to vision_detect/launch/example_configs.launch.py diff --git a/src/robot_vision/vision_detect/package.xml b/vision_detect/package.xml similarity index 100% rename from src/robot_vision/vision_detect/package.xml rename to vision_detect/package.xml diff --git a/src/robot_vision/vision_detect/pointclouds/bottle_model.pcd b/vision_detect/pointclouds/bottle_model.pcd similarity index 100% rename from src/robot_vision/vision_detect/pointclouds/bottle_model.pcd rename to vision_detect/pointclouds/bottle_model.pcd diff --git a/src/robot_vision/vision_detect/pointclouds/hivecorebox_model.pcd b/vision_detect/pointclouds/hivecorebox_model.pcd similarity index 100% rename from src/robot_vision/vision_detect/pointclouds/hivecorebox_model.pcd rename to vision_detect/pointclouds/hivecorebox_model.pcd diff --git a/src/robot_vision/vision_detect/resource/vision_detect b/vision_detect/resource/vision_detect similarity index 100% rename from src/robot_vision/vision_detect/resource/vision_detect rename to vision_detect/resource/vision_detect diff --git a/src/robot_vision/vision_detect/setup.cfg b/vision_detect/setup.cfg similarity index 100% rename from src/robot_vision/vision_detect/setup.cfg rename to vision_detect/setup.cfg diff --git a/src/robot_vision/vision_detect/setup.py b/vision_detect/setup.py similarity index 100% rename from src/robot_vision/vision_detect/setup.py rename to vision_detect/setup.py diff --git a/src/robot_vision/vision_detect/test/test_copyright.py b/vision_detect/test/test_copyright.py similarity index 100% rename from src/robot_vision/vision_detect/test/test_copyright.py rename to vision_detect/test/test_copyright.py diff --git a/src/robot_vision/vision_detect/test/test_flake8.py b/vision_detect/test/test_flake8.py similarity index 100% rename from src/robot_vision/vision_detect/test/test_flake8.py rename to vision_detect/test/test_flake8.py diff --git a/src/robot_vision/vision_detect/test/test_pep257.py b/vision_detect/test/test_pep257.py similarity index 100% rename from src/robot_vision/vision_detect/test/test_pep257.py rename to vision_detect/test/test_pep257.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/__init__.py b/vision_detect/vision_detect/VisionDetect/__init__.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/__init__.py rename to vision_detect/vision_detect/VisionDetect/__init__.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/node/__init__.py b/vision_detect/vision_detect/VisionDetect/node/__init__.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/node/__init__.py rename to vision_detect/vision_detect/VisionDetect/node/__init__.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/node/detect_node.py b/vision_detect/vision_detect/VisionDetect/node/detect_node.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/node/detect_node.py rename to vision_detect/vision_detect/VisionDetect/node/detect_node.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/__init__.py b/vision_detect/vision_detect/VisionDetect/utils/__init__.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/__init__.py rename to vision_detect/vision_detect/VisionDetect/utils/__init__.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py b/vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py rename to vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py b/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/draw_tools.py rename to vision_detect/vision_detect/VisionDetect/utils/draw_tools.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/image_tools.py b/vision_detect/vision_detect/VisionDetect/utils/image_tools.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/image_tools.py rename to vision_detect/vision_detect/VisionDetect/utils/image_tools.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/object_icp.py b/vision_detect/vision_detect/VisionDetect/utils/object_icp.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/object_icp.py rename to vision_detect/vision_detect/VisionDetect/utils/object_icp.py diff --git a/src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/read_stl.py b/vision_detect/vision_detect/VisionDetect/utils/read_stl.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/VisionDetect/utils/read_stl.py rename to vision_detect/vision_detect/VisionDetect/utils/read_stl.py diff --git a/src/robot_vision/vision_detect/vision_detect/__init__.py b/vision_detect/vision_detect/__init__.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/__init__.py rename to vision_detect/vision_detect/__init__.py diff --git a/src/robot_vision/vision_detect/vision_detect/calculate.py b/vision_detect/vision_detect/calculate.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/calculate.py rename to vision_detect/vision_detect/calculate.py diff --git a/src/robot_vision/vision_detect/vision_detect/crossboard_detect.py b/vision_detect/vision_detect/crossboard_detect.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/crossboard_detect.py rename to vision_detect/vision_detect/crossboard_detect.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_bottle_service.py b/vision_detect/vision_detect/detect_bottle_service.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_bottle_service.py rename to vision_detect/vision_detect/detect_bottle_service.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_box_service.py b/vision_detect/vision_detect/detect_box_service.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_box_service.py rename to vision_detect/vision_detect/detect_box_service.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_node.py b/vision_detect/vision_detect/detect_node.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_node.py rename to vision_detect/vision_detect/detect_node.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_red_service.py b/vision_detect/vision_detect/detect_red_service.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_red_service.py rename to vision_detect/vision_detect/detect_red_service.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_red_topic.py b/vision_detect/vision_detect/detect_red_topic.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_red_topic.py rename to vision_detect/vision_detect/detect_red_topic.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_service.py b/vision_detect/vision_detect/detect_service.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_service.py rename to vision_detect/vision_detect/detect_service.py diff --git a/src/robot_vision/vision_detect/vision_detect/detect_topic.py b/vision_detect/vision_detect/detect_topic.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/detect_topic.py rename to vision_detect/vision_detect/detect_topic.py diff --git a/src/robot_vision/vision_detect/vision_detect/flexivaidk_detect_service.py b/vision_detect/vision_detect/flexivaidk_detect_service.py similarity index 99% rename from src/robot_vision/vision_detect/vision_detect/flexivaidk_detect_service.py rename to vision_detect/vision_detect/flexivaidk_detect_service.py index 3558137..c1a7e07 100644 --- a/src/robot_vision/vision_detect/vision_detect/flexivaidk_detect_service.py +++ b/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""" diff --git a/src/robot_vision/vision_detect/vision_detect/flexivaidk_detect_topic.py b/vision_detect/vision_detect/flexivaidk_detect_topic.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/flexivaidk_detect_topic.py rename to vision_detect/vision_detect/flexivaidk_detect_topic.py diff --git a/src/robot_vision/vision_detect/vision_detect/get_camera_pose.py b/vision_detect/vision_detect/get_camera_pose.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/get_camera_pose.py rename to vision_detect/vision_detect/get_camera_pose.py diff --git a/src/robot_vision/vision_detect/vision_detect/hand_eye_calibration.py b/vision_detect/vision_detect/hand_eye_calibration.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/hand_eye_calibration.py rename to vision_detect/vision_detect/hand_eye_calibration.py diff --git a/src/robot_vision/vision_detect/vision_detect/service_client.py b/vision_detect/vision_detect/service_client.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/service_client.py rename to vision_detect/vision_detect/service_client.py diff --git a/src/robot_vision/vision_detect/vision_detect/sub_pose.py b/vision_detect/vision_detect/sub_pose.py similarity index 100% rename from src/robot_vision/vision_detect/vision_detect/sub_pose.py rename to vision_detect/vision_detect/sub_pose.py diff --git a/src/robot_vision/vision_pose_msgs/CMakeLists.txt b/vision_pose_msgs/CMakeLists.txt similarity index 100% rename from src/robot_vision/vision_pose_msgs/CMakeLists.txt rename to vision_pose_msgs/CMakeLists.txt diff --git a/src/robot_vision/vision_pose_msgs/LICENSE b/vision_pose_msgs/LICENSE similarity index 100% rename from src/robot_vision/vision_pose_msgs/LICENSE rename to vision_pose_msgs/LICENSE diff --git a/src/robot_vision/vision_pose_msgs/msg/PoseArrayClassAndID.msg b/vision_pose_msgs/msg/PoseArrayClassAndID.msg similarity index 100% rename from src/robot_vision/vision_pose_msgs/msg/PoseArrayClassAndID.msg rename to vision_pose_msgs/msg/PoseArrayClassAndID.msg diff --git a/src/robot_vision/vision_pose_msgs/msg/PoseClassAndID.msg b/vision_pose_msgs/msg/PoseClassAndID.msg similarity index 100% rename from src/robot_vision/vision_pose_msgs/msg/PoseClassAndID.msg rename to vision_pose_msgs/msg/PoseClassAndID.msg diff --git a/src/robot_vision/vision_pose_msgs/package.xml b/vision_pose_msgs/package.xml similarity index 100% rename from src/robot_vision/vision_pose_msgs/package.xml rename to vision_pose_msgs/package.xml diff --git a/src/robot_vision/vision_pose_msgs/srv/VisionObjectRecognition.srv b/vision_pose_msgs/srv/VisionObjectRecognition.srv similarity index 100% rename from src/robot_vision/vision_pose_msgs/srv/VisionObjectRecognition.srv rename to vision_pose_msgs/srv/VisionObjectRecognition.srv