detection_and_distance

yolov5、激光雷达融合感知

如何用yolov5发送检测的边界框

启动！！

• 启动激光雷达

  cd projects/leishen_ws/
  source devel/setup.bash
  roslaunch lslidar_c32_decoder lslidar_c32.launch 

• 启动激光雷达转换

  roslaunch rslidar_to_velodyne rslidar_to_velodyne.launch  

• 启动原始图像

  roslaunch usb_cam usb_cam-test.launch

• 启动矫正图像

  ROS_NAMESPACE=usb_cam rosrun image_proc image_proc

• 启动lidar_camera_fusion

  rosrun yolo_rect yolo_rect_pub.py
  roslaunch lidar_camera_fusion yolo_distance.launch 
  rosrun lidar_camera_fusion yolo_distance_show.py 
  
  roslaunch lidar_camera_fusion lidar_camera_fusion.launch

• 融合图像话题 /image_fusion

附图

                            \     /    Initial rotation:
                             \ |z/     [0 -1  0]
                              \|/      [0  0 -1]
                               █————x  [1  0  0]
                            forward    => (pi/2, -pi/2, 0) Euler angles
                              cam_1    Final rotation = Average rotation * Initial rotation

                             █████
                |x         ██  |x ██
[1  0  0]       |         █    |    █                 [-1 0  0]
[0  0 -1]  z————█ cam_4  █ y———.z    █  cam_2 █————z  [0  0 -1]
[0  1  0]                 █         █         |       [0 -1  0]
=> (pi/2, 0, 0)            ██     ██          |x      => (-pi/2, 0, pi)
                             █████
                             lidar

                          x————█       [0  1  0]
                               |       [0  0 -1]
                               |z      [-1 0  0]
                              cam_3    => (pi/2, pi/2, 0)

2yolo

yolov5 index 和id不是一个东西

cls =index
names='tv'

3 bag版本

rosbag play -l xx.bag

roslaunch compressed_to_raw run.py

roslaunch rslidar_to_velodyne rslidar_to_velodyne.launch 

(torch18)rosrun yolo_rect yolo_rect_pub.py

roslaunch lidar_camera_fusion yolo_distance.launch 

(torch18)rosrun lidar_camera_fusion yolo_distance_show.py