Antonio-Griego commented 3 years ago

This pull request implements object detection

The Detection Message:

Integer ID number for the object being detected ID's are defined in Obstacles.msg in the obstacle package:

VOLATILE
TAG_HOME
TAG_PRIORI
HOME_FIDUCIAL
CUBESAT
etc. int32 detection_id

Heading in radians needed to turn to face the detected object

the horizontal field of view from left to right is estimated as [-60 deg, 60 deg]
if this heading is negative, the robot needs to turn right to face the detected object
if this heading is positive, the robot needs to turn left to face the detected object
the most accurate XYZ reading will be when this heading is minimized as close to 0 as possible float32 heading

Estimated distance to the detected object in metres

this is the straight line distance from the robot to the cubesat

                       + cubesat
                      /|
          distance > / |
                    /  |
             robot +---+

float32 distance

Estimated XYZ coordinates of the detected object

float32 x
float32 y
float32 z

Logo Detection

The camera angle is expected to be set to 0 rad. Lights can be on or off depending on shading.

Published Topics /scout_1/logo_detections/image/left : used to visualize detections for debugging /scout_1/detections : the primary output topic for all detector classes using the custom Detector.msg
Subscribed Topics /scout_1/points2 : point cloud topic, useful for localization of targets /scout_1/odom/filtered : odometry, REQUIRED for generating xyz position estimates /scout_1/logo_detections/on_off_switch : used to toggle on/off detector (true = on, false = off) /scout_1/camera/left/image_raw : left camera (used by stereo_image_proc for point clouds and object detection)

Leg Detection

The camera angle is expected to be set to 0 rad. Lights can be on or off depending on shading.

Published Topics /scout_1/leg_detections/image/left : used to visualize detections for debugging /scout_1/detections : the primary output topic for all detector classes using the custom Detector.msg
Subscribed Topics /scout_1/points2 : point cloud topic, useful for localization of targets /scout_1/odom/filtered : odometry, REQUIRED for generating xyz position estimates /scout_1/leg_detections/on_off_switch : used to toggle on/off detector (true = on, false = off) /scout_1/camera/left/image_raw : left camera (used by stereo_image_proc for point clouds and object detection)

Volatile Detection

The camera angle is expected to be set to -15 deg (-0.26 rad); this is still being tested and may change. The lights are expected to be ON for maximum object recognition.

Published Topics /scout_1/volatile_detections/image/left : used to visualize detections for debugging /scout_1/detections : the primary output topic for all detector classes using the custom Detector.msg
Subscribed Topics /scout_1/points2 : point cloud topic, useful for localization of targets /scout_1/odom/filtered : odometry, REQUIRED for generating xyz position estimates /scout_1/volatile_detections/on_off_switch : used to toggle on/off detector (true = on, false = off) /scout_1/camera/left/image_raw : left camera (used by stereo_image_proc for point clouds and object detection)

Cubesat Detection

The camera angle is expected to be set to +0.78 rad (45 deg); if this detector is on when the camera is facing forward it will publish bad object recognition messages. Lights can be off (they do not help when pointed to the sky in this sim)

Published Topics /scout_1/cubesat_detections/image/left : used to visualize detections for debugging /scout_1/detections : the primary output topic for all detector classes using the custom Detector.msg
Subscribed Topics /scout_1/points2 : point cloud topic, useful for localization of targets /scout_1/odom/filtered : odometry, REQUIRED for generating xyz position estimates /scout_1/cubesat_detections/on_off_switch : used to toggle on/off detector (true = on, false = off) : used to toggle on/off detector (true = on, false = off) /scout_1/camera/left/image_raw : left camera (used by stereo_image_proc for point clouds and object detection)