Get Pat/FR-07 moving with OAK cone detection #985
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…mode and fixed FPS from config
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VanJee and OAK camera changes are already in master, so now this PR could get slightly smaller ... I hope |
| #name, x, y, width, height = b[:5] | ||
| # new (temporary?) format | ||
| w, h = image.get_size() | ||
| a, b, c, d = frameNorm(h, h, detection[2]).tolist() |
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I don't understand these lines. What are "a, b, c, d"? Is it universal?
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this is ugly copy & paste from OAK demo code (abcd is mine) ... this code/format I still do not like, but hopefully somebody else will also need to display bounding boxes in lidarview and we will unify it
| dist = selection[mask].min() / 1000 | ||
| else: | ||
| dist = 0.0 | ||
| self.publish('obstacle', float(dist)) |
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float is needed in order not to propagate numpy structure. Or if you mean why not to use millimeters and int ... then yes, I would like fractional numbers more :)
| @@ -0,0 +1,25 @@ | |||
| """ | |||
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What is the future plan of this code? It seems like a one off.
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you are right, that it is dependent on OAK-D default config of depth camera. This is like "ver0", which detects obstacle in front of the robot and typically next step is STOP, or slow down. I plan to use it on "robotem rovne" as fallback.
| "links": [ | ||
| ["can.can", "platform.can"], | ||
| ["platform.can", "can.can"], | ||
| ["app.desired_speed", "platform.desired_steering"], |
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I dont like mixing of the desired_speed and desired_steering. Yes, it is not part of this PR.
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well, you are right - maybe we should add some module which will do transition from one to another?? (if possible)
This is development of Pat robot (go, follow path)
https://robotika.cz/robots/pat-a-mat/cs#240302
https://robotika.cz/articles/oak-d-pro/cs#240304
My bad, that they are interconnected now as preparation for "Cones Challenge 2024". I may actually revert some of the changes like gz-support.
There is also "obstacle detection 3D' in its "almost dummy" stage ... and also VanJee set/get IP utilities ... hmm