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Prometheus目标检测 确定输入
Ren Jin edited this page Mar 31, 2022
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1 revision
理论上,Prometheus目标检测模块允许来自任意ROS图像话题的输入。这里仅给出Prometheus目标检测模块内置的3种图像话题输入节点:USB摄像头、MIPI摄像头、视频文件
购买链接:https://item.jd.com/4206044.html
使用方式(插入USB摄像头后开启节点即可):
# 首先启动相机节点,如下命令启动相机ID=0
roslaunch prometheus_detection web_cam0.launch
注意查看相机的ID号,
lsusb
- 默认输出话题:
/prometheus/camera/rgb/image_raw
使用方式(确认连接MIPI相机并重启后):
roslaunch prometheus_detection mipi_cam_720p.launch
- 默认输出话题:
/prometheus/camera/rgb/image_raw
运行视频文件主要是为了方便对算法进行调试,使用方式如下:
roslaunch prometheus_detection video_replay.launch
- 注意修改
launch
的输入参数:input_video_dir
- 会顺序播放
input_video_dir
文件夹中的所有视频 - 默认输出话题:
/prometheus/object_detection/video_replay
感谢使用Prometheus自主无人机软件平台!