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飞行机器人(五)--- ZED2& YOLO &ROS第一视角目标检测_zed2授时

zed2授时


目录

1. 编译安装ZED2 SDK

2. YOLO V3 for ROS

3. 配置系统参数

配置config

下载weights

配置launch

配置主从节点

4. 测试及使用

1. 启动主节点YOLO ROS

2. 启动ZED2 Stereo Vision 节点

3. Topic list

4. 查看识别结果


1. 编译安装ZED2 SDK

  • ZED2 双目相机介绍

双目立体视觉(1)- ZED2双目相机介绍_Techblog of HaoWANG-CSDN博客_zed2相机ZED2 SDK 官方网站:https://www.stereolabs.com/developers/release/3.1/参考教程:https://blog.csdn.net/weixin_44401286/article/details/1092038901、ZED2功能介绍:2、 性能参数3、 ZED2 SDKhttps://haowang.blog.csdn.net/article/details/115395024

  • ZED2 SDK for Ubuntu Melodic 编译安装 

双目立体视觉(2)- ZED2 SDK配置 Ubuntu18.04 + ROS melodic_Techblog of HaoWANG-CSDN博客_ros zed2ZED2 SDK 官方网站:https://www.stereolabs.com/developers/release/3.1/1. 安装Ubuntu18.04+ROSmelodic请参考本人此文章安装ROS:一站式环境配置:Ubuntu18.04LTS +ROS+OpenCVhttps://haowang.blog.csdn.net/article/details/1104674492. 安装CUDA下载链接:https://developer.nvidia.com/cud...https://haowang.blog.csdn.net/article/details/115401380

  1. process[zed2/zed2_state_publisher-1]: started with pid [21566]
  2. process[zed2/zed_node-2]: started with pid [21567]
  3. [ INFO] [1642149213.368943200]: Initializing nodelet with 6 worker threads.
  4. [ INFO] [1642149213.384512349]: ********** Starting nodelet '/zed2/zed_node' **********
  5. [ INFO] [1642149213.384560547]: SDK version : 3.6.1
  6. [ INFO] [1642149213.384614151]: *** GENERAL PARAMETERS ***
  7. [ INFO] [1642149213.385310354]: * Camera Name -> zed2
  8. [ INFO] [1642149213.386005520]: * Camera Resolution -> HD720
  9. [ INFO] [1642149213.386716376]: * Camera Grab Framerate -> 60
  10. [ INFO] [1642149213.387424880]: * Gpu ID -> -1
  11. [ INFO] [1642149213.388100827]: * Camera ID -> -1
  12. [ INFO] [1642149213.388856820]: * Verbose -> ENABLED
  13. [ INFO] [1642149213.390323213]: * Camera Flip -> DISABLED
  14. [ INFO] [1642149213.391695868]: * Self calibration -> ENABLED
  15. [ INFO] [1642149213.393167485]: * Camera Model by param -> zed2
  16. [ INFO] [1642149213.393184894]: *** VIDEO PARAMETERS ***
  17. [ INFO] [1642149213.393914023]: * Image resample factor -> 1
  18. [ INFO] [1642149213.394604162]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
  19. [ INFO] [1642149213.394621286]: *** DEPTH PARAMETERS ***
  20. [ INFO] [1642149213.395363921]: * Depth quality -> QUALITY
  21. [ INFO] [1642149213.396108953]: * Depth Sensing mode -> STANDARD
  22. [ INFO] [1642149213.396767171]: * OpenNI mode -> DISABLED
  23. [ INFO] [1642149213.397515603]: * Depth Stabilization -> ENABLED
  24. [ INFO] [1642149213.398202246]: * Minimum depth -> 0.2 m
  25. [ INFO] [1642149213.398970680]: * Maximum depth -> 20 m
  26. [ INFO] [1642149213.399716636]: * Depth resample factor -> 1
  27. [ INFO] [1642149213.399735849]: *** POSITIONAL TRACKING PARAMETERS ***
  28. [ INFO] [1642149213.400429563]: * Path rate -> 2 Hz
  29. [ INFO] [1642149213.401184025]: * Path history size -> 1
  30. [ INFO] [1642149213.402676496]: * Odometry DB path ->
  31. [ INFO] [1642149213.404083331]: * Spatial Memory -> ENABLED
  32. [ INFO] [1642149213.405562174]: * IMU Fusion -> ENABLED
  33. [ INFO] [1642149213.406940813]: * Floor alignment -> DISABLED
  34. [ INFO] [1642149213.408271614]: * Init Odometry with first valid pose data -> ENABLED
  35. [ INFO] [1642149213.409462084]: * Two D mode -> DISABLED
  36. [ INFO] [1642149213.410675923]: *** MAPPING PARAMETERS ***
  37. [ INFO] [1642149213.412013372]: * Mapping -> DISABLED
  38. [ INFO] [1642149213.412036511]: *** OBJECT DETECTION PARAMETERS ***
  39. [ INFO] [1642149213.413362603]: * Object Detection -> DISABLED
  40. [ INFO] [1642149213.413385257]: *** SENSORS PARAMETERS ***
  41. [ INFO] [1642149213.414104327]: * Sensors timestamp sync -> ENABLED
  42. [ INFO] [1642149213.414127017]: *** SVO PARAMETERS ***
  43. [ INFO] [1642149213.415530879]: * SVO input file: ->
  44. [ INFO] [1642149213.416286067]: * SVO REC compression -> H265 (HEVC)
  45. [ INFO] [1642149213.417716127]: *** COORDINATE FRAMES ***
  46. [ INFO] [1642149213.421844230]: * map_frame -> map
  47. [ INFO] [1642149213.421869284]: * odometry_frame -> odom
  48. [ INFO] [1642149213.421881695]: * base_frame -> base_link
  49. [ INFO] [1642149213.421891977]: * camera_frame -> zed2_camera_center
  50. [ INFO] [1642149213.421901554]: * imu_link -> zed2_imu_link
  51. [ INFO] [1642149213.421917151]: * left_camera_frame -> zed2_left_camera_frame
  52. [ INFO] [1642149213.421932146]: * left_camera_optical_frame -> zed2_left_camera_optical_frame
  53. [ INFO] [1642149213.421945406]: * right_camera_frame -> zed2_right_camera_frame
  54. [ INFO] [1642149213.421955431]: * right_camera_optical_frame -> zed2_right_camera_optical_frame
  55. [ INFO] [1642149213.421980148]: * depth_frame -> zed2_left_camera_frame
  56. [ INFO] [1642149213.421997938]: * depth_optical_frame -> zed2_left_camera_optical_frame
  57. [ INFO] [1642149213.422015521]: * disparity_frame -> zed2_left_camera_frame
  58. [ INFO] [1642149213.422027133]: * disparity_optical_frame -> zed2_left_camera_optical_frame
  59. [ INFO] [1642149213.422037187]: * confidence_frame -> zed2_left_camera_frame
  60. [ INFO] [1642149213.422049343]: * confidence_optical_frame -> zed2_left_camera_optical_frame
  61. [ INFO] [1642149213.423609543]: * Broadcast odometry TF -> ENABLED
  62. [ INFO] [1642149213.425332991]: * Broadcast map pose TF -> ENABLED
  63. [ INFO] [1642149213.427023236]: * Broadcast IMU pose TF -> ENABLED
  64. [ INFO] [1642149213.427104834]: *** DYNAMIC PARAMETERS (Init. values) ***
  65. [ INFO] [1642149213.427964034]: * [DYN] Depth confidence -> 50
  66. [ INFO] [1642149213.428883378]: * [DYN] Depth texture conf. -> 100
  67. [ INFO] [1642149213.429845526]: * [DYN] pub_frame_rate -> 15 Hz
  68. [ INFO] [1642149213.430821472]: * [DYN] point_cloud_freq -> 15 Hz
  69. [ INFO] [1642149213.431756101]: * [DYN] brightness -> 4
  70. [ INFO] [1642149213.432671814]: * [DYN] contrast -> 4
  71. [ INFO] [1642149213.433581611]: * [DYN] hue -> 0
  72. [ INFO] [1642149213.434449067]: * [DYN] saturation -> 4
  73. [ INFO] [1642149213.435290984]: * [DYN] sharpness -> 4
  74. [ INFO] [1642149213.436176381]: * [DYN] gamma -> 8
  75. [ INFO] [1642149213.437045933]: * [DYN] auto_exposure_gain -> ENABLED
  76. [ INFO] [1642149213.439522653]: * [DYN] auto_whitebalance -> ENABLED
  77. [ INFO] [1642149213.452096972]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
  78. [ INFO] [1642149213.452319093]: *** Opening ZED 2...
  79. [ZED][Init] Depth mode: QUALITY
  80. [ZED][Init][Info] Camera successfully opened.
  81. [ZED][Init][Info] Camera FW version: 1523
  82. [ZED][Init] Video mode: HD720@60
  83. [ INFO] [1642149214.486814533]: ZED connection -> SUCCESS
  84. [ INFO] [1642149216.487113907]: ... ZED ready
  85. [ INFO] [1642149216.487182653]: ZED SDK running on GPU #0
  86. [ INFO] [1642149216.497321863]: Camera-IMU Transform:
  87. 560303564238
  88. 0.999999 0.001390 -0.000203 -0.002000
  89. -0.001390 0.999999 -0.000138 -0.023000
  90. 0.000203 0.000138 1.000000 0.000220
  91. 0.000000 0.000000 0.000000 1.000000
  92. [ INFO] [1642149216.497401123]: * CAMERA MODEL -> ZED 2
  93. [ INFO] [1642149216.497458430]: * Serial Number -> 27871166
  94. [ INFO] [1642149216.497517485]: * Camera FW Version -> 1523
  95. [ INFO] [1642149216.497566906]: * Sensors FW Version -> 776
  96. [ INFO] [1642149216.664035161]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
  97. [ INFO] [1642149216.664160171]: Advertised on topic /zed2/zed_node/rgb/camera_info
  98. [ INFO] [1642149216.689862856]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
  99. [ INFO] [1642149216.690750078]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
  100. [ INFO] [1642149216.712094698]: Advertised on topic /zed2/zed_node/left/image_rect_color
  101. [ INFO] [1642149216.712123250]: Advertised on topic /zed2/zed_node/left/camera_info
  102. [ INFO] [1642149216.735768592]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
  103. [ INFO] [1642149216.735815945]: Advertised on topic /zed2/zed_node/left_raw/camera_info
  104. [ INFO] [1642149216.758797605]: Advertised on topic /zed2/zed_node/right/image_rect_color
  105. [ INFO] [1642149216.758827654]: Advertised on topic /zed2/zed_node/right/camera_info
  106. [ INFO] [1642149216.775849899]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
  107. [ INFO] [1642149216.775887200]: Advertised on topic /zed2/zed_node/right_raw/camera_info
  108. [ INFO] [1642149216.792746670]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
  109. [ INFO] [1642149216.792777650]: Advertised on topic /zed2/zed_node/rgb/camera_info
  110. [ INFO] [1642149216.812400990]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
  111. [ INFO] [1642149216.812438134]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
  112. [ INFO] [1642149216.830344011]: Advertised on topic /zed2/zed_node/left/image_rect_gray
  113. [ INFO] [1642149216.830402822]: Advertised on topic /zed2/zed_node/left/camera_info
  114. [ INFO] [1642149216.849373769]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
  115. [ INFO] [1642149216.849458039]: Advertised on topic /zed2/zed_node/left_raw/camera_info
  116. [ INFO] [1642149216.871854075]: Advertised on topic /zed2/zed_node/right/image_rect_gray
  117. [ INFO] [1642149216.871970921]: Advertised on topic /zed2/zed_node/right/camera_info
  118. [ INFO] [1642149216.899936842]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
  119. [ INFO] [1642149216.900060430]: Advertised on topic /zed2/zed_node/right_raw/camera_info
  120. [ INFO] [1642149216.925388957]: Advertised on topic /zed2/zed_node/depth/depth_registered
  121. [ INFO] [1642149216.925447338]: Advertised on topic /zed2/zed_node/depth/camera_info
  122. [ INFO] [1642149216.949420569]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
  123. [ INFO] [1642149216.973054880]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
  124. [ INFO] [1642149216.974020526]: Advertised on topic /zed2/zed_node/confidence/confidence_map
  125. [ INFO] [1642149216.974726124]: Advertised on topic /zed2/zed_node/disparity/disparity_image
  126. [ INFO] [1642149216.975438999]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
  127. [ INFO] [1642149216.976218455]: Advertised on topic /zed2/zed_node/pose
  128. [ INFO] [1642149216.976965776]: Advertised on topic /zed2/zed_node/pose_with_covariance
  129. [ INFO] [1642149216.977849947]: Advertised on topic /zed2/zed_node/odom
  130. [ INFO] [1642149216.978511182]: Advertised on topic /zed2/zed_node/path_odom
  131. [ INFO] [1642149216.979253776]: Advertised on topic /zed2/zed_node/path_map
  132. [ INFO] [1642149216.980180350]: Advertised on topic /zed2/zed_node/imu/data
  133. [ INFO] [1642149216.980878202]: Advertised on topic /zed2/zed_node/imu/data_raw
  134. [ INFO] [1642149216.981620620]: Advertised on topic /zed2/zed_node/imu/mag
  135. [ INFO] [1642149216.982222664]: Advertised on topic /zed2/zed_node/temperature/imu
  136. [ INFO] [1642149216.982927092]: Advertised on topic /zed2/zed_node/atm_press
  137. [ INFO] [1642149216.983521720]: Advertised on topic /zed2/zed_node/temperature/left
  138. [ INFO] [1642149216.984222182]: Advertised on topic /zed2/zed_node/temperature/right
  139. [ INFO] [1642149216.984930142]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
  140. [ZED][Grab] Detected Connection Failure. Trying to recover the camera with sn 27871166 ...
  141. ...[INFO] Camera module reset
  142. .MCU reset sent.......
  143. [ZED][Grab] Automatically recover from image capture failure -> SUCCESS
  144. [ZED][Grab] Detected Connection Failure. Trying to recover the camera with sn 27871166 ...
  145. ...[INFO] Camera module reset
  146. .MCU reset sent.......
  147. [ZED][Grab] Automatically recover from image capture failure -> SUCCESS
  148. [ZED][Grab] Detected Connection Failure. Trying to recover the camera with sn 27871166 ...
  149. ...[INFO] Camera module reset
  150. .MCU reset sent.......
  151. [ZED][Grab] Automatically recover from image capture failure -> SUCCESS
  152. [ZED][Grab] Detected Connection Failure. Trying to recover the camera with sn 27871166 ...
  153. ...[INFO] Camera module reset
  154. .MCU reset sent.......
  155. [ZED][Grab] Automatically recover from image capture failure -> SUCCESS
  156. [ZED][Grab] Detected Connection Failure. Trying to recover the camera with sn 27871166 ...
  157. ...[INFO] Camera module reset

2. YOLO V3 for ROS

注意:需要先安装CUDA11.2和cuDNN8.1.0

项目github源码地址:https://github.com/leggedrobotics/darknet_ros

或者ubuntu melodic分支 https://github.com/leggedrobotics/darknet_ros/tree/melodic

 1. git clone源码

In order to install darknet_ros, clone the latest version using SSH (see how to set up an SSH key) from this repository into your catkin workspace and compile the package using ROS.

  1. cd catkin_workspace/src
  2. git clone --recursive git@github.com:leggedrobotics/darknet_ros.git
  3. cd ../

2. 编译安装

  To maximize performance, make sure to build in Release mode. You can specify the build type by setting

catkin_make -DCMAKE_BUILD_TYPE=Release

or using the Catkin Command Line Tools

catkin build darknet_ros -DCMAKE_BUILD_TYPE=Release

Darknet on the CPU is fast (approximately 1.5 seconds on an Intel Core i7-6700HQ CPU @ 2.60GHz × 8) but it's like 500 times faster on GPU! You'll have to have an Nvidia GPU and you'll have to install CUDA. The CMakeLists.txt file automatically detects if you have CUDA installed or not. CUDA is a parallel computing platform and application programming interface (API) model created by Nvidia. If you do not have CUDA on your System the build process will switch to the CPU version of YOLO. If you are compiling with CUDA, you might receive the following build error:

nvcc fatal : Unsupported gpu architecture 'compute_61'.

This means that you need to check the compute capability (version) of your GPU. You can find a list of supported GPUs in CUDA here: CUDA - WIKIPEDIA. Simply find the compute capability of your GPU and add it into darknet_ros/CMakeLists.txt. Simply add a similar line like

-O3 -gencode arch=compute_62,code=sm_62

注意:常见编译错误

  • Unsupported gpu architecture 'compute_30'

https://github.com/leggedrobotics/darknet_ros/issues/363

CMakeLists.txt文件注释掉  compute_30所在行即可

  • 编译出错darknetXXX,需要执行

git clone --recursive git@github.com:leggedrobotics/darknet_ros.git 

需要 --recursive 完整克隆该项目和darknet 项目,重新编译即可。

3. 下载weights模型文件

he yolo-voc.weights and tiny-yolo-voc.weights are downloaded automatically in the CMakeLists.txt file. If you need to download them again, go into the weights folder and download the two pre-trained weights from the COCO data set:

  1. cd catkin_workspace/src/darknet_ros/darknet_ros/yolo_network_config/weights/
  2. wget http://pjreddie.com/media/files/yolov2.weights
  3. wget http://pjreddie.com/media/files/yolov2-tiny.weights

And weights from the VOC data set can be found here:

  1. wget http://pjreddie.com/media/files/yolov2-voc.weights
  2. wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights

And the pre-trained weight from YOLO v3 can be found here:

  1. wget http://pjreddie.com/media/files/yolov3-tiny.weights
  2. wget http://pjreddie.com/media/files/yolov3.weights


3. 配置系统参数

  • 配置config

ros.yaml

  1. general:
  2. is_debug: false
  3. image_fps: 60
  4. subscribers:
  5. camera_reading:
  6. topic: /zed2/zed_node/rgb_raw/image_raw_color
  7. queue_size: 1
  8. actions:
  9. camera_reading:
  10. name: /darknet_ros/check_for_objects
  11. publishers:
  12. object_detector:
  13. topic: /darknet_ros/found_object
  14. queue_size: 1
  15. latch: false
  16. bounding_boxes:
  17. topic: /darknet_ros/bounding_boxes
  18. queue_size: 5
  19. latch: false
  20. detection_image:
  21. topic: /darknet_ros/detection_image
  22. queue_size: 1
  23. latch: false
  24. image_view:
  25. enable_opencv: false
  26. wait_key_delay: 1
  27. enable_console_output: false

 删除部分类别标签之后的yolov3.yaml

  1. yolo_model:
  2. config_file:
  3. name: yolov3.cfg
  4. weight_file:
  5. name: yolov3.weights
  6. threshold:
  7. value: 0.3
  8. detection_classes:
  9. names:
  10. - person
  11. - bicycle
  12. - car
  13. - motorbike
  14. - aeroplane
  15. - bus
  16. - truck
  17. - boat
  18. - traffic light
  19. - bird
  20. - cat
  21. - dog
  22. - horse
  • 下载weights

cd catkin_workspace/src/darknet_ros/darknet_ros/yolo_network_config/weights/

COCO data set (Yolo v2):
  wget http://pjreddie.com/media/files/yolov2.weights
  wget http://pjreddie.com/media/files/yolov2-tiny.weights

VOC data set (Yolo v2):
  wget http://pjreddie.com/media/files/yolov2-voc.weights
  wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights

Yolo v3:
  wget http://pjreddie.com/media/files/yolov3.weights
  wget http://pjreddie.com/media/files/yolov3-voc.weights 

v3-voc 下载出错无法使用

  • 配置launch

注意:YOLO订阅及发布的图像数据消息Topic需要根据实际情况修改

  1. <?xml version="1.0" encoding="utf-8"?>
  2. <launch>
  3. <!-- Console launch prefix -->
  4. <arg name="launch_prefix" default=""/>
  5. <arg name="image" default="/zed2/zed_node/rgb_raw/image_raw_color" />
  6. <!-- Config and weights folder. -->
  7. <arg name="yolo_weights_path" default="$(find darknet_ros)/yolo_network_config/weights"/>
  8. <arg name="yolo_config_path" default="$(find darknet_ros)/yolo_network_config/cfg"/>
  9. <!-- ROS and network parameter files -->
  10. <arg name="ros_param_file" default="$(find darknet_ros)/config/ros.yaml"/>
  11. <!-- Load YOLO network mode parameter files -->
  12. <arg name="network_param_file" default="$(find darknet_ros)/config/yolov3_test.yaml"/>
  13. <!--arg name="network_param_file" default="$(find darknet_ros)/config/yolov3.yaml"-->
  14. <!-- Load parameters -->
  15. <rosparam command="load" ns="darknet_ros" file="$(arg ros_param_file)"/>
  16. <rosparam command="load" ns="darknet_ros" file="$(arg network_param_file)"/>
  17. <!-- Start darknet and ros wrapper -->
  18. <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">
  19. <param name="weights_path" value="$(arg yolo_weights_path)" />
  20. <param name="config_path" value="$(arg yolo_config_path)" />
  21. <remap from="camera/rgb/image_raw" to="$(arg image)" />
  22. </node>
  23. <!--<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/front_camera/image_raw raw out:=/camera/image_raw" /> -->
  24. </launch>
  • 配置主从节点

  1. # CUDA toolkits lib.bin.home path
  2. export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-11.2/lib64
  3. export PATH=$PATH:/usr/local/cuda-11.2/bin
  4. export CUDA_HOME=$CUDA_HOME:/usr/local/cuda-11.2/
  5. export ROS_HOSTNAME=client.local
  6. export ROS_MASTER_URI=http://client.local:11311

具体配置过程请参考ROS系列文章ROS从入门到精通系列(十五)-- 异构多版本ROS之间的多机通信问题_Techblog of HaoWANG-CSDN博客https://haowang.blog.csdn.net/article/details/115564181


4. 测试及使用

1. 启动主节点YOLO ROS

roslaunch darknet_ros darknet_ros.launch 
  1. ... logging to /home/haowang/.ros/log/04d19790-776f-11ec-9b47-1831bf95775e/roslaunch-client-31665.log
  2. Checking log directory for disk usage. This may take a while.
  3. Press Ctrl-C to interrupt
  4. Done checking log file disk usage. Usage is <1GB.
  5. started roslaunch server http://client.local:38575/
  6. SUMMARY
  7. ========
  8. PARAMETERS
  9. * /darknet_ros/actions/camera_reading/name: /darknet_ros/chec...
  10. * /darknet_ros/config_path: /home/haowang/ros...
  11. * /darknet_ros/general/image_fps: 60
  12. * /darknet_ros/general/is_debug: False
  13. * /darknet_ros/image_view/enable_console_output: False
  14. * /darknet_ros/image_view/enable_opencv: False
  15. * /darknet_ros/image_view/wait_key_delay: 1
  16. * /darknet_ros/publishers/bounding_boxes/latch: False
  17. * /darknet_ros/publishers/bounding_boxes/queue_size: 5
  18. * /darknet_ros/publishers/bounding_boxes/topic: /darknet_ros/boun...
  19. * /darknet_ros/publishers/detection_image/latch: False
  20. * /darknet_ros/publishers/detection_image/queue_size: 1
  21. * /darknet_ros/publishers/detection_image/topic: /darknet_ros/dete...
  22. * /darknet_ros/publishers/object_detector/latch: False
  23. * /darknet_ros/publishers/object_detector/queue_size: 1
  24. * /darknet_ros/publishers/object_detector/topic: /darknet_ros/foun...
  25. * /darknet_ros/subscribers/camera_reading/queue_size: 1
  26. * /darknet_ros/subscribers/camera_reading/topic: /zed2/zed_node/rg...
  27. * /darknet_ros/weights_path: /home/haowang/ros...
  28. * /darknet_ros/yolo_model/config_file/name: yolov3.cfg
  29. * /darknet_ros/yolo_model/detection_classes/names: ['person', 'bicyc...
  30. * /darknet_ros/yolo_model/threshold/value: 0.3
  31. * /darknet_ros/yolo_model/weight_file/name: yolov3.weights
  32. * /rosdistro: melodic
  33. * /rosversion: 1.14.12
  34. NODES
  35. /
  36. darknet_ros (darknet_ros/darknet_ros)
  37. auto-starting new master
  38. process[master]: started with pid [31675]
  39. ROS_MASTER_URI=http://client.local:11311
  40. setting /run_id to 04d19790-776f-11ec-9b47-1831bf95775e
  41. process[rosout-1]: started with pid [31686]
  42. started core service [/rosout]
  43. process[darknet_ros-2]: started with pid [31693]
  44. [ INFO] [1642407925.708656046]: [YoloObjectDetector] Node started.
  45. [ INFO] [1642407925.711519020]: [YoloObjectDetector] Xserver is running.
  46. [ INFO] [1642407925.711921001]: [YoloObjectDetector] init().
  47. [ INFO] [1642407925.745535802]: YOLO Paramters Loading:
  48. layer filters size input output
  49. 0 conv 32 3 x 3 / 1 416 x 416 x 3 -> 416 x 416 x 32 0.299 BFLOPs
  50. 1 conv 64 3 x 3 / 2 416 x 416 x 32 -> 208 x 208 x 64 1.595 BFLOPs
  51. 2 conv 32 1 x 1 / 1 208 x 208 x 64 -> 208 x 208 x 32 0.177 BFLOPs
  52. 3 conv 64 3 x 3 / 1 208 x 208 x 32 -> 208 x 208 x 64 1.595 BFLOPs
  53. 4 res 1 208 x 208 x 64 -> 208 x 208 x 64
  54. 5 conv 128 3 x 3 / 2 208 x 208 x 64 -> 104 x 104 x 128 1.595 BFLOPs
  55. 6 conv 64 1 x 1 / 1 104 x 104 x 128 -> 104 x 104 x 64 0.177 BFLOPs
  56. 7 conv 128 3 x 3 / 1 104 x 104 x 64 -> 104 x 104 x 128 1.595 BFLOPs
  57. 8 res 5 104 x 104 x 128 -> 104 x 104 x 128
  58. 9 conv 64 1 x 1 / 1 104 x 104 x 128 -> 104 x 104 x 64 0.177 BFLOPs
  59. 10 conv 128 3 x 3 / 1 104 x 104 x 64 -> 104 x 104 x 128 1.595 BFLOPs
  60. 11 res 8 104 x 104 x 128 -> 104 x 104 x 128
  61. 12 conv 256 3 x 3 / 2 104 x 104 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  62. 13 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  63. 14 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  64. 15 res 12 52 x 52 x 256 -> 52 x 52 x 256
  65. 16 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  66. 17 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  67. 18 res 15 52 x 52 x 256 -> 52 x 52 x 256
  68. 19 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  69. 20 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  70. 21 res 18 52 x 52 x 256 -> 52 x 52 x 256
  71. 22 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  72. 23 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  73. 24 res 21 52 x 52 x 256 -> 52 x 52 x 256
  74. 25 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  75. 26 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  76. 27 res 24 52 x 52 x 256 -> 52 x 52 x 256
  77. 28 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  78. 29 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  79. 30 res 27 52 x 52 x 256 -> 52 x 52 x 256
  80. 31 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  81. 32 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  82. 33 res 30 52 x 52 x 256 -> 52 x 52 x 256
  83. 34 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  84. 35 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  85. 36 res 33 52 x 52 x 256 -> 52 x 52 x 256
  86. 37 conv 512 3 x 3 / 2 52 x 52 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  87. 38 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  88. 39 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  89. 40 res 37 26 x 26 x 512 -> 26 x 26 x 512
  90. 41 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  91. 42 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  92. 43 res 40 26 x 26 x 512 -> 26 x 26 x 512
  93. 44 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  94. 45 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  95. 46 res 43 26 x 26 x 512 -> 26 x 26 x 512
  96. 47 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  97. 48 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  98. 49 res 46 26 x 26 x 512 -> 26 x 26 x 512
  99. 50 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  100. 51 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  101. 52 res 49 26 x 26 x 512 -> 26 x 26 x 512
  102. 53 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  103. 54 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  104. 55 res 52 26 x 26 x 512 -> 26 x 26 x 512
  105. 56 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  106. 57 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  107. 58 res 55 26 x 26 x 512 -> 26 x 26 x 512
  108. 59 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  109. 60 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  110. 61 res 58 26 x 26 x 512 -> 26 x 26 x 512
  111. 62 conv 1024 3 x 3 / 2 26 x 26 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  112. 63 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  113. 64 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  114. 65 res 62 13 x 13 x1024 -> 13 x 13 x1024
  115. 66 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  116. 67 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  117. 68 res 65 13 x 13 x1024 -> 13 x 13 x1024
  118. 69 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  119. 70 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  120. 71 res 68 13 x 13 x1024 -> 13 x 13 x1024
  121. 72 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  122. 73 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  123. 74 res 71 13 x 13 x1024 -> 13 x 13 x1024
  124. 75 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  125. 76 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  126. 77 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  127. 78 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  128. 79 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512 0.177 BFLOPs
  129. 80 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024 1.595 BFLOPs
  130. 81 conv 255 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 255 0.088 BFLOPs
  131. 82 yolo
  132. 83 route 79
  133. 84 conv 256 1 x 1 / 1 13 x 13 x 512 -> 13 x 13 x 256 0.044 BFLOPs
  134. 85 upsample 2x 13 x 13 x 256 -> 26 x 26 x 256
  135. 86 route 85 61
  136. 87 conv 256 1 x 1 / 1 26 x 26 x 768 -> 26 x 26 x 256 0.266 BFLOPs
  137. 88 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  138. 89 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  139. 90 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  140. 91 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256 0.177 BFLOPs
  141. 92 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512 1.595 BFLOPs
  142. 93 conv 255 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 255 0.177 BFLOPs
  143. 94 yolo
  144. 95 route 91
  145. 96 conv 128 1 x 1 / 1 26 x 26 x 256 -> 26 x 26 x 128 0.044 BFLOPs
  146. 97 upsample 2x 26 x 26 x 128 -> 52 x 52 x 128
  147. 98 route 97 36
  148. 99 conv 128 1 x 1 / 1 52 x 52 x 384 -> 52 x 52 x 128 0.266 BFLOPs
  149. 100 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  150. 101 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  151. 102 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  152. 103 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128 0.177 BFLOPs
  153. 104 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256 1.595 BFLOPs
  154. 105 conv 255 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 255 0.353 BFLOPs
  155. 106 yolo
  156. Loading weights from /home/haowang/ros_yolo/src/darknet_ros/darknet_ros/yolo_network_config/weights/yolov3.weights...Done!
  157. [ INFO] [1642407928.956632992]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  158. [ INFO] [1642407930.956843390]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  159. [ INFO] [1642407932.957070264]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  160. [ INFO] [1642407934.957334925]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  161. [ INFO] [1642407936.957608367]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  162. [ INFO] [1642407938.957889356]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  163. [ INFO] [1642407940.958177570]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  164. [ INFO] [1642407942.958453255]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  165. [ INFO] [1642407944.958727382]: -------Waiting for image from ZED2 Stereo Camera!!!.-------
  166. [ INFO] [1642407946.959001860]: -------Waiting for image from ZED2 Stereo Camera!!!.-------

2. 启动ZED2 Stereo Vision 节点

  1. roslaunch zed_wrapper zed2.launch
  2. ... logging to /home/haowang/.ros/log/04d19790-776f-11ec-9b47-1831bf95775e/roslaunch-haowang-codingspace-28103.log
  3. Checking log directory for disk usage. This may take a while.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6. started roslaunch server http://haowang-codingspace.local:42127/
  7. SUMMARY
  8. ========
  9. PARAMETERS
  10. * /rosdistro: melodic
  11. * /rosversion: 1.14.10
  12. * /zed2/zed2_description: <?xml version="1....
  13. * /zed2/zed_node/auto_exposure_gain: True
  14. * /zed2/zed_node/auto_whitebalance: True
  15. * /zed2/zed_node/brightness: 4
  16. * /zed2/zed_node/contrast: 4
  17. * /zed2/zed_node/depth/depth_downsample_factor: 1.0
  18. * /zed2/zed_node/depth/depth_stabilization: 1
  19. * /zed2/zed_node/depth/max_depth: 20.0
  20. * /zed2/zed_node/depth/min_depth: 0.2
  21. * /zed2/zed_node/depth/openni_depth_mode: False
  22. * /zed2/zed_node/depth/quality: 2
  23. * /zed2/zed_node/depth/sensing_mode: 0
  24. * /zed2/zed_node/depth_confidence: 50
  25. * /zed2/zed_node/depth_texture_conf: 100
  26. * /zed2/zed_node/exposure: 100
  27. * /zed2/zed_node/gain: 100
  28. * /zed2/zed_node/gamma: 8
  29. * /zed2/zed_node/general/base_frame: base_link
  30. * /zed2/zed_node/general/camera_flip: False
  31. * /zed2/zed_node/general/camera_model: zed2
  32. * /zed2/zed_node/general/camera_name: zed2
  33. * /zed2/zed_node/general/gpu_id: -1
  34. * /zed2/zed_node/general/grab_frame_rate: 60
  35. * /zed2/zed_node/general/resolution: 1
  36. * /zed2/zed_node/general/self_calib: True
  37. * /zed2/zed_node/general/serial_number: 0
  38. * /zed2/zed_node/general/svo_compression: 2
  39. * /zed2/zed_node/general/verbose: True
  40. * /zed2/zed_node/general/zed_id: 0
  41. * /zed2/zed_node/hue: 0
  42. * /zed2/zed_node/mapping/fused_pointcloud_freq: 1.0
  43. * /zed2/zed_node/mapping/mapping_enabled: False
  44. * /zed2/zed_node/mapping/max_mapping_range: -1
  45. * /zed2/zed_node/mapping/resolution: 0.05
  46. * /zed2/zed_node/object_detection/body_fitting: True
  47. * /zed2/zed_node/object_detection/confidence_threshold: 50
  48. * /zed2/zed_node/object_detection/max_range: 10.0
  49. * /zed2/zed_node/object_detection/mc_animal: True
  50. * /zed2/zed_node/object_detection/mc_bag: True
  51. * /zed2/zed_node/object_detection/mc_electronics: True
  52. * /zed2/zed_node/object_detection/mc_fruit_vegetable: True
  53. * /zed2/zed_node/object_detection/mc_people: True
  54. * /zed2/zed_node/object_detection/mc_vehicle: True
  55. * /zed2/zed_node/object_detection/model: 1
  56. * /zed2/zed_node/object_detection/object_tracking_enabled: True
  57. * /zed2/zed_node/object_detection/od_enabled: False
  58. * /zed2/zed_node/point_cloud_freq: 15.0
  59. * /zed2/zed_node/pos_tracking/area_memory: True
  60. * /zed2/zed_node/pos_tracking/area_memory_db_path:
  61. * /zed2/zed_node/pos_tracking/fixed_z_value: 0.0
  62. * /zed2/zed_node/pos_tracking/floor_alignment: False
  63. * /zed2/zed_node/pos_tracking/imu_fusion: True
  64. * /zed2/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
  65. * /zed2/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
  66. * /zed2/zed_node/pos_tracking/map_frame: map
  67. * /zed2/zed_node/pos_tracking/odometry_frame: odom
  68. * /zed2/zed_node/pos_tracking/path_max_count: -1
  69. * /zed2/zed_node/pos_tracking/path_pub_rate: 2.0
  70. * /zed2/zed_node/pos_tracking/publish_map_tf: True
  71. * /zed2/zed_node/pos_tracking/publish_tf: True
  72. * /zed2/zed_node/pos_tracking/two_d_mode: False
  73. * /zed2/zed_node/pub_frame_rate: 15.0
  74. * /zed2/zed_node/saturation: 4
  75. * /zed2/zed_node/sensors/publish_imu_tf: True
  76. * /zed2/zed_node/sensors/sensors_timestamp_sync: True
  77. * /zed2/zed_node/sharpness: 4
  78. * /zed2/zed_node/stream:
  79. * /zed2/zed_node/svo_file:
  80. * /zed2/zed_node/video/extrinsic_in_camera_frame: True
  81. * /zed2/zed_node/video/img_downsample_factor: 1.0
  82. * /zed2/zed_node/whitebalance_temperature: 42
  83. NODES
  84. /zed2/
  85. zed2_state_publisher (robot_state_publisher/robot_state_publisher)
  86. zed_node (zed_wrapper/zed_wrapper_node)
  87. ROS_MASTER_URI=http://client.local:11311
  88. process[zed2/zed2_state_publisher-1]: started with pid [28115]
  89. process[zed2/zed_node-2]: started with pid [28116]
  90. [ INFO] [1642408025.399845440]: Initializing nodelet with 6 worker threads.
  91. [ INFO] [1642408025.422267286]: ********** Starting nodelet '/zed2/zed_node' **********
  92. [ INFO] [1642408025.422327448]: SDK version : 3.6.1
  93. [ INFO] [1642408025.422363595]: *** GENERAL PARAMETERS ***
  94. [ INFO] [1642408025.423288932]: * Camera Name -> zed2
  95. [ INFO] [1642408025.424275704]: * Camera Resolution -> HD1080
  96. [ WARN] [1642408025.425278402]: Wrong FrameRate (60) for the resolution HD1080. Set to 30 FPS.
  97. [ INFO] [1642408025.425303556]: * Camera Grab Framerate -> 30
  98. [ INFO] [1642408025.426177953]: * Gpu ID -> -1
  99. [ INFO] [1642408025.427005879]: * Camera ID -> -1
  100. [ INFO] [1642408025.427843469]: * Verbose -> ENABLED
  101. [ INFO] [1642408025.429736615]: * Camera Flip -> DISABLED
  102. [ INFO] [1642408025.431730059]: * Self calibration -> ENABLED
  103. [ INFO] [1642408025.433672255]: * Camera Model by param -> zed2
  104. [ INFO] [1642408025.433759671]: *** VIDEO PARAMETERS ***
  105. [ INFO] [1642408025.434838987]: * Image resample factor -> 1
  106. [ INFO] [1642408025.436057454]: * Extrinsic param. frame -> X RIGHT - Y DOWN - Z FWD
  107. [ INFO] [1642408025.436141213]: *** DEPTH PARAMETERS ***
  108. [ INFO] [1642408025.437383594]: * Depth quality -> QUALITY
  109. [ INFO] [1642408025.438547080]: * Depth Sensing mode -> STANDARD
  110. [ INFO] [1642408025.439731887]: * OpenNI mode -> DISABLED
  111. [ INFO] [1642408025.440940007]: * Depth Stabilization -> ENABLED
  112. [ INFO] [1642408025.442152698]: * Minimum depth -> 0.2 m
  113. [ INFO] [1642408025.443379562]: * Maximum depth -> 20 m
  114. [ INFO] [1642408025.444616969]: * Depth resample factor -> 1
  115. [ INFO] [1642408025.444700718]: *** POSITIONAL TRACKING PARAMETERS ***
  116. [ INFO] [1642408025.445916370]: * Path rate -> 2 Hz
  117. [ INFO] [1642408025.447151181]: * Path history size -> 1
  118. [ INFO] [1642408025.449568291]: * Odometry DB path ->
  119. [ INFO] [1642408025.451885226]: * Spatial Memory -> ENABLED
  120. [ INFO] [1642408025.454200994]: * IMU Fusion -> ENABLED
  121. [ INFO] [1642408025.456781711]: * Floor alignment -> DISABLED
  122. [ INFO] [1642408025.459145578]: * Init Odometry with first valid pose data -> ENABLED
  123. [ INFO] [1642408025.461469916]: * Two D mode -> DISABLED
  124. [ INFO] [1642408025.463830145]: *** MAPPING PARAMETERS ***
  125. [ INFO] [1642408025.466178072]: * Mapping -> DISABLED
  126. [ INFO] [1642408025.466268145]: *** OBJECT DETECTION PARAMETERS ***
  127. [ INFO] [1642408025.468446041]: * Object Detection -> DISABLED
  128. [ INFO] [1642408025.468531911]: *** SENSORS PARAMETERS ***
  129. [ INFO] [1642408025.469734198]: * Sensors timestamp sync -> ENABLED
  130. [ INFO] [1642408025.469876845]: *** SVO PARAMETERS ***
  131. [ INFO] [1642408025.472118177]: * SVO input file: ->
  132. [ INFO] [1642408025.473269878]: * SVO REC compression -> H265 (HEVC)
  133. [ INFO] [1642408025.475582927]: *** COORDINATE FRAMES ***
  134. [ INFO] [1642408025.483561896]: * map_frame -> map
  135. [ INFO] [1642408025.483638792]: * odometry_frame -> odom
  136. [ INFO] [1642408025.483682849]: * base_frame -> base_link
  137. [ INFO] [1642408025.483722161]: * camera_frame -> zed2_camera_center
  138. [ INFO] [1642408025.483776249]: * imu_link -> zed2_imu_link
  139. [ INFO] [1642408025.483840027]: * left_camera_frame -> zed2_left_camera_frame
  140. [ INFO] [1642408025.483878055]: * left_camera_optical_frame -> zed2_left_camera_optical_frame
  141. [ INFO] [1642408025.483913053]: * right_camera_frame -> zed2_right_camera_frame
  142. [ INFO] [1642408025.483963049]: * right_camera_optical_frame -> zed2_right_camera_optical_frame
  143. [ INFO] [1642408025.484005989]: * depth_frame -> zed2_left_camera_frame
  144. [ INFO] [1642408025.484043279]: * depth_optical_frame -> zed2_left_camera_optical_frame
  145. [ INFO] [1642408025.484079685]: * disparity_frame -> zed2_left_camera_frame
  146. [ INFO] [1642408025.484124033]: * disparity_optical_frame -> zed2_left_camera_optical_frame
  147. [ INFO] [1642408025.484166834]: * confidence_frame -> zed2_left_camera_frame
  148. [ INFO] [1642408025.484201334]: * confidence_optical_frame -> zed2_left_camera_optical_frame
  149. [ INFO] [1642408025.486398158]: * Broadcast odometry TF -> ENABLED
  150. [ INFO] [1642408025.488692236]: * Broadcast map pose TF -> ENABLED
  151. [ INFO] [1642408025.490610845]: * Broadcast IMU pose TF -> ENABLED
  152. [ INFO] [1642408025.490694880]: *** DYNAMIC PARAMETERS (Init. values) ***
  153. [ INFO] [1642408025.491635163]: * [DYN] Depth confidence -> 50
  154. [ INFO] [1642408025.492665706]: * [DYN] Depth texture conf. -> 100
  155. [ INFO] [1642408025.493635127]: * [DYN] pub_frame_rate -> 15 Hz
  156. [ INFO] [1642408025.494585331]: * [DYN] point_cloud_freq -> 15 Hz
  157. [ INFO] [1642408025.495369518]: * [DYN] brightness -> 4
  158. [ INFO] [1642408025.496205936]: * [DYN] contrast -> 4
  159. [ INFO] [1642408025.497047785]: * [DYN] hue -> 0
  160. [ INFO] [1642408025.497878577]: * [DYN] saturation -> 4
  161. [ INFO] [1642408025.498689662]: * [DYN] sharpness -> 4
  162. [ INFO] [1642408025.499498820]: * [DYN] gamma -> 8
  163. [ INFO] [1642408025.500326833]: * [DYN] auto_exposure_gain -> ENABLED
  164. [ INFO] [1642408025.502477835]: * [DYN] auto_whitebalance -> ENABLED
  165. [ INFO] [1642408025.518537331]: * Camera coordinate system -> Right HANDED Z UP and X FORWARD
  166. [ INFO] [1642408025.518588252]: *** Opening ZED 2...
  167. [ZED][Init] Depth mode: QUALITY
  168. [ZED][Init][Info] Camera successfully opened.
  169. [ZED][Init][Info] Camera FW version: 1523
  170. [ZED][Init] Video mode: HD1080@30
  171. [ INFO] [1642408026.645913987]: ZED connection -> SUCCESS
  172. [ INFO] [1642408028.646148497]: ... ZED ready
  173. [ INFO] [1642408028.646213438]: ZED SDK running on GPU #0
  174. [ INFO] [1642408028.656629645]: Camera-IMU Transform:
  175. 55B194294238
  176. 0.999999 0.001390 -0.000203 -0.002000
  177. -0.001390 0.999999 -0.000138 -0.023000
  178. 0.000203 0.000138 1.000000 0.000220
  179. 0.000000 0.000000 0.000000 1.000000
  180. [ INFO] [1642408028.656666430]: * CAMERA MODEL -> ZED 2
  181. [ INFO] [1642408028.656694025]: * Serial Number -> 27871166
  182. [ INFO] [1642408028.656716786]: * Camera FW Version -> 1523
  183. [ INFO] [1642408028.656741142]: * Sensors FW Version -> 776
  184. [ INFO] [1642408028.846837999]: Advertised on topic /zed2/zed_node/rgb/image_rect_color
  185. [ INFO] [1642408028.846882228]: Advertised on topic /zed2/zed_node/rgb/camera_info
  186. [ INFO] [1642408028.870273275]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
  187. [ INFO] [1642408028.870303949]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
  188. [ INFO] [1642408028.888646818]: Advertised on topic /zed2/zed_node/left/image_rect_color
  189. [ INFO] [1642408028.888672364]: Advertised on topic /zed2/zed_node/left/camera_info
  190. [ INFO] [1642408028.908416892]: Advertised on topic /zed2/zed_node/left_raw/image_raw_color
  191. [ INFO] [1642408028.908447889]: Advertised on topic /zed2/zed_node/left_raw/camera_info
  192. [ INFO] [1642408028.926166239]: Advertised on topic /zed2/zed_node/right/image_rect_color
  193. [ INFO] [1642408028.926195337]: Advertised on topic /zed2/zed_node/right/camera_info
  194. [ INFO] [1642408028.946693004]: Advertised on topic /zed2/zed_node/right_raw/image_raw_color
  195. [ INFO] [1642408028.946728038]: Advertised on topic /zed2/zed_node/right_raw/camera_info
  196. [ INFO] [1642408028.963212944]: Advertised on topic /zed2/zed_node/rgb/image_rect_gray
  197. [ INFO] [1642408028.963241909]: Advertised on topic /zed2/zed_node/rgb/camera_info
  198. [ INFO] [1642408028.978297491]: Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
  199. [ INFO] [1642408028.978336841]: Advertised on topic /zed2/zed_node/rgb_raw/camera_info
  200. [ INFO] [1642408029.002711006]: Advertised on topic /zed2/zed_node/left/image_rect_gray
  201. [ INFO] [1642408029.002775663]: Advertised on topic /zed2/zed_node/left/camera_info
  202. [ INFO] [1642408029.035291443]: Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
  203. [ INFO] [1642408029.035448071]: Advertised on topic /zed2/zed_node/left_raw/camera_info
  204. [ INFO] [1642408029.063976283]: Advertised on topic /zed2/zed_node/right/image_rect_gray
  205. [ INFO] [1642408029.064030387]: Advertised on topic /zed2/zed_node/right/camera_info
  206. [ INFO] [1642408029.093318985]: Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
  207. [ INFO] [1642408029.093363890]: Advertised on topic /zed2/zed_node/right_raw/camera_info
  208. [ INFO] [1642408029.121704529]: Advertised on topic /zed2/zed_node/depth/depth_registered
  209. [ INFO] [1642408029.121762887]: Advertised on topic /zed2/zed_node/depth/camera_info
  210. [ INFO] [1642408029.149151538]: Advertised on topic /zed2/zed_node/stereo/image_rect_color
  211. [ INFO] [1642408029.180354179]: Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
  212. [ INFO] [1642408029.181378660]: Advertised on topic /zed2/zed_node/confidence/confidence_map
  213. [ INFO] [1642408029.182372924]: Advertised on topic /zed2/zed_node/disparity/disparity_image
  214. [ INFO] [1642408029.183270146]: Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
  215. [ INFO] [1642408029.184234924]: Advertised on topic /zed2/zed_node/pose
  216. [ INFO] [1642408029.185424002]: Advertised on topic /zed2/zed_node/pose_with_covariance
  217. [ INFO] [1642408029.186659760]: Advertised on topic /zed2/zed_node/odom
  218. [ INFO] [1642408029.187682368]: Advertised on topic /zed2/zed_node/path_odom
  219. [ INFO] [1642408029.188663773]: Advertised on topic /zed2/zed_node/path_map
  220. [ INFO] [1642408029.189737113]: Advertised on topic /zed2/zed_node/imu/data
  221. [ INFO] [1642408029.191144283]: Advertised on topic /zed2/zed_node/imu/data_raw
  222. [ INFO] [1642408029.192096805]: Advertised on topic /zed2/zed_node/imu/mag
  223. [ INFO] [1642408029.193292445]: Advertised on topic /zed2/zed_node/temperature/imu
  224. [ INFO] [1642408029.194552760]: Advertised on topic /zed2/zed_node/atm_press
  225. [ INFO] [1642408029.195651895]: Advertised on topic /zed2/zed_node/temperature/left
  226. [ INFO] [1642408029.196559825]: Advertised on topic /zed2/zed_node/temperature/right
  227. [ INFO] [1642408029.197519504]: Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]

3. Topic list

  1. /darknet_ros/bounding_boxes
  2. /darknet_ros/check_for_objects/cancel
  3. /darknet_ros/check_for_objects/feedback
  4. /darknet_ros/check_for_objects/goal
  5. /darknet_ros/check_for_objects/result
  6. /darknet_ros/check_for_objects/status
  7. /darknet_ros/detection_image
  8. /darknet_ros/found_object
  9. /diagnostics
  10. /image_view/output
  11. /image_view/parameter_descriptions
  12. /image_view/parameter_updates
  13. /rosout
  14. /rosout_agg
  15. /tf
  16. /tf_static
  17. /zed2/joint_states
  18. /zed2/zed_node/atm_press
  19. /zed2/zed_node/confidence/confidence_map
  20. /zed2/zed_node/depth/camera_info
  21. /zed2/zed_node/depth/depth_registered
  22. /zed2/zed_node/depth/depth_registered/compressed
  23. /zed2/zed_node/depth/depth_registered/compressed/parameter_descriptions
  24. /zed2/zed_node/depth/depth_registered/compressed/parameter_updates
  25. /zed2/zed_node/depth/depth_registered/compressedDepth
  26. /zed2/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions
  27. /zed2/zed_node/depth/depth_registered/compressedDepth/parameter_updates
  28. /zed2/zed_node/depth/depth_registered/theora
  29. /zed2/zed_node/depth/depth_registered/theora/parameter_descriptions
  30. /zed2/zed_node/depth/depth_registered/theora/parameter_updates
  31. /zed2/zed_node/disparity/disparity_image
  32. /zed2/zed_node/imu/data
  33. /zed2/zed_node/imu/data_raw
  34. /zed2/zed_node/imu/mag
  35. /zed2/zed_node/left/camera_info
  36. /zed2/zed_node/left/image_rect_color
  37. /zed2/zed_node/left/image_rect_color/compressed
  38. /zed2/zed_node/left/image_rect_color/compressed/parameter_descriptions
  39. /zed2/zed_node/left/image_rect_color/compressed/parameter_updates
  40. /zed2/zed_node/left/image_rect_color/compressedDepth
  41. /zed2/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions
  42. /zed2/zed_node/left/image_rect_color/compressedDepth/parameter_updates
  43. /zed2/zed_node/left/image_rect_color/theora
  44. /zed2/zed_node/left/image_rect_color/theora/parameter_descriptions
  45. /zed2/zed_node/left/image_rect_color/theora/parameter_updates
  46. /zed2/zed_node/left/image_rect_gray
  47. /zed2/zed_node/left/image_rect_gray/compressed
  48. /zed2/zed_node/left/image_rect_gray/compressed/parameter_descriptions
  49. /zed2/zed_node/left/image_rect_gray/compressed/parameter_updates
  50. /zed2/zed_node/left/image_rect_gray/compressedDepth
  51. /zed2/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions
  52. /zed2/zed_node/left/image_rect_gray/compressedDepth/parameter_updates
  53. /zed2/zed_node/left/image_rect_gray/theora
  54. /zed2/zed_node/left/image_rect_gray/theora/parameter_descriptions
  55. /zed2/zed_node/left/image_rect_gray/theora/parameter_updates
  56. /zed2/zed_node/left_cam_imu_transform
  57. /zed2/zed_node/left_raw/camera_info
  58. /zed2/zed_node/left_raw/image_raw_color
  59. /zed2/zed_node/left_raw/image_raw_color/compressed
  60. /zed2/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions
  61. /zed2/zed_node/left_raw/image_raw_color/compressed/parameter_updates
  62. /zed2/zed_node/left_raw/image_raw_color/compressedDepth
  63. /zed2/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions
  64. /zed2/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates
  65. /zed2/zed_node/left_raw/image_raw_color/theora
  66. /zed2/zed_node/left_raw/image_raw_color/theora/parameter_descriptions
  67. /zed2/zed_node/left_raw/image_raw_color/theora/parameter_updates
  68. /zed2/zed_node/left_raw/image_raw_gray
  69. /zed2/zed_node/left_raw/image_raw_gray/compressed
  70. /zed2/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions
  71. /zed2/zed_node/left_raw/image_raw_gray/compressed/parameter_updates
  72. /zed2/zed_node/left_raw/image_raw_gray/compressedDepth
  73. /zed2/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
  74. /zed2/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates
  75. /zed2/zed_node/left_raw/image_raw_gray/theora
  76. /zed2/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions
  77. /zed2/zed_node/left_raw/image_raw_gray/theora/parameter_updates
  78. /zed2/zed_node/odom
  79. /zed2/zed_node/parameter_descriptions
  80. /zed2/zed_node/parameter_updates
  81. /zed2/zed_node/path_map
  82. /zed2/zed_node/path_odom
  83. /zed2/zed_node/point_cloud/cloud_registered
  84. /zed2/zed_node/pose
  85. /zed2/zed_node/pose_with_covariance
  86. /zed2/zed_node/rgb/camera_info
  87. /zed2/zed_node/rgb/image_rect_color
  88. /zed2/zed_node/rgb/image_rect_color/compressed
  89. /zed2/zed_node/rgb/image_rect_color/compressed/parameter_descriptions
  90. /zed2/zed_node/rgb/image_rect_color/compressed/parameter_updates
  91. /zed2/zed_node/rgb/image_rect_color/compressedDepth
  92. /zed2/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions
  93. /zed2/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates
  94. /zed2/zed_node/rgb/image_rect_color/theora
  95. /zed2/zed_node/rgb/image_rect_color/theora/parameter_descriptions
  96. /zed2/zed_node/rgb/image_rect_color/theora/parameter_updates
  97. /zed2/zed_node/rgb/image_rect_gray
  98. /zed2/zed_node/rgb/image_rect_gray/compressed
  99. /zed2/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions
  100. /zed2/zed_node/rgb/image_rect_gray/compressed/parameter_updates
  101. /zed2/zed_node/rgb/image_rect_gray/compressedDepth
  102. /zed2/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions
  103. /zed2/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates
  104. /zed2/zed_node/rgb/image_rect_gray/theora
  105. /zed2/zed_node/rgb/image_rect_gray/theora/parameter_descriptions
  106. /zed2/zed_node/rgb/image_rect_gray/theora/parameter_updates
  107. /zed2/zed_node/rgb_raw/camera_info
  108. /zed2/zed_node/rgb_raw/image_raw_color
  109. /zed2/zed_node/rgb_raw/image_raw_color/compressed
  110. /zed2/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions
  111. /zed2/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates
  112. /zed2/zed_node/rgb_raw/image_raw_color/compressedDepth
  113. /zed2/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
  114. /zed2/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates
  115. /zed2/zed_node/rgb_raw/image_raw_color/theora
  116. /zed2/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions
  117. /zed2/zed_node/rgb_raw/image_raw_color/theora/parameter_updates
  118. /zed2/zed_node/rgb_raw/image_raw_gray
  119. /zed2/zed_node/rgb_raw/image_raw_gray/compressed
  120. /zed2/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions
  121. /zed2/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates
  122. /zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth
  123. /zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
  124. /zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
  125. /zed2/zed_node/rgb_raw/image_raw_gray/theora
  126. /zed2/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions
  127. /zed2/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates
  128. /zed2/zed_node/right/camera_info
  129. /zed2/zed_node/right/image_rect_color
  130. /zed2/zed_node/right/image_rect_color/compressed
  131. /zed2/zed_node/right/image_rect_color/compressed/parameter_descriptions
  132. /zed2/zed_node/right/image_rect_color/compressed/parameter_updates
  133. /zed2/zed_node/right/image_rect_color/compressedDepth
  134. /zed2/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions
  135. /zed2/zed_node/right/image_rect_color/compressedDepth/parameter_updates
  136. /zed2/zed_node/right/image_rect_color/theora
  137. /zed2/zed_node/right/image_rect_color/theora/parameter_descriptions
  138. /zed2/zed_node/right/image_rect_color/theora/parameter_updates
  139. /zed2/zed_node/right/image_rect_gray
  140. /zed2/zed_node/right/image_rect_gray/compressed
  141. /zed2/zed_node/right/image_rect_gray/compressed/parameter_descriptions
  142. /zed2/zed_node/right/image_rect_gray/compressed/parameter_updates
  143. /zed2/zed_node/right/image_rect_gray/compressedDepth
  144. /zed2/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions
  145. /zed2/zed_node/right/image_rect_gray/compressedDepth/parameter_updates
  146. /zed2/zed_node/right/image_rect_gray/theora
  147. /zed2/zed_node/right/image_rect_gray/theora/parameter_descriptions
  148. /zed2/zed_node/right/image_rect_gray/theora/parameter_updates
  149. /zed2/zed_node/right_raw/camera_info
  150. /zed2/zed_node/right_raw/image_raw_color
  151. /zed2/zed_node/right_raw/image_raw_color/compressed
  152. /zed2/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions
  153. /zed2/zed_node/right_raw/image_raw_color/compressed/parameter_updates
  154. /zed2/zed_node/right_raw/image_raw_color/compressedDepth
  155. /zed2/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions
  156. /zed2/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates
  157. /zed2/zed_node/right_raw/image_raw_color/theora
  158. /zed2/zed_node/right_raw/image_raw_color/theora/parameter_descriptions
  159. /zed2/zed_node/right_raw/image_raw_color/theora/parameter_updates
  160. /zed2/zed_node/right_raw/image_raw_gray
  161. /zed2/zed_node/right_raw/image_raw_gray/compressed
  162. /zed2/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions
  163. /zed2/zed_node/right_raw/image_raw_gray/compressed/parameter_updates
  164. /zed2/zed_node/right_raw/image_raw_gray/compressedDepth
  165. /zed2/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
  166. /zed2/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates
  167. /zed2/zed_node/right_raw/image_raw_gray/theora
  168. /zed2/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions
  169. /zed2/zed_node/right_raw/image_raw_gray/theora/parameter_updates
  170. /zed2/zed_node/stereo/image_rect_color
  171. /zed2/zed_node/stereo/image_rect_color/compressed
  172. /zed2/zed_node/stereo/image_rect_color/compressed/parameter_descriptions
  173. /zed2/zed_node/stereo/image_rect_color/compressed/parameter_updates
  174. /zed2/zed_node/stereo/image_rect_color/compressedDepth
  175. /zed2/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions
  176. /zed2/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates
  177. /zed2/zed_node/stereo/image_rect_color/theora
  178. /zed2/zed_node/stereo/image_rect_color/theora/parameter_descriptions
  179. /zed2/zed_node/stereo/image_rect_color/theora/parameter_updates
  180. /zed2/zed_node/stereo_raw/image_raw_color
  181. /zed2/zed_node/stereo_raw/image_raw_color/compressed
  182. /zed2/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions
  183. /zed2/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates
  184. /zed2/zed_node/stereo_raw/image_raw_color/compressedDepth
  185. /zed2/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
  186. /zed2/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates
  187. /zed2/zed_node/stereo_raw/image_raw_color/theora
  188. /zed2/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions
  189. /zed2/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
  190. /zed2/zed_node/temperature/imu
  191. /zed2/zed_node/temperature/left
  192. /zed2/zed_node/temperature/right

4. 查看识别结果

笔记本显卡占用96%

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