Vision Landing 2 #125
Vision Landing 2 #125
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kripper
commented
Mar 20, 2023
kripper
commented
- Implements AprilTags
- Supports multiple markers pointing to a relative Landing Point (not necessarily placed on a marker center). This also prevents bouncing between marker centers.
- Adds a JSON config file (but old config file has not been migrated yet).
- Kills the track_targets sub process if vision_landing crashes.
- Implements alternative input using a named pipe frame grabber
- Many bug fixes
- Implement AprilTags - Support multiple markers pointing to a relative Landing Point (not necessarily placed on a marker center). This also prevents bouncing between marker centers. - Add JSON config file - Kills the track_targets sub process if vision_landing crashes. - Implements alternative input using a named pipe frame grabber - Many bug fixes
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This is great thanks :) |
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You're welcome. |
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So does |
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No. The python "front end" is still used to receive the tracked data from the detector "back end". We are now dealing with your "Psycho Wasp Syndrome" issue (BTW, why this name?): Also take a look here: There are references to EKF implementations and maths. |
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@kripper - I've just noticed that vision_landing is marked as GPL3 which is a mistake - all goodrobots code is supposed to be MIT. I'm going to relicense the code, so if you would like to re-fork and patch after the relicensing that's your choice obviously. Generally more permissive licensing is better, at least from our point of view :) |
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Ok |
- See README for instructions - marker size arg is now optional (should be deprecated)
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Added --get-offset and more instruciones in the README. |
vision_landing: - Integrated SmartLanding algorithm framework (for computing landing trajectory and analyzing drone dynamics, generate real time graphs, etc) - Added "stats" class to measure drone dynamics - Use drone's yaw (sent together with the image) - Added state machine to perform dynamic tests and perform landing. - Fixed signal handling for clean shutdown. - Enhanced console messaging track_targets.cpp: - Moved apriltag.* sources (changed directory structure) - Replaced piped-buffer for raw tcp video receiver config.json: - Updated configuration for detecting new mavlink-camera-simulator's AprilTag
TODO: Repeat calibration, since it wasn't optimal.
- Added maxLandingAltitude - Added code to take off and ascend - Exit after landing - check if track_targets is not running - run track_targets independent of cwd - include SmartLanding module independent of cwd
