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gaze [2018/07/10 11:18]
bvandepo [Paquets pour python]
gaze [2018/09/10 16:37]
bvandepo
Ligne 241: Ligne 241:
   make preinstall   make preinstall
   sudo make install   sudo make install
 +  ​
 +  ​
 +=====Utilisation Ros de Thomas=====
 +compilation de tous les noeuds
 +  cd /​home/​tdedieu/​catkin_ws/​
 +  catkin_make
 +
 +noeud camera:
 +  roscd ueye_cam/
 +pour banc stereo + camera scene
 +  roslaunch ueye_cam master_slaves_tdedieu.launch
 +ou pour  camera scene seule
 +  roslaunch ueye_cam master_slaves_rgb8.launch
 +
 +  rostopic list
 +<file txt listtopic.txt>​
 +/rosout
 +/rosout_agg
 +/​scene/​camera_info
 +/​scene/​image_raw
 +/​scene/​image_raw/​compressed
 +/​scene/​image_raw/​compressed/​parameter_descriptions
 +/​scene/​image_raw/​compressed/​parameter_updates
 +/​scene/​image_raw/​compressedDepth
 +/​scene/​image_raw/​compressedDepth/​parameter_descriptions
 +/​scene/​image_raw/​compressedDepth/​parameter_updates
 +/​scene/​image_raw/​theora
 +/​scene/​image_raw/​theora/​parameter_descriptions
 +/​scene/​image_raw/​theora/​parameter_updates
 +/​stereo/​left/​camera_info
 +/​stereo/​left/​image_raw
 +/​stereo/​left/​image_raw/​compressed
 +/​stereo/​left/​image_raw/​compressed/​parameter_descriptions
 +/​stereo/​left/​image_raw/​compressed/​parameter_updates
 +/​stereo/​left/​image_raw/​compressedDepth
 +/​stereo/​left/​image_raw/​compressedDepth/​parameter_descriptions
 +/​stereo/​left/​image_raw/​compressedDepth/​parameter_updates
 +/​stereo/​left/​image_raw/​theora
 +/​stereo/​left/​image_raw/​theora/​parameter_descriptions
 +/​stereo/​left/​image_raw/​theora/​parameter_updates
 +/​stereo/​right/​camera_info
 +/​stereo/​right/​image_raw
 +/​stereo/​right/​image_raw/​compressed
 +/​stereo/​right/​image_raw/​compressed/​parameter_descriptions
 +/​stereo/​right/​image_raw/​compressed/​parameter_updates
 +/​stereo/​right/​image_raw/​compressedDepth
 +/​stereo/​right/​image_raw/​compressedDepth/​parameter_descriptions
 +/​stereo/​right/​image_raw/​compressedDepth/​parameter_updates
 +/​stereo/​right/​image_raw/​theora
 +/​stereo/​right/​image_raw/​theora/​parameter_descriptions
 +/​stereo/​right/​image_raw/​theora/​parameter_updates
 +/​ueye_cam_nodelet_left/​parameter_descriptions
 +/​ueye_cam_nodelet_left/​parameter_updates
 +/​ueye_cam_nodelet_right/​parameter_descriptions
 +/​ueye_cam_nodelet_right/​parameter_updates
 +/​ueye_cam_nodelet_scene/​parameter_descriptions
 +/​ueye_cam_nodelet_scene/​parameter_updates
 +</​file>​
 +
 +pour visualiser /​scene/​image_raw
 +  roslaunch ueye_cam view_scene.launch ​
 +  roslaunch ueye_cam view_stereo.launch  ​
 +  roslaunch ueye_cam view_me.launch ​
 +
 +
 +roscd eye_tracker/​
 +pwd
 +  /​home/​tdedieu/​catkin_ws/​src/​eye_tracker
 +
 +  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch ​
 + 
 +  cd src/
 +  atom eye_tracker_nodelet.cpp &
 +
 +
 +
 +eye_tracker echoue si image trop sombre: augmenter la duree d'​exposition et/ou baisser le frame rate dans le script launch:
 +  master_slaves_tdedieu.launch
 +    <param name="​exposure"​ type="​double"​ value="​100.0"​ />
 +  <param name="​frame_rate"​ type="​double"​ value="​30.0"​ /> <!-- frame rate settings are ignored in camera_ext_trigger_mode -->
 +  ​
 +
 +pour visualiser les ellipses extraites
 +   ​roslaunch eye_tracker view_pupils.launch
 +
 +
 +pour detection des tags:
 +  roslaunch camera_scene_detection scene.launch
 + roscd camera_scene_detection/​
 +
 +  cd src/  ​
 +  atom camera_scene_detection_nodelet.cpp &
 +
 +
 +
 +noeud optimisation stereo: (dans le paquet eye_tracker)
 +eye_tracker ->​MainTriangulatePupils
 +les messages pupilles sont connus grace a import pupil2D as p2d
 +definis dans  /​home/​tdedieu/​catkin_ws/​src/​eye_tracker/​msg/​Pupil_2D.msg
 +
 +
 +actuellement le noeuds attend 1 message par camera ->​probleme de synchro -> il faudra faire un nodelets qui recupere les pixels candidats pour les 2 cameras et les met dans un seul message.
 +
 +  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch ​
 +et 
 +  roslaunch eye_tracker tri_eye_tracker_stereo.launch
 +
 +pour la synchronisation des messages:
 +  ajouter en sudo nano /​opt/​ros/​kinetic/​lib/​python2.7/​dist-packages/​message_filters/​__init__.py
 +
 +<file txt __init__.py>​
 +"""​
 +Message Filter Objects
 +======================
 +"""​
 +
 +
 +from functools import reduce
 +</​file>​
 +
 +
gaze.txt · Dernière modification: 2018/09/10 17:30 par bvandepo