cv_target_localization
Find georeferenced position of a target from visual detection. Targets position are reported using the MARK telemetry message to the ground. It is also possible to update the position of a waypoint based on the latest detection. Based on the VISUAL_DETECTION ABI message.
TARGET_LOC_ |
||
|---|---|---|
Name |
Value |
Description |
BODY_TO_CAM_PHI |
0. |
rotation between camera and body frame (phi angle) |
BODY_TO_CAM_THETA |
0. |
rotation between camera and body frame (theta angle) |
BODY_TO_CAM_PSI |
M_PI_2 |
rotation between camera and body frame (psi angle), by default the camera is placed in front and pointing down |
CAM_POS_X |
0. |
position of the camera in body frame |
CAM_POS_Y |
0. |
position of the camera in body frame |
CAM_POS_Z |
0. |
position of the camera in body frame |
PIXEL_TO_IMAGE_X |
0.001 |
conversion from pixel unit to m in image plane |
PIXEL_TO_IMAGE_Y |
0.001 |
conversion from pixel unit to m in image plane |
WP_T1 |
WP_XXXX |
associate waypoint XXXX to target 1 when using direct WP update from latest visual detection |
WP_T2 |
WP_XXXX |
associate waypoint XXXX to target 2 when using direct WP update from latest visual detection |
WP_T3 |
WP_XXXX |
associate waypoint XXXX to target 3 when using direct WP update from latest visual detection |
WP_T1_ID |
1 |
target 1 ID reported by ABI message |
WP_T2_ID |
2 |
target 2 ID reported by ABI message |
WP_T3_ID |
3 |
target 3 ID reported by ABI message |
ID |
ABI_BROADCAST |
select ABI message source |
JEVOIS_ALT |
FALSE|TRUE |
when used with Jevois smart camera, send current altitude to improve detection of object of known size |