11.28 zed yolo ros 练习

将代码放在了catkin_ws->src->robot_vision->scripts 【以后都把代码放在这里】

连Zed相机

在/usr/local/zed/tools中，运行./ZED_Diagnostic

【如何找到local文件夹：other locations->computer->usr->local->zed->tools】

项目一：

项目一代码darknet_zed.py 识别物体 加边框 标签 距离

项目一权重放的位置zed-yolo->Libdarknet下yolov3.weights和yolov3-tiny.weights

Yolo、ROS与Zed的结合

【Q1】连相机的过程中出现错误：cuda不见了（可能是之前运行过程中突然会崩）

yingyuxi@yingyuxi-GE66-Raider-10SF:/usr/local/cuda/samples/1_Utilities/deviceQuery$ ./deviceQuery
./deviceQuery Starting...

CUDA Device Query (Runtime API) version (CUDART static linking)

cudaGetDeviceCount returned 999
-> unknown error
Result = FAIL

解决方法：

$ sudo apt-get update (有事没事就更新）

然后重启

cd进入/usr/local/cuda/samples/1_Utilities/deviceQuery文件夹（Cuda的相关文件夹）

yingyuxi@yingyuxi-GE66-Raider-10SF:/usr/local/cuda/samples/1_Utilities/deviceQuery$ sudo make clean

yingyuxi@yingyuxi-GE66-Raider-10SF:/usr/local/cuda/samples/1_Utilities/deviceQuery$ sudo make

yingyuxi@yingyuxi-GE66-Raider-10SF:/usr/local/cuda/samples/1_Utilities/deviceQuery$ ./deviceQuery

这三步检验cuda是否安装成功

调用摄像头 跑代码

yingyuxi@yingyuxi-GE66-Raider-10SF:~/catkin_ws$ roscore

再打开另一个终端

yingyuxi@yingyuxi-GE66-Raider-10SF:~ cd catkin_ws yingyuxi@yingyuxi-GE66-Raider-10SF:~/catkin_ws rosrun robot_vision darknet_zed.py

按Q退出

项目二：Yolo

./darknet detect cfg/yolov4.cfg yolov4.weights data/dog.jpg 【要进入darknet文件夹下cd开终端】
./darknet detector demo cfg/coco.data cfg/yolov4.cfg yolov4.weights -i 0 -thresh 0.25

选中框按esc退出

项目三：用ROS调用ZED

参考：https://www.stereolabs.com/docs/ros/
在wandorbot_ws/src中 git clone https://github.com/stereolabs/zed-ros-wrapper.git 与 git clone https://github.com/stereolabs/zed-ros-examples.git
cd .. ; rosdep install --from-paths src --ignore-src -r -y.

或者在src文件夹下：rosdep install -y --from-paths ~/wanderbot/src --ignore-src -r
catkin_make -DCMAKE_BUILD_TYPE=Release

如上述语句不行，则直接catkin_make
完成后source devel/setup.bash

执行以下几步：

yingyuxi@yingyuxi-GE66-Raider-10SF:~/wanderbot_ws$ source devel/setup.bash

roslaunch zed_wrapper zed2.launch

重开终端
yingyuxi@yingyuxi-GE66-Raider-10SF:~/wanderbot_ws source devel/setup.bash 在Rviz下可视化：/wanderbot_wsroslaunch zed_display_rviz display_zed2.launch 【调用rviz可视化之前要关闭所有占用zed的东西】

调用Zed的各个topic：
在 roslaunch zed_wrapper zed2.launch 之后，在 另一个终端 运行 rostopic list 查看已发布的话题名称，运行rostopic echo /xx/xxx查看订阅话题的输出信息 【不用在哪个文件夹下】

以下为列出的话题（别看）

yingyuxi@yingyuxi-GE66-Raider-10SF:~/wanderbot_ws$ rostopic list
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static
/zed2/joint_states
/zed2/zed_node/atm_press
/zed2/zed_node/confidence/confidence_map
/zed2/zed_node/depth/camera_info
/zed2/zed_node/depth/depth_registered
/zed2/zed_node/depth/depth_registered/compressed
/zed2/zed_node/depth/depth_registered/compressed/parameter_descriptions
/zed2/zed_node/depth/depth_registered/compressed/parameter_updates
/zed2/zed_node/depth/depth_registered/compressedDepth
/zed2/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions
/zed2/zed_node/depth/depth_registered/compressedDepth/parameter_updates
/zed2/zed_node/depth/depth_registered/theora
/zed2/zed_node/depth/depth_registered/theora/parameter_descriptions
/zed2/zed_node/depth/depth_registered/theora/parameter_updates
/zed2/zed_node/disparity/disparity_image
/zed2/zed_node/imu/data
/zed2/zed_node/imu/data_raw
/zed2/zed_node/imu/mag
/zed2/zed_node/left/camera_info
/zed2/zed_node/left/image_rect_color
/zed2/zed_node/left/image_rect_color/compressed
/zed2/zed_node/left/image_rect_color/compressed/parameter_descriptions
/zed2/zed_node/left/image_rect_color/compressed/parameter_updates
/zed2/zed_node/left/image_rect_color/compressedDepth
/zed2/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions
/zed2/zed_node/left/image_rect_color/compressedDepth/parameter_updates
/zed2/zed_node/left/image_rect_color/theora
/zed2/zed_node/left/image_rect_color/theora/parameter_descriptions
/zed2/zed_node/left/image_rect_color/theora/parameter_updates
/zed2/zed_node/left/image_rect_gray
/zed2/zed_node/left/image_rect_gray/compressed
/zed2/zed_node/left/image_rect_gray/compressed/parameter_descriptions
/zed2/zed_node/left/image_rect_gray/compressed/parameter_updates
/zed2/zed_node/left/image_rect_gray/compressedDepth
/zed2/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/left/image_rect_gray/compressedDepth/parameter_updates
/zed2/zed_node/left/image_rect_gray/theora
/zed2/zed_node/left/image_rect_gray/theora/parameter_descriptions
/zed2/zed_node/left/image_rect_gray/theora/parameter_updates
/zed2/zed_node/left_cam_imu_transform
/zed2/zed_node/left_raw/camera_info
/zed2/zed_node/left_raw/image_raw_color
/zed2/zed_node/left_raw/image_raw_color/compressed
/zed2/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_color/compressed/parameter_updates
/zed2/zed_node/left_raw/image_raw_color/compressedDepth
/zed2/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates
/zed2/zed_node/left_raw/image_raw_color/theora
/zed2/zed_node/left_raw/image_raw_color/theora/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_color/theora/parameter_updates
/zed2/zed_node/left_raw/image_raw_gray
/zed2/zed_node/left_raw/image_raw_gray/compressed
/zed2/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_gray/compressed/parameter_updates
/zed2/zed_node/left_raw/image_raw_gray/compressedDepth
/zed2/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates
/zed2/zed_node/left_raw/image_raw_gray/theora
/zed2/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions
/zed2/zed_node/left_raw/image_raw_gray/theora/parameter_updates
/zed2/zed_node/odom
/zed2/zed_node/parameter_descriptions
/zed2/zed_node/parameter_updates
/zed2/zed_node/path_map
/zed2/zed_node/path_odom
/zed2/zed_node/point_cloud/cloud_registered
/zed2/zed_node/pose
/zed2/zed_node/pose_with_covariance
/zed2/zed_node/rgb/camera_info
/zed2/zed_node/rgb/image_rect_color
/zed2/zed_node/rgb/image_rect_color/compressed
/zed2/zed_node/rgb/image_rect_color/compressed/parameter_descriptions
/zed2/zed_node/rgb/image_rect_color/compressed/parameter_updates
/zed2/zed_node/rgb/image_rect_color/compressedDepth
/zed2/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zed2/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates
/zed2/zed_node/rgb/image_rect_color/theora
/zed2/zed_node/rgb/image_rect_color/theora/parameter_descriptions
/zed2/zed_node/rgb/image_rect_color/theora/parameter_updates
/zed2/zed_node/rgb/image_rect_gray
/zed2/zed_node/rgb/image_rect_gray/compressed
/zed2/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions
/zed2/zed_node/rgb/image_rect_gray/compressed/parameter_updates
/zed2/zed_node/rgb/image_rect_gray/compressedDepth
/zed2/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates
/zed2/zed_node/rgb/image_rect_gray/theora
/zed2/zed_node/rgb/image_rect_gray/theora/parameter_descriptions
/zed2/zed_node/rgb/image_rect_gray/theora/parameter_updates
/zed2/zed_node/rgb_raw/camera_info
/zed2/zed_node/rgb_raw/image_raw_color
/zed2/zed_node/rgb_raw/image_raw_color/compressed
/zed2/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates
/zed2/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed2/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates
/zed2/zed_node/rgb_raw/image_raw_color/theora
/zed2/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_color/theora/parameter_updates
/zed2/zed_node/rgb_raw/image_raw_gray
/zed2/zed_node/rgb_raw/image_raw_gray/compressed
/zed2/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates
/zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth
/zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
/zed2/zed_node/rgb_raw/image_raw_gray/theora
/zed2/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions
/zed2/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates
/zed2/zed_node/right/camera_info
/zed2/zed_node/right/image_rect_color
/zed2/zed_node/right/image_rect_color/compressed
/zed2/zed_node/right/image_rect_color/compressed/parameter_descriptions
/zed2/zed_node/right/image_rect_color/compressed/parameter_updates
/zed2/zed_node/right/image_rect_color/compressedDepth
/zed2/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions
/zed2/zed_node/right/image_rect_color/compressedDepth/parameter_updates
/zed2/zed_node/right/image_rect_color/theora
/zed2/zed_node/right/image_rect_color/theora/parameter_descriptions
/zed2/zed_node/right/image_rect_color/theora/parameter_updates
/zed2/zed_node/right/image_rect_gray
/zed2/zed_node/right/image_rect_gray/compressed
/zed2/zed_node/right/image_rect_gray/compressed/parameter_descriptions
/zed2/zed_node/right/image_rect_gray/compressed/parameter_updates
/zed2/zed_node/right/image_rect_gray/compressedDepth
/zed2/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/right/image_rect_gray/compressedDepth/parameter_updates
/zed2/zed_node/right/image_rect_gray/theora
/zed2/zed_node/right/image_rect_gray/theora/parameter_descriptions
/zed2/zed_node/right/image_rect_gray/theora/parameter_updates
/zed2/zed_node/right_raw/camera_info
/zed2/zed_node/right_raw/image_raw_color
/zed2/zed_node/right_raw/image_raw_color/compressed
/zed2/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_color/compressed/parameter_updates
/zed2/zed_node/right_raw/image_raw_color/compressedDepth
/zed2/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates
/zed2/zed_node/right_raw/image_raw_color/theora
/zed2/zed_node/right_raw/image_raw_color/theora/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_color/theora/parameter_updates
/zed2/zed_node/right_raw/image_raw_gray
/zed2/zed_node/right_raw/image_raw_gray/compressed
/zed2/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_gray/compressed/parameter_updates
/zed2/zed_node/right_raw/image_raw_gray/compressedDepth
/zed2/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates
/zed2/zed_node/right_raw/image_raw_gray/theora
/zed2/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions
/zed2/zed_node/right_raw/image_raw_gray/theora/parameter_updates
/zed2/zed_node/stereo/image_rect_color
/zed2/zed_node/stereo/image_rect_color/compressed
/zed2/zed_node/stereo/image_rect_color/compressed/parameter_descriptions
/zed2/zed_node/stereo/image_rect_color/compressed/parameter_updates
/zed2/zed_node/stereo/image_rect_color/compressedDepth
/zed2/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions
/zed2/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates
/zed2/zed_node/stereo/image_rect_color/theora
/zed2/zed_node/stereo/image_rect_color/theora/parameter_descriptions
/zed2/zed_node/stereo/image_rect_color/theora/parameter_updates
/zed2/zed_node/stereo_raw/image_raw_color
/zed2/zed_node/stereo_raw/image_raw_color/compressed
/zed2/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions
/zed2/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates
/zed2/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed2/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed2/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates
/zed2/zed_node/stereo_raw/image_raw_color/theora
/zed2/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions
/zed2/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
/zed2/zed_node/temperature/imu
/zed2/zed_node/temperature/left
/zed2/zed_node/temperature/right

显示图像disparity信息：【视差图；相同颜色表示到相机距离相同】
rosrun image_view disparity_view image:=zed2/zed_node/disparity/disparity_image
调用节点：参考：