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guangpo_lidar's Introduction

光珀项目感知算法

功能包guangpo_yolo

使用rk3588运行yolov5，订阅图像数据，识别电梯 再根据识别到的人和电梯，得到电梯的拥挤度

具体拥挤度原理： 识别电梯和人后，根据高度进行单目深度估计 根据估计到的深度和相机内参得到相机坐标系下的3d位置 然后电梯和人距离在一定范围内，可以认定有关联

功能包image_saver

订阅图像数据，生成图片，方便录制数据包后标定数据

配置文件在对应包路径下的yaml_config/yaml_config.yaml文件中，可以配置：

  1. 订阅的话题
  2. 间隔多少帧生成一张图片
  3. 生成文件的保存路径

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