integration:ros
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
integration:ros [2022/07/08 11:39] – [Mediapipe specific topics and types] oliver | integration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] oliver | ||
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Zeile 45: | Zeile 45: | ||
^ rosheader | The timestamp from the ROS-header is used.| | ^ rosheader | The timestamp from the ROS-header is used.| | ||
^ autoarrive | As an estimation the time at which a frame arrives JDAQ is used. | | ^ autoarrive | As an estimation the time at which a frame arrives JDAQ is used. | | ||
- | ^ autofix | The configured sample rate is used as a basis and it is assumed | + | ^ autofix | From the configured sample rate delata_T |
====UR specific topics==== | ====UR specific topics==== | ||
Zeile 124: | Zeile 124: | ||
</ | </ | ||
- | ====Mediapipe | + | ====Mediapipe ==== |
- | ^ Topic Type ^ Topic ^ Description | + | The BLAZE model of media type includes 33 positions. The coordinates of these positions are defined relativ to the pelvis center of the BLAZE model but given in a coordinate system of the camera with x,y-axes in the picture plane of the camera and z upright to this plane. All coordinates are given in the unit [m]. |
- | ^ geometry_msgs.PoseArray | + | |
+ | A second set of positions called global positions are determined from the mediapipe raw data as follows: The left corner of the camera defines the origin of a coordinate system. x, | ||
+ | |||
+ | ===Mediapipe specific topics and types === | ||
+ | ^ Topic Type ^ Topic ^ Description ^ Unit ^ | ||
+ | ^ geometry_msgs.PoseArray | ||
+ | ** | ||
+ | Example configuration fragment: | ||
+ | |||
+ | <code xml> | ||
+ | < | ||
+ | |||
+ | <!-- Proprietaere Properties muessen als Property-Element eingefuegt werden --> | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | |||
+ | < | ||
+ | |||
+ | < | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | </ | ||
+ | </ | ||
+ | |||
+ | </ | ||
+ | ... | ||
+ | </ | ||
+ | <code xml> | ||
+ | </ | ||
====How to add unknown topics?==== | ====How to add unknown topics?==== | ||
If the message type of the topic is known, integration works with the following steps: | If the message type of the topic is known, integration works with the following steps: | ||
integration/ros.txt · Zuletzt geändert: 2022/07/25 09:54 von oliver