StereoWedgeBug #2555
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StereoWedgeBug #2555
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On branch stereoCamerasNewDrone Changes to be committed: new file: conf/userconf/tudelft/ralphthesis2020_conf.xml new file: conf/userconf/tudelft/ralphthesis2020_control_panel.xml
On branch stereoCamerasNewDrone Changes to be committed: new file: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml new file: conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml modified: conf/simulator/gazebo/airframes/bebop_w_stereo_cams.xml modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/model.config modified: conf/userconf/tudelft/ralphthesis2020_conf.xml
On branch stereoCamerasNewDrone Changes to be committed: modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf
On branch stereoCamerasNewDrone Changes to be committed: modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf
…hthesis2020_stereo.xml" Also, used "make" to create tool for creating modules On branch wedgeBug Your branch is up to date with 'origin/wedgeBug'. Changes to be committed: modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml new file: conf/modules/wedgebug.xml modified: conf/userconf/tudelft/ralphthesis2020_conf.xml new file: sw/airborne/modules/wedgebug/wedgebug.c new file: sw/airborne/modules/wedgebug/wedgebug.h new file: sw/tools/create_module/create_module_ui.py new file: sw/tools/create_module/datalink_ui.py new file: sw/tools/create_module/event_ui.py modified: sw/tools/create_module/files_create.py new file: sw/tools/create_module/init_ui.py new file: sw/tools/create_module/periodic_ui.py
…ariables On branch wedgeBug Your branch is ahead of 'origin/wedgeBug' by 1 commit. Changes to be committed: modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml modified: conf/modules/wedgebug.xml modified: conf/simulator/gazebo/models/bebop_w_stereo_cams/bebop_w_stereo_cams.sdf modified: sw/airborne/modules/wedgebug/wedgebug.c
…oks different to the left image
… entries by incrementing pointer) Changes to be committed: deleted: Color_Image.jpg modified: conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml deleted: merged_stereo_image.jpg modified: sw/airborne/modules/wedgebug/wedgebug.c modified: sw/airborne/modules/wedgebug/wedgebug.h modified: sw/airborne/modules/wedgebug/wedgebug_opencv.cpp modified: sw/airborne/modules/wedgebug/wedgebug_opencv.h
…saving gray images using openCV
…d cropping image functionality of block matching function.
…and a new type called "IMAGE_OPENCV_DISP" was added, specifically for OpenCV disparity images.
…3d point structure to image.h 3) Loop in wedebug.c for findin edge point closest to target.
…urned out to be a wrong implementation. Next commit will be the correct implementation)
… drone testing, 4. Created state machine template in module 5. Debugged the "SBM_OCV" function 6. Filled in the state for "Initial position", "Move to start", "Start position" and "Goal reached" 7. Started to fill in the state "Move to goal" 8. Created function to get median distance of object in front ("median_disparity_to_point") 9. Created function to determine angle between drone and goal point ("heading_towards_waypoin") 10. Cleaned up code, removed non-essential variables (especially images) and added new variables.
…ore. Also created more global variables.
… the goal. Also increase periodic loop speed to 15 hz to counter the fast turning of the drone
…d the code some more.
…id of bug in function calculating heading direction.
… set, after an obstacle was encountered. Also added various shapes (with birck texture) for testing.
… based on disparity). It works relatively ok with all shapes investigated.
…i.e. more precise distance measurement)
…coordinates2 function. Additionally, added function to got from image place coordinates to camera coordinate using depth as input. Lastly, depth is now measured in cm when considerring the thresholds.
…rity image (tested in direct control mode only). Next step is to implement this for the guided mode.
…as in the c file. This has been changed such that the baseline in the drone model now resembles the one in the c file. By addressing this bug of the Bug algorithm the drone can now judge distances accurately. This in turn results in the drone being able to accurately avoid the wall (2mxm) obstacle.
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I am trying to merge a first attempt at creating a 3D WedgeBug algorithm for path planning and obstacle avoidance. The integration is based on the publications by Laubach 1999 and Kamon 1999. Also, a hypothetical virtual Bebop drone with stereo vision was created for this.