DEPRECATED CODE

For more info visit

wiki: https://wiki.searchwing.org/en/home/Development/Payload-Camera/searchwing-bilderkennung

ComputerVision for searchwing drones

• Left: 3D View
  • "Cam": 3D-Position and orientation of drone camera
  • Pink points: the visible area in the image
  • Coordinates: possible tracked boats with their ID
• Right: 2D View
  • Yellow boxes: Regions of Interest(ROIs) in the current image which will be associated to existing trackings
  • Red boxes: ROIs in the image which are too big
  • Green crosses: Tracked positions (with ID) which got recognized over several frames and therefore considered as boats
  • Blue crosses: Tracked positions which were created in previous frames

Install dependencies

Python 2.7

Install Opencv3 for python 2.7:

python -m pip install opencv-python

ROS

ROS handles the communication between the different modules, transforms 3d-data and provides a handy 3d visualization for development

• Short introduction to ROS
• Install a ros-desktop-version for your specific OS : http://wiki.ros.org/melodic/Installation

Build/integrate src to ros framework

• create a catkin_workspace to compile the ros-specific code: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
• git clone this repo

cd /catkin_ws/src/
https://github.com/searchwingCV/droneCamBoatDetector.git

• Compile/install

cd /catkin_ws  
catkin_make install
source /catkin_ws/devel/setup.bash

• Download the bodenSee2018HalfRes.bag dataset: https://cloud.hs-augsburg.de/index.php/s/fgXNLN2Qza6ercr

Run on the bodensee-dataset

• New Terminal: Start roscore

roscore

• New Terminal: Start dataset playbag.

cd datasetDownloadPath
rosbag play bodenSee2018HalfRes.bag --clock --start=0 --rate=2

• New Terminal: Setup environment:

source /catkin_ws/devel/setup.bash

Start boatdetector:

roslaunch searchwing bodenseeDataset.launch

Now you should see the detections in rviz like in the screenshot above.

If you want to edit/start/debug the boadDetectorNode.py with a editor, please ensure you run

rosparam set use_sim_time true

before you start the editor in the terminal. Also comment out the start of the node in the bodenseeDataset.launch file.