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[観光むけ] カメラ切り替え機能 #219

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tmori opened this issue May 8, 2024 · 4 comments

Closed

6 tasks done

Tracked by

[観光むけ] カメラ切り替え機能 #219

tmori opened this issue May 8, 2024 · 4 comments

Contributor

tmori commented May 8, 2024 •

edited

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コメント

ドローンの角度に依存しない
可動できる（チルト方向）
上は15度
下は90度

作業タスク

tmori mentioned this issue

[観光ドローン] タスクリスト #221

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8 tasks

Contributor Author

tmori commented Jun 19, 2024

ボタンの仕様

U：b11
D：b12
L：b13
R：b14

Contributor Author

tmori commented Jun 19, 2024 •

edited

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通信仕様

https://github.com/toppers/hakoniwa-ros2pdu/blob/main/workspace/src/hako_msgs/msg/GameControllerOperation.msg

変更前：

float64[4] axis
bool[4] button

変更後：

float64[6] axis
bool[14] button

Contributor Author

tmori commented Jun 19, 2024

AirSim Python API

https://cosys-lab.github.io/image_apis/

Contributor Author

tmori commented Jun 20, 2024

HakoSim Python API案

AirSim:

client.simSetCameraOrientation(0, airsim.to_quaternion(0.261799, 0, 0)); #radians

HakoSim：

単位はdegreeの方がわかりやすい
変更できるのはピッチだけなので、ロール、ヨーは変更できなくて良い（誤解されたくない）

以上をまとめると、

deg = 10
client.simSetCameraOrientation(0, deg)

座標系はNED。

tmori closed this as completed

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