# camera_detect

**Repository Path**: myboyhood/camera_detect

## Basic Information

- **Project Name**: camera_detect
- **Description**: For UAV desired position planning and publish by ROS
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: kun_uav
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-12-26
- **Last Updated**: 2023-09-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

camera_detect
==================

## Note 
This repository is modified from [xiancaiguazi/camera_detect](https://gitee.com/xiancaiguazi/camera_detect/tree/devel/)

## Update
1. **[Add Function]** trajectory offline visualization and online visualization

## Usage
1. generate a trajectory using [visensor_simulator_cius](https://gitee.com/myboyhood/visensor_simulator_cius)
, Example:
```shell
python waypoints_8_size_generator.py -o '/home/zph/ros_ws/aruco_ws/src/camera_detect/cfg/full_waypoint_0_size8_circle.csv' -r 0.5  -ox 0.5 -oy 0 -oz 0
```

2. modify the precompile options `path_follow_preview.cpp` to switch the mode by
```c++
#define OFFLINE_PREVIEW
//#define ONLINE_PREVIEW
```

3. To run the code by
```shell
roslaunch camera_detect path_follow_preview.launch
``` 

4. Open the Rviz to see the trajectory
```shell
rviz -d ~/ros_ws/aruco_ws/src/camera_detect/rviz/path_follow_preview.rviz
```