Vision application development

The P450 UAV's onboard computer comes preinstalled with SpireCV-Pro and spirecv-ros. Implementation of the vision functions mainly involves these two modules.

On the physical aircraft, their default paths are:

SpireCV-Pro：/home/amov/spirecv-pro
spirecv-ros：/home/amov/p450_experiment/src/spirecv-ros

SpireCV-Pro

SpireCV-Pro mainly provides functions such as reading video from the gimbal, performing visual detection and tracking based on images and videos, and publishing detection information. Internally, it uses the independently developed and controllable SpireMS as its messaging system, connecting the functional nodes to complete task flows. Information is exchanged with ROS programs mainly through forwarding nodes between SpireMS and ROS.

For details, see the SpireCV-Pro Wiki.

spirecv-ros

spirecv-ros mainly provides basic functions such as gimbal rotation control and status reading, and exposes ROS topics for gimbal control.

For details, see the spirecv-ros code framework.

Development recommendations

Refer to Gimbal rotation control to quickly implement gimbal rotation control and status reading. After becoming familiar with the gimbal control and status feedback interfaces, you can develop complex programs based on these basic functions.