通过无人机机载摄像头构建建筑物 3D 模型

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《一》实现步骤:
(1)启动 Gazebo 模拟器;
(2)起飞无人机并开始录制一个 rosbag;
(3)控制无人机围绕建筑物绕圆周飞行一圈;
(4)停止 rosbag 录制并使用提供的脚本提取图片;
(5)使用提供的网站构建模型

 

前期准备:
(1)更新GAAS
1)改变路径到GAAS 所在的路径或者在GAAS 打开终端

 

cd /home/yyl/catkin_ws/GAAS 

 

2)更新

 

git pull origin master

 

3)将 Gazebo 仿真用到的文件拷贝到 PX4 文件所在目录中

 

cp -r /home/yyl/catkin_ws/GAAS/simulator/launch/* ~/catkin_ws/src/Firmware/launch/
cp -r /home/yyl/catkin_ws/GAAS/simulator/models/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/models/
cp -r /home/yyl/catkin_ws/GAAS/simulator/worlds/* ~/catkin_ws/src/Firmware/Tools/sitl_gazebo/worlds/
cp -r /home/yyl/catkin_ws/GAAS/simulator/posix-config/* ~/catkin_ws/src/Firmware/posix-configs/SITL/init/ekf2/

 

 

《二》启动仿真

 

roslaunch px4 sfm.launch

 

1

 

检查MAVROS 的连接情况:

 

rostopic echo /mavros/state

 

2

 

通过 Rviz 来查看发布出来的摄像头图片:

 

rviz

 

选择 “Add”->“by topic”->”/gi/simulation/left/image_raw“

订阅并存储左目摄像头的信息:

 

rosbag record /gi/simulation/left/image_raw -O sfm.bag

 

起飞无人机:

 

python  /home/yyl/catkin_ws/GAAS/demo/tutorial_2/2_Struction_from_Motion/px4_mavros_run.py

 

脚本控制无人机围绕圆形飞行:

 

python /home/yyl/catkin_ws/GAAS/demo/tutorial_2/fly_circle.py

 

将 rosbag 中的图片信息提取出来

 

 python /home/yyl/catkin_ws/GAAS/demo/tutorial_2/2_Struction_from_Motion/bag2image.py --bag /home/yyl/sfm.bag  --output_path /home/yyl/picture --image_topic /gi/simulation/left/image_raw

 

选择图片并上传

aviation.giai.tech

即可构建模型

具体教程见:https://gaas.gitbook.io/guide/software-realization-build-your-own-autonomous-drone/wu-ren-ji-zi-dong-jia-shi-xi-lie-tong-guo-wu-ren-ji-ji-zai-she-xiang-tou-gou-jian-jian-zhu-wu-3d-mo

我实现的效果:

 

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