Pr/add visual inspection cad

Visual_inspection/Visual_Inspection_system_Jetson_orin_nano/Evaluation_V_I_ws/COLLECTION_GUIDE.md

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+# Data Collection Guide
+
+---
+
+## Terminal Commands
+
+### Start Pipeline (every session)
+
+```bash
+# T1
+source /opt/ros/humble/setup.bash && source ~/Documents/Visual_Inspection_ws/inspection_ws/install/setup.bash
+ros2 run visual_inspection_ros camera_node
+
+# T2
+source /opt/ros/humble/setup.bash && source ~/Documents/Visual_Inspection_ws/inspection_ws/install/setup.bash
+ros2 run visual_inspection_ros servo_node
+
+# T3
+source /opt/ros/humble/setup.bash && source ~/Documents/Visual_Inspection_ws/inspection_ws/install/setup.bash
+ros2 run visual_inspection_ros ibvs_action_server
+
+# T4 — collection script
+python3 ~/Documents/Visual_Inspection_ws/evaluation/collect_dataset.py
+```
+
+### ROS Topic Monitor Commands
+
+```bash
+# Check all active topics
+ros2 topic list
+
+# Watch camera feed is running (should publish at 30Hz)
+ros2 topic hz /visual_inspection/insta360/image_raw
+
+# Watch Logitech camera
+ros2 topic hz /visual_inspection/logitech/image_raw
+
+# Watch YOLO detections
+ros2 topic echo /visual_inspection/detections
+
+# Watch current system status
+ros2 topic echo /visual_inspection/status
+
+# Watch IBVS error live
+ros2 topic echo /visual_inspection/ibvs_error
+
+# Check action server is ready
+ros2 action list
+
+# Open RViz to see camera feed
+rviz2
+# Then: Add → By Topic → /visual_inspection/debug → Image
+```
+
+### Check Collected Images
+
+```bash
+# Count all collected images
+find ~/Documents/Visual_Inspection_ws/evaluation/ -name "*.jpg" | wc -l
+
+# See folder breakdown
+find ~/Documents/Visual_Inspection_ws/evaluation/ -name "*.jpg" | \
+  sed 's|/[^/]*\.jpg||' | sort | uniq -c | sort -rn
+
+# Check latest capture
+ls -lt ~/Documents/Visual_Inspection_ws/captures/inspection/ | head -5
+
+# View capture log
+cat ~/Documents/Visual_Inspection_ws/evaluation/capture_log.csv
+```
+
+### SCP Images to Laptop
+
+```bash
+# Run on LAPTOP after each session
+scp -r rgen@192.168.8.181:~/Documents/Visual_Inspection_ws/evaluation/ \
+    /home/dinethra/Jetson_orin_nano/Evaluation_V_I_ws/eval_dataset/
+
+# Or just the log
+scp rgen@192.168.8.181:~/Documents/Visual_Inspection_ws/evaluation/capture_log.csv \
+    /home/dinethra/Jetson_orin_nano/Evaluation_V_I_ws/eval_dataset/capture_log.csv
+```
+
+---
+
+## Script Features
+
+Press `s` in the main menu to see a **progress bar** showing how many images in each folder.
+
+All sessions let you:
+- Type **any angle** (0 to 180°, any direction)
+- Type **any exact distance** you measured (e.g. 1.2m, 2.4m)
+- Type **how many images** you want at that position
+- Type **any occlusion %** you applied
+- Decide when you're done — `q` goes back to menu, `y` continues
+
+---
+
+## What to Collect Per Session
+
+### Session 1 — Reference
+- Pick object → robot at 1m, 0° → press ENTER
+- 5 images per object (fire_ext, gauge, door)
+
+### Session 2 — Angle
+- Pick ANY angle (0°, 15°, 30°, 45°, 60°, 90° etc.)
+- Pick L or R direction (covers full 180°)
+- Type actual measured distance (can vary ±20cm per position)
+- 10 images per position
+- Keep going: change angle → type new angle → more images
+
+### Session 3 — Distance
+- Type exact measured distance (0.5m, 1.0m, 1.5m, 2.0m, 2.5m, 3.0m, 4.0m)
+- 10 images per distance
+- Keep going: new distance → more images
+
+### Session 4 — Gauge Ground Truth
+- Type true reading → 3 images → type next reading → repeat
+- Skip if no gauge equipment (q to exit)
+
+### Session 5 — VLM Images
+- Pick scenario (fire_ext pass/fail, exit pass/fail, door, cylinder)
+- Type caption after each capture (1 sentence)
+- 10 images per scenario
+
+### Session 6 — Occlusion
+- Type exact % you covered (0, 10, 25, 50, 75, 90...)
+- 10 images per level
+
+### Session 7 — Multi-object
+- Pick scene type → 5 images per scene
+
+---
+
+## Checklist
+
+```
+[ ] Reference:      fire_ext (5)  gauge (5)  door (5)
+[ ] Angle:          0° 15°L 15°R 30°L 30°R 45°L 45°R  (10 each)
+[ ] Angle extra:    60°L 60°R 90°L 90°R  (10 each, if time)
+[ ] Angle vertical: up down  (5-10 each)
+[ ] Distance:       1m 1.5m 2m 2.5m 3m 3.5m 4m  (10 each)
+[ ] Gauge GT:       5 reading positions × 3  (skip if no equipment)
+[ ] VLM:            fire_ext pass (10)  fail (10)
+[ ] VLM:            exit pass (10)  fail (10)
+[ ] VLM:            door pass (10)
+[ ] Occlusion:      0% 25% 50% 75% (10 each)
+[ ] Multi-object:   2 same class, mixed class  (5 each)
+```