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Localization

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dudekw edited this page Jun 9, 2016 · 8 revisions

This library documentation can be found here.

This library encloses all available global localization methods. Currently it supports QR-Code global localization only.

QR-Code global localization:

Input & output:

  1. Specify QR-Code map file path:
  • rapp::object::qr_code_3d QRcodes
  • std::vector<std::vector> camera_to_robot_matrix
  • std::istream * MapPath
  1. Input qr_code_map object:
  • rapp::object::qr_code_3d QRcodes
  • std::vector<std::vector> camera_to_robot_matrix
  • rapp::object::qr_code_map QRmap

Create QR-Code map:

  1. Determine 3D poses of every QR-Code with respect to your environment map origin (origin of the map is set in its .yaml file).
  2. Compose .xml file as follows:
  • Paste following header:
<?xml version="1.0"?>
<!DOCTYPE catalog SYSTEM "catalog.dtd">
<QRcodes>
  • Add QR-Codes using following template:
<QR> <!-- Open QR-Code -->
<!-- QR-Code position -->
<x>0</x>
<y>0</y> 
<z>0</z>
<!-- QR-Code orientation [quaternion] -->
<ox>0</ox>
<oy>0</oy>
<oz>0</oz>
<ow>1</ow>
<!-- QR-Code label/name/messasge -->
<label>"example1"</label>
</QR> <!-- Close QR-Code -->
  • Close QRcodes tree: 
</QRcodes>
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