Localization

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 - delivered by rapp::robot::vision::qr_code_detection method.
• std::vector<std::vector> camera_to_robot_matrix - delivered by rapp::robot::navigation::get_transform method.
• std::istream * MapPath

2. Input qr_code_map object:

• rapp::object::qr_code_3d QRcodes - delivered by rapp::robot::vision::qr_code_detection method.
• std::vector<std::vector> camera_to_robot_matrix - delivered by rapp::robot::navigation::get_transform method.
• rapp::object::qr_code_map QRmap

3. Output:

• rapp::object::pose

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). QR-Code frame orientation is depictured as follows:

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>