https://github.com/osll/autolab-extended-localization
https://github.com/osll/autolab-extended-localization
Last synced: 11 months ago
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- Host: GitHub
- URL: https://github.com/osll/autolab-extended-localization
- Owner: OSLL
- Created: 2022-05-20T09:32:42.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2023-06-12T13:29:00.000Z (almost 3 years ago)
- Last Synced: 2025-02-21T14:15:33.658Z (about 1 year ago)
- Language: Python
- Size: 16.3 MB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 12
-
Metadata Files:
- Readme: README.md
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README
# Preparation
1. All cameras need to be calibrated
2. ```The data after calibration```, ```path to the camera```, ```markup markers coordinates``` and ```markers ids``` need to be placed into [config file](https://github.com/OSLL/autolab-extended-localization/blob/master/src/localization/config/cameraConfig.py)
```
conf = {
"$camera name$": {
"camera_matrix": np.float32(),
"dist_coefs": np.float32(),
"videoPath": "path",
"rectification_matrix": np.float32(),
"projection_matrix": np.float32(),
"markers_id": np.array(),
"markers": np.array(),
}
}
```
# Run system
## Run in Docker
To start the system in docker, you need to run the following command in the home foldes page of the repo:
```
docker-compose up
```
## local run
To start the system in local computer, you need to update [launch file](https://github.com/OSLL/autolab-extended-localization/blob/master/src/extend_localization/launch/localization_local.launch)
1. [Install ros-noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
2. update path to the map and config
3. In the src folder ```autolab_extend_localization/src``` need to run the following command
```
catkin_make
source devel/setup.bash
roslaunc extend_localization/launch/localozation_local.launch
```