Difference between revisions of "Using the Localization Module"

Revision as of 16:15, 20 May 2015

This tutorial will walk you through utilizing the localization module of POLARIS. With a pre-collected LookUp Table (LUT), you will be able to obtain localization data from the open-source AprilTags augmented reality tags. A LUT corresponding to the area you wish to localize in is a prerequisite to this tutorial. If you do not yet have the LUT, please see the tutorial on Manual Creation of a LookUp Table (LUT)

Obtaining the Localization Module

The localization module of POLARIS can be obtained by cloning the POLARIS repository on the Lofaro Labs github. If you do not yet have the POLARIS repo, please execute the following commands in your Ubuntu 12.04 environment:

First obtain the following dependencies for AprilTags:

   sudo apt-get install subversion cmake libopencv-dev libeigen3-dev libv4l-dev

Now obtain the POLARIS repo and make AprilTags:

   git clone https://github.com/LofaroLabs/POLARIS.git
   cd POLARIS
   cd mkLocalization
   cd apriltags
   make
   

Receiving Localization Data through the Terminal

Make sure you have the camera you would like to view augmented reality tags with connected and then execute the following commands to run the localization module and see its data printed to the terminal. Then cd into POLARIS/mkLocalization/apriltags and execute:

   ach mk recognition
   ./build/bin/apriltags_demo

Open a new terminal and cd into the apriltags directory again, then execute:

   cd example
   python LUTReader.py

Open a new terminal and cd into the apriltags directory once more, then execute:

   cd example
   python localizer.py

The localization data obtained from reading the AprilTags through the camera will be printed out to the terminal screen running the localizer.py program.

Receiving Localization Data through a Channel

Using the startscript XXX