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

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

1. Install ros-noetic
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