Spheres Localization

Charting

rosrun spheres_localization input_folder num_images descriptor_type descriptor_size output_file_path maxdescdist 

Pose Estimation

rosrun spheres_localization pose_estimation map_file descriptor_type camera_stream

Visualization

rosrun spheres_localization visualization world_point_cloud map_file camera_stream image_directory

NOTE: Last parameter of visualization may be omitted for a precolored pointcloud

To use a bag file for visualization:

rosbag play bag_file -l -r 0.1

Dependencies

• ROS Hydro
• PCL
• OpenCV
• Boost

Warning!!!!!

Make sure you have added the following to your .bashrc file!

• source /opt/ros/hydro/setup.bash
• source ~/catkin_ws/devel/setup.bash

Video Broadcast Process with the Android Phone

• Install "IP Webcam" app for android (should already be on the lab phone)
• Use ROS GSCam to relay IP Webcam images to a ROS camera topic

Visualization Example for Garage Dataset

roscore

rosbag play ~/data/garage/left3ft.bag -l -r 0.1

rosrun spheres_localization pose_estimation ~/data/garage/KinFuSnapshots/map.txt SIFT /camera/rgb/image_color

rosrun spheres_localization visualization ~/data/garage/world_color.pcd ~/data/garage/KinFuSnapshots/map.txt /camera/rgb/image_color