location Namespace Reference

 

Location

This is the main file to run during experiments. More...

Functions
def	leastsquares (choice_ref, pts_ref, cams, errs, img, pts, r_real, loop_counter, TIME)
	Get least squares results from calibrate.py and plot errors vs. More...
def	signal_handler (signal, frame)
	Interrupt handler for stopping on KeyInterrupt.

Variables
int	R_REF = 8
	Radius of referencepoints (in pixels)
int	R_ROB = 20
	Radius of robot point (in pixels)
int	THRESH_ROB = 40
	Empiric threshold for circle detection robot.
int	THRESH_REF = 20
	Empiric threshold for circle detection reference points.
int	R_HEIGHT = 1650
	Height of robot in mm.
tuple	NUMBERS = range(2,5)
	Number of cameras in camera combinations to be considered (2 to 4)
tuple	MIN = np.array([150,100,0],dtype=np.uint8)
	HSV min for robot detection.
tuple	MAX = np.array([10,250,255],dtype=np.uint8)
	HSV max for robot detection.
tuple	MIN_REF = np.array([0,150,0],dtype=np.uint8)
	HSV min for reference point detection.
tuple	MAX_REF = np.array([10,250,255],dtype=np.uint8)
	HSV max for reference point detection.
tuple	MARGIN = np.array([2000,2000],dtype=np.float)
	Margin from leftmost and downlost ref point to reference (in mm)
tuple	PTS_BASIS = np.array(([2746,3066],[3506,2708]))
	Coordinates of two basis points.

Detailed Description

 

Location

This is the main file to run during experiments.

 It implements the intrinsic, extrinsic and triangulation algorithms,  the robot control and the audio and odometry measurements.

The variables listed in the documentation are the ones that are  the most likely to change for each setup. All other variables of  the code should only be touched when necessary.

created by Frederike Duembgen, September 2015

Function Documentation

def location.leastsquares	(		choice_ref,
			pts_ref,
			cams,
			errs,
			img,
			pts,
			r_real,
			loop_counter,
			TIME
	)

Get least squares results from calibrate.py and plot errors vs.

camera combinations