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Mapping

Mapping (OLD)

Function Description

The module provides a 3D model of the environment, given an array of waypoints (robot poses).

Prerequisites

RSB installed

Usage

Example of navigation along a straight line:

% add paths to installed jar files
javaaddpath('/path/to/rsb.jar');
javaaddpath('/path/to/rsb.m.jar');
javaaddpath('/path/to/share/java/protobuf.jar');
javaaddpath('/path/to/share/java/rstsandbox.jar');
javaaddpath('/path/to/share/java/rst.jar');

% robot path specification (via waypoints, [x, y, phi])
PATH=[0.1:0.1:1; zeros(2, 10)];

% input scopes
PROC.scope.img='/nao/vision/0';
PROC.scope.odometry='/nao/odometry';

% camera calibration directory that contains camera specific 'calib.mat'
% and 'rd_grid.mat' files.
PROC.calib_path='calib/ctu_atom_01/0/';

% head:
% geode/atom
PROC.head='atom';

main(PATH, PROC);

Output Description

The 3D model is saved in a text file 'map.surf', which serves as input for the [[localization:wiki|RSBLocalization]].