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tuw_marker_noise package from tuw_marker_filter repotuw_marker_filter tuw_marker_noise tuw_marker_server tuw_marker_slam |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/tuw-robotics/tuw_marker_filter.git |
| VCS Type | git |
| VCS Version | kinetic |
| Last Updated | 2016-11-09 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Markus Bader
Authors
- Markus Macsek
In order to obtain the parameters for a given measurement noise model (see “src/parameter.m”) one needs first to record samples: roslaunch tuw_marker_noise record.launch The record is formated written into a file “record.csv”.
This file is parsed again by “src/variance.py” which then estimates the variances for boxes of given precision parameterized by the expected measurement length and the expected measurement angle (2D only, orientation is skipped because lack of meaningful data): ./variance.py -r ../output/record.csv -p -0.2 The variances are written into a file “variance.csv” in the same directory as “record.csv”.
Finally “src/variance.py” calls the M-File “src/parameter.m” in order to estimate the parameters. These parameters are written into the file “parameter.csv”
Dependencies for “src/variance.py” apt-get install liboctave-dev pip install numpy pip install scipy pip install oct2py
Dependencies for “src/parameter.m” octave> pkg install struct.tar.gz (http://octave.sourceforge.net/optim/index.html) octave> pkg install optim.tar.gz (http://octave.sourceforge.net/struct/index.html)
Changelog for package tuw_marker_noise
Forthcoming
- Initial commit
- Contributors: Markus Macsek, Markus Bader
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| marker_msgs | |
| catkin |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| tuw_marker_filter |
Launch files
- launch/noise.launch
-
- beta_1 [default: 0.0015108793]
- beta_2 [default: 0.0030759394]
- beta_3 [default: 0.0209484956]
- beta_4 [default: 0.0190882545]
- beta_5 [default: -0.0087332785]
- beta_6 [default: 0.0281445351]
- beta_7 [default: 0.0200817239]
- beta_8 [default: -0.0004093125]
- beta_9 [default: 0.0085052679]
- beta_10 [default: 0.0010222184]
- beta_11 [default: -0.0007397988]
- beta_12 [default: 0.0028693465]
- beta_13 [default: 0.0025763766]
- beta_14 [default: 0.0721725284]
- beta_15 [default: -0.0028335332]
- beta_16 [default: 0.1056639276]
- beta_17 [default: -0.0081272976]
- beta_18 [default: 0.1105084965]
- plot_data [default: true]
- marker [default: base_marker_detection]
- launch/record.launch
-
- input [default: $(find tuw_marker_noise)/input/visual_marker_cave.csv]
- output_dir [default: $(find tuw_marker_noise)/output]
- frame_id_odom [default: odom]
- markers [default: markers]