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IVPS

Indoor Vision based Positioning System (Under Construction)

Setting

Requirement

  • Assuming ROS Kinetic Environment on Ubuntu
  • Python2.7 with OpenCV3.X with Opencv-contrib package

To install opencv with contrib package, type

pip install opencv-contrib-python

Usage

import cv2
import numpy as np
import sys
import math

sys.path.append("../")

from vmarker import *

Program Flow

Detect Camera Pose

  • Put marker on the ground and write its coordinate to csv file
  • Camera pose is solved from PNP solver

Tracking the Interested Region

  • RedTracker.py provide the tracking algorithm

Give Marker Height and Get 3D Position

  • Given the height of the tracking point, Marker position is solved via homogeneous linear equations