HCC final project

• Pyrobot bag
  • orange bottle
  • green bottle
  • the tvmonitor/laptop closest to Tag1
  • backpack
  • teddy bear
• Drone bag
  • umbrella
  • bike
  • teddy bear
  • the chair closest to teadybear

https://drive.google.com/drive/folders/1RA0Xk5SDDXfxqrmRWHVzmDvLAmzPE7aW

You need to finish the code below:

• hcc_ws/src/estimation_pos/src/apriltag_localization.cpp
• hcc_ws/src/estimation_pos/src/drone_object.py
• hcc_ws/src/estimation_pos/src/pyrobot_object.py

Note that when you write something in the .cpp code, make sure to catkin_make

hcc_ws $ catkin_make

After finishing your code, you are ready to test the result. Please remember whenever opening a new terminal, you have to source the enviroment workspace.

hcc_ws $ source devel/setup.bash

Run ROS master on terminal(T1):

hcc_ws $ roscore

Run multiple roslaunch on terminal(T2):

hcc_ws $ source Run_All_"drone / pyrobot".sh

Generate final position by local outlier factor:

hcc_ws $ python output_generate.py

You can test your results with the groundtruth which I put it below:

https://drive.google.com/drive/folders/15XcuJK-Hy1i9Lcs3ROwv7FiOEAIghjZG

Evaluate the outcome:

$ python eval.py "ans.txt" "ours"