Examples

This section covers a handful for example applications of the toolbox. Some example include demostration videos.

Examples:

• 1. Example: Instantiating a CalibratedCamera
  • Perform a calibration
  • Load a calibration from file
  • Manual instantiation
• 2. Dynamic Plate Detection and Localisation
  • Overview
  • Physical Setup
    • 1. Robot and Camera
    • 2. Marked Objects
    • 3. Scanning Poses
  • Initialisation
    • 1. RealSense Camera
    • 2. Loading a CalibratedCamera config
    • 3. Robot Interface
    • 4. ArUco Detector
  • Performing a Scan
    • 1. Moving to Predefined Scanning Poses
    • 2. Detecting ArUco Markers
    • 3. Estimating Marker Pose in the Camera Frame
    • 4. Transforming to the Robot Base Frame
    • 5. Storing the Detected Objects
    • Scan Result
  • Computing Spatial Relationships
    • Active Visual Refinement
    • Computing Plate–Mantis Relationship
  • Re-discovery and Re-construction of Spatial Layout
    • Step 1: Perform a New Scan
    • Step 2: Reconstruct Plate Pose
  • Plate Alignment and Pick