{"id":29,"date":"2024-04-04T08:01:23","date_gmt":"2024-04-04T05:01:23","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/kimp-artrackalvar\/"},"modified":"2024-04-04T08:03:58","modified_gmt":"2024-04-04T05:03:58","slug":"kimp-artrackalvar","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/kimp-artrackalvar\/","title":{"rendered":"3. Kimp ar_track_alvar"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Selles harjutuses paigaldame ROSi kimbu, mis tuvastab AR m\u00e4rgiseid.<\/strong>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<span id=\"docs-internal-guid-195bcb01-7fff-0f83-6ef2-d7eea956016e\">AR m\u00e4rgiste tuvastamiseks on meil vaja tarkvara, mis suudaks seda teha. Kuna tegemist on laialt levinud rakendusega, on selle tarbeks juba olemas ROSi kimp. Kimbu nimi on <span style=\"font-family:Courier New,Courier,monospace\">ar_track_alvar<\/span> ja selle paigaldamine k\u00e4ib tavap\u00e4rasel viisil. <\/span><span id=\"docs-internal-guid-dfac183f-7fff-73b9-437e-c2c05ee22487\">Liigu oma catkini t\u00f6\u00f6ruumi <span style=\"font-family:Courier New,Courier,monospace\">src<\/span> kausta ja sisesta<\/span>\n<\/p>\n<pre>git clone https:\/\/github.com\/rios-ai\/ar_track_alvar.git\r\n<span id=\"docs-internal-guid-c4557500-7fff-9276-fa9a-b4c14830cd32\">cd ar_track_alvar\r\n<\/span>git checkout feature\/rios_bug_fix<\/pre>\n<p>\n\tN\u00fc\u00fcd on sul olemas tarkvara AR m\u00e4rgiste tuvastamiseks. Kompileeri ja laadi uuesti catkini t\u00f6\u00f6ruum, et see oleks ka kasutatav.\n<\/p>\n<p>\n\tEdaspidi koodi katsetamiseks on vaja ka keskkonda, kus on olemas AR m\u00e4rgised. Selleks v\u00f5id kasutada p\u00e4ris robotit koos AR-markeritega roboti l\u00e4hedal seintel. Kui aga p\u00e4ris robotit kasutada ei saa, siis v\u00f5id m\u00f5ningaid katsetusi korda saata AR-m\u00e4rgistega Gazebo simulatsioonikeskkonnas, mille saad laadida j\u00e4rgneva k\u00e4su abil.\n<\/p>\n<p>\n\t<strong>J\u00e4rgnevat k\u00e4sku kasuta ainult siis, kui sul ligip\u00e4\u00e4su p\u00e4ris robotile parasjagu pole:<\/strong>\n<\/p>\n<pre>roslaunch robotont_gazebo world_minimaze_ar.launch<\/pre>\n<p>\n\tSeej\u00e4rel saad kasutada juba varasemast tuttavaid lahendusi, et s\u00f5ita simuleeritud robotiga simuleeritud m\u00e4rgiste juurde.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Selles harjutuses paigaldame ROSi kimbu, mis tuvastab AR m\u00e4rgiseid. AR m\u00e4rgiste tuvastamiseks on meil vaja tarkvara, mis suudaks seda teha. Kuna tegemist on laialt levinud rakendusega, on selle tarbeks juba olemas ROSi kimp. Kimbu nimi on ar_track_alvar ja selle paigaldamine &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-29","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/29","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=29"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/29\/revisions"}],"predecessor-version":[{"id":372,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/29\/revisions\/372"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=29"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}