50 строки
3.3 KiB
Markdown
50 строки
3.3 KiB
Markdown
# Azure Spatial Anchors Linux SDK ROS Wrapper
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This is a ROS wrapper for the Azure Spatial Anchors Linux SDK, allowing robots (and other devices equipped with a vision-based sensors and a pose estimation system) to create and query [Azure Spatial Anchors](https://azure.microsoft.com/en-us/services/spatial-anchors/), allowing the robot to co-localize with AR-enabled phones and Hololens devices.
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This is presented as part of the [IROS 2020 Tutorial on Mixed Reality and Robotics](https://www.microsoft.com/en-us/research/event/mixed-reality-and-robotics-tutorial-iros-2020/). Tutorial videos are available for free starting October 25th through [IROS 2020](https://www.iros2020.org/).
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You can sign up to get access to the Azure Spatial Anchors Linux SDK here: [aka.ms/ASALinuxSDKSignup](http://aka.ms/ASALinuxSDKSignup).
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**This is REQUIRED to use this repo.** It may take us up to 2 business days to add you. This requires an [Azure Devops account](https://azure.microsoft.com/en-us/services/devops/).
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You should have an Azure Spatial Anchors account in Azure to use this SDK and wrapper.
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Please see instructions for the [ASA Quickstarts](https://docs.microsoft.com/en-us/azure/spatial-anchors/quickstarts/get-started-unity-hololens) to create one. Keep the Account ID, and Account Key, and Account Domain nearby. This is free up to 10k queries/month.
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# Requirements
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- Ubuntu 18.04/20.04
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- ROS melodic or noetic
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- [Azure Portal](https://azure.microsoft.com/account/portal) account with an Azure Spatial Anchors resource.
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- [Azure Devops account](https://azure.microsoft.com/en-us/services/devops/) account.
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- [Signed up for Azure Spatial Anchors Linux SDK](http://aka.ms/ASALinuxSDKSignup), which may take 1-2 days.
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# Input data requirements
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Timeseries of:
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- *Undistorted* grayscale images
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- 6 DoF poses of the cameras for the corresponding images
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- Camera intrinsics (focal length, principal point)
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See this description of [camera calibration](https://ch.mathworks.com/help/vision/ug/camera-calibration.html) for more details.
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# Get Started
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See the **[Wiki](https://github.com/microsoft/azure_spatial_anchors_ros/wiki) for getting started and installation instructions**.
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# Support
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Check out the [FAQ and Known Issues](https://github.com/microsoft/azure_spatial_anchors_ros/wiki/FAQ-&-Known-Issues) page on the Wiki first!
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Please file an [issue on the Github repo](https://github.com/microsoft/azure_spatial_anchors_ros/issues) if it is not covered in the Wiki.
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# Contributing
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This project welcomes contributions and suggestions. Most contributions require you to agree to a
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Contributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us
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the rights to use your contribution. For details, visit https://cla.opensource.microsoft.com.
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When you submit a pull request, a CLA bot will automatically determine whether you need to provide
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a CLA and decorate the PR appropriately (e.g., status check, comment). Simply follow the instructions
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provided by the bot. You will only need to do this once across all repos using our CLA.
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This project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/).
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For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or
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contact [opencode@microsoft.com](mailto:opencode@microsoft.com) with any additional questions or comments.
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