Skip to content

Feat/triangulation weight #16

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
CurryMonsters wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Feat/triangulation weight #16

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1e7b5c8
updated readme
CurryMonsters Mar 30, 2026
7df130b
removed a comment
CurryMonsters Mar 30, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
35 changes: 22 additions & 13 deletions bearing_localization/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,26 +1,35 @@
# Bearing Localization

ROS 2 node that estimates the 3D position of a target using bearing-only triangulation. It collects directional measurements from different viewpoints and solves for the point in space that best fits all rays.

ROS 2 node that estimates the 3D position of targets using bearing-only triangulation. It collects directional measurements from different viewpoints, and solves for the point in space that best fits all rays. Supports multiple simultaneous targets via per-target localizers.

## Topics

| Direction | Parameter | Default | Type |
|---|---|---|---|
| Sub | `topics.bearing_measurement` | `bearing_measurement` | `geometry_msgs/Vector3Stamped` |
| Sub | `topics.bearing_array` | `/aruco_detector/marker_directions` | `vortex_msgs/Vector3Array` |
| Sub | `topics.bearing_measurements` | `bearing_measurements` | `vortex_msgs/BearingMeasurementArray` |
| Pub | `topics.landmarks` | `landmarks` | `vortex_msgs/LandmarkArray` |
| Pub | `topics.bearing_localization_markers` | `bearing_localization/markers` | `visualization_msgs/MarkerArray` |

## Key Parameters
## Algorithm Parameters

Loaded from a profile file (`default.yaml`, `aruco.yaml`, or `pinger.yaml`). Selected via the `profile` launch argument.

| Parameter | Default | Description |
|---|---|---|
| `profile` | `default` | Parameter profile (`default`, `aruco`) |
| `target_frame` | `orca/odom` | Reference frame for output |
| `window_size` | 30 | Max buffered measurements |
| `max_measurement_age_sec` | 5.0 | Measurement expiry (seconds) |
| `min_measurements` | 5 | Min rays to attempt solve |
| `min_baseline_m` | 0.5 | Min distance between viewpoints |
| `min_ray_angle_deg` | 5.0 | Min angular spread between rays |
| `outlier_residual_threshold_m` | 1.0 | Outlier rejection threshold |
| `window_size` | 30 | Max measurements kept in buffer |
| `max_measurement_age_sec` | 5.0 | Discard measurements older than this (s) |
| `min_measurements` | 5 | Min measurements needed to triangulate |
| `min_baseline_m` | 0.5 | Min distance between first and last origin (m) |
| `min_ray_angle_deg` | 5.0 | Min angle between rays to accept solution (deg) |
| `outlier_residual_threshold_m` | 1.0 | Residual above this marks a measurement as outlier (m) |
| `max_outlier_iterations` | 2 | Max rounds of iterative outlier rejection |

## Launch

```bash
# Default profile
ros2 launch bearing_localization bearing_localization.launch.py

# With a specific profile
ros2 launch bearing_localization bearing_localization.launch.py profile:=aruco
```
Loading