Hello! I've been working on replicating your lighthouse positioning crossing beam algorithm locally with lh2.
Here are the steps I've taken so far:
- Log the lighthouse.angle0x_0lh2 etc variables and the lighthouse.x,y,z variables
- Calculate the intersection vectors directly using the lighthouse.angle0x_0lh2 angles
- Rotate by the rotation matrices from lighthouse memory and translate by the origin positions from lighthouse memory
- Find the intersection point following my python version of https://github.com/bitcraze/crazyflie-f ... c#L63-L102
Here's my result:
Where the orange line is made from lighthouse.x,y,z and the blue is my calculated positions.
My questions:
- The positions don't match up, so I was wondering if there is an intermediate processing step that I missed?
- What is the error for your crossing beams method and for the sweep angle method?
- Is yaw pitch roll from the lighthouse or somewhere else like the imu?
- Could you point me towards documentation about the sweep angle method? I would like to try to recreate it as well.
Thanks for all your help!
Lighthouse Crossing Beam Locally
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- Bitcraze
- Posts: 630
- Joined: Tue Jun 30, 2015 7:47 am
Re: Lighthouse Crossing Beam Locally
lighthouse.angle0x_0lh2 contains the lighthouse V2 angles, that is for a tilted light plane. The crossing beam code you are pointing at assumes lighthouse V1 angles, that is two perpendicular sweeps.
You can find information about the system here https://www.bitcraze.io/documentation/r ... ighthouse/
An more specifically how to go from V2 to V1 angles here https://www.bitcraze.io/documentation/r ... onversion/
You can find information about the system here https://www.bitcraze.io/documentation/r ... ighthouse/
An more specifically how to go from V2 to V1 angles here https://www.bitcraze.io/documentation/r ... onversion/
They should be about the same.What is the error for your crossing beams method and for the sweep angle method?