Check If Area Is Localized In Loaded Adf

UPDATE: I found the lines for re-localization, but de the device doesn't localize itself. I always get the status code POSE_INITIALIZING back after loading the ADF. Also the re-loc

Solution 1:

Both "Loaded ADF on with Learning mode on" and "Load ADF on with Learning mode off" are Good. Currently They are using different location pipeline. So the first one will take much longer time localized than the second ones. ADF Inspector is for Load ADF on with Learning off" Tango Explorer should be Re-localized with with "Load ADF on with Learning on"

for question about how to check the ADF localized please see the example java code:

// Check for Device wrt ADF pose, Device wrt Start of Service pose,// Start of Service wrt ADF pose (This pose determines if the device// is relocalized or not).if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
                        && pose.targetFrame == TangoPoseData
                        .COORDINATE_FRAME_START_OF_SERVICE) {
                    if (pose.statusCode == TangoPoseData.POSE_VALID) {
                        mIsRelocalized = true;
                    } else {
                        mIsRelocalized = false;
                    }

Pose Data on the third ones:

ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
    framePairs.add(new TangoCoordinateFramePair(
            TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
            TangoPoseData.COORDINATE_FRAME_DEVICE));
    framePairs.add(new TangoCoordinateFramePair(
            TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
            TangoPoseData.COORDINATE_FRAME_DEVICE));
    framePairs.add(new TangoCoordinateFramePair(
            TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
            TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE));

Solution 2:

I found some pretty similiar questions on the same topic here:

1. question

2. question

3. question

4. question

So I think the answer is the following: Re-localization with an loaded ADF and learning mode on works, but it takes quite a while (up to 3-5 minutes). Walk around and don't give up.

Re-localization with an loaded ADF and learning mode off works.