Locator Tutorial: Introduction

Locator is a tool which enables user to control Photoneo Localization SDK via socket communication. Client - usually a robot controller - can trigger a new localization and receive single or multiple results directly as a Cartesian Pose.

Architecture

Locator was primarily designed as a background service with simple GUI used for configuration

Coordinate Space

Cartesian pose returned by Locator always respects Coordinate Space of PhoXi Scanner. The standard Locator use case assumes that Scanner position is properly calibrated with respect to robot base. In this case RobotSpace option should be selected.

Select PhoXi Scanner

For a proper functionality of Locator, it is necessary to run PhoXiControl application first. Make sure that device you want to use with Locator is available in Network discovery of PhoXiControl.

Network configuration

Locator runs as a server. User is expected to set the number of Port on which Locator will be listening for a connection from the client.

File:Tu pride streenshot z GUI

Locator also provides an option of configuring an Additional Output Port. This port can not be used for triggering, but all localization results sent over the "Main Port" will also be duplicated here. This can be used for further processing, logging purposes etc.