NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Granite Lab Registration

Locations of the control points in the granite lab used for registration

The coordinates of four points on the granite table were measured. They are specified here: 

$SOURCE_PATH/localization/sparse_mapping/granite_xyz_controlPoints.txt

The pictures below show the locations of those points. Look at the center of the cross next to the number "0" in a rectangle.

Point 1

Point 1

Point 2

Point 2

Point 3

Point 3

Point 4

Point 4