UNav Server Communication Guide

Overview

This document provides detailed instructions on how to communicate with the UNav server. The server offers various endpoints to manage settings, start/terminate the server, localize images, get floorplans, select destinations, and navigate paths.

Base URL

The base URL for all API requests is:

http://128.122.136.173:5001

Endpoints

1. Update Settings

Endpoint: /settings

Method: POST

Description: Setup desired navigation scene.

Request Format:

{
    "place": "New_York_City",
    "building": "LightHouse",
    "floor": "6th_floor",
    "scale": 0.01098358101
}

2. Start Server

Endpoint: /start

Method: POST

Description: Start the server and initialize required components.

Request Format: None

Response Format:

{
    "status": "server started"
}

3. Terminate Server

Endpoint: /terminate

Method: POST

Description: Terminate the server and clean up resources.

Request Format: None

Response Format:

{
    "status": "server terminated"
}

4. Localize Image

Endpoint: /localize

Method: POST

Description: Localize the user’s position based on a query image.

Request Format:

{
    "query_image": "data:image/png;base64,<base64_encoded_image>"
}

Response Format:

• Success:

  {
      "pose": [x, y, angle]
  }

• Failure:

  {
      "pose": null
  }

5. Get Floorplan and Destinations

Endpoint: /get_floorplan_and_destinations

Method: GET

Description: Retrieve the floorplan image and destination points.

Response Format:

{
    "floorplan": "<base64_encoded_image>",
    "destinations": [
        {
            "name": "ADA Restroom",
            "id": "07993",
            "location": [x, y]
        },
        ...
    ],
    "anchors": [
        [x, y],
        ...
    ]
}

6. Select Destination

Endpoint: /select_destination

Method: POST

Description: Select a destination for navigation.

Request Format:

{
    "destination_id": "07993"
}

Response Format:

{
    "status": "success"
}

7. Navigate

Endpoint: /planner

Method: GET

Description: Get the navigation path from the current position to the selected destination.

Response Format:

• Success:

  {
      "paths": [
          [x, y],
          [x, y, "floor_name"],
          ...
      ],
      "floorplan": "<base64_encoded_image>",
      "actions": [rotation, distance, rotation, distance, ...]
  }

• Failure:

  {
      "error": "Pose or selected destination ID is not set"
  }

8. List Images

Endpoint: /list_images

Method: GET

Description: List available images for localization.

Response Format:

{
    "id1": ["image1.png", "image2.png"],
    "id2": ["image1.png", "image2.png"],
    ...
}

9. Get Image

Endpoint: /get_image/<id>/<image_name>

Method: GET

Description: Retrieve a specific image by ID and image name.

Response Format:

{
    "image": "<base64_encoded_image>"
}

Example Workflow

Step1: Update Settings

Send a 'POST' request to /settings with the required settings.

Step 2: Start Server

Send a 'POST' request to /start to initialize the server.

Step 3: Browse and Select Image

Send a 'GET' request to /list_images to get available images and then a 'GET' request to /get_image/{id}/{image_name} to retrieve the selected image.

Note: This step is optional, just for testing your system in case you don't have a query image. You can use the image you captured.

Step 4: Localize Position

Send a 'POST' request to /localize with the selected query image in base64 format.

Step 5: Select Destination

Send a 'GET' request to /get_floorplan_and_destinations to get the floorplan and destinations. Then send a 'POST' request to /select_destination with the selected destination ID.

Step 6: Navigate

Send a 'GET' request to /planner to get the navigation path.

Step 7: Terminate Server

Send a 'POST' request to /terminate to shut down the server.