3D ball tracker - Revision history

Mtaiana: /* Configure the tracker */

2011-04-05T11:36:01Z

Configure the tracker

← Older revision		Revision as of 11:36, 5 April 2011
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	#		#
	likelihoodThreshold 0.005		likelihoodThreshold 0.005

	#########################		#########################
	#attention-related stuff#		#attention-related stuff#

Mtaiana at 17:54, 1 April 2011

2011-04-01T17:54:14Z

← Older revision		Revision as of 17:54, 1 April 2011
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	This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.		This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.
	Should you have any question or complaint about the tracker, please write Matteo Taiana an email at: mtaiana at isristutlpt. Should you have questions or complaints about the bottom up module, please write Martim Brandão an email at: mbrandao at isristutlpt.		Should you have any question or complaint about the tracker, please write Matteo Taiana an email at: mtaiana at isristutlpt. Should you have questions or complaints about the bottom up module, please write Martim Brandão an email at: mbrandao at isristutlpt.
	The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research.		The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research. If you use the bottom up module in your research, please let us know.

	== System architecture and behaviour ==		== System architecture and behaviour ==

Mtaiana at 18:26, 31 March 2011

2011-03-31T18:26:14Z

← Older revision		Revision as of 18:26, 31 March 2011
Line 1:		Line 1:
	This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.		This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.
	~~The page is in the process of being written, so it's incomplete and the information you find on it might be inaccurate.~~
	Should you have any question or complaint about the tracker, please write Matteo Taiana an email at: mtaiana at isristutlpt. Should you have questions or complaints about the bottom up module, please write Martim Brandão an email at: mbrandao at isristutlpt.		Should you have any question or complaint about the tracker, please write Matteo Taiana an email at: mtaiana at isristutlpt. Should you have questions or complaints about the bottom up module, please write Martim Brandão an email at: mbrandao at isristutlpt.
	The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research.		The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research.

Mtaiana: /* Run tracker+bottom up in the IIT/ISR grasping demo */

2011-03-31T18:21:47Z

Run tracker+bottom up in the IIT/ISR grasping demo

← Older revision		Revision as of 18:21, 31 March 2011
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	=== Run tracker+bottom up in the IIT/ISR grasping demo ===		=== Run tracker+bottom up in the IIT/ISR grasping demo ===
	The XML template for running the grasping demo in: main/app/demoGrasp_IIT_ISR/scripts/demoGraspWithBottomup.xml.template.You need to change the "node" information in the XML file before you run it, as in the previous example. And, as in that example, once the GUI opens check the dependencies, run the modules and connect the ports.		The XML template for running the grasping demo in: $ICUB_DIR/main/app/demoGrasp_IIT_ISR/scripts/demoGraspWithBottomup.xml.template. You need to change the "node" information in the XML file before you run it, as in the previous example. And, as in that example, once the GUI opens check the dependencies, run the modules and connect the ports.

	== Theoretical foundations of the tracker ==		== Theoretical foundations of the tracker ==

Mtaiana: /* Run tracker+bottom up */

2011-03-31T18:16:09Z

Run tracker+bottom up

← Older revision		Revision as of 18:16, 31 March 2011
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	gain 0.305		gain 0.305

	=== Run tracker+bottom up ===		=== Run only tracker+bottom up ===
	The XML template for running detector and tracker together is in: $ICUB_DIR/main/app/pf3dTracker/scripts/pf3dTrackerWithBottomup.xml.template. You need to change the "node" information in the XML file before you run it, to suite your computers' names.		The XML template for running detector and tracker together is in: $ICUB_DIR/main/app/pf3dTracker/scripts/pf3dTrackerWithBottomup.xml.template. You need to change the "node" information in the XML file before you run it, to suite your computers' names.

Line 235:		Line 235:

	Check the dependencies, run the modules and connect the ports.		Check the dependencies, run the modules and connect the ports.

			=== Run tracker+bottom up in the IIT/ISR grasping demo ===
			The XML template for running the grasping demo in: main/app/demoGrasp_IIT_ISR/scripts/demoGraspWithBottomup.xml.template.You need to change the "node" information in the XML file before you run it, as in the previous example. And, as in that example, once the GUI opens check the dependencies, run the modules and connect the ports.

	== Theoretical foundations of the tracker ==		== Theoretical foundations of the tracker ==

Mtaiana: /* Run tracker+bottom up */

2011-03-31T15:28:28Z

Run tracker+bottom up

← Older revision		Revision as of 15:28, 31 March 2011
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	This will open a window similar to this:		This will open a window similar to this:

	[[image:applicationManagerTrackerBottomup.jpg]]		[[image:applicationManagerTrackerBottomup.jpg]]

Mtaiana: /* Run tracker+bottom up */

2011-03-31T15:26:33Z

Run tracker+bottom up

← Older revision		Revision as of 15:26, 31 March 2011
Line 231:		Line 231:

	This will open a window similar to this:		This will open a window similar to this:
	[image:applicationManagerTrackerBottomup.jpg]		[[image:applicationManagerTrackerBottomup.jpg]]

	Check the dependencies, run the modules and connect the ports.		Check the dependencies, run the modules and connect the ports.


	== Theoretical foundations of the tracker ==		== Theoretical foundations of the tracker ==

Mtaiana at 15:25, 31 March 2011

2011-03-31T15:25:36Z

← Older revision		Revision as of 15:25, 31 March 2011
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	sphereRadius 0.031 #radius of the ball in meters		sphereRadius 0.031 #radius of the ball in meters

	== Run ~~the~~ tracker ==		== Run tracker+bottom up ==

	The tracker works best if the brightness/colour parameters of the camera are set at the same values they had at the time of the acquisition of the images that form the colour model.		The tracker works best if the brightness/colour parameters of the camera are set at the same values they had at the time of the acquisition of the images that form the colour model.
Line 225:		Line 225:
	gain 0.305		gain 0.305

	=== Run ~~the~~ tracker ~~via the application manager~~ ===		=== Run tracker+bottom up ===
	You need to change the "node" information in the ~~xml~~ file before you run it~~. This script relies on yarprun. If you do not know what yarprun is~~, it'~~s probably faster if you try the other method to run the tracker~~.		The XML template for running detector and tracker together is in: $ICUB_DIR/main/app/pf3dTracker/scripts/pf3dTrackerWithBottomup.xml.template. You need to change the "node" information in the XML file before you run it, to suite your computers' names.

	cd $~~ICUB_ROOT~~/~~app/default/scripts~~		$ICUB_DIR/bin/manager.py $ICUB_DIR/main/app/pf3dTracker/scripts/myVersionOfpf3dTrackerWithBottomup.xml
	./manager.py $~~ICUB_ROOT~~/app/~~demoReach_IIT_ISR~~/scripts/~~iit/demoReach_IIT_ISR_NoHand~~.xml

	or		This will open a window similar to this:
			[image:applicationManagerTrackerBottomup.jpg]
	~~cd $ICUB_ROOT/app/default/scripts~~
	~~./manager.py $ICUB_ROOT/app/demoReach_IIT_ISR/scripts/isr/demoReach_IIT_ISR_JustTracker.xml~~

	~~To run the tracker together with the bottom up detection module~~:

	~~cd $ICUB_ROOT/app/pf3dTracker/scripts~~
	~~manager.py pf3dTrackerWithBottomup~~.~~xml~~

	Check the dependencies, run the modules and connect the ports.		Check the dependencies, run the modules and connect the ports.

	~~=== Run the tracker invoking commands from the shell ===~~

	~~#run an image rectifier, in case you need it (cameras with a non-negligible distortion)~~
	~~camCalib --file iCubLeftEye.ini --name /icub/camcalib/left~~

	~~#run the tracker itself~~
	~~pf3dTracker~~

	~~#start a viewer~~
	~~yarpview /viewer~~

	~~#connect all the ports~~
	~~yarp connect /icub/cam/left /icub/camcalib/left/in~~
	~~yarp connect /icub/camcalib/left/out /pf3dTracker/video:i~~
	~~yarp connect /pf3dTracker/video:o /viewer~~

	~~You can specify a context and an initialization file name for the tracker with the options --context and --from.~~
	For more information on this matter, please check out these pages on the resource finder: [http://eris.liralab.it/wiki/Configuration_and_resource_files], [http://eris.liralab.it/viki/index.php?title=Resource_finder_overview].

	== Theoretical foundations of the tracker ==		== Theoretical foundations of the tracker ==

Mtaiana at 14:39, 31 March 2011

2011-03-31T14:39:28Z

← Older revision		Revision as of 14:39, 31 March 2011
Line 1:		Line 1:
	This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.		This page contains information on how to build, set up and run '''pf3dTracker''', the particle-filter-based 3D ball tracker, and '''pf3dBottomup''', the 3D ball detector.
	The page is in the process of being written, so it's incomplete and the information you find on it might be inaccurate.		The page is in the process of being written, so it's incomplete and the information you find on it might be inaccurate.
	Should you have any question or complaint, please write Matteo Taiana an email at: mtaiana at isristutl*pt.		Should you have any question or complaint about the tracker, please write Matteo Taiana an email at: mtaiana at isristutlpt. Should you have questions or complaints about the bottom up module, please write Martim Brandão an email at: mbrandao at isristutlpt.
	The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research.		The algorithm of the tracker is described in the paper: '''"Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features"''', please cite it if you use the tracker in your research.

Mtaiana: /* Configure the tracker */

2011-03-31T14:30:30Z

Configure the tracker

← Older revision		Revision as of 14:30, 31 March 2011
Line 95:		Line 95:
	#projection model and parameters#		#projection model and parameters#
	#################################		#################################
	#projectionModel [perspective~~\|equidistance\|unified]~~		#projectionModel, only the perspective one was implemented so far.
	projectionModel perspective		projectionModel perspective

Line 110:		Line 110:
	#tracked object models#		#tracked object models#
	#######################		#######################
	#trackedObjectType [sphere~~\|parallelogram]~~		#trackedObjectType, only sphere was implemented so far.
	trackedObjectType sphere		trackedObjectType sphere
	trackedObjectColorTemplate models/red_smiley_2009_07_02.bmp		trackedObjectColorTemplate models/red_smiley_2009_07_02.bmp
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	#initialization method#		#initialization method#
	#######################		#######################
	#initialization method ~~[search\|~~3dEstimate~~\|2dEstimate]~~		#initialization method, only 3dEstimate was implemented so far.
	initializationMethod 3dEstimate		initializationMethod 3dEstimate
	#initial position [meters]		#initial position [meters]
Line 138:		Line 138:


			#################################
			#likelihood and reset condition #
			#################################
			#the tracker produces a value of likelihood at each time step.
			#this value can be used to infer if the object it is tracking is the correct one.
			#
			#if likelihood<=this value for 5 consecutive frames, the tracker
			#assumes it's not seeing the right object and is reinitialized.
			#
			likelihoodThreshold 0.005

	#########################		#########################
	#attention-related stuff#		#attention-related stuff#
	#########################		#########################
	~~#the tracker produces a value of likelihood at each time step.~~
	~~#this value can be used to infer if the object it is tracking is the correct one.~~
	~~#this is not a very robust way of doing so.~~
	~~#if likelihood>this value, then probably I'm tracking the object.~~
	~~likelihoodThreshold 0.005~~
	attentionOutputMax 300		attentionOutputMax 300
	attentionOutputDecrease 0.99		attentionOutputDecrease 0.99