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| ==Running the ball tracker==
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| Before running the ball tracker with the demo grasp, the [[Turning on the Vizzy cameras|vizzy cameras]], the [[Using the iKinGazeCtrl with Vizzy|iKinGazeCtrl]], and the [[Using the iKin Cartesian interface with Vizzy||iKin Cartesian interface]] (if you want to use the robot arms), need to be running.
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| # Open an yarpview window with a port associated (in this case port /a):
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| <code>yarpview /a</code>
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| # Turn on the pf3dTracker to track the ball (substitute [pf3dTrackerConfigFile] with the name and path of the config file) :
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| <code>pf3dTracker --from [pf3dTrackerConfigFile] </code>
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| # Turn on the camCalib to calibrate the camera distortions (substitute [camCalibConfig] with the name and path of the config file) :
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| <code>camCalib --from [camCalibConfig] </code>
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| # Connect the camera ports with the calibrator and the tracker:
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| <code>yarp connect /vizzy/cam/left /camCalib/in && yarp connect /camCalib/out /vizzy/pf3dTracker/videoIn && yarp connect /vizzy/pf3dTracker/videoOut /a</code>
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| # On the demoGrasp build directory execute:
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| <code>demoGraspManager_Vizzy_ISR --from ../../app/conf/vizzyConfig_noArms.ini</code>
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| # Connect the demoGrasp with the tracker:
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| <code>yarp connect /vizzy/pf3dTracker/dataOut /demoGraspManager_IIT_ISR/trackTarget:i</code>
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| [[Vizzy|<< Back to Vizzy wiki homepage]]
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| [[Category:Robots]]
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| [[Category:Vislab]]
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