BallFollowingDemo: Difference between revisions

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(New page: You neet to use two Cortex pc's for this demo. I will use Cortex1 and Cortex2 in the wiki. 0 - Turn on the iCub: cameras, iCubInterface, etc. 1 - Run the image rectifier. as dem...)
 
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         as demo@cortex1:
         as demo@cortex1:
         cd 0.icub_3D_ball_tracker
         cd 0.icub_3D_ball_tracker
         ./0.LEFT_320x240_image_rectifier.sh
         ./0.LEFT_320x240_image_rectifier.sh
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         as demo@cortex2:
         as demo@cortex2:
         cd 0.icub_3D_ball_tracker
         cd 0.icub_3D_ball_tracker
         ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
         ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
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         on the computer you're using for visualization (e.g. chico2):
         on the computer you're using for visualization (e.g. chico2):
         yarpview /viewer
         yarpview /viewer


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         ./5.connect_LeftEyeToRoot.sh
         ./5.connect_LeftEyeToRoot.sh


6 - OPTIONAL - Read the 3D position of the ball in the root reference frame *
6 - OPTIONAL - Read the 3D position of the ball in the root reference frame
yarp read ... /LeftEyeToRoot/ballPositionOut
       
aqui vais ver a posição  no root reference frame (X, Y, Z)
        as anybody@anywhere
 
        yarp read ... /LeftEyeToRoot/ballPositionOut
com os ângulos todos ~0 parece funcionar, amanhã testamos aquilo com a
cabeça do robot em posições diferentes (se quisermos deveríamos até
poder mexer com o torso).

Revision as of 15:28, 31 March 2009

You neet to use two Cortex pc's for this demo. I will use Cortex1 and Cortex2 in the wiki.

0 - Turn on the iCub: cameras, iCubInterface, etc.

1 - Run the image rectifier.

       as demo@cortex1:
       cd 0.icub_3D_ball_tracker
       ./0.LEFT_320x240_image_rectifier.sh

2 - Set the color parameters of the left camera, run the tracker.

       as demo@cortex2:
       cd 0.icub_3D_ball_tracker
       ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
       ./2.execute_the_tracker.sh

3 - OPTIONAL - Run a viewer

        on the computer you're using for visualization (e.g. chico2):
        yarpview /viewer

4 - Run the module that converts coordinates from eye to belly button (root).

        as demo@cortex1:
        cd 0.icub_3D_ball_tracker
        ./4.execute_LeftEyeToRoot.sh

5 - Connect all ports. CAREFUL: the robot should start moving after this step.

        as demo@cortex1:
        ./3.LEFT.iCub_connect_ports.sh
        ./5.connect_LeftEyeToRoot.sh

6 - OPTIONAL - Read the 3D position of the ball in the root reference frame

        as anybody@anywhere
        yarp read ... /LeftEyeToRoot/ballPositionOut