BallFollowingDemo: Difference between revisions
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./iKinArmCtrl --onlyXYZ | ./iKinArmCtrl --onlyXYZ | ||
6 - Connect all ports. | 6 - Connect all ports. CAREFUL: the robot should start moving after this step. | ||
CAREFUL: the robot should start moving after this step. | |||
as demo@cortex1: | as demo@cortex1: |
Revision as of 15:34, 31 March 2009
You neet to use two Cortex pc's for this demo. I will use Cortex1 and Cortex2 in the wiki. The CPU's of Cortex2 will be fully loaded running the tracker, while those of Cortex1 will have a ~20% load.
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 - Run a viewer. When the likelihood is high, the contour is red, otherwise it's green.
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 - Run the module that computes the inverse kinematics for the arm.
as demo@cortex1: cd iCub/bin ./iKinArmCtrl --onlyXYZ
6 - 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