BallFollowingDemo

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:
        cd 0.icub_3D_ball_tracker
        ./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