Using the ball tracker with Vizzy

Running the ball tracker

Before running the ball tracker with the demo grasp, the vizzy cameras, the iKinGazeCtrl, and the |iKin Cartesian interface (if you want to use the robot arms), need to be running.

1. Open an yarpview window with a port associated (in this case port /a):

yarpview /a

1. Turn on the pf3dTracker to track the ball (substitute [pf3dTrackerConfigFile] with the name and path of the config file) :

pf3dTracker --from [pf3dTrackerConfigFile] 

1. Turn on the camCalib to calibrate the camera distortions (substitute [camCalibConfig] with the name and path of the config file) :

camCalib --from [camCalibConfig] 

1. Connect the camera ports with the calibrator and the tracker:

yarp connect /vizzy/cam/left /camCalib/in && yarp connect /camCalib/out /vizzy/pf3dTracker/videoIn && yarp connect /vizzy/pf3dTracker/videoOut /a

1. On the demoGrasp build directory execute:

demoGraspManager_Vizzy_ISR --from ../../app/conf/vizzyConfig_noArms.ini

1. Connect the demoGrasp with the tracker:

yarp connect /vizzy/pf3dTracker/dataOut /demoGraspManager_IIT_ISR/trackTarget:i

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