Difference between revisions of "VVV10 lego builders"

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Also got the kinematic tree of the iCub loaded, managed to detect the markers at a useful distance <br/>
 
Also got the kinematic tree of the iCub loaded, managed to detect the markers at a useful distance <br/>
 
and tested the marker to world coordinate transformations.
 
and tested the marker to world coordinate transformations.
 +
 +
The iCub looking for lego pieces:
 +
[[Image:Vvv10 icub looks at lego.jpg]]
  
 
Here is what it looks like in rviz:
 
Here is what it looks like in rviz:
 
[[Image:vvv10_Kintree_marker.jpg]]  
 
[[Image:vvv10_Kintree_marker.jpg]]  
 
 
  
 
And an example rectified image from the camera. The marker in the hand was detected well.
 
And an example rectified image from the camera. The marker in the hand was detected well.
 
[[Image:Vvv10 Marker on hand2.jpg]]
 
[[Image:Vvv10 Marker on hand2.jpg]]

Revision as of 21:27, 22 July 2010

Status reports

Thrusday 22.10.2010

Finally managed to calibrate the cameras of the iCub at 640x480 and get precise values
from the artoolkit program. More light is good! A flat CalTab is important!

Also got the kinematic tree of the iCub loaded, managed to detect the markers at a useful distance
and tested the marker to world coordinate transformations.

The iCub looking for lego pieces: Vvv10 icub looks at lego.jpg

Here is what it looks like in rviz: Vvv10 Kintree marker.jpg

And an example rectified image from the camera. The marker in the hand was detected well. Vvv10 Marker on hand2.jpg