VVV10 lego builders

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Revision as of 22:28, 22 July 2010 by Amaldo (talk | contribs)
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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