This module finds the tooltip using motionCUT.

This module finds the tooltip using motionCUT.

Description

Through an active exploration of the tool held in the robot hand this module extract a set of points for the tooltip location in the image.

Libraries

• YARP libraries.
• OpenCV library.

Parameters

none

Ports Created

• /karmaToolFinder/rpc not responding to anything.
• /karmaToolProjection/motionFilter:i receives the data blobs from the motionCUT module
• /karmaToolProjection/target:o streams the X and Y target points of the tooltip
• /karmaToolProjection/img:o streams the image with the image analysis

Tested OS

Windows, Linux, MacOS

Author

Vadim Tikhanoff