Description

This module implements the calibration procedure aimed to build a map between the 3D information retrieved by means of stereo vision and the kinematics used by the cartesian interface to perform reaching actions.
To find out detailed instructions on how to run the calibration, visit the application page.

Parameters

–context: select the current context.
–from: configuration file name.
–calibrationFile: file containing the calibration data.
–name: module's name; all the open ports will be tagged with the prefix /name.
–robot: name of the robot to connect to.
–type: type of the expert selected at start-up.
–max_dist: maximum distance in meters between the depth measurements and the kinematic predictions to accept corresponding input-output data pairs.
–roi_side: the side in pixels of the region-of-interest (roi window) centered around the kinematic prediction of the fingertip used to segment the hand.
–block_eyes: the vergence in degrees for blocking the eyes during the exploration, if requested by the user.
–exploration_wait: timeout in seconds applied soon afterwards the reaching of the point during the exploration and right before the acquisition of the input-output data pair.
–exploration_intargettol: overall tolerance used for cartesian movements during exploration phase.
–touch_intargettol: overall tolerance used for cartesian movements during touch actions.

Input Ports

/depth2kin/depth:i [yarp::sig::Image] [default carrier:tcp]: feed depth to depth2kin using this port.
/depth2kin/touch:i [yarp::os::Bottle] [default carrier:tcp]: receive two integers representing the x-y coordinates of the pixel in the left image plane where to execute a touch action.

Output Ports

/depth2kin/depth:o [yarp::sig::Image] [default carrier:tcp]: stream out the depth image as result of the hand segmentation as well as useful information about actual measurement of the fingertip (red dot) and its kinematic prediction (green dot).
/depth2kin/depth:rpc [yarp::os::Bottle] [default carrier:tcp]: send requests to stereo vision module for retrieving 3D info so as performing stereo calibration.

Services

/depth2kin/rpc [rpc-server]: service port . This service is described in depth2kin_IDL (depth2kin.thrift)