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Laser Tower Of Death revival #1
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Will be focusing on other robots for now, namely RD Ambassador #136 as it is easy to build (you buy the chassis). 😄 |
We learned yesterday that the dual webcam does not support compressed formats. In order to be able to capture frames from both sensors at the same time, image resolution has to be lowered to 320x240 (default/max is 640x480). Also, we noticed that the resulting distortion map from this stereo setup is rather Besides, we managed to command the robot with incremental steps thanks to asrob-uc3m/yarp-devices#20. However, camera roll ( |
We do have some info buried in the wiki with some interesting links (there was a person with a ROS project doing stereo, but maybe a better approach is using modern icub/yarp code): http://asrob.uc3m.es/index.php/MINORU As can be seen in the command line code, the trick we used to do was to reduce the framerate to 15 fps. In fact, the patch on YARP so opencv_grabber does this is actually mine if I recall correctly. 😄 |
For future reference: robotology/yarp@35e99b1 + some background at robotology/yarp#422. |
Work in progress, the weaker servo (pan motion) is going to be replaced by a similar model as it's currently used for tilting the camera. Due to a higher current draw requirement, the Arduino Duemilanove board might be ultimately replaced by a Freaduino (1.7 A). As it is now, a new base with more room for the bigger servo is being actively developed. Since we may lack the necessary spare parts, a 3D-printable piece was suggested. |
Done, the rotating base is now capable of performing fluid pan motions thanks to a more decent servo. No changes in code were required apart from asrob-uc3m/yarp-devices#21. |
From @jgvictores on May 13, 2018 10:17
Laser Tower Of Death revival (edited from RD Turret, which is in fact another one).
Robot: https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/laserTowerOfDeath (permalink).
Copied from original issue: asrob-uc3m/robotDevastation#132
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