Use coordinate transforms to compute real pose of object.Finalize pose estimation, which involves:.Reflashed using a host computer with Ubuntu 14.04 this time.Reflashing TX1 allowed AprilTag library to run properly (!).Reflashed since had a hunch that AprilTag detection wasn’t working because I overwrote parts of the OpenCV4Tegra library with the corresponding parts from the generic OpenCV library to try and solve dependency issues.Deleted default browser in Ubuntu, and after shutting down the computer and turning it on later, the OS would not get past the login screen.
INSTALL SOLIDWORKS CMU CODE
Got AprilTag code running correctly with multiple AprilTags in streaming video.Still need to finish CAD, but waiting for parts to get dimensioning right.Figured out physical configuration of V2 and V3.Figured out at a system level V2 and V3.Finish up pose estimation, specifically angle computations.Potential solutions include using quaternions.Potential problems include Euler angles and gimbal lock.Pose can be detected by two sides of the controller, but having trouble computing coordinate transformations with other sides (specifically, rotation angles yaw-pitch-roll are incorrect).We successfully integrated with the position tracker virtual world (see Junsu’s updates above).Work on wireless communications between the claw and the simulator.Implemented for concurrent communication with both modules.
INSTALL SOLIDWORKS CMU UPDATE
Latency was initially introduced by the fact that the tracker data transmissions rate was much slower than that of update in the simulation.We are able to receive correct translational coordinates and simulate the movement without any latency. We successfully integrated with the position tracker.Built a camera stand with Edward out of 8020.Started CAD for the internals of the encoder.