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67 changes: 67 additions & 0 deletions
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robots-icebox/iCubHalfie01/calibrators/head_calib_appiccicoso.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator"> | ||
| <xi:include href="../general.xml" /> | ||
| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
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| <param name="calibrationType"> 0 0 0 0 0 0 </param> | ||
| <param name="calibration1"> 1333 1333 1333 600 500 500 </param> | ||
| <param name="calibration2"> 40 40 40 -20 20 20 </param> | ||
| <param name="calibration3"> 0 0 0 0 0 0 </param> | ||
| <param name="startupPosition"> 0 0 0 0 0 0 </param> | ||
| <param name="startupVelocity"> 10 10 10 10 10 10 </param> | ||
| <param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param> | ||
| <param name="startupPosThreshold"> 2 2 180 2 180 180 </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -40 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head_mc_wrapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| CAMERA_CALIBRATION_RIGHT] | ||
| projection pinhole | ||
| drawCenterCross 0 | ||
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| w 640 | ||
| h 480 | ||
| fx 446.30787465601099 | ||
| fy 448.44778322512855 | ||
| cx 313.73434091798771 | ||
| cy 224.4691342181579 | ||
| k1 -0.32616218659596552 | ||
| k2 0.086072743232755614 | ||
| p1 -0.001835706149853529 | ||
| p2 -0.001007764102799745 | ||
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| [CAMERA_CALIBRATION_LEFT] | ||
| projection pinhole | ||
| drawCenterCross 0 | ||
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| w 640 | ||
| h 480 | ||
| fx 439.673 | ||
| fy 437.366 | ||
| cx 325.21 | ||
| cy 237.093 | ||
| k1 -0.391234 | ||
| k2 0.156156 | ||
| p1 0.00185163 | ||
| p2 0.00252081 | ||
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| [STEREO_CALIBRATION_CONFIGURATION] | ||
| boardWidth 8 | ||
| boardHeight 6 | ||
| boardSize 0.09241 | ||
| numberOfPairs 30 | ||
| MonoCalib 1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| [CAMERA_CALIBRATION_LEFT] | ||
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| w 320 | ||
| h 240 | ||
| fx 219.823 | ||
| fy 220.197 | ||
| cx 165.19 | ||
| cy 118.094 | ||
| k1 -0.368733 | ||
| k2 0.112347 | ||
| p1 0.00180194 | ||
| p2 0.000771325 | ||
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22 changes: 22 additions & 0 deletions
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robots-icebox/iCubHalfie01/wrappers/motorControl/head-mc_wrapper_appiccicoso.xml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,22 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlBoard_nws_yarp"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_joints"> 0 5 0 5 </elem> | ||
| </paramlist> | ||
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| <param name="period"> 0.01 </param> | ||
| <param name="name"> /icub/head </param> | ||
| <param name="ports"> head </param> | ||
| <param name="joints"> 6 </param> | ||
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| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_joints"> head_mc </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
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