KIT HEAD INFORMATION
The main documentation can be found at https://i61wiki.itec.uka.de/doc/karlsruhe_head_doc
More info: Carlos Rosales: carlos.rosales@for.unipi.it
MCA framework
git clone https://i61wiki.itec.uka.de/git/mca.git mca2.4
webpage: http://mca2.org/
Armar3Head repo
git clone https://i61wiki.itec.uka.de/git/karlsruhe_head.git
IVT repo
Computer vision functionalities, extension of OpenCV.
git clone https://i61wiki.itec.uka.de/git/ivt.git IVT
webpage: http://ivt.sourceforge.net/
Before using the Head
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Login into the Head PC and DISconnect the cameras!
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cd /home/master/Projects/mca2.4
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source script/mcasetenv -p armar3
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startcans
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startHead
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Load the command GUI
mcagui projects/armar3/etc/gui/HEAD_COMMAND.mcagui
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Click only the "RESET Head" button
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Click "Execution Toggle Head" button
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Connect the cameras again and you are ready to go.
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!! REMEMBER to stop the head after using it (stopcans, stopHead) !!
Network Configuration
If you want to use the MCA framework with the GUI scenarios, you need to:
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Download the MCA framework in your local machine
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Login into the Head PC and modify /home/master/Projects/mca2.4/etc/hosts.allowed and add the IP address of your machine to be allowed to connect
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(set the environment) Start the reset procedure of the head (startcans, startHead) in remote
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(set the environment) Run your local GUI scenario, and connect to the Head PC by putting the IP:PORT, and leaving the default password (mca)
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!! REMEMBER to stop the head (stopcans, stopHead) !!
Useful shortcuts
Head coordinate systems https://i61wiki.itec.uka.de/doc/karlsruhe_head_doc/static/head_coords.pdf
Calibration after changing the focus length of any camera https://i61wiki.itec.uka.de/doc/karlsruhe_head_doc/2-calibration.html
Pattern: https://i61wiki.itec.uka.de/doc/karlsruhe_head_doc/static/calibration_pattern.pdf Print in A3, the squares must be 35mm.