Wrote I improved camera calibration and solved the inversed mapping from perception data to real-world 3d coordinates by using I also worked with Matt to come up with a communication protocol between the laptop and the Ultra96v2 board. This is because we tried UART but it was not always working and sometimes we get garbled data. So we designed a straightforward synchronization state-machine between the laptop and the board for transferring data asynchronously. The state machine was implemented as a shell script for now, but we will need to port it to ROS.<\/p>\n The rest of the time was spent on ROS improvements (adding services, messages, etc. instead of hardcoding parameters).<\/p>\n Finish porting the shell script to ROS. Work with Chris to port the kinematics module to ROS. Help with overall integration. And fine-tune the perception module for our demo scene.<\/p>\n","protected":false},"excerpt":{"rendered":" What I did the week before Wrote RRTComms\u00a0and worked on camera calibration. What I did this week I improved camera calibration and solved the inversed mapping from perception data to real-world 3d coordinates by using pcl‘s transformation matrices. I also worked with Matt to come up with a communication protocol between the laptop and the … <\/p>\nRRTComms<\/code>\u00a0and worked on camera calibration.<\/p>\nWhat I did this week<\/h1>\n
pcl<\/code>‘s transformation matrices.<\/p>\nWhat I plan to be doing next week<\/h1>\n