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Advanced Vision - TASK 5 MATLAB CODE

This task does robot visual servoing.

These files need to be copied to your working directory:

• abs_angle_rtx.mexglx
• abs_position_rtx.mexglx
• calibrate_rtx.mexglx
• close_grippers_rtx.mexglx
• location_an_rtx.mexglx
• location_xy_rtx.mexglx
• open_grippers_rtx.mexglx
• rel_angle_rtx.mexglx
• rel_position_rtx.mexglx
• rtx_exit.mexglx
• rtx_home.mexglx
• rtx.sh
• monitor

They are distributed as a single tar/gzip archive - [TGZ].

Create a working directory and untar/gzip this archive into the directory as follows:

tar -xzvf matlab_rtx_distribution_**-**-****-****.tgz

- where **-**-****-**** is the time/date stamp of the current online archive.

Additionally the RTX/matlab manual is available [PDF].

These files are used as part of TASK 5:

• vs_demo.m - main program
• dohist.m - computes histogram
• estJacob.m - estimates the Jacobean
• finddist.m - estimates the distance between targets
• findlredge.m - finds the separation between edges
• getbinimage.m - captures a binary image
• liveimagejpg.m - captures an image
• vsfindthresh.m - finds the binary separating threshold

The program is executed by first typing ./rtx.sh into the linux command shell and then vs_demo in the Matlab window that opens up.

[AV home page]

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This page is maintained by the course lecturer, Toby Breckon, toby.breckon@ed.ac.uk, room 1104B JCMB, ext 513448