|Élie Michel 202ffdeaa0 Merge branch 'master' of http://git.phyks.me/Phyks/confocalcurvesthroughdoor||6 years ago|
|iter_1||6 years ago|
|slides||6 years ago|
|.gitignore||6 years ago|
|Makefile||6 years ago|
|README.md||6 years ago|
|blob.cpp||6 years ago|
|control_law.py||6 years ago|
|door.blend||6 years ago|
|emulate.py||6 years ago|
|gifmaker.py||6 years ago|
|scheme.ggb||6 years ago|
This projects aims at implementing methods presented in the paper The geometry of confocal curves for passing through a door (Salaris P., Vassallo C., Souères P. and Laumond J.-P.).
Basically, we use a single camera to steer a robot through a door thanks to geometrical approach.
This is the Blender scene in which the robot evolves.
It contains a basic door, privided with two yellow marks that are used for object recognition and the robot is represented by the camera.
emulate.py in it (Alt+P with the mouse over a window where
emulate.py is opened) to make one moving iteration.
It is called in Blender interface and so uses Blender Python API to run one iteration of camera moving using the law implemented in
This python module defines the control law used as basis of the robot’s steering.
It also contains a class for point management that can get points from image by calling
This file extract from an image the position of yellow blobs and print it to the standard out.
Its output is scrapped by
Makefile used to generate the
blob program from
This script iterates
emulate.py and saves succeeding robot camera renders into an animated gif file.
This directory contains legacy files used for first tests.