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Update kinematics for use with top camera #320

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mfussi66 opened this issue Oct 27, 2022 · 0 comments
Open

Update kinematics for use with top camera #320

mfussi66 opened this issue Oct 27, 2022 · 0 comments
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@pattacini
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✨improvement Improve current features 🎓 prj-etapas Related to the ETAPAS project

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@mfussi66
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Recent experiments when testing the TUG demo demonstrated that the Realsense D435 camera mounted inside the head of R1 does not perform reliably when the subject distance is > 2m. The Realsense D450 mounted on top, on the other hand, can accurately measure the distance of subjects up to 5m, plenty of space for the TUG demo.

Since the top camera sits higher than the one in the head, the gaze controller kinematics needs to be updated with the correct camera position.
@pattacini pattacini self-assigned this Oct 27, 2022
@pattacini pattacini added the 🎓 prj-etapas Related to the ETAPAS project label Nov 14, 2022
@pattacini pattacini added the ✨improvement Improve current features label Jan 2, 2023
@pattacini pattacini mentioned this issue Apr 6, 2023
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@pattacini @mfussi66