How to set up the heARt demo in our Lab

If you want to try out the Heart demo, you need:

• a thorax model in inventor format
  • for video-see-through you also need the real thorax for this model
• two tracked robot arms
• a tracked camera
• a magic wand to callibrate the whole stuff
• a few Sheep to have fun with.

Setup Order

• checkout the DWARF module from the CVS
• use ../configure with the --enable-heart attribute or copy the XML-service descriptions for ServiceARTTracker, ServiceObjectCalibration and ServiceViewer in the source tree manually
• build and compile - resolve all problems
• copy the thorax model, planned arms model and roboter arm model in the dwarfinstall/share/ folder from /shared/dwarf/modeldata/heart/

• there exists a complete setup like this on the local heart account on atbruegge10. The password is known by few :-)

Startup Order

• ServiceManager:
  • run-servicemgr on atbruegge10
• Tracking:
  • start the Heart Module of dtrack on atbruegge35
    • there are two different setups, one for 3 cameras (in the lab) and for the two-camera mobile demo.
  • ServiceARTTracker on atbruegge10
  • ServiceObjectCalibration on atbruegge10
• Viewer:
  • optional, if you want to have see-through video: ServiceVideoGraber^?
  • run ServiceViewer with Viewer -Dmodel../share/Phantom.iv= (if Video Grabber add -Dvideobackground=yes in front of -Dmodel)
    • there exists a script called HeartView.sh for the non-overlay and
    • another script called OverlayView.sh for the see-through.
• Connecting the Robot Arms:
  • run ApplicationHeart.py from the /cvs/dwarf/applications/heart directory.

• Calibrating the Thorax:
  • perform spatial calibration to display the model of the thorax at the right place
    • this does not work at the moment.
    • you need to "callibrate" by adjusting the real thorax

• the rest is not needed anymore:
  • java -jar DISTARB.jar
  • set the Type of DISTARB to StringData, Name can be randomly
  • java -jar UIC.jar HeartNet - this will start the HeartNet Petrinet module
  • enter EventName = init in DISTARB // connects the pose data of spatial registration with the model
  • enter either EventName = arms or EventName = planning into DISTRAB // loads the coreponding models

More

For more information we refer to Joerg's Diplomarbeit. There is a more detailed setup description in Appendix C.

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