Install

- Overview and credits

- How to install

- Demo video

- Code explanation

- Binocular energy model

- Vergence control

- Control Evaluation

Install

C/C++

The Vergence Control is developed as a class in C/C++, that uses image processing functions of Open CV 3.3.1.

While in principle it is able to work in any OS that supports Open CV and any compiler, it has been tested with the following configurations:

1. Windows 10, Visual Studio 2012, Open CV 3.3.1
2. Windows 7, Visual Studio 2010, Open CV 3.1.0

Import the class into a Visual Studio project

In order to have the Vergence Control working in your project, you need the following.

Pre-requisites
Build or install Open CV 3.3.1. Any compatible version will be OK.

Project configuration

1. Create the environment variable OPENCV_DIR, containing the installation directory of Open CV
2. Copy vergCLASS.h and vergCLASS.cpp, and main.cpp in the folder of your project
3. Add them in Header FIles and Source Files, respectively, in the Visual Studio console
4. Open the Project Properties and add:
   • C/C++ -> General -> Additional Include Directories -> $(OPENCV_DIR)....\include
   • Linker -> Additional Library Directories -> $(OPENCV_DIR)....\lib
5. Compile the main and run the demo.

Include the LIB into your project

We are developing the DLL and LIB of the Vergence Control , for easy use, stay tuned!

Work with iCub

We are developing the project to be used with YARP within the iCub Simulator, or with the real iCub, so stay tuned!

Python

Your robot works in Python?
Stay tuned, we are working on porting the code into an EGG.