Nina beaming 2026 » Historique » Version 24
David Klora, 13/05/2026 13:50
| 1 | 1 | Frederic Elisei | h1. Nina beaming 2026 |
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| 3 | 6 | Frederic Elisei | Changes in Nina (hardware), in middleware (now YARP3) and in computers (icub-laptop with Ubuntu 22, Mical-008 with Ubuntu 24) makes it mandatory to redevelop the Beaming platform. |
| 4 | 1 | Frederic Elisei | |
| 5 | 6 | Frederic Elisei | Old "cluster" cannot be used (YARP image format has changed...) |
| 6 | |||
| 7 | 1 | Frederic Elisei | h2. Changes in Nina |
| 8 | 7 | Frederic Elisei | |
| 9 | 6 | Frederic Elisei | * eyelids min/max and direction |
| 10 | 1 | Frederic Elisei | |
| 11 | 6 | Frederic Elisei | h2. Changes on icub-head |
| 12 | 1 | Frederic Elisei | |
| 13 | 6 | Frederic Elisei | * new PA_yarpmic (stereo, 48kHz) |
| 14 | * new PA_yarphear (mono, 48kHz) |
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| 15 | |||
| 16 | h2. Changes on mical-006 |
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| 17 | |||
| 18 | * upgraded to newer yarp (because of the new image format) |
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| 19 | * modified/recompiled for YARP 2.3 |
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| 20 | * new PA_yarpmic (mono, 48kHz) |
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| 21 | * new PA_yarphear (stereo, 48kHz) |
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| 22 | |||
| 23 | h2. Changes on mical-008 |
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| 24 | |||
| 25 | * changes from conda binary-only YARP to localy compiled YARP + iCub |
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| 26 | 7 | Frederic Elisei | * compiled support for YARP from python |
| 27 | 6 | Frederic Elisei | * now an alias for icub-srv (with /root, not /icub) |
| 28 | 1 | Frederic Elisei | * redefined cluster for yarprun |
| 29 | 6 | Frederic Elisei | * new app for Bayer cameras |
| 30 | 7 | Frederic Elisei | * new versions, compiled: |
| 31 | 1 | Frederic Elisei | - yarp_aruco |
| 32 | - vrmonitor |
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| 33 | - Start |
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| 34 | 7 | Frederic Elisei | - gipsadatadumper (with MJPG video) + Video |
| 35 | 6 | Frederic Elisei | - Head |
| 36 | 1 | Frederic Elisei | - gaze_thread |
| 37 | 6 | Frederic Elisei | |
| 38 | 1 | Frederic Elisei | h2. Changes on icub-laptop |
| 39 | 6 | Frederic Elisei | |
| 40 | 7 | Frederic Elisei | * recompiled binaries/new versions for the beaming |
| 41 | 6 | Frederic Elisei | - yarp_aruco |
| 42 | 7 | Frederic Elisei | - vrmonitor, Start... |
| 43 | 8 | David Klora | |
| 44 | 10 | David Klora | h2. Plan du Stage |
| 45 | |||
| 46 | 1 | Frederic Elisei | * Mettre à jour la documentation Beaming de Nina pour HTC Vive |
| 47 | 20 | David Klora | * *DONE :* Valider la synchronisation visuelle |
| 48 | 10 | David Klora | * Remettre en place une procédure d'enregistrement audio (même horloge pour les cartes vidéos et audios) |
| 49 | * Valider les synchronisations d'un enregistrement complet |
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| 50 | * Construire un scénario |
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| 51 | 13 | David Klora | * Campagne d'enregistrement avec 10-20 sujets |
| 52 | 10 | David Klora | |
| 53 | 8 | David Klora | h2. Checklist David |
| 54 | 1 | Frederic Elisei | |
| 55 | 14 | David Klora | * *DONE :* Lire l'extrait de la thèse de Léa https://theses.hal.science/tel-04957993 page 38+ puis 129 |
| 56 | 19 | Frederic Elisei | * Regarder les parties utiles de la doc de la carte son **fireface ucx ii** |
| 57 | 17 | Frederic Elisei | * Expliciter la procédure pour synchroniser les horloges CPU |
| 58 | (tester: ntpdate p-captif ou ntpdate lnx-install.gipsa-lab.grenoble-inp.fr -- ou chrony ?) |
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| 59 | 21 | David Klora | * *DONE :* Premier enregistrement vidéo pour valider la synchronisation visuelle |
| 60 | 18 | Frederic Elisei | Doc. : https://www.yarp.it/v3.5/yarpdatadumper.html |
| 61 | * Effectuer un enregistrement de test complet (vidéo + mouvement + son) pour valider toutes les synchronisations |
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| 62 | 1 | Frederic Elisei | |
| 63 | 10 | David Klora | h2. Tâches parallèles |
| 64 | |||
| 65 | 22 | David Klora | * *DONE :* Suivre le tutoriel yarp + python https://github.com/s4hri/yarp-python-tutorials |
| 66 | 23 | David Klora | * *DONE :* Programmer une application python pour détecter des visages avec opencv https://docs.opencv.org/3.4/db/d28/tutorial_cascade_classifier.html |
| 67 | 24 | David Klora | * *DONE :* Programmer un code python qui combine yarp et opencv pour détecter les visages en direct |