COLOR TABLE new

After running dcm, vcm, test_walk, and test_vision:

1. Since MATLAB isn't on the robot anymore- copy the nsl folder from the robot to your computer.
2. Open MATLAB (on your computer) and go to ....../nsl/Lib/Util/Matlab/
3. run the yuyvread command
4. In Terminal, (while test_vision is running) press g to get the new yuyvread window to start, press it again for low resolution vision, press g again for higher resolution. Press g once more for the logging to begin. NOTE: While in the high resolution mode, go back to matlab and hit the LOG button in GUI for logging to begin and watch the logging info in the Command Window. Only when it reaches 100 does it actually save!
5. The log gets saved when it reaches 100 and while it is logging use the keys A,D,W,and X to move the head around.
6. Make sure it gets a good look at the ball and the goal post.
7. Follow the other colortable wiki page and if there is an error when you click while setting colors- a. Go to colortable.m and change the resolution to 240X160 b. Then go to the colortable folder in terminal and say "make". NOTE: To find the resolution, type in size(LOG.camera(1).yuyv) after loading a log file.
8. Create the color table and save the log(s) with a name, preferably including the date.
9. use the "runner.m" function to create a .raw file that would be loaded on to the robot.
10. ssh on to the robot and scp the file into the /Player/Data directory.
11. Go to /Player/Config go check the config file that the colortable maps on to (the rest would be commented).
12. Open that config file and change the name of the LUT file declared (at the very bottom).

NOTE:

• Go to UPennalizers/Lib
• make setup_op
• cd Platform/OP/Comm
• nano LuaOPMonitorCommWired.cc (to find out the right port num and IP)
• run dcm, cognition (not in Vision folder), and say "luajit run_monitor.lua"

13. In MATLAB, say "startup" and then "MonitorNet".