From bc12e601efab3126779502d85d17091de90b7032 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Thu, 5 Oct 2023 14:41:01 +0200 Subject: [PATCH 01/14] Fix doxygen warning --- modules/core/include/visp3/core/vpColVector.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/core/include/visp3/core/vpColVector.h b/modules/core/include/visp3/core/vpColVector.h index 7643bdd007..1b9db24966 100644 --- a/modules/core/include/visp3/core/vpColVector.h +++ b/modules/core/include/visp3/core/vpColVector.h @@ -1376,7 +1376,7 @@ class VISP_EXPORT vpColVector : public vpArray2D * Retrieve a vpColVector object from a JSON representation. * * @param j : JSON representation to convert. - * @param me : Converted object. + * @param v : Converted object. */ friend void from_json(const nlohmann::json &j, vpColVector &v); #endif From e2debd663c547b4f0f2adc995e7c8cccdd7c2d39 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Thu, 5 Oct 2023 15:29:42 +0200 Subject: [PATCH 02/14] Remove empty imgproc image_median group --- modules/imgproc/doc/module.dox | 5 ----- 1 file changed, 5 deletions(-) diff --git a/modules/imgproc/doc/module.dox b/modules/imgproc/doc/module.dox index e5f710d2e0..70fb994995 100644 --- a/modules/imgproc/doc/module.dox +++ b/modules/imgproc/doc/module.dox @@ -72,8 +72,3 @@ \defgroup group_hough_transform Hough-transform-based image detection Detection of image features based on the Hough transform. */ -/*! - \ingroup module_imgproc - \defgroup group_image_median Image median - Image median computation and additional functionalities using image median for Canny edges detection threshold computation. -*/ \ No newline at end of file From 3cf4933d2e09069ddc94ab339121722e884bc419 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Thu, 5 Oct 2023 15:30:20 +0200 Subject: [PATCH 03/14] Cleaning - remove setIdentity() that was declared but not defined - make insert(const vpColVector &v, unsigned int i) deprecated In ViSP 3.5.0 this function was declared but not defined In ViSP 3.6.0 definition was added but whe should have removed it --- modules/core/include/visp3/core/vpColVector.h | 80 +++++++++---------- modules/core/src/math/matrix/vpColVector.cpp | 9 ++- 2 files changed, 44 insertions(+), 45 deletions(-) diff --git a/modules/core/include/visp3/core/vpColVector.h b/modules/core/include/visp3/core/vpColVector.h index 1b9db24966..0fb123573b 100644 --- a/modules/core/include/visp3/core/vpColVector.h +++ b/modules/core/include/visp3/core/vpColVector.h @@ -485,40 +485,6 @@ class VISP_EXPORT vpColVector : public vpArray2D */ void insert(unsigned int i, const vpColVector &v); - /*! - * Insert a column vector. - * \param i : Index of the first element to introduce. This index starts from 0. - * \param v : Column vector to insert. - * - * The following example shows how to use this function: - * \code - * #include - * - * int main() - * { - * vpColVector v(4); - * for (unsigned int i=0; i < v.size(); i++) - * v[i] = i; - * std::cout << "v: " << v.t() << std::endl; - * - * vpColVector w(2); - * for (unsigned int i=0; i < w.size(); i++) - * w[i] = i+10; - * std::cout << "w: " << w.t() << std::endl; - * - * v.insert(w, 1); - * std::cout << "v: " << v.t() << std::endl; - * } - * \endcode - * It produces the following output: - * \code - * v: 0 1 2 3 - * w: 10 11 - * v: 0 10 11 3 - * \endcode - */ - void insert(const vpColVector &v, unsigned int i); - /*! * Print using Maple syntax, to copy/paste in Maple later. * @@ -1387,11 +1353,48 @@ class VISP_EXPORT vpColVector : public vpArray2D */ //@{ /*! - * \deprecated Provided only for compat with previous releases. - * This function does nothing. + * \deprecated Provided only for compat with previous releases. + * This function does nothing. */ vp_deprecated void init() { } + /*! + * \deprecated Provided only for compat with previous releases. Use rather + * insert(unsigned int i, const vpColVector &v) + * + * Insert a column vector. + * \param i : Index of the first element to introduce. This index starts from 0. + * \param v : Column vector to insert. + * + * The following example shows how to use this function: + * \code + * #include + * + * int main() + * { + * vpColVector v(4); + * for (unsigned int i=0; i < v.size(); i++) + * v[i] = i; + * std::cout << "v: " << v.t() << std::endl; + * + * vpColVector w(2); + * for (unsigned int i=0; i < w.size(); i++) + * w[i] = i+10; + * std::cout << "w: " << w.t() << std::endl; + * + * v.insert(w, 1); + * std::cout << "v: " << v.t() << std::endl; + * } + * \endcode + * It produces the following output: + * \code + * v: 0 1 2 3 + * w: 10 11 + * v: 0 10 11 3 + * \endcode + */ + vp_deprecated void insert(const vpColVector &v, unsigned int i); + /*! * \deprecated You should rather use extract(). */ @@ -1400,11 +1403,6 @@ class VISP_EXPORT vpColVector : public vpArray2D return vpColVector(*this, first_row - 1, last_row - first_row + 1); } - /*! - * \deprecated You should rather use eye() - */ - vp_deprecated void setIdentity(const double &val = 1.0); - /*! * \deprecated You should rather use stack(const vpColVector &) */ diff --git a/modules/core/src/math/matrix/vpColVector.cpp b/modules/core/src/math/matrix/vpColVector.cpp index 9c5a3d2bfe..7a485eba4a 100644 --- a/modules/core/src/math/matrix/vpColVector.cpp +++ b/modules/core/src/math/matrix/vpColVector.cpp @@ -718,10 +718,6 @@ void vpColVector::insert(unsigned int i, const vpColVector &v) memcpy(data + i, v.data, sizeof(double) * v.rowNum); } } -void vpColVector::insert(const vpColVector &v, unsigned int i) -{ - insert(i, v); -} int vpColVector::print(std::ostream &s, unsigned int length, char const *intro) const { @@ -905,6 +901,11 @@ std::ostream &vpColVector::matlabPrint(std::ostream &os) const #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS) +void vpColVector::insert(const vpColVector &v, unsigned int i) +{ + insert(i, v); +} + void vpColVector::insert(const vpColVector &v, unsigned int r, unsigned int c) { (void)c; From 436136eba94dd311f809536bea5c0afd51f81374 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Thu, 5 Oct 2023 15:44:23 +0200 Subject: [PATCH 04/14] Backup changes done in mbt Blender --- .../tracking/img-Blender-add-camera.jpg | Bin 0 -> 15725 bytes .../tracking/img-Blender-camera-settings1.jpg | Bin 0 -> 26685 bytes .../tracking/img-Blender-camera-settings1.png | Bin 33957 -> 0 bytes .../tracking/img-Blender-camera-settings2.jpg | Bin 0 -> 39956 bytes .../tracking/img-Blender-camera-settings2.png | Bin 39005 -> 0 bytes .../img-Blender-stereocameras-settings3.jpg | Bin 0 -> 39886 bytes .../img-Blender-stereocameras-settings3.png | Bin 32381 -> 0 bytes ...orial-tracking-mb-generic-rgbd-Blender.dox | 84 +++++---- .../get_camera_intrinsics.py | 72 ++++---- .../get_camera_pose_teabox.py | 161 ++++++++++++------ ...torial-mb-generic-tracker-rgbd-blender.cpp | 115 +++++++++---- 11 files changed, 281 insertions(+), 151 deletions(-) create mode 100644 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z2otw>Ji~h8!U(N>`;9%T?j5*sTtzq?B~aKTyR8b6z(x=S%NEVwf_NbLchLfz%{LUBs{<${jb1br9$?)bGG86BLm7NNBwZ1qNWm!%7-rA$EnpspfC!v;Pp}NUx zmzS*Yc={3+V)J<08}a$rkX^OATd7PqG2U`~Z@uij3WZkXkxJ;kPikhOxc6w#xBZjm z?=#n%vecj(@R22ZqYVPe@89DyGWu(r%W!hkzm3;SuUFKgLQgscf>86?9q1tbj*2?M zFLyn>hY(ttzs(&J-UWWX{v-;%H^~e_p=5uGkwvMpF6CvnxIgVBBIn?;fvE$J|3{rc zUN{s)`kH$6Z+wnEGq<5?t%WfY^9n=7<68JcF2F#?&HevUtVrw@yiQJ@IR$x(zHHD- ajdQUvlS4#?Fl`kA9`e%4Ql%0`f&UBqa*h@N diff --git a/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox b/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox index e2a639d6e5..93752e702d 100644 --- a/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox +++ b/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox @@ -8,8 +8,8 @@ This tutorial will show how to use Blender, a free and open source 3D creation suite, to generate color and depth images from a virtual camera and get ground truth camera poses. The configuration used for this tutorial is: -- Ubuntu 16.04 -- Blender 2.79b +- Ubuntu 22.04 +- Blender 3.6.4 \warning You are advised to know how to use the basic tools of Blender before reading this tutorial. Some non-exhaustive links: - Blender Reference Manual @@ -23,45 +23,53 @@ $ svn export https://github.com/lagadic/visp.git/trunk/tutorial/tracking/model-b \section mb_Blender_camera_settings Camera settings -In ViSP and in the computer vision community, camera intrinsic parameters are the following: +In ViSP (see vpCameraParameters class) and in the computer vision community, camera intrinsic parameters are the following: \f[ - \begin{bmatrix} - p_x & 0 & u_0 \\ - 0 & p_y & v_0 \\ + {\bf K} = \begin{bmatrix} + p_x & 0 & u_0 \\ + 0 & p_y & v_0 \\ 0 & 0 & 1 \end{bmatrix} \f] -- focal length \f$ \left( p_x, p_y \right) \f$ -- principal point \f$ \left( u_0, v_0 \right) \f$ -- (plus the distortion coefficients) +where: +- \f$ \left( p_x, p_y \right) \f$ corresponds to the pixel size +- and \f$ \left( u_0, v_0 \right) \f$ to the principal point location -In Blender, you will have to set the camera resolution, generally `640x480` to have a VGA camera resolution: +The relations that links the pixel size with the focal lenght \f$ f \f$, the camera sensor size and the image size are the following: -\image html img-Blender-camera-settings1.png +\f[ + p_x = \frac{f_{\text{ in mm}} \times \text{image width in px}}{\text{sensor width in mm}} +\f] +\f[ + p_y = \frac{f_{\text{ in mm}} \times \text{image height in px}}{\text{sensor height in mm}} +\f] -Focal length can be set with the camera panel by changing the focal length and/or the sensor size: +In Blender, you will have to set the image resolution, generally `640x480` to have a VGA camera resolution. -\image html img-Blender-camera-settings2.png +To this end, +- launch `blender` +- modify `"Scene > Format"` as in the next image: +\image html img-Blender-camera-settings1.jpg -The relation is the following: +- focal length can be set in the camera panel by changing the `"Focal Length"` and the sensor `"Width"` and `"Height"` like in the next image: +\warning You may need to switch the `"Sensor Fit"` from `"Auto"` to `"Vertical"` to change the sensor `"Width"` and `"Height"` to be compatible with a 4/3 ratio and have \f$ p_x = p_y \f$. -\f[ - p_x = \frac{f_{x\text{ in mm}} \times \text{image width in px}}{\text{sensor width in mm}} -\f] +\image html img-Blender-camera-settings2.jpg -The Python script to get the camera intrinsic parameters is: +Once image resolution, sensor size and focal lenght are set in Blender, you may use the Python script `get_camera_intrinsics.py` given below +to get the camera intrinsic parameters \f$ \left( p_x, p_y, u_0, v_0 \right) \f$: \include get_camera_intrinsics.py -On Ubuntu, to run the Python script: +On Ubuntu, to run this Python script: - launch Blender from a terminal -- split or switch from `3D View` to `Text Editor` -- open the Python script file -- click on `Run Script` +- split or switch from `"3D Viewport"` to `"Text Editor"` (shortcut: Shift-F11) +- open the Python script file `$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/get_camera_intrinsics.py` +- click on `Run Script` (shortcut: Alt-P) -You should get something similar to: +In the terminal, you should get something similar to: ``` ``` -\warning In Blender 2.79b, you may need to switch the `Sensor Fit` from `Auto` to `Vertical` to change the `Sensor Height` to be compatible with a 4/3 ratio and have \f$ p_x == p_y \f$ - \note The principal point is always in the middle of the image here. \section mb_Blender_stereo_camera Stereo camera -To generate the depth map, add a second camera and set the appropriate parameters to match the desired intrinsic parameters. -Then select one camera (the child object) and the other one (the parent object) and hit `Ctrl + P` to parent them. -This way, the two cameras will be linked when you will move the cameras. +To generate the depth map, add a second camera and set the appropriate parameters to match the desired intrinsic parameters following the same instructions as in previous section. To this end: +- swith to `"3D Viewport"` (shortcut: Shift-F5) +- enter menu `"Add > Camera"` (in the scene the new camera appears with name `"Camera.001"`) +\image html img-Blender-add-camera.jpg +- modify image resolution, sensor size and focal lenght of this new camera as described previously +- then select one camera (the child object named `"Camera.001"`) and the other one (the parent object named `"Camera.001"`) and hit `Ctrl-P` to + parent them. + This way, the two cameras will be linked when you will move the cameras. \image html img-Blender-stereocameras-settings1.png @@ -85,15 +96,22 @@ This way, the two cameras will be linked when you will move the cameras. \image html img-Blender-stereocameras-settings2.png -\image html img-Blender-stereocameras-settings3.png +\image html img-Blender-stereocameras-settings3.jpg + +\note You can retrieve the camera intrinsics using again `get_camera_intrinsics.py` just by modifying the name of the camera like: +``` +K = get_calibration_matrix_K_from_blender(bpy.data.objects['Camera.001'].data) +``` \section mb_Blender_create_teabox Create a teabox -To create a teabox with texture, we download directly a 3D model here. Then, the rough instructions should be: +To create a teabox with texture, download directly a 3D model in 3DS format here. Then, the rough instructions should be: +- In Blender, install `Autodesk 3DS format` Add-on entering menu `Edit > Preferences > Add-ons`. This feature is only available since Blender 3.6. +- unzip the archive and import `Box tea N180614.3DS` file - select the teabox object - switch to the `Texture` panel -- add a new texture and open the image -- switch to the edit mode +- add a new texture and open the image corresponding to the texture you want to apply like for example `tea_box_1-1.jpg` that was part of the archive +- select the teabox and switch to the edit mode - switch to the `UV/Image Editor` and select the image You should get something similar to this: @@ -106,7 +124,7 @@ See (atoi(argv[i + 1])); - } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") { + i++; + } + else if (std::string(argv[i]) == "--step-by-step") { + step_by_step = true; + } + else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") { std::cout - << "Usage: \n" - << argv[0] - << " [--input_directory (default: .)]" - " [--config_color (default: teabox.xml)] [--config_depth (default: " - "teabox_depth.xml)]" - " [--model_color (default: teabox.cao)] [--model_depth (default: teabox.cao)]" - " [--init_file (default: teabox.init)]" - " [--extrinsics (default: depth_M_color.txt)] [--disable_depth]" - " [--display_ground_truth] [--click] [--first_frame_index (default: 1)]" - << std::endl; + << "Usage: \n" + << argv[0] + << " [--input-directory (default: .)]" + << " [--config-color (default: teabox.xml)]" + << " [--config-depth (default: teabox_depth.xml)]" + << " [--model-color (default: teabox.cao)]" + << " [--model-depth (default: teabox.cao)]" + << " [--init-file (default: teabox.init)]" + << " [--extrinsics (default: depth_M_color.txt)]" + << " [--disable-depth]" + << " [--display-ground-truth]" + << " [--step-by-step]" + << " [--first-frame-index (default: 1)]" + << " [--help, -h]" + << std::endl; return EXIT_SUCCESS; } } @@ -142,7 +169,7 @@ int main(int argc, char *argv[]) std::cout << "first_frame_index: " << first_frame_index << std::endl; std::cout << "disable_depth: " << disable_depth << std::endl; std::cout << "display_ground_truth: " << display_ground_truth << std::endl; - std::cout << "click: " << click << std::endl; + std::cout << "step by step: " << step_by_step << std::endl; std::vector tracker_types; #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) @@ -166,7 +193,9 @@ int main(int argc, char *argv[]) tracker.getCameraParameters(cam_color); tracker.setDisplayFeatures(true); std::cout << "cam_color:\n" << cam_color << std::endl; - std::cout << "cam_depth:\n" << cam_depth << std::endl; + + if (!disable_depth) + std::cout << "cam_depth:\n" << cam_depth << std::endl; vpImage I_depth_raw; vpImage I, I_depth; @@ -175,8 +204,7 @@ int main(int argc, char *argv[]) vpHomogeneousMatrix cMo_ground_truth; unsigned int frame_cpt = first_frame_index; - read_data(frame_cpt, input_directory, I, I_depth_raw, depth_width, depth_height, pointcloud, cam_depth, - cMo_ground_truth); + read_data(frame_cpt, input_directory, I, I_depth_raw, depth_width, depth_height, pointcloud, cam_depth, cMo_ground_truth); vpImageConvert::createDepthHistogram(I_depth_raw, I_depth); #if defined(VISP_HAVE_X11) @@ -202,7 +230,8 @@ int main(int argc, char *argv[]) if (display_ground_truth) { tracker.initFromPose(I, cMo_ground_truth); // I and I_depth must be the same size when using depth features! - } else + } + else tracker.initClick(I, init_file, true); // I and I_depth must be the same size when using depth features! try { @@ -215,7 +244,8 @@ int main(int argc, char *argv[]) if (display_ground_truth) { tracker.initFromPose(I, cMo_ground_truth); // I and I_depth must be the same size when using depth features! - } else { + } + else { if (!disable_depth) { std::map *> mapOfImages; std::map *> mapOfPointClouds; @@ -227,7 +257,8 @@ int main(int argc, char *argv[]) mapOfPointCloudWidths["Camera2"] = depth_width; mapOfPointCloudHeights["Camera2"] = depth_height; tracker.track(mapOfImages, mapOfPointClouds, mapOfPointCloudWidths, mapOfPointCloudHeights); - } else { + } + else { tracker.track(I); } } @@ -240,8 +271,17 @@ int main(int argc, char *argv[]) if (!disable_depth) { tracker.display(I, I_depth, cMo, depthMcolor * cMo, cam_color, cam_depth, vpColor::red, 2); vpDisplay::displayFrame(I_depth, depthMcolor * cMo, cam_depth, 0.05, vpColor::none, 2); - } else { + } + else { tracker.display(I, cMo, cam_color, vpColor::red, 2); + + { + cam_depth.initPersProjWithoutDistortion(700, 700, 320, 240); // DEBUG FS + vpDisplay::displayFrame(I_depth, depthMcolor * cMo, cam_depth, 0.05, vpColor::none, 2); // DEBUG FS + std::cout << "depthMcolor:\n " << depthMcolor << std::endl; + std::cout << "cMo depth:\n " << depthMcolor * cMo << std::endl; + std::cout << "cam_depth:\n" << cam_depth << std::endl; + } } vpDisplay::displayFrame(I, cMo, cam_color, 0.05, vpColor::none, 2); @@ -258,7 +298,7 @@ int main(int argc, char *argv[]) { std::stringstream ss; ss << "Features: edges " << tracker.getNbFeaturesEdge() << ", klt " << tracker.getNbFeaturesKlt() - << ", depth " << tracker.getNbFeaturesDepthDense(); + << ", depth " << tracker.getNbFeaturesDepthDense(); vpDisplay::displayText(I, I.getHeight() - 30, 20, ss.str(), vpColor::red); } } @@ -267,13 +307,13 @@ int main(int argc, char *argv[]) vpDisplay::flush(I_depth); vpMouseButton::vpMouseButtonType button; - if (vpDisplay::getClick(I, button, click)) { + if (vpDisplay::getClick(I, button, step_by_step)) { switch (button) { case vpMouseButton::button1: - quit = !click; + quit = !step_by_step; break; case vpMouseButton::button3: - click = !click; + step_by_step = !step_by_step; break; default: @@ -287,7 +327,8 @@ int main(int argc, char *argv[]) vpDisplay::displayText(I, 40, 20, "Click to quit.", vpColor::red); vpDisplay::flush(I); vpDisplay::getClick(I); - } catch (std::exception &e) { + } + catch (std::exception &e) { std::cerr << "Catch exception: " << e.what() << std::endl; } From e63ec4ea44560b7c9e257cdc857f7f35363d600f Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Fri, 6 Oct 2023 11:07:19 +0200 Subject: [PATCH 05/14] Improve doc for Biclops related classes - move doxygen doc in public headers - fix typo --- modules/robot/include/visp3/robot/vpBiclops.h | 321 +++++++---- .../include/visp3/robot/vpRobotBiclops.h | 370 ++++++++++-- .../visp3/robot/vpRobotBiclopsController.h | 189 +++++-- .../src/real-robot/biclops/vpBiclops.cpp | 209 +------ .../src/real-robot/biclops/vpRobotBiclops.cpp | 532 ++++-------------- .../biclops/vpRobotBiclopsController.cpp | 264 +++------ 6 files changed, 909 insertions(+), 976 deletions(-) diff --git a/modules/robot/include/visp3/robot/vpBiclops.h b/modules/robot/include/visp3/robot/vpBiclops.h index 0851327974..494662c2f0 100644 --- a/modules/robot/include/visp3/robot/vpBiclops.h +++ b/modules/robot/include/visp3/robot/vpBiclops.h @@ -36,153 +36,270 @@ #ifndef _vpBiclops_h_ #define _vpBiclops_h_ -/* ----------------------------------------------------------------------- */ -/* --- INCLUDES -------------------------------------------------------- */ -/* --------------------------------------------------------------------- */ +#include -/* --- ViSP --- */ #include -#include #include #include -#include -#include #include -/* --- GENERAL --- */ -#include - /*! - - \class vpBiclops - - \ingroup group_robot_real_ptu - - \brief Jacobian, geometric model functionalities... for biclops, pan, tilt - head. - - Two different Denavit Hartenberg representations of the robot are - implemented. As mentionned in vpBiclops::DenavitHartenbergModel they differ - in the orientation of the tilt axis. Use setDenavitHartenbergModel() to - select the representation. - - See http://www.traclabs.com/tracbiclops.htm for more details concerning the - hardware. - -*/ - + * \class vpBiclops + * + * \ingroup group_robot_real_ptu + * + * \brief Jacobian, geometric model functionalities for biclops, pan, tilt + * head. + * + * Two different Denavit Hartenberg representations of the robot are + * implemented. As mentioned in vpBiclops::DenavitHartenbergModel they differ + * in the orientation of the tilt axis. Use setDenavitHartenbergModel() to + * select the representation. + * + * See http://www.traclabs.com/tracbiclops.htm for more details concerning the + * hardware. + * + */ class VISP_EXPORT vpBiclops { public: /*! - Two different Denavit Hartenberg representations of the robot are - implemented. They differ in the orientation of the tilt axis. - - The first representation, vpBiclops::DH1 is given by: - - \f[ - \begin{tabular}{|c|c|c|c|c|} - \hline - Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ - \hline - 1 & 0 & 0 & $-\pi/2$ & $q_1^*$ \\ - 2 & 0 & 0 & $ \pi/2$ & $q_2^* + \pi/2$ \\ - \hline - \end{tabular} - \f] - - The second one, vpBiclops::DH2 is given by: - - \f[ - \begin{tabular}{|c|c|c|c|c|} - \hline - Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ - \hline - 1 & 0 & 0 & $ \pi/2$ & $q_1^*$ \\ - 2 & 0 & 0 & $ -\pi/2$ & $q_2^* - \pi/2$ \\ - \hline - \end{tabular} - \f] - - where \f$q_1^*, q_2^*\f$ are respectively the pan and tilt joint - positions. - - In those representations, the pan is oriented from left to right, while - the tilt is oriented - - in vpBiclops::DH1 from down to top, - - in vpBiclops::DH2 from top to down. - - - */ - typedef enum { - DH1, /*!< First Denavit Hartenberg representation. */ - DH2 /*!< Second Denavit Hartenberg representation. */ + * Two different Denavit Hartenberg representations of the robot are + * implemented. They differ in the orientation of the tilt axis. + * + * - The first representation, vpBiclops::DH1 is given by: + * Joint | \f$a_i\f$ | \f$d_i\f$ | \f$\alpha_i\f$ | \f$\theta_i\f$ + * ------|-----------|-----------|----------------|--------------- + * 1 | 0 | 0 | \f$-\pi/2\f$ | \f$q_1\f$ + * 2 | 0 | 0 | \f$ \pi/2\f$ | \f$q_2 + \pi/2\f$ + * + * - The second one, vpBiclops::DH2 is given by: + * Joint | \f$a_i\f$ | \f$d_i\f$ | \f$\alpha_i\f$ | \f$\theta_i\f$ + * ------|-----------|-----------|----------------|--------------- + * 1 | 0 | 0 | \f$ \pi/2\f$ | \f$q_1\f$ + * 2 | 0 | 0 | \f$-\pi/2\f$ | \f$q_2 - \pi/2\f$ + * + * where \f$q_1, q_2\f$ are respectively the pan and tilt joint + * positions. + * + * In those representations, the pan is oriented from left to right, while + * the tilt is oriented + * - in vpBiclops::DH1 from down to top, + * - in vpBiclops::DH2 from top to down. + * + * \image html img-biclops-frames.jpg Biclops PT models + * + * By default, vpBiclops::DH1 Denavit Hartenberg model is set and the camera has + * a vertical offset from last joint to camera frame set by default in vpBiclops::h. + * To change the camera position wrt the end-effector, you may use set_cMe(). + */ + typedef enum + { + DH1, //!< First Denavit Hartenberg representation. + DH2 //!< Second Denavit Hartenberg representation. } DenavitHartenbergModel; -public: /* Constants */ - static const unsigned int ndof; /*!< Number of dof */ - - /* Geometric model */ - static const float h; +public: + static const unsigned int ndof; //!< Number of dof - static const float panJointLimit; - static const float tiltJointLimit; - static const float speedLimit; + // Geometric model + static const float h; // + * + * int main() + * { + * #ifdef VISP_HAVE_BICLOPS + * vpRobotBiclops robot; // Use the default config file in /usr/share/BiclopsDefault.cfg" + * + * // Specify the config file location + * robot.setConfigFile("/usr/share/BiclopsDefault.cfg"); // Not mandatory since the file is the default one + * + * // Initialize the head + * robot.init(); + * + * // Move the robot to a specified pan and tilt + * robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ; + * vpColVector q(2); + * q[0] = vpMath::rad(20); // pan + * q[1] = vpMath::rad(40); // tilt + * robot.setPosition(vpRobot::JOINT_STATE, q); + * #endif + * return 0; + * } + * \endcode + */ vpRobotBiclops(); + + /*! + * Constructor that initialize the biclops pan, tilt head by reading the + * configuration file provided by Traclabs and do the homing sequence. + * + * The following example shows how to use the constructor. + * + * \code + * #include + * + * int main() + * { + * #ifdef VISP_HAVE_BICLOPS + * // Specify the config file location and initialize the turret + * vpRobotBiclops robot("/usr/share/BiclopsDefault.cfg"); + * + * // Move the robot to a specified pan and tilt + * robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ; + * + * vpColVector q(2); + * q[0] = vpMath::rad(-20); // pan + * q[1] = vpMath::rad(10); // tilt + * robot.setPosition(vpRobot::JOINT_STATE, q); + * #endif + * return 0; + * } + * \endcode + */ explicit vpRobotBiclops(const std::string &filename); + + /*! + * Destructor. + * Wait the end of the control thread. + */ virtual ~vpRobotBiclops(); + /*! + * Set the Biclops config filename. + * Check if the config file exists and initialize the head. + * + * \exception vpRobotException::constructionError If the config file cannot be + * opened. + */ void init(); - void get_cMe(vpHomogeneousMatrix &_cMe) const; + /*! + * Get the homogeneous matrix corresponding to the transformation between the + * camera frame and the end effector frame. The end effector frame is located + * on the tilt axis. + * + * \param cMe : Homogeneous matrix between camera and end effector frame. + */ + void get_cMe(vpHomogeneousMatrix &cMe) const; + + /*! + * Get the twist matrix corresponding to the transformation between the + * camera frame and the end effector frame. The end effector frame is located + * on the tilt axis. + * + * \param _cVe : Twist transformation between camera and end effector frame to + * express a velocity skew from end effector frame in camera frame. + */ void get_cVe(vpVelocityTwistMatrix &_cVe) const; + + /*! + * Get the robot jacobian expressed in the end-effector frame. + * + * \warning Re is not the embedded camera frame. It corresponds to the frame + * associated to the tilt axis (see also get_cMe). + * + * \param _eJe : Jacobian between end effector frame and end effector frame (on + * tilt axis). + */ void get_eJe(vpMatrix &_eJe); + + /*! + * Get the robot jacobian expressed in the robot reference frame + * + * \param _fJe : Jacobian between reference frame (or fix frame) and end + * effector frame (on tilt axis). + */ void get_fJe(vpMatrix &_fJe); + /*! + * Get the robot displacement since the last call of this method. + * + * \warning The first call of this method gives not a good value for the + * displacement. + * + * \param frame The frame in which the measured displacement is expressed. + * + * \param d The displacement: + * - In joint state, the dimension of q is 2 (the number of axis of the robot) + * with respectively d[0] (pan displacement), d[1] (tilt displacement). + * - In camera frame, the dimension of d is 6 (tx, ty, ty, tux, tuy, tuz). + * Translations are expressed in meters, rotations in radians with the theta U + * representation. + * + * \exception vpRobotException::wrongStateError If a not supported frame type + * is given. + */ void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &d); + + /*! + * Return the joint position of each axis. + * - In positioning control mode, call vpRobotBiclopsController::getPosition() + * - In speed control mode, call vpRobotBiclopsController::getActualPosition() + * + * \param frame : Control frame. This biclops head can only be controlled in + * joint. + * + * \param q : The position of the axis in radians. + * + * \exception vpRobotException::wrongStateError : If a not supported frame type + * is given. + */ void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q); + + /*! + * Get the velocity in % used for a position control. + * + * \return Positioning velocity in [0, 100.0]. The + * maximum positioning velocity is given vpBiclops::speedLimit. + */ double getPositioningVelocity(void); + + /*! + * Get the joint velocity. + * + * \param frame : Control frame. This head can only be controlled in joint state. + * + * \param q_dot : The measured joint velocity in rad/s. + * + * \exception vpRobotException::wrongStateError : If a not supported frame type + * is given. + */ void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot); + + /*! + * Return the joint velocity. + * + * \param frame : Control frame. This head can only be controlled in joint state. + * + * \return The measured joint velocity in rad/s. + * + * \exception vpRobotException::wrongStateError : If a not supported frame type + * is given. + */ vpColVector getVelocity(const vpRobot::vpControlFrameType frame); + /*! + * Get a joint position from the position file. + * + * \param filename : Position file. + * + * \param q : The joint position read in the file. + * + * \code + * # Example of biclops position file + * # The axis positions must be preceded by R: + * # First value : pan joint position in degrees + * # Second value: tilt joint position in degrees + * R: 15.0 5.0 + * \endcode + * + * \return true if a position was found, false otherwise. + */ bool readPositionFile(const std::string &filename, vpColVector &q); + /*! + * Set the Biclops config filename. + */ void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg"); + + /*! + * Move the robot in position control. + * + * \warning This method is blocking. That mean that it waits the end of the + * positioning. + * + * \param frame : Control frame. This biclops head can only be controlled in + * joint state. + * + * \param q : The joint position to set for each axis in radians. + * + * \exception vpRobotException::wrongStateError : If a not supported frame + * type is given. + */ void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q); + + /*! + * Move the robot in position control. + * + * \warning This method is blocking. That mean that it wait the end of the + * positioning. + * + * \param frame : Control frame. This biclops head can only be controlled in + * joint state. + * + * \param q1 : The pan joint position to set in radians. + * \param q2 : The tilt joint position to set in radians. + * + * \exception vpRobotException::wrongStateError : If a not supported frame + * type is given. + */ void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2); - void setPosition(const char *filename); + + /*! + * Read the content of the position file and moves to head to joint + * position. + * + * \param filename : Position filename + * + * \exception vpRobotException::readingParametersError : If the joint + * position cannot be read from file. + * + * \sa readPositionFile() + */ + void setPosition(const std::string &filename); + + /*! + * Set the velocity used for a position control. + * + * \param velocity : Velocity in % of the maximum velocity between [0,100]. The + * maximum velocity is given vpBiclops::speedLimit. + */ void setPositioningVelocity(double velocity); + + /*! + * Change the state of the robot either to stop them, or to set position or + * speed control. + */ vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState); + + /*! + * Send a velocity on each axis. + * + * \param frame : Control frame. This biclops head can only be controlled in + * joint state. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference + * frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME) + * and the mixt frame (vpRobot::MIXT_FRAME) are not implemented. + * + * \param q_dot : The desired joint velocity of the axis in rad/s. \f$ \dot + * {r} = [\dot{q}_1, \dot{q}_2]^t \f$ with \f$ \dot{q}_1 \f$ the pan of the + * camera and \f$ \dot{q}_2\f$ the tilt of the camera. + * + * \exception vpRobotException::wrongStateError : If a the robot is not + * configured to handle a velocity. The robot can handle a velocity only if the + * velocity control mode is set. For that, call setRobotState( + * vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). + * + * \exception vpRobotException::wrongStateError : If a not supported frame type + * (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME + * or vpRobot::MIXT_FRAME) is given. + * + * \warning Velocities could be saturated if one of them exceed the maximal + * authorized speed (see vpRobot::maxRotationVelocity). + */ void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot); + /*! + * Halt all the axis. + */ void stopMotion(); + /* + * Control loop to manage the biclops joint limits in speed control. + * + * This control loop is running in a separate thread in order to detect each 5 + * ms joint limits during the speed control. If a joint limit is detected the + * axis should be halted. + * + * \warning Velocity control mode is not exported from the top-level Biclops + * API class provided by Traclabs. That means that there is no protection in + * this mode to prevent an axis from striking its hard limit. In position mode, + * Traclabs put soft limits in that keep any command from driving to a position + * too close to the hard limits. In velocity mode this protection does not + * exist in the current API. + * + * \warning With the understanding that hitting the hard limits at full + * speed/power can damage the unit, damage due to velocity mode commanding is + * under user responsibility. + */ static void *vpRobotBiclopsSpeedControlLoop(void *arg); private: - static bool robotAlreadyCreated; - pthread_t control_thread; + static bool m_robotAlreadyCreated; + pthread_t m_control_thread; - std::string configfile; // Biclops config file + std::string m_configfile; //!< Biclops config file - vpRobotBiclopsController controller; + vpRobotBiclopsController m_controller; - double positioningVelocity; - vpColVector q_previous; - bool controlThreadCreated; + double m_positioningVelocity; + vpColVector m_q_previous; + bool m_controlThreadCreated; // private: //#ifndef DOXYGEN_SHOULD_SKIP_THIS // /*! \brief No copy constructor allowed. */ // vpRobotBiclops(const vpRobotBiclops &) - // : vpBiclops(), vpRobot(), control_thread(), controller(), - // positioningVelocity(0), q_previous(), controlThreadCreated(false) + // : vpBiclops(), vpRobot(), m_control_thread(), m_controller(), + // m_positioningVelocity(0), m_q_previous(), m_controlThreadCreated(false) // { // throw vpException(vpException::functionNotImplementedError, "Not // implemented!"); diff --git a/modules/robot/include/visp3/robot/vpRobotBiclopsController.h b/modules/robot/include/visp3/robot/vpRobotBiclopsController.h index 16694dba7d..1150de2dc4 100644 --- a/modules/robot/include/visp3/robot/vpRobotBiclopsController.h +++ b/modules/robot/include/visp3/robot/vpRobotBiclopsController.h @@ -1,5 +1,4 @@ -/**************************************************************************** - * +/* * ViSP, open source Visual Servoing Platform software. * Copyright (C) 2005 - 2023 by Inria. All rights reserved. * @@ -30,8 +29,7 @@ * * Description: * Interface for the Biclops robot. - * -*****************************************************************************/ + */ #include @@ -41,17 +39,12 @@ #ifndef _vpRobotBiclopsController_h_ #define _vpRobotBiclopsController_h_ -/* ------------------------------------------------------------------------ */ -/* --- INCLUDES ----------------------------------------------------------- */ -/* ------------------------------------------------------------------------ */ - -/* --- GENERAL --- */ #include /* Classe std::ostream. */ #include /* Classe std::ostream. */ #include /* Classe std::ostream. */ -#include "Biclops.h" // Contrib for Biclops robot -#include "PMDUtils.h" // Contrib for Biclops robot +#include // Contrib for Biclops sdk +#include // Contrib for Biclops sdk #if defined(_WIN32) class VISP_EXPORT Biclops; // needed for dll creation @@ -62,32 +55,35 @@ class VISP_EXPORT Biclops; // needed for dll creation /* ------------------------------------------------------------------------ */ /*! - - \class vpRobotBiclopsController - - \ingroup group_robot_real_ptu - - \brief Interface to Biclops, pan, tilt, verge head for computer vision - applications. - - See http://www.traclabs.com/tracbiclops.htm for more details. - - This class uses libraries libBiclops.so, libUtils.so and libPMD.so and - includes Biclops.h and PMDUtils.h provided by Traclabs. - -*/ + * \class vpRobotBiclopsController + * + * \ingroup group_robot_real_ptu + * + * \brief Interface to Biclops, pan, tilt, verge head for computer vision + * applications. + * + * See http://www.traclabs.com/tracbiclops.htm for more details. + * + * This class uses libraries libBiclops.so, libUtils.so and libPMD.so and + * includes Biclops.h and PMDUtils.h provided by Traclabs. + */ class VISP_EXPORT vpRobotBiclopsController { public: - typedef enum { - STOP, /*!< Have to stop the robot. */ - SPEED /*!< Can send the desired speed. */ + /*! + * Biclops controller status + */ + typedef enum + { + STOP, //!< Have to stop the robot. + SPEED //!< Can send the desired speed. } vpControllerStatusType; public: #ifndef DOXYGEN_SHOULD_SKIP_THIS // SHM - typedef struct /* ControllerShm_struct */ { + typedef struct /* ControllerShm_struct */ + { vpControllerStatusType status[2]; double q_dot[2]; /*!< Desired speed. */ double actual_q[2]; /*!< Current measured position of each axes. */ @@ -99,10 +95,10 @@ class VISP_EXPORT vpRobotBiclopsController // private: //#ifndef DOXYGEN_SHOULD_SKIP_THIS // vpRobotBiclopsController(const vpRobotBiclopsController &) - // : biclops(), axisMask(0), panAxis(NULL), tiltAxis(NULL), - // vergeAxis(NULL), - // panProfile(), tiltProfile(), vergeProfile(), shm(), - // stopControllerThread_(false) + // : m_biclops(), m_axisMask(0), m_panAxis(NULL), m_tiltAxis(NULL), + // m_vergeAxis(NULL), + // m_panProfile(), m_tiltProfile(), m_vergeProfile(), m_shm(), + // m_stopControllerThread(false) // { // throw vpException(vpException::functionNotImplementedError, "Not // implemented!"); @@ -114,39 +110,136 @@ class VISP_EXPORT vpRobotBiclopsController //#endif public: + /*! + * Default constructor. + */ vpRobotBiclopsController(); + + /*! + * Destructor. + */ virtual ~vpRobotBiclopsController(); + + /*! + * Initialize the biclops by homing all axis. + * + * \param configfile : Biclops configuration file. + * + * \exception vpRobotException::notInitializedError If the biclops head cannot + * be initialized. The initialization can failed, + * - if the head is not powered on, + * - if the head is not connected to your computer throw a serial cable, + * - if you try to open a bad serial port. Check you config file to verify + * which is the used serial port. + */ void init(const std::string &configfile); + + /*! + * Set the biclops axis position. The motion of the axis is synchronized to end + * on the same time. + * + * \warning Wait the end of the positioning. + * + * \param q : The position to set for each axis. + * + * \param percentVelocity : The velocity displacement to reach the new position + * in the range [0: 100.0]. 100 % corresponds to the maximal admissible + * speed. The maximal admissible speed is given by vpBiclops::speedLimit. + */ void setPosition(const vpColVector &q, double percentVelocity); + + /*! + * Apply a velocity to each axis of the biclops robot. + * + * \warning This method is non blocking. + * + * \param q_dot : Velocity to apply. + */ void setVelocity(const vpColVector &q_dot); + + /*! + * Get the biclops joint position. + * + * \return The axis joint position in radians. + */ vpColVector getPosition(); + + /*! + * Get the biclops actual joint position. + * + * \return The axis actual joint position in radians. + */ vpColVector getActualPosition(); + + /*! + * Get the biclops joint velocity. + * + * \return The axis joint velocity in rad/s. + */ vpColVector getVelocity(); + + /*! + * Get the biclops actual joint velocity. + * + * \return The axis actual joint velocity in rad/s. + */ vpColVector getActualVelocity(); - PMDAxisControl *getPanAxis() { return panAxis; }; - PMDAxisControl *getTiltAxis() { return tiltAxis; }; - PMDAxisControl *getVergeAxis() { return vergeAxis; }; + + /*! + * Return a pointer to the PMD axis controller for pan axis. + */ + PMDAxisControl *getPanAxis() { return m_panAxis; }; + + /*! + * Return a pointer to the PMD axis controller for tilt axis. + */ + PMDAxisControl *getTiltAxis() { return m_tiltAxis; }; + + /*! + * Return a pointer to the PMD axis controller for verge axis. + */ + PMDAxisControl *getVergeAxis() { return m_vergeAxis; }; + + /*! + * Update the shared memory. + * + * \param shm : Content to write in the shared memory. + */ void writeShm(shmType &shm); + + /*! + * Get a copy of the shared memory. + * + * \return A copy of the shared memory. + */ shmType readShm(); - bool isStopRequested() { return stopControllerThread_; } - void stopRequest(bool stop) { stopControllerThread_ = stop; } + /*! + * Return true when control thread needs to be stopped. + */ + bool isStopRequested() { return m_stopControllerThread; } + + /*! + * Request to stop the control thread. + * @param stop : When true, request to stop the control thread. + */ + void stopRequest(bool stop) { m_stopControllerThread = stop; } private: - Biclops biclops; // THE interface to Biclops. - int axisMask; + Biclops m_biclops; // THE interface to Biclops. + int m_axisMask; // Pointers to each axis (populated once controller is initialized). - PMDAxisControl *panAxis; - PMDAxisControl *tiltAxis; - PMDAxisControl *vergeAxis; + PMDAxisControl *m_panAxis; + PMDAxisControl *m_tiltAxis; + PMDAxisControl *m_vergeAxis; - PMDAxisControl::Profile panProfile; - PMDAxisControl::Profile tiltProfile; - PMDAxisControl::Profile vergeProfile; + PMDAxisControl::Profile m_panProfile; + PMDAxisControl::Profile m_tiltProfile; + PMDAxisControl::Profile m_vergeProfile; - shmType shm; - bool stopControllerThread_; + shmType m_shm; + bool m_stopControllerThread; }; #endif /* #ifndef _vpRobotBiclopsController_h_ */ diff --git a/modules/robot/src/real-robot/biclops/vpBiclops.cpp b/modules/robot/src/real-robot/biclops/vpBiclops.cpp index b259201663..ada3b56e22 100644 --- a/modules/robot/src/real-robot/biclops/vpBiclops.cpp +++ b/modules/robot/src/real-robot/biclops/vpBiclops.cpp @@ -33,86 +33,38 @@ * *****************************************************************************/ -/* ----------------------------------------------------------------------- */ -/* --- INCLUDE ----------------------------------------------------------- */ -/* ----------------------------------------------------------------------- */ - #include #include #include #include #include -/* ------------------------------------------------------------------------ */ -/* --- COMPUTE ------------------------------------------------------------ */ -/* ------------------------------------------------------------------------ */ -const unsigned int vpBiclops::ndof = 2; /* - -int main() -{ -#ifdef VISP_HAVE_BICLOPS - vpRobotBiclops robot; // Use the default config file in -/usr/share/BiclopsDefault.cfg" - - // Specify the config file location - robot.setConfigFile("/usr/share/BiclopsDefault.cfg"); // Not mandatory since the file is the default one - - // Initialize the head - robot.init(); - - // Move the robot to a specified pan and tilt - robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ; - vpColVector q(2); - q[0] = vpMath::rad(20); // pan - q[1] = vpMath::rad(40); // tilt - robot.setPosition(vpRobot::ARTICULAR_FRAME, q); -#endif - return 0; -} - \endcode - -*/ vpRobotBiclops::vpRobotBiclops() - : vpBiclops(), vpRobot(), control_thread(), controller(), positioningVelocity(defaultPositioningVelocity), - q_previous(), controlThreadCreated(false) + : vpBiclops(), vpRobot(), m_control_thread(), m_controller(), m_positioningVelocity(defaultPositioningVelocity), + m_q_previous(), m_controlThreadCreated(false) { vpDEBUG_TRACE(12, "Begin default constructor."); - vpRobotBiclops::robotAlreadyCreated = false; + vpRobotBiclops::m_robotAlreadyCreated = false; setConfigFile("/usr/share/BiclopsDefault.cfg"); // Initialize the mutex dedicated to she shm protection @@ -120,46 +79,16 @@ vpRobotBiclops::vpRobotBiclops() pthread_mutex_init(&vpEndThread_mutex, NULL); pthread_mutex_init(&vpMeasure_mutex, NULL); - control_thread = 0; -} - -/*! - - Constructor that initialize the biclops pan, tilt head by reading the - configuration file provided by Traclabs - and do the homing sequence. - - The following example shows how to use the constructor. - - \code -#include - -int main() -{ -#ifdef VISP_HAVE_BICLOPS - // Specify the config file location and initialize the turret - vpRobotBiclops robot("/usr/share/BiclopsDefault.cfg"); - - // Move the robot to a specified pan and tilt - robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ; - - vpColVector q(2); - q[0] = vpMath::rad(-20); // pan - q[1] = vpMath::rad(10); // tilt - robot.setPosition(vpRobot::ARTICULAR_FRAME, q); -#endif - return 0; + m_control_thread = 0; } - \endcode -*/ vpRobotBiclops::vpRobotBiclops(const std::string &filename) - : vpBiclops(), vpRobot(), control_thread(), controller(), positioningVelocity(defaultPositioningVelocity), - q_previous(), controlThreadCreated(false) + : vpBiclops(), vpRobot(), m_control_thread(), m_controller(), m_positioningVelocity(defaultPositioningVelocity), + m_q_previous(), m_controlThreadCreated(false) { vpDEBUG_TRACE(12, "Begin default constructor."); - vpRobotBiclops::robotAlreadyCreated = false; + vpRobotBiclops::m_robotAlreadyCreated = false; setConfigFile(filename); // Initialize the mutex dedicated to she shm protection @@ -172,13 +101,6 @@ vpRobotBiclops::vpRobotBiclops(const std::string &filename) return; } -/*! - - Destructor. - Wait the end of the control thread. - -*/ - vpRobotBiclops::~vpRobotBiclops() { @@ -191,11 +113,11 @@ vpRobotBiclops::~vpRobotBiclops() /* wait the end of the control thread */ vpDEBUG_TRACE(12, "Wait end of control thread"); - if (controlThreadCreated == true) { - int code = pthread_join(control_thread, NULL); + if (m_controlThreadCreated == true) { + int code = pthread_join(m_control_thread, NULL); if (code != 0) { vpCERROR << "Cannot terminate the control thread: " << code << " strErr=" << strerror(errno) - << " strCode=" << strerror(code) << std::endl; + << " strCode=" << strerror(code) << std::endl; } } @@ -203,91 +125,53 @@ vpRobotBiclops::~vpRobotBiclops() pthread_mutex_destroy(&vpEndThread_mutex); pthread_mutex_destroy(&vpMeasure_mutex); - vpRobotBiclops::robotAlreadyCreated = false; + vpRobotBiclops::m_robotAlreadyCreated = false; vpDEBUG_TRACE(12, "Stop vpRobotBiclops::~vpRobotBiclops()"); return; } -/* ------------------------------------------------------------------------- - */ -/* --- INITIALISATION ------------------------------------------------------ - */ -/* ------------------------------------------------------------------------- - */ - -/*! - - Set the Biclops config filename. - -*/ -void vpRobotBiclops::setConfigFile(const std::string &filename) { this->configfile = filename; } +void vpRobotBiclops::setConfigFile(const std::string &filename) { m_configfile = filename; } -/*! - - Set the Biclops config filename. - Check if the config file exists and initialize the head. - - \exception vpRobotException::constructionError If the config file cannot be - oppened. - -*/ void vpRobotBiclops::init() { // test if the config file exists - FILE *fd = fopen(configfile.c_str(), "r"); + FILE *fd = fopen(m_configfile.c_str(), "r"); if (fd == NULL) { - vpCERROR << "Cannot open biclops config file: " << configfile << std::endl; + vpCERROR << "Cannot open biclops config file: " << m_configfile << std::endl; throw vpRobotException(vpRobotException::constructionError, "Cannot open connection with biclops"); } fclose(fd); // Initialize the controller - controller.init(configfile); + m_controller.init(m_configfile); try { setRobotState(vpRobot::STATE_STOP); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } - vpRobotBiclops::robotAlreadyCreated = true; + vpRobotBiclops::m_robotAlreadyCreated = true; - // Initialize previous articular position to manage getDisplacement() - q_previous.resize(vpBiclops::ndof); - q_previous = 0; + // Initialize previous joint position to manage getDisplacement() + m_q_previous.resize(vpBiclops::ndof); + m_q_previous = 0; - controlThreadCreated = false; + m_controlThreadCreated = false; return; } -/* - Control loop to manage the biclops joint limits in speed control. - - This control loop is running in a separate thread in order to detect each 5 - ms joint limits during the speed control. If a joint limit is detected the - axis should be halted. - - \warning Velocity control mode is not exported from the top-level Biclops - API class provided by Traclabs. That means that there is no protection in - this mode to prevent an axis from striking its hard limit. In position mode, - Traclabs put soft limits in that keep any command from driving to a position - too close to the hard limits. In velocity mode this protection does not - exist in the current API. - - \warning With the understanding that hitting the hard limits at full - speed/power can damage the unit, damage due to velocity mode commanding is - under user responsibility. -*/ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) { - vpRobotBiclopsController *controller = static_cast(arg); + vpRobotBiclopsController *m_controller = static_cast(arg); int iter = 0; - // PMDAxisControl *panAxis = controller->getPanAxis(); - // PMDAxisControl *tiltAxis = controller->getTiltAxis(); + // PMDAxisControl *panAxis = m_controller->getPanAxis(); + // PMDAxisControl *tiltAxis = m_controller->getTiltAxis(); vpRobotBiclopsController::shmType shm; vpDEBUG_TRACE(10, "Start control loop"); @@ -311,7 +195,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller->readShm(); + shm = m_controller->readShm(); vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -325,20 +209,20 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) } // Initialize actual position and velocity - mes_q = controller->getActualPosition(); - mes_q_dot = controller->getActualVelocity(); + mes_q = m_controller->getActualPosition(); + mes_q_dot = m_controller->getActualVelocity(); vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller->readShm(); + shm = m_controller->readShm(); // Updates the shm for (unsigned int i = 0; i < vpBiclops::ndof; i++) { shm.actual_q[i] = mes_q[i]; shm.actual_q_dot[i] = mes_q_dot[i]; } // Update the actuals positions - controller->writeShm(shm); + m_controller->writeShm(shm); vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -346,16 +230,16 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) vpDEBUG_TRACE(11, "unlock mutex vpMeasure_mutex"); pthread_mutex_unlock(&vpMeasure_mutex); // A position is available - while (!controller->isStopRequested()) { + while (!m_controller->isStopRequested()) { // Get actual position and velocity - mes_q = controller->getActualPosition(); - mes_q_dot = controller->getActualVelocity(); + mes_q = m_controller->getActualPosition(); + mes_q_dot = m_controller->getActualVelocity(); vpDEBUG_TRACE(11, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller->readShm(); + shm = m_controller->readShm(); // Updates the shm for (unsigned int i = 0; i < vpBiclops::ndof; i++) { @@ -374,11 +258,13 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) vpDEBUG_TRACE(12, "Axe %d in low joint limit", i); shm.status[i] = vpRobotBiclopsController::STOP; shm.jointLimit[i] = true; - } else if (mes_q[i] > softLimit[i]) { + } + else if (mes_q[i] > softLimit[i]) { vpDEBUG_TRACE(12, "Axe %d in hight joint limit", i); shm.status[i] = vpRobotBiclopsController::STOP; shm.jointLimit[i] = true; - } else { + } + else { shm.status[i] = vpRobotBiclopsController::SPEED; shm.jointLimit[i] = false; } @@ -422,16 +308,18 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) force_halt[i] = true; // indicate that it will be stopped updateVelocity = true; // We have to send this new speed } - } else { - // We have to apply the desired speed to go away the joint - // Update the desired speed + } + else { + // We have to apply the desired speed to go away the joint + // Update the desired speed q_dot[i] = shm.q_dot[i]; shm.status[i] = vpRobotBiclopsController::SPEED; force_halt[i] = false; updateVelocity = true; // We have to send this new speed } - } else { - // New desired speed and change of direction. + } + else { + // New desired speed and change of direction. if (enable_limit[i] == true) { // limit detection active // Update the desired speed to go away the joint limit q_dot[i] = shm.q_dot[i]; @@ -439,9 +327,10 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) force_halt[i] = false; enable_limit[i] = false; // Disable joint limit detection updateVelocity = true; // We have to send this new speed - } else { - // We have to stop this axis - // Test if this axis was stopped before + } + else { + // We have to stop this axis + // Test if this axis was stopped before if (force_halt[i] == false) { q_dot[i] = 0.; force_halt[i] = true; // indicate that it will be stopped @@ -450,18 +339,20 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) } } } - } else { - // Axis not in joint limit + } + else { + // Axis not in joint limit - // Update the desired speed + // Update the desired speed q_dot[i] = shm.q_dot[i]; shm.status[i] = vpRobotBiclopsController::SPEED; enable_limit[i] = true; // Joint limit detection must be active updateVelocity = true; // We have to send this new speed } - } else { - // No change of the desired speed. We have to stop the robot in case - // of joint limit + } + else { + // No change of the desired speed. We have to stop the robot in case + // of joint limit if (shm.status[i] == vpRobotBiclopsController::STOP) { // axis limit if (enable_limit[i] == true) { // limit detection active @@ -473,14 +364,15 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) updateVelocity = true; // We have to send this new speed } } - } else { - // No need to stop the robot + } + else { + // No need to stop the robot enable_limit[i] = true; // Normal situation, activate limit detection } } } // Update the actuals positions - controller->writeShm(shm); + m_controller->writeShm(shm); vpDEBUG_TRACE(11, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -489,7 +381,7 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) vpDEBUG_TRACE(12, "apply q_dot : %f %f", vpMath::deg(q_dot[0]), vpMath::deg(q_dot[1])); // Apply the velocity - controller->setVelocity(q_dot); + m_controller->setVelocity(q_dot); } // Update the previous speed for next iteration @@ -513,11 +405,11 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) iter++; } - controller->stopRequest(false); + m_controller->stopRequest(false); // Stop the robot vpDEBUG_TRACE(10, "End of the control thread: stop the robot"); q_dot = 0; - controller->setVelocity(q_dot); + m_controller->setVelocity(q_dot); delete[] new_q_dot; delete[] change_dir; @@ -532,12 +424,6 @@ void *vpRobotBiclops::vpRobotBiclopsSpeedControlLoop(void *arg) return NULL; } -/*! - - Change the state of the robot either to stop them, or to set position or - speed control. - -*/ vpRobot::vpRobotStateType vpRobotBiclops::setRobotState(vpRobot::vpRobotStateType newState) { switch (newState) { @@ -563,13 +449,13 @@ vpRobot::vpRobotStateType vpRobotBiclops::setRobotState(vpRobot::vpRobotStateTyp vpDEBUG_TRACE(12, "Create speed control thread"); int code; - code = pthread_create(&control_thread, NULL, &vpRobotBiclops::vpRobotBiclopsSpeedControlLoop, &controller); + code = pthread_create(&m_control_thread, NULL, &vpRobotBiclops::vpRobotBiclopsSpeedControlLoop, &m_controller); if (code != 0) { vpCERROR << "Cannot create speed biclops control thread: " << code << " strErr=" << strerror(errno) - << " strCode=" << strerror(code) << std::endl; + << " strCode=" << strerror(code) << std::endl; } - controlThreadCreated = true; + m_controlThreadCreated = true; vpDEBUG_TRACE(12, "Speed control thread created"); } @@ -582,31 +468,16 @@ vpRobot::vpRobotStateType vpRobotBiclops::setRobotState(vpRobot::vpRobotStateTyp return vpRobot::setRobotState(newState); } -/*! - - Halt all the axis. - -*/ void vpRobotBiclops::stopMotion(void) { vpColVector q_dot(vpBiclops::ndof); q_dot = 0; - controller.setVelocity(q_dot); + m_controller.setVelocity(q_dot); // std::cout << "Request to stop the velocity controller thread...."<< // std::endl; - controller.stopRequest(true); + m_controller.stopRequest(true); } -/*! - - Get the twist matrix corresponding to the transformation between the - camera frame and the end effector frame. The end effector frame is located - on the tilt axis. - - \param cVe : Twist transformation between camera and end effector frame to - expess a velocity skew from end effector frame in camera frame. - -*/ void vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe) const { vpHomogeneousMatrix cMe; @@ -615,67 +486,36 @@ void vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe) const cVe.buildFrom(cMe); } -/*! - - Get the homogeneous matrix corresponding to the transformation between the - camera frame and the end effector frame. The end effector frame is located - on the tilt axis. - - \param cMe : Homogeneous matrix between camera and end effector frame. - -*/ void vpRobotBiclops::get_cMe(vpHomogeneousMatrix &cMe) const { cMe = vpBiclops::get_cMe(); } -/*! - Get the robot jacobian expressed in the end-effector frame. - - \warning Re is not the embedded camera frame. It corresponds to the frame - associated to the tilt axis (see also get_cMe). - - \param _eJe : Jacobian between end effector frame and end effector frame (on - tilt axis). - -*/ void vpRobotBiclops::get_eJe(vpMatrix &_eJe) { vpColVector q(2); - getPosition(vpRobot::ARTICULAR_FRAME, q); + getPosition(vpRobot::JOINT_STATE, q); try { vpBiclops::get_eJe(q, _eJe); - } catch (...) { + } + catch (...) { vpERROR_TRACE("catch exception "); throw; } } -/*! - Get the robot jacobian expressed in the robot reference frame - - \param _fJe : Jacobian between reference frame (or fix frame) and end - effector frame (on tilt axis). - -*/ void vpRobotBiclops::get_fJe(vpMatrix &_fJe) { vpColVector q(2); - getPosition(vpRobot::ARTICULAR_FRAME, q); + getPosition(vpRobot::JOINT_STATE, q); try { vpBiclops::get_fJe(q, _fJe); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } } -/*! - - Set the velocity used for a position control. - - \param velocity : Velocity in % of the maximum velocity between [0,100]. The - maximum velocity is given vpBiclops::speedLimit. -*/ void vpRobotBiclops::setPositioningVelocity(double velocity) { if (velocity < 0 || velocity > 100) { @@ -683,32 +523,11 @@ void vpRobotBiclops::setPositioningVelocity(double velocity) throw vpRobotException(vpRobotException::constructionError, "Bad positioning velocity"); } - positioningVelocity = velocity; + m_positioningVelocity = velocity; } -/*! - Get the velocity in % used for a position control. - - \return Positioning velocity in [0, 100.0]. The - maximum positioning velocity is given vpBiclops::speedLimit. - -*/ -double vpRobotBiclops::getPositioningVelocity(void) { return positioningVelocity; } - -/*! - Move the robot in position control. - \warning This method is blocking. That mean that it waits the end of the - positioning. +double vpRobotBiclops::getPositioningVelocity(void) { return m_positioningVelocity; } - \param frame : Control frame. This biclops head can only be controlled in - articular. - - \param q : The position to set for each axis in radians. - - \exception vpRobotException::wrongStateError : If a not supported frame - type is given. - -*/ void vpRobotBiclops::setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) { @@ -735,34 +554,18 @@ void vpRobotBiclops::setPosition(const vpRobot::vpControlFrameType frame, const throw vpRobotException(vpRobotException::wrongStateError, "Cannot move the robot in end-effector frame: " "not implemented"); break; - case vpRobot::ARTICULAR_FRAME: + case vpRobot::JOINT_STATE: break; } vpDEBUG_TRACE(12, "Lock mutex vpEndThread_mutex"); pthread_mutex_lock(&vpEndThread_mutex); - controller.setPosition(q, positioningVelocity); + m_controller.setPosition(q, m_positioningVelocity); vpDEBUG_TRACE(12, "Unlock mutex vpEndThread_mutex"); pthread_mutex_unlock(&vpEndThread_mutex); return; } -/*! - Move the robot in position control. - - \warning This method is blocking. That mean that it wait the end of the - positioning. - - \param frame : Control frame. This biclops head can only be controlled in - articular. - - \param q1 : The pan position to set in radians. - \param q2 : The tilt position to set in radians. - - \exception vpRobotException::wrongStateError : If a not supported frame - type is given. - -*/ void vpRobotBiclops::setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2) { try { @@ -771,50 +574,23 @@ void vpRobotBiclops::setPosition(const vpRobot::vpControlFrameType frame, const q[1] = q2; setPosition(frame, q); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } } -/*! - - Read the content of the position file and moves to head to articular - position. - - \param filename : Position filename - - \exception vpRobotException::readingParametersError : If the articular - position cannot be read from file. - - \sa readPositionFile() - -*/ -void vpRobotBiclops::setPosition(const char *filename) +void vpRobotBiclops::setPosition(const std::string &filename) { vpColVector q; - if (readPositionFile(filename, q) == false) { + if (readPositionFile(filename.c_str(), q) == false) { vpERROR_TRACE("Cannot get biclops position from file"); throw vpRobotException(vpRobotException::readingParametersError, "Cannot get biclops position from file"); } - setPosition(vpRobot::ARTICULAR_FRAME, q); + setPosition(vpRobot::JOINT_STATE, q); } -/*! - - Return the position of each axis. - - In positioning control mode, call vpRobotBiclopsController::getPosition() - - In speed control mode, call vpRobotBiclopsController::getActualPosition() - - \param frame : Control frame. This biclops head can only be controlled in - articular. - - \param q : The position of the axis in radians. - - \exception vpRobotException::wrongStateError : If a not supported frame type - is given. - -*/ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) { switch (frame) { @@ -834,7 +610,7 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV throw vpRobotException(vpRobotException::wrongStateError, "Cannot get position in end-effector frame: " "not implemented"); break; - case vpRobot::ARTICULAR_FRAME: + case vpRobot::JOINT_STATE: break; } @@ -844,7 +620,7 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV switch (state) { case STATE_STOP: case STATE_POSITION_CONTROL: - q = controller.getPosition(); + q = m_controller.getPosition(); break; case STATE_VELOCITY_CONTROL: @@ -860,7 +636,7 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller.readShm(); + shm = m_controller.readShm(); vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -878,32 +654,6 @@ void vpRobotBiclops::getPosition(const vpRobot::vpControlFrameType frame, vpColV } } -/*! - - Send a velocity on each axis. - - \param frame : Control frame. This biclops head can only be controlled in - articular. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference - frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME) - and the mixt frame (vpRobot::MIXT_FRAME) are not implemented. - - \param q_dot : The desired articular velocity of the axis in rad/s. \f$ \dot - {r} = [\dot{q}_1, \dot{q}_2]^t \f$ with \f$ \dot{q}_1 \f$ the pan of the - camera and \f$ \dot{q}_2\f$ the tilt of the camera. - - \exception vpRobotException::wrongStateError : If a the robot is not - configured to handle a velocity. The robot can handle a velocity only if the - velocity control mode is set. For that, call setRobotState( - vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). - - \exception vpRobotException::wrongStateError : If a not supported frame type - (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME - or vpRobot::MIXT_FRAME) is given. - - \warning Velocities could be saturated if one of them exceed the maximal - autorized speed (see vpRobot::maxRotationVelocity). - -*/ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot) { if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState()) { @@ -916,18 +666,14 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const switch (frame) { case vpRobot::CAMERA_FRAME: { - vpERROR_TRACE("Cannot send a velocity to the robot " - "in the camera frame: " - "functionality not implemented"); throw vpRobotException(vpRobotException::wrongStateError, "Cannot send a velocity to the robot " "in the camera frame:" "functionality not implemented"); } - case vpRobot::ARTICULAR_FRAME: { + case vpRobot::JOINT_STATE: { if (q_dot.getRows() != 2) { - vpERROR_TRACE("Bad dimension fo speed vector in articular frame"); throw vpRobotException(vpRobotException::wrongStateError, "Bad dimension for speed vector " - "in articular frame"); + "in joint state"); } break; } @@ -952,9 +698,9 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const } vpDEBUG_TRACE(12, "Velocity limitation."); - bool norm = false; // Flag to indicate when velocities need to be nomalized + bool norm = false; // Flag to indicate when velocities need to be normalized - // Saturate articular speed + // Saturate joint speed double max = vpBiclops::speedLimit; vpColVector q_dot_sat(vpBiclops::ndof); @@ -971,7 +717,7 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const i); } } - // Rotations velocities normalisation + // Rotations velocities normalization if (norm == true) { max = vpBiclops::speedLimit / max; q_dot_sat = q_dot * max; @@ -984,12 +730,12 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller.readShm(); + shm = m_controller.readShm(); for (unsigned int i = 0; i < vpBiclops::ndof; i++) shm.q_dot[i] = q_dot[i]; - controller.writeShm(shm); + m_controller.writeShm(shm); vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -997,24 +743,6 @@ void vpRobotBiclops::setVelocity(const vpRobot::vpControlFrameType frame, const return; } -/* ------------------------------------------------------------------------- - */ -/* --- GET ----------------------------------------------------------------- - */ -/* ------------------------------------------------------------------------- - */ - -/*! - - Get the articular velocity. - - \param frame : Control frame. This head can only be controlled in articular. - - \param q_dot : The measured articular velocity in rad/s. - - \exception vpRobotException::wrongStateError : If a not supported frame type - is given. -*/ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot) { switch (frame) { @@ -1034,7 +762,7 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV throw vpRobotException(vpRobotException::wrongStateError, "Cannot get position in end-effector frame: " "not implemented"); break; - case vpRobot::ARTICULAR_FRAME: + case vpRobot::JOINT_STATE: break; } @@ -1044,7 +772,7 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV switch (state) { case STATE_STOP: case STATE_POSITION_CONTROL: - q_dot = controller.getVelocity(); + q_dot = m_controller.getVelocity(); break; case STATE_VELOCITY_CONTROL: @@ -1060,7 +788,7 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV vpDEBUG_TRACE(12, "Lock mutex vpShm_mutex"); pthread_mutex_lock(&vpShm_mutex); - shm = controller.readShm(); + shm = m_controller.readShm(); vpDEBUG_TRACE(12, "unlock mutex vpShm_mutex"); pthread_mutex_unlock(&vpShm_mutex); @@ -1078,17 +806,6 @@ void vpRobotBiclops::getVelocity(const vpRobot::vpControlFrameType frame, vpColV } } -/*! - - Return the articular velocity. - - \param frame : Control frame. This head can only be controlled in articular. - - \return The measured articular velocity in rad/s. - - \exception vpRobotException::wrongStateError : If a not supported frame type - is given. -*/ vpColVector vpRobotBiclops::getVelocity(vpRobot::vpControlFrameType frame) { vpColVector q_dot; @@ -1097,25 +814,6 @@ vpColVector vpRobotBiclops::getVelocity(vpRobot::vpControlFrameType frame) return q_dot; } -/*! - - Get an articular position from the position file. - - \param filename : Position file. - - \param q : The articular position read in the file. - - \code - # Example of biclops position file - # The axis positions must be preceed by R: - # First value : pan articular position in degrees - # Second value: tilt articular position in degrees - R: 15.0 5.0 - \endcode - - \return true if a position was found, false otherwise. - -*/ bool vpRobotBiclops::readPositionFile(const std::string &filename, vpColVector &q) { std::ifstream fd(filename.c_str(), std::ios::in); @@ -1174,38 +872,16 @@ bool vpRobotBiclops::readPositionFile(const std::string &filename, vpColVector & return true; } -/*! - - Get the robot displacement since the last call of this method. - - \warning The first call of this method gives not a good value for the - displacement. - - \param frame The frame in which the measured displacement is expressed. - - \param d The displacement: - - - In articular, the dimension of q is 2 (the number of axis of the robot) - with respectively d[0] (pan displacement), d[1] (tilt displacement). - - - In camera frame, the dimension of d is 6 (tx, ty, ty, tux, tuy, tuz). - Translations are expressed in meters, rotations in radians with the theta U - representation. - - \exception vpRobotException::wrongStateError If a not supported frame type - is given. - -*/ void vpRobotBiclops::getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &d) { vpColVector q_current; // current position - getPosition(vpRobot::ARTICULAR_FRAME, q_current); + getPosition(vpRobot::JOINT_STATE, q_current); switch (frame) { - case vpRobot::ARTICULAR_FRAME: + case vpRobot::JOINT_STATE: d.resize(vpBiclops::ndof); - d = q_current - q_previous; + d = q_current - m_q_previous; break; case vpRobot::CAMERA_FRAME: { @@ -1213,7 +889,7 @@ void vpRobotBiclops::getDisplacement(vpRobot::vpControlFrameType frame, vpColVec vpHomogeneousMatrix fMc_current; vpHomogeneousMatrix fMc_previous; fMc_current = vpBiclops::get_fMc(q_current); - fMc_previous = vpBiclops::get_fMc(q_previous); + fMc_previous = vpBiclops::get_fMc(m_q_previous); vpHomogeneousMatrix c_previousMc_current; // fMc_c = fMc_p * c_pMc_c // => c_pMc_c = (fMc_p)^-1 * fMc_c @@ -1238,11 +914,11 @@ void vpRobotBiclops::getDisplacement(vpRobot::vpControlFrameType frame, vpColVec break; } - q_previous = q_current; // Update for next call of this method + m_q_previous = q_current; // Update for next call of this method } #elif !defined(VISP_BUILD_SHARED_LIBS) // Work around to avoid warning: libvisp_robot.a(vpRobotBiclops.cpp.o) has no // symbols -void dummy_vpRobotBiclops(){}; +void dummy_vpRobotBiclops() { }; #endif diff --git a/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp b/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp index 47690bab1e..4bc5c590cc 100644 --- a/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp +++ b/modules/robot/src/real-robot/biclops/vpRobotBiclopsController.cpp @@ -53,55 +53,29 @@ #include -/* ----------------------------------------------------------------------- */ -/* --- CONSTRUCTOR ------------------------------------------------------ */ -/* ---------------------------------------------------------------------- */ - -/*! - Default constructor. -*/ vpRobotBiclopsController::vpRobotBiclopsController() - : biclops(), axisMask(0), panAxis(NULL), tiltAxis(NULL), vergeAxis(NULL), panProfile(), tiltProfile(), vergeProfile(), - shm(), stopControllerThread_(false) + : m_biclops(), m_axisMask(0), m_panAxis(NULL), m_tiltAxis(NULL), m_vergeAxis(NULL), m_panProfile(), m_tiltProfile(), + m_vergeProfile(), m_shm(), m_stopControllerThread(false) { - axisMask = Biclops::PanMask + Biclops::TiltMask - /*+ Biclops::VergeMask*/; // add this if you want verge. + m_axisMask = Biclops::PanMask + Biclops::TiltMask; //+ Biclops::VergeMask*/; // add this if you want verge. // Set Debug level depending on how much info you want to see about // the inner workings of the API. Level 2 is highest with 0 being // the default (i.e., no messages). - biclops.SetDebugLevel(0); + m_biclops.SetDebugLevel(0); // initialize the shared data structure for (unsigned int i = 0; i < vpBiclops::ndof; i++) { - shm.status[i] = STOP; - shm.q_dot[i] = 0.; - shm.actual_q[i] = 0.; - shm.jointLimit[i] = false; - shm.status[i] = STOP; + m_shm.status[i] = STOP; + m_shm.q_dot[i] = 0.; + m_shm.actual_q[i] = 0.; + m_shm.jointLimit[i] = false; + m_shm.status[i] = STOP; } } -/*! - - Destructor. - -*/ -vpRobotBiclopsController::~vpRobotBiclopsController() {} - -/*! - - Initialize the biclops by homing all axis. +vpRobotBiclopsController::~vpRobotBiclopsController() { } - \param configfile : Biclops configuration file. - - \exception vpRobotException::notInitializedError If the biclops head connot - be initialized. The initialization can failed, - - if the head is not powered on, - - if the head is not connected to your computer throw a serial cable, - - if you try to open a bad serial port. Check you config file to verify - which is the used serial port. -*/ void vpRobotBiclopsController::init(const std::string &configfile) { vpDEBUG_TRACE(12, "Initialize biclops."); @@ -109,16 +83,18 @@ void vpRobotBiclopsController::init(const std::string &configfile) for (int i = 0; i < 1; i++) { try { std::cout << "Try to initialize biclops head " << std::endl; - binit = biclops.Initialize(configfile.c_str()); + binit = m_biclops.Initialize(configfile.c_str()); usleep(100000); if (binit) { // Initialization completed successfully. Close the config file. std::cout << "Initialization succeed...\n"; break; - } else { + } + else { std::cout << "Initialization failed...\n"; } - } catch (...) { + } + catch (...) { std::cout << "Initialization failed..." << std::endl; } } @@ -136,17 +112,17 @@ void vpRobotBiclopsController::init(const std::string &configfile) vpDEBUG_TRACE(12, "Biclops initialized"); // Get shortcut references to each axis. - panAxis = biclops.GetAxis(Biclops::Pan); - tiltAxis = biclops.GetAxis(Biclops::Tilt); - if ((axisMask & Biclops::VergeMask) != 0) - vergeAxis = biclops.GetAxis(Biclops::Verge); + m_panAxis = m_biclops.GetAxis(Biclops::Pan); + m_tiltAxis = m_biclops.GetAxis(Biclops::Tilt); + if ((m_axisMask & Biclops::VergeMask) != 0) + m_vergeAxis = m_biclops.GetAxis(Biclops::Verge); #ifdef VISP_HAVE_BICLOPS_AND_GET_HOMED_STATE_FUNCTION // new API - if (!panAxis->GetHomedState() || !tiltAxis->GetHomedState()) { + if (!m_panAxis->GetHomedState() || !m_tiltAxis->GetHomedState()) { vpDEBUG_TRACE(12, "Biclops is not homed"); } #else // old API - if (!panAxis->IsAlreadyHomed() || !tiltAxis->IsAlreadyHomed()) { + if (!m_panAxis->IsAlreadyHomed() || !m_tiltAxis->IsAlreadyHomed()) { vpDEBUG_TRACE(12, "Biclops is not homed"); } #endif @@ -154,7 +130,7 @@ void vpRobotBiclopsController::init(const std::string &configfile) // Execute the homing sequence for all axes. vpDEBUG_TRACE(12, "Execute the homing sequence for all axes"); vpDEBUG_TRACE(12, "Execute the homing sequence for all axes"); - if (biclops.HomeAxes(axisMask)) + if (m_biclops.HomeAxes(m_axisMask)) vpDEBUG_TRACE(12, "Homing sequence succeed."); else { vpERROR_TRACE("Homing sequence failed. Program is stopped"); @@ -163,27 +139,12 @@ void vpRobotBiclopsController::init(const std::string &configfile) // Get the currently defined (default) motion profiles. // PMDAxisControl::Profile panProfile,tiltProfile,vergeProfile; - panAxis->GetProfile(panProfile); - tiltAxis->GetProfile(tiltProfile); - if ((axisMask & Biclops::VergeMask) != 0) - vergeAxis->GetProfile(vergeProfile); + m_panAxis->GetProfile(m_panProfile); + m_tiltAxis->GetProfile(m_tiltProfile); + if ((m_axisMask & Biclops::VergeMask) != 0) + m_vergeAxis->GetProfile(m_vergeProfile); } -/*! - - Set the biclops axis position. The motion of the axis is synchronized to end - on the same time. - - \warning Wait the end of the positioning. - - \param q : The position to set for each axis. - - \param percentVelocity : The velocity displacement to reach the new position - in the range [0: 100.0]. 100 % corresponds to the maximal admissible - speed. The maximal admissible speed is given by vpBiclops::speedLimit. - -*/ - void vpRobotBiclopsController::setPosition(const vpColVector &q, double percentVelocity) { if (q.getRows() != vpBiclops::ndof) { @@ -191,32 +152,32 @@ void vpRobotBiclopsController::setPosition(const vpColVector &q, double percentV throw vpRobotException(vpRobotException::lowLevelError, "Bad dimension for positioning vector."); } - panAxis->SetProfileMode(PMDTrapezoidalProfile); - tiltAxis->SetProfileMode(PMDTrapezoidalProfile); + m_panAxis->SetProfileMode(PMDTrapezoidalProfile); + m_tiltAxis->SetProfileMode(PMDTrapezoidalProfile); // Create the list of axes we want to coordinate PMDUtils::AxisList axisList; - axisList.push_back(panAxis); - axisList.push_back(tiltAxis); + axisList.push_back(m_panAxis); + axisList.push_back(m_tiltAxis); #ifdef VISP_HAVE_BICLOPS_AND_GET_HOMED_STATE_FUNCTION // new API // Get the currently defined (default) motion profiles. // PMDAxisControl::Profile panProfile,tiltProfile; - panAxis->GetProfile(panProfile); - tiltAxis->GetProfile(tiltProfile); + m_panAxis->GetProfile(m_panProfile); + m_tiltAxis->GetProfile(m_tiltProfile); // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - panProfile.pos = PMDUtils::RadsToRevs(q[0]); - panProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); + m_panProfile.pos = PMDUtils::RadsToRevs(q[0]); + m_panProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); - tiltProfile.pos = PMDUtils::RadsToRevs(q[1]); - tiltProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); + m_tiltProfile.pos = PMDUtils::RadsToRevs(q[1]); + m_tiltProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); // Inform the controller of the new desired position. - panAxis->SetProfile(panProfile); - tiltAxis->SetProfile(tiltProfile); + m_panAxis->SetProfile(m_panProfile); + m_tiltAxis->SetProfile(m_tiltProfile); #else // old API @@ -225,44 +186,35 @@ void vpRobotBiclopsController::setPosition(const vpColVector &q, double percentV // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - panProfile.pos = PMDUtils::RadsToRevs(q[0]); - panProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); + m_panProfile.pos = PMDUtils::RadsToRevs(q[0]); + m_panProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); vpDEBUG_TRACE(12, "Speed percent: %lf", vpBiclops::speedLimit * percentVelocity / 100.); - panAxis->ProfileToCounts(panProfile, desired_profile); + m_panAxis->ProfileToCounts(m_panProfile, desired_profile); vpCDEBUG(12) << "desired_profile.pos: " << desired_profile.pos << std::endl; vpCDEBUG(12) << "desired_profile.vel: " << desired_profile.vel << std::endl; - panAxis->SetProfile(desired_profile); + m_panAxis->SetProfile(desired_profile); // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - tiltProfile.pos = PMDUtils::RadsToRevs(q[1]); - tiltProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); + m_tiltProfile.pos = PMDUtils::RadsToRevs(q[1]); + m_tiltProfile.vel = PMDUtils::RadsToRevs(vpBiclops::speedLimit * percentVelocity / 100.); - tiltAxis->ProfileToCounts(tiltProfile, desired_profile); + m_tiltAxis->ProfileToCounts(m_tiltProfile, desired_profile); vpCDEBUG(12) << "desired_profile.pos: " << desired_profile.pos << std::endl; vpCDEBUG(12) << "desired_profile.vel: " << desired_profile.vel << std::endl; - tiltAxis->SetProfile(desired_profile); + m_tiltAxis->SetProfile(desired_profile); #endif // Coordinate motion PMDUtils::Coordinate(axisList); - biclops.Move(Biclops::PanMask + Biclops::TiltMask /*, 0*/); // + m_biclops.Move(Biclops::PanMask + Biclops::TiltMask /*, 0*/); // } -/*! - - Apply a velocity to each axis of the biclops robot. - - \warning This method is non blocking. - - \param q_dot : Velocity to apply. - -*/ void vpRobotBiclopsController::setVelocity(const vpColVector &q_dot) { if (q_dot.getRows() != vpBiclops::ndof) { @@ -273,65 +225,58 @@ void vpRobotBiclopsController::setVelocity(const vpColVector &q_dot) #ifdef VISP_HAVE_BICLOPS_AND_GET_HOMED_STATE_FUNCTION // new API // Get the currently defined (default) motion profiles. // PMDAxisControl::Profile panProfile, tiltProfile; - panAxis->GetProfile(panProfile); - tiltAxis->GetProfile(tiltProfile); + m_panAxis->GetProfile(m_panProfile); + m_tiltAxis->GetProfile(m_tiltProfile); // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - panProfile.vel = PMDUtils::RadsToRevs(q_dot[0]); - tiltProfile.vel = PMDUtils::RadsToRevs(q_dot[1]); + m_panProfile.vel = PMDUtils::RadsToRevs(q_dot[0]); + m_tiltProfile.vel = PMDUtils::RadsToRevs(q_dot[1]); // Inform the controller of the new desired position. - panAxis->SetProfile(panProfile); - tiltAxis->SetProfile(tiltProfile); + m_panAxis->SetProfile(m_panProfile); + m_tiltAxis->SetProfile(m_tiltProfile); - panAxis->SetProfileMode(PMDVelocityContouringProfile); - tiltAxis->SetProfileMode(PMDVelocityContouringProfile); + m_panAxis->SetProfileMode(PMDVelocityContouringProfile); + m_tiltAxis->SetProfileMode(PMDVelocityContouringProfile); #else // old API - panAxis->SetProfileMode(PMDVelocityContouringProfile); - tiltAxis->SetProfileMode(PMDVelocityContouringProfile); + m_panAxis->SetProfileMode(PMDVelocityContouringProfile); + m_tiltAxis->SetProfileMode(PMDVelocityContouringProfile); PMDAxisControl::CountsProfile desired_profile; // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - panProfile.vel = PMDUtils::RadsToRevs(q_dot[0]); + m_panProfile.vel = PMDUtils::RadsToRevs(q_dot[0]); - panAxis->ProfileToCounts(panProfile, desired_profile); - panAxis->SetProfile(desired_profile); + m_panAxis->ProfileToCounts(m_panProfile, desired_profile); + m_panAxis->SetProfile(desired_profile); // Set a position to move to by modifying the respective profiles. // NOTE: profile values are in revolutions, so here we convert // from degrees (divide by 360) for readability. - tiltProfile.vel = PMDUtils::RadsToRevs(q_dot[1]); + m_tiltProfile.vel = PMDUtils::RadsToRevs(q_dot[1]); - tiltAxis->ProfileToCounts(tiltProfile, desired_profile); - tiltAxis->SetProfile(desired_profile); + m_tiltAxis->ProfileToCounts(m_tiltProfile, desired_profile); + m_tiltAxis->SetProfile(desired_profile); #endif // Coordinate motion - biclops.Move(Biclops::PanMask + Biclops::TiltMask, 0); // + m_biclops.Move(Biclops::PanMask + Biclops::TiltMask, 0); // } -/*! - - Get the biclops articular position. - - \return The axis articular position in radians. - -*/ vpColVector vpRobotBiclopsController::getPosition() { vpDEBUG_TRACE(12, "Start vpRobotBiclopsController::getPosition() "); vpColVector q(vpBiclops::ndof); PMDint32 panpos, tiltpos; - panAxis->GetPosition(panpos); - tiltAxis->GetPosition(tiltpos); + m_panAxis->GetPosition(panpos); + m_tiltAxis->GetPosition(tiltpos); - q[0] = PMDUtils::RevsToRads(panAxis->CountsToUnits(panpos)); - q[1] = PMDUtils::RevsToRads(tiltAxis->CountsToUnits(tiltpos)); + q[0] = PMDUtils::RevsToRads(m_panAxis->CountsToUnits(panpos)); + q[1] = PMDUtils::RevsToRads(m_tiltAxis->CountsToUnits(tiltpos)); vpCDEBUG(11) << "++++++++ Mesure : " << q.t(); vpDEBUG_TRACE(12, "End vpRobotBiclopsController::getPosition()"); @@ -339,102 +284,67 @@ vpColVector vpRobotBiclopsController::getPosition() return q; } -/*! - - Get the biclops actual articular position. - - \return The axis actual articular position in radians. - -*/ vpColVector vpRobotBiclopsController::getActualPosition() { vpColVector q(vpBiclops::ndof); PMDint32 panpos, tiltpos; - panAxis->GetActualPosition(panpos); - tiltAxis->GetActualPosition(tiltpos); + m_panAxis->GetActualPosition(panpos); + m_tiltAxis->GetActualPosition(tiltpos); - q[0] = PMDUtils::RevsToRads(panAxis->CountsToUnits(panpos)); - q[1] = PMDUtils::RevsToRads(tiltAxis->CountsToUnits(tiltpos)); + q[0] = PMDUtils::RevsToRads(m_panAxis->CountsToUnits(panpos)); + q[1] = PMDUtils::RevsToRads(m_tiltAxis->CountsToUnits(tiltpos)); return q; } -/*! - - Get the biclops articular velocity. - - \return The axis articular velocity in rad/s. - -*/ vpColVector vpRobotBiclopsController::getVelocity() { vpColVector q_dot(vpBiclops::ndof); PMDint32 pan_vel, tilt_vel; - panAxis->GetVelocity(pan_vel); - tiltAxis->GetVelocity(tilt_vel); + m_panAxis->GetVelocity(pan_vel); + m_tiltAxis->GetVelocity(tilt_vel); - q_dot[0] = PMDUtils::RevsToRads(panAxis->CountsToUnits(pan_vel)); - q_dot[1] = PMDUtils::RevsToRads(tiltAxis->CountsToUnits(tilt_vel)); + q_dot[0] = PMDUtils::RevsToRads(m_panAxis->CountsToUnits(pan_vel)); + q_dot[1] = PMDUtils::RevsToRads(m_tiltAxis->CountsToUnits(tilt_vel)); return q_dot; } -/*! - - Get the biclops actual articular velocity. - - \return The axis actual articular velocity in rad/s. - -*/ vpColVector vpRobotBiclopsController::getActualVelocity() { vpColVector q_dot(vpBiclops::ndof); PMDint32 pan_vel, tilt_vel; - panAxis->GetActualVelocity(pan_vel); - tiltAxis->GetActualVelocity(tilt_vel); + m_panAxis->GetActualVelocity(pan_vel); + m_tiltAxis->GetActualVelocity(tilt_vel); - q_dot[0] = PMDUtils::RevsToRads(panAxis->CountsToUnits(pan_vel)); - q_dot[1] = PMDUtils::RevsToRads(tiltAxis->CountsToUnits(tilt_vel)); + q_dot[0] = PMDUtils::RevsToRads(m_panAxis->CountsToUnits(pan_vel)); + q_dot[1] = PMDUtils::RevsToRads(m_tiltAxis->CountsToUnits(tilt_vel)); return q_dot; } -/*! - - Update the shared memory. - - \param shm_ : Content to write in the shared memory. -*/ -void vpRobotBiclopsController::writeShm(shmType &shm_) +void vpRobotBiclopsController::writeShm(shmType &shm) { for (unsigned int i = 0; i < vpBiclops::ndof; i++) { - vpDEBUG_TRACE(13, "q_dot[%d]=%f", i, shm_.q_dot[i]); + vpDEBUG_TRACE(13, "q_dot[%d]=%f", i, m_shm.q_dot[i]); } - memcpy(&this->shm, &shm_, sizeof(shmType)); - // this->shm = shm_; + memcpy(&this->m_shm, &shm, sizeof(shmType)); for (unsigned int i = 0; i < vpBiclops::ndof; i++) { - vpDEBUG_TRACE(13, "shm.q_dot[%d]=%f", i, shm.q_dot[i]); + vpDEBUG_TRACE(13, "shm.q_dot[%d]=%f", i, m_shm.q_dot[i]); } } -/*! - - Get a copy of the shared memory. - - \return A copy of the shared memory. -*/ vpRobotBiclopsController::shmType vpRobotBiclopsController::readShm() { shmType tmp_shm; for (unsigned int i = 0; i < vpBiclops::ndof; i++) { - vpDEBUG_TRACE(13, "shm.q_dot[%d]=%f", i, shm.q_dot[i]); + vpDEBUG_TRACE(13, "shm.q_dot[%d]=%f", i, m_shm.q_dot[i]); } - memcpy(&tmp_shm, &this->shm, sizeof(shmType)); - // tmp_shm = shm; + memcpy(&tmp_shm, &this->m_shm, sizeof(shmType)); for (unsigned int i = 0; i < vpBiclops::ndof; i++) { vpDEBUG_TRACE(13, "tmp_shm.q_dot[%d]=%f", i, tmp_shm.q_dot[i]); } @@ -445,7 +355,7 @@ vpRobotBiclopsController::shmType vpRobotBiclopsController::readShm() #elif !defined(VISP_BUILD_SHARED_LIBS) // Work around to avoid warning: // libvisp_robot.a(vpRobotBiclopsController.cpp.o) has no symbols -void dummy_vpRobotBiclopsController(){}; +void dummy_vpRobotBiclopsController() { }; #endif #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS From 178f235e6cf134f05399371052518797fed640cc Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Fri, 6 Oct 2023 11:10:45 +0200 Subject: [PATCH 06/14] Fix typo --- ChangeLog.txt | 2 +- doc/mainpage.dox.in | 2 +- modules/core/include/visp3/core/vpMatrix.h | 2 +- .../src/tracking/moments/vpMomentObject.cpp | 4 +-- modules/robot/include/visp3/robot/vpAfma6.h | 2 +- .../robot/include/visp3/robot/vpUnicycle.h | 2 +- .../robot/include/visp3/robot/vpViper650.h | 2 +- .../robot/include/visp3/robot/vpViper850.h | 2 +- .../src/real-robot/afma4/vpRobotAfma4.cpp | 2 +- .../src/real-robot/afma6/vpRobotAfma6.cpp | 2 +- .../src/real-robot/franka/vpRobotFranka.cpp | 2 +- .../robot/src/real-robot/ptu46/vpPtu46.cpp | 4 +-- .../src/real-robot/ptu46/vpRobotPtu46.cpp | 32 +++++++++++-------- .../vpRobotUniversalRobots.cpp | 2 +- .../src/real-robot/viper/vpRobotViper650.cpp | 2 +- .../src/real-robot/viper/vpRobotViper850.cpp | 2 +- .../src/robot-simulator/vpSimulatorAfma6.cpp | 2 +- .../robot-simulator/vpSimulatorViper850.cpp | 2 +- .../robot/src/wireframe-simulator/vpArit.cpp | 2 +- .../homography-estimation/vpHomographyDLT.cpp | 2 +- .../homography-estimation/vpHomographyVVS.cpp | 6 ++-- .../pose-estimation/vpLevenbergMarquartd.cpp | 6 ++-- tutorial/image/tutorial-image-colormap.cpp | 2 +- 23 files changed, 47 insertions(+), 41 deletions(-) diff --git a/ChangeLog.txt b/ChangeLog.txt index d50aae76af..440c5dd3c9 100644 --- a/ChangeLog.txt +++ b/ChangeLog.txt @@ -1037,7 +1037,7 @@ ViSP 2.6.1 (released October 20th, 2011) vpRobotSimulator, vpFFMPEG, vpBSpline - It is now possible to grab images from an usb webcam with the vpV4l2Grabber class that is based on the video 4 linux 2 driver. - - When it was possible without braking the backward compatibilty + - When it was possible without braking the backward compatibility std::list was introduced instead of vpList. Some of the functions that use vpList are now deprecated. - Better detection of image or video file types when used in vpImageIo, diff --git a/doc/mainpage.dox.in b/doc/mainpage.dox.in index ec2579e4b0..ec8bcf849f 100644 --- a/doc/mainpage.dox.in +++ b/doc/mainpage.dox.in @@ -173,7 +173,7 @@ in different ways. This will motivate us to continue the efforts. */ /*! \ingroup group_core_math - \defgroup group_core_transformations Tranformations + \defgroup group_core_transformations Transformations Transformations. */ /*! diff --git a/modules/core/include/visp3/core/vpMatrix.h b/modules/core/include/visp3/core/vpMatrix.h index 2b6b65bdf6..a1f28fd036 100644 --- a/modules/core/include/visp3/core/vpMatrix.h +++ b/modules/core/include/visp3/core/vpMatrix.h @@ -998,7 +998,7 @@ vpMatrix M(R); */ //@{ /*! - \deprecated Only provided for compatibilty with ViSP previous releases. + \deprecated Only provided for compatibility with ViSP previous releases. This function does nothing. */ vp_deprecated void init() { } diff --git a/modules/core/src/tracking/moments/vpMomentObject.cpp b/modules/core/src/tracking/moments/vpMomentObject.cpp index 83974dc4d2..d206132df8 100644 --- a/modules/core/src/tracking/moments/vpMomentObject.cpp +++ b/modules/core/src/tracking/moments/vpMomentObject.cpp @@ -349,7 +349,7 @@ void vpMomentObject::fromImage(const vpImage &image, unsigned cha } #endif - // Normalisation equivalent to sampling interval/pixel size delX x delY + // Normalization equivalent to sampling interval/pixel size delX x delY double norm_factor = 1. / (cam.get_px() * cam.get_py()); for (std::vector::iterator it = values.begin(); it != values.end(); ++it) { *it = (*it) * norm_factor; @@ -441,7 +441,7 @@ void vpMomentObject::fromImage(const vpImage &image, const vpCame } if (normalize_with_pix_size) { - // Normalisation equivalent to sampling interval/pixel size delX x delY + // Normalization equivalent to sampling interval/pixel size delX x delY double norm_factor = 1. / (cam.get_px() * cam.get_py()); for (std::vector::iterator it = values.begin(); it != values.end(); ++it) { *it = (*it) * norm_factor; diff --git a/modules/robot/include/visp3/robot/vpAfma6.h b/modules/robot/include/visp3/robot/vpAfma6.h index f004056f77..d1e698cb98 100644 --- a/modules/robot/include/visp3/robot/vpAfma6.h +++ b/modules/robot/include/visp3/robot/vpAfma6.h @@ -78,7 +78,7 @@ class VISP_EXPORT vpAfma6 #ifdef VISP_HAVE_AFMA6_DATA //! File where constant parameters in relation with the robot are stored: //! joint max, min, coupling factor between 4 ant 5 joint, distance between - //! 5 and 6 joint, tranformation eMc between end-effector and camera frame. + //! 5 and 6 joint, transformation eMc between end-effector and camera frame. static const std::string CONST_AFMA6_FILENAME; static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME; static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME; diff --git a/modules/robot/include/visp3/robot/vpUnicycle.h b/modules/robot/include/visp3/robot/vpUnicycle.h index 01ce9023f0..9fa31000e1 100644 --- a/modules/robot/include/visp3/robot/vpUnicycle.h +++ b/modules/robot/include/visp3/robot/vpUnicycle.h @@ -65,7 +65,7 @@ class VISP_EXPORT vpUnicycle /** @name Inherited functionalities from vpUnicycle */ //@{ /*! - Return the tranformation \f${^c}{\bf M}_e\f$ between the camera frame + Return the transformation \f${^c}{\bf M}_e\f$ between the camera frame and the mobile robot end effector frame. */ vpHomogeneousMatrix get_cMe() const { return cMe_; } diff --git a/modules/robot/include/visp3/robot/vpViper650.h b/modules/robot/include/visp3/robot/vpViper650.h index 05f3d037d5..c4eedb66a3 100644 --- a/modules/robot/include/visp3/robot/vpViper650.h +++ b/modules/robot/include/visp3/robot/vpViper650.h @@ -100,7 +100,7 @@ class VISP_EXPORT vpViper650 : public vpViper { public: #ifdef VISP_HAVE_VIPER650_DATA - //! Files where constant tranformation between end-effector and camera frame + //! Files where constant transformation between end-effector and camera frame //! are stored. static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME; static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME; diff --git a/modules/robot/include/visp3/robot/vpViper850.h b/modules/robot/include/visp3/robot/vpViper850.h index d61d6b4d47..0c94fd44c9 100644 --- a/modules/robot/include/visp3/robot/vpViper850.h +++ b/modules/robot/include/visp3/robot/vpViper850.h @@ -101,7 +101,7 @@ class VISP_EXPORT vpViper850 : public vpViper { public: #ifdef VISP_HAVE_VIPER850_DATA - //! Files where constant tranformation between end-effector and camera frame + //! Files where constant transformation between end-effector and camera frame //! are stored. static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME; static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME; diff --git a/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp b/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp index 9497e53e5a..f5cc6d3f3f 100644 --- a/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp +++ b/modules/robot/src/real-robot/afma4/vpRobotAfma4.cpp @@ -1101,7 +1101,7 @@ void vpRobotAfma4::getPosition(const vpRobot::vpControlFrameType frame, vpColVec vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp b/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp index 61d8985d35..24ed3560b5 100644 --- a/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp +++ b/modules/robot/src/real-robot/afma6/vpRobotAfma6.cpp @@ -1587,7 +1587,7 @@ void vpRobotAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpPoseVe vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/real-robot/franka/vpRobotFranka.cpp b/modules/robot/src/real-robot/franka/vpRobotFranka.cpp index b39dbc0553..5579d4348e 100644 --- a/modules/robot/src/real-robot/franka/vpRobotFranka.cpp +++ b/modules/robot/src/real-robot/franka/vpRobotFranka.cpp @@ -800,7 +800,7 @@ vpRobot::vpRobotStateType vpRobotFranka::setRobotState(vpRobot::vpRobotStateType vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). */ diff --git a/modules/robot/src/real-robot/ptu46/vpPtu46.cpp b/modules/robot/src/real-robot/ptu46/vpPtu46.cpp index 9d904eea5c..9a2807b945 100644 --- a/modules/robot/src/real-robot/ptu46/vpPtu46.cpp +++ b/modules/robot/src/real-robot/ptu46/vpPtu46.cpp @@ -148,7 +148,7 @@ void vpPtu46::computeMGD(const vpColVector &q, vpPoseVector &r) const /*! - Default construtor. Call init(). + Default constructor. Call init(). */ vpPtu46::vpPtu46(void) { init(); } @@ -184,7 +184,7 @@ VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPtu46 & /* consta on the tilt axis. \param cVe : Twist transformation between camera and end effector frame to - expess a velocity skew from end effector frame in camera frame. + express a velocity skew from end effector frame in camera frame. */ void vpPtu46::get_cVe(vpVelocityTwistMatrix &cVe) const diff --git a/modules/robot/src/real-robot/ptu46/vpRobotPtu46.cpp b/modules/robot/src/real-robot/ptu46/vpRobotPtu46.cpp index 3fb718d738..b78560db0d 100644 --- a/modules/robot/src/real-robot/ptu46/vpRobotPtu46.cpp +++ b/modules/robot/src/real-robot/ptu46/vpRobotPtu46.cpp @@ -73,14 +73,16 @@ vpRobotPtu46::vpRobotPtu46(const std::string &device) : vpRobot() vpDEBUG_TRACE(12, "Open communication with Ptu-46."); try { init(); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } try { setRobotState(vpRobot::STATE_STOP); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } @@ -125,7 +127,7 @@ vpRobotPtu46::~vpRobotPtu46(void) \exception vpRobotException::constructionError : If the device cannot be - oppened. + opened. */ void vpRobotPtu46::init() @@ -158,7 +160,8 @@ vpRobot::vpRobotStateType vpRobotPtu46::setRobotState(vpRobot::vpRobotStateType if (vpRobot::STATE_VELOCITY_CONTROL == getRobotState()) { vpDEBUG_TRACE(12, "Passage vitesse -> position."); ptu.stop(); - } else { + } + else { vpDEBUG_TRACE(1, "Passage arret -> position."); } break; @@ -195,7 +198,7 @@ void vpRobotPtu46::stopMotion(void) on the tilt axis. \param cVe : Twist transformation between camera and end effector frame to - expess a velocity skew from end effector frame in camera frame. + express a velocity skew from end effector frame in camera frame. */ void vpRobotPtu46::get_cVe(vpVelocityTwistMatrix &cVe) const @@ -234,7 +237,8 @@ void vpRobotPtu46::get_eJe(vpMatrix &eJe) try { vpPtu46::get_eJe(q, eJe); - } catch (...) { + } + catch (...) { vpERROR_TRACE("catch exception "); throw; } @@ -254,7 +258,8 @@ void vpRobotPtu46::get_fJe(vpMatrix &fJe) try { vpPtu46::get_fJe(q, fJe); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } @@ -359,7 +364,8 @@ void vpRobotPtu46::setPosition(const vpRobot::vpControlFrameType frame, const do q[1] = q2; setPosition(frame, q); - } catch (...) { + } + catch (...) { vpERROR_TRACE("Error caught"); throw; } @@ -466,7 +472,7 @@ void vpRobotPtu46::getPosition(const vpRobot::vpControlFrameType frame, vpColVec (vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::MIXT_FRAME) is given. \warning Velocities could be saturated if one of them exceed the maximal - autorized speed (see vpRobot::maxRotationVelocity). + authorized speed (see vpRobot::maxRotationVelocity). */ void vpRobotPtu46::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v) @@ -526,7 +532,7 @@ void vpRobotPtu46::setVelocity(const vpRobot::vpControlFrameType frame, const vp case vpRobot::ARTICULAR_FRAME: case vpRobot::CAMERA_FRAME: { double max = this->maxRotationVelocity; - bool norm = false; // Flag to indicate when velocities need to be nomalized + bool norm = false; // Flag to indicate when velocities need to be normalized for (unsigned int i = 0; i < 2; ++i) // rx and ry of the camera { if (fabs(v[i]) > max) { @@ -537,7 +543,7 @@ void vpRobotPtu46::setVelocity(const vpRobot::vpControlFrameType frame, const vp i); } } - // Rotations velocities normalisation + // Rotations velocities normalization if (norm == true) { max = this->maxRotationVelocity / max; for (unsigned int i = 0; i < 2; ++i) @@ -639,7 +645,7 @@ vpColVector vpRobotPtu46::getVelocity(vpRobot::vpControlFrameType frame) \code # Example of ptu-46 position file - # The axis positions must be preceed by R: + # The axis positions must be preceded by R: # First value : pan articular position in degrees # Second value: tilt articular position in degrees R: 15.0 5.0 @@ -766,5 +772,5 @@ void vpRobotPtu46::getDisplacement(vpRobot::vpControlFrameType frame, vpColVecto #elif !defined(VISP_BUILD_SHARED_LIBS) // Work around to avoid warning: libvisp_robot.a(vpRobotPtu46.cpp.o) has no // symbols -void dummy_vpRobotPtu46(){}; +void dummy_vpRobotPtu46() { }; #endif diff --git a/modules/robot/src/real-robot/universal-robots/vpRobotUniversalRobots.cpp b/modules/robot/src/real-robot/universal-robots/vpRobotUniversalRobots.cpp index 78e77a812b..73329e7ac6 100644 --- a/modules/robot/src/real-robot/universal-robots/vpRobotUniversalRobots.cpp +++ b/modules/robot/src/real-robot/universal-robots/vpRobotUniversalRobots.cpp @@ -552,7 +552,7 @@ void vpRobotUniversalRobots::setPosition(const vpRobot::vpControlFrameType frame * vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). * * \warning Velocities could be saturated if one of them exceed the - * maximal autorized speed (see vpRobot::maxTranslationVelocity and + * maximal authorized speed (see vpRobot::maxTranslationVelocity and * vpRobot::maxRotationVelocity). To change these values use * setMaxTranslationVelocity() and setMaxRotationVelocity(). * diff --git a/modules/robot/src/real-robot/viper/vpRobotViper650.cpp b/modules/robot/src/real-robot/viper/vpRobotViper650.cpp index f62aecad44..b252cc2ed4 100644 --- a/modules/robot/src/real-robot/viper/vpRobotViper650.cpp +++ b/modules/robot/src/real-robot/viper/vpRobotViper650.cpp @@ -1596,7 +1596,7 @@ reference frame in m/s and rotations \f$ ^{c} \omega_x, ^{c} \omega_y, ^{c} vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/real-robot/viper/vpRobotViper850.cpp b/modules/robot/src/real-robot/viper/vpRobotViper850.cpp index 6ebdf0cf3e..c22d028a18 100644 --- a/modules/robot/src/real-robot/viper/vpRobotViper850.cpp +++ b/modules/robot/src/real-robot/viper/vpRobotViper850.cpp @@ -1625,7 +1625,7 @@ reference frame in m/s and rotations \f$ ^{c} \omega_x, ^{c} \omega_y, ^{c} vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/robot-simulator/vpSimulatorAfma6.cpp b/modules/robot/src/robot-simulator/vpSimulatorAfma6.cpp index 1714b3eae0..d6c1d38888 100644 --- a/modules/robot/src/robot-simulator/vpSimulatorAfma6.cpp +++ b/modules/robot/src/robot-simulator/vpSimulatorAfma6.cpp @@ -816,7 +816,7 @@ reference frame in m/s and rotations \f$ ^{c} \omega_x, ^{c} \omega_y, ^{c} vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/robot-simulator/vpSimulatorViper850.cpp b/modules/robot/src/robot-simulator/vpSimulatorViper850.cpp index 3ad470f5e0..3274b0a639 100644 --- a/modules/robot/src/robot-simulator/vpSimulatorViper850.cpp +++ b/modules/robot/src/robot-simulator/vpSimulatorViper850.cpp @@ -753,7 +753,7 @@ reference frame in m/s and rotations \f$ ^{c} \omega_x, ^{c} \omega_y, ^{c} vpRobot::STATE_VELOCITY_CONTROL) before setVelocity(). \warning Velocities could be saturated if one of them exceed the - maximal autorized speed (see vpRobot::maxTranslationVelocity and + maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity(). diff --git a/modules/robot/src/wireframe-simulator/vpArit.cpp b/modules/robot/src/wireframe-simulator/vpArit.cpp index 6fb47be47d..4e1455bb93 100644 --- a/modules/robot/src/wireframe-simulator/vpArit.cpp +++ b/modules/robot/src/wireframe-simulator/vpArit.cpp @@ -339,7 +339,7 @@ void cosin_to_lut(Index level, float *coslut, float *sinlut) /* * La procedure "norm_vector" normalise le vecteur. - * Si la norme est nulle la normalisation n'est pas effectuee. + * Si la norme est nulle la normalization n'est pas effectuee. * Entree : * vp Le vecteur a norme. * Sortie : diff --git a/modules/vision/src/homography-estimation/vpHomographyDLT.cpp b/modules/vision/src/homography-estimation/vpHomographyDLT.cpp index da41001cfc..ca551c3fbc 100644 --- a/modules/vision/src/homography-estimation/vpHomographyDLT.cpp +++ b/modules/vision/src/homography-estimation/vpHomographyDLT.cpp @@ -144,7 +144,7 @@ void vpHomography::HartleyDenormalization(vpHomography &aHbn, vpHomography &aHb, { // calcul des transformations a appliquer sur M_norm pour obtenir M - // en fonction des deux normalisations effectuees au debut sur + // en fonction des deux normalizations effectuees au debut sur // les points: aHb = T2^ aHbn T1 vpMatrix T1(3, 3); vpMatrix T2(3, 3); diff --git a/modules/vision/src/homography-estimation/vpHomographyVVS.cpp b/modules/vision/src/homography-estimation/vpHomographyVVS.cpp index 76a29c76eb..84a8dfc383 100644 --- a/modules/vision/src/homography-estimation/vpHomographyVVS.cpp +++ b/modules/vision/src/homography-estimation/vpHomographyVVS.cpp @@ -150,7 +150,7 @@ double vpHomography::computeRotation(unsigned int nbpoint, vpPoint *c1P, vpPoint Hp2 = c2Rc1.t() * p2; // p2 = Hp1 Hp1 = c2Rc1 * p1; // p1 = Hp2 - Hp2 /= Hp2[2]; // normalisation + Hp2 /= Hp2[2]; // normalization Hp1 /= Hp1[2]; // set up the interaction matrix @@ -345,7 +345,7 @@ double vpHomography::computeDisplacement(unsigned int nbpoint, vpPoint *c1P, vpP Hp2 = ((vpMatrix)c1Rc2 + (c1Tc2 * N2.t()) / d2) * p2; // p2 = Hp1 Hp1 = ((vpMatrix)c2Rc1 + (c2Tc1 * N1.t()) / d1) * p1; // p1 = Hp2 - Hp2 /= Hp2[2]; // normalisation + Hp2 /= Hp2[2]; // normalization Hp1 /= Hp1[2]; // set up the interaction matrix @@ -554,7 +554,7 @@ double vpHomography::computeDisplacement(unsigned int nbpoint, vpPoint *c1P, vpP Hp2 = ((vpMatrix)c1Rc2 + (c1Tc2 * N2.t()) / d2) * p2; // p2 = Hp1 Hp1 = ((vpMatrix)c2Rc1 + (c2Tc1 * N1.t()) / d1) * p1; // p1 = Hp2 - Hp2 /= Hp2[2]; // normalisation + Hp2 /= Hp2[2]; // normalization Hp1 /= Hp1[2]; // set up the interaction matrix diff --git a/modules/vision/src/pose-estimation/vpLevenbergMarquartd.cpp b/modules/vision/src/pose-estimation/vpLevenbergMarquartd.cpp index 677f57d808..6ce6cb6e5d 100644 --- a/modules/vision/src/pose-estimation/vpLevenbergMarquartd.cpp +++ b/modules/vision/src/pose-estimation/vpLevenbergMarquartd.cpp @@ -557,7 +557,7 @@ int qrfac(int m, int n, double *a, int lda, int *pivot, int *ipvt, int /* lipvt ipvt[i] = i; } /* - * reduction de "a" en "r" avec les tranformations de Householder. + * reduction de "a" en "r" avec les transformations de Householder. */ minmn = vpMath::minimum(m, n); for (i = 0; i < minmn; i++) { @@ -599,7 +599,7 @@ int qrfac(int m, int n, double *a, int lda, int *pivot, int *ipvt, int /* lipvt *MIJ(a, i, i, lda) += 1.0; /* - * application de la tranformation aux lignes + * application de la transformation aux lignes * restantes et mise a jour des normes. */ ip1 = i + 1; @@ -770,7 +770,7 @@ int qrsolv(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb, doub wa[k] = temp; /* - * accumulation des tranformations dans + * accumulation des transformations dans * les lignes de s. */ diff --git a/tutorial/image/tutorial-image-colormap.cpp b/tutorial/image/tutorial-image-colormap.cpp index 0d430c0cbf..d281bd793d 100644 --- a/tutorial/image/tutorial-image-colormap.cpp +++ b/tutorial/image/tutorial-image-colormap.cpp @@ -117,7 +117,7 @@ int main() } } - // Apply a colormap on a 8-bit RGB image, with normalisation to the [0 - 255] range + // Apply a colormap on a 8-bit RGB image, with normalization to the [0 - 255] range { vpImage I; vpImageIo::read(I, "monkey.png"); From 924dd18b19d8dab9e837b4fd2283e5c068d5242f Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Fri, 6 Oct 2023 11:15:49 +0200 Subject: [PATCH 07/14] Increase doxygen LOOKUP_CACHE_SIZE --- doc/config-doxygen.in | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/config-doxygen.in b/doc/config-doxygen.in index bb4dffd702..a2d4c9cec3 100644 --- a/doc/config-doxygen.in +++ b/doc/config-doxygen.in @@ -444,7 +444,7 @@ TYPEDEF_HIDES_STRUCT = NO # the optimal cache size from a speed point of view. # Minimum value: 0, maximum value: 9, default value: 0. -LOOKUP_CACHE_SIZE = 0 +LOOKUP_CACHE_SIZE = 1 #--------------------------------------------------------------------------- # Build related configuration options From 7fb87f21dd5f7d31f9ae7c2b6c9037dd6518ae01 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:31:01 +0200 Subject: [PATCH 08/14] Update mb generic tutorial with considered box dimensions --- doc/tutorial/tracking/tutorial-tracking-mb-generic.dox | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/doc/tutorial/tracking/tutorial-tracking-mb-generic.dox b/doc/tutorial/tracking/tutorial-tracking-mb-generic.dox index 4a77c78178..c10993be69 100644 --- a/doc/tutorial/tracking/tutorial-tracking-mb-generic.dox +++ b/doc/tutorial/tracking/tutorial-tracking-mb-generic.dox @@ -249,8 +249,8 @@ tracker.loadModel("teabox.wrl"); \subsection mb_generic_teabox_cao teabox.cao example -The content of the file `teabox.cao` used in the getting started \ref mb_generic_started_src but also in tutorial-mb-edge-tracker.cpp and -in tutorial-mb-hybrid-tracker.cpp examples is given here: +The content of the file `teabox.cao` used in the getting started \ref mb_generic_started_src but also in +tutorial-mb-edge-tracker.cpp and in tutorial-mb-hybrid-tracker.cpp examples is given here: \includelineno tutorial/tracking/model-based/generic/model/teabox/teabox.cao @@ -258,6 +258,11 @@ This file describes the model of the tea box corresponding to the next image: \image html img-teabox-cao.jpg Index of the vertices used to model the tea box in cao format. +The tea box dimensions are the following: +- height (from point 0 to point 1): 0.08 meters +- length (from point 0 to point 3): 0.165 meters +- width (from point 0 to point 7): 0.068 meters + We make the choice to describe the faces of the box from the 3D points that correspond to the vertices. We provide now a line by line description of the file. Notice that the characters after the '#' are considered as comments. - line 1: Header of the \c .cao file From fac341079621b91419ff92e3016ffef83ead2524 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:32:18 +0200 Subject: [PATCH 09/14] Add homogeneous matrix load() and save() fonctions from/to a filename --- .../include/visp3/core/vpHomogeneousMatrix.h | 81 ++++++++++++++++++- .../transformation/vpHomogeneousMatrix.cpp | 54 ++++--------- 2 files changed, 94 insertions(+), 41 deletions(-) diff --git a/modules/core/include/visp3/core/vpHomogeneousMatrix.h b/modules/core/include/visp3/core/vpHomogeneousMatrix.h index 2468493586..78fe4321c3 100644 --- a/modules/core/include/visp3/core/vpHomogeneousMatrix.h +++ b/modules/core/include/visp3/core/vpHomogeneousMatrix.h @@ -255,11 +255,88 @@ class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D void extract(vpTranslationVector &t) const; void extract(vpQuaternionVector &q) const; - // Load an homogeneous matrix from a file + /*! + * Read an homogeneous matrix from an input file stream. The + * homogeneous matrix is considered as a 4 by 4 matrix. + * + * \param f : Input file stream. + * + * The code below shows how to get an homogeneous matrix from a file. + * + * \code + * vpHomogeneousMatrix M; + * + * std::ifstream f("homogeneous.dat"); + * M.load(f); + * \endcode + * + * \sa load(const std::string &), save(std::ifstream &) + */ void load(std::ifstream &f); - // Save an homogeneous matrix in a file + + /*! + * Read an homogeneous matrix from an input file. The + * homogeneous matrix is considered as a 4 by 4 matrix. + * + * \param filename : Input file name. + * + * The code below shows how to get an homogeneous matrix from a file. + * + * \code + * vpHomogeneousMatrix M; + * + * M.load("homogeneous.dat"); + * \endcode + * + * \sa load(std::ifstream &), save(const std::string &) + */ + void load(const std::string &filename); + + /*! + * Save an homogeneous matrix in an output file stream. + * + * \param f : Output file stream. The homogeneous matrix is saved as a 4 by 4 matrix. + * + * The code below shows how to save an homogeneous matrix in a file. + * + * \code + * // Construct an homogeneous matrix + * vpTranslationVector t(1,2,3); + * vpRxyzVector r(M_PI, 0, -M_PI/4.); + * vpRotationMatrix R(r); + * vpHomogeneousMatrix M(t, R); + * + * // Save the content of the matrix in "homogeneous.dat" + * std::ofstream f("homogeneous.dat"); + * M.save(f); + * \endcode + * + * \sa save(const std::string &), load(std::ifstream &) + */ void save(std::ofstream &f) const; + /*! + * Save an homogeneous matrix in a file. + * + * \param filename : Output file name. The homogeneous matrix is saved as a 4 by 4 matrix. + * + * The code below shows how to save an homogeneous matrix in a file. + * + * \code + * // Construct an homogeneous matrix + * vpTranslationVector t(1,2,3); + * vpRxyzVector r(M_PI, 0, -M_PI/4.); + * vpRotationMatrix R(r); + * vpHomogeneousMatrix M(t, R); + * + * // Save the content of the matrix in "homogeneous.dat" + * M.save("homogeneous.dat"); + * \endcode + * + * \sa save(std::ofstream &), load(const std::string &) + */ + void save(const std::string &filename) const; + vpHomogeneousMatrix &operator=(const vpHomogeneousMatrix &M); vpHomogeneousMatrix operator*(const vpHomogeneousMatrix &M) const; vpHomogeneousMatrix &operator*=(const vpHomogeneousMatrix &M); diff --git a/modules/core/src/math/transformation/vpHomogeneousMatrix.cpp b/modules/core/src/math/transformation/vpHomogeneousMatrix.cpp index 3a52613103..061a36c035 100644 --- a/modules/core/src/math/transformation/vpHomogeneousMatrix.cpp +++ b/modules/core/src/math/transformation/vpHomogeneousMatrix.cpp @@ -926,28 +926,6 @@ void vpHomogeneousMatrix::eye() */ void vpHomogeneousMatrix::inverse(vpHomogeneousMatrix &M) const { M = inverse(); } -/*! - Write an homogeneous matrix in an output file stream. - - \param f : Output file stream. The homogeneous matrix is saved as a - 4 by 4 matrix. - - The code below shows how to save an homogeneous matrix in a file. - - \code - // construct an homogeneous matrix - vpTranslationVector t(1,2,3); - vpRxyzVector r(M_PI, 0, -M_PI/4.); - vpRotationMatrix R(r); - vpHomogeneousMatrix M(t, R); - - // Save the content of the matrix in "homogeneous.dat" - std::ofstream f("homogeneous.dat"); - M.save(f); - \endcode - - \sa load() -*/ void vpHomogeneousMatrix::save(std::ofstream &f) const { if (!f.fail()) { @@ -958,24 +936,14 @@ void vpHomogeneousMatrix::save(std::ofstream &f) const } } -/*! - - Read an homogeneous matrix from an input file stream. The - homogeneous matrix is considered as a 4 by 4 matrix. - - \param f : Input file stream. - - The code below shows how to get an homogeneous matrix from a file. - - \code - vpHomogeneousMatrix M; - - std::ifstream f("homogeneous.dat"); - M.load(f); - \endcode +void vpHomogeneousMatrix::save(const std::string &filename) const +{ + std::ofstream f; + f.open(filename.c_str()); + save(f); + f.close(); +} - \sa save() -*/ void vpHomogeneousMatrix::load(std::ifstream &f) { if (!f.fail()) { @@ -990,6 +958,14 @@ void vpHomogeneousMatrix::load(std::ifstream &f) } } +void vpHomogeneousMatrix::load(const std::string &filename) +{ + std::ifstream f; + f.open(filename.c_str()); + load(f); + f.close(); +} + /*! Perform orthogonalization of the rotation part of the homogeneous transformation. */ From afbc3ce65b6d879aa7b289dbc6eb2d35d2a764bb Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:34:12 +0200 Subject: [PATCH 10/14] Code indentation --- .../tracker/mbt/src/vpMbGenericTracker.cpp | 60 +++++++++---------- 1 file changed, 30 insertions(+), 30 deletions(-) diff --git a/modules/tracker/mbt/src/vpMbGenericTracker.cpp b/modules/tracker/mbt/src/vpMbGenericTracker.cpp index 47b340b887..89fc308e5a 100644 --- a/modules/tracker/mbt/src/vpMbGenericTracker.cpp +++ b/modules/tracker/mbt/src/vpMbGenericTracker.cpp @@ -5438,17 +5438,17 @@ void vpMbGenericTracker::track(std::mapm_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpException::fatalError, "Bad tracker type: %d", tracker->m_trackerType); } if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfImages[it->first] == NULL) { throw vpException(vpException::fatalError, "Image pointer is NULL!"); } @@ -5515,25 +5515,25 @@ void vpMbGenericTracker::track(std::map *> &m if ((tracker->m_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpException::fatalError, "Bad tracker type: %d", tracker->m_trackerType); } if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfImages[it->first] == NULL) { throw vpException(vpException::fatalError, "Image pointer is NULL!"); } else if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfImages[it->first] != NULL) { vpImageConvert::convert(*mapOfColorImages[it->first], tracker->m_I); mapOfImages[it->first] = &tracker->m_I; // update grayscale image buffer @@ -5605,17 +5605,17 @@ void vpMbGenericTracker::track(std::mapm_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpException::fatalError, "Bad tracker type: %d", tracker->m_trackerType); } if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfImages[it->first] == NULL) { throw vpException(vpException::fatalError, "Image pointer is NULL!"); } @@ -5686,25 +5686,25 @@ void vpMbGenericTracker::track(std::map *> &m if ((tracker->m_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpException::fatalError, "Bad tracker type: %d", tracker->m_trackerType); } if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfColorImages[it->first] == NULL) { throw vpException(vpException::fatalError, "Image pointer is NULL!"); } else if (tracker->m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && mapOfColorImages[it->first] != NULL) { vpImageConvert::convert(*mapOfColorImages[it->first], tracker->m_I); mapOfImages[it->first] = &tracker->m_I; // update grayscale image buffer @@ -5773,9 +5773,9 @@ vpMbGenericTracker::TrackerWrapper::TrackerWrapper(int trackerType) { if ((m_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpTrackingException::badValue, "Bad value for tracker type: %d!", m_trackerType); } @@ -7090,9 +7090,9 @@ void vpMbGenericTracker::TrackerWrapper::setTrackerType(int type) { if ((type & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { throw vpException(vpTrackingException::badValue, "bad value for tracker type: !", type); } @@ -7114,9 +7114,9 @@ void vpMbGenericTracker::TrackerWrapper::track(const vpImage & { if ((m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - )) == 0) { + )) == 0) { std::cerr << "Bad tracker type: " << m_trackerType << std::endl; return; } @@ -7137,18 +7137,18 @@ void vpMbGenericTracker::TrackerWrapper::track(const vpImage *con { if ((m_trackerType & (EDGE_TRACKER | #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - KLT_TRACKER | + KLT_TRACKER | #endif - DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { + DEPTH_NORMAL_TRACKER | DEPTH_DENSE_TRACKER)) == 0) { std::cerr << "Bad tracker type: " << m_trackerType << std::endl; return; } if (m_trackerType & (EDGE_TRACKER #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO) - | KLT_TRACKER + | KLT_TRACKER #endif - ) && + ) && ptr_I == NULL) { throw vpException(vpException::fatalError, "Image pointer is NULL!"); } From c197d42fa067071a2e890b12af6c71d003de100f Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:35:00 +0200 Subject: [PATCH 11/14] Set tutorial-circle-hough.cpp as a doxygen example --- tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp index 0e0940b354..105c71a613 100644 --- a/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp +++ b/tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp @@ -1,3 +1,5 @@ +//! \example tutorial-circle-hough.cpp + #include // ViSP includes From dfb56919cefe4f854a66d1ee82e093b4efcf4280 Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:38:21 +0200 Subject: [PATCH 12/14] Code indentation --- .../model-based/generic/tutorial-mb-generic-tracker-full.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp b/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp index 0f7254be5a..a201e10225 100644 --- a/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp +++ b/tutorial/tracking/model-based/generic/tutorial-mb-generic-tracker-full.cpp @@ -209,7 +209,8 @@ int main(int argc, char **argv) display->init(I, 100, 100, "Model-based tracker"); if (opt_plot) { - plot = new vpPlot(2, 700, 700, display->getWindowXPosition() + I.getWidth() / display->getDownScalingFactor() + 30, display->getWindowYPosition(), "Estimated pose"); + plot = new vpPlot(2, 700, 700, display->getWindowXPosition() + I.getWidth() / display->getDownScalingFactor() + 30, + display->getWindowYPosition(), "Estimated pose"); plot->initGraph(0, 3); // Translation plot->setTitle(0, "Translation [m]"); plot->setColor(0, 0, vpColor::red); From 787639affd8831e9bfc4c2b6ce40fbea23a97ffd Mon Sep 17 00:00:00 2001 From: Fabien Spindler Date: Sun, 15 Oct 2023 10:38:54 +0200 Subject: [PATCH 13/14] 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--git a/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox b/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox index 93752e702d..4277529b83 100644 --- a/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox +++ b/doc/tutorial/tracking/tutorial-tracking-mb-generic-rgbd-Blender.dox @@ -1,30 +1,86 @@ /** \page tutorial-tracking-mb-generic-rgbd-Blender Tutorial: How to use Blender to generate simulated data for model-based tracking experiments + \tableofcontents \section mb_Blender_intro Introduction -This tutorial will show how to use Blender, a free and open source 3D creation suite, to generate color and depth images from a virtual camera and get ground truth camera poses. +This tutorial will show how to use [Blender](https://www.blender.org/), a free and open source 3D creation +suite, to create a simple textured object like a tee box, generate color and depth images from a virtual RGB-D +camera, retrieve color and depth camera intrinsics and get ground truth color camera poses while the RGB-D +camera is animated. + +Once generated by Blender, data could be used by the model-based tracker and results could be compared +with ground truth. -The configuration used for this tutorial is: -- Ubuntu 22.04 -- Blender 3.6.4 +This tutorial was tested Ubuntu and macOS with the following versions: -\warning You are advised to know how to use the basic tools of Blender before reading this tutorial. Some non-exhaustive links: -- Blender Reference Manual -- Blender 3D: Noob to Pro +OS | Blender +------------------- | ------------- +Ubuntu 22.04 | Blender 3.6.4 +macOS Ventura 13.6 | Blender 3.4.1 -Note that all the material (source code, input video, CAD model or XML settings files) described and used in this tutorial is part of ViSP source code and could be downloaded using the following command: +\warning You are advised to know how to use the basic tools of Blender before reading this tutorial. +Some non-exhaustive links: +- [Blender Reference Manual](https://docs.blender.org/manual/en/latest/index.html) +- [Blender 3D: Noob to Pro](https://en.wikibooks.org/wiki/Blender_3D:_Noob_to_Pro/Parenting) + +Note that all the material (source code, input video, CAD model or XML settings files) described and used in this +tutorial is part of ViSP source code and could be downloaded using the following command: \code $ svn export https://github.com/lagadic/visp.git/trunk/tutorial/tracking/model-based/generic-rgbd-blender \endcode -\section mb_Blender_camera_settings Camera settings +\section mb_Blender_setup Considered setup +Remember that for each object considered by the model-based tracker, you need a \ref mb_generic_model +(`object_name.cao` or `object_name.wrl`) and a file for \ref mb_generic_init by mouse click (`object_name.init`). + +\subsection mb_Blender_setup_teabox Tea box objet + +In this tutorial we will consider a tea box. The CAD model file (`teabox.cao`) and the init file (`teabox.init`) +are provided in `model/teabox` folder: +\code{.sh} +$ cd $VISP_WS/visp-build/tutorial/tracking/model-based/generic-rgbd-blender +$ ls model/teabox/teabox +teabox.cao teabox.png teabox_color.xml +teabox.init teabox.wrl teabox_depth.xml +\endcode + +Instead of creating an object with any dimensions, to simplify this tutorial, in Blender we'll create a tea box +whose dimensions, object frame, and 3D point coordinates correspond to those in the `teabox.cao` and `teabox.init`. + +\note If you are not familiar with these files and their content, you may follow \ref tutorial-tracking-mb-generic. -In ViSP (see vpCameraParameters class) and in the computer vision community, camera intrinsic parameters are the following: +The content of the `teabox.cao` file is the following: +\includelineno tutorial/tracking/model-based/generic-rgbd-blender/model/teabox/teabox.cao +The corresponding CAD model is the following: +\image html img-teabox-cao.jpg + +Analysing `teabox.cao` we can see that the box dimensions are the following (see \ref mb_generic_teabox_cao): +- Height (from point 0 to point 1): 0.08 meters +- Length (from point 0 to point 3): 0.165 meters +- Width (from point 0 to point 7): 0.068 meters + +\subsection mb_Blender_setup_rgbd RGB-D camera + +We will also consider a RGB-D camera where the left camera is a classical color camera and the right camera +a depth camera. The distance between left and right cameras is 10 cm. +Both cameras are grabbing 640 x 480 images. + +| Camera | Setting | Values | +|--------|------------------| :-----------: | +| Color | Image resolution | 640 x 480 | +| ^ | Focal lenght | 35 mm | +| ^ | Sensor size | 32 mm x 24 mm | +| Depth | Image resolution | 640 x 480 | +| ^ | Focal lenght | 30 mm | +| ^ | Sensor size | 32 mm x 24 mm | + +\note In ViSP (see vpCameraParameters class) and in the computer vision community, camera intrinsic parameters are the +following: \f[ {\bf K} = \begin{bmatrix} p_x & 0 & u_0 \\ @@ -32,46 +88,308 @@ In ViSP (see vpCameraParameters class) and in the computer vision community, cam 0 & 0 & 1 \end{bmatrix} \f] - where: - \f$ \left( p_x, p_y \right) \f$ corresponds to the pixel size -- and \f$ \left( u_0, v_0 \right) \f$ to the principal point location - -The relations that links the pixel size with the focal lenght \f$ f \f$, the camera sensor size and the image size are the following: - +- and \f$ \left( u_0, v_0 \right) \f$ to the principal point location. +. +The relations that links the pixel size with the focal lenght \f$ f \f$, the camera sensor size and the image +resolution are the following: \f[ - p_x = \frac{f_{\text{ in mm}} \times \text{image width in px}}{\text{sensor width in mm}} + p_x = \frac{f \times \text{image width}}{\text{sensor width}} \f] \f[ - p_y = \frac{f_{\text{ in mm}} \times \text{image height in px}}{\text{sensor height in mm}} + p_y = \frac{f \times \text{image height}}{\text{sensor height}} \f] -In Blender, you will have to set the image resolution, generally `640x480` to have a VGA camera resolution. +\section mb_Blender_scene Create your scene with Blender + +In this section, we will create the corresponding tea box, RGB-D camera and define an initial and final RGB-D camera +pose used to animate the scene. + +\subsection mb_Blender_scene_create_teabox Create tea box object + +Here we will show how to create with Blender a box with the following dimensions: +- Height: 0.08 meters +- Length: 0.165 meters +- Width: 0.068 meters + +Open Blender and do the following to transform the cube in a box with the expected dimensions: +- In `"Object Mode"` (1) select the `"Cube"` the right pannel (2). Edges should appear in orange +- Deploy the `"Transform"` panel (3) +\image html img-Blender-cube-select.jpg +- Set `"Dimensions"` to X=0.165, Y=0.068 and Z=0.08 meters (4) and change the object name to `"teabox"` (5). + As the object's dimensions are drastically reduced, it becomes very small at the centre of the scene. +\image html img-Blender-cube-transform.jpg +- With the middle mouse button, zoom in to see the box, select the `"teabox"` object in this is not the case (6), + and rescale the object to 1. To rescale, move the mouse pointer in the scene near the box, press shortcut: Ctrl-A + and select `"Apply > Scale"`. At this point, you should see that the scale values are set to 1 (7). +\image html img-Blender-cube-zoom.jpg + +The coordinates of the box's vertices are expressed in the object frame which origin is at the box center of gravity +(cog) and which axis are aligned with the scene reference frame. To conform with the required CAD +model, we will move the origin of the object frame at point 0 which position is given +in the next image: +\image html img-teabox-cao.jpg +- select the `"teabox"` object in not the case, enter `"Edit Mode"` (8), select vertex corresponding to point 0 (9), + press shortcut Shift-S and select `"Cursor to Selected"` (10) +\image html img-Blender-cube-cursor-to-selected.jpg +- As given in the next image, at point 0 you can now see the cursor (11). Switch to `"Object Mode"` (12), move the + mouse pointer in the scene close to the box and press mouse right click to make appear `"Object Context Menu"`. + In this menu, select `"Set Origin > Origin to 3D Cursor"` (13) +\image html img-Blender-cube-set-origin.jpg +- Now you can verify that all the 8 vertices have the same 3D coordinates as the one in the required CAD model. + For example, to get the 3D coordinates of point 3, switch to `"Edit Mode"` (14), select the corresponding vertex (15) + to see its coordinates (16) +\image html img-Blender-cube-coords-pt-3.jpg +- These coordinates are exactly the same as the one given in `"teabox.cao"` file +\code{.sh} +0.165 0 0 # Point 3 +\endcode -To this end, -- launch `blender` -- modify `"Scene > Format"` as in the next image: -\image html img-Blender-camera-settings1.jpg +Next step consists in adding a texture to be able to test tracking with keypoint features. You can add a realistic +texture using an image texture, but here again, to simplify this tutorial, we will just add a `"Voronoi Texture"`. +To this end: +- Switch to `"Object Mode"` (1) +- Click on `"Viewport Shading with Material Preview"` icon (2) +- Click on `"Material Properties"` icon (3) +- Click on the yellow bullet at the right of `"Base Color"` (4) +\image html img-Blender-cube-texture-add.jpg +- Select `"Voronoi Texture"` (5) +\image html img-Blender-cube-texture-select.jpg +- You can now see the texture applied to the box faces +\image html img-Blender-cube-textured.jpg + +This ends the creation of a textured box that matches the `"teabox.cao"` cad model. + +\subsection mb_Blender_scene_camera_color Color camera settings + +Here you will set the color camera image resolution to `640x480` to match a VGA camera resolution, set the focal length +to f = 35 mm, and the sensor size to 32 mm x 24 mm. Note that the width / height ratio must be the same for the image +resolution and the sensor resolution. The values we use correspond to a ratio of 4/3. + +We consider now that the `"Camera"` that is already in the scene is the left camera. To modify its settings: +- Select the camera and rename it to `"Camera_L"` (1) +- Select camera icon to access camera properties (2) +- Change focal lenght to 35 mm (3) +- Deploy `"Camera"` menu and change `"Sensor Fit"` to `"Vertical" and set sensor `"Width"` to 32 mm and sensor + `"Height"` to 24 mm (4) +\image html img-Blender-camera-color-settings.jpg + +Now to set image resolution to `640x480` +- Select `"Output Properties"` icon (5) +- Set `"Resolution X"` to 640 and `"Resolution Y"` to 480 (6) +\image html img-Blender-camera-image-resolution.jpg + +As shown in the previous image, the camera is not visible in the scene. This is simply due to its location that is too +far from the scene origin. The camera frame origin is exactly at location X = 7.3589, Y = -6.9258, Z = 4.9583 +meters (7). We need to move the camera close to the object and choose a position that will ease introduction of the +depth camera. + +To this end: +- In the `"Transform"` panel, modify its `"Location"` to X = 0, Y = -0.35, Z = 0.3 meters, its `"Rotation"` to X = 45, + Y = 0, Z = 0 deg, and its `"Scale"` to X = 0.050, Y = 0.050, Z = 0.050 (8) +- Use the mouse middle button to zoom out in order to see the camera and the box +\image html img-Blender-camera-color-location.jpg + +For curiosity you can now render an image of your object (shortcut: F12) and obtain an image like the following: +\image html img-Blender-camera-color-render.jpg + +\subsection mb_Blender_scene_depth_camera Add a depth camera + +To simulate an RGB-D camera, we need to add a second camera to retrieve the depth map and set the appropriate +parameters to match the desired intrinsic parameters following the same instructions as in previous section. +To this end: +- If not the case switch to `"3D Viewport"` (shortcut: Shift-F5) +- Enter menu `"Add > Camera"` (1) +- In the `"Scene Collection"` the new camera appears with name `"Camera"` (2) +- Image resolution is already set to 640x480 (3) +\image html img-Blender-camera-depth-add.jpg + +We need now to modify its settings to match the required intrinsics: +- Rename the camera to `"Camera_R"` (4) +- Click on camera icon (5) +- Set its focal lenght to 30 mm (6) and sensor resolution to 32 mm x 24 mm (7) +\image html img-Blender-camera-depth-settings.jpg + +Since this depth camera should be 10 cm on the right of the color camera, we need to modify its location: +- Be sure that the `"Camera_R" corresponding to the depth camera is selected (8) +- In the `"Transform"` panel, modify its `"Location"` to X = 0.1, Y = -0.35, Z = 0.3 meters, its `"Rotation"` + to X = 45, Y = 0, Z = 0 deg, and its `"Scale"` to X = 0.050, Y = 0.050, Z = 0.050 (9) +\image html img-Blender-camera-depth-location.jpg + +As we want to be able to animate the movement of the stereo pair rather than each camera individually, we need to link +them together using the Blender parenting concept: +- In the `"Scene Collection"` select `"Camera_R"` that will be the child object (10) +- Press Ctrl key and select `"Camera_L"` that will be the parent object (11) +- Right camera should become orange, while left camera yellow (12) +- Hit shortcut Ctrl-P to [parent](https://docs.blender.org/manual/en/latest/scene_layout/object/editing/parent.html) + them +- Set parent to `"Object"` (13) +\image html img-Blender-camera-depth-parenting.jpg +- Once done, you can see that `"Camera_L"` has for child `"Camera_L"` (14) +\image html img-Blender-camera-depth-parenting-done.jpg + +\subsection mb_Blender_scene_generate_depth Enable depth maps + +If you enter menu `"Render > Render Image"` you will see only the box seen by the color left camera. +To be able to render color and depth, you need to enable `"Stereoscopy"`. To this end: +- Click on `"Output Properties"` icon (1) +- And enable `"Stereoscopy"` (2) +\image html img-Blender-camera-stereo-enabled.jpg +Now if you enter menu `"Render > Render Image"` you will see the box rendered by the left camera and right camera +like the following image +\image html img-Blender-camera-stereo-rendered.jpg + +The last thing to do is to modify the project to generate the depth maps. To this end: +- Select `"View Layer Properties"` icon (3) +- And enable `"Data > Z"` (4) +\image html img-Blender-camera-stereo-enable-Z.jpg + +Now we need to set the format of the depth map images that will be rendered: +- Switch to the `"Compositor"` screen layout, next to the menu bar (shortcut: Shift-F3) +- Tick `"Use Nodes"` (5) and `"Backdrop"` (6) +- Enter menu `"Add > Output > File Output"` to add file output node (7) +- Add a link between the `"Depth"` output of the `"Render Layers"` node to the `"File Output"` node (8) +- Modify `"Base Path"` to `"/tmp/teabox/depth"` the name of the folder that will host rendered depth maps (9) +- Click on `"Node"` tab (10) +- Change `"File Format"` to `OpenEXR` (11) +\image html img-Blender-camera-stereo-depth-exr.jpg + +Now if you render an image using menu `"Render > Render Image"` in `"/tmp/teabox/depth"` folder you will get depth +images for the left and right cameras. There is nos possibility to enable depth only for the right camera. Depth images +corresponding to the left camera could be removed manually. +\code{.sh} +$ ls /tmp/teabox/depth +Image0001_L.exr Image0001_R.exr +\endcode -- focal length can be set in the camera panel by changing the `"Focal Length"` and the sensor `"Width"` and `"Height"` like in the next image: -\warning You may need to switch the `"Sensor Fit"` from `"Auto"` to `"Vertical"` to change the sensor `"Width"` and `"Height"` to be compatible with a 4/3 ratio and have \f$ p_x = p_y \f$. +\subsection mb_Blender_create_trajectory Create a camera trajectory + +We are now ready to animate the scene. First we have to define the camera initial position. This can be done easily: +- Switch to `"3D Vieport"` (shortcut: Shift-F5) +- Select `"Camera_L"` (1) +- Using `"Move"` (2) and `"Rotate"` (3) tools move the stereo camera at a desired initial location / orientation. + You can also enter the values directly in the `"Transform"` panel. A possible initial `"Location"` is X = 0.15, + Y = -0.35, Z = 0.3 meters and `"Rotation"` X = 45, Y = 0, Z = 35 degrees (4) +- Render the image entering menu `"Render > Render Image"` (5) to check if your object is visible in the image +- If you are happy with your camera positionning, move the time slider to the `"Start"` frame number which is 1 (6) +- Insert a keyframe with (shortcut: `I`) and choose `"Location, Rotation & Scale"` to insert a keyframe at the + `"Start"` frame with number 1 +- A small yellow diamond should appear at frame 1 in the timeline (7) +\image html img-Blender-camera-initial-position.jpg +- If you render the image at the initial position you will get the following image +\image html img-Blender-camera-initial-position-rendered.jpg + +Now we have to perform the same operation for the camera final position. +- If not already done, select `"Camera_L"` (8) +- First you to have to define the `"End"` frame number of your animation. By default `"End"` frame is set to 250. + Here we set this number to 50 (9) +- Then move the time slider to the `"End"` frame number (10) +- Now move the camera to the final position. Let us choose for final `"Location"` X = 0.3, Y = -0.15, Z = 0.15 + meters and `"Rotation"` X = 60, Y = -10, Z = 65 degrees (11) +- Render the image using menu `"Render > Render Image"` (12) to check if the box is visible in the image +- Insert a keyframe with (shortcut: `I`) and choose `"Location, Rotation & Scale"` to insert a keyframe at the + `"End"` frame with number 50 +- At this point, a small yellow diamond should appear at frame 50 in the timeline (13) +- You can now play the animation pressing `"Play Animation"` button (14) and see the stereo pair moving from started + position to end position +\image html img-Blender-camera-final-position.jpg +- If you render the image at the final position you should see someting simitar to: +\image html img-Blender-camera-final-position-rendered.jpg + +This completes the configuration of the scene in Blender. We strongly recommend that you save your project. + +\note The project used to create this tutorial is available in +`$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/blender/teabox.blend`. + +\section mb_Blender_data Generate full data + +Here we want to run `get_camera_pose_teabox.py` Python script inside Blender to: +- animate the RGB-D camera and retrieve in `"/tmp/teabox"` folder +- color camera intrinsics in `"Camera_L.xml"` +- depth camera intrinsics in `"Camera_R.xml"` +- homogeneous transformation between depth and color camera in `"depth_M_color.txt"` +- rendered color images in `"color/%04d_L.jpg"` files +- rendered depth images in `"depth/Images%04d_R.exr"` files +- ground truth in `"ground-truth/Camera_L_%04d.txt"` files + +The Python script is available in `"$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/"` folder. + +Since the script is displaying information using `print()` function, Blender should be started from a terminal. +- On Ubuntu, simply open a terminal and launch +``` +$ blender +``` +- On MacOS, open a terminal and launch +``` +$ /Applications/Blender.app/Contents/MacOS/Blender +``` -\image html img-Blender-camera-settings2.jpg +Then to run the Python script in Blender: +- Switch from `"3D Viewport"` to `"Text Editor"` (shortcut: Shift-F11) +- Open the Python script file `$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/get_camera_pose_teabox.py` +- Click on `"Run Script"` (1) (shortcut: Alt-P) +\image html img-Blender-python-get-pose.jpg +- In the terminal from which you launched Blender, you should see something similar to: +\code{.sh} +Create /tmp/teabox/ +Create /tmp/teabox/camera_poses/ +Saved: /tmp/teabox/depth_M_color.txt +Saved: /tmp/teabox/depth_M_color.txt +Saved: /tmp/teabox/depth/Image0001_L.exr +Saved: /tmp/teabox/depth/Image0001_R.exr +Saved: '/tmp/teabox/color/0001_L.jpg' +Saved: '/tmp/teabox/color/0001_R.jpg' + Time: 00:00.29 (Saving: 00:00.00) + +Current Frame 1 +Saved: /tmp/teabox/camera_poses/Camera_L_001.txt +Remove file: /tmp/teabox/color/0001_R.jpg +Remove file: /tmp/teabox/depth/Image0001_L.exr +Saved: /tmp/teabox/depth/Image0002_L.exr +Saved: /tmp/teabox/depth/Image0002_R.exr +Saved: '/tmp/teabox/color/0002_L.jpg' +Saved: '/tmp/teabox/color/0002_R.jpg' + Time: 00:00.22 (Saving: 00:00.00) + +... +\endcode -Once image resolution, sensor size and focal lenght are set in Blender, you may use the Python script `get_camera_intrinsics.py` given below -to get the camera intrinsic parameters \f$ \left( p_x, p_y, u_0, v_0 \right) \f$: +As explained previously, data are saved in the `/tmp/teabox` directory. +By default, for each camera (`"Camera_L"` and `"Camera_R"`) we render the color image and the depth image. +The script will remove useless generated files by removing depth images corresponding to `"Camera_L"` and color +images from `"Camera_R"`. -\include get_camera_intrinsics.py +\subsection mb_Blender_data_color_intrinsics How to get only camera intrinsics -On Ubuntu, to run this Python script: -- launch Blender from a terminal -- split or switch from `"3D Viewport"` to `"Text Editor"` (shortcut: Shift-F11) -- open the Python script file `$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/get_camera_intrinsics.py` -- click on `Run Script` (shortcut: Alt-P) +If you are only interested to see which are the camera intrinsics of a given camera set in Blender, we provide +`get_camera_intrinsics.py` Python script in `$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/` +folder. -In the terminal, you should get something similar to: +As in the previous section, since this script is displaying information using `print()` function, Blender should be +started from a terminal. +- On Ubuntu, simply open a terminal and launch +``` +$ blender +``` +- On MacOS, open a terminal and launch +``` +$ /Applications/Blender.app/Contents/MacOS/Blender +``` + +Then to run this Python script in Blender: +- Switch from `"3D Viewport"` to `"Text Editor"` (shortcut: Shift-F11) +- Open the Python script file `$VISP_WS/visp/tutorial/tracking/model-based/generic-rgbd-blender/get_camera_intrinsics.py` +- Verify that the camera name is set to `"Camera_L"` +\code{.py} +camera_name = "Camera_L" +\endcode +- Click on `"Run Script"` (shortcut: Alt-P) + +In the terminal from which you launched Blender, you should get something similar to: ``` +Intrinsics for Camera_L are K = @@ -79,109 +397,91 @@ In the terminal, you should get something similar to: \note The principal point is always in the middle of the image here. -\section mb_Blender_stereo_camera Stereo camera - -To generate the depth map, add a second camera and set the appropriate parameters to match the desired intrinsic parameters following the same instructions as in previous section. To this end: -- swith to `"3D Viewport"` (shortcut: Shift-F5) -- enter menu `"Add > Camera"` (in the scene the new camera appears with name `"Camera.001"`) -\image html img-Blender-add-camera.jpg -- modify image resolution, sensor size and focal lenght of this new camera as described previously -- then select one camera (the child object named `"Camera.001"`) and the other one (the parent object named `"Camera.001"`) and hit `Ctrl-P` to - parent them. - This way, the two cameras will be linked when you will move the cameras. - -\image html img-Blender-stereocameras-settings1.png - -\note The default camera used for rendering should be the one with the black triangle. You can change this with the `Scene` panel. - -\image html img-Blender-stereocameras-settings2.png +You can retrieve the depth camera intrinsics using again `get_camera_intrinsics.py` just by modifying in the script +the name of the camera +- Modify the camera name to `"Camera_R"` +\code{.py} +camera_name = "Camera_R" +\endcode +- Click on `Run Script` (shortcut: Alt-P) -\image html img-Blender-stereocameras-settings3.jpg +In the terminal from which you launched Blender, you should get something similar to: -\note You can retrieve the camera intrinsics using again `get_camera_intrinsics.py` just by modifying the name of the camera like: ``` -K = get_calibration_matrix_K_from_blender(bpy.data.objects['Camera.001'].data) +Intrinsics for Camera_R are K = + ``` -\section mb_Blender_create_teabox Create a teabox - -To create a teabox with texture, download directly a 3D model in 3DS format here. Then, the rough instructions should be: -- In Blender, install `Autodesk 3DS format` Add-on entering menu `Edit > Preferences > Add-ons`. This feature is only available since Blender 3.6. -- unzip the archive and import `Box tea N180614.3DS` file -- select the teabox object -- switch to the `Texture` panel -- add a new texture and open the image corresponding to the texture you want to apply like for example `tea_box_1-1.jpg` that was part of the archive -- select the teabox and switch to the edit mode -- switch to the `UV/Image Editor` and select the image - -You should get something similar to this: - -\image html img-Blender-texture.png +\section mb_Blender_mbt Run model-based tracker on simulated data -See here for more information about texture and UV unwrapping. - -\section mb_Blender_create_trajectory Create a camera trajectory - -This can be done easily: -- move the stereo cameras at a desired location / orientation -- select insert a keyframe (shortcut: `I`) and choose `Location, Rotation & Scale` to insert a keyframe at the current frame -- repeat to perform the desired camera or object movement - -Do not forget to add some lights to make the object visible. - -\section mb_Blender_generate_data Generate the images and the depth maps - -Images are generated automatically when rendering the animation (menu `Render` > `Render Animation`) and are saved on Ubuntu by default in the `/tmp` folder. -To generate the depth maps, switch to the `Compositing` screen layout, next to the menu bar: -- tick `Use Nodes` and `Backdrop` -- add a file output node -- add a link between the `Depth` output of the `Render Layers` node to the `File Output` node -- select the `OpenEXR` file format - -\image html img-Blender-depth.png +\subsection mb_Blender_mbt_src Source code +The following C++ sample file also available in tutorial-mb-generic-tracker-rgbd-blender.cpp reads color and depth +images, pointcloud is recreated using the depth camera intrinsic parameters. The ground truth data are read and +printed along with the estimated camera pose by the model-based tracker. Since depth data are stored in `OpenEXR` +file format, OpenCV is used for the reading. -The easiest thing is to run the animation first with the camera used to generate color images and a second time with the one for the depth maps. -To switch the main camera, go to the `Scene` panel and select the desired camera. +\include tutorial-mb-generic-tracker-rgbd-blender.cpp -\section mb_Blender_get_camera_poses Retrieve the camera poses +\note Here the depth values are manually clipped in order to simulate the depth range of a depth sensor. +This probably can be done directly in Blender. -The camera poses can be retrieved using the following Python script: +\subsection mb_Blender_mbt_run Usage on simulated data -\include get_camera_pose_teabox.py +Once build, to get tutorial-mb-generic-tracker-rgbd-blender.cpp usage, just run: +\code{.sh} +$ cd $VISP_WS/visp-build/tutorial/tracking/model-based/generic-rgbd-blender +$ ./tutorial-mb-generic-tracker-rgbd-blender -h +Synopsis + ./tutorial-mb-generic-tracker-rgbd-blender [--data-path ] [--model-path ] + [--first-frame ] [--disable-depth] [--disable-klt] [--step-by-step] + [--display-ground-truth] [--help, -h] -This script will also automatically generate and save the animation images and write the corresponding camera poses. +Description + --data-path Path to the data generated by Blender get_camera_pose_teabox.py + Python script. Default: data/teabox -\note Data are saved in the `/tmp/` directory by default and the path should be changed accordingly depending on the OS. Camera and object names should also be changed accordingly. + --model-path Path to the cad model and tracker settings. + Default: model/teabox -\section mb_Blender_mbt Model-based tracker on simulated data + --first-frame First frame number to process. + Default: 1 -\subsection mb_Blender_mbt_src Source code -Since depth data are stored in `OpenEXR` file format, OpenCV is used for the reading. -The following C++ sample file also available in tutorial-mb-generic-tracker-rgbd-blender.cpp reads color and depth images, pointcloud is recreated using the depth camera intrinsic parameters and the ground truth data are read and printed along with the estimated camera pose from the model-based tracker. + --disable-depth Flag to turn off tracker depth features. -\include tutorial-mb-generic-tracker-rgbd-blender.cpp + --disable-klt Flag to turn off tracker keypoints features. -\note Here the depth values are manually clipped in order to simulate the depth range of a depth sensor. This probably can be done directly in Blender. + --step-by-step Flag to enable step by step mode. -\subsection mb_Blender_mbt_run Usage on simulated data + --display-ground-truth Flag to enable displaying ground truth. + When this flag is enabled, there is no tracking. This flag is useful + to validate the ground truth over the rendered images. -Once build, to get tutorial-mb-generic-tracker-rgbd-blender.cpp usage, just run: -\code -$ ./tutorial-mb-generic-tracker-rgbd-blender -h -./tutorial-mb-generic-tracker-rgbd-blender [--input_directory (default: .)] [--config_color (default: teabox.xml)] [--config_depth (default: teabox_depth.xml)] [--model_color (default: teabox.cao)] [--model_depth (default: teabox.cao)] [--init_file (default: teabox.init)] [--extrinsics (default: depth_M_color.txt)] [--disable_depth] [--display_ground_truth] [--click] [--first_frame_index (default: 1)] + --help, -h Print this helper message. \endcode Default parameters allow to run the binary with the data provided in ViSP. Just run: -\code +\code{.sh} $ ./tutorial-mb-generic-tracker-rgbd-blender \endcode -The next video shows the results that you should obtain: +To run the binary on the data generated by Blender in `"/tmp/teabox"` folder, just run: +\code{.sh} +$ ./tutorial-mb-generic-tracker-rgbd-blender --data-path /tmp/teabox +\endcode + +You should be able to see similar tracking results as the one given in the next video. \htmlonly \endhtmlonly +\note If you just want to project the cad model in the images using the ground truth, without tracking, you may run: +\code{.sh} +$ ./tutorial-mb-generic-tracker-rgbd-blender --data-path /tmp/teabox --display-ground-truth +\endcode + \section mb_Blender_next Next tutorial You are now ready to see the next \ref tutorial-tracking-tt. diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt b/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt index b23d667b08..fa06fcb773 100644 --- a/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt +++ b/tutorial/tracking/model-based/generic-rgbd-blender/CMakeLists.txt @@ -8,16 +8,8 @@ find_package(VISP REQUIRED visp_core visp_mbt visp_io visp_gui) set(tutorial_cpp tutorial-mb-generic-tracker-rgbd-blender.cpp) -list(APPEND tutorial_data_dir "camera_poses") -list(APPEND tutorial_data_dir "depth") -list(APPEND tutorial_data_dir "images") - -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/depth_M_color.txt") -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao") -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init") -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.png") -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml") -list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox_depth.xml") +list(APPEND tutorial_data_dir "data") +list(APPEND tutorial_data_dir "model") foreach(cpp ${tutorial_cpp}) visp_add_target(${cpp}) @@ -47,7 +39,3 @@ endforeach() foreach(data_dir ${tutorial_data_dir}) visp_copy_dir(tutorial-mb-generic-tracker-rgbd-blender.cpp "${CMAKE_CURRENT_SOURCE_DIR}" ${data_dir}) endforeach() - -foreach(data ${tutorial_data}) - visp_copy_data(tutorial-mb-generic-tracker-rgbd-blender.cpp ${data}) -endforeach() diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_001.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_001.txt deleted file mode 100644 index 78c63f2e71..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_001.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4226182997226715 -2.4714811530657244e-08 0.9063078165054321 -0.10589859634637833 -0.5825634002685547 0.7660443782806396 0.2716538608074188 -0.07994276285171509 --0.6942720413208008 0.6427875757217407 -0.32374438643455505 0.7175615429878235 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_002.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_002.txt deleted file mode 100644 index b3001acc6b..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_002.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4227556884288788 -5.451433082725998e-08 0.9062436819076538 -0.1058686301112175 -0.5825357437133789 0.7660318613052368 0.27174848318099976 -0.07993374764919281 --0.6942116022109985 0.6428025364875793 -0.3238443434238434 0.7175326943397522 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_003.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_003.txt deleted file mode 100644 index 6133cd6ddb..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_003.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4231698513031006 -3.960472128028414e-08 0.9060503840446472 -0.1057780459523201 -0.5824522376060486 0.7659941911697388 0.2720337510108948 -0.07990667223930359 --0.6940293312072754 0.64284747838974 -0.3241456151008606 0.717445433139801 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_004.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_004.txt deleted file mode 100644 index 6c74b3ba75..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_004.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.42386355996131897 -3.959053884727837e-08 0.9057259559631348 -0.10562598705291748 -0.5823116898536682 0.7659310698509216 0.27251148223876953 -0.07986100018024445 --0.6937237977981567 0.6429224610328674 -0.32465028762817383 0.7172994017601013 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_005.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_005.txt deleted file mode 100644 index c635cbc12a..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_005.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.424839586019516 -3.9570551280121435e-08 0.905268669128418 -0.1054118275642395 -0.5821129083633423 0.7658427953720093 0.2731837034225464 -0.07979637384414673 --0.693293571472168 0.6430278420448303 -0.32536032795906067 0.7170941829681396 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_006.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_006.txt deleted file mode 100644 index a0eee4faec..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_006.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4261001646518707 -3.954464489197562e-08 0.9046760201454163 -0.10513491183519363 -0.5818545818328857 0.7657288908958435 0.27405214309692383 -0.07971277087926865 --0.6927365660667419 0.6431635022163391 -0.3262771964073181 0.7168291807174683 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_007.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_007.txt deleted file mode 100644 index 26037db8df..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_007.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4276476800441742 -3.951271665414424e-08 0.9039455652236938 -0.1047949492931366 -0.5815348029136658 0.7655894160270691 0.2751183807849884 -0.07960963994264603 --0.692051112651825 0.6433295607566833 -0.3274025022983551 0.7165042161941528 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_008.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_008.txt deleted file mode 100644 index 3e930789c8..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_008.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.42948395013809204 -3.947463866893486e-08 0.9030745029449463 -0.10439175367355347 -0.5811519622802734 0.7654242515563965 0.2763841450214386 -0.0794868916273117 --0.6912351250648499 0.6435260772705078 -0.32873740792274475 0.7161190509796143 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_009.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_009.txt deleted file mode 100644 index 40809c6a9c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_009.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.43161073327064514 -2.4529130726591575e-08 0.9020599126815796 -0.10392533987760544 -0.5807037949562073 0.7652331590652466 0.2778507471084595 -0.07934422045946121 --0.6902862787246704 0.6437529921531677 -0.33028289675712585 0.7156732678413391 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_010.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_010.txt deleted file mode 100644 index 9e480d05b8..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_010.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.43402963876724243 -5.4280690164887346e-08 0.9008986353874207 -0.10339587926864624 -0.5801882743835449 0.7650166153907776 0.2795197069644928 -0.0791814997792244 --0.6892024874687195 0.644010603427887 -0.33203986287117004 0.715167224407196 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_011.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_011.txt deleted file mode 100644 index 6cf50efe29..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_011.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.43674159049987793 -5.422336002425254e-08 0.8995870351791382 -0.10280382633209229 -0.5796025991439819 0.7647740840911865 0.28139200806617737 -0.07899844646453857 --0.6879808306694031 0.6442984938621521 -0.3340086340904236 0.7146003246307373 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_012.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_012.txt deleted file mode 100644 index 7052582f08..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_012.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4397476017475128 -2.435697332714426e-08 0.8981214761734009 -0.10214972496032715 -0.5789443850517273 0.7645057439804077 0.2834688425064087 -0.07879508286714554 --0.6866189241409302 0.6446171402931213 -0.33618950843811035 0.7139732241630554 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_013.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_013.txt deleted file mode 100644 index f724ce4bd1..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_013.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4430481195449829 -5.408832848274869e-08 0.896497905254364 -0.1014343649148941 -0.5782105922698975 0.7642114162445068 0.28575098514556885 -0.07857121527194977 --0.6851139068603516 0.6449659466743469 -0.3385823965072632 0.7132858633995056 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_014.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_014.txt deleted file mode 100644 index 8e21ee184c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_014.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.44664332270622253 -3.910910706395043e-08 0.8947120904922485 -0.10065879672765732 -0.5773979425430298 0.7638912200927734 0.288239061832428 -0.07832679152488708 --0.6834627389907837 0.6453449130058289 -0.34118691086769104 0.7125385403633118 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_015.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_015.txt deleted file mode 100644 index d2210409dd..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_015.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.45053309202194214 -3.9023767328671966e-08 0.8927597403526306 -0.09982418268918991 -0.5765032768249512 0.7635453939437866 0.29093363881111145 -0.07806172966957092 --0.6816626191139221 0.6457540988922119 -0.34400248527526855 0.7117317318916321 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_016.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_016.txt deleted file mode 100644 index ff6157edd3..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_016.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4547168016433716 -3.8930942025672266e-08 0.890636146068573 -0.09893196821212769 -0.5755230188369751 0.7631738185882568 0.29383498430252075 -0.07777629792690277 --0.6797101497650146 0.6461933255195618 -0.3470279276371002 0.7108660340309143 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_017.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_017.txt deleted file mode 100644 index b5b23855ee..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_017.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.45919355750083923 -3.883041443941693e-08 0.8883363008499146 -0.09798367321491241 -0.5744534730911255 0.7627765536308289 0.29694315791130066 -0.07747037708759308 --0.6776019930839539 0.646662175655365 -0.35026201605796814 0.7099419236183167 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_018.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_018.txt deleted file mode 100644 index 0582215cff..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_018.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4639618694782257 -3.8721960748944184e-08 0.8858551979064941 -0.09698118269443512 -0.5732905864715576 0.762353777885437 0.3002578914165497 -0.07714420557022095 --0.6753349900245667 0.647160530090332 -0.3537030518054962 0.7089602947235107 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_019.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_019.txt deleted file mode 100644 index 7c1b4523f9..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_019.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.46901994943618774 -2.37041906103741e-08 0.8831875324249268 -0.09592645615339279 -0.5720301270484924 0.7619055509567261 0.3037787079811096 -0.07679790258407593 --0.6729055047035217 0.6476881504058838 -0.35734888911247253 0.707922101020813 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_020.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_020.txt deleted file mode 100644 index 7b5b36836d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_020.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4743655025959015 -3.8480362007931035e-08 0.8803280591964722 -0.09482163935899734 -0.5706679224967957 0.7614320516586304 0.30750492215156555 -0.07643184065818787 --0.6703100204467773 0.6482446193695068 -0.3611970841884613 0.706828236579895 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_021.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_021.txt deleted file mode 100644 index 456e7a13fd..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_021.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.47999563813209534 -2.3445567265412137e-08 0.8772709369659424 -0.09366917610168457 -0.5691993832588196 0.7609336972236633 0.3114354610443115 -0.07604628801345825 --0.6675449013710022 0.6488296985626221 -0.3652448058128357 0.7056800723075867 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_022.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_022.txt deleted file mode 100644 index 2b26b258a2..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_022.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4859069883823395 -6.800653551408686e-08 0.8740105628967285 -0.0924716666340828 -0.5676199793815613 0.7604103684425354 0.3155688941478729 -0.07564173638820648 --0.6646066904067993 0.6494429111480713 -0.3694886863231659 0.7044788002967834 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_023.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_023.txt deleted file mode 100644 index 7908bd3c8e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_023.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.4920959174633026 -8.250235161710862e-09 0.8705410361289978 -0.09123165905475616 -0.5659245848655701 0.7598625421524048 0.31990358233451843 -0.07521858811378479 --0.6614915132522583 0.6500837802886963 -0.37392520904541016 0.7032259702682495 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_024.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_024.txt deleted file mode 100644 index 28d14d6f02..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_024.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.49855783581733704 -3.789149971566985e-08 0.8668564558029175 -0.08995216339826584 -0.5641084313392639 0.7592905163764954 0.3244374692440033 -0.07477748394012451 --0.6581959128379822 0.6507518291473389 -0.3785502016544342 0.7019232511520386 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_025.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_025.txt deleted file mode 100644 index 3e6cc359f8..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_025.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5052879452705383 -3.772077761254877e-08 0.8629508018493652 -0.08863609284162521 -0.5621664524078369 0.7586945295333862 0.3291681408882141 -0.07431906461715698 --0.6547160744667053 0.6514465808868408 -0.3833591341972351 0.7005723118782043 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_026.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_026.txt deleted file mode 100644 index da6d3c33d3..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_026.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5122806429862976 -3.754013633283648e-08 0.8588181734085083 -0.08728668093681335 -0.5600932836532593 0.758074939250946 0.33409279584884644 -0.0738440752029419 --0.651048481464386 0.652167558670044 -0.3883470296859741 0.699175238609314 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_027.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_027.txt deleted file mode 100644 index d37a303745..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_027.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5195298194885254 -3.7349302317579713e-08 0.8544524312019348 -0.08590710163116455 -0.5578839182853699 0.7574321627616882 0.3392082750797272 -0.07335342466831207 --0.647189736366272 0.6529139876365662 -0.3935084939002991 0.6977340579032898 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_028.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_028.txt deleted file mode 100644 index bc9d95260a..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_028.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5270286798477173 -2.2246853248475418e-08 0.8498475551605225 -0.0845007672905922 -0.5555327534675598 0.7567666172981262 0.34451088309288025 -0.07284806668758392 --0.6431362628936768 0.6536852121353149 -0.3988376557826996 0.6962510347366333 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_029.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_029.txt deleted file mode 100644 index c7a698f48d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_029.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5347700119018555 -3.693602579346589e-08 0.844997763633728 -0.08307115733623505 -0.5530346035957336 0.756078839302063 0.3499965965747833 -0.07232892513275146 --0.6388849020004272 0.6544805765151978 -0.40432825684547424 0.6947286128997803 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_030.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_030.txt deleted file mode 100644 index f5731ec90e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_030.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5427457094192505 -6.910744865251672e-09 0.8398970365524292 -0.08162172138690948 -0.5503839254379272 0.755369246006012 0.35566091537475586 -0.07179728150367737 --0.6344324946403503 0.6552992463111877 -0.4099734127521515 0.6931694149971008 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_031.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_031.txt deleted file mode 100644 index 3fdff31129..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_031.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5509476065635681 -5.1380059318262283e-08 0.8345398902893066 -0.08015598356723785 -0.5475754737854004 0.754638671875 0.3614991009235382 -0.07125431299209595 --0.6297760605812073 0.6561405658721924 -0.41576632857322693 0.6915762424468994 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_032.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_032.txt deleted file mode 100644 index ce5b12f333..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_032.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5593660473823547 -5.113443890536473e-08 0.8289207816123962 -0.07867757976055145 -0.5446040034294128 0.7538872957229614 0.36750558018684387 -0.070701465010643 --0.6249129176139832 0.65700364112854 -0.4216989576816559 0.6899518370628357 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_033.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_033.txt deleted file mode 100644 index 0b78b8681c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_033.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5679914951324463 -3.597597597604363e-08 0.823034405708313 -0.07719000428915024 -0.5414641499519348 0.7531160712242126 0.37367457151412964 -0.07014012336730957 --0.6198405027389526 0.6578875780105591 -0.42776352167129517 0.6882994771003723 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_034.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_034.txt deleted file mode 100644 index 729e99b67b..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_034.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5768135786056519 -2.080561678496906e-08 0.8168759346008301 -0.07569682598114014 -0.5381508469581604 0.7523256540298462 0.3799998462200165 -0.06957195699214935 --0.6145566701889038 0.6587914228439331 -0.43395161628723145 0.686622142791748 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_035.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_035.txt deleted file mode 100644 index 961e56709d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_035.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.585821270942688 -3.5425472333372454e-08 0.8104403614997864 -0.07420149445533752 -0.5346590280532837 0.751516580581665 0.386474609375 -0.06899850070476532 --0.6090593934059143 0.6597142219543457 -0.4402543008327484 0.6849231719970703 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_036.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_036.txt deleted file mode 100644 index 18756a0f46..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_036.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.5950028300285339 -3.513187607495638e-08 0.8037236332893372 -0.07270756363868713 -0.5309839844703674 0.7506897449493408 0.3930915892124176 -0.06842157989740372 --0.6033470630645752 0.6606549620628357 -0.4466625154018402 0.6832060217857361 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_037.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_037.txt deleted file mode 100644 index 7f42eb36a5..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_037.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6043463945388794 -4.9726970985375374e-08 0.7967216968536377 -0.07121821492910385 -0.5271210074424744 0.7498459815979004 0.39984312653541565 -0.06784302741289139 --0.5974186062812805 0.6616125106811523 -0.453166663646698 0.6814742088317871 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_038.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_038.txt deleted file mode 100644 index a321225b6e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_038.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6138390898704529 -4.9408299673814327e-08 0.7894312739372253 -0.0697367861866951 -0.523065984249115 0.748986005783081 0.4067211151123047 -0.06726481020450592 --0.5912729501724243 0.6625857949256897 -0.45975685119628906 0.6797314286231995 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_039.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_039.txt deleted file mode 100644 index 5afe74249e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_039.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6234679222106934 -4.907686701471903e-08 0.7818490266799927 -0.06826620548963547 -0.5188145637512207 0.748110830783844 0.41371703147888184 -0.0666889101266861 --0.5849096775054932 0.6635739207267761 -0.46642303466796875 0.6779813766479492 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_040.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_040.txt deleted file mode 100644 index 094f293d53..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_040.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6332191824913025 -1.8930256473481677e-08 0.7739726305007935 -0.06680946052074432 -0.5143631100654602 0.7472212314605713 0.420821875333786 -0.06611737608909607 --0.5783287882804871 0.6645753383636475 -0.47315481305122375 0.6762278079986572 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_041.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_041.txt deleted file mode 100644 index 88c092804e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_041.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.643078625202179 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b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_043.txt deleted file mode 100644 index 63e3798572..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_043.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6630643606185913 -1.7819539621655167e-08 0.7485624551773071 -0.06254848837852478 -0.499776691198349 0.7444765567779541 0.4426940679550171 -0.06445064395666122 --0.5572871565818787 0.6676486730575562 -0.49363577365875244 0.6709845662117004 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_044.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_044.txt deleted file mode 100644 index bd6ffe525d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_044.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6731606125831604 -4.722557278569184e-08 0.7394963502883911 -0.061172183603048325 -0.4944951832294464 0.743539571762085 0.45013704895973206 -0.063918337225914 --0.5498448610305786 0.668691873550415 -0.5005215406417847 0.6692556738853455 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_045.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_045.txt deleted file mode 100644 index f039029ca9..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_045.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6833052635192871 -4.6816282406325627e-08 0.7301328182220459 -0.05982115864753723 -0.4890008568763733 0.7425936460494995 0.4576384723186493 -0.06340137869119644 --0.5421920418739319 0.6697423458099365 -0.5074180960655212 0.6675425171852112 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_046.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_046.txt deleted file mode 100644 index a00459a1dc..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_046.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.6934829354286194 -3.149288119175253e-08 0.7204731106758118 -0.05849682539701462 -0.4832923710346222 0.7416394948959351 0.4651874303817749 -0.06290194392204285 --0.5343313217163086 0.670798659324646 -0.5143142938613892 0.6658489108085632 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_047.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_047.txt deleted file mode 100644 index e3ff0a8164..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_047.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7036777138710022 -3.105779100565087e-08 0.7105193734169006 -0.05720064416527748 -0.47736936807632446 0.7406784296035767 0.4727727174758911 -0.062422335147857666 --0.5262663960456848 0.6718597412109375 -0.5211988091468811 0.6641786098480225 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_048.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_048.txt deleted file mode 100644 index 34665e2bf0..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_048.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7138738036155701 -3.060996789372439e-08 0.7002743482589722 -0.055933400988578796 -0.4712314009666443 0.7397116422653198 0.4803828299045563 -0.0619644857943058 --0.518001139163971 0.6729239821434021 -0.5280607342720032 0.6625352501869202 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_049.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_049.txt deleted file mode 100644 index 5b965492b0..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_049.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7240554094314575 -3.014957528080231e-08 0.6897417902946472 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index 54b955df53..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_051.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7443124055862427 -4.4093006579259963e-08 0.667831540107727 -0.052311383187770844 -0.45153629779815674 0.7367887496948242 0.5032467842102051 -0.060742802917957306 --0.49205076694488525 0.6761230230331421 -0.5484009981155396 0.6578012704849243 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_052.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_052.txt deleted file mode 100644 index c8fa6aa875..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_052.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7543565034866333 -2.86949912720047e-08 0.6564648747444153 -0.051164302974939346 -0.4445495009422302 0.7358109354972839 0.5108405351638794 -0.060392506420612335 --0.48303404450416565 0.6771870255470276 -0.555063784122467 0.6562994718551636 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_053.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_053.txt deleted file mode 100644 index 25784379d5..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_053.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7643239498138428 -2.8186519784867414e-08 0.6448323726654053 -0.050046954303979874 -0.4373560845851898 0.7348333597183228 0.5184009671211243 -0.06007353216409683 --0.473844438791275 0.6782476305961609 -0.5616507530212402 0.6548405885696411 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_054.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_054.txt deleted file mode 100644 index fb17100274..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_054.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7741997241973877 -1.276558059259969e-08 0.6329412460327148 -0.048958394676446915 -0.4299592077732086 0.7338575124740601 0.5259166359901428 -0.05978737026453018 --0.4644886553287506 0.6793034672737122 -0.5681523084640503 0.653427243232727 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_055.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_055.txt deleted file mode 100644 index 86750fb309..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_055.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7839694023132324 -1.2234842472480523e-08 0.6207993626594543 -0.047897819429636 -0.42236292362213135 0.7328842878341675 0.5333762764930725 -0.05953553691506386 --0.45497408509254456 0.6803533434867859 -0.5745587944984436 0.652062177658081 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_056.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_056.txt deleted file mode 100644 index db980f4a8a..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_056.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.7936185598373413 -2.6594690893944062e-08 0.6084156036376953 -0.04686403647065163 -0.4145719110965729 0.7319149971008301 0.5407685041427612 -0.059319041669368744 --0.4453085660934448 0.681395947933197 -0.5808613896369934 0.6507472991943359 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_057.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_057.txt deleted file mode 100644 index a0624e845c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_057.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8031336069107056 -1.1142040179379364e-08 0.5957989692687988 -0.045855432748794556 -0.4065910577774048 0.7309510707855225 0.5480824708938599 -0.05913903936743736 --0.435499906539917 0.6824299097061157 -0.5870513916015625 0.6494846940040588 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_058.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_058.txt deleted file mode 100644 index d74d8e76c3..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_058.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8125011920928955 -2.548196853524587e-08 0.5829594731330872 -0.04487058147788048 -0.3984260559082031 0.729993462562561 0.5553073287010193 -0.058996256440877914 --0.42555662989616394 0.6834540963172913 -0.5931205749511719 0.6482759714126587 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_059.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_059.txt deleted file mode 100644 index 434d1878fa..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_059.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8217088580131531 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b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_061.txt deleted file mode 100644 index bdecbdcd34..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_061.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8395966291427612 -2.3744478383491696e-08 0.5432103276252747 -0.042038846760988235 -0.3728901743888855 0.7271710634231567 0.5763464570045471 -0.058796774595975876 --0.39500683546066284 0.6864563226699829 -0.6105303764343262 0.6449869275093079 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_062.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_062.txt deleted file mode 100644 index 4acb3e27cc..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_062.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8482546806335449 -3.8050213646556585e-08 0.529588520526886 -0.041128817945718765 -0.3640548586845398 0.7262508869171143 0.5831155180931091 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a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_064.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8649494647979736 -3.6838113004478146e-08 0.5018589496612549 -0.03934559226036072 -0.3459460139274597 0.7244482040405273 0.5962349772453308 -0.058942101895809174 --0.36357080936431885 0.689329206943512 -0.6266111135482788 0.6422192454338074 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_065.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_065.txt deleted file mode 100644 index 6ea63e3aa9..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_065.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8729684352874756 -2.13213944277868e-08 0.48777666687965393 -0.03846754878759384 -0.33668944239616394 0.7235678434371948 0.6025694012641907 -0.059065546840429306 --0.35293951630592346 0.6902533173561096 -0.6316518783569336 0.641413688659668 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_066.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_066.txt deleted file mode 100644 index 682ee852b1..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_066.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8807579278945923 -2.0700253955396875e-08 0.47356662154197693 -0.03759521618485451 -0.3273097574710846 0.7227028608322144 0.6087437868118286 -0.05922510102391243 --0.3422479033470154 0.6911588907241821 -0.6365262866020203 0.6406662464141846 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_067.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_067.txt deleted file mode 100644 index 0ba69f053f..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_067.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8883110880851746 -5.172950068299542e-09 0.45924219489097595 -0.0367262028157711 -0.3178164064884186 0.7218540906906128 0.6147516369819641 -0.05941978842020035 --0.33150583505630493 0.6920453906059265 -0.6412310004234314 0.6399760246276855 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_068.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_068.txt deleted file mode 100644 index 4d29f710b2..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_068.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.8956218361854553 -4.5423753647355625e-09 0.4448162913322449 -0.03585787117481232 -0.3082183599472046 0.7210225462913513 0.6205868124961853 -0.059648219496011734 --0.3207225799560547 0.6929116249084473 -0.6457635164260864 0.6393423080444336 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_069.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_069.txt deleted file mode 100644 index 2bc5ffa087..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_069.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9026848077774048 -1.8809117818818777e-08 0.4303024709224701 -0.03498796373605728 -0.298525333404541 0.7202092409133911 0.6262439489364624 -0.059908900409936905 --0.30990779399871826 0.6937569379806519 -0.6501218676567078 0.6387639045715332 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_070.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_070.txt deleted file mode 100644 index 39fe2ceed7..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_070.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9094952940940857 -3.307260598717221e-08 0.41571417450904846 -0.034114062786102295 -0.28874698281288147 0.7194148898124695 0.6317178606987 -0.060200098901987076 --0.29907095432281494 0.694580614566803 -0.6543044447898865 0.6382396221160889 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_071.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_071.txt deleted file mode 100644 index 6653b81cf6..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_071.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9160496592521667 -1.7531096574430194e-08 0.40106475353240967 -0.03323395550251007 -0.2788931429386139 0.7186404466629028 0.6370043754577637 -0.060519978404045105 --0.2882213592529297 0.6953818798065186 -0.6583103537559509 0.6377677917480469 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_072.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_072.txt deleted file mode 100644 index 32deca54b8..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_072.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9223450422286987 -1.987480402476649e-09 0.3863671123981476 -0.032345399260520935 -0.26897332072257996 0.7178866267204285 0.6420997977256775 -0.06086650490760803 --0.2773677706718445 0.6961600184440613 -0.6621391773223877 0.637346625328064 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_073.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_073.txt deleted file mode 100644 index 07502f968b..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_073.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9283790588378906 -1.624466783312073e-08 0.37163469195365906 -0.03144638240337372 -0.2589975595474243 0.7171542644500732 0.6470009088516235 -0.06123754754662514 --0.26651936769485474 0.6969144940376282 -0.6657909750938416 0.6369745135307312 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_074.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_074.txt deleted file mode 100644 index 27402fff4b..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_074.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9341500997543335 -6.985718670193819e-10 0.3568803071975708 -0.030535057187080383 -0.24897563457489014 0.7164439558982849 0.6517049074172974 -0.06163068115711212 --0.2556847333908081 0.6976445913314819 -0.6692661643028259 0.6366491913795471 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_075.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_075.txt deleted file mode 100644 index 07db249d06..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_075.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.93965744972229 -2.985555624945846e-08 0.34211668372154236 -0.02960960939526558 -0.23891718685626984 0.7157564163208008 0.6562098264694214 -0.062043480575084686 --0.24487219750881195 0.6983500123023987 -0.6725658774375916 0.6363686323165894 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_076.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_076.txt deleted file mode 100644 index c033d13aa4..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_076.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9449010491371155 -1.4309189388939103e-08 0.32735610008239746 -0.028668256476521492 -0.22883175313472748 0.7150923013687134 0.6605144143104553 -0.06247347593307495 --0.23408979177474976 0.6990301012992859 -0.6756914854049683 0.6361304521560669 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_077.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_077.txt deleted file mode 100644 index 8a87cb732c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_077.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9498811960220337 -1.3664663178758474e-08 0.31261107325553894 -0.027709761634469032 -0.21872906386852264 0.7144521474838257 0.6646170616149902 -0.06291784346103668 --0.22334562242031097 0.6996843218803406 -0.678644597530365 0.635932207107544 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_078.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_078.txt deleted file mode 100644 index c1a4aecf4d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_078.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9545992016792297 -1.3021326239481823e-08 0.297893226146698 -0.026732631027698517 -0.20861835777759552 0.7138363122940063 0.6685178875923157 -0.06337416172027588 --0.21264700591564178 0.7003125548362732 -0.6814276576042175 0.6357715725898743 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_079.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_079.txt deleted file mode 100644 index 28611da300..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_079.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9590566158294678 -1.2379677727381022e-08 0.2832140326499939 -0.025735795497894287 -0.19850870966911316 0.713245689868927 0.6722163558006287 -0.06383933126926422 --0.2020011991262436 0.7009140849113464 -0.6840430498123169 0.6356457471847534 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_080.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_080.txt deleted file mode 100644 index 1e58b88b91..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_080.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9632560014724731 -1.174022656869056e-08 0.26858508586883545 -0.024718495085835457 -0.18840943276882172 0.7126805186271667 0.6757133603096008 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a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_082.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9708915948867798 -1.0469730860052096e-08 0.23951952159404755 -0.022618750110268593 -0.16827599704265594 0.7116279602050781 0.6821062564849854 -0.06526004523038864 --0.17044878005981445 0.7025565505027771 -0.6909136176109314 0.6354520320892334 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_083.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_083.txt deleted file mode 100644 index a60f166f98..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_083.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9743348956108093 5.061576047182825e-09 0.22510351240634918 -0.021535467356443405 -0.1582588106393814 0.7111414670944214 0.685005247592926 -0.06573230028152466 --0.1600804328918457 0.7030491232872009 -0.692889928817749 0.635439395904541 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_084.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_084.txt deleted file mode 100644 index 7ccf2710d0..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_084.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9775338768959045 -1.6663983970488516e-08 0.2107781171798706 -0.020429443567991257 -0.14828526973724365 0.7106817364692688 0.6877084374427795 -0.06619906425476074 --0.14979618787765503 0.7035136222839355 -0.6947155594825745 0.6354482173919678 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_085.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_085.txt deleted file mode 100644 index 7080d9f2c8..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_085.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9804933071136475 -8.591579891970014e-09 0.19655242562294006 -0.01930057816207409 -0.13836312294006348 0.7102492451667786 0.6902186274528503 -0.06665752083063126 --0.1396012157201767 0.7039503455162048 -0.6963947415351868 0.6354759931564331 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_086.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_086.txt deleted file mode 100644 index 7a02ae4a0d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_086.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9832178354263306 -1.5425086985487724e-08 0.18243543803691864 -0.018149007111787796 -0.12849998474121094 0.709844172000885 0.6925380825996399 -0.06710462272167206 --0.12950074672698975 0.7043587565422058 -0.6979315280914307 0.6355197429656982 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_087.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_087.txt deleted file mode 100644 index e069b55f0e..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_087.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9857127666473389 8.804523082828197e-11 0.16843517124652863 -0.01697492226958275 -0.11870281398296356 0.7094667553901672 0.6946701407432556 -0.0675375685095787 --0.11949914693832397 0.7047389149665833 -0.6993303894996643 0.6355767846107483 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_088.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_088.txt deleted file mode 100644 index a4c14cbc55..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_088.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9879834055900574 -6.756003756436257e-09 0.15455934405326843 -0.01577875018119812 -0.10897837579250336 0.7091169357299805 0.6966181397438049 -0.06795375049114227 --0.10960066318511963 0.7050908207893372 -0.7005959153175354 0.6356445550918579 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_089.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_089.txt deleted file mode 100644 index e1fe911a16..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_089.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9900357723236084 -6.155235876548204e-09 0.1408153772354126 -0.01456085778772831 -0.09933319687843323 0.7087950706481934 0.6983855366706848 -0.06835021078586578 --0.09980925917625427 0.7054144144058228 -0.7017325758934021 0.6357203722000122 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_090.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_090.txt deleted file mode 100644 index 581694e5a5..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_090.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9918757677078247 -1.3011106858584753e-08 0.12721002101898193 -0.013322001323103905 -0.08977332711219788 0.7085012197494507 0.6999762654304504 -0.06872442364692688 --0.09012846648693085 0.7057096362113953 -0.7027453184127808 0.6358017921447754 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_091.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_091.txt deleted file mode 100644 index 5efc620304..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_091.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9935094118118286 -8.697462305917725e-09 0.11375003308057785 -0.012062928639352322 -0.0803048238158226 0.7082354426383972 0.7013940811157227 -0.06907370686531067 --0.0805618166923523 0.7059763073921204 -0.7036386132240295 0.6358861327171326 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_092.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_092.txt deleted file mode 100644 index 87ac09570c..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_092.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9949430227279663 -6.651300621385303e-10 0.100441113114357 -0.010784503072500229 -0.07093298435211182 0.7079978585243225 0.7026433348655701 -0.06939563900232315 --0.07111209630966187 0.7062146663665771 -0.7044175267219543 0.635970950126648 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_093.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_093.txt deleted file mode 100644 index 392bd3c631..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_093.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9961830377578735 -3.815523452743719e-09 0.087288998067379 -0.009487725794315338 -0.06166309118270874 0.707788348197937 0.703728199005127 -0.0696876049041748 --0.06178213655948639 0.7064246535301208 -0.7050867676734924 0.6360538601875305 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_094.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_094.txt deleted file mode 100644 index 1bb313e49f..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_094.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9972360134124756 -3.2477081024495646e-09 0.0742989033460617 -0.008173726499080658 -0.05250007286667824 0.7076069116592407 0.704653263092041 -0.0699474960565567 --0.05257442221045494 0.7066063284873962 -0.7056511640548706 0.6361325979232788 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_095.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_095.txt deleted file mode 100644 index deca5cd43d..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_095.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9981086254119873 -8.24539658772494e-10 0.06147562712430954 -0.006843853276222944 -0.043448496609926224 0.7074536681175232 0.7054229974746704 -0.07017282396554947 --0.04349116235971451 0.7067597508430481 -0.7061156630516052 0.6362050771713257 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_096.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_096.txt deleted file mode 100644 index 66f6dbc7d5..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_096.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.998807430267334 -3.996789121885058e-09 0.0488235205411911 -0.005499068647623062 -0.03451261669397354 0.7073284983634949 0.7060420513153076 -0.07036157697439194 --0.0345342718064785 0.706885039806366 -0.7064850330352783 0.636268675327301 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_097.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_097.txt deleted file mode 100644 index 18438cb913..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_097.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9993392825126648 2.7389171486369435e-10 0.036346446722745895 -0.004140874836593866 -0.025696292519569397 0.707231342792511 0.7065151333808899 -0.0705116018652916 --0.025705348700284958 0.7069823145866394 -0.7067641019821167 0.6363216042518616 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_098.txt b/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_098.txt deleted file mode 100644 index 6dd35d0b73..0000000000 --- a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_098.txt +++ /dev/null @@ -1,4 +0,0 @@ --0.9997108578681946 -1.0511692627446223e-09 0.02404795028269291 -0.0027705964166671038 -0.017003139480948448 0.7071620225906372 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a/tutorial/tracking/model-based/generic-rgbd-blender/camera_poses/Camera_100.txt +++ /dev/null @@ -1,4 +0,0 @@ --1.0 3.821371353845884e-15 -8.742277657347586e-08 2.1855697696082643e-08 --6.181724643283815e-08 0.7071067690849304 0.70710688829422 -0.0707106813788414 -6.181724643283815e-08 0.70710688829422 -0.7071067690849304 0.6363961696624756 -0.0 0.0 0.0 1.0 diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/Camera_L.xml b/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/Camera_L.xml new file mode 100644 index 0000000000..80d768eb0d --- /dev/null +++ b/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/Camera_L.xml @@ -0,0 +1,16 @@ + + + + Camera_L + 640 + 480 + + perspectiveProjWithoutDistortion + 700.0 + 700.0 + 320.0 + 240.0 + + + + diff --git a/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/Camera_R.xml b/tutorial/tracking/model-based/generic-rgbd-blender/data/teabox/Camera_R.xml new file mode 100644 index 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