From a8c25f46d03f89d45c8943e2288d24b617128b63 Mon Sep 17 00:00:00 2001
From: Farid Alijani <farid.alijani@student.lut.fi>
Date: Tue, 2 Aug 2016 17:00:50 +0200
Subject: [PATCH] PID is fixed
---
.../CamMark/camtomar/src/VisionControl.cpp | 67 +-
.../CamMark/camtomar/src/VisionControl.cpp~ | 67 +-
.../ar_det/src/ar_detection.cpp | 132 +-
.../ar_det/src/ar_detection.cpp~ | 4 +-
MobileRobot/docking_data/Pose.txt | 1128 +++++++--------
MobileRobot/docking_data/Pose.txt~ | 1206 ++++++-----------
MobileRobot/docking_data/Pose2.txt | 1001 +++++++-------
MobileRobot/docking_data/Pose2.txt~ | 1012 +++++++-------
MobileRobot/docking_data/Pose3.txt | 928 +++++++------
MobileRobot/docking_data/Pose3.txt~ | 962 +++++++------
MobileRobot/docking_data/Vel.txt | 1126 +++++++--------
MobileRobot/docking_data/Vel.txt~ | 1204 ++++++----------
MobileRobot/docking_data/Vel2.txt | 1018 +++++++-------
MobileRobot/docking_data/Vel2.txt~ | 1010 +++++++-------
MobileRobot/docking_data/Vel3.txt | 926 +++++++------
MobileRobot/docking_data/Vel3.txt~ | 984 ++++++++------
16 files changed, 6234 insertions(+), 6541 deletions(-)
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 8a57d2df..d1c11e56 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
// ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, 0.00903123 /* Y_ref*/ , 0.199791 /* X_ref*/ , -0.56 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, 0.00941711 /* Y_ref*/ , 0.201 /* X_ref*/ , -0.560363 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .44; //.55
-double PID4Docking::Ki_y = .0005 ;//.002
-double PID4Docking::Kd_y = .15; //.1
+double PID4Docking::Kp_y = .51; //.44
+double PID4Docking::Ki_y = 0.0005 ;//.0005
+double PID4Docking::Kd_y = 0.05; //.15
-double PID4Docking::Kp_theta = .08;// .11
+double PID4Docking::Kp_theta = .08;// .08
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
@@ -122,9 +122,9 @@ double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double PID4Docking::x_dock_thresh = .001;
double PID4Docking::y_dock_thresh = .002; //.0015
-double PID4Docking::theta_dock_thresh = (CV_PI/180) * 1; // 1 deg.
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * 2; // 1 deg.
-double PID4Docking::safety_margin_X = .15; // safety margin X axis in docking process : 18 cm
+double PID4Docking::safety_margin_X = .18; // safety margin X axis in docking process : 18 cm
// ------ offsets X, Y, theta for Undocking ---------
double PID4Docking::x_thresh_undock = .02;
@@ -187,7 +187,7 @@ void PID4Docking::myhandler(int value)
TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
}
- //imshow("INPUT IMAGE",TheInputImageCopy);
+ imshow("INPUT IMAGE",TheInputImageCopy);
//imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
void PID4Docking::createTrackbars()
@@ -317,7 +317,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
if (node_vis.ok() && found)
{
- /*y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; // changed !!! */
+ //y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; // changed !!!
y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
@@ -407,7 +407,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
if (update_images)
{
imshow("INPUT IMAGE",TheInputImageCopy);
- imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+ //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
}else
@@ -447,9 +447,9 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
// roll in Marker coordinate => yaw in Robot coordinate
- ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
+ /*ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
ROS_INFO_STREAM(" Kp_y = " << Kp_y << " , Ki_y = " << Ki_y << " , Kd_y = " << Kd_y << "\n");
- ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");
+ ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");*/
ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
@@ -474,9 +474,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
keepMoving = false;
GenerateRandomVal();
docking_counter ++;
- speed_reducer_X = 1;
- speed_reducer_Y = 1;
- speed_reducer_theta = 1;
+ speed_reducer_X = speed_reducer_Y = speed_reducer_theta = 1;
//Go2RandomPose = true;
// to make sure that y & theta are within the threshold...
@@ -488,8 +486,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
)
{
ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
- speed_reducer_Y = 1;
- speed_reducer_theta = 1;
+ speed_reducer_Y = speed_reducer_theta = 1;
Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) &&
@@ -497,7 +494,11 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
- speed_reducer_X = .08;
+
+ /*speed_reducer_X = .06; // for x_dot = .1 =>.06*/
+ speed_reducer_X = .04; // for x_dot = .15 =>.04 ---- optimal docking time and Y-axis offset ----
+ /*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/
+
Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
}
}else
@@ -533,7 +534,10 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
// control signal
control_signalX = p_termX + i_termX + d_termX;
prev_errorX = curr_errorX;*/
- control_signalX = speed_reducer_X * 0.1;
+
+ //control_signalX = speed_reducer_X * 0.1;
+ control_signalX = speed_reducer_X * 0.15;
+ //control_signalX = speed_reducer_X * 0.16;
} else
{
control_signalX = 0; // 5e-5
@@ -562,23 +566,32 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
i_termY = Ki_y * int_errorY;
d_termY = Kd_y * diffY;
- ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
+ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
control_signalY = p_termY + i_termY + d_termY;
- //control_signalY = speed_reducer_Y * control_signalY;
+ control_signalY = speed_reducer_Y * control_signalY;
- /* -- MARKER IN CAMERA COORDINATATE FRAME */
- if(MarPoseY < 0)
+ /* -- MARKER IN CAMERA COORDINATATE FRAME
+ if(MarPoseY < 0 && )
{
control_signalY = - speed_reducer_Y * control_signalY;
ROS_INFO("marker pose < 0 => robot is going to the RIGHT \n");
- }else
+ } else if (MarPoseY < 0)
{
control_signalY = speed_reducer_Y * control_signalY;
ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- }
+ } else if (MarPoseY < 0)
+ {
+ control_signalY = speed_reducer_Y * control_signalY;
+ ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
+ } else if (MarPoseY < 0)
+ {
+ control_signalY = speed_reducer_Y * control_signalY;
+ ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
+ }*/
+
prev_errorY = curr_errorY;
@@ -604,7 +617,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
i_termYAW = Ki_theta * int_errorYAW;
d_termYAW = Kd_theta * diffYAW;
- //ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
+ ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
// control signal
control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
@@ -648,7 +661,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
control_signalYAW = 0;
}
- /* ---
+ /* ---
ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 8a57d2df..a3080c99 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -92,14 +92,14 @@ double PID4Docking::control_signalX, PID4Docking::control_signalY, PID4Docking::
//const double PID4Docking::RefPose[4] = {-.0957, 0.00638817 /* Y_ref*/ , 0.308857 /* X_ref*/ , 0.17 /* theta_ref*/};
// ---- Ref. Values for Logitech Camera ---- //
-const double PID4Docking::RefPose[4] = {-.0957, 0.00903123 /* Y_ref*/ , 0.199791 /* X_ref*/ , -0.56 /* theta_ref*/};
+const double PID4Docking::RefPose[4] = {-.0957, 0.00903123 /* Y_ref*/ , 0.2 /* X_ref*/ , -0.56 /* theta_ref*/};
// ---------------- PID gains---------------- //
-double PID4Docking::Kp_y = .44; //.55
-double PID4Docking::Ki_y = .0005 ;//.002
-double PID4Docking::Kd_y = .15; //.1
+double PID4Docking::Kp_y = .86; //.44
+double PID4Docking::Ki_y = 0 ;//.0005
+double PID4Docking::Kd_y = 0.002; //.15
-double PID4Docking::Kp_theta = .08;// .11
+double PID4Docking::Kp_theta = .08;// .08
double PID4Docking::Ki_theta = 0; //* Ki_y; // .15 * Ki_y
double PID4Docking::Kd_theta = 0; //* Kd_y; // .0008
// ---------------- PID gains---------------- //
@@ -122,9 +122,9 @@ double PID4Docking::speed_reducer_theta = 1;
// ------ offsets X, Y, theta for Docking ---------
double PID4Docking::x_dock_thresh = .001;
double PID4Docking::y_dock_thresh = .002; //.0015
-double PID4Docking::theta_dock_thresh = (CV_PI/180) * 1; // 1 deg.
+double PID4Docking::theta_dock_thresh = (CV_PI/180) * 2; // 1 deg.
-double PID4Docking::safety_margin_X = .15; // safety margin X axis in docking process : 18 cm
+double PID4Docking::safety_margin_X = .18; // safety margin X axis in docking process : 18 cm
// ------ offsets X, Y, theta for Undocking ---------
double PID4Docking::x_thresh_undock = .02;
@@ -187,7 +187,7 @@ void PID4Docking::myhandler(int value)
TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
}
- //imshow("INPUT IMAGE",TheInputImageCopy);
+ imshow("INPUT IMAGE",TheInputImageCopy);
//imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
void PID4Docking::createTrackbars()
@@ -317,7 +317,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
if (node_vis.ok() && found)
{
- /*y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; // changed !!! */
+ //y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0]; // changed !!!
y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
@@ -407,7 +407,7 @@ if (TheVideoCapturer.retrieve(TheInputImage))
if (update_images)
{
imshow("INPUT IMAGE",TheInputImageCopy);
- imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+ //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
}else
@@ -447,9 +447,9 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
// roll in Marker coordinate => yaw in Robot coordinate
- ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
+ /*ROS_INFO_STREAM("--------- PID gains in trial no. " << docking_counter << " : ---------\n");
ROS_INFO_STREAM(" Kp_y = " << Kp_y << " , Ki_y = " << Ki_y << " , Kd_y = " << Kd_y << "\n");
- ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");
+ ROS_INFO_STREAM(" Kp_theta = " << Kp_theta << " , Ki_theta = " << Ki_theta << " , Kd_theta = " << Kd_theta << "\n");*/
ROS_INFO_STREAM(" --------------------- Pose estimation ------------------ \n");
ROS_INFO_STREAM(" X_mar = " << camPose[2] << " vs. X_ref = " << RefPose[2] << " \n");
@@ -474,9 +474,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
keepMoving = false;
GenerateRandomVal();
docking_counter ++;
- speed_reducer_X = 1;
- speed_reducer_Y = 1;
- speed_reducer_theta = 1;
+ speed_reducer_X = speed_reducer_Y = speed_reducer_theta = 1;
//Go2RandomPose = true;
// to make sure that y & theta are within the threshold...
@@ -488,8 +486,7 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
)
{
ROS_INFO_STREAM(" delta_X < " << safety_margin_X << " m., Fixing Y or theta. \n ");
- speed_reducer_Y = 1;
- speed_reducer_theta = 1;
+ speed_reducer_Y = speed_reducer_theta = 1;
Controller(RefPose[2], RefPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.1);
} else if(
(abs(RefPose[1] - camPose[1]) <= y_dock_thresh) &&
@@ -497,7 +494,11 @@ camPose[3] = CamFB->pose.orientation.x; // theta orientation
)
{
ROS_INFO("y & theta fixed successfully, MOVING STRAIGHT AHEAD ... \n");
- speed_reducer_X = .08;
+
+ /*speed_reducer_X = .06; // for x_dot = .1 =>.06*/
+ speed_reducer_X = .04; // for x_dot = .15 =>.04 ---- optimal docking time and Y-axis offset ----
+ /*speed_reducer_X = .0375; // for x_dot = .16 =>.0375*/
+
Controller(RefPose[2], camPose[2], RefPose[1], RefPose[1], RefPose[3], RefPose[3],.1);
}
}else
@@ -533,7 +534,10 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
// control signal
control_signalX = p_termX + i_termX + d_termX;
prev_errorX = curr_errorX;*/
- control_signalX = speed_reducer_X * 0.1;
+
+ //control_signalX = speed_reducer_X * 0.1;
+ control_signalX = speed_reducer_X * 0.15;
+ //control_signalX = speed_reducer_X * 0.16;
} else
{
control_signalX = 0; // 5e-5
@@ -562,23 +566,32 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
i_termY = Ki_y * int_errorY;
d_termY = Kd_y * diffY;
- ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
+ROS_INFO_STREAM("pY = " << p_termY << ", iY = " << i_termY << " dY = " << d_termY<< " \n");
control_signalY = p_termY + i_termY + d_termY;
- //control_signalY = speed_reducer_Y * control_signalY;
+ control_signalY = speed_reducer_Y * control_signalY;
- /* -- MARKER IN CAMERA COORDINATATE FRAME */
- if(MarPoseY < 0)
+ /* -- MARKER IN CAMERA COORDINATATE FRAME
+ if(MarPoseY < 0 && )
{
control_signalY = - speed_reducer_Y * control_signalY;
ROS_INFO("marker pose < 0 => robot is going to the RIGHT \n");
- }else
+ } else if (MarPoseY < 0)
{
control_signalY = speed_reducer_Y * control_signalY;
ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
- }
+ } else if (MarPoseY < 0)
+ {
+ control_signalY = speed_reducer_Y * control_signalY;
+ ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
+ } else if (MarPoseY < 0)
+ {
+ control_signalY = speed_reducer_Y * control_signalY;
+ ROS_INFO("marker pose > 0 => robot is going to the LEFT \n");
+ }*/
+
prev_errorY = curr_errorY;
@@ -604,7 +617,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
i_termYAW = Ki_theta * int_errorYAW;
d_termYAW = Kd_theta * diffYAW;
- //ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
+ ROS_INFO_STREAM("p_theta = " << p_termYAW << ", i_theta = " << i_termYAW << " d_theta = " << d_termYAW << " \n");
// control signal
control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
@@ -648,7 +661,7 @@ void PID4Docking::Controller(double RefX, double MarPoseX, double RefY, double M
control_signalYAW = 0;
}
- /* ---
+ /* ---
ROS_INFO_STREAM("Control signalX = " << control_signalX <<"\n");
ROS_INFO_STREAM("Control signalY = " << control_signalY << "\n");
ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<"\n");
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
index 8d05c254..7dfeb1f8 100644
--- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
+++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
@@ -38,6 +38,7 @@
using namespace cv;
using namespace aruco;
+using namespace std;
string TheInputVideo;
string TheIntrinsicFile;
@@ -70,7 +71,7 @@ public:
: it_(nh_)
{
// subscribe to input video feed and publish output video feed
- image_sub_ = it_.subscribe("/ar_follow/image", 1, &ImageConverter::imageCb, this);
+ image_sub_ = it_.subscribe("/ar_follow/image", 100, &ImageConverter::imageCb, this);
}
~ImageConverter()
@@ -130,10 +131,10 @@ int main(int argc,char **argv){
const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
// -- publishing video stream with Android Camera--
- TheVideoCapturer.open(vsa);
+ //TheVideoCapturer.open(vsa);
- //TheVideoCapturer.open(1);
+ TheVideoCapturer.open(0);
// Check video is open
if (!TheVideoCapturer.isOpened()) {
cerr<<"Could not open video"<<endl;
@@ -154,16 +155,17 @@ int main(int argc,char **argv){
MDetector.pyrDown(ThePyrDownLevel);
// Create gui
- cv::namedWindow("THRESHOLD IMAGE",1);
- cv::namedWindow("INPUT IMAGE",1);
+ namedWindow("THRESHOLD IMAGE",1);
+ namedWindow("INPUT IMAGE",1);
MDetector.getThresholdParams( ThresParam1,ThresParam2);
MDetector.setCornerRefinementMethod(MarkerDetector::NONE);
iThresParam1=ThresParam1;
iThresParam2=ThresParam2;
- cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents);
- cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents);
+
+ createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents);
+ createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents);
char key=0;
int index=0;
@@ -203,7 +205,7 @@ int main(int argc,char **argv){
float x_t, y_t, z_t;
float roll,yaw,pitch;
- float rollE,yawE,pitchE;
+ float PitchEuler,YawEuler,RollEuler;
bool found = (TheMarkers.size()>0)?true:false;
@@ -213,40 +215,46 @@ int main(int argc,char **argv){
z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
// printf("%4.2f %4.2f %4.2f\n",x_t,y_t,z_t);
- cv::Mat rot_mat(3,3,cv::DataType<float>::type);
+ Mat rot_mat(3,3,DataType<float>::type);
// You need to apply cv::Rodrigues() in order to obatain angles wrt to camera coords
- cv::Rodrigues(TheMarkers[0].Rvec,rot_mat);
+ Rodrigues(TheMarkers[0].Rvec,rot_mat);
+ cout<< " Rotational Vector = \n" << TheMarkers[0].Rvec << "\n" << endl;
+ cout<< " Rotational Matrix = \n" << rot_mat << "\n" << endl;
+
+
// ----------- Euler angle -----------------//
- float roll1 = -asin(rot_mat.at<float>(2,0));
- float roll2 = CV_PI - roll1;
+ float pitch1 = -asin(rot_mat.at<float>(2,0));
+ float pitch2 = CV_PI - pitch1;
+
+ float roll1 = atan2(rot_mat.at<float>(2,1) / cos(pitch1), rot_mat.at<float>(2,2) / cos(pitch1));
+ float roll2 = atan2(rot_mat.at<float>(2,1) / cos(pitch2), rot_mat.at<float>(2,2) / cos(pitch2));
- float pitch1 = atan2(rot_mat.at<float>(2,1) / cos(roll1), rot_mat.at<float>(2,2) / cos(roll1));
- float pitch2 = atan2(rot_mat.at<float>(2,1) / cos(roll2), rot_mat.at<float>(2,2) / cos(roll2));
- float yaw2 = atan2(rot_mat.at<float>(1,0) / cos(roll2), rot_mat.at<float>(0,0) / cos(roll2));
- float yaw1 = atan2(rot_mat.at<float>(1,0) / cos(roll1), rot_mat.at<float>(0,0) / cos(roll1));
+
+ float yaw_2 = atan2(rot_mat.at<float>(1,0) / cos(pitch2), rot_mat.at<float>(0,0) / cos(pitch2));
+ float yaw_ = atan2(rot_mat.at<float>(1,0) / cos(pitch1), rot_mat.at<float>(0,0) / cos(pitch1));
//choose one solution to return
//for example the "shortest" rotation
- if ((abs(roll1) + abs(pitch1) + abs(yaw1)) <= (abs(roll2) + abs(pitch2) + abs(yaw2)))
+ if ((abs(roll1) + abs(pitch1) + abs(yaw_)) <= (abs(roll2) + abs(pitch2) + abs(yaw_2)))
{
- rollE = roll1;
- pitchE= pitch1;
- yawE = yaw1;
+ PitchEuler = pitch1;
+ RollEuler= roll1;
+ YawEuler = yaw_;
} else
{
- rollE = roll2;
- pitchE = pitch2;
- yawE = yaw2;
+ PitchEuler = pitch2;
+ RollEuler = roll2;
+ YawEuler = yaw_2;
}
// ----------- Euler angle -----------------//
- pitch = -atan2(rot_mat.at<float>(2,0), rot_mat.at<float>(2,1));
- yaw = acos(rot_mat.at<float>(2,2));
+ yaw = -atan2(rot_mat.at<float>(2,0), rot_mat.at<float>(2,1));
+ pitch = acos(rot_mat.at<float>(2,2));
roll = -atan2(rot_mat.at<float>(0,2), rot_mat.at<float>(1,2));
}else {
// x_t = 0.0;
@@ -266,32 +274,43 @@ int main(int argc,char **argv){
if (found){
//printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI));
//printf( " Marker distance in metres: x_d:%5.2f y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t);
- ROS_INFO_STREAM("Y = " << y_t << "m. \n");
+
+ ROS_INFO_STREAM("Y = " << y_t << "m. \n");
//ROS_INFO_STREAM(" X = " << x_t << "m. \n");
//ROS_INFO_STREAM("Z = " << z_t << "m. \n");
- ROS_INFO_STREAM("roll = " << (roll/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
- ROS_INFO_STREAM("EULER R = " << (rollE/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
-
-
- ROS_INFO_STREAM("pitch = " << (pitch/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
- ROS_INFO_STREAM("EULER P = " << (pitchE/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
-
- ROS_INFO_STREAM("yaw = " << (yaw/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
- ROS_INFO_STREAM("EULER Y = " << (yawE/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
+ ROS_INFO_STREAM("roll = " << (roll/*+r_off*/)*(180.0/CV_PI) << " deg. \n");
+
+ //ROS_INFO_STREAM("EULER ROLL = " << (RollEuler/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
+
+ //ROS_INFO_STREAM("pitch = " << (pitch/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
+
+ //ROS_INFO_STREAM("EULER PITCH = " << (PitchEuler/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
+
+ //ROS_INFO_STREAM("yaw = " << (yaw/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
+
+ //ROS_INFO_STREAM("EULER YAW = " << (YawEuler/*-r_off*/)*(180.0/CV_PI) << " deg. \n");
ROS_INFO_STREAM(" -------------------------------------- \n");
}
if (ros::ok()){
// Publish TF message including the offsets
- tf::Quaternion quat = tf::createQuaternionFromRPY(roll-p_off, pitch+p_off, yaw-y_off);
- broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat, tf::Vector3(x_t, y_t, z_t)), ros::Time::now(),"camera", "marker"));
+// tf::Quaternion quat = tf::createQuaternionFromRPY(roll+r_off, pitch+p_off, yaw-y_off);
+
+ tf::Quaternion quat = tf::createQuaternionFromRPY(roll, pitch, yaw);
+
+broadcaster.sendTransform(tf::StampedTransform(tf::Transform(quat, tf::Vector3(x_t, y_t, z_t)), ros::Time::now(),"camera", "marker"));
// Now publish the pose message, remember the offsets
msg.position.x = x_t;
msg.position.y = y_t;
msg.position.z = z_t;
- geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll-r_off, pitch+p_off, yaw-y_off);
+
+/*geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll-r_off, pitch+p_off, yaw-y_off);*/
+
+
+geometry_msgs::Quaternion p_quat = tf::createQuaternionMsgFromRollPitchYaw(roll,pitch,yaw);
+
msg.orientation = p_quat;
pose_pub.publish(msg);
ros::spinOnce();
@@ -302,33 +321,20 @@ int main(int argc,char **argv){
aruco::Marker m( MDetector.getCandidates()[i],11);
m.draw(TheInputImageCopy,cv::Scalar(150,10,80),2);
}*/
-
- /*// Draw a 3d cube in each marker if there is 3d info
- if (TheCameraParameters.isValid()){
- for (unsigned int i=0;i<TheMarkers.size();i++) {
- CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
- CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
- }
- }*/
+ // Draw a 3d cube in each marker if there is 3d info
- for (unsigned int i=0;i<TheMarkers.size();i++)
- {
- int currentMarID = TheMarkers[i].id;
- TheMarkers[i].draw(TheInputImageCopy,Scalar(10,200,50),3) ;
-
+ if (TheCameraParameters.isValid()){
+ for (unsigned int i=0;i<TheMarkers.size();i++) {
CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
-
- //Marker ID to string
- stringstream marker_id_string;
- marker_id_string << "marker_ " << currentMarID;
}
+ }
// Show input with augmented information and the thresholded image
if (update_images) {
- cv::imshow("INPUT IMAGE",TheInputImageCopy);
- cv::imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+ imshow("INPUT IMAGE",TheInputImageCopy);
+ //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
}else {
printf("retrieve failed\n");
@@ -363,16 +369,16 @@ void cvTackBarEvents(int pos,void*)
for (unsigned int i=0;i<TheMarkers.size();i++) TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
// Print other rectangles that contains no valid markers
- for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
+ /* for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
aruco::Marker m( MDetector.getCandidates()[i],999);
m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
- }
+ } */
- /*// Draw a 3d cube in each marker if there is 3d info
+ // Draw a 3d cube in each marker if there is 3d info
if (TheCameraParameters.isValid())
for (unsigned int i=0;i<TheMarkers.size();i++)
- CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);*/
+ CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
- cv::imshow("INPUT IMAGE",TheInputImageCopy);
- cv::imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
+ imshow("INPUT IMAGE",TheInputImageCopy);
+ //imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
index d8c3402f..8d05c254 100644
--- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
+++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
@@ -317,8 +317,8 @@ int main(int argc,char **argv){
int currentMarID = TheMarkers[i].id;
TheMarkers[i].draw(TheInputImageCopy,Scalar(10,200,50),3) ;
- //CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
- //CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+ CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
+ CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
//Marker ID to string
stringstream marker_id_string;
diff --git a/MobileRobot/docking_data/Pose.txt b/MobileRobot/docking_data/Pose.txt
index cf6c6d94..16a5c033 100644
--- a/MobileRobot/docking_data/Pose.txt
+++ b/MobileRobot/docking_data/Pose.txt
@@ -1,538 +1,592 @@
%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
-1470068791552722133,-0.0365422070026,0.344806224108,1.37471711636,-0.111908821849,0.00646806232392,0.766474581068,-0.632417027237
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-1470068791744763006,-0.0365464836359,0.344209522009,1.37232351303,-0.146392433364,0.00867741178704,0.76742707133,-0.624139125652
-1470068791824280442,-0.0364924930036,0.344590306282,1.37385118008,-0.0877233310765,0.00506411044001,0.766819445261,-0.635819872559
-1470068791902129914,-0.0364924930036,0.344590306282,1.37385118008,-0.0877233310765,0.00506411044001,0.766819445261,-0.635819872559
-1470068791976221431,-0.0365450009704,0.344509840012,1.3735281229,-0.126508060252,0.00739893562922,0.766972950399,-0.629041699571
-1470068792057896593,-0.0365085527301,0.34313711524,1.371545434,-0.0175754560703,0.00674272523724,0.434141780911,0.900647851864
-1470068792142242927,-0.0365447103977,0.34451341629,1.37354290485,-0.13105820426,0.00767131947042,0.766930695924,-0.628157787187
-1470068792222554595,-0.0363051742315,0.344332993031,1.37281167507,-0.0857731028131,0.00502459875744,0.767881353006,-0.634803872032
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diff --git a/MobileRobot/docking_data/Pose.txt~ b/MobileRobot/docking_data/Pose.txt~
index ecd1fb57..fd38c2b7 100644
--- a/MobileRobot/docking_data/Pose.txt~
+++ b/MobileRobot/docking_data/Pose.txt~
@@ -1,756 +1,452 @@
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diff --git a/MobileRobot/docking_data/Pose2.txt b/MobileRobot/docking_data/Pose2.txt
index be7a724a..b88303a9 100644
--- a/MobileRobot/docking_data/Pose2.txt
+++ b/MobileRobot/docking_data/Pose2.txt
@@ -1,497 +1,506 @@
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diff --git a/MobileRobot/docking_data/Pose2.txt~ b/MobileRobot/docking_data/Pose2.txt~
index 5b0d60b3..54d0035b 100644
--- a/MobileRobot/docking_data/Pose2.txt~
+++ b/MobileRobot/docking_data/Pose2.txt~
@@ -1,540 +1,474 @@
%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
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diff --git a/MobileRobot/docking_data/Pose3.txt b/MobileRobot/docking_data/Pose3.txt
index 0b398ce8..0c7a8023 100644
--- a/MobileRobot/docking_data/Pose3.txt
+++ b/MobileRobot/docking_data/Pose3.txt
@@ -1,449 +1,481 @@
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diff --git a/MobileRobot/docking_data/Pose3.txt~ b/MobileRobot/docking_data/Pose3.txt~
index 72466773..afc15340 100644
--- a/MobileRobot/docking_data/Pose3.txt~
+++ b/MobileRobot/docking_data/Pose3.txt~
@@ -1,440 +1,524 @@
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diff --git a/MobileRobot/docking_data/Vel.txt b/MobileRobot/docking_data/Vel.txt
index a3599c02..8656d54b 100644
--- a/MobileRobot/docking_data/Vel.txt
+++ b/MobileRobot/docking_data/Vel.txt
@@ -1,537 +1,591 @@
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diff --git a/MobileRobot/docking_data/Vel.txt~ b/MobileRobot/docking_data/Vel.txt~
index 31ceac59..7fa321f4 100644
--- a/MobileRobot/docking_data/Vel.txt~
+++ b/MobileRobot/docking_data/Vel.txt~
@@ -1,755 +1,451 @@
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diff --git a/MobileRobot/docking_data/Vel2.txt b/MobileRobot/docking_data/Vel2.txt
index 0f4905ce..4ace3c20 100644
--- a/MobileRobot/docking_data/Vel2.txt
+++ b/MobileRobot/docking_data/Vel2.txt
@@ -1,496 +1,524 @@
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diff --git a/MobileRobot/docking_data/Vel2.txt~ b/MobileRobot/docking_data/Vel2.txt~
index b8099c23..c0c33cb6 100644
--- a/MobileRobot/docking_data/Vel2.txt~
+++ b/MobileRobot/docking_data/Vel2.txt~
@@ -1,539 +1,473 @@
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diff --git a/MobileRobot/docking_data/Vel3.txt b/MobileRobot/docking_data/Vel3.txt
index c5bffef9..fdef06ca 100644
--- a/MobileRobot/docking_data/Vel3.txt
+++ b/MobileRobot/docking_data/Vel3.txt
@@ -1,448 +1,480 @@
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diff --git a/MobileRobot/docking_data/Vel3.txt~ b/MobileRobot/docking_data/Vel3.txt~
index b29177bf..67390894 100644
--- a/MobileRobot/docking_data/Vel3.txt~
+++ b/MobileRobot/docking_data/Vel3.txt~
@@ -1,439 +1,547 @@
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