diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..6cd967f --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,74 @@ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +project(ROBOT) + +set(CMAKE_MODULE_PATH + ${CMAKE_SOURCE_DIR}/Vision/cmake/modules + ${CMAKE_MODULE_PATH} + ) + +################################################ +## Bring in dependent projects +################################################ +find_package(Boost REQUIRED COMPONENTS system) +find_package(o3d3xx_camera REQUIRED) +find_package(o3d3xx_framegrabber REQUIRED) +find_package(o3d3xx_image REQUIRED) +find_package(PCL 1.7.1 REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Boost REQUIRED COMPONENTS system) + +find_library(LIB_boost_system NAMES boost_system) + +################################################ +## Manage our compiler and linker flags +################################################ +#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -std=c++11") + +include_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${CMAKE_SOURCE_DIR}/Robot/urlib + ${CMAKE_SOURCE_DIR}/Vision + ) +link_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${CMAKE_SOURCE_DIR}/Robot/urlib + ${CMAKE_SOURCE_DIR}/Vision + ) +add_definitions( + ${PCL_DEFINITIONS} + ${OpenCV_DEFINITIONS} + ) + +add_library (urlib + ${CMAKE_SOURCE_DIR}/Vision/AerobicVision.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/UR_Control.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/UR3_Lib.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/ur_communication.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/ur_realtime_communication.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/robot_state.cpp + ${CMAKE_SOURCE_DIR}/Robot/urlib/robot_state_RT.cpp) + +target_link_libraries (urlib ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + + +## Build paths - add project files here + +## 2d depth image blob detector +add_executable (binpicker binpicker.cpp) +target_link_libraries (binpicker urlib) + + diff --git a/CMakeLists.txt~ b/CMakeLists.txt~ new file mode 100644 index 0000000..67e9f60 --- /dev/null +++ b/CMakeLists.txt~ @@ -0,0 +1,219 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aerobic_bin_picking) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + hardware_interface + actionlib + control_msgs + geometry_msgs + sensor_msgs + trajectory_msgs + ur_msgs + tf + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES aerobic_bin_picking + CATKIN_DEPENDS + roscpp + hardware_interface + actionlib + control_msgs + geometry_msgs + sensor_msgs + trajectory_msgs + ur_msgs + tf + std_msgs + DEPENDS hardware_interface +) + +########### +## Build ## +########### + +# check c++11 / c++0x +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "-std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "-std=c++0x") +else() + message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ") +endif() + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + ${catkin_INCLUDE_DIRS} +) + +add_executable(ur_test src/ur_test.cpp) +target_link_libraries(ur_test ${catkin_LIBRARIES}) +add_dependencies(ur_test aerobic_bin_picking_generate_messages_cpp) +## Declare a C++ library +# add_library(aerobic_bin_picking +# src/${PROJECT_NAME}/aerobic_bin_picking.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(aerobic_bin_picking ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(aerobic_bin_picking_node src/aerobic_bin_picking_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(aerobic_bin_picking_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(aerobic_bin_picking_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS aerobic_bin_picking aerobic_bin_picking_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_aerobic_bin_picking.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Robot/CMakeLists.txt b/Robot/CMakeLists.txt new file mode 100644 index 0000000..ed4d6d0 --- /dev/null +++ b/Robot/CMakeLists.txt @@ -0,0 +1,72 @@ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +project(ROBOT) + +set(CMAKE_MODULE_PATH + ${CMAKE_SOURCE_DIR}/../Vision/cmake/modules + ${CMAKE_MODULE_PATH} + ) + +################################################ +## Bring in dependent projects +################################################ +find_package(Boost REQUIRED COMPONENTS system) +find_package(o3d3xx_camera REQUIRED) +find_package(o3d3xx_framegrabber REQUIRED) +find_package(o3d3xx_image REQUIRED) +find_package(PCL 1.7.1 REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Boost REQUIRED COMPONENTS system) + +find_library(LIB_boost_system NAMES boost_system) + +################################################ +## Manage our compiler and linker flags +################################################ +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -std=c++11") + +include_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${CMAKE_SOURCE_DIR}/urlib + ) +link_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${CMAKE_SOURCE_DIR}/urlib + ) +add_definitions( + ${PCL_DEFINITIONS} + ${OpenCV_DEFINITIONS} + ) + +add_library (urlib + ${CMAKE_SOURCE_DIR}/../Vision/AerobicVision.cpp + ${CMAKE_SOURCE_DIR}/urlib/UR_Control.cpp + ${CMAKE_SOURCE_DIR}/urlib/UR3_Lib.cpp + ${CMAKE_SOURCE_DIR}/urlib/ur_communication.cpp + ${CMAKE_SOURCE_DIR}/urlib/ur_realtime_communication.cpp + ${CMAKE_SOURCE_DIR}/urlib/robot_state.cpp + ${CMAKE_SOURCE_DIR}/urlib/robot_state_RT.cpp) + +target_link_libraries (urlib ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + + +## Build paths - add project files here + +## 2d depth image blob detector +add_executable (main Main.cpp) +target_link_libraries (main urlib) + + diff --git a/Robot/Main.cpp b/Robot/Main.cpp new file mode 100644 index 0000000..ea8bd45 --- /dev/null +++ b/Robot/Main.cpp @@ -0,0 +1,37 @@ +//#include "UR3_Lib.h" +#include "UR_Control.h" + +int main() +{ + unsigned int usecs = 1000000; //1sec = 1.000.000 usec + //UR3* test = new UR3(); + Binzone* zone = new Binzone(); + Control* robot = new Control(0.0001,3.0, zone); + cout << "Starting in 2 seconds" << endl; + usleep(2000000); + + /* + std::thread safety(&Control::safetyTest, robot_); + cout << "Safety Thread Started" << endl; + std::thread binpicking(&Control::Demo, robot_); + cout << "Started Bin Picking Thread" << endl; + safety.join(); + binpicking.join();*/ + + robot->Demo(); + cout << "Done, shutting down" << endl; + return 0; +} + +//Control* robot2_ = new Control(0.0001,3.0, zone); + /*while(true){ + cout << "Starting in 2 seconds" << endl; + usleep(2000000); + + //robot_->Demo(3.0); //ADD SLEEP! + robot_->Demo(); + //robot_->robot_->IO_test(); + }*/ + +//c++ UR3_Lib.cpp robot_state.cpp robot_state_RT.cpp ur_realtime_communication.cpp ur_communication.cpp UR_Control.cpp Main.cpp -o test -pthread -std=c++11 + diff --git a/Robot/urlib/UR3_Lib.cpp b/Robot/urlib/UR3_Lib.cpp new file mode 100644 index 0000000..cce0c50 --- /dev/null +++ b/Robot/urlib/UR3_Lib.cpp @@ -0,0 +1,296 @@ +//#include +//#include +//#include +//#include +//#include +//#include +#include "UR3_Lib.h" + +using namespace std; + +//TODO: COPY UR_DRIVER FUNCTIONS +//TODO: IMPLEMENT DELAY FOR ALL GET FUNCTIONS BECAUSE OF REFRESH RATE DATA (+/- 128Hz) + + +template std::string UR3::to_string(T const& value){ + stringstream sstr; + sstr << value; + return sstr.str(); +} + +UR3::UR3(){ + condition_variable msg_cond; + unsigned int safety_count_max = 12; + rt_interface_ = new UrRealtimeCommunication(msg_cond, "192.168.1.11", safety_count_max); + sec_interface_ = new UrCommunication(msg_cond, "192.168.1.11"); + if(!sec_interface_->start()){ + cout << "Communication not started" << endl; + } + firmware_version_ = sec_interface_->robot_state_->getVersion(); + cout << "Firmware Version: " << firmware_version_ << endl; + rt_interface_->robot_state_->setVersion(firmware_version_); + + if(!rt_interface_->start()){ + cout << "RT Communication not started" << endl; + }else{ + cout << "RT Communication started" << endl; + } + +} + +void UR3::_send(std::string message){ + rt_interface_->addCommandToQueue(message); +} + +void UR3::move(double x, double y, double z, double rx, double ry, double rz){ + string xco, yco, zco, rxo, ryo,rzo, message; + xco = to_string(x); + yco = to_string(y); + zco = to_string(z); + rxo = to_string(rx); + ryo = to_string(ry); + rzo = to_string(rz); + + message = "movej(p[" +xco + ", " + yco + ", " + zco + ", " +rxo+", "+ryo+", "+rzo+"], a=1.0,v=1.0)\nend\n"; //a=1.0,v=1.0 + //message = "movej(p[" +xco + ", " + yco + ", " + zco + "], a=1.0,v=1.0)\nend\n"; + _send(message); +} + +void UR3::moveLinear(double x, double y, double z, double rx, double ry, double rz){ + string xco, yco, zco, rxo, ryo,rzo, message; + xco = to_string(x); + yco = to_string(y); + zco = to_string(z); + rxo = to_string(rx); + ryo = to_string(ry); + rzo = to_string(rz); + + message = "movel(p[" +xco + ", " + yco + ", " + zco + ", " +rxo+", "+ryo+", "+rzo+"], a=0.2,v=0.2)\nend\n"; + _send(message); +} + +void UR3::moveHome(){ + string message = "movep(p[0.0,-getActualPosition90.0,0.0,-90.0,0.0,0.0], a=0.2,v=0.2)\nend\n"; //a=0.2,v=0.2 + _send(message); +} + +void UR3::moveGripper(bool close){ + string message; + if(close) + message = "speedj([0.0,0.0,0.0,0.0,0.0,2.5], 1.0, 3.3)\nend\n"; //a=0.2,v=0.2 + else{ + message = "speedj([0.0,0.0,0.0,0.0,0.0,-2.5], 1.0, 3.3)\nend\n"; //a=0.2,v=0.2 + } + _send(message); + usleep(3100000); + _send("stopj(1.0)\nend\n"); +} +void UR3::openCloseRoboticGripper(bool close){ + /* + string message = "rq_reset()\nrq_activate()\n"; + //_send("rq_reset()\nend\n"); + //usleep(500000); + //_send("rq_activate()\nend\n"); + //usleep(500000); + if(close) + message += "rq_move(0)\nend\n"; + else{ + message += "rq_move(255)\nend\n"; + //message = "rqc_open()\nend\n"; + } + cout << message; + _send(message); + usleep(1000000); + */ + + /* + string message = "socket_close(\"gripper_socket\")\nsync()\nsocket_open(\"127.0.0.1\", 63352, \"gripper_socket\")\nsync()\n"; + message += "socket_set_var(\"GTO\", 1, \"gripper_socket\")\n"; + message += "socket_set_var(\"FOR\", 255, \"gripper_socket\")\n"; + message += "socket_set_var(\"SPE\", 150, \"gripper_socket\")\n"; + + if(close) + message += "socket_set_var(\"POS\", 0, \"gripper_socket\")\n"; + else{ + message += "socket_set_var(\"POS\", 255, \"gripper_socket\")\n"; + //message = "rqc_open()\nend\n"; + } + + message += "end\n"; + + _send(message); + */ + + _send("socket_close(\"gripper_socket\")\n"); + usleep(100000); + _send("socket_open(\"127.0.0.1\", 63352, \"gripper_socket\")"); + usleep(100000); + _send("socket_set_var(\"GTO\", 1, \"gripper_socket\")\n"); + usleep(100000); + _send("sleep(1)\n"); + usleep(1000000); + _send("socket_set_var(\"FOR\", 255, \"gripper_socket\")\n"); + usleep(100000); + _send("socket_set_var(\"SPE\", 150, \"gripper_socket\")\n"); + usleep(100000); + + if(close) + _send("socket_set_var(\"POS\", 0, \"gripper_socket\")\n"); + else{ + _send("socket_set_var(\"POS\", 255, \"gripper_socket\")\n"); + //message = "rqc_open()\nend\n"; + } + usleep(100000); + _send("end\n"); + + usleep(3000000); +} +std::vector UR3::getDigitalInputs(){ + usleep(1000); + //vector data = rt_interface_->robot_state_->getDigitalInputBits(); //RT dig in function - High speed + unsigned int data = sec_interface_->robot_state_->getDigitalInputBits(); + unsigned int check = 1; + vector ret; + for(int i = 0; i < 18; i++){ + if((data & check) == 1){ ret.push_back(true);} + else{ret.push_back(false);} + data = data >> 1; + } + return ret; +} + +std::vector UR3::getDigitalOutputs(){ + usleep(1000); + unsigned int data = sec_interface_->robot_state_->getDigitalOutputBits(); + //cout << "Digital Outputs: " << data << endl; + unsigned int check = 1; + vector ret; + for(int i = 0; i < 18; i++){ + if((data & check) == 1){ ret.push_back(true);} + else{ret.push_back(false);} + data = data >> 1; + } + return ret; +} + +void UR3::setDigitalOut(unsigned int pin, bool state){ + string p,s,message; + p = to_string(pin); + s = to_string(state ? "True" : "False"); + message = "sec setOut():\n\tset_standard_digital_out("+p+","+s+")\nend\n"; + _send(message); +} + +std::vector UR3::getAnalogInputs(){ + vector ret; + ret.push_back(sec_interface_->robot_state_->getAnalogInput0()); + ret.push_back(sec_interface_->robot_state_->getAnalogInput1()); + return ret; +} + +std::vector UR3::getAnalogOutputs(){ + vector ret; + ret.push_back(sec_interface_->robot_state_->getAnalogOutput0()); + ret.push_back(sec_interface_->robot_state_->getAnalogOutput1()); + return ret; +} + +void UR3::setAnalogOut(unsigned int pin, float value){ + string p,v,message; + p = to_string(pin); + v = to_string(value); + message = "sec setOut():\n\tset_analog_out("+p+","+v+")\nend\n"; + _send(message); +} + +vector UR3::getActualPosition(){ + vector ret = rt_interface_->robot_state_->getToolVectorActual(); + return ret; +} + +bool UR3::getSafety_mode(){ + double ret = rt_interface_->robot_state_->getSafety_mode(); + if(ret == 3.0){ + cout << "Safety: Safety Stop" << endl; + return false; + }else if(ret == 2.0){ + cout << "Safety: Limited Operational" << endl; + return true; + }else{ + return true; + } +} + +void UR3::IO_test(){ + vector dig_in = getDigitalInputs(); + for(int i = 0; i < dig_in.size(); i++){ + cout << "Digital Input Pin " << i << " - State: " << dig_in[i] << endl; + } + vector dig_out = getDigitalOutputs(); + for(int i = 0; i < dig_out.size(); i++){ + cout << "Digital Output Pin " << i << " - State: " << dig_out[i] << endl; + } + vector analog_in = getAnalogInputs(); + for(int i = 0; i < analog_in.size(); i++){ + cout << "Analog Input Pin " << i << " - Value: " << analog_in[i] << endl; + } + vector analog_out = getAnalogOutputs(); + for(int i = 0; i < analog_out.size(); i++){ + cout << "Analog Output Pin " << i << " - Value: " << analog_out[i] << endl; + } +} + +void UR3::move_test(){ + double rx, ry, rz; + rx = 0.0395; + ry = 3.1199; + rz = -0.0102; + + setDigitalOut(0, true); + + move(0.43269,-0.05873,0.12940,rx,ry,rz); //move above object at A + move(0.43269,-0.05873,-0.08640,rx,ry,rz); //touch object at A + setDigitalOut(0, false); //vacuum at A + move(0.43269,-0.05873,0.12940,rx,ry,rz); //remove object at A + //move(-0.04905,-0.33974,0.72268,0.4840,0.5834,-1.5299,time); + move(-0.30924,-0.26365,0.12940,rx,ry,rz); //move object A to B + move(-0.30924,-0.26365,-0.08640,rx,ry,rz); //touch object at B + setDigitalOut(0, true); //release vacuum at B + move(-0.30924,-0.26365,0.12940,rx,ry,rz); //remove object at B + move(-0.30924,-0.26365,-0.08640,rx,ry,rz); //touch object at B + setDigitalOut(0, false); //vacuum at B + move(-0.30924,-0.26365,0.12940,rx,ry,rz); //remove object at B + //move(-0.04905,-0.33974,0.72268,0.4840,0.5834,-1.5299,time); + move(0.43269,-0.05873,0.12940,rx,ry,rz); //move object B to A + move(0.43269,-0.05873,-0.08640,rx,ry,rz); //touch object at A + setDigitalOut(0, true); //vacuum at A + move(0.43269,-0.05873,0.12940,rx,ry,rz); //remove object at A + +} + +void UR3::Halt(){ + rt_interface_->halt(); +} + +void UR3::stop(){ + string message = "sec setOut():\n\tstop()\nend\n"; + _send(message); +} + +bool UR3::getEmergencyStop(){ + bool ret = sec_interface_->robot_state_->isEmergencyStopped(); + if(ret){cout << "Emergency Stop" << endl;} + return ret; +} + +bool UR3::getProtectiveStop(){ + bool ret = sec_interface_->robot_state_->isEmergencyStopped(); + if(ret){cout << "Protective Stop" << endl;} + return sec_interface_->robot_state_->isProtectiveStopped(); +} + +std::vector UR3::getMotorTemperatures(){ + return rt_interface_->robot_state_->getMotorTemperatures(); +} + + diff --git a/Robot/urlib/UR3_Lib.h b/Robot/urlib/UR3_Lib.h new file mode 100644 index 0000000..2a3fa20 --- /dev/null +++ b/Robot/urlib/UR3_Lib.h @@ -0,0 +1,80 @@ +#ifndef UR_TEST_H_ +#define UR_TEST_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "robot_state.h" +#include "robot_state_RT.h" +#include "ur_realtime_communication.h" +#include "ur_communication.h" + +//TODO: MOVE GETBINSTATE TO UR_CONTROL + +class UR3{ + private: + double firmware_version_; + string ip_addr_; + public: + UR3(); + + //Communication + UrRealtimeCommunication* rt_interface_; + UrCommunication* sec_interface_; + + void _send(std::string message); + void Halt(); + + //Support functions + template std::string to_string(T const& value); + + //Setters + void stop(); + void move(double x, double y, double z, double rx, double ry, double rz); + void moveLinear(double x, double y, double z, double rx, double ry, double rz); + void moveHome(); + void moveGripper(bool dir); + void setDigitalOut(unsigned int pin, bool state); + void setAnalogOut(unsigned int pin, float value); //value range 0:1, maximum = 10V + + //Getters + vector getActualPosition(); + std::vector getDigitalInputs(); //bit 0 - 7 = Digital Input, bit 8 - 15 = Configurable Digital Input, bit 16 - 17 = Tool Digital Input + std::vector getDigitalOutputs(); //bit 0 - 7 = Digital Output, bit 8 - 15 = Configurable Digital Output, bit 16 - 17 = Tool Digital Output + std::vector getMotorTemperatures(); + std::vector getAnalogInputs(); + std::vector getAnalogOutputs(); + bool getSafety_mode(); + bool getEmergencyStop(); + bool getProtectiveStop(); + + //Test software + void move_test(); + void IO_test(); + void openCloseRoboticGripper(bool close); + void RotateGripper90Degrees(bool clockwise); + +}; + +#endif /* UR_TEST_H_ */ diff --git a/Robot/urlib/UR_Control.cpp b/Robot/urlib/UR_Control.cpp new file mode 100644 index 0000000..ed7040a --- /dev/null +++ b/Robot/urlib/UR_Control.cpp @@ -0,0 +1,449 @@ +#include "UR_Control.h" + +//TODO: INSERT TIMEOUT TO MOVE_BASIC + +Control::Control(double offset, double speed, Binzone* zone){ + robot = new UR3(); + setOffset(offset); + setSpeed(speed); + zone_ = zone; //Zone is niet meer nodig + //RC0 = {0.0,0.0,0.0}; + usleep(1000000); + //Move_Calibrate(); + //readCalibration(); + usleep(1000000); + highestZ = 0; + safety = true; + cout << "Initialized Robot" << endl; +} + +void Control::setSpeed(double speed){ + speed_ = speed; +} + +double Control::getSpeed(){ + return speed_; +} + +void Control::setOffset(double offset){ + offset_ = offset; +} + +double Control::getOffset(){ + return offset_; +} + +bool Control::getBinState(){ + vector inputs = robot->getDigitalInputs(); + if(!inputs[INPUT_BIN]){ + cout << "Bin not placed" << endl; + } + return inputs[INPUT_BIN]; +} + +bool Control::toolSafety(){ + bool ret = true; + vector data = robot->getDigitalInputs(); + if(data[TOOL_IO0] || data[TOOL_IO1]){ + ret = false; + cout << "Tool Safety Ring activated" << endl; + } + return ret; +} + +bool Control::safetyCheck(){ + + if(!robot->getSafety_mode() || !getBinState() || robot->getEmergencyStop() || robot->getProtectiveStop() || !toolSafety()){ + return false; + }else{ + return true; + } +} + +bool Control::safetyTest(){ + while(safetyCheck()){ + } + return false; +} + +void Control::shutDown(){ + robot->Halt(); +} + +void Control::moveGripper(bool dir) +{ + robot->moveGripper(dir); +} + +void Control::Move_Basic(double x, double y, double z, bool linear, double rx, double ry, double rz){ + +/* + if(rx == -1 || ry == -1 || rz == -1) + { + vector pos = getRobotLocation(); + rx = pos[3]; + ry = pos[4]; + rz = pos[5]; + } +*/ + if(safety){ + if(!linear){ + robot->move(x,y,z,rx,ry,rz); + }else{ + robot->moveLinear(x,y,z,rx,ry,rz); + } + + vector posData = robot->getActualPosition(); + double offset = getOffset(); + + while((posData[0] > x + offset) || (posData[0] < x - offset) || (posData[1] > y + offset) || (posData[1] < y - offset) + || (posData[2] > z + offset) || (posData[2] < z - offset) || (posData[3] > rx + 0.001) || (posData[3] < rx - 0.005) + || (posData[4] > ry + 0.005) || (posData[4] < ry - 0.005) || (posData[5] > rz + 0.005) || (posData[5] < rz - 0.005)){ + posData = robot->getActualPosition(); + if(!safetyCheck()){ + safety = false; + robot->stop(); + break; + } + } + } +} + +void Control::Move_StaticZ(double x, double y){ + double z; + z = 0.350; + vector posData = robot->getActualPosition(); + Move_Basic(posData[0], posData[1], z); // misschien Move_StaticXY van maken + Move_Basic(x, y, z); +} + +void Control::Move_Initial(){ + double x, y; + x = 0.10500; + y = -0.37900; + Move_StaticZ(x,y); +} + +void Control::Move_Box(){ + double x, y; + x = -0.31400; + y = -0.12330; + Move_StaticZ(x,y); +} + +void Control::Move_Export(){ + double x, y; + x = 0.34905; + y = -0.01155; + Move_StaticZ(x,y); +} + +void Control::Move_Approach(double z, double rx, double ry, double rz){ + vector posData = robot->getActualPosition(); + Move_Basic(posData[0], posData[1], z,true, rx, ry, rz); // misschien Move_StaticXY van maken +} + +void Control::moveToCalibratePosition(){ + Move_Initial(); + Move_Box(); + double rx = 0.000; + double ry = 0.000; + double rz = 0.000; + double x = -0.28200; //-304mm + double y = -0.13900; //-135mm + double z = 0.11000; //210mm + Move_Basic(x, y, z, false); + usleep(1000000); + Move_Basic(x,y,0.33000,false,rx,ry,rz); + cout << "Place Calibration Head and Press Enter" << endl; + cin.get(); + usleep(1000000); +} + +void Control::Move_Calibrate(pcl::PointXYZ calibrationPoint){ + double rx = 0.000; + double ry = 0.000; + double rz = 0.000; + double x = -0.28200; //-304mm + double y = -0.13900; //-135mm + double z = 0.11000; //210mm + + if(safety){ + vector posData = robot->getActualPosition(); + cout << "calibrationPoint(XYZ): " << calibrationPoint.x << " , " << calibrationPoint.y << " , " << calibrationPoint.z << endl; + + cout << "RobotPosition(XYZ): " << posData[0] << " , " << posData[1] << " , " << posData[2] << endl; + + RC0[0] = posData[0] - (calibrationPoint.x * -1); //x + RC0[1] = posData[1] - (calibrationPoint.y * -1); //y + RC0[2] = posData[2] - (calibrationPoint.z * -1); //z + + saveCalibration(); + usleep(1000000); + cout << "Place Gripper Head and Press Enter" << endl; + cin.get(); + usleep(1000000); + Move_Basic(-0.511,-0.169,0.275, false, 1.172, -1.222,-1.045); + Move_Basic(x, y, z, false); + Move_Box(); + Move_Initial(); + } +} + +void Control::saveCalibration(){ + cout << "Saving Calibration..." << endl; + cv::Mat coordinates = (cv::Mat_(3,1) << RC0[0] , RC0[1], RC0[2]); + cv::FileStorage fs("calibration.yml", cv::FileStorage::WRITE); + fs << "CalibrationCoordinates" << coordinates; + fs.release(); + cout << "Calibration Saved!" << endl; +} +bool Control::readCalibration(){ + cout << "Reading Calibration... " << endl; + cv::FileStorage fs("calibration.yml", cv::FileStorage::READ); + if(!fs.isOpened()){ return false; } + cv::Mat coordinates; + fs["CalibrationCoordinates"] >> coordinates; + cout << "x: " << coordinates.at(0,0)<< endl; + cout << "y: " << coordinates.at(0,1)<< endl; + cout << "z: " << coordinates.at(0,2)<< endl; + RC0[0] = coordinates.at(0,0); + RC0[1] = coordinates.at(0,1); + RC0[2] = coordinates.at(0,2); + cout << "Calibration Loaded!"<< endl; + return true; +} + +bool Control::Touch_Object(double cameraX, double cameraY, double cameraZ, double rx, double ry, double rz){ //BEFORE IMPLEMENTATION Z: implement offset + if(safety){ + + Move_Initial(); + Move_Box(); + //openCloseRoboticGripper(false); + double z_offset = 0.005; //0.005 == 5mm + + double x = RC0[0] + (cameraX * -1); + double y = RC0[1] + (cameraY * -1); + double z = RC0[2] - z_offset + (cameraZ * -1) + 0.145; //0.145 voor normalen en 0.225 voor de verlengde stukken + highestZ = z + 0.05; + Move_StaticZ(x,y); + //cout << "open Gripper"; + //usleep(2500000); + Move_Approach(highestZ, rx, ry, rz); + //robot->setDigitalOut(0, false); + Move_Approach(z, rx, ry, rz); + + // cout << "close Gripper"; + + //robot->setDigitalOut(0, false); + usleep(2500000); + Move_Approach(highestZ, rx, ry, rz); + Move_Approach(0.32); + Move_Box(); + Move_Initial(); + Move_Export(); + //cout << "open Gripper"; + usleep(500000); + //moveGripper(true); + //usleep(2500000); + + /* + if(getVacuum()){ + Move_Export(); + Move_Approach(0.25); + robot->setDigitalOut(0, true); + Move_Approach(0.30); + Move_Initial(); + }else{ + robot->setDigitalOut(0, true); + } + */ + return true; + }else{ + return false; + } +} + +void Control::Move_Position_Tool(double rx, double ry, double rz){ + vector posData = robot->getActualPosition(); + Move_Basic(posData[0], posData[1], posData[2], false, rx, ry, rz); + +} + +bool Control::getVacuum(){ + vector inputs = robot->getDigitalInputs(); + if(!inputs[VACUUM_SEN]){ + cout << "Missing Object" << endl; + } + return inputs[VACUUM_SEN]; +} + + +Binzone::Binzone(){ + taken = false; + owner = "none"; + key_ = 0; +} + +bool Binzone::isTaken(){ + return taken; +} + +int Binzone::takeZone(string owner){ + int ret; + if(!isTaken()){ //Zone is free + ret = rand(); + owner = owner; + taken = true; + key_ = ret; + cout << "Zone is taken by " << owner << ". Generated Key: " << ret << endl; + }else{ //Zone is taken + cout << "Zone is already taken by " << getOwner() << endl; + ret = 0; + } + return ret; +} + +string Binzone::getOwner(){ + return owner; +} + +bool Binzone::releaseZone(string owner, int key){ + bool ret; + if(isTaken()){ + cout << "Original Key: " << key_ << " - Received Key: " << key << endl; + if(key == key_){ + cout << "Zone released" << endl; + owner = "none"; + key_ = 0; + taken = false; + ret = true; + }else{ + cout << "Key not correct" << endl; + ret = false; + } + }else{ + cout << "Zone is free" << endl; + ret = false; + } + return ret; +} + +void Control::printRobotLocation() +{ + vector posData = robot->getActualPosition(); + for(int i = 0; i < posData.size();i++) + { + cout<< posData[i] <<" :" << i<<" "; + } +} + +vector Control::getRobotLocation() +{ + vector posData = robot->getActualPosition(); + return posData; +} + +void Control::openCloseRoboticGripper(bool close) +{ + robot->openCloseRoboticGripper(close); +} + +void Control::RotateGripper90Degrees(){ + +} +pcl::PointXYZ Control::getRxRyRz(double rollval,double pitchval,double yawval) +{ + double yaw[3][3] = { + {cos(yawval), -sin(yawval), 0.0}, + {sin(yawval), cos(yawval), 0.0}, + {0.0, 0.0, 1.0} + }; + + double pitch[3][3] = { + {cos(pitchval), 0.0, sin(pitchval)}, + {0.0, 1.0, 0.0}, + {-sin(pitchval), 0.0, cos(pitchval)} + }; + + double roll[3][3] = { + {1.0, 0.0, 0.0}, + {0.0, cos(rollval), -sin(rollval)}, + {0.0, sin(rollval), cos(rollval)} + }; + + double R[3][3]; + double temp[3][3]; + + int i = 0; + int j = 0; + int k = 0; + + for(i = 0; i < 3; ++i) + { + for(j = 0; j < 3; ++j) + { + temp[i][j]=0.0; + R[i][j]=0.0; + } + } + + for(i = 0; i < 3; ++i) + { + for(j = 0; j < 3; ++j) + { + for(k = 0; k < 3; ++k) + { + temp[i][j] += yaw[i][k] * pitch[k][j]; + } + } + } + + for(i = 0; i < 3; ++i) + { + for(j = 0; j < 3; ++j) + { + cout << "T " << i << "," << j << " is " << temp[i][j] << endl; + } + } + + for(i = 0; i < 3; ++i) + { + for(j = 0; j < 3; ++j) + { + for(k = 0; k < 3; ++k) + { + R[i][j] += temp[i][k] * roll[k][j]; + + } + } + } + + for(i = 0; i < 3; ++i) + { + for(j = 0; j < 3; ++j) + { + cout << "R " << i << "," << j << " is " << R[i][j] << endl; + } + } + + + double theta = acos(((R[0][0] + R[1][1] + R[2][2]) - 1.0) / 2.0); + + cout << "Theta " << theta << endl; + + + double multi = 1.0 / (2.0 * sin(theta)); + + cout << "Multi " << multi << endl; + + double rx = multi * (R[2][1] - R[1][2]) * theta; + double ry = multi * (R[0][2] - R[2][0]) * theta; + double rz = multi * (R[1][0] - R[0][1]) * theta; + + cout << rx << "," << ry << "," << rz << endl; + + pcl::PointXYZ p(rx, ry, rz); + + return p; +} \ No newline at end of file diff --git a/Robot/urlib/UR_Control.h b/Robot/urlib/UR_Control.h new file mode 100644 index 0000000..1790370 --- /dev/null +++ b/Robot/urlib/UR_Control.h @@ -0,0 +1,85 @@ +#ifndef UR_CONTROL_H_ +#define UR_CONTROL_H_ + +#include +#include +#include +#include + +#include +#include + +#include "UR3_Lib.h" + +class Binzone{ + private: + bool taken; + string owner; + int key_; + public: + Binzone(); + bool isTaken(); + int takeZone(string owner); + string getOwner(); + bool releaseZone(string owner, int key); +}; + +class Control{ + private: + double offset_; + double speed_; + public: + Control(double offset, double speed, Binzone* zone); + UR3* robot; + Binzone* zone_; + double RC0[3]; //Camera nulpunten gezien vanuit Robot + float highestZ; + bool safety; + + void saveCalibration(); + bool readCalibration(); + + void shutDown(); + void Move_Basic(double x, double y, double z, bool linear = false, double rx = 0.0, double ry = 3.1415, double rz = 0.0); // 0, 180, 0 3.1415 + void setSpeed(double speed); + double getSpeed(); + void setOffset(double offset); + double getOffset(); + + //Safety + bool safetyCheck(); + bool getBinState(); + bool toolSafety(); + bool getVacuum(); + + bool safetyTest(); + + //"Defines" + int INPUT_BIN = 0; //Input Bin is on Digital Input #0 + int VACUUM_SEN = 1; + int OUTPUT_BIN = 2; + int TOOL_IO0 = 16; + int TOOL_IO1 = 17; + + + //TO BE TESTED + + bool Touch_Object(double cameraX, double cameraY, double cameraZ, double rx = 0.0, double ry = 3.1415, double rz = 0.0); + void Move_StaticZ(double x, double y); + void Move_Box(); + void Move_Initial(); + void Move_Export(); + void moveGripper(bool dir); + + void moveToCalibratePosition(); + void Move_Calibrate(pcl::PointXYZ calibrationPoint); + void Move_Approach(double z, double rx = 0.0, double ry = 3.1415, double rz = 0.0); + void Move_Position_Tool(double rx, double ry, double rz); + void printRobotLocation(); + void RotateGripper90Degrees(); + vector getRobotLocation(); + void openCloseRoboticGripper(bool close); + pcl::PointXYZ getRxRyRz(double roll,double pitch,double yaw); +}; + +#endif /* UR_CONTROL_H_ */ diff --git a/Robot/urlib/robot_state.cpp b/Robot/urlib/robot_state.cpp new file mode 100644 index 0000000..750a9b3 --- /dev/null +++ b/Robot/urlib/robot_state.cpp @@ -0,0 +1,399 @@ +/* + * robot_state.cpp + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "robot_state.h" + + +RobotState::RobotState(std::condition_variable& msg_cond) { + version_msg_.major_version = 0; + version_msg_.minor_version = 0; + new_data_available_ = false; + pMsg_cond_ = &msg_cond; + RobotState::setDisconnected(); + robot_mode_running_ = robotStateTypeV30::ROBOT_MODE_RUNNING; +} +double RobotState::ntohd(uint64_t nf) { + double x; + nf = be64toh(nf); + memcpy(&x, &nf, sizeof(x)); + return x; +} +void RobotState::unpack(uint8_t* buf, unsigned int buf_length) { + /* Returns missing bytes to unpack a message, or 0 if all data was parsed */ + unsigned int offset = 0; + while (buf_length > offset) { + + /*for(int x = 0; x < sizeof(buf); x++){ + cout << unsigned(buf[x]) << " "; + }*/ + int len; + unsigned char message_type; + //cout << "Buffer size" << sizeof(buf) << " || Buf_length: " << buf_length << endl; + + memcpy(&len, &buf[offset], sizeof(len)); + len = ntohl(len); + if (len + offset > buf_length) { + return; + } + //cout << "Len: " << len << endl; + memcpy(&message_type, &buf[offset + sizeof(len)], sizeof(message_type)); + //cout << "Message Type: " << message_type << endl; + switch (message_type) { + case messageType::ROBOT_MESSAGE: + RobotState::unpackRobotMessage(buf, offset, len); //'len' is inclusive the 5 bytes from messageSize and messageType + //cout << "Robot_Message" << endl; + break; + case messageType::ROBOT_STATE: + RobotState::unpackRobotState(buf, offset, len); //'len' is inclusive the 5 bytes from messageSize and messageType + //cout << "Robot_State" << endl; + break; + case messageType::PROGRAM_STATE_MESSAGE: + //Don't do anything atm... + //cout << "PROG_STATE" << endl; + default: + //cout << "Default" << endl; + break; + } + offset += len; + + } + return; +} + +void RobotState::unpackRobotMessage(uint8_t * buf, unsigned int offset, + uint32_t len) { + offset += 5; + uint64_t timestamp; + int8_t source, robot_message_type; + memcpy(×tamp, &buf[offset], sizeof(timestamp)); + offset += sizeof(timestamp); + memcpy(&source, &buf[offset], sizeof(source)); + offset += sizeof(source); + memcpy(&robot_message_type, &buf[offset], sizeof(robot_message_type)); + offset += sizeof(robot_message_type); + switch (robot_message_type) { + case robotMessageType::ROBOT_MESSAGE_VERSION: + val_lock_.lock(); + version_msg_.timestamp = timestamp; + version_msg_.source = source; + version_msg_.robot_message_type = robot_message_type; + RobotState::unpackRobotMessageVersion(buf, offset, len); + val_lock_.unlock(); + break; + default: + break; + } + +} + +void RobotState::unpackRobotState(uint8_t * buf, unsigned int offset, + uint32_t len) { + offset += 5; + while (offset < len) { + int32_t length; + uint8_t package_type; + memcpy(&length, &buf[offset], sizeof(length)); + length = ntohl(length); + memcpy(&package_type, &buf[offset + sizeof(length)], + sizeof(package_type)); + switch (package_type) { + case packageType::ROBOT_MODE_DATA: + val_lock_.lock(); + RobotState::unpackRobotMode(buf, offset + 5); + val_lock_.unlock(); + break; + + case packageType::MASTERBOARD_DATA: + val_lock_.lock(); + RobotState::unpackRobotStateMasterboard(buf, offset + 5); + val_lock_.unlock(); + break; + default: + break; + } + offset += length; + } + new_data_available_ = true; + //pMsg_cond_->notify_all(); +} + +void RobotState::unpackRobotMessageVersion(uint8_t * buf, unsigned int offset, + uint32_t len) { + memcpy(&version_msg_.project_name_size, &buf[offset], + sizeof(version_msg_.project_name_size)); + offset += sizeof(version_msg_.project_name_size); + memcpy(&version_msg_.project_name, &buf[offset], + sizeof(char) * version_msg_.project_name_size); + offset += version_msg_.project_name_size; + version_msg_.project_name[version_msg_.project_name_size] = '\0'; + memcpy(&version_msg_.major_version, &buf[offset], + sizeof(version_msg_.major_version)); + offset += sizeof(version_msg_.major_version); + memcpy(&version_msg_.minor_version, &buf[offset], + sizeof(version_msg_.minor_version)); + offset += sizeof(version_msg_.minor_version); + memcpy(&version_msg_.svn_revision, &buf[offset], + sizeof(version_msg_.svn_revision)); + offset += sizeof(version_msg_.svn_revision); + version_msg_.svn_revision = ntohl(version_msg_.svn_revision); + memcpy(&version_msg_.build_date, &buf[offset], sizeof(char) * len - offset); + version_msg_.build_date[len - offset] = '\0'; + if (version_msg_.major_version < 2) { + robot_mode_running_ = robotStateTypeV18::ROBOT_RUNNING_MODE; + } +} + +void RobotState::unpackRobotMode(uint8_t * buf, unsigned int offset) { + memcpy(&robot_mode_.timestamp, &buf[offset], sizeof(robot_mode_.timestamp)); + offset += sizeof(robot_mode_.timestamp); + uint8_t tmp; + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isRobotConnected = true; + else + robot_mode_.isRobotConnected = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isRealRobotEnabled = true; + else + robot_mode_.isRealRobotEnabled = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + //printf("PowerOnRobot: %d\n", tmp); + if (tmp > 0) + robot_mode_.isPowerOnRobot = true; + else + robot_mode_.isPowerOnRobot = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isEmergencyStopped = true; + else + robot_mode_.isEmergencyStopped = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isProtectiveStopped = true; + else + robot_mode_.isProtectiveStopped = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isProgramRunning = true; + else + robot_mode_.isProgramRunning = false; + offset += sizeof(tmp); + memcpy(&tmp, &buf[offset], sizeof(tmp)); + if (tmp > 0) + robot_mode_.isProgramPaused = true; + else + robot_mode_.isProgramPaused = false; + offset += sizeof(tmp); + memcpy(&robot_mode_.robotMode, &buf[offset], sizeof(robot_mode_.robotMode)); + offset += sizeof(robot_mode_.robotMode); + uint64_t temp; + if (RobotState::getVersion() > 2.) { + memcpy(&robot_mode_.controlMode, &buf[offset], + sizeof(robot_mode_.controlMode)); + offset += sizeof(robot_mode_.controlMode); + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + robot_mode_.targetSpeedFraction = RobotState::ntohd(temp); + } + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + robot_mode_.speedScaling = RobotState::ntohd(temp); +} + +void RobotState::unpackRobotStateMasterboard(uint8_t * buf, + unsigned int offset) { + if (RobotState::getVersion() < 3.0) { + int16_t digital_input_bits, digital_output_bits; + memcpy(&digital_input_bits, &buf[offset], sizeof(digital_input_bits)); + offset += sizeof(digital_input_bits); + memcpy(&digital_output_bits, &buf[offset], sizeof(digital_output_bits)); + offset += sizeof(digital_output_bits); + mb_data_.digitalInputBits = ntohs(digital_input_bits); + mb_data_.digitalOutputBits = ntohs(digital_output_bits); + } else { + memcpy(&mb_data_.digitalInputBits, &buf[offset], + sizeof(mb_data_.digitalInputBits)); + offset += sizeof(mb_data_.digitalInputBits); + mb_data_.digitalInputBits = ntohl(mb_data_.digitalInputBits); + memcpy(&mb_data_.digitalOutputBits, &buf[offset], + sizeof(mb_data_.digitalOutputBits)); + offset += sizeof(mb_data_.digitalOutputBits); + mb_data_.digitalOutputBits = ntohl(mb_data_.digitalOutputBits); + } + + memcpy(&mb_data_.analogInputRange0, &buf[offset], + sizeof(mb_data_.analogInputRange0)); + offset += sizeof(mb_data_.analogInputRange0); + memcpy(&mb_data_.analogInputRange1, &buf[offset], + sizeof(mb_data_.analogInputRange1)); + offset += sizeof(mb_data_.analogInputRange1); + uint64_t temp; + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + mb_data_.analogInput0 = RobotState::ntohd(temp); + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + mb_data_.analogInput1 = RobotState::ntohd(temp); + memcpy(&mb_data_.analogOutputDomain0, &buf[offset], + sizeof(mb_data_.analogOutputDomain0)); + offset += sizeof(mb_data_.analogOutputDomain0); + memcpy(&mb_data_.analogOutputDomain1, &buf[offset], + sizeof(mb_data_.analogOutputDomain1)); + offset += sizeof(mb_data_.analogOutputDomain1); + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + mb_data_.analogOutput0 = RobotState::ntohd(temp); + memcpy(&temp, &buf[offset], sizeof(temp)); + offset += sizeof(temp); + mb_data_.analogOutput1 = RobotState::ntohd(temp); + + memcpy(&mb_data_.masterBoardTemperature, &buf[offset], + sizeof(mb_data_.masterBoardTemperature)); + offset += sizeof(mb_data_.masterBoardTemperature); + mb_data_.masterBoardTemperature = ntohl(mb_data_.masterBoardTemperature); + memcpy(&mb_data_.robotVoltage48V, &buf[offset], + sizeof(mb_data_.robotVoltage48V)); + offset += sizeof(mb_data_.robotVoltage48V); + mb_data_.robotVoltage48V = ntohl(mb_data_.robotVoltage48V); + memcpy(&mb_data_.robotCurrent, &buf[offset], sizeof(mb_data_.robotCurrent)); + offset += sizeof(mb_data_.robotCurrent); + mb_data_.robotCurrent = ntohl(mb_data_.robotCurrent); + memcpy(&mb_data_.masterIOCurrent, &buf[offset], + sizeof(mb_data_.masterIOCurrent)); + offset += sizeof(mb_data_.masterIOCurrent); + mb_data_.masterIOCurrent = ntohl(mb_data_.masterIOCurrent); + + memcpy(&mb_data_.safetyMode, &buf[offset], sizeof(mb_data_.safetyMode)); + offset += sizeof(mb_data_.safetyMode); + memcpy(&mb_data_.masterOnOffState, &buf[offset], + sizeof(mb_data_.masterOnOffState)); + offset += sizeof(mb_data_.masterOnOffState); + + memcpy(&mb_data_.euromap67InterfaceInstalled, &buf[offset], + sizeof(mb_data_.euromap67InterfaceInstalled)); + offset += sizeof(mb_data_.euromap67InterfaceInstalled); + if (mb_data_.euromap67InterfaceInstalled != 0) { + memcpy(&mb_data_.euromapInputBits, &buf[offset], + sizeof(mb_data_.euromapInputBits)); + offset += sizeof(mb_data_.euromapInputBits); + mb_data_.euromapInputBits = ntohl(mb_data_.euromapInputBits); + memcpy(&mb_data_.euromapOutputBits, &buf[offset], + sizeof(mb_data_.euromapOutputBits)); + offset += sizeof(mb_data_.euromapOutputBits); + mb_data_.euromapOutputBits = ntohl(mb_data_.euromapOutputBits); + if (RobotState::getVersion() < 3.0) { + int16_t euromap_voltage, euromap_current; + memcpy(&euromap_voltage, &buf[offset], sizeof(euromap_voltage)); + offset += sizeof(euromap_voltage); + memcpy(&euromap_current, &buf[offset], sizeof(euromap_current)); + offset += sizeof(euromap_current); + mb_data_.euromapVoltage = ntohs(euromap_voltage); + mb_data_.euromapCurrent = ntohs(euromap_current); + } else { + memcpy(&mb_data_.euromapVoltage, &buf[offset], + sizeof(mb_data_.euromapVoltage)); + offset += sizeof(mb_data_.euromapVoltage); + mb_data_.euromapVoltage = ntohl(mb_data_.euromapVoltage); + memcpy(&mb_data_.euromapCurrent, &buf[offset], + sizeof(mb_data_.euromapCurrent)); + offset += sizeof(mb_data_.euromapCurrent); + mb_data_.euromapCurrent = ntohl(mb_data_.euromapCurrent); + } + + } +} + +double RobotState::getVersion() { + double ver; + val_lock_.lock(); + ver = version_msg_.major_version + 0.1 * version_msg_.minor_version + + .0000001 * version_msg_.svn_revision; + val_lock_.unlock(); + return ver; + +} + +void RobotState::finishedReading() { + new_data_available_ = false; +} + +bool RobotState::getNewDataAvailable() { + return new_data_available_; +} + +int RobotState::getDigitalInputBits() { + return mb_data_.digitalInputBits; +} +int RobotState::getDigitalOutputBits() { + return mb_data_.digitalOutputBits; +} +double RobotState::getAnalogInput0() { + return mb_data_.analogInput0; +} +double RobotState::getAnalogInput1() { + return mb_data_.analogInput1; +} +double RobotState::getAnalogOutput0() { + return mb_data_.analogOutput0; + +} +double RobotState::getAnalogOutput1() { + return mb_data_.analogOutput1; +} +bool RobotState::isRobotConnected() { + return robot_mode_.isRobotConnected; +} +bool RobotState::isRealRobotEnabled() { + return robot_mode_.isRealRobotEnabled; +} +bool RobotState::isPowerOnRobot() { + return robot_mode_.isPowerOnRobot; +} +bool RobotState::isEmergencyStopped() { + return robot_mode_.isEmergencyStopped; +} +bool RobotState::isProtectiveStopped() { + return robot_mode_.isProtectiveStopped; +} +bool RobotState::isProgramRunning() { + return robot_mode_.isProgramRunning; +} +bool RobotState::isProgramPaused() { + return robot_mode_.isProgramPaused; +} +unsigned char RobotState::getRobotMode() { + return robot_mode_.robotMode; +} +bool RobotState::isReady() { + if (robot_mode_.robotMode == robot_mode_running_) { + return true; + } + return false; +} + +void RobotState::setDisconnected() { + robot_mode_.isRobotConnected = false; + robot_mode_.isRealRobotEnabled = false; + robot_mode_.isPowerOnRobot = false; +} diff --git a/Robot/urlib/robot_state.h b/Robot/urlib/robot_state.h new file mode 100644 index 0000000..8a7df50 --- /dev/null +++ b/Robot/urlib/robot_state.h @@ -0,0 +1,221 @@ +/* + * robot_state.h + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef ROBOT_STATE_H_ +#define ROBOT_STATE_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +namespace message_types { +enum message_type { + ROBOT_STATE = 16, ROBOT_MESSAGE = 20, PROGRAM_STATE_MESSAGE = 25 +}; +} +typedef message_types::message_type messageType; + +namespace package_types { +enum package_type { + ROBOT_MODE_DATA = 0, + JOINT_DATA = 1, + TOOL_DATA = 2, + MASTERBOARD_DATA = 3, + CARTESIAN_INFO = 4, + KINEMATICS_INFO = 5, + CONFIGURATION_DATA = 6, + FORCE_MODE_DATA = 7, + ADDITIONAL_INFO = 8, + CALIBRATION_DATA = 9 +}; +} +typedef package_types::package_type packageType; + +namespace robot_message_types { +enum robot_message_type { + ROBOT_MESSAGE_TEXT = 0, + ROBOT_MESSAGE_PROGRAM_LABEL = 1, + PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2, + ROBOT_MESSAGE_VERSION = 3, + ROBOT_MESSAGE_SAFETY_MODE = 5, + ROBOT_MESSAGE_ERROR_CODE = 6, + ROBOT_MESSAGE_KEY = 7, + ROBOT_MESSAGE_REQUEST_VALUE = 9, + ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10 +}; +} +typedef robot_message_types::robot_message_type robotMessageType; + +namespace robot_state_type_v18 { +enum robot_state_type { + ROBOT_RUNNING_MODE = 0, + ROBOT_FREEDRIVE_MODE = 1, + ROBOT_READY_MODE = 2, + ROBOT_INITIALIZING_MODE = 3, + ROBOT_SECURITY_STOPPED_MODE = 4, + ROBOT_EMERGENCY_STOPPED_MODE = 5, + ROBOT_FATAL_ERROR_MODE = 6, + ROBOT_NO_POWER_MODE = 7, + ROBOT_NOT_CONNECTED_MODE = 8, + ROBOT_SHUTDOWN_MODE = 9, + ROBOT_SAFEGUARD_STOP_MODE = 10 +}; +} +typedef robot_state_type_v18::robot_state_type robotStateTypeV18; +namespace robot_state_type_v30 { +enum robot_state_type { + ROBOT_MODE_DISCONNECTED = 0, + ROBOT_MODE_CONFIRM_SAFETY = 1, + ROBOT_MODE_BOOTING = 2, + ROBOT_MODE_POWER_OFF = 3, + ROBOT_MODE_POWER_ON = 4, + ROBOT_MODE_IDLE = 5, + ROBOT_MODE_BACKDRIVE = 6, + ROBOT_MODE_RUNNING = 7, + ROBOT_MODE_UPDATING_FIRMWARE = 8 +}; +} + +typedef robot_state_type_v30::robot_state_type robotStateTypeV30; + +struct version_message { + uint64_t timestamp; + int8_t source; + int8_t robot_message_type; + int8_t project_name_size; + char project_name[15]; + uint8_t major_version; + uint8_t minor_version; + int svn_revision; + char build_date[25]; +}; + +struct masterboard_data { + int digitalInputBits; + int digitalOutputBits; + char analogInputRange0; + char analogInputRange1; + double analogInput0; + double analogInput1; + char analogOutputDomain0; + char analogOutputDomain1; + double analogOutput0; + double analogOutput1; + float masterBoardTemperature; + float robotVoltage48V; + float robotCurrent; + float masterIOCurrent; + unsigned char safetyMode; + unsigned char masterOnOffState; + char euromap67InterfaceInstalled; + int euromapInputBits; + int euromapOutputBits; + float euromapVoltage; + float euromapCurrent; +}; + +struct robot_mode_data { + uint64_t timestamp; + bool isRobotConnected; + bool isRealRobotEnabled; + bool isPowerOnRobot; + bool isEmergencyStopped; + bool isProtectiveStopped; + bool isProgramRunning; + bool isProgramPaused; + unsigned char robotMode; + unsigned char controlMode; + double targetSpeedFraction; + double speedScaling; +}; + +class RobotState { +private: + version_message version_msg_; + masterboard_data mb_data_; + robot_mode_data robot_mode_; + + std::recursive_mutex val_lock_; // Locks the variables while unpack parses data; + + std::condition_variable* pMsg_cond_; //Signals that new vars are available + bool new_data_available_; //to avoid spurious wakes + unsigned char robot_mode_running_; + + double ntohd(uint64_t nf); + +public: + RobotState(std::condition_variable& msg_cond); + ~RobotState(); + double getVersion(); + double getTime(); + std::vector getQTarget(); + int getDigitalInputBits(); + int getDigitalOutputBits(); + char getAnalogInputRange0(); + char getAnalogInputRange1(); + double getAnalogInput0(); + double getAnalogInput1(); + char getAnalogOutputDomain0(); + char getAnalogOutputDomain1(); + double getAnalogOutput0(); + double getAnalogOutput1(); + std::vector getVActual(); + float getMasterBoardTemperature(); + float getRobotVoltage48V(); + float getRobotCurrent(); + float getMasterIOCurrent(); + unsigned char getSafetyMode(); + unsigned char getInReducedMode(); + char getEuromap67InterfaceInstalled(); + int getEuromapInputBits(); + int getEuromapOutputBits(); + float getEuromapVoltage(); + float getEuromapCurrent(); + + bool isRobotConnected(); + bool isRealRobotEnabled(); + bool isPowerOnRobot(); + bool isEmergencyStopped(); + bool isProtectiveStopped(); + bool isProgramRunning(); + bool isProgramPaused(); + unsigned char getRobotMode(); + bool isReady(); + + void setDisconnected(); + + bool getNewDataAvailable(); + void finishedReading(); + + void unpack(uint8_t * buf, unsigned int buf_length); + void unpackRobotMessage(uint8_t * buf, unsigned int offset, uint32_t len); + void unpackRobotMessageVersion(uint8_t * buf, unsigned int offset, + uint32_t len); + void unpackRobotState(uint8_t * buf, unsigned int offset, uint32_t len); + void unpackRobotStateMasterboard(uint8_t * buf, unsigned int offset); + void unpackRobotMode(uint8_t * buf, unsigned int offset); +}; + +#endif /* ROBOT_STATE_H_ */ diff --git a/Robot/urlib/robot_state_RT.cpp b/Robot/urlib/robot_state_RT.cpp new file mode 100644 index 0000000..c3b00d5 --- /dev/null +++ b/Robot/urlib/robot_state_RT.cpp @@ -0,0 +1,551 @@ +/* + * robotStateRT.cpp + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "robot_state_RT.h" + +RobotStateRT::RobotStateRT(std::condition_variable& msg_cond) { + version_ = 0.0; + time_ = 0.0; + q_target_.assign(6, 0.0); + qd_target_.assign(6, 0.0); + qdd_target_.assign(6, 0.0); + i_target_.assign(6, 0.0); + m_target_.assign(6, 0.0); + q_actual_.assign(6, 0.0); + qd_actual_.assign(6, 0.0); + i_actual_.assign(6, 0.0); + i_control_.assign(6, 0.0); + tool_vector_actual_.assign(6, 0.0); + tcp_speed_actual_.assign(6, 0.0); + tcp_force_.assign(6, 0.0); + tool_vector_target_.assign(6, 0.0); + tcp_speed_target_.assign(6, 0.0); + //digital_input_bits_.assign(64, false); + digital_input_bits_ = 0; + motor_temperatures_.assign(6, 0.0); + controller_timer_ = 0.0; + robot_mode_ = 0.0; + joint_modes_.assign(6, 0.0); + safety_mode_ = 0.0; + tool_accelerometer_values_.assign(3, 0.0); + speed_scaling_ = 0.0; + linear_momentum_norm_ = 0.0; + v_main_ = 0.0; + v_robot_ = 0.0; + i_robot_ = 0.0; + v_actual_.assign(6, 0.0); + data_published_ = false; + controller_updated_ = false; + pMsg_cond_ = &msg_cond; +} + +RobotStateRT::~RobotStateRT() { + /* Make sure nobody is waiting after this thread is destroyed */ + data_published_ = true; + controller_updated_ = true; + pMsg_cond_->notify_all(); +} + +void RobotStateRT::setDataPublished() { + data_published_ = false; +} +bool RobotStateRT::getDataPublished() { + return data_published_; +} + +void RobotStateRT::setControllerUpdated() { + controller_updated_ = false; +} +bool RobotStateRT::getControllerUpdated() { + return controller_updated_; +} + +double RobotStateRT::ntohd(uint64_t nf) { + double x; + nf = be64toh(nf); + memcpy(&x, &nf, sizeof(x)); + return x; +} + +std::vector RobotStateRT::unpackVector(uint8_t * buf, int start_index, + int nr_of_vals) { + uint64_t q; + std::vector ret; + for (int i = 0; i < nr_of_vals; i++) { + memcpy(&q, &buf[start_index + i * sizeof(q)], sizeof(q)); + ret.push_back(ntohd(q)); + } + return ret; +} + +/*std::vector RobotStateRT::unpackDigitalInputBits(int64_t data) { + //cout << "Data: " << data << endl; + std::vector ret; + for (int i = 0; i < 64; i++) { + cout << "Pin: " << i << " state: " << ((data & (1 << i)) >> i) << endl; + ret.push_back((data & (1 << i)) >> i); + } + return ret; +}*/ + +int RobotStateRT::unpackDigitalInputBits(int64_t data){ + int ret; + ret = ((data & (1 << 31)) >> 31); + return ret; +} + +void RobotStateRT::setVersion(double ver) { + val_lock_.lock(); + version_ = ver; + val_lock_.unlock(); +} + +double RobotStateRT::getVersion() { + double ret; + val_lock_.lock(); + ret = version_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getTime() { + double ret; + val_lock_.lock(); + ret = time_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getQTarget() { + std::vector ret; + val_lock_.lock(); + ret = q_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getQdTarget() { + std::vector ret; + val_lock_.lock(); + ret = qd_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getQddTarget() { + std::vector ret; + val_lock_.lock(); + ret = qdd_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getITarget() { + std::vector ret; + val_lock_.lock(); + ret = i_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getMTarget() { + std::vector ret; + val_lock_.lock(); + ret = m_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getQActual() { + std::vector ret; + val_lock_.lock(); + ret = q_actual_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getQdActual() { + std::vector ret; + val_lock_.lock(); + ret = qd_actual_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getIActual() { + std::vector ret; + val_lock_.lock(); + ret = i_actual_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getIControl() { + std::vector ret; + val_lock_.lock(); + ret = i_control_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getToolVectorActual() { + std::vector ret; + val_lock_.lock(); + ret = tool_vector_actual_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getTcpSpeedActual() { + std::vector ret; + val_lock_.lock(); + ret = tcp_speed_actual_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getTcpForce() { + std::vector ret; + val_lock_.lock(); + ret = tcp_force_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getToolVectorTarget() { + std::vector ret; + val_lock_.lock(); + ret = tool_vector_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getTcpSpeedTarget() { + std::vector ret; + val_lock_.lock(); + ret = tcp_speed_target_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getDigitalInputBits() { + std::vector ret; + val_lock_.lock(); + //ret = digital_input_bits_; + //cout << "Digital Bits: " << digital_input_bits_ << endl; + switch(digital_input_bits_){ //Pin 0 1 2 3 Binair + case 2145386496: //1000 0001 + ret.push_back(true); + ret.push_back(false); + ret.push_back(false); + ret.push_back(false); + break; + case 2147483648: //0100 0010 + ret.push_back(false); + ret.push_back(true); + ret.push_back(false); + ret.push_back(false); + break; + case 2148532224: //1100 0011 + ret.push_back(true); + ret.push_back(true); + ret.push_back(false); + ret.push_back(false); + break; + case 2149580800: //1100 0011 + ret.push_back(false); + ret.push_back(false); + ret.push_back(true); + ret.push_back(false); + break; + case 2150105088: //1010 0101 + ret.push_back(true); + ret.push_back(false); + ret.push_back(true); + ret.push_back(false); + break; + case 2150629376: //0110 0110 + ret.push_back(false); + ret.push_back(true); + ret.push_back(true); + ret.push_back(false); + break; + case 2151153664: //1110 0111 + ret.push_back(true); + ret.push_back(true); + ret.push_back(true); + ret.push_back(false); + break; + case 2151677952: //0001 1000 + ret.push_back(false); + ret.push_back(false); + ret.push_back(false); + ret.push_back(true); + break; + case 2151940096: //1001 1001 + ret.push_back(true); + ret.push_back(false); + ret.push_back(false); + ret.push_back(true); + break; + case 2152202240: //0101 1010 + ret.push_back(false); + ret.push_back(true); + ret.push_back(false); + ret.push_back(true); + break; + case 2152464384: //1101 1011 + ret.push_back(true); + ret.push_back(true); + ret.push_back(false); + ret.push_back(true); + break; + case 2152726528: //0011 1100 + ret.push_back(false); + ret.push_back(false); + ret.push_back(true); + ret.push_back(true); + break; + case 2152988672: //1011 1101 + ret.push_back(true); + ret.push_back(false); + ret.push_back(true); + ret.push_back(true); + break; + case 2153250816: //0111 1110 + ret.push_back(false); + ret.push_back(true); + ret.push_back(true); + ret.push_back(true); + break; + case 2153512960: //1111 1111 + ret.push_back(true); + ret.push_back(true); + ret.push_back(true); + ret.push_back(true); + break; + default : + ret.push_back(false); + ret.push_back(false); + ret.push_back(false); + ret.push_back(false); + break; + } + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getMotorTemperatures() { + std::vector ret; + val_lock_.lock(); + ret = motor_temperatures_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getControllerTimer() { + double ret; + val_lock_.lock(); + ret = controller_timer_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getRobotMode() { + double ret; + val_lock_.lock(); + ret = robot_mode_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getJointModes() { + std::vector ret; + val_lock_.lock(); + ret = joint_modes_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getSafety_mode() { + double ret; + val_lock_.lock(); + ret = safety_mode_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getToolAccelerometerValues() { + std::vector ret; + val_lock_.lock(); + ret = tool_accelerometer_values_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getSpeedScaling() { + double ret; + val_lock_.lock(); + ret = speed_scaling_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getLinearMomentumNorm() { + double ret; + val_lock_.lock(); + ret = linear_momentum_norm_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getVMain() { + double ret; + val_lock_.lock(); + ret = v_main_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getVRobot() { + double ret; + val_lock_.lock(); + ret = v_robot_; + val_lock_.unlock(); + return ret; +} +double RobotStateRT::getIRobot() { + double ret; + val_lock_.lock(); + ret = i_robot_; + val_lock_.unlock(); + return ret; +} +std::vector RobotStateRT::getVActual() { + std::vector ret; + val_lock_.lock(); + ret = v_actual_; + val_lock_.unlock(); + return ret; +} +void RobotStateRT::unpack(uint8_t * buf) { + //cout << "UNPAAAACKKK" << endl; + int64_t digital_input_bits; + uint64_t unpack_to; + uint16_t offset = 0; + val_lock_.lock(); + int len; + memcpy(&len, &buf[offset], sizeof(len)); + + offset += sizeof(len); + len = ntohl(len); + //cout << "PACK 1 " << endl; + //Check the correct message length is received + bool len_good = true; + if (version_ >= 1.6 && version_ < 1.7) { //v1.6 + if (len != 756) + len_good = false; + } else if (version_ >= 1.7 && version_ < 1.8) { //v1.7 + if (len != 764) + len_good = false; + } else if (version_ >= 1.8 && version_ < 1.9) { //v1.8 + if (len != 812) + len_good = false; + } else if (version_ >= 3.0 && version_ < 3.2) { //v3.0 & v3.1 + if (len != 1044) + len_good = false; + } else if (version_ >= 3.2 && version_ < 3.3) { //v3.2 + if (len != 1060) + len_good = false; + } + //cout << "PACK 2 " << endl; + if (!len_good) { + printf("Wrong length of message on RT interface: %i\n", len); + val_lock_.unlock(); + return; + } + //cout << "PACK 3 " << endl; + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + time_ = RobotStateRT::ntohd(unpack_to); + offset += sizeof(double); + q_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + qd_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + qdd_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + i_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + m_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + q_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + qd_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + i_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + //cout << "PACK 4 " << endl; + if (version_ <= 1.9) { + if (version_ > 1.6) + tool_accelerometer_values_ = unpackVector(buf, offset, 3); + offset += sizeof(double) * (3 + 15); + tcp_force_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tool_vector_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tcp_speed_actual_ = unpackVector(buf, offset, 6); + } else { + i_control_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tool_vector_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tcp_speed_actual_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tcp_force_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tool_vector_target_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + tcp_speed_target_ = unpackVector(buf, offset, 6); + } + offset += sizeof(double) * 6; + //cout << "PACK 5 " << endl; + memcpy(&digital_input_bits, &buf[offset], sizeof(digital_input_bits)); + digital_input_bits_ = unpackDigitalInputBits(be64toh(digital_input_bits)); + offset += sizeof(double); + motor_temperatures_ = unpackVector(buf, offset, 6); + offset += sizeof(double) * 6; + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + controller_timer_ = ntohd(unpack_to); + if (version_ > 1.6) { + offset += sizeof(double) * 2; + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + robot_mode_ = ntohd(unpack_to); + if (version_ > 1.7) { + offset += sizeof(double); + joint_modes_ = unpackVector(buf, offset, 6); + } + } + //cout << "PACK 6 " << endl; + if (version_ > 1.8) { + offset += sizeof(double) * 6; + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + safety_mode_ = ntohd(unpack_to); + offset += sizeof(double); + tool_accelerometer_values_ = unpackVector(buf, offset, 3); + offset += sizeof(double) * 3; + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + speed_scaling_ = ntohd(unpack_to); + offset += sizeof(double); + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + linear_momentum_norm_ = ntohd(unpack_to); + offset += sizeof(double); + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + v_main_ = ntohd(unpack_to); + offset += sizeof(double); + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + v_robot_ = ntohd(unpack_to); + offset += sizeof(double); + memcpy(&unpack_to, &buf[offset], sizeof(unpack_to)); + i_robot_ = ntohd(unpack_to); + offset += sizeof(double); + v_actual_ = unpackVector(buf, offset, 6); + } + + //cout << "PACK 7 " << endl; + val_lock_.unlock(); + controller_updated_ = true; + data_published_ = true; + //cout << "PACK 8 " << endl; + //pMsg_cond_->notify_all(); + //cout << "PACK DONE " << endl; + +} diff --git a/Robot/urlib/robot_state_RT.h b/Robot/urlib/robot_state_RT.h new file mode 100644 index 0000000..c9af78e --- /dev/null +++ b/Robot/urlib/robot_state_RT.h @@ -0,0 +1,121 @@ +/* + * robotStateRT.h + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef ROBOT_STATE_RT_H_ +#define ROBOT_STATE_RT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +using namespace std; + +class RobotStateRT { +private: + double version_; //protocol version + + double time_; //Time elapsed since the controller was started + std::vector q_target_; //Target joint positions + std::vector qd_target_; //Target joint velocities + std::vector qdd_target_; //Target joint accelerations + std::vector i_target_; //Target joint currents + std::vector m_target_; //Target joint moments (torques) + std::vector q_actual_; //Actual joint positions + std::vector qd_actual_; //Actual joint velocities + std::vector i_actual_; //Actual joint currents + std::vector i_control_; //Joint control currents + std::vector tool_vector_actual_; //Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation + std::vector tcp_speed_actual_; //Actual speed of the tool given in Cartesian coordinates + std::vector tcp_force_; //Generalised forces in the TC + std::vector tool_vector_target_; //Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation + std::vector tcp_speed_target_; //Target speed of the tool given in Cartesian coordinates + //std::vector digital_input_bits_; //Current state of the digital inputs. NOTE: these are bits encoded as int64_t, e.g. a value of 5 corresponds to bit 0 and bit 2 set high + unsigned int digital_input_bits_; + std::vector motor_temperatures_; //Temperature of each joint in degrees celsius + double controller_timer_; //Controller realtime thread execution time + double robot_mode_; //Robot mode + std::vector joint_modes_; //Joint control modes + double safety_mode_; //Safety mode + std::vector tool_accelerometer_values_; //Tool x,y and z accelerometer values (software version 1.7) + double speed_scaling_; //Speed scaling of the trajectory limiter + double linear_momentum_norm_; //Norm of Cartesian linear momentum + double v_main_; //Masterboard: Main voltage + double v_robot_; //Matorborad: Robot voltage (48V) + double i_robot_; //Masterboard: Robot current + std::vector v_actual_; //Actual joint voltages + + std::mutex val_lock_; // Locks the variables while unpack parses data; + + std::condition_variable* pMsg_cond_; //Signals that new vars are available + bool data_published_; //to avoid spurious wakes + bool controller_updated_; //to avoid spurious wakes + + std::vector unpackVector(uint8_t * buf, int start_index, + int nr_of_vals); + //std::vector unpackDigitalInputBits(int64_t data); + int unpackDigitalInputBits(int64_t data); + double ntohd(uint64_t nf); + +public: + RobotStateRT(std::condition_variable& msg_cond); + ~RobotStateRT(); + double getVersion(); + double getTime(); + std::vector getQTarget(); + std::vector getQdTarget(); + std::vector getQddTarget(); + std::vector getITarget(); + std::vector getMTarget(); + std::vector getQActual(); + std::vector getQdActual(); + std::vector getIActual(); + std::vector getIControl(); + std::vector getToolVectorActual(); + std::vector getTcpSpeedActual(); + std::vector getTcpForce(); + std::vector getToolVectorTarget(); + std::vector getTcpSpeedTarget(); + std::vector getDigitalInputBits(); + std::vector getMotorTemperatures(); + double getControllerTimer(); + double getRobotMode(); + std::vector getJointModes(); + double getSafety_mode(); + std::vector getToolAccelerometerValues(); + double getSpeedScaling(); + double getLinearMomentumNorm(); + double getVMain(); + double getVRobot(); + double getIRobot(); + + void setVersion(double ver); + + void setDataPublished(); + bool getDataPublished(); + bool getControllerUpdated(); + void setControllerUpdated(); + std::vector getVActual(); + void unpack(uint8_t * buf); +}; + +#endif /* ROBOT_STATE_RT_H_ */ diff --git a/Robot/urlib/ur_communication.cpp b/Robot/urlib/ur_communication.cpp new file mode 100644 index 0000000..f119d16 --- /dev/null +++ b/Robot/urlib/ur_communication.cpp @@ -0,0 +1,179 @@ +/* + * ur_communication.cpp + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "ur_communication.h" + +UrCommunication::UrCommunication(std::condition_variable& msg_cond, + std::string host) { + robot_state_ = new RobotState(msg_cond); + bzero((char *) &pri_serv_addr_, sizeof(pri_serv_addr_)); + bzero((char *) &sec_serv_addr_, sizeof(sec_serv_addr_)); + pri_sockfd_ = socket(AF_INET, SOCK_STREAM, 0); + if (pri_sockfd_ < 0) { + cout << "ERROR opening socket pri_sockfd" << endl; + } + sec_sockfd_ = socket(AF_INET, SOCK_STREAM, 0); + if (sec_sockfd_ < 0) { + cout << "ERROR opening socket sec_sockfd" << endl; + } + server_ = gethostbyname(host.c_str()); + if (server_ == NULL) { + cout << "ERROR, unknown host" << endl; + } + pri_serv_addr_.sin_family = AF_INET; + sec_serv_addr_.sin_family = AF_INET; + bcopy((char *) server_->h_addr, (char *)&pri_serv_addr_.sin_addr.s_addr, server_->h_length); + bcopy((char *) server_->h_addr, (char *)&sec_serv_addr_.sin_addr.s_addr, server_->h_length); + pri_serv_addr_.sin_port = htons(30001); + sec_serv_addr_.sin_port = htons(30002); + flag_ = 1; + setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, + sizeof(int)); + setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, + sizeof(int)); + setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, + sizeof(int)); + setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, + sizeof(int)); + fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK); + connected_ = false; + keepalive_ = false; +} + +bool UrCommunication::start() { + keepalive_ = true; + uint8_t buf[512]; + unsigned int bytes_read; + std::string cmd; + bzero(buf, 512); + cout << "Acquire firmware version: Connecting..." << endl; + if (connect(pri_sockfd_, (struct sockaddr *) &pri_serv_addr_, + sizeof(pri_serv_addr_)) < 0) { + cout << "Error connecting to get firmware version" << endl; + return false; + } + cout << "Acquire firmware version: Got connection" << endl; + bytes_read = read(pri_sockfd_, buf, 512); + setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + robot_state_->unpack(buf, bytes_read); + //wait for some traffic so the UR socket doesn't die in version 3.1. + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + char tmp[64]; + sprintf(tmp, "Firmware version detected: %.7f", robot_state_->getVersion()); + cout << tmp << endl; + close(pri_sockfd_); + + cout << "Switching to secondary interface for masterboard data: Connecting..." << endl; + + fd_set writefds; + struct timeval timeout; + + connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_, + sizeof(sec_serv_addr_)); + FD_ZERO(&writefds); + FD_SET(sec_sockfd_, &writefds); + timeout.tv_sec = 10; + timeout.tv_usec = 0; + select(sec_sockfd_ + 1, NULL, &writefds, NULL, &timeout); + unsigned int flag_len; + getsockopt(sec_sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len); + if (flag_ < 0) { + cout << "Error connecting to secondary interface" << endl; + return false; + } + cout << "Secondary interface: Got connection" << endl; + comThread_ = std::thread(&UrCommunication::run, this); + return true; +} + +void UrCommunication::halt() { + keepalive_ = false; + comThread_.join(); +} + +void UrCommunication::run() { + uint8_t buf[2048]; + int bytes_read; + bzero(buf, 2048); + struct timeval timeout; + fd_set readfds; + FD_ZERO(&readfds); + FD_SET(sec_sockfd_, &readfds); + connected_ = true; + while (keepalive_) { + while (connected_ && keepalive_) { + timeout.tv_sec = 0; //do this each loop as selects modifies timeout + timeout.tv_usec = 500000; // timeout of 0.5 sec + select(sec_sockfd_ + 1, &readfds, NULL, NULL, &timeout); + bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes + if (bytes_read > 0) { + setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, + (char *) &flag_, sizeof(int)); + robot_state_->unpack(buf, bytes_read); + } else { + connected_ = false; + robot_state_->setDisconnected(); + close(sec_sockfd_); + } + } + if (keepalive_) { + //reconnect + cout << "Secondary port: No connection. Is controller crashed? Will try to reconnect in 10 seconds..." << endl; + sec_sockfd_ = socket(AF_INET, SOCK_STREAM, 0); + if (sec_sockfd_ < 0) { + cout << "ERROR opening secondary socket" << endl; + } + flag_ = 1; + setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, + sizeof(int)); + setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, + sizeof(int)); + fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK); + while (keepalive_ && !connected_) { + std::this_thread::sleep_for(std::chrono::seconds(10)); + fd_set writefds; + + connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_, + sizeof(sec_serv_addr_)); + FD_ZERO(&writefds); + FD_SET(sec_sockfd_, &writefds); + select(sec_sockfd_ + 1, NULL, &writefds, NULL, NULL); + unsigned int flag_len; + getsockopt(sec_sockfd_, SOL_SOCKET, SO_ERROR, &flag_, + &flag_len); + if (flag_ < 0) { + cout << "Error re-connecting to port 30002. Is controller started? Will try to reconnect in 10 seconds..." << endl; + } else { + connected_ = true; + cout << "Secondary port: Reconnected" << endl; + } + } + } + } + + //wait for some traffic so the UR socket doesn't die in version 3.1. + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + close(sec_sockfd_); +} diff --git a/Robot/urlib/ur_communication.h b/Robot/urlib/ur_communication.h new file mode 100644 index 0000000..1675dea --- /dev/null +++ b/Robot/urlib/ur_communication.h @@ -0,0 +1,63 @@ +/* + * ur_communication.h + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef UR_COMMUNICATION_H_ +#define UR_COMMUNICATION_H_ + +#include "robot_state.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +class UrCommunication { +private: + int pri_sockfd_, sec_sockfd_; + struct sockaddr_in pri_serv_addr_, sec_serv_addr_; + struct hostent *server_; + bool keepalive_; + std::thread comThread_; + int flag_; + void run(); + +public: + bool connected_; + RobotState* robot_state_; + + UrCommunication(std::condition_variable& msg_cond, std::string host); + bool start(); + void halt(); + +}; + +#endif /* UR_COMMUNICATION_H_ */ \ No newline at end of file diff --git a/Robot/urlib/ur_realtime_communication.cpp b/Robot/urlib/ur_realtime_communication.cpp new file mode 100644 index 0000000..d2c9e9c --- /dev/null +++ b/Robot/urlib/ur_realtime_communication.cpp @@ -0,0 +1,205 @@ +/* + * ur_realtime_communication.cpp + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "ur_realtime_communication.h" + +UrRealtimeCommunication::UrRealtimeCommunication( + std::condition_variable& msg_cond, std::string host, + unsigned int safety_count_max) { + robot_state_ = new RobotStateRT(msg_cond); + bzero((char *) &serv_addr_, sizeof(serv_addr_)); + sockfd_ = socket(AF_INET, SOCK_STREAM, 0); + if (sockfd_ < 0) { + cout << "ERROR opening socket" << endl; + } + server_ = gethostbyname(host.c_str()); + if (server_ == NULL) { + cout <<"ERROR, no such host"<< endl; + } + serv_addr_.sin_family = AF_INET; + bcopy((char *) server_->h_addr, (char *)&serv_addr_.sin_addr.s_addr, server_->h_length); + serv_addr_.sin_port = htons(30003); + flag_ = 1; + setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int)); + setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, sizeof(int)); + setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int)); + fcntl(sockfd_, F_SETFL, O_NONBLOCK); + connected_ = false; + keepalive_ = false; + safety_count_ = safety_count_max + 1; + safety_count_max_ = safety_count_max; +} + +bool UrRealtimeCommunication::start() { + fd_set writefds; + struct timeval timeout; + + keepalive_ = true; + cout <<"Realtime port: Connecting..." << endl; + + connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_)); + FD_ZERO(&writefds); + FD_SET(sockfd_, &writefds); + timeout.tv_sec = 10; + timeout.tv_usec = 0; + select(sockfd_ + 1, NULL, &writefds, NULL, &timeout); + unsigned int flag_len; + getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len); + if (flag_ < 0) { + cout <<"Error connecting to RT port 30003" << endl; + return false; + } + sockaddr_in name; + socklen_t namelen = sizeof(name); + int err = getsockname(sockfd_, (sockaddr*) &name, &namelen); + if (err < 0) { + cout << "Could not get local IP" << endl; + close(sockfd_); + return false; + } + char str[18]; + inet_ntop(AF_INET, &name.sin_addr, str, 18); + local_ip_ = str; + cout << "Starting Threads" << endl; + comThread_ = std::thread(&UrRealtimeCommunication::run, this); + return true; +} + +void UrRealtimeCommunication::halt() { + keepalive_ = false; + comThread_.join(); +} + +void UrRealtimeCommunication::addCommandToQueue(std::string inp) { + int bytes_written; + if (inp.back() != '\n') { + inp.append("\n"); + } + if (connected_) + bytes_written = write(sockfd_, inp.c_str(), inp.length()); + else + cout << "Could not send command " << inp << ". The robot is not connected! Command is discarded" << endl; +} + +void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2, + double q3, double q4, double q5, double acc) { + char cmd[1024]; + if( robot_state_->getVersion() >= 3.1 ) { + sprintf(cmd, + "speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n", + q0, q1, q2, q3, q4, q5, acc); + } + else { + sprintf(cmd, + "speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n", + q0, q1, q2, q3, q4, q5, acc); + } + addCommandToQueue((std::string) (cmd)); + if (q0 != 0. or q1 != 0. or q2 != 0. or q3 != 0. or q4 != 0. or q5 != 0.) { + //If a joint speed is set, make sure we stop it again after some time if the user doesn't + safety_count_ = 0; + } +} + +void UrRealtimeCommunication::run() { + uint8_t buf[2048]; + int bytes_read; + bzero(buf, 2048); + struct timeval timeout; + fd_set readfds; + FD_ZERO(&readfds); + FD_SET(sockfd_, &readfds); + cout << "Realtime port: Got connection" << endl; + connected_ = true; + //cout << "Keepaliiiive: " << keepalive_ << endl; + while (keepalive_) { + //cout << "Connected: " << connected_ << " - Keepalive: " << keepalive_ << endl; + while (connected_ && keepalive_) { + //cout << "A" << endl; + timeout.tv_sec = 0; //do this each loop as selects modifies timeout + timeout.tv_usec = 500000; // timeout of 0.5 sec + //cout << "B" << endl; + select(sockfd_ + 1, &readfds, NULL, NULL, &timeout); + //cout << "C" << endl; + bytes_read = read(sockfd_, buf, 2048); + //cout << "Bytes Read: " << bytes_read << endl; + if (bytes_read > 0) { + setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + robot_state_->unpack(buf); + //cout << "Done UNPACK" << endl; + /*for(int x = 0; x < sizeof(buf); x++){ + cout << (int)buf << " "; + }*/ + if (safety_count_ == safety_count_max_) { + setSpeed(0., 0., 0., 0., 0., 0.); + //cout << "Set Speed" << endl; + } + safety_count_ += 1; + } else { + connected_ = false; + close(sockfd_); + } + } + if (keepalive_) { + //reconnect + cout << "Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds..." << endl; + sockfd_ = socket(AF_INET, SOCK_STREAM, 0); + if (sockfd_ < 0) { + cout << "ERROR opening socket" << endl; + } + flag_ = 1; + setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, + sizeof(int)); + setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, + sizeof(int)); + + setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, + sizeof(int)); + fcntl(sockfd_, F_SETFL, O_NONBLOCK); + while (keepalive_ && !connected_) { + std::this_thread::sleep_for(std::chrono::seconds(10)); + fd_set writefds; + + connect(sockfd_, (struct sockaddr *) &serv_addr_, + sizeof(serv_addr_)); + FD_ZERO(&writefds); + FD_SET(sockfd_, &writefds); + select(sockfd_ + 1, NULL, &writefds, NULL, NULL); + unsigned int flag_len; + getsockopt(sockfd_, SOL_SOCKET, SO_ERROR, &flag_, &flag_len); + if (flag_ < 0) { + cout << "Error re-connecting to RT port 30003. Is controller started? Will try to reconnect in 10 seconds..." << endl; + } else { + connected_ = true; + cout << "Realtime port: Reconnected" << endl; + } + } + } + } + setSpeed(0., 0., 0., 0., 0., 0.); + close(sockfd_); +} + +void UrRealtimeCommunication::setSafetyCountMax(uint inp) { + safety_count_max_ = inp; +} + +std::string UrRealtimeCommunication::getLocalIp() { + return local_ip_; +} diff --git a/Robot/urlib/ur_realtime_communication.h b/Robot/urlib/ur_realtime_communication.h new file mode 100644 index 0000000..8892486 --- /dev/null +++ b/Robot/urlib/ur_realtime_communication.h @@ -0,0 +1,75 @@ +/* + * ur_realtime_communication.h + * + * Copyright 2015 Thomas Timm Andersen + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef UR_REALTIME_COMMUNICATION_H_ +#define UR_REALTIME_COMMUNICATION_H_ + +#include "robot_state_RT.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class UrRealtimeCommunication { +private: + unsigned int safety_count_max_; + int sockfd_; + struct sockaddr_in serv_addr_; + struct hostent *server_; + std::string local_ip_; + bool keepalive_; + std::thread comThread_; + int flag_; + std::recursive_mutex command_string_lock_; + std::string command_; + unsigned int safety_count_; + void run(); + + +public: + bool connected_; + RobotStateRT* robot_state_; + + UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host, + unsigned int safety_count_max = 12); + bool start(); + void halt(); + void setSpeed(double q0, double q1, double q2, double q3, double q4, + double q5, double acc = 100.); + void addCommandToQueue(std::string inp); + void setSafetyCountMax(uint inp); + std::string getLocalIp(); + +}; + +#endif /* UR_REALTIME_COMMUNICATION_H_ */ diff --git a/Vision/2d_depth_detector.cpp b/Vision/2d_depth_detector.cpp new file mode 100644 index 0000000..20171c2 --- /dev/null +++ b/Vision/2d_depth_detector.cpp @@ -0,0 +1,94 @@ +#include "2d_depth_detector.h" + +using namespace cv; +using namespace std; + +DepthDetector::DepthDetector() { + //positions = new vector; +} + +vector DepthDetector::getPositions() { + //TO DO: use main camera class + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + o3d3xx::Camera::Ptr cam = make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg = + make_shared( + cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + //get frame from camera + if (! fg->WaitForFrame(img.get(), 2000)) + { + //TO DO: error handling + cerr << "Timeout waiting for camera!" << endl; + //return positions; + } + //2D images + double min, max; + ////create depth image + Mat depthImageRaw = Mat(img->DepthImage()); + //Mat xyzImageRaw = Mat(img->XYZImage()); + //resize image for better visibility when debugging + resize(depthImageRaw,depthImageRaw, Size(depthImageRaw.cols*2,depthImageRaw.rows*2), 2, 2, INTER_CUBIC); + + //resize(xyzImageRaw,xyzImageRaw, Size(xyzImageRaw.cols*2,xyzImageRaw.rows*2), 2, 2, INTER_CUBIC); + //apply region of interest to only view inside of bin + //Xmin = -120, Xmax = 130, Ymin = -800, Ymax = 250 + Rect roi = Rect(120,45,110,145); + Mat depthImage = depthImageRaw(roi); + //Mat xyzImage = xyzImageRaw(roi); + //minMaxIdx(xyzImage, &min, &max); + //convertScaleAbs(xyzImage, xyzImage, 255 / max); + //applyColorMap(xyzImage, xyzImage, COLORMAP_JET); + //Mat channel[3]; + //split(xyzImage, channel); + minMaxIdx(depthImage, &min, &max); + convertScaleAbs(depthImage, depthImage, 255 / max); + applyColorMap(depthImage, depthImage, COLORMAP_JET); + //convert to gray scale + Mat depthImageGray; + cvtColor(depthImage, depthImageGray, CV_BGR2GRAY); + //create new mat objects to hold binary data + Mat depthImageBinary; + Mat depthImageBinary16S; + Mat depthImageBinary16SLabeled; + //create variables for blob detection + vector firstPixelvec; + vector posVec; + vector areaVec; + double x,y; + //detect blobs going from high to low threshold + for(int i = 12; i > -1; i--){ + //dynamically apply thresholds + threshold(depthImageGray, depthImageBinary, 20*i, 1, CV_THRESH_BINARY); + //use 16S image + depthImageBinary.convertTo(depthImageBinary16S, CV_16S); + //call blob detection + labelBLOBsInfo(depthImageBinary16S,depthImageBinary16SLabeled,firstPixelvec, posVec,areaVec, 200, 10000); + for(int j = 0; j < firstPixelvec.size(); j++){ + //calculate in meters the x and y position + x = ((posVec[j]->x * 1.65) - 430)/1000; + y = ((posVec[j]->y*1.8) - 250)/1000; + positions.push_back(Point2d(x,y)); + + //get depth value (z value?) + /*uchar val; + int posy = posVec[j]->y; + int posx = posVec[j]->x; + for(int k = 0; k < 3; k++){ + val = channel[k].at(posy,posx); + cout << "Value Channel"< +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" +#include "avansvisionlib.h" + +using namespace cv; +using namespace std; + +class DepthDetector { + public: + DepthDetector(); + vector getPositions(); + private: + vector positions; +}; diff --git a/Vision/AerobicVision.cpp b/Vision/AerobicVision.cpp new file mode 100644 index 0000000..3a94995 --- /dev/null +++ b/Vision/AerobicVision.cpp @@ -0,0 +1,938 @@ +#include "AerobicVision.h" +#include +//TODO: Implement Filterfunction in calibration function +//TODO: SORT GROWING ALGORITHM OUTPUT VECTOR ON Z AXIS HIGH TO LOW + + +AerobicVision::AerobicVision(std::string IP){ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + cam = std::make_shared(IP); + //create buffer to fetch image + img = std::make_shared(); + //framegrabber + fg = std::make_shared(cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); +} + +bool wayToSort(objectData i, objectData j){ // point x = real z + return i.xyz.x < j.xyz.x; +} + + +pcl::PointCloud::Ptr AerobicVision::PassFilterPCD(pcl::PointCloud::Ptr cloudIn, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax){ + + pcl::PointCloud::Ptr zfilt (new pcl::PointCloud), yfilt (new pcl::PointCloud); + + //passthrough filter + pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud); + pcl::PassThrough passX, passY, passZ; + + + passZ.setInputCloud(cloudIn); + passZ.setFilterFieldName("z"); // blauw = z REAL = X + passZ.setFilterLimits(xmin,xmax); + //passZ.setFilterLimits(-0.05,0.05); //calibration + passZ.filter(*zfilt); + + passY.setInputCloud(zfilt); + passY.setFilterFieldName("y"); // y= groen REAL = Y + passY.setFilterLimits(ymin,ymax); // + //passY.setFilterLimits(-0.05,0.05); //calibratiom + passY.filter(*yfilt); + + passX.setInputCloud(yfilt); + passX.setFilterFieldName("x"); // rood = x REAL = Z + passX.setFilterLimits(zmin,zmax); + //passX.setFilterLimits(0.35,0.38); //calibration + passX.filter(*cloud_filtered); + + return cloud_filtered; +} + +pcl::PointCloud::Ptr AerobicVision::convertCloudXYZItoXYZ(pcl::PointCloud cloudIn){ + pcl::PCDWriter writer; + pcl::PCDReader reader; + writer.write("tmp_pcd.pcd", cloudIn, false); + pcl::PointCloud::Ptr cloudOut (new pcl::PointCloud); + reader.read("tmp_pcd.pcd", *cloudOut); + return cloudOut; +} + +pcl::PointXYZ AerobicVision::Calibrate(int samples){ + std::vector average; + cout << "Start Calibration with " << samples << " samples" << endl; + //get frame from camera (could be looped to create an actual live feed) + for(int cnt = 0; cnt < samples; cnt++){ + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + } + + + //3D pointcloud + + //convert o3d3xx cloud to PointXYZI + pcl::PointCloud::Ptr cloudIn = img->Cloud(); + pcl::PointCloud::Ptr zfilt (new pcl::PointCloud), yfilt (new pcl::PointCloud); + + //passthrough filter + pcl::PointCloud::Ptr cloud_filtered2 (new pcl::PointCloud); + pcl::PassThrough passX, passY, passZ; + + + passZ.setInputCloud(cloudIn); + passZ.setFilterFieldName("z"); // blauw = z REAL = X + passZ.setFilterLimits(-0.125,0.105); //calibration + passZ.filter(*zfilt); + + passY.setInputCloud(zfilt); + passY.setFilterFieldName("y"); // y= groen REAL = Y + //passY.setFilterLimits(-0.11,0.09); //ops + passY.setFilterLimits(-0.1,0.075); //calibratiom + passY.filter(*yfilt); + + passX.setInputCloud(yfilt); + passX.setFilterFieldName("x"); // rood = x REAL = Z + //passX.setFilterLimits(0.0,0.60); + passX.setFilterLimits(0.27,0.33); //calibration + passX.filter(*cloud_filtered2); + + pcl::PointCloud::Ptr cloud (convertCloudXYZItoXYZ(*cloud_filtered2)); + + pcl::MomentOfInertiaEstimation feature_extractor; + feature_extractor.setInputCloud (cloud); + feature_extractor.compute(); + + pcl::PointXYZ min_point_AABB; + pcl::PointXYZ max_point_AABB; + + feature_extractor.getAABB (min_point_AABB, max_point_AABB); + + pcl::PointXYZ middle_point; + middle_point.x = min_point_AABB.x + ((max_point_AABB.x - min_point_AABB.x) / 2); + middle_point.y = min_point_AABB.y + ((max_point_AABB.y - min_point_AABB.y) / 2); + middle_point.z = min_point_AABB.z + ((max_point_AABB.z - min_point_AABB.z) / 2); + average.push_back(middle_point); + + } + double x = 0; + double y = 0; + double z = 0; + int cnt; + pcl::PointXYZ ret; + for(cnt = 0; cnt < samples; cnt++){ + x = x + average[cnt].x; + y = y + average[cnt].y; + z = z + average[cnt].z; + } + //set correct XYZ format + + z = (z / (double)samples); + y = (y / (double)samples); + x = (x / (double)samples); + + ret.z = x; + ret.y = y; + ret.x = z; + cout << "Finished Vision Calibration" << endl; + return ret; +} + +std::vector AerobicVision::RegionGrowing(){ + pcl::console::TicToc tt; + // Load the input point cloud + + std::cerr << "Loading...\n", tt.tic (); + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + } + + pcl::PCDWriter writer; + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + pcl::PointCloud::Ptr cloudIn = img->Cloud(); + writer.write("tmp_pcd.pcd", *cloudIn, false); + pcl::io::loadPCDFile ("tmp_pcd.pcd", *cloud); + //std::cerr << ">> Done: " << tt.toc () << " ms, " << cloud->points.size () << " points\n"; + + pcl::PointCloud::Ptr zfilt (new pcl::PointCloud), yfilt (new pcl::PointCloud); + + //passthrough filter + pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud); + pcl::PassThrough passX, passY, passZ; + + passZ.setInputCloud(cloud); + passZ.setFilterFieldName("y"); // blauw = z REAL = X + passZ.setFilterLimits(-0.1,0.1); //calibration + passZ.filter(*zfilt); + + passY.setInputCloud(zfilt); + passY.setFilterFieldName("z"); // y= groen REAL = Y + //passY.setFilterLimits(-0.11,0.09); //ops + passY.setFilterLimits(-0.12,0.12); //calibratiom + passY.filter(*yfilt); + + passX.setInputCloud(yfilt); + passX.setFilterFieldName("x"); // rood = x REAL = Z + //passX.setFilterLimits(0.0,0.60); + passX.setFilterLimits(0.0,0.6); //calibration + passX.filter(*cloud_filtered); + + std::vector temp; + pcl::removeNaNFromPointCloud(*cloud_filtered, *cloud_filtered, temp); + + pcl::search::Search::Ptr tree = boost::shared_ptr > (new pcl::search::KdTree); + pcl::PointCloud ::Ptr normals (new pcl::PointCloud ); + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (cloud_filtered); + normal_estimator.setKSearch (100); + normal_estimator.compute (*normals); + + pcl::IndicesPtr indices (new std::vector ); + pcl::PassThrough pass; + pass.setInputCloud (cloud_filtered); + pass.setFilterFieldName ("z"); + pass.setFilterLimits (0.0, 1.0); + pass.filter (*indices); + + pcl::RegionGrowing reg; + reg.setMinClusterSize (50); //minimum points to find before assigning a cluster + reg.setMaxClusterSize (1000); //maximum points to find + reg.setSearchMethod (tree); //search using the KdTree + reg.setNumberOfNeighbours (15); //number of neighbours?? + reg.setInputCloud (cloud_filtered); //input cloud is filtered on xyz axis + //reg.setIndices (indices); + reg.setInputNormals (normals); //input normals used to find the region + reg.setSmoothnessThreshold (5.0 / 180.0 * M_PI); //how smooth has the surface to be in degrees + reg.setCurvatureThreshold (1.0); //how much curvature can there be?? + + std::vector clusters; + reg.extract (clusters); + + + std::vector> clusters_with_points; + std::vector cluster_middle_points; + for(int cnt = 0; cnt < clusters.size(); cnt++){ + //Create the filtering object + pcl::ExtractIndices extract; + pcl::PointCloud::Ptr tmpcloud (new pcl::PointCloud), cloud_f (new pcl::PointCloud);; + pcl::PointIndices::Ptr inliers (new pcl::PointIndices (clusters[cnt])); + extract.setInputCloud (cloud_filtered); + extract.setIndices (inliers); + extract.setNegative (false); + extract.filter (*tmpcloud); + clusters_with_points.push_back(*tmpcloud); + + pcl::MomentOfInertiaEstimation feature_extractor; + feature_extractor.setInputCloud (tmpcloud); + feature_extractor.compute(); + + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (tmpcloud); + normal_estimator.setKSearch (100); + normal_estimator.compute (*normals); + + pcl::PointXYZ min_point_AABB; + pcl::PointXYZ max_point_AABB; + + feature_extractor.getAABB (min_point_AABB, max_point_AABB); + + objectData middle_point; + middle_point.xyz.x = min_point_AABB.x + ((max_point_AABB.x - min_point_AABB.x) / 2); + middle_point.xyz.y = min_point_AABB.y + ((max_point_AABB.y - min_point_AABB.y) / 2); + middle_point.xyz.z = min_point_AABB.z + ((max_point_AABB.z - min_point_AABB.z) / 2); + + //calculate single normal vector + float normal_x = 0.0f; + float normal_y = 0.0f; + float normal_z = 0.0f; + for (int i = 0; i < normals->size();i++){ + normal_x = normal_x + normals->points[i].normal_x; + normal_y = normal_y + normals->points[i].normal_y; + normal_z = normal_z + normals->points[i].normal_z; + } + normal_x = (normal_x/normals->size()); + normal_y = (normal_y/normals->size()); + normal_z = (normal_z/normals->size()); + if(normal_x > 1 || normal_y > 1 || normal_z > 1 || normal_x < -1 || + normal_y < -1 || normal_z < -1) { + cout << "Normals not correct, try again." << endl; + } else { + pcl::Normal normal = pcl::Normal(-normal_x,-normal_y,-normal_z); + + float pitch = asin(-normal_y); + float yaw = atan2(normal_z,normal_x); + float roll = 0.0; + pcl::PointXYZ rpy = pcl::PointXYZ(roll,pitch,yaw); + middle_point.pitch = pitch; + middle_point.yaw = yaw; + + + Eigen::AngleAxisd rollAngle(roll, Eigen::Vector3d::UnitZ()); + Eigen::AngleAxisd yawAngle(yaw, Eigen::Vector3d::UnitY()); + Eigen::AngleAxisd pitchAngle(pitch, Eigen::Vector3d::UnitX()); + + Eigen::Quaternion q = rollAngle * yawAngle * pitchAngle; + Eigen::Matrix3d rotationMatrix = q.matrix(); + + double rotSum = rotationMatrix(0,0) + rotationMatrix(1,1) + rotationMatrix(2,2) - 1; + double alpha = acos(rotSum / 2); + double theta = 0; + if (roll >= 0) + theta = alpha; + else + theta = 2 * 3.1415926535897 - alpha; + double my = 1.0 / (2 * sin(theta)); + + double rx = my * (rotationMatrix(2,1) - rotationMatrix(1,2)) * theta; + double ry = my * (rotationMatrix(0,2) - rotationMatrix(2,0)) * theta; + double rz = my * (rotationMatrix(1,0) - rotationMatrix(0,1)) * theta; + + pcl::PointXYZ rotationVector = pcl::PointXYZ(); + rotationVector.x = (float)rx; + rotationVector.y = (float)ry; + rotationVector.z = (float)rz; + middle_point.rx = rotationVector.x; + middle_point.ry = rotationVector.y; + middle_point.rz = rotationVector.z; + } + + //add found point to vector + cluster_middle_points.push_back(middle_point); + } + + //Sort found clusters from closest to farest + sort(cluster_middle_points.begin(), cluster_middle_points.end(), wayToSort); + + return cluster_middle_points; +} + + + + + + + + +/////////////////////////////////////////////////////// +//Projectgroep 2 test pogingen +/////////////////////////////////////////////////////// + +pcl::PointCloud AerobicVision::AverageCloud(std::vector::Ptr> totalList) +{ /* + pcl::PointCloud::Ptr toReturn = totalList[0]->makeShared(); + + for(int i = 0; i< totalList[0]->points.size(); i++) + { + pcl::PointXYZI averagePoint = pcl::PointXYZI(0.0f); + for(int k = 0; k< totalList.size();k++) + { + toReturn[i]->x += totalList[k]->points[i].x; + toReturn[i]->y += totalList[k]->points[i].y; + toReturn[i]->z += totalList[k]->points[i].z; + toReturn[i]->intensity += totalList[k]->points[i].intensity; + } + + toReturn[i]->x /= totalList.size(); + toReturn[i]->y /= totalList.size(); + toReturn[i]->z /= totalList.size(); + toReturn[i]->intensity /= totalList.size(); + } + return toReturn;*/ + pcl::PointCloud toReturn; + + for(int i = 0; i< totalList[0]->points.size(); i++) + { + if(isnan(totalList[0]->points[i].x )) + { + toReturn.push_back(totalList[0]->points[i]); + } + else{ + + + pcl::PointXYZI averagePoint = pcl::PointXYZI(0.0f); + for(int k = 0; k< totalList.size();k++) + { + averagePoint.x += totalList[k]->points[i].x; + averagePoint.y += totalList[k]->points[i].y; + averagePoint.z += totalList[k]->points[i].z; + averagePoint.intensity += totalList[k]->points[i].intensity; + } + + averagePoint.x /= totalList.size(); + averagePoint.y /= totalList.size(); + averagePoint.z /= totalList.size(); + averagePoint.intensity /= totalList.size(); + toReturn.push_back(averagePoint); + } + } + return toReturn; +} + +void AerobicVision::PrintClouds(std::vector::Ptr> totalList) +{ + for(int i = 0; i< totalList[0]->points.size(); i++) + { + cout << "[" << i << "] "; + + for(int k = 0; k< totalList.size();k++) + { + cout << std::setprecision(8) << "(" << totalList[k]->points[i].x << "," << totalList[k]->points[i].y << "," << totalList[k]->points[i].z << ")"; + } + + cout << endl; + } +} + +void AerobicVision::PrintCloud(pcl::PointCloud::Ptr cloud) +{ + for(int i = 0; i< cloud->points.size(); i++) + { + cout << "[" << i << "] "; + cout << std::setprecision(5) << "(" << cloud->points[i].x << ", " << cloud->points[i].y << ", " << cloud->points[i].z << ")"; + cout << endl; + } +} + + +void AerobicVision::Test(){ + pcl::console::TicToc tt; + // Load the input point cloud + std::cerr << "Loading...\n", tt.tic (); + + usleep(2000000); + + std::vector::Ptr> allClouds; + + pcl::PointCloud cloudAverage; + + for(int i = 0; i< 4; i++) + { + + usleep(500000); + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + } + usleep(2000000); + + pcl::PointCloud::Ptr cloudIn = img->Cloud()->makeShared(); + + allClouds.push_back(cloudIn); + + std::cout << "Stored pic " << i << endl; + } + + //cloudAverage = AverageCloud(allClouds); + PrintClouds(allClouds); + /* + PrintCloud(cloudAverage); + + pcl::PointCloud::Ptr m_ptrCloud(&cloudAverage); + + pcl::visualization::CloudViewer viewer("Cloud Viewer", false); + + //blocks until the cloud is actually rendered + viewer.showCloud(m_ptrCloud); + */ + + cout << "Press Enter" << endl; + cin.get(); + + return; +} + + +void AerobicVision::AverageCloudsKdTree(pcl::PointCloud::Ptr &average, std::vector::Ptr> allClouds) +{ + vector> kdtree; + + if(allClouds.size() <= 2) + return; + for(int g= 0; g< allClouds.size();g++) + { + kdtree.push_back(pcl::KdTreeFLANN()); + kdtree[g].setInputCloud(allClouds[g]); + } + for(int i = 0; i< allClouds[0]->points.size(); i++) + { + pcl::PointXYZI averagePoint = pcl::PointXYZI(0.0f); + + if(isnan(allClouds[0]->points[i].x)) + { + averagePoint.x = 0; + averagePoint.y = 0; + averagePoint.z = 0; + averagePoint.intensity =0; + average->push_back(averagePoint); + continue; + } + + pcl::PointXYZI searchPoint; + searchPoint.x = allClouds[0]->points[i].x; + searchPoint.y = allClouds[0]->points[i].y; + searchPoint.z = allClouds[0]->points[i].y; + searchPoint.intensity = allClouds[0]->points[i].intensity; + + averagePoint.x = searchPoint.x; + averagePoint.y = searchPoint.y; + averagePoint.z = searchPoint.z; + averagePoint.intensity = searchPoint.intensity; + + cout << "[" << i << "] (" << searchPoint.x << "," << searchPoint.y << "," << searchPoint.z << ") > "; + + for(int k = 1; k< allClouds.size();k++) + { + std::vector pointIndex(1); + std::vector pointDistance(1); + + if(kdtree[k].nearestKSearch(searchPoint, 1, pointIndex, pointDistance) > 0) + { + cout << pointDistance[0] << ", "; + averagePoint.x += allClouds[k]->points[pointIndex[0]].x; + averagePoint.y += allClouds[k]->points[pointIndex[0]].y; + averagePoint.z += allClouds[k]->points[pointIndex[0]].z; + averagePoint.intensity += allClouds[k]->points[pointIndex[0]].intensity; + } + else + { + averagePoint.x += searchPoint.x; + averagePoint.y += searchPoint.y; + averagePoint.z += searchPoint.z; + averagePoint.intensity += searchPoint.intensity; + } + } + + averagePoint.x /= allClouds.size(); + averagePoint.y /= allClouds.size(); + averagePoint.z /= allClouds.size(); + averagePoint.intensity /= allClouds.size(); + average->push_back(averagePoint); + + cout << " < (" << averagePoint.x << "," << averagePoint.y << "," << averagePoint.z << ")" << endl; + } +} + +void AerobicVision::Test2() +{ + cout << "Starting..." << endl; + + usleep(500000); + + std::vector::Ptr> allClouds; + + for(int i = 0; i< 4; i++) + { + usleep(200000); + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + } + usleep(500000); + + pcl::PointCloud::Ptr cloudIn = img->Cloud()->makeShared(); + allClouds.push_back(cloudIn); + std::cout << "Taken pic " << i << endl; + } + + //New cloud + pcl::PointCloud::Ptr average (new pcl::PointCloud); + + average->width = allClouds[0]->width; + average->height = allClouds[0]->height; + average->points.resize(allClouds[0]->points.size()); + + //Average all clouds + AverageCloudsKdTree(average, allClouds); + + //PrintCloud(average); + + + //Visualize cloud + pcl::visualization::CloudViewer viewer("Cloud Viewer"); + viewer.showCloud(average); + + + cout << "Press Enter" << endl; + cin.get(); + + return; +} + + + +/////////////////////////////////////////////////////// +//Projectgroep 2 implementatie +/////////////////////////////////////////////////////// + +pcl::PointXYZ AerobicVision::runAlgorithm(double &rotation, pcl::PointCloud::Ptr &showcloud) +{ + +//logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg =std::make_shared(cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return pcl::PointXYZ(0,0,0); + } + + //3D pointcloud + pcl::PointCloud::Ptr xfilt (new pcl::PointCloud); + pcl::PointCloud::Ptr yfilt (new pcl::PointCloud); + pcl::PointCloud::Ptr zfilt (new pcl::PointCloud); + + //convert o3d3xx cloud to PointXYZ + pcl::PointCloud::Ptr temp_cloud = img->Cloud(); + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + pcl::PointCloud::Ptr segment (new pcl::PointCloud); + copyCloud(temp_cloud,cloud); + pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud); + pcl::PointCloud::Ptr vox_cloud (new pcl::PointCloud); + + // cut the z axis of pcl + pcl::PassThrough passz; + passz.setInputCloud (cloud); + passz.setFilterFieldName ("z"); + passz.setFilterLimits (-0.125,0.105); + passz.filter (*zfilt); + + // cut the y axis of pcl + pcl::PassThrough passy; + passy.setInputCloud (zfilt); + passy.setFilterFieldName ("y"); + passy.setFilterLimits (-0.1,0.075); + passy.filter (*yfilt); + + // Create the filtering object + pcl::StatisticalOutlierRemoval sor; + sor.setInputCloud (yfilt); + sor.setMeanK (100); + sor.setStddevMulThresh (0.5); + sor.filter (*cloud_filtered); + + // Create the filtering object + pcl::VoxelGrid vox; + pcl::PointCloud::Ptr cluster_cloud (new pcl::PointCloud); + vox.setInputCloud (cloud_filtered); + vox.setLeafSize (0.001f, 0.001f, 0.001f); + vox.filter (*vox_cloud); + + // cut the x axis of pcl + pcl::PassThrough passx; + passx.setInputCloud (vox_cloud); + passx.setFilterFieldName ("x"); + passx.setFilterLimits (0.3, .63);//0.3,0.63 + passx.filter (*xfilt); + /* + pcl::visualization::CloudViewer viewer("Filtered cloud"); + viewer.showCloud(xfilt); + + while (!viewer.wasStopped ()) + { + + }*/ + + vector points; + if(xfilt->points.size()>0) + { + GetObject(xfilt, points); + } + else + { + return pcl::PointXYZ(1000,1000,1000); + } + + showcloud = xfilt; + + + rotation = GetRotation(xfilt,points); +/* + std::vector indices; + std::vector::Ptr> filteredCloud; + pcl::PointCloud::Ptr color (new pcl::PointCloud); + //Eigen::Vector4f min_pt,max_pt; + //pcl::getMinMax3D(xfilt,indices,min_pt,max_pt); + getClusters(xfilt, indices, color); + + for(int i = 0; i < indices.size();i++) + { + pcl::PointCloud::Ptr cld (new pcl::PointCloud); + filteredCloud.push_back(cld); + + for(int k = 0; k < indices[i].indices.size(); k++) + { + filteredCloud[i]->push_back(xfilt->points[ indices[i].indices[k] ]); + } + } + + FeatureExtractor(filteredCloud); + + + /* + for(int i = 0; i < filteredCloud.size(); i++) + { + cout << "Opening viewer for cloud " << to_string(i) << "/" << filteredCloud.size() << endl; + + pcl::visualization::CloudViewer viewer("Filtered cloud #" + to_string(i)); + viewer.showCloud(filteredCloud[i]); + + usleep(1000000); + + cout << "Press enter to continue" << endl; + + while (!viewer.wasStopped ()){} + + //pcl::visualization::PCLVisualizer viewer ("Filtered cloud #" + to_string(i)); + //viewer.addPointCloud(filteredCloud[i],"cloud"); + + //while (!viewer.wasStopped ()) + //{ + // viewer.spinOnce(100); + //} + } + + cin.ignore(); + */ + + return points[2]; +} +double AerobicVision::GetRotation(pcl::PointCloud::Ptr &in,vector &points) +{ + + Eigen::Vector3f major,middle,minor; + double rotation; + pcl::MomentOfInertiaEstimation feature_extractor; + feature_extractor.setInputCloud(in); + feature_extractor.compute(); + feature_extractor.getEigenVectors (major,middle,minor); + float length,height; + length = points[1].y - points[0].y; + height = points[1].z - points[0].z; + bool useMajorVector = false; + if(height > length) + { + if(height < 0.04) + { + useMajorVector = true; + } + } + else + { + if(length > height) + { + if(length < 0.04) + { + useMajorVector = true; + } + } + } + if(useMajorVector) + { + + rotation = acos(major[2]); + } + else + { + + rotation = acos(middle[2]); + } + cout << setprecision(15) << rotation << endl; + //cout << major[0] << "," << major[1] << "," << major[2] << endl; + //cout << middle[0] << "," << middle[1] << "," << middle[2] << endl; + //cout<< rotation.x <<"," << rotation.y << "," << rotation.z << endl; + + return rotation; +} +bool AerobicVision::GetObject(pcl::PointCloud::Ptr &in, vector &out) +{ + float treshold = 0.01f; + pcl::PointXYZ highPoint = pcl::PointXYZ(1000,1000,1000); + pcl::PointXYZ AA,BB; + pcl::PointCloud::Ptr toFilter(new pcl::PointCloud); + for(int i = 0; i< in->points.size();i++) + { + if(in->points[i].x < highPoint.x) + { + highPoint = in->points[i]; + } + } + // cut the z axis of pcl + + + // cut the x axis of pcl + pcl::PassThrough passx; + passx.setInputCloud (in); + passx.setFilterFieldName ("x"); + passx.setFilterLimits (highPoint.x-treshold, highPoint.x +treshold);//0.3,0.63 + passx.filter (*toFilter); + + std::vector::Ptr> clusters; + pcl::PointCloud::Ptr color (new pcl::PointCloud); + getClusters(toFilter, clusters, color); + + AA = clusters[0]->points[0]; + BB = clusters[0]->points[0]; + +/* + pcl::visualization::CloudViewer viewer("Filtered cloud #"); + viewer.showCloud(clusters[0]); + + while (!viewer.wasStopped ()) + { + + } +*/ + + for(pcl::PointXYZ point : clusters[0]->points) + { + if(point.y < AA.y) + { + AA.y = point.y; + } + if(point.y > BB.y) + { + BB.y = point.y; + } + if(point.z < AA.z) + { + AA.z = point.z; + } + if(point.z> BB.z) + { + BB.z = point.z; + } + } + + out.push_back(AA); + out.push_back(BB); + highPoint.y = (AA.y+BB.y)/2; + highPoint.z = (AA.z+BB.z)/2; + out.push_back(highPoint); + + std::cout << "Found AA " << AA.x << ", " << AA.y << ", " << AA.z << endl; + std::cout << "Found BB " << BB.x << ", " << BB.y << ", " << BB.z << endl; + std::cout << "Found CC " << highPoint.x << ", " << highPoint.y << ", " << highPoint.z << endl; + + return true; +} + +void AerobicVision::copyCloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out) +{ + for(int i = 0; i< in->points.size(); i++) + { + pcl::PointXYZ p = pcl::PointXYZ(in->points[i].x, in->points[i].y, in->points[i].z); + out->push_back(p); + } +} + +void AerobicVision::getClusters(pcl::PointCloud::Ptr &in, std::vector::Ptr> &out, pcl::PointCloud::Ptr &colorout) +{ + // find the normals + pcl::search::Search::Ptr tree = boost::shared_ptr > (new pcl::search::KdTree); + pcl::PointCloud::Ptr normals (new pcl::PointCloud); + tree->setInputCloud(in); + + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (in); + //normal_estimator.setKSearch (50); + normal_estimator.setRadiusSearch (0.001); + normal_estimator.compute (*normals); + + // region growing + pcl::RegionGrowing reg; + std::vector indices; + + reg.setMinClusterSize (25); + reg.setMaxClusterSize (2000); + reg.setSearchMethod (tree); + reg.setNumberOfNeighbours (15); + reg.setInputCloud (in); + //reg.setIndices (indices); + reg.setInputNormals (normals); + reg.setSmoothnessThreshold (2.0 / 180.0 * M_PI);// graden naar radial + reg.setCurvatureThreshold (1.0); + reg.extract (indices); + + colorout = reg.getColoredCloud(); + + for(int i = 0; i < indices.size();i++) + { + pcl::PointCloud::Ptr cld (new pcl::PointCloud); + out.push_back(cld); + + for(int k = 0; k < indices[i].indices.size(); k++) + { + out[i]->push_back(in->points[ indices[i].indices[k] ]); + } + } +} + +bool AerobicVision::FeatureExtractor(std::vector::Ptr> &in) +{ + for(int i = 0; i < in.size()-1; i++) + { + + cout << "Showing object " << i << endl; + + pcl::MomentOfInertiaEstimation feature_extractor; + feature_extractor.setInputCloud (in[i]); + feature_extractor.compute (); + + std::vector moment_of_inertia; + std::vector eccentricity; + pcl::PointXYZ min_point_AABB; + pcl::PointXYZ max_point_AABB; + pcl::PointXYZ min_point_OBB; + pcl::PointXYZ max_point_OBB; + pcl::PointXYZ position_OBB; + Eigen::Matrix3f rotational_matrix_OBB; + float major_value, middle_value, minor_value; + Eigen::Vector3f major_vector, middle_vector, minor_vector; + Eigen::Vector3f mass_center; + + feature_extractor.getMomentOfInertia (moment_of_inertia); + feature_extractor.getEccentricity (eccentricity); + feature_extractor.getAABB (min_point_AABB, max_point_AABB); + feature_extractor.getOBB (min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB); + feature_extractor.getEigenValues (major_value, middle_value, minor_value); + feature_extractor.getEigenVectors (major_vector, middle_vector, minor_vector); + feature_extractor.getMassCenter (mass_center); + + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + viewer->addPointCloud (in[i], "sample cloud"); + viewer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB"); + + Eigen::Vector3f position (position_OBB.x, position_OBB.y, position_OBB.z); + Eigen::Quaternionf quat (rotational_matrix_OBB); + viewer->addCube (position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB"); + + pcl::PointXYZ center (mass_center (0), mass_center (1), mass_center (2)); + pcl::PointXYZ x_axis (major_vector (0) + mass_center (0), major_vector (1) + mass_center (1), major_vector (2) + mass_center (2)); + pcl::PointXYZ y_axis (middle_vector (0) + mass_center (0), middle_vector (1) + mass_center (1), middle_vector (2) + mass_center (2)); + pcl::PointXYZ z_axis (minor_vector (0) + mass_center (0), minor_vector (1) + mass_center (1), minor_vector (2) + mass_center (2)); + viewer->addLine (center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector"); + viewer->addLine (center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector"); + viewer->addLine (center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector"); + + while(!viewer->wasStopped()) + { + viewer->spinOnce (100); + boost::this_thread::sleep (boost::posix_time::microseconds (100000)); + } + } + + return true; +} \ No newline at end of file diff --git a/Vision/AerobicVision.h b/Vision/AerobicVision.h new file mode 100644 index 0000000..d93e5a6 --- /dev/null +++ b/Vision/AerobicVision.h @@ -0,0 +1,69 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +typedef pcl::PointXYZI PointTypeIO; +typedef pcl::PointXYZINormal PointTypeFull; + +struct objectData { + pcl::PointXYZ xyz; + float pitch; + float yaw; + float rx, ry, rz; +}; + +class AerobicVision{ + private: + o3d3xx::Camera::Ptr cam; + o3d3xx::ImageBuffer::Ptr img; + o3d3xx::FrameGrabber::Ptr fg; + public: + AerobicVision(std::string IP); + pcl::PointCloud::Ptr PassFilterPCD(pcl::PointCloud::Ptr cloudIn, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax); + pcl::PointCloud::Ptr convertCloudXYZItoXYZ(pcl::PointCloud cloudIn); + pcl::PointXYZ Calibrate(int samples); + std::vector RegionGrowing(); + pcl::PointXYZ ToRotVector(pcl::PointXYZ rpy); + //bool wayToSort(pcl::PointXYZ i, pcl::PointXYZ j); + pcl::PointCloud AverageCloud(std::vector::Ptr> totalList); + void PrintClouds(std::vector::Ptr> totalList); + void PrintCloud(pcl::PointCloud::Ptr cloud); + void Test(); + void AverageCloudsKdTree(pcl::PointCloud::Ptr &average, std::vector::Ptr> allClouds); + void Test2(); + pcl::PointXYZ runAlgorithm(double&, pcl::PointCloud::Ptr &showcloud); + void copyCloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out); + void getClusters(pcl::PointCloud::Ptr &in, std::vector::Ptr> &out, pcl::PointCloud::Ptr &colorout); + bool GetObject(pcl::PointCloud::Ptr &in, vector &out); + bool FeatureExtractor(std::vector::Ptr> &in); + double GetRotation(pcl::PointCloud::Ptr &in,vector &points); +}; diff --git a/Vision/CMakeLists.txt b/Vision/CMakeLists.txt new file mode 100644 index 0000000..87a8854 --- /dev/null +++ b/Vision/CMakeLists.txt @@ -0,0 +1,75 @@ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +project(cloud_viewer) + +set(CMAKE_MODULE_PATH + ${CMAKE_SOURCE_DIR}/cmake/modules + ${CMAKE_MODULE_PATH} + ) + +################################################ +## Bring in dependent projects +################################################ +find_package(o3d3xx_camera REQUIRED) +find_package(o3d3xx_framegrabber REQUIRED) +find_package(o3d3xx_image REQUIRED) +find_package(PCL 1.7.1 REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Boost REQUIRED COMPONENTS system) + +find_library(LIB_boost_system NAMES boost_system) + +################################################ +## Manage our compiler and linker flags +################################################ +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +include_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ) +link_directories( + ${O3D3XX_IMAGE_LIBRARY_DIR} + ${O3D3XX_CAMERA_LIBRARY_DIR} + ${O3D3XX_FRAMEGRABBER_LIBRARY_DIR} + ${PCL_LIBRARY_DIRS} + ${OpenCV_LIBRARY_DIRS} + ) +add_definitions( + ${PCL_DEFINITIONS} + ${OpenCV_DEFINITIONS} + ) +add_library(visionlib + ${CMAKE_SOURCE_DIR}/AerobicVision.cpp +) +target_link_libraries (visionlib ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + +## Build paths - add example files here + +## example segmentation +add_executable (main main.cpp) +target_link_libraries (main ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + visionlib) + +##add_executable (AerobicVision AerobicVision.cpp) +##target_link_libraries (AerobicVision ${O3D3XX_CAMERA_LIBRARIES} +## ${O3D3XX_FRAMEGRABBER_LIBRARIES} +## ${O3D3XX_IMAGE_LIBRARIES} +## ${PCL_LIBRARIES} +## ${OpenCV_LIBRARIES}) + + + + diff --git a/Vision/examples/3d_test.cpp b/Vision/examples/3d_test.cpp new file mode 100644 index 0000000..1f58d93 --- /dev/null +++ b/Vision/examples/3d_test.cpp @@ -0,0 +1,131 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" + +pcl::PointCloud::Ptr convertCloud(pcl::PointCloud::Ptr inputCloud); + +int main(int argc, const char **argv) +{ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg = + std::make_shared( + cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + //get frame from camera + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return -1; + } + + //3D pointcloud + + //convert o3d3xx cloud to PointXYZI + pcl::PointCloud::Ptr cloud = img->Cloud(); + + //init cloud viewer + //pcl::visualization::CloudViewer cloudViewer("Cloud Viewer"); + //show in cloud viewer + //cloudViewer.showCloud(cloud); + + + // ---------------------------------------------------------------- + // --------Create PCL visualizer with paramaters------------------- + // ---------------------------------------------------------------- + pcl::visualization::PCLVisualizer viewer("3D Viewer"); + viewer.setCameraPosition(0,0,0,-1,0,0); + viewer.setBackgroundColor(0,0,0); + //viewer.addPointCloud(cloud,"Sample cloud"); + //viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Sample cloud"); + viewer.addCoordinateSystem(1.0,0,0,0,0); + viewer.initCameraParameters(); + // ---------------------------------------------------------------- + // -----Calculate surface normals with a search radius of 0.05----- + // ---------------------------------------------------------------- + pcl::NormalEstimation ne; + ne.setInputCloud (cloud); + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree ()); + ne.setSearchMethod (tree); + pcl::PointCloud::Ptr cloud_normals(new pcl::PointCloud); + ne.setRadiusSearch (0.05); + ne.compute (*cloud_normals); + cout << "Found normals: " << cloud_normals->size() << endl; + //display normals + //viewer.addPointCloudNormals (cloud, cloud_normals, 10, 0.05, "normals1", 0); + + + //--------rough surface calculation + pcl::PointCloud::Ptr cloudXYZ(new pcl::PointCloud); + cloudXYZ = convertCloud(img->Cloud()); + cout << "Size: " << cloudXYZ->size() << endl; + pcl::PointCloud::Ptr surface_normals(new pcl::PointCloud); + pcl::NormalEstimation n; + pcl::search::KdTree::Ptr treeXYZ(new pcl::search::KdTree ()); + treeXYZ->setInputCloud(cloudXYZ); + n.setInputCloud(cloudXYZ); + n.setSearchMethod(treeXYZ); + n.setRadiusSearch(0.05); + n.compute(*surface_normals); + //cloud concatenate + pcl::PointCloud::Ptr cloud_surface ( new pcl::PointCloud); + pcl::concatenateFields(*cloudXYZ, *surface_normals, *cloud_surface); + //search tree + pcl::search::KdTree::Ptr normaltree (new pcl::search::KdTree); + normaltree->setInputCloud(cloud_surface); + //triangulate polygons + pcl::GreedyProjectionTriangulation gp3; + pcl::PolygonMesh triangles; + gp3.setSearchRadius(0.5); + gp3.setMu(2.5); + gp3.setMaximumNearestNeighbors(100); + gp3.setMaximumSurfaceAngle(M_PI/4); + gp3.setMinimumAngle(M_PI/18); + gp3.setMaximumAngle(2*M_PI/3); + gp3.setNormalConsistency(false); + //calculate + gp3.setInputCloud(cloud_surface); + gp3.setSearchMethod(normaltree); + gp3.reconstruct(triangles); + //display + viewer.addPolygonMesh(triangles,"surfaces", 0); + //wait to display images/pointcloud + while (!viewer.wasStopped ()) + { + viewer.spinOnce (100); + } + cv::waitKey(0); + return 0; +} + +pcl::PointCloud::Ptr convertCloud(pcl::PointCloud::Ptr inputCloud){ + pcl::PointCloud::Ptr cloud = inputCloud; + pcl::PointCloud::Ptr newcloud(new pcl::PointCloud); + + newcloud->width = cloud->width; + newcloud->height = cloud->height; + newcloud->points.resize(cloud->points.size()); + + for(std::size_t i = 0; i < cloud->points.size(); i++) { + newcloud->points[i].x = cloud->points[i].x; + newcloud->points[i].y = cloud->points[i].y; + newcloud->points[i].z = cloud->points[i].z; + } + + return newcloud; +} diff --git a/Vision/examples/3d_viewer.cpp b/Vision/examples/3d_viewer.cpp new file mode 100644 index 0000000..062b9e5 --- /dev/null +++ b/Vision/examples/3d_viewer.cpp @@ -0,0 +1,357 @@ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" + +#include + +void copyCloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out); +void testPlanarSegmentation(pcl::PointCloud::Ptr &in); +void testRegionGrowing(pcl::PointCloud::Ptr &in); +void normal_est(pcl::PointCloud::Ptr &in); +pcl::PointXYZ findHighestPoint(pcl::PointCloud::Ptr &in); +//void substract_cloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out); + +int main(int argc, const char **argv) +{ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg =std::make_shared(cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return -1; + } + + //3D pointcloud + pcl::PointCloud::Ptr xfilt (new pcl::PointCloud); + pcl::PointCloud::Ptr yfilt (new pcl::PointCloud); + pcl::PointCloud::Ptr zfilt (new pcl::PointCloud); + + //convert o3d3xx cloud to PointXYZ + pcl::PointCloud::Ptr temp_cloud = img->Cloud(); + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + pcl::PointCloud::Ptr segment (new pcl::PointCloud); + copyCloud(temp_cloud,cloud); + pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud); + pcl::PointCloud::Ptr vox_cloud (new pcl::PointCloud); + + + + // cut the z axis of pcl + pcl::PassThrough passz; + passz.setInputCloud (cloud); + passz.setFilterFieldName ("z"); + passz.setFilterLimits (-0.125,0.105); + passz.filter (*zfilt); + + // cut the y axis of pcl + pcl::PassThrough passy; + passy.setInputCloud (zfilt); + passy.setFilterFieldName ("y"); + passy.setFilterLimits (-0.1,0.075); + passy.filter (*yfilt); + + // Create the filtering object + pcl::StatisticalOutlierRemoval sor; + sor.setInputCloud (yfilt); + sor.setMeanK (100); + sor.setStddevMulThresh (0.5); + sor.filter (*cloud_filtered); + + // Create the filtering object + pcl::VoxelGrid vox; + pcl::PointCloud::Ptr cluster_cloud (new pcl::PointCloud); + vox.setInputCloud (cloud_filtered); + vox.setLeafSize (0.001f, 0.001f, 0.001f); + vox.filter (*vox_cloud); + + //pcl::PCDWriter writer; + pcl::PCDReader reader; + //writer.write("bottom.pcd", *vox_cloud, false); // 1x + + pcl::PointCloud::Ptr read_cloud (new pcl::PointCloud); + reader.read("bottom.pcd", *read_cloud); + + pcl::PointXYZ point = findHighestPoint(read_cloud); + cout <<"point x: "<< point.x <<" point y: " < passx; + passx.setInputCloud (vox_cloud); + passx.setFilterFieldName ("x"); + passx.setFilterLimits (0.3, .63);//0.3,0.63 + passx.filter (*xfilt); + + normal_est(xfilt); + //testPlanarSegmentation(vox_cloud); + //substract_cloud(vox_cloud,read_cloud); + + //pcl::visualization::CloudViewer viewer("Cloud Viewer"); + //viewer.showCloud(xfilt); + + cv::waitKey(0); + return 0; +} + +void copyCloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out) +{ + for(int i = 0; i< in->points.size(); i++) + { + pcl::PointXYZ p = pcl::PointXYZ(in->points[i].x, in->points[i].y, in->points[i].z); + out->push_back(p); + } +} + +pcl::PointXYZ findHighestPoint(pcl::PointCloud::Ptr &in) +{ + pcl::PointXYZ fp; + + for(pcl::PointXYZ p : in->points) + { + if(p.x > fp.x) + fp = pcl::PointXYZ(p.x, p.y, p.z); + } + + return fp; +} + +//void substract_cloud(pcl::PointCloud::Ptr &in, pcl::PointCloud::Ptr &out) +//{ +// return 0; +//} +void testPlanarSegmentation(pcl::PointCloud::Ptr &in) +{ + pcl::PointCloud::Ptr cloud_f (new pcl::PointCloud); + + // PLANAR SEGMENTATION + // Create the segmentation object + pcl::SACSegmentation seg; + pcl::PointIndices::Ptr inliers (new pcl::PointIndices); + pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); + pcl::PointCloud::Ptr cloud_plane (new pcl::PointCloud ()); + + // Optional + seg.setOptimizeCoefficients (true); + // Mandatory + seg.setModelType (pcl::SACMODEL_PLANE); + seg.setMethodType (pcl::SAC_RANSAC); + seg.setMaxIterations (100); + seg.setDistanceThreshold (0.001); + + /* + seg.setInputCloud (in); + seg.segment (*inliers, *coefficients); + cout << inliers << " - " << coefficients <points.size (); + while (in->points.size () > 0.3 * nr_points) + { + // Segment the largest planar component from the remaining cloud + seg.setInputCloud (in); + seg.segment (*inliers, *coefficients); + if (inliers->indices.size () == 0) + { + std::cout << "Could not estimate a planar model for the given dataset." << std::endl; + break; + } + + // Extract the planar inliers from the input cloud + pcl::ExtractIndices extract; + extract.setInputCloud (in); + extract.setIndices (inliers); + extract.setNegative (false); + + // Get the points associated with the planar surface + extract.filter (*cloud_plane); + std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl; + + // Remove the planar inliers, extract the rest + extract.setNegative (false); + extract.filter (*cloud_f); + *in = *cloud_f; + } + + *cloud_plane = *in; + + // Creating the KdTree object for the search method of the extraction + cout << " Clustersize: " << cloud_plane->points.size() << endl; + pcl::search::KdTree::Ptr boom (new pcl::search::KdTree); + //pcl::search::Search::Ptr boom = boost::shared_ptr > (new pcl::search::KdTree); + boom->setInputCloud(cloud_plane); + + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance (0.2); // 1cm + ec.setMinClusterSize (10); + ec.setMaxClusterSize (1000); + ec.setSearchMethod (boom); + ec.setInputCloud (cloud_plane); + ec.extract (cluster_indices); + + /* + //SUBSTRACT PCL METHOD + pcl::PointIndices::Ptr fInliers (new pcl::PointIndices); + + //Extract fInliers from the input cloud + pcl::ExtractIndices extract; + extract.setInputCloud(cloud_plane); + extract.setIndices (fInliers); + //extract.setNegative (false); //Removes part_of_cloud but retain the original full_cloud + extract.setNegative (false); // Removes part_of_cloud from full cloud and keep the rest + extract.filter (*in); + */ + + //viewer.addPointCloud(in,"cloud"); + /* + int j = 0; + for (std::vector::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it) + { + pcl::PointCloud::Ptr cloud_cluster (new pcl::PointCloud); + for (std::vector::const_iterator pit = it->indices.begin (); pit != it->indices.end (); ++pit) + cloud_cluster->points.push_back (cloud_filtered->points[*pit]); //* + cloud_cluster->width = cloud_cluster->points.size (); + cloud_cluster->height = 1; + cloud_cluster->is_dense = true; + }*/ + + /* + + + + //pcl::visualization::PCLVisualizer viewer ("Cluster viewer"); + + while (!viewer.wasStopped ()) + { + viewer.spinOnce(100); + } + */ + cv::waitKey(0); + return; +} + +void normal_est(pcl::PointCloud::Ptr &in) +{ + // find the normals + pcl::search::Search::Ptr tree = boost::shared_ptr > (new pcl::search::KdTree); + pcl::PointCloud::Ptr normals (new pcl::PointCloud); + tree->setInputCloud(in); + + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (in); + //normal_estimator.setKSearch (50); + normal_estimator.setRadiusSearch (0.02); + normal_estimator.compute (*normals); + + // region growing + pcl::RegionGrowing reg; + std::vector clusters; + + reg.setMinClusterSize (10); + reg.setMaxClusterSize (1000); + reg.setSearchMethod (tree); + reg.setNumberOfNeighbours (50); + reg.setInputCloud (in); + //reg.setIndices (indices); + reg.setInputNormals (normals); + reg.setSmoothnessThreshold (2.0 / 180.0 * M_PI);// graden naar radial + reg.setCurvatureThreshold (5.0); + reg.extract (clusters); + + pcl::PointCloud ::Ptr colored_cloud = reg.getColoredCloud (); + pcl::visualization::PCLVisualizer viewer ("Cloud viewer"); + viewer.addPointCloud(colored_cloud,"cloud"); + viewer.addPointCloudNormals(in, normals, 100, 0.01, "normals",0); + + while (!viewer.wasStopped ()) + { + viewer.spinOnce(100); + } + + +} + +void testRegionGrowing(pcl::PointCloud::Ptr &in) +{ + //pcl::visualization::CloudViewer cviewer("Cloud Viewer"); + //cviewer.showCloud(vox_cloud); + + /* + // find the normals + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (vox_cloud); + normal_estimator.setKSearch (50); + normal_estimator.compute (*normals); + + // region growing + pcl::RegionGrowing reg; + std::vector clusters; + + reg.setMinClusterSize (10); + reg.setMaxClusterSize (1000); + reg.setSearchMethod (tree); + reg.setNumberOfNeighbours (50); + reg.setInputCloud (vox_cloud); + //reg.setIndices (indices); + reg.setInputNormals (normals); + reg.setSmoothnessThreshold (2.0 / 180.0 * M_PI);// graden naar radial + reg.setCurvatureThreshold (5.0); + reg.extract (clusters); + + + */ + //pcl::visualization::CloudViewer viewer("Cloud Viewer"); + //viewer.showCloud(cloud_filtered); + + //pcl::PointCloud ::Ptr vox_cloud = seg.getInputNormals (); + //pcl::PointCloud ::Ptr vox_cloud = ec.getInputCloud(); + pcl::visualization::PCLVisualizer viewer ("Cluster viewer"); + //viewer.addPointCloud(vox_cloud,"cloud"); + //viewer.addPointCloud(segview,"cloud"); + + //viewer.addPointCloudNormals(colored_cloud, normals, 10, 0.05, "normals",0); + + while (!viewer.wasStopped ()) + { + viewer.spinOnce(100); + } +} \ No newline at end of file diff --git a/Vision/examples/CMakeLists.txt b/Vision/examples/CMakeLists.txt new file mode 100644 index 0000000..75dad3c --- /dev/null +++ b/Vision/examples/CMakeLists.txt @@ -0,0 +1,98 @@ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +project(cloud_viewer) + +set(CMAKE_MODULE_PATH + ${CMAKE_SOURCE_DIR}/../cmake/modules + ${CMAKE_MODULE_PATH} + ) + +################################################ +## Bring in dependent projects +################################################ +find_package(o3d3xx_camera REQUIRED) +find_package(o3d3xx_framegrabber REQUIRED) +find_package(o3d3xx_image REQUIRED) +find_package(PCL 1.7.1 REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Boost REQUIRED COMPONENTS system) + +find_library(LIB_boost_system NAMES boost_system) + +################################################ +## Manage our compiler and linker flags +################################################ +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +include_directories( + ${O3D3XX_IMAGE_INCLUDE_DIRS} + ${O3D3XX_CAMERA_INCLUDE_DIRS} + ${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ) +link_directories( + ${O3D3XX_IMAGE_LIBRARY_DIR} + ${O3D3XX_CAMERA_LIBRARY_DIR} + ${O3D3XX_FRAMEGRABBER_LIBRARY_DIR} + ${PCL_LIBRARY_DIRS} + ${OpenCV_LIBRARY_DIRS} + ) +add_definitions( + ${PCL_DEFINITIONS} + ${OpenCV_DEFINITIONS} + ) + +## Build paths - add example files here + +## example image viewer +add_executable (DisplayImage DisplayImage.cpp ) +target_link_libraries( DisplayImage ${OpenCV_LIBS} ) +## example cloud viewer +add_executable (cloud_viewer_ex cloud_viewer_example.cpp) +target_link_libraries (cloud_viewer_ex ${PCL_LIBRARIES}) +## example pclvisualizer + +add_executable (pclvis pclvisualizer.cpp) +target_link_libraries (pclvis ${PCL_LIBRARIES}) +## example live viewer +add_executable (live_viewer live_viewer.cpp) +target_link_libraries (live_viewer ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES}) +## 3d viewer +add_executable (3d_viewer 3d_viewer.cpp) +target_link_libraries (3d_viewer ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES}) +## example segmentation +add_executable (segmentation segmentation.cpp) +target_link_libraries (segmentation ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES}) +## example segmentation +add_executable (3d_test 3d_test.cpp) +target_link_libraries (3d_test ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES}) +## cec +add_executable (conditional_euclidean_clustering conditional_euclidean_clustering.cpp) +target_link_libraries (conditional_euclidean_clustering ${PCL_LIBRARIES}) + +#rgs +add_executable (region_growing_segmentation region_growing_segmentation.cpp) +target_link_libraries (region_growing_segmentation ${O3D3XX_CAMERA_LIBRARIES} + ${O3D3XX_FRAMEGRABBER_LIBRARIES} + ${O3D3XX_IMAGE_LIBRARIES} + ${PCL_LIBRARIES}) + + + diff --git a/Vision/examples/DisplayImage.cpp b/Vision/examples/DisplayImage.cpp new file mode 100644 index 0000000..8410b35 --- /dev/null +++ b/Vision/examples/DisplayImage.cpp @@ -0,0 +1,28 @@ +#include +#include + +using namespace cv; + +int main(int argc, char** argv ) +{ + if ( argc != 2 ) + { + printf("usage: DisplayImage.out \n"); + return -1; + } + + Mat image; + image = imread( argv[1], 1 ); + + if ( !image.data ) + { + printf("No image data \n"); + return -1; + } + namedWindow("Display Image", WINDOW_AUTOSIZE ); + imshow("Display Image", image); + + waitKey(0); + + return 0; +} diff --git a/Vision/examples/cloud_viewer_example.cpp b/Vision/examples/cloud_viewer_example.cpp new file mode 100644 index 0000000..2c4a7b6 --- /dev/null +++ b/Vision/examples/cloud_viewer_example.cpp @@ -0,0 +1,69 @@ +#include +#include +#include +#include +#include + +int user_data; + +void +viewerOneOff (pcl::visualization::PCLVisualizer& viewer) +{ + viewer.setBackgroundColor (1.0, 0.5, 1.0); + pcl::PointXYZ o; + o.x = 1.0; + o.y = 0; + o.z = 0; + viewer.addSphere (o, 0.25, "sphere", 0); + std::cout << "i only run once" << std::endl; + +} + +void +viewerPsycho (pcl::visualization::PCLVisualizer& viewer) +{ + static unsigned count = 0; + std::stringstream ss; + ss << "Once per viewer loop: " << count++; + viewer.removeShape ("text", 0); + viewer.addText (ss.str(), 200, 300, "text", 0); + + //FIXME: possible race condition here: + user_data++; +} + +int +main (int argc, char** argv) +{ + if (pcl::console::find_argument (argc, argv, "-f") >= 0) + { + cout << "File: " << argv[2] << endl; + } else { + cout << "Please input file name using -f example.pcd" << endl; + return 0; + } + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + pcl::io::loadPCDFile (argv[2], *cloud); + + pcl::visualization::CloudViewer viewer("Cloud Viewer"); + + //blocks until the cloud is actually rendered + viewer.showCloud(cloud); + + //use the following functions to get access to the underlying more advanced/powerful + //PCLVisualizer + + //This will only get called once + viewer.runOnVisualizationThreadOnce (viewerOneOff); + + //This will get called once per visualization iteration + viewer.runOnVisualizationThread (viewerPsycho); + while (!viewer.wasStopped ()) + { + //you can also do cool processing here + //FIXME: Note that this is running in a separate thread from viewerPsycho + //and you should guard against race conditions yourself... + user_data++; + } + return 0; +} diff --git a/Vision/examples/conditional_euclidean_clustering.cpp b/Vision/examples/conditional_euclidean_clustering.cpp new file mode 100644 index 0000000..0d02a0c --- /dev/null +++ b/Vision/examples/conditional_euclidean_clustering.cpp @@ -0,0 +1,120 @@ +#include +#include +#include + +#include +#include +#include + +typedef pcl::PointXYZI PointTypeIO; +typedef pcl::PointXYZINormal PointTypeFull; + +bool +enforceIntensitySimilarity (const PointTypeFull& point_a, const PointTypeFull& point_b, float squared_distance) +{ + if (fabs (point_a.intensity - point_b.intensity) < 5.0f) + return (true); + else + return (false); +} + +bool +enforceCurvatureOrIntensitySimilarity (const PointTypeFull& point_a, const PointTypeFull& point_b, float squared_distance) +{ + Eigen::Map point_a_normal(point_a.normal); + Eigen::Map point_b_normal(point_b.normal); + if (fabs (point_a.intensity - point_b.intensity) < 5.0f) + return (true); + if (fabs (point_a_normal.dot (point_b_normal)) < 0.05) + return (true); + return (false); +} + +bool +customRegionGrowing (const PointTypeFull& point_a, const PointTypeFull& point_b, float squared_distance) +{ + Eigen::Map point_a_normal(point_a.normal); + Eigen::Map point_b_normal(point_b.normal); + if (squared_distance < 10000) + { + if (fabs (point_a.intensity - point_b.intensity) < 8.0f) + return (true); + if (fabs (point_a_normal.dot (point_b_normal)) < 0.06) + return (true); + } + else + { + if (fabs (point_a.intensity - point_b.intensity) < 3.0f) + return (true); + } + return (false); +} + +int +main (int argc, char** argv) +{ + // Data containers used + pcl::PointCloud::Ptr cloud_in (new pcl::PointCloud), cloud_out (new pcl::PointCloud); + pcl::PointCloud::Ptr cloud_with_normals (new pcl::PointCloud); + pcl::IndicesClustersPtr clusters (new pcl::IndicesClusters), small_clusters (new pcl::IndicesClusters), large_clusters (new pcl::IndicesClusters); + pcl::search::KdTree::Ptr search_tree (new pcl::search::KdTree); + pcl::console::TicToc tt; + + // Load the input point cloud + std::cerr << "Loading...\n", tt.tic (); + pcl::io::loadPCDFile ("Statues_4.pcd", *cloud_in); + std::cerr << ">> Done: " << tt.toc () << " ms, " << cloud_in->points.size () << " points\n"; + + // Downsample the cloud using a Voxel Grid class + std::cerr << "Downsampling...\n", tt.tic (); + pcl::VoxelGrid vg; + vg.setInputCloud (cloud_in); + vg.setLeafSize (80.0, 80.0, 80.0); + vg.setDownsampleAllData (true); + vg.filter (*cloud_out); + std::cerr << ">> Done: " << tt.toc () << " ms, " << cloud_out->points.size () << " points\n"; + + // Set up a Normal Estimation class and merge data in cloud_with_normals + std::cerr << "Computing normals...\n", tt.tic (); + pcl::copyPointCloud (*cloud_out, *cloud_with_normals); + pcl::NormalEstimation ne; + ne.setInputCloud (cloud_out); + ne.setSearchMethod (search_tree); + ne.setRadiusSearch (300.0); + ne.compute (*cloud_with_normals); + std::cerr << ">> Done: " << tt.toc () << " ms\n"; + + // Set up a Conditional Euclidean Clustering class + std::cerr << "Segmenting to clusters...\n", tt.tic (); + pcl::ConditionalEuclideanClustering cec (true); + cec.setInputCloud (cloud_with_normals); + cec.setConditionFunction (&customRegionGrowing); + cec.setClusterTolerance (500.0); + cec.setMinClusterSize (cloud_with_normals->points.size () / 1000); + cec.setMaxClusterSize (cloud_with_normals->points.size () / 5); + cec.segment (*clusters); + cec.getRemovedClusters (small_clusters, large_clusters); + std::cerr << ">> Done: " << tt.toc () << " ms\n"; + + // Using the intensity channel for lazy visualization of the output + for (int i = 0; i < small_clusters->size (); ++i) + for (int j = 0; j < (*small_clusters)[i].indices.size (); ++j) + cloud_out->points[(*small_clusters)[i].indices[j]].intensity = -2.0; + for (int i = 0; i < large_clusters->size (); ++i) + for (int j = 0; j < (*large_clusters)[i].indices.size (); ++j) + cloud_out->points[(*large_clusters)[i].indices[j]].intensity = +10.0; + for (int i = 0; i < clusters->size (); ++i) + { + int label = rand () % 8; + for (int j = 0; j < (*clusters)[i].indices.size (); ++j) + cloud_out->points[(*clusters)[i].indices[j]].intensity = label; + } + + // Save the output point cloud + std::cerr << "Saving...\n", tt.tic (); + pcl::io::savePCDFile ("output.pcd", *cloud_out); + std::cerr << ">> Done: " << tt.toc () << " ms\n"; + + return (0); +} + diff --git a/Vision/examples/live_viewer.cpp b/Vision/examples/live_viewer.cpp new file mode 100644 index 0000000..7312d63 --- /dev/null +++ b/Vision/examples/live_viewer.cpp @@ -0,0 +1,82 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" + +int main(int argc, const char **argv) +{ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg = + std::make_shared( + cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + //get frame from camera (could be looped to create an actual live feed) + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return -1; + } + + //2D images + double min, max; + //depth image + cv::Mat depthImage = cv::Mat(img->DepthImage()); + cv::minMaxIdx(depthImage, &min, &max); + cout << "Depth image" << endl; + cout << "Min: " << min << " Max: " << max << endl; + cout << "Type: " << depthImage.type() << endl; + cv::convertScaleAbs(depthImage, depthImage, 255 / max); + cv::applyColorMap(depthImage, depthImage, cv::COLORMAP_JET); + cv::imshow("Depth image", depthImage); + //xyz image + cv::Mat xyzImage = cv::Mat(img->XYZImage()); + cv::minMaxIdx(xyzImage, &min, &max); + cout << "XYZ image" << endl; + cout << "Min: " << min << " Max: " << max << endl; + cout << "Type: " << xyzImage.type() << endl; + cv::convertScaleAbs(xyzImage, xyzImage, 255 / max); + cv::applyColorMap(xyzImage, xyzImage, cv::COLORMAP_JET); + cv::imshow("XYZ image", xyzImage); + //amplitude image + cv::imshow("Raw amplitude image", img->AmplitudeImage()); + //confidence image + cv::imshow("Raw confidence image", img->ConfidenceImage()); + cv::waitKey(0); + //3D pointcloud + + //convert o3d3xx cloud to PointXYZI + pcl::PointCloud::Ptr cloud = img->Cloud(); + + // ---------------------------------------------------------------- + // --------Create PCL visualizer with paramaters------------------- + // ---------------------------------------------------------------- + pcl::visualization::PCLVisualizer viewer("3D Viewer"); + viewer.setCameraPosition(0,0,0,-1,0,0); + viewer.setBackgroundColor(0,0,0); + viewer.addPointCloud(cloud,"Sample cloud"); + //viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "Sample cloud"); + viewer.addCoordinateSystem(1.0,0,0,0,0); + viewer.initCameraParameters(); + //wait to display images/pointcloud + while (!viewer.wasStopped ()) + { + viewer.spinOnce (100); + } + cv::waitKey(0); + return 0; +} diff --git a/Vision/examples/pclvisualizer.cpp b/Vision/examples/pclvisualizer.cpp new file mode 100644 index 0000000..b038a69 --- /dev/null +++ b/Vision/examples/pclvisualizer.cpp @@ -0,0 +1,381 @@ +/*author Geoffrey Biggs */ + + +#include + +#include +#include +#include +#include +#include +#include + +// -------------- +// -----Help----- +// -------------- +void +printUsage (const char* progName) +{ + std::cout << "\n\nUsage: "< simpleVis (pcl::PointCloud::ConstPtr cloud) +{ + // -------------------------------------------- + // -----Open 3D viewer and add point cloud----- + // -------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + viewer->addPointCloud (cloud, "sample cloud"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud"); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + return (viewer); +} + + +boost::shared_ptr rgbVis (pcl::PointCloud::ConstPtr cloud) +{ + // -------------------------------------------- + // -----Open 3D viewer and add point cloud----- + // -------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud); + viewer->addPointCloud (cloud, rgb, "sample cloud"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + return (viewer); +} + + +boost::shared_ptr customColourVis (pcl::PointCloud::ConstPtr cloud) +{ + // -------------------------------------------- + // -----Open 3D viewer and add point cloud----- + // -------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + pcl::visualization::PointCloudColorHandlerCustom single_color(cloud, 0, 255, 0); + viewer->addPointCloud (cloud, single_color, "sample cloud"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + return (viewer); +} + + +boost::shared_ptr normalsVis ( + pcl::PointCloud::ConstPtr cloud, pcl::PointCloud::ConstPtr normals) +{ + // -------------------------------------------------------- + // -----Open 3D viewer and add point cloud and normals----- + // -------------------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud); + viewer->addPointCloud (cloud, rgb, "sample cloud"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); + viewer->addPointCloudNormals (cloud, normals, 10, 0.05, "normals"); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + return (viewer); +} + + +boost::shared_ptr shapesVis (pcl::PointCloud::ConstPtr cloud) +{ + // -------------------------------------------- + // -----Open 3D viewer and add point cloud----- + // -------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud); + viewer->addPointCloud (cloud, rgb, "sample cloud"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud"); + viewer->addCoordinateSystem (1.0); + viewer->initCameraParameters (); + + //------------------------------------ + //-----Add shapes at cloud points----- + //------------------------------------ + viewer->addLine (cloud->points[0], + cloud->points[cloud->size() - 1], "line"); + viewer->addSphere (cloud->points[0], 0.2, 0.5, 0.5, 0.0, "sphere"); + + //--------------------------------------- + //-----Add shapes at other locations----- + //--------------------------------------- + pcl::ModelCoefficients coeffs; + coeffs.values.push_back (0.0); + coeffs.values.push_back (0.0); + coeffs.values.push_back (1.0); + coeffs.values.push_back (0.0); + viewer->addPlane (coeffs, "plane"); + coeffs.values.clear (); + coeffs.values.push_back (0.3); + coeffs.values.push_back (0.3); + coeffs.values.push_back (0.0); + coeffs.values.push_back (0.0); + coeffs.values.push_back (1.0); + coeffs.values.push_back (0.0); + coeffs.values.push_back (5.0); + viewer->addCone (coeffs, "cone"); + + return (viewer); +} + + +boost::shared_ptr viewportsVis ( + pcl::PointCloud::ConstPtr cloud, pcl::PointCloud::ConstPtr normals1, pcl::PointCloud::ConstPtr normals2) +{ + // -------------------------------------------------------- + // -----Open 3D viewer and add point cloud and normals----- + // -------------------------------------------------------- + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->initCameraParameters (); + + int v1(0); + viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); + viewer->setBackgroundColor (0, 0, 0, v1); + viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1); + pcl::visualization::PointCloudColorHandlerRGBField rgb(cloud); + viewer->addPointCloud (cloud, rgb, "sample cloud1", v1); + + int v2(0); + viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2); + viewer->setBackgroundColor (0.3, 0.3, 0.3, v2); + viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2); + pcl::visualization::PointCloudColorHandlerCustom single_color(cloud, 0, 255, 0); + viewer->addPointCloud (cloud, single_color, "sample cloud2", v2); + + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud1"); + viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud2"); + viewer->addCoordinateSystem (1.0); + + viewer->addPointCloudNormals (cloud, normals1, 10, 0.05, "normals1", v1); + viewer->addPointCloudNormals (cloud, normals2, 10, 0.05, "normals2", v2); + + return (viewer); +} + + +unsigned int text_id = 0; +void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, + void* viewer_void) +{ + pcl::visualization::PCLVisualizer *viewer = static_cast (viewer_void); + if (event.getKeySym () == "r" && event.keyDown ()) + { + std::cout << "r was pressed => removing all text" << std::endl; + + char str[512]; + for (unsigned int i = 0; i < text_id; ++i) + { + sprintf (str, "text#%03d", i); + viewer->removeShape (str); + } + text_id = 0; + } +} + +void mouseEventOccurred (const pcl::visualization::MouseEvent &event, + void* viewer_void) +{ + pcl::visualization::PCLVisualizer *viewer = static_cast (viewer_void); + if (event.getButton () == pcl::visualization::MouseEvent::LeftButton && + event.getType () == pcl::visualization::MouseEvent::MouseButtonRelease) + { + std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl; + + char str[512]; + sprintf (str, "text#%03d", text_id ++); + viewer->addText ("clicked here", event.getX (), event.getY (), str); + } +} + +boost::shared_ptr interactionCustomizationVis () +{ + boost::shared_ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); + viewer->setBackgroundColor (0, 0, 0); + viewer->addCoordinateSystem (1.0); + + viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)viewer.get ()); + viewer->registerMouseCallback (mouseEventOccurred, (void*)viewer.get ()); + + return (viewer); +} + + +// -------------- +// -----Main----- +// -------------- +int +main (int argc, char** argv) +{ + // -------------------------------------- + // -----Parse Command Line Arguments----- + // -------------------------------------- + if (pcl::console::find_argument (argc, argv, "-h") >= 0) + { + printUsage (argv[0]); + return 0; + } + bool simple(false), rgb(false), custom_c(false), normals(false), + shapes(false), viewports(false), interaction_customization(false); + if (pcl::console::find_argument (argc, argv, "-s") >= 0) + { + simple = true; + std::cout << "Simple visualisation example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-c") >= 0) + { + custom_c = true; + std::cout << "Custom colour visualisation example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-r") >= 0) + { + rgb = true; + std::cout << "RGB colour visualisation example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-n") >= 0) + { + normals = true; + std::cout << "Normals visualisation example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-a") >= 0) + { + shapes = true; + std::cout << "Shapes visualisation example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-v") >= 0) + { + viewports = true; + std::cout << "Viewports example\n"; + } + else if (pcl::console::find_argument (argc, argv, "-i") >= 0) + { + interaction_customization = true; + std::cout << "Interaction Customization example\n"; + } + else + { + printUsage (argv[0]); + return 0; + } + + // ------------------------------------ + // -----Create example point cloud----- + // ------------------------------------ + pcl::PointCloud::Ptr basic_cloud_ptr (new pcl::PointCloud); + pcl::PointCloud::Ptr point_cloud_ptr (new pcl::PointCloud); + std::cout << "Genarating example point clouds.\n\n"; + // We're going to make an ellipse extruded along the z-axis. The colour for + // the XYZRGB cloud will gradually go from red to green to blue. + uint8_t r(255), g(15), b(15); + for (float z(-1.0); z <= 1.0; z += 0.05) + { + for (float angle(0.0); angle <= 360.0; angle += 5.0) + { + pcl::PointXYZ basic_point; + basic_point.x = 0.5 * cosf (pcl::deg2rad(angle)); + basic_point.y = sinf (pcl::deg2rad(angle)); + basic_point.z = z; + basic_cloud_ptr->points.push_back(basic_point); + + pcl::PointXYZRGB point; + point.x = basic_point.x; + point.y = basic_point.y; + point.z = basic_point.z; + uint32_t rgb = (static_cast(r) << 16 | + static_cast(g) << 8 | static_cast(b)); + point.rgb = *reinterpret_cast(&rgb); + point_cloud_ptr->points.push_back (point); + } + if (z < 0.0) + { + r -= 12; + g += 12; + } + else + { + g -= 12; + b += 12; + } + } + basic_cloud_ptr->width = (int) basic_cloud_ptr->points.size (); + basic_cloud_ptr->height = 1; + point_cloud_ptr->width = (int) point_cloud_ptr->points.size (); + point_cloud_ptr->height = 1; + + // ---------------------------------------------------------------- + // -----Calculate surface normals with a search radius of 0.05----- + // ---------------------------------------------------------------- + pcl::NormalEstimation ne; + ne.setInputCloud (point_cloud_ptr); + pcl::search::KdTree::Ptr tree (new pcl::search::KdTree ()); + ne.setSearchMethod (tree); + pcl::PointCloud::Ptr cloud_normals1 (new pcl::PointCloud); + ne.setRadiusSearch (0.05); + ne.compute (*cloud_normals1); + + // --------------------------------------------------------------- + // -----Calculate surface normals with a search radius of 0.1----- + // --------------------------------------------------------------- + pcl::PointCloud::Ptr cloud_normals2 (new pcl::PointCloud); + ne.setRadiusSearch (0.1); + ne.compute (*cloud_normals2); + + boost::shared_ptr viewer; + if (simple) + { + viewer = simpleVis(basic_cloud_ptr); + } + else if (rgb) + { + viewer = rgbVis(point_cloud_ptr); + } + else if (custom_c) + { + viewer = customColourVis(basic_cloud_ptr); + } + else if (normals) + { + viewer = normalsVis(point_cloud_ptr, cloud_normals2); + } + else if (shapes) + { + viewer = shapesVis(point_cloud_ptr); + } + else if (viewports) + { + viewer = viewportsVis(point_cloud_ptr, cloud_normals1, cloud_normals2); + } + else if (interaction_customization) + { + viewer = interactionCustomizationVis(); + } + + //-------------------- + // -----Main loop----- + //-------------------- + while (!viewer->wasStopped ()) + { + viewer->spinOnce (100); + boost::this_thread::sleep (boost::posix_time::microseconds (100000)); + } +} + diff --git a/Vision/examples/point_cloud.pcd b/Vision/examples/point_cloud.pcd new file mode 100644 index 0000000..fb3a77b --- /dev/null +++ b/Vision/examples/point_cloud.pcd @@ -0,0 +1,23243 @@ +# .PCD v0.7 - Point Cloud Data file format +VERSION 0.7 +FIELDS x y z intensity +SIZE 4 4 4 4 +TYPE F F F F +COUNT 1 1 1 1 +WIDTH 176 +HEIGHT 132 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 23232 +DATA ascii 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-0.052000001 -0.041999999 17850 diff --git a/Vision/examples/readme.md b/Vision/examples/readme.md new file mode 100644 index 0000000..c062db3 --- /dev/null +++ b/Vision/examples/readme.md @@ -0,0 +1,7 @@ +Vision examples + +Cloud Viewer - Load a PCD file and show in the cloud viewer. + +Live Viewer - Show pointcloud and 2D images from live camera feed once. + +Display Image - Simple script to show OpenCV image. diff --git a/Vision/examples/region_growing_segmentation.cpp b/Vision/examples/region_growing_segmentation.cpp new file mode 100644 index 0000000..a5a5757 --- /dev/null +++ b/Vision/examples/region_growing_segmentation.cpp @@ -0,0 +1,107 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" + +using namespace std; + +int +main (int argc, char** argv) +{ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg = + std::make_shared( + cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + //get frame from camera + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return -1; + } + pcl::PCDWriter writer; + + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + pcl::PointCloud::Ptr cloudIn (new pcl::PointCloud); + cloudIn = img->Cloud(); + writer.write("region_growing_tutorial.pcd", *cloudIn, false); + + if ( pcl::io::loadPCDFile ("region_growing_tutorial.pcd", *cloud) == -1) + { + std::cout << "Cloud reading failed." << std::endl; + return (-1); + } + vector temp; + pcl::removeNaNFromPointCloud(*cloud,*cloud, temp); + cout << temp.size() << endl; + cout << cloud->size() << endl; + + pcl::search::Search::Ptr tree = boost::shared_ptr > (new pcl::search::KdTree); + pcl::PointCloud ::Ptr normals (new pcl::PointCloud ); + pcl::NormalEstimation normal_estimator; + normal_estimator.setSearchMethod (tree); + normal_estimator.setInputCloud (cloud); + normal_estimator.setKSearch (50); + normal_estimator.compute (*normals); + + pcl::IndicesPtr indices (new std::vector ); + pcl::PassThrough pass; + pass.setInputCloud (cloud); + pass.setFilterFieldName ("z"); + pass.setFilterLimits (0.0, 1.0); + pass.filter (*indices); + + pcl::RegionGrowing reg; + reg.setMinClusterSize (50); + reg.setMaxClusterSize (1000000); + reg.setSearchMethod (tree); + reg.setNumberOfNeighbours (30); + reg.setInputCloud (cloud); + //reg.setIndices (indices); + reg.setInputNormals (normals); + reg.setSmoothnessThreshold (3.0 / 180.0 * M_PI);// graden naar radial + reg.setCurvatureThreshold (1.0); + + std::vector clusters; + reg.extract (clusters); + + std::cout << "Number of clusters is equal to " << clusters.size () << std::endl; + std::cout << "First cluster has " << clusters[0].indices.size () << " points." << endl; + std::cout << "These are the indices of the points of the initial" << + std::endl << "cloud that belong to the first cluster:" << std::endl; + int counter = 0; + while (counter < clusters[0].indices.size ()) + { + std::cout << clusters[0].indices[counter] << ", "; + counter++; + if (counter % 10 == 0) + std::cout << std::endl; + } + std::cout << std::endl; + + pcl::PointCloud ::Ptr colored_cloud = reg.getColoredCloud (); + pcl::visualization::PCLVisualizer viewer ("Cluster viewer"); + viewer.addPointCloud(colored_cloud,"cloud"); + //viewer.addPointCloudNormals(colored_cloud, normals, 10, 0.05, "normals",0); + while (!viewer.wasStopped ()) + { + viewer.spinOnce(100); + } + + return (0); +} diff --git a/Vision/examples/segmentation.cpp b/Vision/examples/segmentation.cpp new file mode 100644 index 0000000..3146745 --- /dev/null +++ b/Vision/examples/segmentation.cpp @@ -0,0 +1,127 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +//for accessing camera +#include "o3d3xx_camera.h" +#include "o3d3xx_framegrabber.h" +#include "o3d3xx_image.h" + +pcl::PointCloud convertCloud(pcl::PointCloud::Ptr inputCloud){ + pcl::PointCloud::Ptr cloud = inputCloud; + pcl::PointCloud newcloud; + + newcloud.width = cloud->width; + newcloud.height = cloud->height; + newcloud.points.resize(cloud->points.size()); + + for(std::size_t i = 0; i < cloud->points.size(); i++) { + newcloud.points[i].x = cloud->points[i].x; + newcloud.points[i].y = cloud->points[i].y; + newcloud.points[i].z = cloud->points[i].z; + } + + return newcloud; +} + +int +main (int argc, char** argv) +{ + //logging method + o3d3xx::Logging::Init(); + //initialise camera constructor expects IP address, using default one + o3d3xx::Camera::Ptr cam = std::make_shared("192.168.1.69"); + //create buffer to fetch image + o3d3xx::ImageBuffer::Ptr img = std::make_shared(); + //framegrabber + o3d3xx::FrameGrabber::Ptr fg = + std::make_shared( + cam, o3d3xx::IMG_AMP|o3d3xx::IMG_RDIS|o3d3xx::IMG_CART); + + //get frame from camera (could be looped to create an actual live feed) + if (! fg->WaitForFrame(img.get(), 2000)) + { + std::cerr << "Timeout waiting for camera!" << std::endl; + return -1; + } + pcl::PointCloud cloud(convertCloud(img->Cloud())); + pcl::io::savePCDFileASCII("temp.pcd", cloud); + std::cout << "Saved PCD" << std::endl; + + pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2), cloud_filtered_blob (new pcl::PCLPointCloud2); + pcl::PointCloud::Ptr cloud_filtered (new pcl::PointCloud), cloud_p (new pcl::PointCloud), cloud_f (new pcl::PointCloud); + + // Fill in the cloud data + pcl::PCDReader reader; + reader.read ("temp.pcd", *cloud_blob); + + std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl; + + // Create the filtering object: downsample the dataset using a leaf size of 1cm + pcl::VoxelGrid sor; + sor.setInputCloud (cloud_blob); + sor.setLeafSize (0.01f, 0.01f, 0.01f); + sor.filter (*cloud_filtered_blob); + + // Convert to the templated PointCloud + pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered); + + std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl; + + // Write the downsampled version to disk + pcl::PCDWriter writer; + writer.write ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false); + + pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ()); + pcl::PointIndices::Ptr inliers (new pcl::PointIndices ()); + // Create the segmentation object + pcl::SACSegmentation seg; + // Optional + seg.setOptimizeCoefficients (true); + // Mandatory + seg.setModelType (pcl::SACMODEL_PLANE); + seg.setMethodType (pcl::SAC_RANSAC); + seg.setMaxIterations (1000); + seg.setDistanceThreshold (0.01); + + // Create the filtering object + pcl::ExtractIndices extract; + + int i = 0, nr_points = (int) cloud_filtered->points.size (); + // While 30% of the original cloud is still there + while (cloud_filtered->points.size () > 0.3 * nr_points) + { + // Segment the largest planar component from the remaining cloud + seg.setInputCloud (cloud_filtered); + seg.segment (*inliers, *coefficients); + if (inliers->indices.size () == 0) + { + std::cerr << "Could not estimate a planar model for the given dataset." << std::endl; + break; + } + + // Extract the inliers + extract.setInputCloud (cloud_filtered); + extract.setIndices (inliers); + extract.setNegative (false); + extract.filter (*cloud_p); + std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl; + + std::stringstream ss; + ss << "table_scene_lms400_plane_" << i << ".pcd"; + writer.write (ss.str (), *cloud_p, false); + + // Create the filtering object + extract.setNegative (true); + extract.filter (*cloud_f); + cloud_filtered.swap (cloud_f); + i++; + } + + return (0); +} diff --git a/Vision/main.cpp b/Vision/main.cpp new file mode 100644 index 0000000..869872b --- /dev/null +++ b/Vision/main.cpp @@ -0,0 +1,15 @@ +#include "AerobicVision.h" + +//TODO: TWO DIMENSIONAL FILTER TO FILTER OUTSIDE OF BIN +//TODO: Z-AXIS FILTER TO FILTER FROM 1 CM ABOVE BOTTOM AND HIGHER +//TODO: CHECK EUCLIDEAN CLUSTER EXTRACTION + + +int main() +{ + AerobicVision* test = new AerobicVision("192.168.1.69"); + test->RegionGrowing(); + //pcl::PointXYZ data = test->Calibrate(100); + //cout << "Calibration Result (XYZ): "<< data.x << " , " << data.y << " , " << data.z << endl; + return 0; +} diff --git a/binpicker.cpp b/binpicker.cpp new file mode 100644 index 0000000..2d0e04e --- /dev/null +++ b/binpicker.cpp @@ -0,0 +1,89 @@ +#include "AerobicVision.h" +#include "UR_Control.h" +#include +#include +#include + +int main() +{ + std::cout << "Version 1.0 team Awesome" << endl; + + unsigned int usecs = 1000000; //1sec = 1.000.000 usec + //UR3* test = new UR3(); + Binzone* zone = new Binzone(); + Control* control = new Control(0.0001,3.0, zone); + AerobicVision* vision = new AerobicVision("192.168.1.69"); + + std::cout << "Starting in 1 seconds" << endl; + usleep(1000000); + + cout << "Program starting" << endl; + + //control->printRobotLocation(); + + if(!control->readCalibration()){ + cout << "No calibration file found, starting calibration.." << endl; + control->moveToCalibratePosition(); + pcl::PointXYZ calibrationPoint = vision->Calibrate(100); + control->Move_Calibrate(calibrationPoint); + } + //control->openCloseRoboticGripper(false); + //control->openCloseRoboticGripper(true); + + pcl::visualization::CloudViewer viewer("Filtered cloud"); + + bool run = true; + while(run) + { + double rotation =0; + + pcl::PointCloud::Ptr showcloud; + + pcl::PointXYZ p = vision->runAlgorithm(rotation, showcloud); + viewer.showCloud(showcloud); + if(p.x != 1000 && p.y != 1000 && p.z != 1000) + { + vector pos = control->getRobotLocation(); + pcl::PointXYZ rotations = control->getRxRyRz(3.1415926535897932384626433832795, 0, rotation); + control->Touch_Object(p.z, p.y, p.x ); //, rotations.x, rotations.y, rotations.z); + + cout << "Sleeping 1 seconds" << endl; + usleep(1000000); + cout << "Running again.. yippie!" << endl; + } + else + { + run = false; + } + + + + } + + std::cout << "Done!" << endl; + /* + + bool run = true; + int objects = 0; + while(run){ + std::vector data = vision_->RegionGrowing(); + objects = data.size(); + cout << "Found objects: " << objects << endl; + if(objects == 0){ run = false;} + else{ + //take highest (first) object and make new picture + run = control_->Touch_Object(data[0].xyz.z, data[0].xyz.y, data[0].xyz.x, + data[0].rx,data[0].ry,data[0].rz); + } + } + + cout << "Bin Empty, Finished Bin Picking" << endl; + return 0; + + */ + + return 0; +} + + + diff --git a/web.ico b/web.ico new file mode 100644 index 0000000..0498811 Binary files /dev/null and b/web.ico differ