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Enforce min rotation between samples #62

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Enforce min rotation between samples #62

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3526391
enforce min rotation between samples
Feb 14, 2021
0cc2b4f
some improvements
Feb 14, 2021
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32 changes: 30 additions & 2 deletions moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_control_widget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
namespace moveit_rviz_plugin
{
const std::string LOGNAME = "handeye_control_widget";
const double MIN_ROTATION = M_PI / 36.; // Smallest allowed rotation, 5 degrees

ProgressBarWidget::ProgressBarWidget(QWidget* parent, int min, int max, int value) : QWidget(parent)
{
Expand Down Expand Up @@ -370,9 +371,36 @@ bool ControlTabWidget::takeTransformSamples()
// Get the transform of the end-effector w.r.t the robot base
base_to_eef_tf = tf_buffer_->lookupTransform(frame_names_["base"], frame_names_["eef"], ros::Time(0));

// Verify that sample contains sufficient rotation
Eigen::Isometry3d base_to_eef_eig, camera_to_object_eig;
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I'd spell out eigen

base_to_eef_eig = tf2::transformToEigen(base_to_eef_tf);
camera_to_object_eig = tf2::transformToEigen(camera_to_object_tf);

for (const auto& prior_tf : effector_wrt_world_)
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Nit: Would use "previous" instead of "prior" to avoid potential mixups with "prior assumptions"/"prior knowledge"_Machine Learning terminology.

The suffix _tf is unnecessary if you don't use _eig. Would still spell out _eigen.

{
Eigen::AngleAxisd rot((base_to_eef_eig.inverse() * prior_tf).rotation());
if (rot.angle() < MIN_ROTATION)
{
QMessageBox::warning(this, tr("Error"),
tr("End-effector orientation is too similar to a prior sample. Sample not recorded."));
return false;
}
}

for (const auto prior_tf : object_wrt_sensor_)
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Missing & (auto&)

{
Eigen::AngleAxisd rot((camera_to_object_eig.inverse() * prior_tf).rotation());
if (rot.angle() < MIN_ROTATION)
{
QMessageBox::warning(this, tr("Error"),
tr("Camera orientation is too similar to a prior sample. Sample not recorded."));
return false;
}
}

// save the pose samples
effector_wrt_world_.push_back(tf2::transformToEigen(base_to_eef_tf));
object_wrt_sensor_.push_back(tf2::transformToEigen(camera_to_object_tf));
effector_wrt_world_.push_back(base_to_eef_eig);
object_wrt_sensor_.push_back(camera_to_object_eig);

ControlTabWidget::addPoseSampleToTreeView(camera_to_object_tf, base_to_eef_tf, effector_wrt_world_.size());
}
Expand Down