ancker1/roviprojekt

Advanced Robotics Technology project in the areas of pose estimation using computer vision and motion planning using robotics.

ROVI Project

This project is a part of the course Robotics and Computer Vision (ROVI) at University of Southern Denmark on the Advanced Robotics Technology master education.

This README explains the overall structure of the code. For explanations of how to run the code, navigate into the folders and open the readme.txt located there.

To run the code in this project the following libraries needs to be installed:

• OpenCV Version 3.4
• PCL Version 1.4
• RobWork
• RobWorkStudio

OBS: if the error "buffer overflow detected" is present during execution of source files. Then the path to the workcell used in the code might be too long. Try moving the workcell (and edit absolute paths) or move the whole project to a location with a shorter path.

When compiling the CMake projects using RobWork & RobWorkStudio a path to their roots needs to be set in the CMakeLists.txt e.g.

• SET(RW_ROOT /home/emil/RobWork/RobWork)
• SET(RWSTUDIO_ROOT /home/emil/RobWork/RobWorkStudio)

Folders

Integration contains workcell and code used for combination of robotics and computer vision solution.

• Sources is located at: ROVIProjekt/Integration/Project_WorkCell/SamplePluginPA10/src/
• SamplePlugin.cpp and SamplePlugin.hpp contains code for combining the robotics and vision solution.

MATLAB contains scripts which were used for data analysis of different tests performed.

ObjectFiles contains some of the object files used in this project for the workcells in RobWorkStudio.

Project_WorkCell_Cam contains a workcell with the duck object in the scene.

Project_WorkCell_Cam_RRT contains a workcell with the cylinder object and a bin around the pick area in the scene.

ROB contains folders with sources and test for reachability analysis and RRT-connect.

• Reachability source is located at ROVIProjekt/ROB/Reachability/src/
• RRT-connect source is located at ROVIProjekt/ROB/rrt_connect/src/

VIS contains folders with sources and test for M2 and M3.

• M2 sources is located at ROVIProjekt/VIS/M2/project/src/
• M3 sources is located at ROVIProjekt/VIS/SparseStereo/src/

interpolator contains folders with sources and test for linear interpolation with and without parabolic blend.

• Linear interpolation (with and without parabolic blend) sources is located at ROVIProjekt/interpolator/linear/src/

Source files

The source files a short description and their location in the project folder is described in the table below.

Name	Description	Location
Reachability analysis	Contains source code for implementation and test of reachability	ROVIProjekt/ROB/Reachability/src/reachability.cpp
Linear interpolation	Contains functions which implements a linear interpolator	ROVIProjekt/interpolator/linear/src/interpolator.hpp
Parabolic blend	Contains functions implementing parabolic blend in a linear interpolator	ROVIProjekt/interpolator/linear/src/interpolator.hpp
Test of linear interpolation and parabolic blend	File which should be run to execute tests of linear interpolation and parabolic blend	ROVIProjekt/interpolator/linear/src/linear.cpp
Test of RRT-connect	File containing implmentation of tests and performance evaluation	ROVIProjekt/ROB/rrt_connect/src/main.cpp
RRT-connect utilities	File containing general kinematic functions which is used in implementation	ROVIProjekt/ROB/rrt_connect/src/util.hpp
RRT-connect performance evaluation	File containing functions to evaluate performance primarily to determine optimal stepsize	ROVIProjekt/ROB/rrt_connect/src/performance_evaluation.hpp
RRT-connect methods	File containing two functions: one for planning between two configurations, one for planning between more than two	ROVIProjekt/ROB/rrt_connect/src/rrt_connect_methods.hpp
M2 preprocessing	Source code used for preprocessing of scene in M2.	ROVIProjekt/VIS/M2/project/src/preprocess.hpp
M2 global alignment (RANSAC)	Source code for implementation of global alignment	ROVIProjekt/VIS/M2/project/src/global_alignment.hpp
M2 local alignment (ICP)	Source code for implementation of local alignment	ROVIProjekt/VIS/M2/project/src/local_alignment.hpp
M2 alignment	File including global and local alignment in correct namespace	ROVIProjekt/VIS/M2/project/src/alignment.hpp
M2 pose estimation	Source code for pose estimation. Calls functions from other M2 source files to perform pose estimation.	ROVIProjekt/VIS/M2/project/src/pose_estimation.hpp
Test of M2	Implementation of tests for M2 including example of pose estimate from two point clouds.	ROVIProjekt/VIS/M2/project/src/main.cpp
3D and 6D version of M3	Contains implementation of methods for M3	ROVIProjekt/VIS/SparseStereo/src/SparseStereoMethods.hpp
Functions for test of M3	Contains functions to test 3D and 6D version of M3	ROVIProjekt/VIS/SparseStereo/src/TestingMethods.hpp
Test of M3	Implementation of tests for both versions of M3.	ROVIProjekt/VIS/SparseStereo/src/main.cpp
Integration plugin	Implementation of combined vision and robotics solution and plugin for visualization.	ROVIProjekt/Integration/Project_WorkCell/SamplePluginPA10/src/SamplePlugin.hpp
Integration plugin	Implementation of combined vision and robotics solution and plugin for visualization.	ROVIProjekt/Integration/Project_WorkCell/SamplePluginPA10/src/SamplePlugin.cpp