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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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28 changes: 28 additions & 0 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 @@ -370,6 +371,33 @@ 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;

@felixvd felixvd Feb 14, 2021

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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);

if (!effector_wrt_world_.empty())
{
Eigen::AngleAxisd eff_rot((base_to_eef_eig.inverse() * effector_wrt_world_.back()).rotation());
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if (eff_rot.angle() < MIN_ROTATION)
{
QMessageBox::warning(this, tr("Error"),
tr("Not enough end-effector rotation since last sample. Sample not recorded."));
return false;
}
}

if (!object_wrt_sensor_.empty())
{
Eigen::AngleAxisd cam_rot((camera_to_object_eig.inverse() * object_wrt_sensor_.back()).rotation());
if (cam_rot.angle() < MIN_ROTATION)
{
QMessageBox::warning(this, tr("Error"),
tr("Not enough camera rotation since last 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));
Expand Down