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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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20 changes: 10 additions & 10 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 @@ -376,31 +376,31 @@ bool ControlTabWidget::takeTransformSamples()
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())
for (const auto& prior_tf : effector_wrt_world_)

@felixvd felixvd Feb 15, 2021

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

if (!object_wrt_sensor_.empty())
for (const auto prior_tf : object_wrt_sensor_)

@felixvd felixvd Feb 15, 2021

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Missing & (auto&)

{
Eigen::AngleAxisd cam_rot((camera_to_object_eig.inverse() * object_wrt_sensor_.back()).rotation());
if (cam_rot.angle() < MIN_ROTATION)
Eigen::AngleAxisd rot((camera_to_object_eig.inverse() * prior_tf).rotation());
if (rot.angle() < MIN_ROTATION)
{
QMessageBox::warning(this, tr("Error"),
tr("Not enough camera rotation since last sample. Sample not recorded."));
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());
}
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