Public Member Functions
std::vector< VSXYZ >	CVPointToVSXYZ (XYZPointCloud cloud, cv::Mat depth_frame, std::vector< cv::Point > in)
VSXYZ	CVPointToVSXYZ (XYZPointCloud cloud, cv::Mat depth_frame, cv::Point in)
visual_servo::VisualServoTwist	getTwist (std::vector< PoseStamped > goal, std::vector< PoseStamped > gripper)
visual_servo::VisualServoTwist	getTwist (std::vector< PoseStamped > goal, std::vector< PoseStamped > gripper, int mode)
visual_servo::VisualServoTwist	getTwist (std::vector< VSXYZ > goal, std::vector< VSXYZ > gripper, cv::Mat error)
visual_servo::VisualServoTwist	getTwist (std::vector< VSXYZ > goal, std::vector< VSXYZ > gripper)
std::vector< VSXYZ >	Point3DToVSXYZ (std::vector< pcl::PointXYZ > in, shared_ptr< tf::TransformListener > tf_)
VSXYZ	point3DToVSXYZ (pcl::PointXYZ in, shared_ptr< tf::TransformListener > tf_)
void	printVSXYZ (VSXYZ i)
cv::Point	projectPointIntoImage (pcl::PointXYZ cur_point_pcl, std::string point_frame, std::string target_frame, shared_ptr< tf::TransformListener > tf_)
void	setCamInfo (sensor_msgs::CameraInfo cam_info)
bool	setDesiredInteractionMatrix (std::vector< VSXYZ > &pts)
	VisualServo (int jacobian_type)
PoseStamped	VSXYZToPoseStamped (VSXYZ v)
Protected Member Functions
visual_servo::VisualServoTwist	computeTwist (cv::Mat error_mat, cv::Mat im, std::string optical_frame)
float	diffAngle (float a0, float a1)
cv::Mat	getMeterInteractionMatrix (std::vector< PoseStamped > &pts)
cv::Mat	getMeterInteractionMatrix (std::vector< VSXYZ > &pts)
float	getZValue (cv::Mat depth_frame, int x, int y)
visual_servo::VisualServoTwist	IBVSTwist (std::vector< VSXYZ > desired, std::vector< VSXYZ > pts)
visual_servo::VisualServoTwist	IBVSTwist (std::vector< VSXYZ > desired, std::vector< VSXYZ > pts, cv::Mat error_mat)
visual_servo::VisualServoTwist	IBVSTwist (std::vector< PoseStamped > desired, std::vector< PoseStamped > pts)
cv::Mat	MatDiffAngle (cv::Mat m0, cv::Mat m1)
visual_servo::VisualServoTwist	PBVSTwist (cv::Mat error_pose, cv::Mat error_rot)
visual_servo::VisualServoTwist	PBVSTwist (std::vector< PoseStamped > desired, std::vector< PoseStamped > pts)
void	printMatrix (cv::Mat_< double > in)
cv::Mat	projectImageMatToPoint (cv::Mat in)
cv::Mat	projectImagePointToPoint (cv::Point in)
cv::Point	projectPointIntoImage (PointStamped cur_point, std::string target_frame, shared_ptr< tf::TransformListener > tf_)
cv::Mat	pseudoInverse (cv::Mat im)
visual_servo::VisualServoTwist	transformVelocity (cv::Mat in)
Protected Attributes
sensor_msgs::CameraInfo	cam_info_
cv::Mat	desired_jacobian_
bool	desired_jacobian_set_
double	gain_rot_
double	gain_vel_
int	jacobian_type_
cv::Mat	K
tf::TransformListener	listener_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
std::string	optical_frame_
double	term_threshold_
tf::StampedTransform	transform
std::string	workspace_frame_

Detailed Description

We are taping robot hand with three blue painter's tape and use those three features to do the image-based visual servoing Uses Kinect as image sensor and provide a twist computation service

Definition at line 188 of file visual_servo.cpp.

Constructor & Destructor Documentation

VisualServo::VisualServo ( int jacobian_type ) [inline]

Definition at line 191 of file visual_servo.cpp.

Member Function Documentation

visual_servo::VisualServoTwist VisualServo::computeTwist	(	cv::Mat	error_mat,
		cv::Mat	im,
		std::string	optical_frame
	)		`[inline, protected]`

Definition at line 528 of file visual_servo.cpp.

std::vector<VSXYZ> VisualServo::CVPointToVSXYZ	(	XYZPointCloud	cloud,
		cv::Mat	depth_frame,
		std::vector< cv::Point >	in
	)		`[inline]`

Definition at line 308 of file visual_servo.cpp.

VSXYZ VisualServo::CVPointToVSXYZ	(	XYZPointCloud	cloud,
		cv::Mat	depth_frame,
		cv::Point	in
	)		`[inline]`

Definition at line 318 of file visual_servo.cpp.

float VisualServo::diffAngle	(	float	a0,
		float	a1
	)		`[inline, protected]`

Definition at line 455 of file visual_servo.cpp.

cv::Mat VisualServo::getMeterInteractionMatrix ( std::vector< PoseStamped > & pts ) [inline, protected]

get the interaction matrix

Parameters:

depth_frame	Need the depth information from Kinect for Z
pts	Vector of feature points

Returns:: Return the computed interaction Matrix (6 by 6)

Definition at line 572 of file visual_servo.cpp.

cv::Mat VisualServo::getMeterInteractionMatrix ( std::vector< VSXYZ > & pts ) [inline, protected]

Definition at line 602 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::getTwist	(	std::vector< PoseStamped >	goal,
		std::vector< PoseStamped >	gripper
	)		`[inline]`

Definition at line 222 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::getTwist	(	std::vector< PoseStamped >	goal,
		std::vector< PoseStamped >	gripper,
		int	mode
	)		`[inline]`

Definition at line 228 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::getTwist	(	std::vector< VSXYZ >	goal,
		std::vector< VSXYZ >	gripper,
		cv::Mat	error
	)		`[inline]`

Definition at line 239 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::getTwist	(	std::vector< VSXYZ >	goal,
		std::vector< VSXYZ >	gripper
	)		`[inline]`

Definition at line 244 of file visual_servo.cpp.

float VisualServo::getZValue	(	cv::Mat	depth_frame,
		int	x,
		int	y
	)		`[inline, protected]`

Definition at line 711 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::IBVSTwist	(	std::vector< VSXYZ >	desired,
		std::vector< VSXYZ >	pts
	)		`[inline, protected]`

Definition at line 467 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::IBVSTwist	(	std::vector< VSXYZ >	desired,
		std::vector< VSXYZ >	pts,
		cv::Mat	error_mat
	)		`[inline, protected]`

Definition at line 487 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::IBVSTwist	(	std::vector< PoseStamped >	desired,
		std::vector< PoseStamped >	pts
	)		`[inline, protected]`

Definition at line 502 of file visual_servo.cpp.

cv::Mat VisualServo::MatDiffAngle	(	cv::Mat	m0,
		cv::Mat	m1
	)		`[inline, protected]`

Definition at line 440 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::PBVSTwist	(	cv::Mat	error_pose,
		cv::Mat	error_rot
	)		`[inline, protected]`

Definition at line 370 of file visual_servo.cpp.

visual_servo::VisualServoTwist VisualServo::PBVSTwist	(	std::vector< PoseStamped >	desired,
		std::vector< PoseStamped >	pts
	)		`[inline, protected]`

this is for another approach of PBVS According to Chaumette 2006 v = -lambda( (c*t0 - ct0) + [ct0]x theta u) form [ct0]x first cv::Mat ctox = cv::Mat::zeros(3,3,CV_32F); cur position ctox.at<float>(0,1) = -cpos.z; ctox.at<float>(0,2) = cpos.y; ctox.at<float>(1,0) = cpos.z; ctox.at<float>(2,0) = -cpos.y; ctox.at<float>(1,2) = -cpos.x; ctox.at<float>(2,1) = cpos.x;

cv::Mat velpos = -gain_vel_*((mgpos - mcpos) + ctox*(mgrot-mcrot)); cv::Mat velrot = -gain_rot_*(mgrot - mcrot);

Definition at line 377 of file visual_servo.cpp.

std::vector<VSXYZ> VisualServo::Point3DToVSXYZ	(	std::vector< pcl::PointXYZ >	in,
		shared_ptr< tf::TransformListener >	tf_
	)		`[inline]`

Definition at line 270 of file visual_servo.cpp.

VSXYZ VisualServo::point3DToVSXYZ	(	pcl::PointXYZ	in,
		shared_ptr< tf::TransformListener >	tf_
	)		`[inline]`

Definition at line 280 of file visual_servo.cpp.

void VisualServo::printMatrix ( cv::Mat_< double > in ) [inline, protected]

Definition at line 762 of file visual_servo.cpp.

void VisualServo::printVSXYZ ( VSXYZ i ) [inline]

Definition at line 345 of file visual_servo.cpp.

cv::Mat VisualServo::projectImageMatToPoint ( cv::Mat in ) [inline, protected]

transforms a cv::Mat in pixels to meter using the inverse Image Intrinsic K

Parameters:

in	cv::Mat input to be transformed

Returns:: returns meter in cv::Mat

Definition at line 665 of file visual_servo.cpp.

cv::Mat VisualServo::projectImagePointToPoint ( cv::Point in ) [inline, protected]

transforms a point in pixels to meter using the inverse of image intrinsic K

Parameters:

in	a point to be transformed

Returns:: returns meter value of the point in cv::Mat

Definition at line 641 of file visual_servo.cpp.

cv::Point VisualServo::projectPointIntoImage	(	pcl::PointXYZ	cur_point_pcl,
		std::string	point_frame,
		std::string	target_frame,
		shared_ptr< tf::TransformListener >	tf_
	)		`[inline]`

Definition at line 334 of file visual_servo.cpp.

cv::Point VisualServo::projectPointIntoImage	(	PointStamped	cur_point,
		std::string	target_frame,
		shared_ptr< tf::TransformListener >	tf_
	)		`[inline, protected]`