Robobot mission - Revision history

Jca: /* Robobot mission software */

2025-03-03T11:46:37Z

Robobot mission software

← Older revision		Revision as of 13:46, 3 March 2025
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	== Robobot mission software ==		== Robobot mission software ==

	'''NB! ~~not~~ valid for the ~~2023~~ version of the software'''.		'''NB! valid for the 2022 version of the software'''.

	[[File:robobot_mission_block_overview.png \| 600px]]		[[File:robobot_mission_block_overview.png \| 600px]]

Jca: /* Main */

2023-02-02T12:38:12Z

Main

← Older revision		Revision as of 14:38, 2 February 2023
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	A C++ program starts at the main(..) function.		A C++ program starts at the main(..) function.

	First, the interfaces and data sources need to be set up in line 3; if setup fails, the program terminates.		First, the interfaces and data sources need to be set up in line 3; if setup fails, the program terminates.

	Line 5 is just a print to the console.		Line 5 is just a print to the console.

	Lines 6 and 7 are the two mission parts used in this example.		Lines 6 and 7 are the two mission parts used in this example.

	Then there is just cleanup left.		Then there is just cleanup left.
	Line 14 shows the way to send data to the Regbot through the Bridge. "Bridge.tx()" is the function call to transmit data to the bridge. When the send text starts with "regbot" the rest is send to the Regbot by the bridge, as "regbot" is a data source name.		Line 14 shows the way to send data to the Regbot through the Bridge. "Bridge.tx()" is the function call to transmit data to the bridge. When the send text starts with "regbot" the rest is send to the Regbot by the bridge, as "regbot" is a data source name.

Jca: /* Compile */

2023-02-02T12:37:27Z

Compile

← Older revision		Revision as of 14:37, 2 February 2023
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	===Compile===		===Compile===

	~~To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),~~		Build Makefiles and compile
	~~so add the following line to ~/.bashrc:~~

	~~export CMAKE_PREFIX_PATH=/usr/local/lib~~

	~~Then build~~ Makefiles and compile:

	cd ~/mission		cd ~/mission
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	cmake ..		cmake ..
	make -j3		make -j3

			Once the "build" directory is made and "make" is called for the first time, then the last line "make -j3" is needed.

	Then test-run the application:		Then test-run the application:

Jca: /* Get software */

2023-02-02T12:35:05Z

Get software

← Older revision		Revision as of 14:35, 2 February 2023
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	svn checkout svn://repos.gbar.dtu.dk/jcan/robobot		svn checkout svn://repos.gbar.dtu.dk/jcan/robobot

	~~or just~~ update if there already (as it is on the Raspberry Pi)		Or update if the code is there already (as it is on the Raspberry Pi)

	svn up		svn up

			NB! this will most likely create a conflict if you have changed the code.

	===Compile===		===Compile===

Jca at 12:32, 2 February 2023

2023-02-02T12:32:06Z

Show changes

Jca: /* Bridge */

2023-02-02T12:30:17Z

Bridge

← Older revision		Revision as of 14:30, 2 February 2023
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	Line 290 The thresholded image is then further filtered.		Line 290 The thresholded image is then further filtered.


	~~== Bridge ==~~

	~~This part handles the interface with the regbot_bridge application. This two-way communication handles each direction individually.~~

	~~Sending messages is mostly handled by the mission block, here regular updates of data is requested for the data blocks - e.g. robot pose, joystick buttons, IR-sensor measurements etc.~~

	~~The receiving part of the bridge is always waiting for messages and distribute them for the relevant data block for decoding.~~

	~~In a normal setup, about 150 messages will be received each second.~~

	== Data elements ==		== Data elements ==

Jca: /* Software documentation (doxygen) */

2023-02-02T12:29:22Z

Software documentation (doxygen)

← Older revision		Revision as of 14:29, 2 February 2023
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	It should print that the camera is open and the bridge is connected to the REGBOT hardware.		It should print that the camera is open and the bridge is connected to the REGBOT hardware.

	~~==Software documentation (doxygen)==~~

	~~[[File:inherit_graph_2.png \| 200px]]~~

	~~Figure: generated with doxygen http://aut.elektro.dtu.dk/robobot/doc/html/classes.html~~


	~~The classes that inherit from UData are classes that makes data available for the mission, e.g. joystick buttons (in UJoy) event flags (in UEvent) or IR distance data (in UIRdist).~~

	~~The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.~~

	~~The camera class (UCamera) is intended to do the image processing.~~

	~~===HTML documentation - Doxygen===~~

	~~To generate doxygen html files go to mission directory and run doxygen.~~

	~~cd ~/mission~~
	~~doxygen Doxyfile~~

	~~then open the index.html with a browser.~~

	~~If doxygen is not installed, then install using~~

	~~sudo apt install doxygen~~

Jca: /* Camera */

2023-02-02T12:28:41Z

Camera

← Older revision		Revision as of 14:28, 2 February 2023
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	== Camera ==		== Camera ==

	~~[[File:image-used.png \| 1000px]]~~

	~~The plot shows with a 'X' when an image frame is captured, and if an ArUco analysis is requested (value 1).~~

	~~This shows about 33ms between the camera frames in most cases.~~

	When an ArUco marker analysis is performed (at 10.28 seconds) it takes about 170ms before the next frame is captured. This must then be the time taken by the ArUco detection process (no code was found in this case). When a code is detected it took 240ms to process (not shown in the plot).

	===Camera calibration===		===Camera calibration===

	To use the camera to determine distances, a calibration is needed.		To use the camera to determine distances, calibration is needed.

	A rough calibration is used that in most cases is sufficient.		A rough calibration is used that, in most cases, is sufficient.

	The camera calibration ~~consist~~ of a camera matrix and a lens distortion vector.		The camera calibration consists of a camera matrix and a lens distortion vector.
	This is set in in the camera class definition in the file 'ucamera.h':		This is set in the camera class definition in the file 'ucamera.h':

	/** camera matrix is a 3x3 matrix (raspberry PI typical values)		/** camera matrix is a 3x3 matrix (raspberry PI typical values)
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	===Camera coordinate conversion matrix===		===Camera coordinate conversion matrix===

	The camera is placed on the robot in some distance from the origo of the robot coordinate system.		The camera is placed on the robot at some distance from the origo of the robot coordinate system.

	~~The default position is set in the class definition (ucamera.h):~~

	~~// camera~~ position ~~on robot~~		The default position and tilt is set in the class definition (uvision.h):
	~~cv::Vec3d camPos = {0.03, 0.03, 0.27}; /// x=fwd, y=left, z=up~~
	~~cv::Vec3d camRot = {0, 10*M_PI/180.0, 0}; /// roll,~~ tilt~~, yaw~~ (~~right hand rule, radians~~)

	~~These values can be set with console command while the mission app is running, see [~~[~~Robobot_mission#Main]~~].		const float camPos[3] = {0.13,-0.02, 0.23}; // in meters
			const float camTilt = 22 * M_PI / 180; // in radians
			cv::Mat1f camToRobot;

	~~But also by~~ the ~~calls~~		And the conversion matrix from camera coordinates to robot coordinates are added in uvision.cpp setup()

	~~void setTilt~~(~~float tilt~~);		float st = sin(camTilt);
	~~void setPan~~(~~float pan~~);		float ct = cos(camTilt);
	~~void setRoll~~(~~float roll~~);		camToRobot = (cv::Mat1f(4,4) << ct, 0.f, st, camPos[0],
	~~void setPos(float x~~, ~~float y~~, ~~float z~~);		0.f , 1.f, 0.f , camPos[1],
			-st, 0.f, ct, camPos[2],
			0.f , 0.f, 0.f , 1.f);

	~~These settings are used in the function 'makeCamToRobotTransformation()' in ucamera.cpp to set the coordinate conversion matrix~~

	~~cv::Mat cam2robot;~~		This coordinate conversion matrix is used to find the position of an object (e.g. a ball) once the ball's position is found in camera coordinates.

	== ArUco ==		== ArUco ==

Jca: /* Camera */

2023-02-02T12:20:38Z

Camera

← Older revision		Revision as of 14:20, 2 February 2023
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	== Camera ==		== Camera ==

	~~The camera interface sets the camera to 1280 x 960 pixels resolution at 30 frames per second and RGB format (setupCamera() in 'ucamera.h').~~

	~~===Frame capture thread===~~

	~~After setup a new thread is created that calls the 'run()' function (in the 'ucamera.cpp' file).~~

	~~The thread captures constantly images from the camera in an attempt not to have the most recent image frame available.~~

	~~Then it checks if any of the use-flags (saveImage or doArUcoAnalysis) are set, and if so call an appropriate function.~~
	~~The flag will be cleared to indicate that the processing is finished.~~

	~~===Logfile and timing===~~

	~~There is a camera log file that can be used to get an idea of the framerate and processing time of the used frames. This can be opened from the console.~~

	~~From the example mission, the following data is obtained:~~

	[[File:image-used.png \| 1000px]]		[[File:image-used.png \| 1000px]]

Jca: /* Sound */

2023-02-02T12:19:26Z

Sound

← Older revision		Revision as of 14:19, 2 February 2023
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	It should print that the camera is open and the bridge is connected to the REGBOT hardware.		It should print that the camera is open and the bridge is connected to the REGBOT hardware.

	~~==Sound==~~

	~~The robot has small speakers~~

	~~===Music===~~

	~~A small class is available to play (and stop playing) music files.~~

	~~The class is called '' 'UPlay' '' in the file uplay.h (header file only)~~

	~~The following code illustrate its use:~~

	~~UPlay play;~~
	~~play.setFile("../The_thing_goes_Bassim.mp3");~~
	~~play.setVolume(5); // % (0..100)~~
	~~play.start();~~
	~~...~~
	~~play.stop();~~

	~~In this case it is an mp3 file, but some other types should be playable as well.~~

	~~===Speak===~~

	~~system("espeak \"bettina reached point 3\" -ven+f4 -a30 -s130");~~

	This line makes the robot say "bettina reached point 3" the parameters "-a30" turns amplitude down to 30%, "-ven+f4" sets language to english with female voice 4 and "-s130" makes the speech a little slower and easier to understand.
	~~It requires that espeak is installed (sudo apt install espeak).~~

	~~To use on Raspberry pi, it is better to use~~

	~~system("espeak \"Mission paused.\" -ven+f4 -s130 -a60 2>/dev/null &");~~

	~~The "2>/dev/null" tell that error messages should be dumped, and the final "&" say that it should run in the background (not to pause the mission).~~

	==Software documentation (doxygen)==		==Software documentation (doxygen)==