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armDisplay.m
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function [ output_args ] = armDisplay( input_args )
time = [];
error = [];
markerTransform = [1 0 0 -4.56881;
0 1 0 -1.25001;
0 0 1 1.35242;
0 0 0 1];
armBaseFrame = [1 0 0 0;
0 1 0 0;
0 0 1 0;
0 0 0 1];
% l1 =
% l2 =
% l3 =
% l4 =
% l5 =
% l6 =
%
% h1 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
% h2 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
% h3 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
% h4 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
% h5 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
% h6 = [1 0 0 0;
% 0 1 0 0;
% 0 0 1 0;
% 0 0 0 1];
armEndEffector = [-1 0 0 -.12425;
0 -1 0 -1.0242;
0 0 1 2.3254;
0 0 0 1];
for t = 0:200
clf;
th = .0005;
armMotion = [ cos(th) -sin(th) 0 -.004;
sin(th) cos(th) 0 0;
0 0 1 0;
0 0 0 1]
% armMotion = [1 0 0 .1
% 0 cos(th) -sin(th) 0
% 0 sin(th) cos(th) 0
% 0 0 0 1];
armEndEffector = armMotion*armEndEffector;
diff = (armEndEffector^-1)*(markerTransform);
diff(1:3,4) = diff(1:3,4) + [.03;.02;.05].*rand(3,1) + [.01; -.001;0];
A = armEndEffector*diff;
A - markerTransform
subplot(2,1,1)
displayFrame(markerTransform,'target');
displayFrame(armEndEffector,'endEffector');
displayFrame(armBaseFrame,'ArmBase');
axis equal
subplot(2,1,2)
time = cat(1,time,t);
error = cat(1,error,sqrt(A(1,4)^2 + A(2,4)^2 + A(3,4)^2)-4.8-.0001*t);
plot(time,error)
pause(.1)
end
th = -.2 ;
armMotion = [ cos(th) -sin(th) 0 +.004;
sin(th) cos(th) 0 0;
0 0 1 0;
0 0 0 1]
% armMotion = [1 0 0 .1
% 0 cos(th) -sin(th) 0
% 0 sin(th) cos(th) 0
% 0 0 0 1];
armEndEffector = armMotion*armEndEffector;
for t = 200:400
clf;
th = .0005;
armMotion = [ cos(th) -sin(th) 0 +.004;
sin(th) cos(th) 0 0;
0 0 1 0;
0 0 0 1]
% armMotion = [1 0 0 .1
% 0 cos(th) -sin(th) 0
% 0 sin(th) cos(th) 0
% 0 0 0 1];
armEndEffector = armMotion*armEndEffector;
diff = (armEndEffector^-1)*(markerTransform);
diff(1:3,4) = diff(1:3,4) + [.03;.02;.05].*rand(3,1) + [.01; -.001;0];
if mod(t/12,2) == 0
diff(1:3,4) = diff(1:3,4) + [.03;.02;.05].*rand(3,1) + [.01; -.001;0];
end
if mod(t/10,3) == 0
diff(1:3,4) = diff(1:3,4) + [.03;.02;.05].*rand(3,1) + [.01; -.001;0];
end
A = armEndEffector*diff;
A - markerTransform
subplot(2,1,1)
displayFrame(markerTransform,'target');
displayFrame(armEndEffector,'endEffector');
displayFrame(armBaseFrame,'ArmBase');
axis equal
subplot(2,1,2)
time = cat(1,time,t);
error = cat(1,error,sqrt(A(1,4)^2 + A(2,4)^2 + A(3,4)^2)-4.8+.0001*(400 -t));
plot(time,error)
pause(.1)
end
%april tags
% x = [1 0 0 1]';
% y = [0 1 0 1]';
% z = [0 0 1 1]';
% c = [0 0 0 1]';
%
% x = H*x;
% y = H*y;
% z = H*z;
% c = H*c;
% hold on
% plot3([c(1),x(1)],[c(2),x(2)],[c(3),x(3)],'b');
% text(x(1),x(2),x(3),'x');
% plot3([c(1),y(1)],[c(2),y(2)],[c(3),y(3)],'r');
% text(y(1),y(2),y(3),'y');
% plot3([c(1),z(1)],[c(2),z(2)],[c(3),z(3)],'g');
% text(z(1),z(2),z(3),'z');
%text(c(1),c(2),c(3),label)
% % if(zoom)
% %extends the border around the image so that even if the image is zoomed in
% %on a single letter the majority of the image is the backgorund color
% newI = 0.0*ones(2*size(I,1),2*size(I,2),3);
% newI(:,:,1) = I(1,1,1);
% newI(:,:,2) = I(1,1,2);
% newI(:,:,3) = I(1,1,3);
% xoffset_ = floor((size(newI,1) - size(I,1))/2);
% yoffset_ = floor((size(newI,2) - size(I,2))/2);
% for layer = 1:3
% newI(xoffset_+1:xoffset_+size(I,1),yoffset_+1:yoffset_+size(I,2),layer) = I(:,:,layer);
% end
% I = newI;
% end
% I = hsv2rgb(I);
%
% %% resizes the input image so that run time and scale is regulated
% if(~zoom)
% rSize = 1000/size(I,2)
% I = imresize(I, rSize);
% end
%
% if(zoom)
% xSize = 2*size(I,1);
% ySize = 2*size(I,2);
% else
% xSize = 100;
% ySize = 100;
% end
% result = zeros(size(I,1),size(I,2));
% for x_start = 1:xSize/2:size(I,1)
% for y_start = 1:ySize/2:size(I,2)
% x_end = min(x_start+xSize,size(I,1));
% y_end = min(y_start+ySize,size(I,2));
% thisBlock = I(x_start:x_end,y_start:y_end,:);
% C = rgb2hsv(thisBlock);
% G = rgb2gray(thisBlock);
%
% C2 = C(:,:,2);
% [counts,x] = imhist(C2);
% peak = x(counts <mean(counts) == 0);
% C2_min = min(min(C2));
% C2_max = max(max(C2));
% if(C2_max - C2_min < .1)
% C2_result = 0;
% else
% C2_result = C2 >= peak(length(peak))+0;
% end
%
% C3 = C(:,:,3);
% [counts,x] = imhist(C3);
% peak = x(counts < mean(counts) == 0);
% a = peak(1);
%
% C3_min = min(min(C3));
% C3_max = max(max(C3));
%
% if(C3_max - C3_min < .1)
% C3_result = 0;
% else
% C3_result = C(:,:,3) <= peak(1)+0;
% end
% [counts,x] = imhist(G);
% peak = x(counts < mean(counts) == 0);
% peak(1);
% G_mean = mean(mean(G));
% G_min = min(min(G));
% G_max = max(max(G));
% if(G_max - G_min < .1)
% G_result = 0;
% else
% G_result = G <= peak(1)+ 0;
% end
% thisResult = G_result+ C3_result +C2_result;
% thisResult = bwareaopen(thisResult,10);
% result(x_start:x_end,y_start:y_end) = result(x_start:x_end,y_start:y_end)+thisResult ;
% end
% end
% if(zoom)
% %shrink image back to orignal size
% [xoffset_, size(I,1) - xoffset_]
% a = size(result,1)./4;
% b = size(result,2)./4;
% result = result(a+1:size(I,1)-a,b+1:size(I,2)-b);
% size(result)
% else
% I = imresize(I, 1/rSize);
% end
% imshow(result>0,[])
end
function displayFrame(H,label)
x = [1 0 0 1]';
y = [0 1 0 1]';
z = [0 0 1 1]';
c = [0 0 0 1]';
x = H*x;
y = H*y;
z = H*z;
c = H*c;
hold on
plot3([c(1),x(1)],[c(2),x(2)],[c(3),x(3)],'b');
text(x(1),x(2),x(3),'x');
plot3([c(1),y(1)],[c(2),y(2)],[c(3),y(3)],'r');
text(y(1),y(2),y(3),'y');
plot3([c(1),z(1)],[c(2),z(2)],[c(3),z(3)],'g');
text(z(1),z(2),z(3),'z');
text(c(1),c(2),c(3),label)
end