ericsims / matlab-toolboxes-robotics-vision Goto Github PK

Vehicle class is currently bicycle model.

Should have abstact superclass Vehicle with subclasses Bicycle, DiffDrive etc

Should not effect EKF or ParticleFilter classes.

icorner with patch returns unit vector descriptors

PointFeature.match subtracts these, is this right.
Modify closest to do dot product, not just subtraction.

For use with A*-PO and D*-PO search algorithms in Astar.m and Dstar.m, 
respectively.

Create a Simulink that wraps plot_vehicle to animate a vehicle.  Possible 
checkbox options for trail, continuous animation, start and end only etc.

The labels should ideally be sequential starting at 1.  We have the same 
problem in ilabel(), perhaps factor out that code and apply it to this problem. 
 Maybe the new MATLAB Map container is the answer.

I want to run walking.m , but.... 


plotopt = leg.plot({'noraise', 'nobase', 'noshadow','nowrist', 'nojaxes'}); 
Error using SerialLink/plot>plot_options (line 319) 
Not enough input arguments. 

What steps will reproduce the problem?
1. b1 = iread('building2-1.png','grey','double');
2. C1 = icorner(b1, 'nfeat', 200);
3. C2 = icorner(b1, 'nfeat', 200, 'suppress', 20);

What is the expected output? What do you see instead?
For the first call of "icorner" it should return the first 200 strongest 
corners.
For the second call it should return the first 200 strongest corners that do 
not overlap regarding a circle with the radius of 20 pixels. (the corner should 
be more dispersed in the output image).
But, both calls return exactly the same first 200 strongest corners.   

What version of the product are you using? On what operating system?
Vision-3.3, Windows 8.1 x64, and Matlab R2012a

Please provide any additional information below.
Reviewing the "icorner" source code I found the problem:
line 280: d = sqrt( sum((features.v'-y).^2 + (features.u'-x).^2) );
This line compute the sum of the distances between current corner and the 
corners already saved on the solution. In this case "d" is a scalar. 
But, we need to compute the individual distances between the current corner and 
each corner part of the solution. In this case "d" it will be an array. 
Regarding to the minimum value from "d", we can take a decision if we keep the 
corner or not.
Fix: d = sqrt((features.v'-y).^2 + (features.u'-x).^2); 
Because of this modification, we need to do one more thing: add a new index to 
the loop. We already have one for parsing the list of corners (which in the 
current implementation is "i"), and we need one more for the output array.
We need to keep increasing "i" on each iteration, but "j" (the second index) 
only if we keep the current corner.(is part of the solution)
Attached to this report, is also the icorner.m modified file.

Best Regards,
Andrei

Very minor, but should be a quick fix.

What steps will reproduce the problem?
1. run 'rtbdemo'
2. Arm/Animation button runs the 'fkine' demo in switch yard
3. Arm/Forward Kinematics runs the 'graphics' demo in switch yard

What is the expected output? What do you see instead?
The demo names should be swapped 
Arm/Animation = 'graphics'
Arm/Forward Kinematics = 'fkine'


What version of the product are you using? On what operating system?
>> ver
--------------------------------------------------------------------------------
----------------
MATLAB Version: 8.0.0.783 (R2012b)
MATLAB License Number: 248458
Operating System: Microsoft Windows 7 Version 6.1 (Build 7601: Service Pack 1)
Java Version: Java 1.6.0_17-b04 with Sun Microsystems Inc. Java HotSpot(TM) 
Client VM mixed mode
--------------------------------------------------------------------------------
----------------
MATLAB                                                Version 8.0        
(R2012b)
Simulink                                              Version 8.0        
(R2012b)
Communications System Toolbox                         Version 5.3        
(R2012b)
Control System Toolbox                                Version 9.4        
(R2012b)
Curve Fitting Toolbox                                 Version 3.3        
(R2012b)
DSP System Toolbox                                    Version 8.3        
(R2012b)
Data Acquisition Toolbox                              Version 3.2        
(R2012b)
Image Processing Toolbox                              Version 8.1        
(R2012b)
MATLAB Compiler                                       Version 4.18       
(R2012b)
Mapping Toolbox                                       Version 3.6        
(R2012b)
Optimization Toolbox                                  Version 6.2.1      
(R2012b)
Robotics Toolbox                                      Version 9.8.0             

Signal Processing Toolbox                             Version 6.18       
(R2012b)
Simulink Control Design                               Version 3.6        
(R2012b)
Statistics Toolbox                                    Version 8.1        
(R2012b)
Symbolic Math Toolbox                                 Version 5.9        
(R2012b)
>> 

Please provide any additional information below.

Error in execution of homography

Matlab version: 2012a window7 64 bits
fmatrix version: r930 by peter.i.corke on Sep 29, 2012   -- Size: 7921 bytes, 
267 lines

Book: Robotics, Vision and Control_Fundamental Algorithms in MATLAB®_Peter 
Corke, P. 396

Error message:

>> Tgrid = transl(0,0,1)*trotx(0.1)*troty(0.2);
>> P = mkgrid(3, 1.0, 'T', Tgrid);
>> p1 = cam1.plot(P, 'o');
creating new figure for camera
h =
  173.1083
make axes
>> p2 = cam2.plot(P, 'o');
creating new figure for camera
h =
  179.1083
make axes
>> H = homography(p1, p2)
Undefined function 'vgg_H_from_x_lin' for input arguments of type 'double'.
Error in homography (line 46)
    H = vgg_H_from_x_lin(p1, p2); 

A number of functions create a subdir full of image files that can be turned 
into a movie.

Create m-file that takes a folder and creates a movie, and have it auto called 
when all frames are rendered.  Change the argument to 'movie' to be the movie 
file name, the folder is a temp name that is cleaned up.

Allow for options like frame rate to be set

'movie', 'blah.mp4'
'movie', {'blah.mp4', 20}

Downloaded v9.10 6/8/2015 at 2.30 pm Eastern Standard Time, Melbourne.

What steps will reproduce the problem?
1. Open up ikine function from ~\rvctools\robot\@SerialLink
2. Read documentation script at start (% 'alpha',A set step size gain (default 
1))
3. Compare to setting in m-script (opt.alpha = 0.9;)

What is the expected output? What do you see instead?
My particular problem failed to converge with this setting, which was 
unexpected for alpha=1.0

What version of the product are you using? On what operating system?
v9.10 on Windows8, Matlab 2014b.

Please provide any additional information below.

>>What steps will reproduce the problem?
I execute: [mx,p]=peak2(S,1,'npeaks',5)
and it give me error,

Attempt to execute SCRIPT iwindow as a function:
/home/jasleen/Documents/MATLAB/Toolboxes/Machine Vision Toolbox (MOOC 
build)/iwindow.m

Error in peak2 (line 67)
    znh = iwindow(double(z), M, 'max', 'wrap');


>>What is the expected output? What do you see instead?
I expected to see the intensity values and its pixel values at peak of intensity

>>What version of the product are you using? On what operating system?
Matlab 8.5.0.197613 elementry OS

What steps will reproduce the problem?
1. create robot model (for example stanford manipulator or baxter robot model 
from 
https://groups.google.com/a/rethinkrobotics.com/forum/#!mydiscussions/brr-users/
5X1-6w-Ja1I)
mdl_stanford 
2. calculate inertia matrix without base transformation
stanf.base = eye(4);
M1 = stanf.inertia(qz)

3. calculate inertia matrix with abitrary different base transformation 
stanf.base = trotz(pi/2)*transl([1;2;3]);
M2 = stanf.inertia(qz)

What is the expected output?
Expected: The inertia matrix should stay the same
What do you see instead?
Output: Inertia matrix changes with base transformation matrix
M1-M2

What version of the product are you using? On what operating system?
Robotics Toolbox 9.9; Linux 64 bit; Should not matter here

Please provide any additional information below.

In rne_dh.m, Line 122 
(https://code.google.com/p/matlab-toolboxes-robotics-vision/source/browse/matlab
/robot/trunk/@SerialLink/rne_dh.m?r=751#112), the base transformation is added 
to the vector from the first joint frame to the second joint frame (pstar). By 
doing this, the lever arm is not calculated for the first joint but for the 
point [0;0;0]. By removing this line, the problem seems solved.

Please contact me, if this is not a bug and I missed something
Regards,

Moritz Schappler,
[email protected]
Research Assistant at the Institute for Automatic Control, Leibniz Universität 
Hannover, Germany

What steps will reproduce the problem?
1. runscript('graphics')
2. at line "p560_2 = SerialLink(p560, ..."
Error using runscript (line 140)
Error: This statement is incomplete.

What is the expected output? What do you see instead?
It should have run the set of three lines concatenated with ellipses


What version of the product are you using? On what operating system?
>> ver
--------------------------------------------------------------------------------
----------------
MATLAB Version: 8.0.0.783 (R2012b)
MATLAB License Number: 248458
Operating System: Microsoft Windows 7 Version 6.1 (Build 7601: Service Pack 1)
Java Version: Java 1.6.0_17-b04 with Sun Microsystems Inc. Java HotSpot(TM) 
Client VM mixed mode
--------------------------------------------------------------------------------
----------------
MATLAB                                                Version 8.0        
(R2012b)
Simulink                                              Version 8.0        
(R2012b)
Communications System Toolbox                         Version 5.3        
(R2012b)
Control System Toolbox                                Version 9.4        
(R2012b)
Curve Fitting Toolbox                                 Version 3.3        
(R2012b)
DSP System Toolbox                                    Version 8.3        
(R2012b)
Data Acquisition Toolbox                              Version 3.2        
(R2012b)
Image Processing Toolbox                              Version 8.1        
(R2012b)
MATLAB Compiler                                       Version 4.18       
(R2012b)
Mapping Toolbox                                       Version 3.6        
(R2012b)
Optimization Toolbox                                  Version 6.2.1      
(R2012b)
Robotics Toolbox                                      Version 9.8.0             

Signal Processing Toolbox                             Version 6.18       
(R2012b)
Simulink Control Design                               Version 3.6        
(R2012b)
Statistics Toolbox                                    Version 8.1        
(R2012b)
Symbolic Math Toolbox                                 Version 5.9        
(R2012b)
>> 

Please provide any additional information below.

What steps will reproduce the problem?
1. Connect the EV3 brick by USB
2. Run the command: gyrorate = b.inputReadSI(0,Device.Port2,Device.GyroRate);
3. The value is NaN. Doesn't matter if the robot is moving or not, it is always 
NaN. It also tends to reset the Gyro Angle every time it runs.

What is the expected output? What do you see instead?
The command should give the value of the gyro rate. If stationary, it should 
give zero. But it always gives NaN.

What version of the product are you using? On what operating system?
I am using QUT EV3 MATLAB toolkit, current version on Windows 7 64 bit with 
MATLAB R2013a. Other functions seem to work fine.

Please provide any additional information below.

To use the ARTE 3D models, need to make the DH parameters consistent between 
RTB and ARTE.  Worth doing for the robots listed above.  Maybe use ARTE 
kinematic models to create more RTB mdl_ files.

Probably bug in SerialLink.plot3d for prismatic joints.

What steps will reproduce the problem?
1. V = diag([0.005, 0.5/pi/180]).^2
2. veh = Vehicle(V)
3. odo = veh.step(1, 0.3)

What is the expected output? What do you see instead?

The expected output is [1 0.3] +- some noise,
The actual output is always exactly [1 0.3]

What version of the product are you using? On what operating system?

I am using Robotics Toolbox v 9.8 on OS X 10.7.5

Matlab version is:
EDU>> ver
--------------------------------------------------------------------------------
-----
MATLAB Version 7.12.0.635 (R2011a)
MATLAB License Number: STUDENT
Operating System: Mac OS X  Version: 10.7.5 Build: 11G63 
Java VM Version: Java 1.6.0_37-b06-434-11M3909 with Apple Inc. Java HotSpot(TM) 
64-Bit Server VM mixed mode
--------------------------------------------------------------------------------
-----
MATLAB                                                Version 7.12       
(R2011a)
Simulink                                              Version 7.7        
(R2011a)
Computer Vision System Toolbox                        Version 4.0        
(R2011a)
Control System Toolbox                                Version 9.1        
(R2011a)
Curve Fitting Toolbox                                 Version 3.1        
(R2011a)
DSP System Toolbox                                    Version 8.0        
(R2011a)
Fixed-Point Toolbox                                   Version 3.3        
(R2011a)
Global Optimization Toolbox                           Version 3.1.1      
(R2011a)
Image Acquisition Toolbox                             Version 4.1        
(R2011a)
Image Processing Toolbox                              Version 7.2        
(R2011a)
Instrument Control Toolbox                            Version 2.12       
(R2011a)
Neural Network Toolbox                                Version 7.0.1      
(R2011a)
Optimization Toolbox                                  Version 6.0        
(R2011a)
Partial Differential Equation Toolbox                 Version 1.0.18     
(R2011a)
Robotics Toolbox                                      Version 9.8.0             

Signal Processing Toolbox                             Version 6.15       
(R2011a)
SimElectronics                                        Version 1.6        
(R2011a)
SimMechanics                                          Version 3.2.2      
(R2011a)
Statistics Toolbox                                    Version 7.5        
(R2011a)
Symbolic Math Toolbox                                 Version 5.6        
(R2011a)

Please provide any additional information below.

According to the matlab documentation here: 
http://www.mathworks.com/help/matlab/ref/if.html, this is the expected behavior 
if the matrix contains zeros. 

The offending line appears to be Vehicle.m:302 - 304, which is

            if veh.V
                odo = veh.odometry + randn(1,2)*veh.V;
            end

I believe it should read

            if any(veh.V)
                odo = veh.odometry + randn(1,2)*veh.V;
            end

This checks if veh.V has any non-zero elements, rather than if it has all 
non-zero elements. 

What steps will reproduce the problem?
1. opening the census.m file.IT is not complete.
2.
3.

What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?


Please provide any additional information below.

Sorry to provide you without much extra information, but I don't have much time 
now. If you need more information, let me know.

In robot-9.8\rvctools\robot\@SerialLInk\plot.m on line 244 there is an 
assignment like 'h = ...', which I think should be replaced with 'handle = 
...'. It's just a small thing, but it results in an error now.

By the way, your toolbox is great. It helps me understand robotics in a very 
nice way and your code is well organized. Keep up the good work!

Matlab version: 2012a window7 64 bits
fmatrix version: r930 by peter.i.corke on Sep 29, 2012   -- Size: 7921 bytes, 
267 lines

Book: Robotics, Vision and Control_Fundamental Algorithms in MATLAB®_Peter 
Corke, P. 392

Error message:
>> p1 = cam1.project(P);
>> p2 = cam2.project(P);
>> F = fmatrix(p1, p2)
Undefined function 'vgg_conditioner_from_pts' for input arguments of type 
'double'.
Error in fmatrix (line 72)
        C1 = vgg_conditioner_from_pts(p1); 

This should replace Astar.m, AstarMOO.m, and AstarPO.m.

What steps will reproduce the problem?

Robotics, Vision and Control (corrected second printing), Peter Corke - page 
#22 MATLAB example:

>> T1 = se2(1,2,30*pi/180)

T1 =

    0.8660   -0.5000    1.0000
    0.5000    0.8660    2.0000
         0         0    1.0000

>> axis([0 5 0 5])
>> trplot2(T1, 'frame', '1', 'color', 'b')
Error using horzcat
Dimensions of matrices being concatenated are not consistent.

Error in transl (line 73)
            t1 =    [eye(3)          t(:);

Error in trplot2 (line 90)
            c = transl(T);


What version of the product are you using? On what operating system?

>> ver
--------------------------------------------------------------------------------
----------------
MATLAB Version: 8.1.0.604 (R2013a)
MATLAB License Number: ****** (hidden for security reasons)
Operating System: Microsoft Windows 7 Version 6.1 (Build 7601: Service Pack 1)
Java Version: Java 1.6.0_17-b04 with Sun Microsystems Inc. Java HotSpot(TM) 
Client VM mixed mode
--------------------------------------------------------------------------------
----------------
MATLAB                                                Version 8.1        
(R2013a)
Simulink                                              Version 8.1        
(R2013a)
Communications System Toolbox                         Version 5.4        
(R2013a)
Control System Toolbox                                Version 9.5        
(R2013a)
Curve Fitting Toolbox                                 Version 3.3.1      
(R2013a)
DSP System Toolbox                                    Version 8.4        
(R2013a)
Fuzzy Logic Toolbox                                   Version 2.2.17     
(R2013a)
Global Optimization Toolbox                           Version 3.2.3      
(R2013a)
Image Processing Toolbox                              Version 8.2        
(R2013a)
MATLAB Coder                                          Version 2.4        
(R2013a)
MATLAB Compiler                                       Version 4.18.1     
(R2013a)
Neural Network Toolbox                                Version 8.0.1      
(R2013a)
Optimization Toolbox                                  Version 6.3        
(R2013a)
Partial Differential Equation Toolbox                 Version 1.2        
(R2013a)
Robotics Toolbox                                      Version 9.9.0             

Signal Processing Toolbox                             Version 6.19       
(R2013a)
Simulink Coder                                        Version 8.4        
(R2013a)
Simulink Control Design                               Version 3.7        
(R2013a)
Simulink Design Optimization                          Version 2.3        
(R2013a)
Statistics Toolbox                                    Version 8.2        
(R2013a)
Symbolic Math Toolbox                                 Version 5.10       
(R2013a)
System Identification Toolbox                         Version 8.2        
(R2013a)
Wavelet Toolbox                                       Version 4.11       
(R2013a)
>> 

Please provide any additional information below.

The example from the book, page 22 doesn't work on MATLAB, details of which are 
provided above.

This is included in MVTB, needs to be in common

Use fmincon and jacob0 to create an inverse kine module that handles joint 
limits

vgg, EPnP, vlfeat missing from distro

Need to roll into contrib.zip and post on web site

This should replace Dstar.m, DstarMOO.m, and DstarPO.m.

should support a base transform and return the base wrench

What steps will reproduce the problem?
1. Create a RangeBearingSenors:
2. sensor = RangeBearingSensor(veh, Map(10), V, 'range',[0.1 20],'angle',[-135 
135]);
3. Seems like superclass Sensor cannot handle options from class 
RangeBearingSensor

What is the expected output? What do you see instead?
A range bearing sensor object with given range and angle. Instead, i get the 
following error: 

Error using tb_optparse (line 211)
unknown options: range

Error in Sensor (line 71)
            opt = tb_optparse(opt, varargin);

Error in RangeBearingSensor (line 90)
            s = s@Sensor(robot, map, varargin{:});

Error in Localization (line 40)
sensor = RangeBearingSensor(veh, Map(10), V,
'range',[0.1 20],'angle',[-135 135]);

What version of the product are you using? On what operating system?
--------------------------------------------------------------------------------
-----------------------
MATLAB Version: 7.14.0.739 (R2012a)
MATLAB License Number: 158557
Operating System: Microsoft Windows 7 Version 6.1 (Build 7601: Service Pack 1)
Java Version: Java 1.6.0_17-b04 with Sun Microsystems Inc. Java HotSpot(TM) 
64-Bit Server VM mixed mode
--------------------------------------------------------------------------------
-----------------------
MATLAB                                                Version 7.14       
(R2012a)                     
Simulink                                              Version 7.9        
(R2012a)                     
Bioinformatics Toolbox                                Version 4.1        
(R2012a)                     
Control System Toolbox                                Version 9.3        
(R2012a)                     
Curve Fitting Toolbox                                 Version 3.2.1      
(R2012a)                     
Data Acquisition Toolbox                              Version 3.1        
(R2012a)                     
Fuzzy Logic Toolbox                                   Version 2.2.15     
(R2012a)                     
Global Optimization Toolbox                           Version 3.2.1      
(R2012a)                     
Image Processing Toolbox                              Version 8.0        
(R2012a)                     
MATLAB Compiler                                       Version 4.17       
(R2012a)                     
MATLAB Report Generator                               Version 3.12       
(R2012a)                     
Mapping Toolbox                                       Version 3.5        
(R2012a)                     
Model Predictive Control Toolbox                      Version 4.1        
(R2012a)                     
Neural Network Toolbox                                Version 7.0.3      
(R2012a)                     
Optimization Toolbox                                  Version 6.2        
(R2012a)                     
Parallel Computing Toolbox                            Version 6.0        
(R2012a)                     
Partial Differential Equation Toolbox                 Version 1.0.20     
(R2012a)                     
Robotics Toolbox                                      Version 9.8.0             
       License unknown
Robust Control Toolbox                                Version 4.1        
(R2012a)                     
Signal Processing Toolbox                             Version 6.17       
(R2012a)                     
SimBiology                                            Version 4.1        
(R2012a)      License 424347 
SimEvents                                             Version 4.1        
(R2012a)                     
Simulink 3D Animation                                 Version 6.1        
(R2012a)                     
Simulink Control Design                               Version 3.5        
(R2012a)                     
Simulink Design Optimization                          Version 2.1        
(R2012a)                     
Simulink Report Generator                             Version 3.12       
(R2012a)                     
Statistics Toolbox                                    Version 8.0        
(R2012a)                     
Symbolic Math Toolbox                                 Version 5.8        
(R2012a)                     
System Identification Toolbox                         Version 8.0        
(R2012a)          

Please provide any additional information below.

trail option, doesn't draw any line

plot one robot in two windows, second one fails in animate()

add method to return graphical joint angles

What steps will reproduce the problem?
1. running the attached code in ubuntu matlab 2011a
2.
3.

What is the expected output? What do you see instead?
All the sliders of teach working , currently only q1 works. 

What version of the product are you using? On what operating system?
Matlab 2011a , ubuntu 12.04

Please provide any additional information below.
The code works in windows but in Ubuntu 12.04 it gives the following error :
??? Incorrect number of right hand side elements in dot name assignment.  
Missing []
around left hand side is a likely cause.

Error in ==> SerialLink.teach at 310
            jh.AdjustmentValueChangedCallback = @(src,event)sliderCallbackFunc(src,
            handles.slider(i), r.name, i, handles);

Error in ==> abb_model at 57
h1=abb.teach('degrees'); 

Incorrect example comments in PRM, RRT

Check other planners

What steps will reproduce the problem?
1. Create a 5 DOF robot arm object using SerialLink class, with standard DH 
convention. (A notepad file with all the commands is attached herewith)
2. Then create another object, say with the name 'rob', using the CodeGenerator 
class.
3. Then type the command >> rob.geneverything()


What is the expected output? What do you see instead?

When it comes to the point where "gravity load vector" needs to be generated, 
it gives the following error:

>>
09-Jan-2014 04:58:25    Deriving gravitational load vectorError using mupadmex
Error in MuPAD command: Array sizes must match.

Error in sym/privBinaryOp (line 1694)
            Csym = mupadmex(op,args{1}.s, args{2}.s, varargin{:});

Error in sym/minus (line 7)
X = privBinaryOp(A, B, 'symobj::zip', '_subtract');

Error in SerialLink/rne_dh (line 211)
                t = nn.'*(R.'*z0) + ...

Error in SerialLink/rne (line 75)
            [varargout{1:nargout}] = rne_dh(robot, varargin{:});

Error in SerialLink/gravload (line 42)
        tg = rne(robot, q, zeros(size(q)), zeros(size(q)));

Error in CodeGenerator/gengravload (line 52)
G = CGen.rob.gravload(q);
<<

What version of the product are you using? On what operating system?

Robotics Toolbox (release 9.8)
MATLAB R2012a
Microsoft Windows 7 (64-bit)

Please provide any additional information below.

With modified DH parameters, the symbolic code generator only gives the 
"forward kinematics" and after that it gives an error which is somewhat similar 
to the above mentioned error, which says something like: "input can not be 
converted to double..."
That's why I shifted to standard DH convention and then it generated the 
symbolic expressions up till the point where gravity load vector was supposed 
to be computed symbolically but it failed due to the error.

This creates sample environments (pseudo-random occupancy grid, terrain map) 
for Navigation algorithms.

Add more corner detectors, leverage OpenCV?