Sistema Projection Mapping Adequado a Robótica Móvel e Cenas Complexas
WEEKLY REPORTS
1st Week 23/02/2015 - 27/02/2015
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Contextualization with the project
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Install ROS
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Do ROS tutorials
2nd Week 02/03/2015 - 06/03/2015
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Search for software for camera projector calibration
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Test of the software with material available on the lab
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Contextualization with the gazebo, URDF files
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Begin the construction of the web site
3rd Week 09/03/2015 - 13/03/2015
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Search for others camera projector calibration software
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Continue with camera projector calibration
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Test “David Vision System SLS-2” setup
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Fix the camera projector to the ABB robotic Arm
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Represent INESC at “Mostra da UP”
4th Week 16/03/2015 - 20/03/2015
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Conclusion of camera projector calibration
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Conclusion of the web site
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Upgrade Ubuntu to 14.04 and installation of ROS, Qt and the necessary libraries
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Begin gazebo tutorials
5th Week 23/03/2015 - 27/03/2015
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Demonstration of the robot in deltamatic
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Building a power cable for projector and laser
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Test and understanding the existent software
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ROS tutorials about TF messages
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Gazibo tutorials
6th Week 30/03/2015 - 03/04/2015
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Building a support for the projector
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Connect the power source of the projector to the robot and build interface cables
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Test and calibrate the system for the configuration
7th Week 06/03/2015 - 10/04/2015
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Construction of Styrofoam walls for “Festival Nacional de Robótica”
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Rotation of the projector
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Test and calibrate the system for the new configuration
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Participation at “Festival Nacional de Robótica”
8th Week 13/04/2015 - 17/04/2015
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Tests with structured light
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Creation of a simple QT user interface that communicate throw ROS
9th Week 20/04/2015 - 24/04/2015
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Construction of a projector camera support
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Start calibration of the entire system. Camera-projector, Camera-World, Robotic Arm-World, Projector-World
10th Week 27/04/2015 - 01/05/2015
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Continue the system calibrations
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Data acquisition of referential and images of the patters
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Development of a program that enable communication with ABB robotic arm throw serial interface
12th Week 11/05/2015 - 15/05/2015
11th Week 04/05/2015 - 08/05/2015
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Continue the system calibrations with the robotic arm
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Development of a ROS node to receive the serial data and publish a TF
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Complete the system calibrations
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Construction of laser pointer with two frequencies
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implementation of communication between the application and the gazebo
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Laser identification
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Add a virtual kinect to the simulator to acquire depth data
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Import objects in run time to gazebo
13th Week 18/05/2015 - 22/05/2015
14th Week 25/05/2015 - 29/05/2015
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Create a virtual representation of the real world
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Convert the coordinates from the camera referential to projector referential
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Create dialog box in the projected image to interact with the user
15th Week 01/06/2015 - 05/06/2015
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Start writing the thesis
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Perform some demonstrantions to supervisor and co-supervior
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Acquire data from de real world test and mesure the errors
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Continue writing the thesis
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Perform more test to measure error and system limitations
16th Week 08/06/2015 - 12/06/2015
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Continue writing the thesis
17th Week 15/06/2015 - 19/06/2015
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Finish writing the thesis
17th Week 22/06/2015 - 26/06/2015
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Delivery of the thesis