Tag Archives: matlab
How disable Simulink Editor
Hello ,
I want to disable the entire Simulink editor window. How can I do that?Hello ,
I want to disable the entire Simulink editor window. How can I do that? Hello ,
I want to disable the entire Simulink editor window. How can I do that? simulink, matlab MATLAB Answers — New Questions
Getting these errors while exporting a road to xodr
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/ConstructionCart.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/FencePost01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Trashcan01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ChevronSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Drum01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/F_Barrier01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Grabber01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/StripeSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Ash01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Azalea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Beech01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Birch01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Sm_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Elm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Hydrangea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Maple01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/Cracks01.rrpms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/DirtPath01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/PartingLines01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/TarStreaks01.rrlms’: Asset file is missing.
> WARNING: ——– Detected non-critical validation issues. ——–
> WARNING: Driving Direction:
> WARNING: Road 1 has more than two driving directions or reversed driving directions. Some OpenDRIVE importers may not interpret this data correctly.
> WARNING: ——– End of Report ——–
> Saving OpenDRIVE file ‘E:/roadrunner_project/Exports/xodr/scenario_34.xodr’
> WARNING: Scene is not geolocated. GeoJSON lat/long coordinates will be centered near (0,0).
> WARNING: Export ASAM OpenDRIVE succeeded with warnings/errors> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/ConstructionCart.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/FencePost01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Trashcan01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ChevronSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Drum01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/F_Barrier01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Grabber01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/StripeSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Ash01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Azalea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Beech01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Birch01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Sm_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Elm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Hydrangea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Maple01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/Cracks01.rrpms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/DirtPath01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/PartingLines01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/TarStreaks01.rrlms’: Asset file is missing.
> WARNING: ——– Detected non-critical validation issues. ——–
> WARNING: Driving Direction:
> WARNING: Road 1 has more than two driving directions or reversed driving directions. Some OpenDRIVE importers may not interpret this data correctly.
> WARNING: ——– End of Report ——–
> Saving OpenDRIVE file ‘E:/roadrunner_project/Exports/xodr/scenario_34.xodr’
> WARNING: Scene is not geolocated. GeoJSON lat/long coordinates will be centered near (0,0).
> WARNING: Export ASAM OpenDRIVE succeeded with warnings/errors > ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/ConstructionCart.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Dumpster_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/FencePost01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Construction/Trashcan01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ArrowBoard03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Barricade02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/ChevronSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Drum01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/F_Barrier01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/Grabber01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/TrafficControl/StripeSign01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Ash01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Azalea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Beech01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Birch01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Bush_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Full_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Half_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med_Curve02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CalPalm_Trim_Sm_Curve01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Med06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/CoulPine_Sm06.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Cypress_Sm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Elm01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Lg05.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Med04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm02.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm03.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Eucalyptus_Sm04.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Hydrangea01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Props/Trees/Maple01.fbx’: Asset files are missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/Cracks01.rrpms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/DirtPath01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/PartingLines01.rrlms’: Asset file is missing.
> ERROR: Failed to fetch ‘<PROJECT>/Assets/Damage/TarStreaks01.rrlms’: Asset file is missing.
> WARNING: ——– Detected non-critical validation issues. ——–
> WARNING: Driving Direction:
> WARNING: Road 1 has more than two driving directions or reversed driving directions. Some OpenDRIVE importers may not interpret this data correctly.
> WARNING: ——– End of Report ——–
> Saving OpenDRIVE file ‘E:/roadrunner_project/Exports/xodr/scenario_34.xodr’
> WARNING: Scene is not geolocated. GeoJSON lat/long coordinates will be centered near (0,0).
> WARNING: Export ASAM OpenDRIVE succeeded with warnings/errors export to xodr MATLAB Answers — New Questions
Export matlab variable to be imported in QGis
Dear all,
I need to export a 1000×1000 matrix containing sound pressure level of a specific region to be later imported at QGis.
I tried to do that using netCDF files, which is ok, however the coordinate system is not the same than in QGis (it is used the WGS84 coordinate system) and when I import the file there it is not in the correct location.
So, my question is, how can I export my variable maintaing the correct coordinate system/or change the coordinate system in matlab to correspond to the same coordinate system in QGIs.
Thank you in advance.Dear all,
I need to export a 1000×1000 matrix containing sound pressure level of a specific region to be later imported at QGis.
I tried to do that using netCDF files, which is ok, however the coordinate system is not the same than in QGis (it is used the WGS84 coordinate system) and when I import the file there it is not in the correct location.
So, my question is, how can I export my variable maintaing the correct coordinate system/or change the coordinate system in matlab to correspond to the same coordinate system in QGIs.
Thank you in advance. Dear all,
I need to export a 1000×1000 matrix containing sound pressure level of a specific region to be later imported at QGis.
I tried to do that using netCDF files, which is ok, however the coordinate system is not the same than in QGis (it is used the WGS84 coordinate system) and when I import the file there it is not in the correct location.
So, my question is, how can I export my variable maintaing the correct coordinate system/or change the coordinate system in matlab to correspond to the same coordinate system in QGIs.
Thank you in advance. coordinate system, export variable, qgis, matlab, matlab gui MATLAB Answers — New Questions
How to open a .p file in matlab ?
I have a file with extension .img whick is of around 70MB and a .p file to view them
I need to open / view the images using matlab.
Please help me out on thisI have a file with extension .img whick is of around 70MB and a .p file to view them
I need to open / view the images using matlab.
Please help me out on this I have a file with extension .img whick is of around 70MB and a .p file to view them
I need to open / view the images using matlab.
Please help me out on this image analysis, image processing, image segmentation, image acquisition, digital image processing, .p files MATLAB Answers — New Questions
I have a problem in using imsegkmeans in a for loop
I’m using several tools in MatLab to segmentate a video I took with a camera. Everything seems to work well, except for the fact that when I ask MatLab to show me the pictures with imsegkmeans they turn out all in different shades of blue and even the binarized image is all blue. However, apparently it’s just a matter of visualization, since I’m using the binarized image to extract height and widht of the object in the video and it works.
Here there is my code:
clear all
close all
clc
% This script performs a DLT transformation of a video each
% 25 frames (each second), plots the mean RGB value of the flame, classifies
% the flame in different cluster and determinates the widht and the height of
% the flame recorded by the camera
v = VideoReader(‘MAH00030_Trim.mp4’);
nFrames = v.NumFrames;
n = 1:25:nFrames;
num = length(n);
% Initialize the level of Red, Green and Blue
meanRedLevels = zeros(num, 1);
meanGreenLevels = zeros(num, 1);
meanBlueLevels = zeros(num, 1);
% Initialize the height and the widht
height = zeros(1,num);
widht = zeros(1,num);
for frame = 1 : 25 : nFrames
% Extract the frame from the movie structure.
thisFrame = read(v, frame);
figure(1)
% Perform the DLT transformation
% Points in the image (in pixels)
pa = [1373 1490]’;
pb = [1359 1240]’;
pc = [2420 1219]’;
pd = [2423 1468]’;
% Refence Points (in mm)
A = [0 200]’;
B = [0 0]’;
C = [840 0]’;
D = [840 200]’;
pin = [pa pb pc pd]; % 2xN matrix of inputs
pout = [A B C D]; % 2xN matrix of output
H = fitgeotrans(pin’,pout’, ‘projective’);
[Iwarp, ref] = imwarp(thisFrame,H);
% Crop the image in order to visualize only the interesting area
croppedImage = imcrop(Iwarp, [230 50 450 350]); %imcrop(Image, [xmin ymin width height])
subplot(2,2,1)
image(croppedImage)
title(‘Video after DLT transformation’)
drawnow;
axis image
axis off
hold on
% Isolate the flame from the background
gImage = rgb2gray(croppedImage);
mask = gImage > 210; % Whatever value will allow to see only the flame
mask = bwareaopen(mask, 1000); % Get rid of any small specks that might be there.
maskedImage = gImage; % Initialize
maskedImage(~mask) = 0; % Zero outside the mask
% Mask the image using bsxfun() function
maskedRgbImage = bsxfun(@times, croppedImage, cast(mask, class(croppedImage)));
% Mean R, G and B level of the flame
meanRedLevels(frame) = mean(mean(maskedRgbImage(:, :, 1)));
meanGreenLevels(frame) = mean(mean(maskedRgbImage(:, :, 2)));
meanBlueLevels(frame) = mean(mean(maskedRgbImage(:, :, 3)));
subplot(2, 2, 2);
hold on;
plot(meanRedLevels, ‘r-‘);
plot(meanGreenLevels, ‘g-‘);
plot(meanBlueLevels, ‘b-‘);
grid on;
title(‘Mean Red, Green and Blue level’)
xlabel(‘Frame [n°]’)
ylabel(‘R, G and B level [-]’)
% Segmentation of the flame with K-means method
nColors = 7;
pixel_labels = imsegkmeans(maskedRgbImage,nColors,’NumAttempts’,3);
subplot(2,2,3)
image(pixel_labels)
title(‘Video divided in 7 clusters’)
axis image off
drawnow;
% Find the height and the widht of the flame
binaryImage = imbinarize(gImage,0.8); % Fit the value of 0.8 in order to visualize only the flame
% Make sure there is only one blob
binaryImage = bwareafilt(binaryImage, 1);
% Label the image
labeledImage = logical(binaryImage);
subplot(2,2,4)
image(binaryImage);
axis off;
axis image;
title(‘Binarized video’)
% Make measurements of bounding box
props(frame) = regionprops(labeledImage, ‘BoundingBox’);
widht(frame) = props(frame).BoundingBox(3);
height(frame) = props(frame).BoundingBox(4);
end
widht = widht(1:25:length(widht))*3.3;
height = height(1:25:length(height))*3.3;
X = 1:length(widht);
Y = 1:length(height);
figure(2)
subplot(1,2,1)
plot(X,widht)
title(‘Widht vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Widht [mm]’)
subplot(1,2,2)
plot(Y,height)
title(‘Height vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Height [mm]’)
The figure that comes out is the following:
However, if I try to run the code with only the clustering it works correctly. Can someone help me?I’m using several tools in MatLab to segmentate a video I took with a camera. Everything seems to work well, except for the fact that when I ask MatLab to show me the pictures with imsegkmeans they turn out all in different shades of blue and even the binarized image is all blue. However, apparently it’s just a matter of visualization, since I’m using the binarized image to extract height and widht of the object in the video and it works.
Here there is my code:
clear all
close all
clc
% This script performs a DLT transformation of a video each
% 25 frames (each second), plots the mean RGB value of the flame, classifies
% the flame in different cluster and determinates the widht and the height of
% the flame recorded by the camera
v = VideoReader(‘MAH00030_Trim.mp4’);
nFrames = v.NumFrames;
n = 1:25:nFrames;
num = length(n);
% Initialize the level of Red, Green and Blue
meanRedLevels = zeros(num, 1);
meanGreenLevels = zeros(num, 1);
meanBlueLevels = zeros(num, 1);
% Initialize the height and the widht
height = zeros(1,num);
widht = zeros(1,num);
for frame = 1 : 25 : nFrames
% Extract the frame from the movie structure.
thisFrame = read(v, frame);
figure(1)
% Perform the DLT transformation
% Points in the image (in pixels)
pa = [1373 1490]’;
pb = [1359 1240]’;
pc = [2420 1219]’;
pd = [2423 1468]’;
% Refence Points (in mm)
A = [0 200]’;
B = [0 0]’;
C = [840 0]’;
D = [840 200]’;
pin = [pa pb pc pd]; % 2xN matrix of inputs
pout = [A B C D]; % 2xN matrix of output
H = fitgeotrans(pin’,pout’, ‘projective’);
[Iwarp, ref] = imwarp(thisFrame,H);
% Crop the image in order to visualize only the interesting area
croppedImage = imcrop(Iwarp, [230 50 450 350]); %imcrop(Image, [xmin ymin width height])
subplot(2,2,1)
image(croppedImage)
title(‘Video after DLT transformation’)
drawnow;
axis image
axis off
hold on
% Isolate the flame from the background
gImage = rgb2gray(croppedImage);
mask = gImage > 210; % Whatever value will allow to see only the flame
mask = bwareaopen(mask, 1000); % Get rid of any small specks that might be there.
maskedImage = gImage; % Initialize
maskedImage(~mask) = 0; % Zero outside the mask
% Mask the image using bsxfun() function
maskedRgbImage = bsxfun(@times, croppedImage, cast(mask, class(croppedImage)));
% Mean R, G and B level of the flame
meanRedLevels(frame) = mean(mean(maskedRgbImage(:, :, 1)));
meanGreenLevels(frame) = mean(mean(maskedRgbImage(:, :, 2)));
meanBlueLevels(frame) = mean(mean(maskedRgbImage(:, :, 3)));
subplot(2, 2, 2);
hold on;
plot(meanRedLevels, ‘r-‘);
plot(meanGreenLevels, ‘g-‘);
plot(meanBlueLevels, ‘b-‘);
grid on;
title(‘Mean Red, Green and Blue level’)
xlabel(‘Frame [n°]’)
ylabel(‘R, G and B level [-]’)
% Segmentation of the flame with K-means method
nColors = 7;
pixel_labels = imsegkmeans(maskedRgbImage,nColors,’NumAttempts’,3);
subplot(2,2,3)
image(pixel_labels)
title(‘Video divided in 7 clusters’)
axis image off
drawnow;
% Find the height and the widht of the flame
binaryImage = imbinarize(gImage,0.8); % Fit the value of 0.8 in order to visualize only the flame
% Make sure there is only one blob
binaryImage = bwareafilt(binaryImage, 1);
% Label the image
labeledImage = logical(binaryImage);
subplot(2,2,4)
image(binaryImage);
axis off;
axis image;
title(‘Binarized video’)
% Make measurements of bounding box
props(frame) = regionprops(labeledImage, ‘BoundingBox’);
widht(frame) = props(frame).BoundingBox(3);
height(frame) = props(frame).BoundingBox(4);
end
widht = widht(1:25:length(widht))*3.3;
height = height(1:25:length(height))*3.3;
X = 1:length(widht);
Y = 1:length(height);
figure(2)
subplot(1,2,1)
plot(X,widht)
title(‘Widht vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Widht [mm]’)
subplot(1,2,2)
plot(Y,height)
title(‘Height vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Height [mm]’)
The figure that comes out is the following:
However, if I try to run the code with only the clustering it works correctly. Can someone help me? I’m using several tools in MatLab to segmentate a video I took with a camera. Everything seems to work well, except for the fact that when I ask MatLab to show me the pictures with imsegkmeans they turn out all in different shades of blue and even the binarized image is all blue. However, apparently it’s just a matter of visualization, since I’m using the binarized image to extract height and widht of the object in the video and it works.
Here there is my code:
clear all
close all
clc
% This script performs a DLT transformation of a video each
% 25 frames (each second), plots the mean RGB value of the flame, classifies
% the flame in different cluster and determinates the widht and the height of
% the flame recorded by the camera
v = VideoReader(‘MAH00030_Trim.mp4’);
nFrames = v.NumFrames;
n = 1:25:nFrames;
num = length(n);
% Initialize the level of Red, Green and Blue
meanRedLevels = zeros(num, 1);
meanGreenLevels = zeros(num, 1);
meanBlueLevels = zeros(num, 1);
% Initialize the height and the widht
height = zeros(1,num);
widht = zeros(1,num);
for frame = 1 : 25 : nFrames
% Extract the frame from the movie structure.
thisFrame = read(v, frame);
figure(1)
% Perform the DLT transformation
% Points in the image (in pixels)
pa = [1373 1490]’;
pb = [1359 1240]’;
pc = [2420 1219]’;
pd = [2423 1468]’;
% Refence Points (in mm)
A = [0 200]’;
B = [0 0]’;
C = [840 0]’;
D = [840 200]’;
pin = [pa pb pc pd]; % 2xN matrix of inputs
pout = [A B C D]; % 2xN matrix of output
H = fitgeotrans(pin’,pout’, ‘projective’);
[Iwarp, ref] = imwarp(thisFrame,H);
% Crop the image in order to visualize only the interesting area
croppedImage = imcrop(Iwarp, [230 50 450 350]); %imcrop(Image, [xmin ymin width height])
subplot(2,2,1)
image(croppedImage)
title(‘Video after DLT transformation’)
drawnow;
axis image
axis off
hold on
% Isolate the flame from the background
gImage = rgb2gray(croppedImage);
mask = gImage > 210; % Whatever value will allow to see only the flame
mask = bwareaopen(mask, 1000); % Get rid of any small specks that might be there.
maskedImage = gImage; % Initialize
maskedImage(~mask) = 0; % Zero outside the mask
% Mask the image using bsxfun() function
maskedRgbImage = bsxfun(@times, croppedImage, cast(mask, class(croppedImage)));
% Mean R, G and B level of the flame
meanRedLevels(frame) = mean(mean(maskedRgbImage(:, :, 1)));
meanGreenLevels(frame) = mean(mean(maskedRgbImage(:, :, 2)));
meanBlueLevels(frame) = mean(mean(maskedRgbImage(:, :, 3)));
subplot(2, 2, 2);
hold on;
plot(meanRedLevels, ‘r-‘);
plot(meanGreenLevels, ‘g-‘);
plot(meanBlueLevels, ‘b-‘);
grid on;
title(‘Mean Red, Green and Blue level’)
xlabel(‘Frame [n°]’)
ylabel(‘R, G and B level [-]’)
% Segmentation of the flame with K-means method
nColors = 7;
pixel_labels = imsegkmeans(maskedRgbImage,nColors,’NumAttempts’,3);
subplot(2,2,3)
image(pixel_labels)
title(‘Video divided in 7 clusters’)
axis image off
drawnow;
% Find the height and the widht of the flame
binaryImage = imbinarize(gImage,0.8); % Fit the value of 0.8 in order to visualize only the flame
% Make sure there is only one blob
binaryImage = bwareafilt(binaryImage, 1);
% Label the image
labeledImage = logical(binaryImage);
subplot(2,2,4)
image(binaryImage);
axis off;
axis image;
title(‘Binarized video’)
% Make measurements of bounding box
props(frame) = regionprops(labeledImage, ‘BoundingBox’);
widht(frame) = props(frame).BoundingBox(3);
height(frame) = props(frame).BoundingBox(4);
end
widht = widht(1:25:length(widht))*3.3;
height = height(1:25:length(height))*3.3;
X = 1:length(widht);
Y = 1:length(height);
figure(2)
subplot(1,2,1)
plot(X,widht)
title(‘Widht vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Widht [mm]’)
subplot(1,2,2)
plot(Y,height)
title(‘Height vs Time’)
xlabel(‘Time [s]’)
ylabel(‘Height [mm]’)
The figure that comes out is the following:
However, if I try to run the code with only the clustering it works correctly. Can someone help me? image processing, image segmentation, image analysis MATLAB Answers — New Questions
Solving nonlinear system of PDE by using finite difference method for spatial and RK4 for time derivative?
Dear collegues;
I have problem to mpleement Finite difference upwind scheme for first spatial derivative and central differnece for second spatial derivative and Runge-Kutta 4 for time derivative. The system of equations are as following where Tsp, Tag, Tap and Tsg are uknown. four initial condition are given as all are 300 and 1 boundary coundition d^2Tap/dx^2 is 0.
I am sincerely thankful for any support you can offer.Dear collegues;
I have problem to mpleement Finite difference upwind scheme for first spatial derivative and central differnece for second spatial derivative and Runge-Kutta 4 for time derivative. The system of equations are as following where Tsp, Tag, Tap and Tsg are uknown. four initial condition are given as all are 300 and 1 boundary coundition d^2Tap/dx^2 is 0.
I am sincerely thankful for any support you can offer. Dear collegues;
I have problem to mpleement Finite difference upwind scheme for first spatial derivative and central differnece for second spatial derivative and Runge-Kutta 4 for time derivative. The system of equations are as following where Tsp, Tag, Tap and Tsg are uknown. four initial condition are given as all are 300 and 1 boundary coundition d^2Tap/dx^2 is 0.
I am sincerely thankful for any support you can offer. system, nonlinear pde, rk4, upwind MATLAB Answers — New Questions
how to add multiple functions in a single Simulink MATLAB function file?
here i have generated seperate .m function files, all function files called many times in script code and it works fine..
Now,
I need to make simulink block using MATLAB Function block, which upon giving inputs should generate output by solving multiple functions in one block (like script having many function and run smoothly to give solution)..
How to make this in simulink,
Help is appreciated.here i have generated seperate .m function files, all function files called many times in script code and it works fine..
Now,
I need to make simulink block using MATLAB Function block, which upon giving inputs should generate output by solving multiple functions in one block (like script having many function and run smoothly to give solution)..
How to make this in simulink,
Help is appreciated. here i have generated seperate .m function files, all function files called many times in script code and it works fine..
Now,
I need to make simulink block using MATLAB Function block, which upon giving inputs should generate output by solving multiple functions in one block (like script having many function and run smoothly to give solution)..
How to make this in simulink,
Help is appreciated. simulink, matlab function, multiple functions, matlab, solver MATLAB Answers — New Questions
Plotting 1D Conditional Distributions with kdensity stacked in a 3D figure.
Hi guys. It’s my first time here and I am not a native English speaker. So, first of all, apologize.
Here is my problem: I have a T x 2 Matrix, where in the second column I have some daily financial returns and in the first column I have an indicator, which can assume integer values in the interval [1, 9].
I want to extract 9 different conditional distributions of my returns, conditioned on the values assumed by the indicator. At this point, I want to plot the conditional densities through a Gaussian smoothing with the function ‘ksdensity’ and plot them in the same 3D plot. The final output should be similar to this one:
Image
I tried to reach this result by adapting the answer I found at this thread: function.
Now suppose that x = axis of returns, y = axis of indicator possible values, z = smoothed conditional densities.
My problem is that, while the meshgrid requires for all the values of y to share the same values of x by construction, I have different values of x (the returns) because of the conditioning.
I hope I have been clear.
Thanks you guys in advance, and sorry for any mistake.Hi guys. It’s my first time here and I am not a native English speaker. So, first of all, apologize.
Here is my problem: I have a T x 2 Matrix, where in the second column I have some daily financial returns and in the first column I have an indicator, which can assume integer values in the interval [1, 9].
I want to extract 9 different conditional distributions of my returns, conditioned on the values assumed by the indicator. At this point, I want to plot the conditional densities through a Gaussian smoothing with the function ‘ksdensity’ and plot them in the same 3D plot. The final output should be similar to this one:
Image
I tried to reach this result by adapting the answer I found at this thread: function.
Now suppose that x = axis of returns, y = axis of indicator possible values, z = smoothed conditional densities.
My problem is that, while the meshgrid requires for all the values of y to share the same values of x by construction, I have different values of x (the returns) because of the conditioning.
I hope I have been clear.
Thanks you guys in advance, and sorry for any mistake. Hi guys. It’s my first time here and I am not a native English speaker. So, first of all, apologize.
Here is my problem: I have a T x 2 Matrix, where in the second column I have some daily financial returns and in the first column I have an indicator, which can assume integer values in the interval [1, 9].
I want to extract 9 different conditional distributions of my returns, conditioned on the values assumed by the indicator. At this point, I want to plot the conditional densities through a Gaussian smoothing with the function ‘ksdensity’ and plot them in the same 3D plot. The final output should be similar to this one:
Image
I tried to reach this result by adapting the answer I found at this thread: function.
Now suppose that x = axis of returns, y = axis of indicator possible values, z = smoothed conditional densities.
My problem is that, while the meshgrid requires for all the values of y to share the same values of x by construction, I have different values of x (the returns) because of the conditioning.
I hope I have been clear.
Thanks you guys in advance, and sorry for any mistake. 3d plots MATLAB Answers — New Questions
Positioning Subsystem Ports in Simulink/Simscape via MATLAB Code (LConn / RConn)
Dear Community,
I’m currently working on my master’s thesis and attempting to create a Simulink/Simscape model directly from MATLAB. I aim to consolidate certain "Building Blocks" that are used repeatedly into a subsystem for the sake of clarity. My goal is to position the ports of this subsystem directly from MATLAB.
Presently, I have a result that looks similar to the attached image.
However, I wish to rearrange the ports, all of which are currently situated on the left side of the subsystem, so that they are positioned as follows (Manual Post-Processing Performed):
In my attempts thus far, I’ve encountered the issue that the ports are set as "read-only," preventing me from defining their positions. I’ve tried to set the position as follows:
subsystem_block = "path_to_subsystem"
port_handles = get_param(subsystem_block, ‘PortHandles’)
N = length(port_handles.LConn)
newx = 1:N % example
newy = 1:N % example
for k = 1:N
set_param(port_handles.LConn(i), ‘Position’, [newx(k), newy(k)]);
end
Unfortunately, this yields the error message "Port parameter ‘Position’ is read-only."
Is there a way to set the position of the ports of the subsystem directly from MATLAB? If so, could someone explain how to do it? If not, what alternatives would I have if I still want to utilize a sort of "Building Block"?
Any assistance would be greatly appreciated!Dear Community,
I’m currently working on my master’s thesis and attempting to create a Simulink/Simscape model directly from MATLAB. I aim to consolidate certain "Building Blocks" that are used repeatedly into a subsystem for the sake of clarity. My goal is to position the ports of this subsystem directly from MATLAB.
Presently, I have a result that looks similar to the attached image.
However, I wish to rearrange the ports, all of which are currently situated on the left side of the subsystem, so that they are positioned as follows (Manual Post-Processing Performed):
In my attempts thus far, I’ve encountered the issue that the ports are set as "read-only," preventing me from defining their positions. I’ve tried to set the position as follows:
subsystem_block = "path_to_subsystem"
port_handles = get_param(subsystem_block, ‘PortHandles’)
N = length(port_handles.LConn)
newx = 1:N % example
newy = 1:N % example
for k = 1:N
set_param(port_handles.LConn(i), ‘Position’, [newx(k), newy(k)]);
end
Unfortunately, this yields the error message "Port parameter ‘Position’ is read-only."
Is there a way to set the position of the ports of the subsystem directly from MATLAB? If so, could someone explain how to do it? If not, what alternatives would I have if I still want to utilize a sort of "Building Block"?
Any assistance would be greatly appreciated! Dear Community,
I’m currently working on my master’s thesis and attempting to create a Simulink/Simscape model directly from MATLAB. I aim to consolidate certain "Building Blocks" that are used repeatedly into a subsystem for the sake of clarity. My goal is to position the ports of this subsystem directly from MATLAB.
Presently, I have a result that looks similar to the attached image.
However, I wish to rearrange the ports, all of which are currently situated on the left side of the subsystem, so that they are positioned as follows (Manual Post-Processing Performed):
In my attempts thus far, I’ve encountered the issue that the ports are set as "read-only," preventing me from defining their positions. I’ve tried to set the position as follows:
subsystem_block = "path_to_subsystem"
port_handles = get_param(subsystem_block, ‘PortHandles’)
N = length(port_handles.LConn)
newx = 1:N % example
newy = 1:N % example
for k = 1:N
set_param(port_handles.LConn(i), ‘Position’, [newx(k), newy(k)]);
end
Unfortunately, this yields the error message "Port parameter ‘Position’ is read-only."
Is there a way to set the position of the ports of the subsystem directly from MATLAB? If so, could someone explain how to do it? If not, what alternatives would I have if I still want to utilize a sort of "Building Block"?
Any assistance would be greatly appreciated! simscape, simulink, create simulink model from matlab MATLAB Answers — New Questions
Plot for Month and year
Dear All,
I have data with format of NETCDF file. I can read one of them and plot it. For each day I have many data so I wish to read all of them to provide result for one day and then expand it to provide it for month and year. Also, I would like to have a data in .mat format, for example for each month. Would you please help me in this regard?
Best,
AraDear All,
I have data with format of NETCDF file. I can read one of them and plot it. For each day I have many data so I wish to read all of them to provide result for one day and then expand it to provide it for month and year. Also, I would like to have a data in .mat format, for example for each month. Would you please help me in this regard?
Best,
Ara Dear All,
I have data with format of NETCDF file. I can read one of them and plot it. For each day I have many data so I wish to read all of them to provide result for one day and then expand it to provide it for month and year. Also, I would like to have a data in .mat format, for example for each month. Would you please help me in this regard?
Best,
Ara netcdf MATLAB Answers — New Questions
Solver library while converting from Simulink to C
Hi, How to choose, what solver library should be their in the C code which is generated using my Simulink model?Hi, How to choose, what solver library should be their in the C code which is generated using my Simulink model? Hi, How to choose, what solver library should be their in the C code which is generated using my Simulink model? c, coder, library, simulink, embedded coder MATLAB Answers — New Questions
What is the idea behind mpcobject.Weight.ECR?
Say you have an arbitrary mpc object from the MPC Toolbox.
It has the following property: mpcobject.Weight.ECR which is set to 1*10^5 by default. On the MATLAB documentation page (see: https://de.mathworks.com/help/mpc/ug/specifying-constraints.html#buj077i ) it says that it is an "overall constraint softening parameter of the controller (controller object property: Weights.ECR) to penalize a tolerable soft constraint violation relative to the other cost function terms".
However, I dont understand what that means. I’ve already specified ECR values for their respective OV/MV’s.
How can a single ECR value be used to penalize a soft constraint violation relative to multiple cost function terms?
What happens when I just leave it at 1*10^5? Does this effectively change the resulting ECR value of each OV/MV’s?
What happens when I set it to 0 or 1?
Thanks in advance :)Say you have an arbitrary mpc object from the MPC Toolbox.
It has the following property: mpcobject.Weight.ECR which is set to 1*10^5 by default. On the MATLAB documentation page (see: https://de.mathworks.com/help/mpc/ug/specifying-constraints.html#buj077i ) it says that it is an "overall constraint softening parameter of the controller (controller object property: Weights.ECR) to penalize a tolerable soft constraint violation relative to the other cost function terms".
However, I dont understand what that means. I’ve already specified ECR values for their respective OV/MV’s.
How can a single ECR value be used to penalize a soft constraint violation relative to multiple cost function terms?
What happens when I just leave it at 1*10^5? Does this effectively change the resulting ECR value of each OV/MV’s?
What happens when I set it to 0 or 1?
Thanks in advance 🙂 Say you have an arbitrary mpc object from the MPC Toolbox.
It has the following property: mpcobject.Weight.ECR which is set to 1*10^5 by default. On the MATLAB documentation page (see: https://de.mathworks.com/help/mpc/ug/specifying-constraints.html#buj077i ) it says that it is an "overall constraint softening parameter of the controller (controller object property: Weights.ECR) to penalize a tolerable soft constraint violation relative to the other cost function terms".
However, I dont understand what that means. I’ve already specified ECR values for their respective OV/MV’s.
How can a single ECR value be used to penalize a soft constraint violation relative to multiple cost function terms?
What happens when I just leave it at 1*10^5? Does this effectively change the resulting ECR value of each OV/MV’s?
What happens when I set it to 0 or 1?
Thanks in advance 🙂 mpc, mpc toolbox, ecr, constraint softening, constraint violation, weight ecr MATLAB Answers — New Questions
Select folders one by one using imageDatastore function
Dear all,
I have a "Parent_Folder" and inside it I have another 5-subfolders that contain images inside them: Folder_1, Folder_2, Folder_3, Folder_4, Folder_5.
By using "imageDatastore" function, I want to make a loop in order to chose folders one by one, something like this:
for i = 1: 5
%in the 1st loop when i = 1
Group_A = Folder_1
Group_B = Folder_2, Folder_3, Folder_4, Folder_5
%in the 2nd loop when i = 2
Group_A = Folder_2
Group_B = Folder_1, Folder_3, Folder_4, Folder_5
%in the 3rd loop when i = 3
Group_A = Folder_3
Group_B = Folder_1, Folder_2, Folder_4, Folder_5
and so on.
Any idea how to make such a loop?
best regards,
MeshoDear all,
I have a "Parent_Folder" and inside it I have another 5-subfolders that contain images inside them: Folder_1, Folder_2, Folder_3, Folder_4, Folder_5.
By using "imageDatastore" function, I want to make a loop in order to chose folders one by one, something like this:
for i = 1: 5
%in the 1st loop when i = 1
Group_A = Folder_1
Group_B = Folder_2, Folder_3, Folder_4, Folder_5
%in the 2nd loop when i = 2
Group_A = Folder_2
Group_B = Folder_1, Folder_3, Folder_4, Folder_5
%in the 3rd loop when i = 3
Group_A = Folder_3
Group_B = Folder_1, Folder_2, Folder_4, Folder_5
and so on.
Any idea how to make such a loop?
best regards,
Mesho Dear all,
I have a "Parent_Folder" and inside it I have another 5-subfolders that contain images inside them: Folder_1, Folder_2, Folder_3, Folder_4, Folder_5.
By using "imageDatastore" function, I want to make a loop in order to chose folders one by one, something like this:
for i = 1: 5
%in the 1st loop when i = 1
Group_A = Folder_1
Group_B = Folder_2, Folder_3, Folder_4, Folder_5
%in the 2nd loop when i = 2
Group_A = Folder_2
Group_B = Folder_1, Folder_3, Folder_4, Folder_5
%in the 3rd loop when i = 3
Group_A = Folder_3
Group_B = Folder_1, Folder_2, Folder_4, Folder_5
and so on.
Any idea how to make such a loop?
best regards,
Mesho imagedatastore in a loop MATLAB Answers — New Questions
Can I replace custom types during code generation?
I have a Simulink model that I use to develop my algorithm.
I am part of a larger project, other teams do not use Matlab nor Simulink.
I am using a manually defined bus that is based on a "typedef struct {} foo;" provided in a header that I can access.
To minimize complexity at the interface, I would like to use this type rather than having a separate type being defined in "<my model>_types.h".
I tried data type replacement, but that seems to work only for basic types.
Is there any way to achieve what I need?I have a Simulink model that I use to develop my algorithm.
I am part of a larger project, other teams do not use Matlab nor Simulink.
I am using a manually defined bus that is based on a "typedef struct {} foo;" provided in a header that I can access.
To minimize complexity at the interface, I would like to use this type rather than having a separate type being defined in "<my model>_types.h".
I tried data type replacement, but that seems to work only for basic types.
Is there any way to achieve what I need? I have a Simulink model that I use to develop my algorithm.
I am part of a larger project, other teams do not use Matlab nor Simulink.
I am using a manually defined bus that is based on a "typedef struct {} foo;" provided in a header that I can access.
To minimize complexity at the interface, I would like to use this type rather than having a separate type being defined in "<my model>_types.h".
I tried data type replacement, but that seems to work only for basic types.
Is there any way to achieve what I need? code generation, type replacement MATLAB Answers — New Questions
Matlab default app to open .m files
I am trying to associate Matlab with opening of .m files
It is not showing up in my default apps so I cannot make the change as specified below…
Any other ideas?
<https://uk.mathworks.com/matlabcentral/answers/94655-how-do-i-associate-file-types-with-a-certain-application> For Windows 8, Windows 10, and if the file extension is not in a list of file extensions:
1. Right click on any .m file in Windows and select Open With.
2. Select the More Apps option to show a full list of programs installed on your computer.
3. Select MATLAB and make sure the box at the bottom is checked that says "Always use this app to open .m files"I am trying to associate Matlab with opening of .m files
It is not showing up in my default apps so I cannot make the change as specified below…
Any other ideas?
<https://uk.mathworks.com/matlabcentral/answers/94655-how-do-i-associate-file-types-with-a-certain-application> For Windows 8, Windows 10, and if the file extension is not in a list of file extensions:
1. Right click on any .m file in Windows and select Open With.
2. Select the More Apps option to show a full list of programs installed on your computer.
3. Select MATLAB and make sure the box at the bottom is checked that says "Always use this app to open .m files" I am trying to associate Matlab with opening of .m files
It is not showing up in my default apps so I cannot make the change as specified below…
Any other ideas?
<https://uk.mathworks.com/matlabcentral/answers/94655-how-do-i-associate-file-types-with-a-certain-application> For Windows 8, Windows 10, and if the file extension is not in a list of file extensions:
1. Right click on any .m file in Windows and select Open With.
2. Select the More Apps option to show a full list of programs installed on your computer.
3. Select MATLAB and make sure the box at the bottom is checked that says "Always use this app to open .m files" matlab default .m files MATLAB Answers — New Questions
find 0 crossing points trough all the image rows
Hello all,
I have a vertical laser stripe image and my goal is to find the 0 crossing point of every row of the image in order to plot them as points afterwards.
This is my code, I have done the process for one row of the image. Now I have problems to do this same process for all the rows of the image. I’m trying to do that with a for loop but no way.
Resuming, is to to apply this same code for all the image rows. Thanks in advance!
clc; clear; close all;
%% calibracion de laser real con blur
%cargar la imagen que se va a medir
img=imread(fullfile(‘LaserTestPatternBlurred.bmp’));
img=imrotate(img,90);
% imshow(img)
% title(‘Imagen original’)
%% procesado de la imagen
img_o=rgb2gray(img);
%mask = (I(:, :, 1) > 100) & (I(:, :, 2) > 100);
mask=(img_o(:,:) > 50);
img = bsxfun(@times, img_o, cast(mask, ‘like’, img_o));
% figure()
% imshow(img)
% title(‘Binarizada’)
%% seleccionar una linea de la imagen y buscar su 0 crossing
[rows, columns, numberOfColorChannels] = size(img);
%seleccionamos la linea 900 y se le aplica un filtro para suavizar
linea=img(900,:);
sm=sgolayfilt(double(linea),2,25);
% figure()
% plot(img_o(900,:),’b’)
% hold on
% plot(linea,’r’)
% plot(sm,’g’)
% grid on
% ylim([0 255])
% title(‘Linea’)
% legend(‘imagen’,’linea’,’filtrado’)
% hold off
%buscamos los picos maximos de la gradiente
Lder=gradient(sm);
[picosp,locsp]=findpeaks(Lder);
[picosn,locsn]=findpeaks(-Lder);
% figure()
% plot(Lder)
% hold on
% scatter(locsn(1,2),-picosn(1,2),’g’)
% scatter(locsp(1,1),picosp(1,1),’g’)
% plot([locsn(1,2) locsp(1,1)],[-picosn(1,2) picosp(1,1)])
% axis([450 550 -15 15])
% grid on
%obtener la ecuacion de la recta entre los maximos y el paso por 0
recta = polyfit([locsp, locsn], [picosp, -picosn], 1);
a = recta (1);
b = recta (2);
subpixel= -b/(a);
scatter(subpixel,0,’r’)
hold offHello all,
I have a vertical laser stripe image and my goal is to find the 0 crossing point of every row of the image in order to plot them as points afterwards.
This is my code, I have done the process for one row of the image. Now I have problems to do this same process for all the rows of the image. I’m trying to do that with a for loop but no way.
Resuming, is to to apply this same code for all the image rows. Thanks in advance!
clc; clear; close all;
%% calibracion de laser real con blur
%cargar la imagen que se va a medir
img=imread(fullfile(‘LaserTestPatternBlurred.bmp’));
img=imrotate(img,90);
% imshow(img)
% title(‘Imagen original’)
%% procesado de la imagen
img_o=rgb2gray(img);
%mask = (I(:, :, 1) > 100) & (I(:, :, 2) > 100);
mask=(img_o(:,:) > 50);
img = bsxfun(@times, img_o, cast(mask, ‘like’, img_o));
% figure()
% imshow(img)
% title(‘Binarizada’)
%% seleccionar una linea de la imagen y buscar su 0 crossing
[rows, columns, numberOfColorChannels] = size(img);
%seleccionamos la linea 900 y se le aplica un filtro para suavizar
linea=img(900,:);
sm=sgolayfilt(double(linea),2,25);
% figure()
% plot(img_o(900,:),’b’)
% hold on
% plot(linea,’r’)
% plot(sm,’g’)
% grid on
% ylim([0 255])
% title(‘Linea’)
% legend(‘imagen’,’linea’,’filtrado’)
% hold off
%buscamos los picos maximos de la gradiente
Lder=gradient(sm);
[picosp,locsp]=findpeaks(Lder);
[picosn,locsn]=findpeaks(-Lder);
% figure()
% plot(Lder)
% hold on
% scatter(locsn(1,2),-picosn(1,2),’g’)
% scatter(locsp(1,1),picosp(1,1),’g’)
% plot([locsn(1,2) locsp(1,1)],[-picosn(1,2) picosp(1,1)])
% axis([450 550 -15 15])
% grid on
%obtener la ecuacion de la recta entre los maximos y el paso por 0
recta = polyfit([locsp, locsn], [picosp, -picosn], 1);
a = recta (1);
b = recta (2);
subpixel= -b/(a);
scatter(subpixel,0,’r’)
hold off Hello all,
I have a vertical laser stripe image and my goal is to find the 0 crossing point of every row of the image in order to plot them as points afterwards.
This is my code, I have done the process for one row of the image. Now I have problems to do this same process for all the rows of the image. I’m trying to do that with a for loop but no way.
Resuming, is to to apply this same code for all the image rows. Thanks in advance!
clc; clear; close all;
%% calibracion de laser real con blur
%cargar la imagen que se va a medir
img=imread(fullfile(‘LaserTestPatternBlurred.bmp’));
img=imrotate(img,90);
% imshow(img)
% title(‘Imagen original’)
%% procesado de la imagen
img_o=rgb2gray(img);
%mask = (I(:, :, 1) > 100) & (I(:, :, 2) > 100);
mask=(img_o(:,:) > 50);
img = bsxfun(@times, img_o, cast(mask, ‘like’, img_o));
% figure()
% imshow(img)
% title(‘Binarizada’)
%% seleccionar una linea de la imagen y buscar su 0 crossing
[rows, columns, numberOfColorChannels] = size(img);
%seleccionamos la linea 900 y se le aplica un filtro para suavizar
linea=img(900,:);
sm=sgolayfilt(double(linea),2,25);
% figure()
% plot(img_o(900,:),’b’)
% hold on
% plot(linea,’r’)
% plot(sm,’g’)
% grid on
% ylim([0 255])
% title(‘Linea’)
% legend(‘imagen’,’linea’,’filtrado’)
% hold off
%buscamos los picos maximos de la gradiente
Lder=gradient(sm);
[picosp,locsp]=findpeaks(Lder);
[picosn,locsn]=findpeaks(-Lder);
% figure()
% plot(Lder)
% hold on
% scatter(locsn(1,2),-picosn(1,2),’g’)
% scatter(locsp(1,1),picosp(1,1),’g’)
% plot([locsn(1,2) locsp(1,1)],[-picosn(1,2) picosp(1,1)])
% axis([450 550 -15 15])
% grid on
%obtener la ecuacion de la recta entre los maximos y el paso por 0
recta = polyfit([locsp, locsn], [picosp, -picosn], 1);
a = recta (1);
b = recta (2);
subpixel= -b/(a);
scatter(subpixel,0,’r’)
hold off laser stripe, calibration, 0 crossing MATLAB Answers — New Questions
Problem with Simulink support package for arduino
All of a sudden, my installation of Matlab R2024a is not working with the Arduino support packages in simulink. I tried reinstalling MATLAB and the support packages themselves, but am getting the following error message:
Unrecognized method, property, or field ‘ArduinoPrefDirFolderName’ for class ‘arduino.setup.internal.TestConectionScreen’
I am using the support package v. 24.1.1All of a sudden, my installation of Matlab R2024a is not working with the Arduino support packages in simulink. I tried reinstalling MATLAB and the support packages themselves, but am getting the following error message:
Unrecognized method, property, or field ‘ArduinoPrefDirFolderName’ for class ‘arduino.setup.internal.TestConectionScreen’
I am using the support package v. 24.1.1 All of a sudden, my installation of Matlab R2024a is not working with the Arduino support packages in simulink. I tried reinstalling MATLAB and the support packages themselves, but am getting the following error message:
Unrecognized method, property, or field ‘ArduinoPrefDirFolderName’ for class ‘arduino.setup.internal.TestConectionScreen’
I am using the support package v. 24.1.1 arduino, simulink, hardware support MATLAB Answers — New Questions
3D Wavelet Transform via Linear Algebra
Hello, I am putting this out there to see if anyone can help me take my linear algebra solution to the wavelet transform from 2D to 3D. The reason I am doing this is because there is no lwt3 function in the wavelet toolbox, and dwt3 does not organize the coefficients in a way that I would prefer.
The equations for 1D and 2D are fairly simple. Working with an operator "L" and "H" which are N/2 by N, one can perform the 1D by multiplying the vector by the transpose of the operator. In 2D you perform L*X*L’ for every combination of L and H (resulting in 4, N/2 by N/2 matrices). Here is some code demonstrating 1D and 2D, if anyone could help me figure out 3D it would be greatly appreciated.
%% Datasets
X1 = reshape(1:4,1,4);
X2 = reshape(1:16,4,4);
X3 = reshape(1:64,4,4,4);
%% Get Operators
ls = liftingScheme(‘Wavelet’,’db2′);
[LoD,HiD,LoR,HiR] = ls2filt(ls);
L = operator(LoD,4);
H = operator(HiD,4);
%% 1D transform
l = X1*H’;
h = X1*L’;
%% 2D transform
ll = L*X2*L’;
lh = H*X2*L’;
hl = L*X2*H’;
hh = H*X2*H’;
%% 3D transform???
%% FUNCTIONS
function L = operator(a,N)
L = zeros(N/2,N);
for i = 1:N/2
L(i,2*(i-1)+1:2*(i-1)+numel(a)) = a;
end
L = L(:,1:N) + [L(:,N+1:N+floor(numel(a)/2)),zeros(N/2,N-floor(numel(a)/2))];
endHello, I am putting this out there to see if anyone can help me take my linear algebra solution to the wavelet transform from 2D to 3D. The reason I am doing this is because there is no lwt3 function in the wavelet toolbox, and dwt3 does not organize the coefficients in a way that I would prefer.
The equations for 1D and 2D are fairly simple. Working with an operator "L" and "H" which are N/2 by N, one can perform the 1D by multiplying the vector by the transpose of the operator. In 2D you perform L*X*L’ for every combination of L and H (resulting in 4, N/2 by N/2 matrices). Here is some code demonstrating 1D and 2D, if anyone could help me figure out 3D it would be greatly appreciated.
%% Datasets
X1 = reshape(1:4,1,4);
X2 = reshape(1:16,4,4);
X3 = reshape(1:64,4,4,4);
%% Get Operators
ls = liftingScheme(‘Wavelet’,’db2′);
[LoD,HiD,LoR,HiR] = ls2filt(ls);
L = operator(LoD,4);
H = operator(HiD,4);
%% 1D transform
l = X1*H’;
h = X1*L’;
%% 2D transform
ll = L*X2*L’;
lh = H*X2*L’;
hl = L*X2*H’;
hh = H*X2*H’;
%% 3D transform???
%% FUNCTIONS
function L = operator(a,N)
L = zeros(N/2,N);
for i = 1:N/2
L(i,2*(i-1)+1:2*(i-1)+numel(a)) = a;
end
L = L(:,1:N) + [L(:,N+1:N+floor(numel(a)/2)),zeros(N/2,N-floor(numel(a)/2))];
end Hello, I am putting this out there to see if anyone can help me take my linear algebra solution to the wavelet transform from 2D to 3D. The reason I am doing this is because there is no lwt3 function in the wavelet toolbox, and dwt3 does not organize the coefficients in a way that I would prefer.
The equations for 1D and 2D are fairly simple. Working with an operator "L" and "H" which are N/2 by N, one can perform the 1D by multiplying the vector by the transpose of the operator. In 2D you perform L*X*L’ for every combination of L and H (resulting in 4, N/2 by N/2 matrices). Here is some code demonstrating 1D and 2D, if anyone could help me figure out 3D it would be greatly appreciated.
%% Datasets
X1 = reshape(1:4,1,4);
X2 = reshape(1:16,4,4);
X3 = reshape(1:64,4,4,4);
%% Get Operators
ls = liftingScheme(‘Wavelet’,’db2′);
[LoD,HiD,LoR,HiR] = ls2filt(ls);
L = operator(LoD,4);
H = operator(HiD,4);
%% 1D transform
l = X1*H’;
h = X1*L’;
%% 2D transform
ll = L*X2*L’;
lh = H*X2*L’;
hl = L*X2*H’;
hh = H*X2*H’;
%% 3D transform???
%% FUNCTIONS
function L = operator(a,N)
L = zeros(N/2,N);
for i = 1:N/2
L(i,2*(i-1)+1:2*(i-1)+numel(a)) = a;
end
L = L(:,1:N) + [L(:,N+1:N+floor(numel(a)/2)),zeros(N/2,N-floor(numel(a)/2))];
end wavelet, 3d, linear-algebra, mathematics, lifting-scheme MATLAB Answers — New Questions
Strange results with asymptotics function
I have a Markov chain with K communication classes, each communication class forms an ergodic subchain. Then I use the asymptotics function to get the K limit distributions of this Markov chain. However, results from the asymptotics function seems very sensitive to the transition matrix. Then I impliment the asymptotics function by my self following the Spedicato’s algorithm (ref), i.e.:
And I found that Spedicato’s algorithm is not that sensitive to the transition matrix.
Here is the code:
%% load data
clear;clc;
load(‘data.mat’); % load the example transition matrix A and indicator matrix C
% note: A is a left stochastic matrix, i.e., all cols sum to 1
% A2, C2 is slightly changed from A1, C1
% disp(sum(sum(abs(A1-A2)))); %7.1385e-05
if true
A=A1;
C=C1;
else
A=A2;
C=C2;
end
%% matlab asymptotics function
K = 3;
S=size(A,1);
mc = dtmc(A’);
[pi, tmix] = asymptotics(mc);
pi=pi’;
prss = sum(C*pi);
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100);
%% Spedicato’s algorithm
[bins,ClassStates,ClassRecurrence,ClassPeriod] = classify(mc);
num_classes = size(ClassStates, 2);
prss = zeros(1, num_classes);
for c =1 : num_classes
sc = subchain(mc,str2num(ClassStates{c}(1)));
Cs = zeros(size(C,1), sc.NumStates);
for i=1:sc.NumStates
idx = str2num(sc.StateNames(i));
Cs(:,i) = C(:, idx);
end
As = sc.P’;
% get stationary distribution
% the condition number is not very large, so I think using inv() is ok
pi = inv(ones(sc.NumStates)+eye(sc.NumStates)-As)*ones(sc.NumStates,1);
prss(c) = sum(Cs * pi);
end
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100);I have a Markov chain with K communication classes, each communication class forms an ergodic subchain. Then I use the asymptotics function to get the K limit distributions of this Markov chain. However, results from the asymptotics function seems very sensitive to the transition matrix. Then I impliment the asymptotics function by my self following the Spedicato’s algorithm (ref), i.e.:
And I found that Spedicato’s algorithm is not that sensitive to the transition matrix.
Here is the code:
%% load data
clear;clc;
load(‘data.mat’); % load the example transition matrix A and indicator matrix C
% note: A is a left stochastic matrix, i.e., all cols sum to 1
% A2, C2 is slightly changed from A1, C1
% disp(sum(sum(abs(A1-A2)))); %7.1385e-05
if true
A=A1;
C=C1;
else
A=A2;
C=C2;
end
%% matlab asymptotics function
K = 3;
S=size(A,1);
mc = dtmc(A’);
[pi, tmix] = asymptotics(mc);
pi=pi’;
prss = sum(C*pi);
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100);
%% Spedicato’s algorithm
[bins,ClassStates,ClassRecurrence,ClassPeriod] = classify(mc);
num_classes = size(ClassStates, 2);
prss = zeros(1, num_classes);
for c =1 : num_classes
sc = subchain(mc,str2num(ClassStates{c}(1)));
Cs = zeros(size(C,1), sc.NumStates);
for i=1:sc.NumStates
idx = str2num(sc.StateNames(i));
Cs(:,i) = C(:, idx);
end
As = sc.P’;
% get stationary distribution
% the condition number is not very large, so I think using inv() is ok
pi = inv(ones(sc.NumStates)+eye(sc.NumStates)-As)*ones(sc.NumStates,1);
prss(c) = sum(Cs * pi);
end
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100); I have a Markov chain with K communication classes, each communication class forms an ergodic subchain. Then I use the asymptotics function to get the K limit distributions of this Markov chain. However, results from the asymptotics function seems very sensitive to the transition matrix. Then I impliment the asymptotics function by my self following the Spedicato’s algorithm (ref), i.e.:
And I found that Spedicato’s algorithm is not that sensitive to the transition matrix.
Here is the code:
%% load data
clear;clc;
load(‘data.mat’); % load the example transition matrix A and indicator matrix C
% note: A is a left stochastic matrix, i.e., all cols sum to 1
% A2, C2 is slightly changed from A1, C1
% disp(sum(sum(abs(A1-A2)))); %7.1385e-05
if true
A=A1;
C=C1;
else
A=A2;
C=C2;
end
%% matlab asymptotics function
K = 3;
S=size(A,1);
mc = dtmc(A’);
[pi, tmix] = asymptotics(mc);
pi=pi’;
prss = sum(C*pi);
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100);
%% Spedicato’s algorithm
[bins,ClassStates,ClassRecurrence,ClassPeriod] = classify(mc);
num_classes = size(ClassStates, 2);
prss = zeros(1, num_classes);
for c =1 : num_classes
sc = subchain(mc,str2num(ClassStates{c}(1)));
Cs = zeros(size(C,1), sc.NumStates);
for i=1:sc.NumStates
idx = str2num(sc.StateNames(i));
Cs(:,i) = C(:, idx);
end
As = sc.P’;
% get stationary distribution
% the condition number is not very large, so I think using inv() is ok
pi = inv(ones(sc.NumStates)+eye(sc.NumStates)-As)*ones(sc.NumStates,1);
prss(c) = sum(Cs * pi);
end
fprintf(‘prss=%sn’, mat2str(prss));
fprintf(‘prss diff = %.3f%%n’, (max(prss)-min(prss))/min(prss)*100); markov chain, asymptotics MATLAB Answers — New Questions
Why the the forward kinematics formula chain is different with the result of the getTransform function?
Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF?Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF? Hello guys,
I made a test of the forward kinematics formula chain of the robot is constructed by extracting motion parameters from URDF, and the calculated results are inconsistent with the getTransform function. Can someone help me with this problem.My test codes are below
robot = importrobot(‘StepByStepChanged.urdf’,DataFormat=’column’);
q0 = deg2rad([90, -90, 0, 90, 0, 90, 0])’;
Tn=transl([0 0 0.1789])*trotx(0)*troty(0)*trotz(1.570796326794897)*trotz(-q0(1))…
*transl([0.002928236431969 2.430013955534704e-04 0.119599103269260])*trotx(0)*troty(3.062357948966975e-04)*trotz(0)*trotx(q0(2))…
*transl([-0.002914729213097 -0.001033720384413 0.155156998604446])*trotx(0.003609596843643)*troty(0)*trotz(0.022904943980785)*trotz(-q0(3))…
*transl([0.002968235617925 -0.065351124778835 0.304178518630177])*trotx(-0.003609596843643)*troty(0)*trotz(-0.022904943980785)*trotx(q0(4))…
*transl([-0.005205306143812 0.052692560433216 0.077902477491654])*trotx(0.004548981482162)*troty(-0.003199754330450)*trotz(-8.266717521666507e-05)*trotz(-q0(5))…
*transl([0.005280972133389 -9.031931320468978e-05 0.379510019774372])*trotx(3.137042207549150)*troty(-4.894462134554110e-05)*trotz(0.004660804199542)*trotx(-q0(6))…
*transl([-9.820067340677299e-04 -0.076367223695928 -0.106323102347568])*trotx(-3.130442252053242)*troty(-0.005548107438167)*trotz(1.567890031620816)*trotz(-q0(7))
jointPositions=q0′;
T_urdf1=robot.getTransform(jointPositions’,’Link1′,’base_link’)*robot.getTransform(jointPositions’,’Link2′,’Link1′)…
*robot.getTransform(jointPositions’,’Link3′,’Link2′)*robot.getTransform(jointPositions’,’Link4′,’Link3′)…
*robot.getTransform(jointPositions’,’Link5′,’Link4′)*robot.getTransform(jointPositions’,’Link6′,’Link5′)…
*robot.getTransform(jointPositions’,’Link7′,’Link6′)
T_urdf=robot.getTransform(q0,’Link7′,’base_link’)
StepByStepChanged.urdf is as follows:
<?xml version="1.0" encoding="utf-8"?>
<!– This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter –>
<robot
name="Diana7Med">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="-0.00024914 -0.00023302 0.076031"
rpy="0 0 0" />
<mass
value="1.732" />
<inertia
ixx="0.0085914"
ixy="-2.9842E-05"
ixz="-2.6598E-05"
iyy="0.0085918"
iyz="-2.4568E-05"
izz="0.006987" />
</inertial>
<visual>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0.013"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.17890"
rpy="0 0 1.570796326794897" />
<parent
link="base_link" />
<child
link="Link1" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="254"
velocity="1.5708" />
</joint>
<link
name="Link1">
<inertial>
<origin
xyz="0.043475 -3.8174E-06 0.096019"
rpy="0 0 0" />
<mass
value="2.727" />
<inertia
ixx="0.011033"
ixy="-4.8083E-07"
ixz="-0.0022068"
iyy="0.011337"
iyz="-3.3735E-07"
izz="0.008112" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.002928236431969 2.430013955534704e-04 0.119599103269260"
rpy="0 3.062357948966975e-04 0" />
<parent
link="Link1" />
<child
link="Link2" />
<axis
xyz="1 0 0" />
<limit
lower="-1.5708"
upper="1.5708"
effort="253"
velocity="1.5708" />
</joint>
<link
name="Link2">
<inertial>
<origin
xyz="-0.036812 7.2275E-07 0.04165"
rpy="0 0 0" />
<mass
value="3.1817" />
<inertia
ixx="0.016888"
ixy="8.9891E-08"
ixz="-0.0043558"
iyy="0.018072"
iyz="-2.2014E-07"
izz="0.0096122" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.002914729213097 -0.001033720384413 0.155156998604446"
rpy="0.003609596843643 0 0.022904943980785" />
<parent
link="Link2" />
<child
link="Link3" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link3">
<inertial>
<origin
xyz="0 -0.014808 0.17679"
rpy="0 0 0" />
<mass
value="3.9362" />
<inertia
ixx="0.054706"
ixy="0.0029594"
ixz="-0.0079553"
iyy="0.052971"
iyz="0.010083"
izz="0.013339" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.002968235617925 -0.065351124778835 0.304178518630177"
rpy="-0.003609596843643 0 -0.022904943980785" />
<parent
link="Link3" />
<child
link="Link4" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="3.0543"
effort="111"
velocity="1.5708" />
</joint>
<link
name="Link4">
<inertial>
<origin
xyz="-0.041116 0.015134 0.012416"
rpy="0 0 0" />
<mass
value="1.5847" />
<inertia
ixx="0.0043925"
ixy="-0.00067906"
ixz="-0.00067352"
iyy="0.0038733"
iyz="-0.00083279"
izz="0.0042261" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="-0.005205306143812 0.052692560433216 0.077902477491654"
rpy="0.004548981482162 -0.003199754330450 -8.266717521666507e-05" />
<parent
link="Link4" />
<child
link="Link5" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link5">
<inertial>
<origin
xyz="-0.028829 0.0020991 0.15664"
rpy="0 0 0" />
<mass
value="1.9268" />
<inertia
ixx="0.027058"
ixy="0.00012672"
ixz="0.007118"
iyy="0.029321"
iyz="-0.00025937"
izz="0.0041403" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.005280972133389 -9.031931320468978e-05 0.379510019774372"
rpy="3.137042207549150 -4.894462134554110e-05 0.004660804199542" />
<parent
link="Link5" />
<child
link="Link6" />
<axis
xyz="-1 0 0" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link6">
<inertial>
<origin
xyz="0 -0.0122 1.2021"
rpy="0 0 0" />
<mass
value="4.434E-12" />
<inertia
ixx="7.2173E-20"
ixy="-9.8454E-20"
ixz="-1.1913E-20"
iyy="1.6421E-19"
iyz="-7.0312E-21"
izz="2.2322E-19" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="revolute">
<origin
xyz="-9.820067340677299e-04 -0.076367223695928 -0.106323102347568"
rpy="-3.130442252053242 -0.005548107438167 1.567890031620816" />
<parent
link="Link6" />
<child
link="Link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.1241"
upper="3.1241"
effort="53"
velocity="2.9671" />
</joint>
<link
name="Link7">
<inertial>
<origin
xyz="1.2416E-09 -0.00041281 -0.015665"
rpy="0 0 0" />
<mass
value="0.1669" />
<inertia
ixx="8.8902E-05"
ixy="-9.3654E-10"
ixz="-1.1631E-12"
iyy="8.7425E-05"
iyz="-2.6369E-07"
izz="0.0001438" />
</inertial>
<visual>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 -0.0369"
rpy="3.1416 0 0" />
<geometry>
<mesh
filename="package://Diana7Med/meshes/Link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="fixed">
<origin
xyz="0.05 0 0"
rpy="0 0 0" />
<parent
link="Link7" />
<child
link="Link8" />
</joint>
<link
name="Link8">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0" />
<inertia
ixx="0"
ixy="0"
ixz="-0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
</link>
</robot>
The results of the two calculation methods are as follows:
So as the figure shows the results of the two calculations are different, can someone tell me why? I have done several tests and have not been able to find out what is the cause of this result. Hope someone help me with this. And by the way,I wonder if there is any current experience or paper on the calibration of motion and dynamics in URDF? urdf, calibration, gettransform MATLAB Answers — New Questions
