Small fixes, added video to readme

@Robot/getResultKinematics.m

@@ -61,6 +61,9 @@
             results.(fnames{field})(:,4:6,:,:)=ezwraptopi(results.(fnames{field})(:,4:6,:,:));
             count = new_count;
         end
+        if (optim.skipNoPert) 
+            results.(fnames{field})(:,:,:,1) = start_dh.(fnames{field})(:,:,:,1);
+        end
         mResults = results.(fnames{field});
         % corrections = results - default 
         corrs.(fnames{field}) = zeros(size(mResults));
@@ -69,6 +72,9 @@
         % wrap to [-pi,pi]
         corrs.(fnames{field})(:,4:6,:,:)=ezwraptopi(corrs.(fnames{field})(:,4:6,:,:));
         start_dh.(fnames{field})(:,1:3,:,:) = start_dh.(fnames{field})(:,1:3,:,:)/optim.unitsCoef;
+        if (optim.skipNoPert) 
+           corrs.(fnames{field})(:,:,:,1) = nan;
+        end
     end
 end
 

Calib/getDist.m

@@ -36,12 +36,11 @@
     for dataset=datasets
         dataset = dataset{1};
         refPoints = dataset.refPoints;
-        computeArm2 = ~optim.refPoints || (isempty(refPoints));
         % compute RT matrices and transform points to base frame
-        [arm1,arm2] = getPointsIntern(dh_pars, dataset, computeArm2, robot.structure.type);
-
-        % if only one arm, use the refPoints
-        if(~computeArm2) 
+        if (~optim.refPoints || (isempty(refPoints))) 
+            [arm1,arm2] = getPointsIntern(dh_pars, dataset, robot.structure.type);
+        else % if only one arm, use the refPoints
+            arm1 = getPointsIntern(dh_pars, dataset, robot.structure.type);
             arm2 = refPoints';
         end
 

Calib/getDistFromExt.m

@@ -37,7 +37,7 @@
         dataset = datasets{datasetId};
         extPoints=dataset.refPoints;
         % compute points in the base frame
-        robPoints = getPointsIntern(dh_pars, dataset, false, robot.structure.type);
+        robPoints = getPointsIntern(dh_pars, dataset, robot.structure.type);
         if isempty(extParams)
             % find transformation between external camera and robot
             [R,T]=fitSets(extPoints,robPoints(1:3,:)'); 

Calib/getPlaneDist.m

@@ -31,10 +31,10 @@
 
 
     dist = [];
-    for datasetId=length(datasets)
+    for datasetId=1:length(datasets)
         dataset = datasets{datasetId};    
         % compute points in the base frame
-        robPoints = getPointsIntern(dh_pars, dataset, false, robot.structure.type);
+        robPoints = getPointsIntern(dh_pars, dataset, robot.structure.type);
         if isempty(planePars)
             % compute the plane
             plane = getPlane(robPoints);

Calib/getProjectionDist.m

@@ -32,7 +32,7 @@
 
     dist = [];
     coeffs = [];
-    cam_frames = robot.findJointByType('eye');
+    cam_frames = robot.findLinkByType('eye');
     type = robot.structure.type;
     for dataset=datasets
         dataset = dataset{1};

README.md

@@ -1,7 +1,11 @@
 # Multisensorial robot calibration framework and toolbox 
 This toolbox provides a solution to the multi-chain calibration of a general robot by combining multiple calibration approaches. Users can define an arbitrary robot, choose calibration approach, set parameters of the optimization solver and the calibration. The results can be saved for later use and evaluated with a variety of prepared visualizations. Also, a user-friendly GUI is available, which makes the calibration of robots accessible even for the general public. 
 
-![pipeline](overview.png)
+![pipeline](overview.png)  
+
+**Check out youtube video as well**
+[![Youtube video](yt_thumb.png)](https://www.youtube.com/watch?v=ZZHztHF6eNs)
+
 
 # Contents
 
@@ -23,7 +27,7 @@ This toolbox provides a solution to the multi-chain calibration of a general rob
 # How to run
 
 Recommended steps (the order is optional):
- - [Download the GUI installation file and user data](https://github.com/ctu-vras/multirobot-calibration/releases/latest) (Configuration file pattern, Robot function pattern, Example codes, csv file pattern) - **always download the lastest release!**
+ - [Download the GUI installation file and user data](https://gitlab.fel.cvut.cz/body-schema/code-calib-multirobot/-/releases) (Configuration file pattern, Robot function pattern, Example codes, csv file pattern) - **always download the lastest release!**
  - Install the GUI in Matlab by double clicking on the file. The toolbox directory (depending on your Matlab Preferences - Add-ons - Installation Folder) will be added to the Matlab "path".
  - Unpack the additionalFiles.zip into a folder of your choice. This will give you access to the folders discussed below.  
    - **Recommendation:** Create a working folder, move the additional files there and set it as Current Folder in Matlab.

UserData/Robots/Motoman/loadNewLeicaDataset.m

@@ -11,7 +11,7 @@
 %   OUTPUT - datasets - 1x4 ([self-touch, planes, external, projection]) 
 %                       cell array of cell arrays (1xN) of datasets
 
-    assert(~isempty(rob.findJoint('LR1')))
+    assert(~isempty(rob.findLink('LR1')))
 
 
     dataset.cameras = [];

Utils/CalibUtils/initialGuess.m

@@ -1,4 +1,4 @@
-function [params, typicalX] = initialGuess(datasets, dh_pars, approaches, optim)
+function [params, typicalX] = initialGuess(datasets, dh_pars, approaches, optim, dh_type)
     %INITIALGUESS Compute initial guess of plane and/or external transformation parameters
     % Compute plane parameters for each dataset.planes and rotation vector
     % (quaternion) and translation vector for each dataset.external separately
@@ -39,7 +39,7 @@
         if approaches.(type)
             for dataset = datasets.(type)
                 dataset = dataset{1};
-                robPoints = getPointsIntern(dh_pars, dataset, false);
+                robPoints = getPointsIntern(dh_pars, dataset, dh_type);
                 if strcmp(type,'planes')
                     newParams = getPlane(robPoints);
                     newParams = newParams(1:3)/newParams(4); % plane equation in format ax+by+cz = 1

Utils/CalibUtils/internalCalibration.m

@@ -85,7 +85,7 @@ function internalCalibration(rob, config, whpars, data, folder, saveInfo, saveDa
             end
             initialParamValues = [];
             if optim.optimizeInitialGuess && (approach.planes || approach.external) 
-                [params, typicalX]=initialGuess(tr_datasets, kinematics, approach, optim);
+                [params, typicalX]=initialGuess(tr_datasets, kinematics, approach, optim, robot.structure.type);
                 options.TypicalX(end-length(params)+1:end) = typicalX;
                 if(optim.optimizeDifferences)
                     initialParamValues = params;

Utils/CalibUtils/loadTasksFromFile.m

@@ -1,7 +1,8 @@
-function loadTasksFromFile(fileName)
+function loadTasksFromFile(fileName, startRow)
     %LOADTASKSFROMFILE Loading the calibration task from csv file
     %Function for loading calibrations tasks from csv file and running main
     %INPUT - fileName - csv file name
+    %      - startRow - index of first row (default 1)
 
 
     % Copyright (C) 2019-2021  Jakub Rozlivek and Lukas Rustler
@@ -23,6 +24,9 @@ function loadTasksFromFile(fileName)
     % You should have received a copy of the GNU Leser General Public License
     % along with MRC.  If not, see <http://www.gnu.org/licenses/>.
 
+    if (nargin < 2)
+       startRow = 1; 
+    end
 
     %% loading column names and type from file
     opts=detectImportOptions(fileName);
@@ -34,7 +38,7 @@ function loadTasksFromFile(fileName)
     file=readtable(fileName,opts);
 
     keyWords={'min', 'max', 'median'}; % type of selecting kinematics from Mat
-    for lineId=1:size(file,1)
+    for lineId=startRow:size(file,1)
         line=table2cell(file(lineId,:));
         %% save info switch
         if strcmpi(line{11},'true')

Utils/KinUtils/getPoints.m

@@ -41,16 +41,16 @@
     end
     if(~isempty(joints))
         for i = 1:size(joints, 1)      
-            if (isobject(frames{i}))
-                arm1(:,i) =  getTFtoFrame(dh_pars,frames{i},joints(i)) *[points(i,1:3),1]';
+            if (isobject(frames(i)))
+                arm1(:,i) =  getTFtoFrame(dh_pars,frames(i),joints(i)) *[points(i,1:3),1]';
             else
                 f=robot.findLink(frames{i});
                 arm1(:,i) =  getTFtoFrame(dh_pars,f{1},joints(i)) *[points(i,1:3),1]';
             end
 
             if compute_arm2
-                if (isobject(frames2{i}))
-                    arm2(:,i) =  getTFtoFrame(dh_pars,frames2{i}, joints(i)) *[points(i,4:6),1]';
+                if (isobject(frames2(i)))
+                    arm2(:,i) =  getTFtoFrame(dh_pars,frames2(i), joints(i)) *[points(i,4:6),1]';
                 else
                     f=robot.findLink(frames2{i});
                     arm2(:,i) =  getTFtoFrame(dh_pars,f{1}, joints(i)) *[points(i,4:6),1]';

Utils/KinUtils/getPointsIntern.m

@@ -1,10 +1,8 @@
-function [ arm1, arm2 ] = getPointsIntern(dh_pars, dataset, compute_arm2, type)
+function [ arm1, arm2 ] = getPointsIntern(dh_pars, dataset, type)
     %GETPOINTSINTERN Compute points coordinates to base.
     %INPUT - dh_pars - structure with kinematics parameters, where field names corresponding to names of
     %                      the 'groups' in robot. Each group is matrix.
     %      - dataset - dataset structure in common format
-    %      - compute_arm2 - whether compute second end effector or use
-    %      refPoints
     %OUTPUT - arm1 - points coordinates of first end effector
     %       - arm2 - points coordinates of second end effector
 
@@ -33,6 +31,7 @@
     joints = dataset.joints;
     points = dataset.point;
     arm1 = zeros(4, size(joints, 1));
+    compute_arm2 = nargout == 2;
     if(compute_arm2) 
         arm2 = zeros(4, size(joints, 1)); 
         frames2 = dataset.frame2;

Visualisation/plotCorrections.m

@@ -62,7 +62,7 @@ function plotCorrections(folder, varargin)
         units = info.optim.units;
     end
 
-    fnames=fieldnames(corrections);
+    fnames=fieldnames(whitelist);
 
     for name = 1:size(fnames,1)
         whitelist.(fnames{name}) = double(whitelist.(fnames{name}));