DaVinci

This project registers stl's to the daVinci robot using monocular vision. It is made to live in a catkin workspace using catkin build tools http://catkin-tools.readthedocs.io/en/latest/ but as it's all python it doesn't need to be built.

Compatibility

This project was tested using:

• python 2.7.11 and 2.7.3
• vtk 6.3.0 and 5.8.0
• cv2 2.4.11 and 2.4.9
• Qt 4.8.7 and 4.8.1
• PyQt4 4.11.4 and 4.9.1

Code overview

The most important pieces of code are

• tools/camCalibration.py
  • Running this will generate camera intrinsic and distortion matrices
• tools/daVinciCalibration.py
  • Running this will use the camera data generated by the function above to register the robot to the camera
  • If no arguments are provided, camera parameters are pulled from the vtk_registration/src/defaults/ directory.
• code/vtk_registration.py
  • Running this will use both of the files generated above and allows you to register an STL to the daVinci robot
  • If no arguments are provided, resources are pulled from the vtk_registration/src/defaults/ directory.

Model/View/Controller for vtk_registration.py

• code/controller.py All of the processing is done using functions in this file.
• code/model.py All of the data used by the QT application is stored in this class.
• code/views/main_view.py Handles high level button presses and interaction
• code/views/main_view.ui A qtDesigner file which is the only way you should edit the GUI
• code/views/ui_main_view.py A file generated by qtDesigner that provides the bare skeleton for the UI.

Other helper function code

• code/amoeba_annealer.py A general class for downhill simplex originally written by Thomas R. Metcalf and modified to add simulated annealing.
• vtkTools.py A collection of functions for vtk that are used throughout the model, view, and controller.

Other files and folders

• defaults/Logitech_c920 Camera data for logitech webcam including a spec sheet and an intrinsic matrix from OpenCV
• defaults/objects various STL files to register
• launch/test_dvrk_full.launch launch file for dVRK

Overall file structure

defaults/
├── Logitech_c920/
└── objects/
launch/
└── test_dvrk_full.launch - launch file for running dVRK
code/
├── amoeba_annealer.py
├── controller.py
├── model.py
├── views
│   ├── main_view.py 
│   ├── main_view.ui
│   └── ui_main_view.py
├── vtk_registration.py
└── vtkTools.py
tools/
├── camCalibration.py
└── daVinciCalibration.py
CMakeLists.txt
package.xml