Welcome to pam_vicon’s documentation!

Software related to the ISR-PAM Vicon system.

pam_vicon mainly implements an o80 interface for the Vicon system in the ISR table tennis lab based on the generic interface from vicon_transformer.

Overview

o80 Driver/Standalone

pam_vicon provides implementations of the vicon_transformer o80 Driver and Standalone that are configured for the objects in the ISR table tennis lab:

• o80Driver

• o80Standalone

Python bindings are provided in pam_vicon.o80. For an usage example see Examples: Access Vicon Data Through o80.

If you want to modify Vicon objects, see Configure Subjects for o80 Driver.

PamVicon: Wrapper around o80 FrontEnd

For the client side, pam_vicon.PamVicon is a convenience wrapper around pam_vicon.o80.FrontEnd that provides methods to directly get the robot and table pose. For an usage example see Example: Access Vicon Data Through PamVicon.

Calibrate Transformation between Tennicam and Vicon

The two executables record_tennicam_vicon_trajectory and compute_tennicam_to_vicon_transform can be used to find the transformation between tennicam and Vicon by recording synchronised position data with both systems (using a ball attached to the “LED stick”).

The process is described in detail in the general PAM documentation.

General Documentation

• Installation
• Examples
• Configure Subjects for o80 Driver
• Origin Subject

C++ API

• C++ API
  • File list
  • Namespace list
  • C++ API and example

Python API

• pam_vicon
  • pam_vicon package
    • DEFAULT_ORIGIN_SUBJECT
    • NoFrameDataError
    • PamVicon
    • get_table_pose()
    • Submodules

• Module Index

Indices and Tables

• Index

• Search Page

License and Copyrights

BSD 3-Clause License

Copyright (c) 2022, Max Planck Gesellschaft All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

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3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.