Visual Servoing Platform version 3.5.0
servoAfma6FourPoints2DCamVelocityLs_des.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * tests the control law
33 * eye-in-hand control
34 * velocity computed in the camera frame
35 *
36 * Authors:
37 * Eric Marchand
38 * Fabien Spindler
39 *
40 *****************************************************************************/
41
64#include <stdlib.h>
65#include <visp3/core/vpConfig.h>
66#include <visp3/core/vpDebug.h> // Debug trace
67#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
68
69#include <visp3/core/vpDisplay.h>
70#include <visp3/core/vpImage.h>
71#include <visp3/core/vpImagePoint.h>
72#include <visp3/gui/vpDisplayGTK.h>
73#include <visp3/gui/vpDisplayOpenCV.h>
74#include <visp3/gui/vpDisplayX.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
76
77#include <visp3/blob/vpDot.h>
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpIoTools.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/core/vpPoint.h>
82#include <visp3/core/vpRotationMatrix.h>
83#include <visp3/core/vpRxyzVector.h>
84#include <visp3/core/vpTranslationVector.h>
85#include <visp3/robot/vpRobotAfma6.h>
86#include <visp3/visual_features/vpFeatureBuilder.h>
87#include <visp3/visual_features/vpFeaturePoint.h>
88#include <visp3/vs/vpServo.h>
89#include <visp3/vs/vpServoDisplay.h>
90
91// Exception
92#include <visp3/core/vpException.h>
93
94#define L 0.05 // to deal with a 10cm by 10cm square
95
96int main()
97{
98 // Log file creation in /tmp/$USERNAME/log.dat
99 // This file contains by line:
100 // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
101 // - the 6 mesured camera velocities (m/s, rad/s)
102 // - the 6 mesured joint positions (m, rad)
103 // - the 8 values of s - s*
104 std::string username;
105 // Get the user login name
106 vpIoTools::getUserName(username);
107
108 // Create a log filename to save velocities...
109 std::string logdirname;
110 logdirname = "/tmp/" + username;
111
112 // Test if the output path exist. If no try to create it
113 if (vpIoTools::checkDirectory(logdirname) == false) {
114 try {
115 // Create the dirname
116 vpIoTools::makeDirectory(logdirname);
117 } catch (...) {
118 std::cerr << std::endl << "ERROR:" << std::endl;
119 std::cerr << " Cannot create " << logdirname << std::endl;
120 exit(-1);
121 }
122 }
123 std::string logfilename;
124 logfilename = logdirname + "/log.dat";
125
126 // Open the log file name
127 std::ofstream flog(logfilename.c_str());
128
129 try {
130 vpServo task;
131
133 int i;
134
138 g.open(I);
139
140#ifdef VISP_HAVE_X11
141 vpDisplayX display(I, 100, 100, "Current image");
142#elif defined(VISP_HAVE_OPENCV)
143 vpDisplayOpenCV display(I, 100, 100, "Current image");
144#elif defined(VISP_HAVE_GTK)
145 vpDisplayGTK display(I, 100, 100, "Current image");
146#endif
147
148 g.acquire(I);
149
152
153 std::cout << std::endl;
154 std::cout << "-------------------------------------------------------" << std::endl;
155 std::cout << " Test program for vpServo " << std::endl;
156 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
157 std::cout << " Use of the Afma6 robot " << std::endl;
158 std::cout << " Interaction matrix computed with the desired features " << std::endl;
159
160 std::cout << " task : servo 4 points on a square with dimention " << L << " meters" << std::endl;
161 std::cout << "-------------------------------------------------------" << std::endl;
162 std::cout << std::endl;
163
164 vpDot2 dot[4];
165 vpImagePoint cog;
166
167 std::cout << "Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
168 for (i = 0; i < 4; i++) {
169 dot[i].initTracking(I);
170 cog = dot[i].getCog();
173 }
174
175 vpRobotAfma6 robot;
176
178
179 // Load the end-effector to camera frame transformation obtained
180 // using a camera intrinsic model with distortion
181 robot.init(vpAfma6::TOOL_CCMOP, projModel);
182
184 // Update camera parameters
185 robot.getCameraParameters(cam, I);
186
187 // Sets the current position of the visual feature
188 vpFeaturePoint p[4];
189 for (i = 0; i < 4; i++)
190 vpFeatureBuilder::create(p[i], cam, dot[i]); // retrieve x,y of the vpFeaturePoint structure
191
192 // Set the position of the square target in a frame which origin is
193 // centered in the middle of the square
194 vpPoint point[4];
195 point[0].setWorldCoordinates(-L, -L, 0);
196 point[1].setWorldCoordinates(L, -L, 0);
197 point[2].setWorldCoordinates(L, L, 0);
198 point[3].setWorldCoordinates(-L, L, 0);
199
200 // Initialise a desired pose to compute s*, the desired 2D point features
202 vpTranslationVector cto(0, 0, 0.7); // tz = 0.7 meter
204 vpMath::rad(0)); // No rotations
205 vpRotationMatrix cRo(cro); // Build the rotation matrix
206 cMo.buildFrom(cto, cRo); // Build the homogeneous matrix
207
208 // sets the desired position of the 2D visual feature
209 vpFeaturePoint pd[4];
210 // Compute the desired position of the features from the desired pose
211 for (int i = 0; i < 4; i++) {
212 vpColVector cP, p;
213 point[i].changeFrame(cMo, cP);
214 point[i].projection(cP, p);
215
216 pd[i].set_x(p[0]);
217 pd[i].set_y(p[1]);
218 pd[i].set_Z(cP[2]);
219 }
220
221 // Define the task
222 // - we want an eye-in-hand control law
223 // - robot is controlled in the camera frame
224 // - Interaction matrix is computed with the desired visual features
227
228 // We want to see a point on a point
229 std::cout << std::endl;
230 for (i = 0; i < 4; i++)
231 task.addFeature(p[i], pd[i]);
232
233 // Set the proportional gain
234 task.setLambda(0.4);
235
236 // Display task information
237 task.print();
238
239 // Initialise the velocity control of the robot
241
242 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
243
244 for (;;) {
245 // Acquire a new image from the camera
246 g.acquire(I);
247
248 // Display this image
250
251 // For each point...
252 for (i = 0; i < 4; i++) {
253 // Achieve the tracking of the dot in the image
254 dot[i].track(I);
255 // Get the dot cog
256 cog = dot[i].getCog();
257 // Display a green cross at the center of gravity position in the
258 // image
260 }
261
262 // Printing on stdout concerning task information
263 // task.print() ;
264
265 // Update the point feature from the dot location
266 for (i = 0; i < 4; i++)
267 vpFeatureBuilder::create(p[i], cam, dot[i]);
268
269 vpColVector v;
270 // Compute the visual servoing skew vector
271 v = task.computeControlLaw();
272
273 // Display the current and desired feature points in the image display
274 vpServoDisplay::display(task, cam, I);
275
276 // Apply the computed camera velocities to the robot
278
279 // Save velocities applied to the robot in the log file
280 // v[0], v[1], v[2] correspond to camera translation velocities in m/s
281 // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
282 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
283
284 // Get the measured joint velocities of the robot
285 vpColVector qvel;
287 // Save measured camera velocities of the robot in the log file:
288 // - qvel[0], qvel[1], qvel[2] correspond to measured camera translation
289 // velocities in m/s
290 // - qvel[3], qvel[4], qvel[5] correspond to measured camera rotation
291 // velocities in rad/s
292 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
293
294 // Get the measured joint positions of the robot
295 vpColVector q;
296 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
297 // Save measured joint positions of the robot in the log file
298 // - q[0], q[1], q[2] correspond to measured joint translation
299 // positions in m
300 // - q[3], q[4], q[5] correspond to measured joint rotation
301 // positions in rad
302 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
303
304 // Save feature error (s-s*) for the 4 feature points. For each feature
305 // point, we have 2 errors (along x and y axis). This error is
306 // expressed in meters in the camera frame
307 flog << (task.getError()).t() << std::endl;
308
309 // Flush the display
311 }
312
313 flog.close(); // Close the log file
314
315 // Display task information
316 task.print();
317
318 return EXIT_SUCCESS;
319 } catch (const vpException &e) {
320 flog.close(); // Close the log file
321 std::cout << "Test failed with exception: " << e << std::endl;
322 return EXIT_FAILURE;
323 }
324}
325
326#else
327int main()
328{
329 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
330 return EXIT_SUCCESS;
331}
332
333#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
@ TOOL_CCMOP
Definition: vpAfma6.h:127
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:441
vpImagePoint getCog() const
Definition: vpDot2.h:180
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:253
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void set_y(double y)
void set_x(double x)
void set_Z(double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
static double rad(double deg)
Definition: vpMath.h:110
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void projection(const vpColVector &_cP, vpColVector &_p) const
Definition: vpPoint.cpp:222
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
Definition: vpPoint.cpp:239
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that consider the case of a translation vector.