Visual Servoing Platform version 3.5.0
servoAfma6Point2DCamVelocity.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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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
61#include <stdlib.h>
62#include <visp3/core/vpConfig.h>
63#include <visp3/core/vpDebug.h> // Debug trace
64#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65
66#include <visp3/blob/vpDot.h>
67#include <visp3/core/vpDisplay.h>
68#include <visp3/core/vpException.h>
69#include <visp3/core/vpHomogeneousMatrix.h>
70#include <visp3/core/vpImage.h>
71#include <visp3/core/vpImagePoint.h>
72#include <visp3/core/vpIoTools.h>
73#include <visp3/core/vpMath.h>
74#include <visp3/core/vpPoint.h>
75#include <visp3/gui/vpDisplayGTK.h>
76#include <visp3/gui/vpDisplayOpenCV.h>
77#include <visp3/gui/vpDisplayX.h>
78#include <visp3/robot/vpRobotAfma6.h>
79#include <visp3/sensor/vp1394TwoGrabber.h>
80#include <visp3/visual_features/vpFeatureBuilder.h>
81#include <visp3/visual_features/vpFeaturePoint.h>
82#include <visp3/vs/vpServo.h>
83#include <visp3/vs/vpServoDisplay.h>
84
85int main()
86{
87 // Log file creation in /tmp/$USERNAME/log.dat
88 // This file contains by line:
89 // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
90 // - the 6 mesured joint velocities (m/s, rad/s)
91 // - the 6 mesured joint positions (m, rad)
92 // - the 2 values of s - s*
93 std::string username;
94 // Get the user login name
95 vpIoTools::getUserName(username);
96
97 // Create a log filename to save velocities...
98 std::string logdirname;
99 logdirname = "/tmp/" + username;
100
101 // Test if the output path exist. If no try to create it
102 if (vpIoTools::checkDirectory(logdirname) == false) {
103 try {
104 // Create the dirname
105 vpIoTools::makeDirectory(logdirname);
106 } catch (...) {
107 std::cerr << std::endl << "ERROR:" << std::endl;
108 std::cerr << " Cannot create " << logdirname << std::endl;
109 exit(-1);
110 }
111 }
112 std::string logfilename;
113 logfilename = logdirname + "/log.dat";
114
115 // Open the log file name
116 std::ofstream flog(logfilename.c_str());
117
118 try {
119 vpServo task;
120
122
126 g.open(I);
127
128 g.acquire(I);
129
130#ifdef VISP_HAVE_X11
131 vpDisplayX display(I, 100, 100, "Current image");
132#elif defined(VISP_HAVE_OPENCV)
133 vpDisplayOpenCV display(I, 100, 100, "Current image");
134#elif defined(VISP_HAVE_GTK)
135 vpDisplayGTK display(I, 100, 100, "Current image");
136#endif
137
140
141 vpDot dot;
142 vpImagePoint cog;
143
144 std::cout << "Click on a dot..." << std::endl;
145 dot.initTracking(I);
146 cog = dot.getCog();
149
150 vpRobotAfma6 robot;
151
153 // Update camera parameters
154 robot.getCameraParameters(cam, I);
155
156 // sets the current position of the visual feature
158 // retrieve x,y and Z of the vpPoint structure
159 vpFeatureBuilder::create(p, cam, dot);
160
161 // sets the desired position of the visual feature
163 pd.buildFrom(0, 0, 1);
164
165 // define the task
166 // - we want an eye-in-hand control law
167 // - robot is controlled in the camera frame
169
170 // - we want to see a point on a point
171 task.addFeature(p, pd);
172
173 // - set the constant gain
174 task.setLambda(0.8);
175
176 // Display task information
177 task.print();
178
179 // Now the robot will be controlled in velocity
181
182 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
183 for (;;) {
184 // Acquire a new image from the camera
185 g.acquire(I);
186
187 // Display this image
189
190 // Achieve the tracking of the dot in the image
191 dot.track(I);
192
193 // Get the dot cog
194 cog = dot.getCog();
195
196 // Display a green cross at the center of gravity position in the image
198
199 // Update the point feature from the dot location
200 vpFeatureBuilder::create(p, cam, dot);
201
202 vpColVector v;
203 // Compute the visual servoing skew vector
204 v = task.computeControlLaw();
205
206 // Display the current and desired feature points in the image display
207 vpServoDisplay::display(task, cam, I);
208
209 // Apply the computed joint velocities to the robot
211
212 // Save velocities applied to the robot in the log file
213 // v[0], v[1], v[2] correspond to camera translation velocities in m/s
214 // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
215 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
216
217 // Get the measured joint velocities of the robot
218 vpColVector qvel;
220 // Save measured joint velocities of the robot in the log file:
221 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
222 // velocities in m/s
223 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
224 // velocities in rad/s
225 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
226
227 // Get the measured joint positions of the robot
228 vpColVector q;
229 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
230 // Save measured joint positions of the robot in the log file
231 // - q[0], q[1], q[2] correspond to measured joint translation
232 // positions in m
233 // - q[3], q[4], q[5] correspond to measured joint rotation
234 // positions in rad
235 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
236
237 // Save feature error (s-s*) for the feature point. For this feature
238 // point, we have 2 errors (along x and y axis). This error is
239 // expressed in meters in the camera frame
240 flog << (task.getError()).t() << std::endl;
241
242 // Flush the display
244 }
245
246 flog.close(); // Close the log file
247
248 // Display task information
249 task.print();
250 return EXIT_SUCCESS;
251 }
252 catch (const vpException &e) {
253 flog.close(); // Close the log file
254 std::cout << "Test failed with exception: " << e << std::endl;
255 return EXIT_FAILURE;
256 }
257}
258
259#else
260int main()
261{
262 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
263 return EXIT_SUCCESS;
264}
265#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)
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 dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
vpImagePoint getCog() const
Definition: vpDot.h:247
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:770
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 buildFrom(double x, double y, double Z)
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
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
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)
@ 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
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490