Visual Servoing Platform version 3.5.0
servoAfma4Point2DCamVelocity.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
62#include <stdlib.h>
63#include <visp3/core/vpConfig.h>
64#include <visp3/core/vpDebug.h> // Debug trace
65#if (defined(VISP_HAVE_AFMA4) && defined(VISP_HAVE_DC1394))
66
67#include <visp3/core/vpDisplay.h>
68#include <visp3/core/vpImage.h>
69#include <visp3/core/vpImagePoint.h>
70#include <visp3/gui/vpDisplayGTK.h>
71#include <visp3/gui/vpDisplayOpenCV.h>
72#include <visp3/gui/vpDisplayX.h>
73#include <visp3/sensor/vp1394TwoGrabber.h>
74
75#include <visp3/core/vpHomogeneousMatrix.h>
76#include <visp3/core/vpIoTools.h>
77#include <visp3/core/vpMath.h>
78#include <visp3/core/vpPoint.h>
79#include <visp3/robot/vpRobotAfma4.h>
80#include <visp3/visual_features/vpFeatureBuilder.h>
81#include <visp3/visual_features/vpFeaturePoint.h>
82#include <visp3/vs/vpServo.h>
83
84// Exception
85#include <visp3/core/vpException.h>
86#include <visp3/vs/vpServoDisplay.h>
87
88#include <visp3/blob/vpDot.h>
89
90int main()
91{
92 try {
93 // Log file creation in /tmp/$USERNAME/log.dat
94 // This file contains by line:
95 // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
96 // - the 6 mesured joint velocities (m/s, rad/s)
97 // - the 6 mesured joint positions (m, rad)
98 // - the 2 values of s - s*
99 std::string username;
100 // Get the user login name
101 vpIoTools::getUserName(username);
102
103 // Create a log filename to save velocities...
104 std::string logdirname;
105 logdirname = "/tmp/" + username;
106
107 // Test if the output path exist. If no try to create it
108 if (vpIoTools::checkDirectory(logdirname) == false) {
109 try {
110 // Create the dirname
111 vpIoTools::makeDirectory(logdirname);
112 } catch (...) {
113 std::cerr << std::endl << "ERROR:" << std::endl;
114 std::cerr << " Cannot create " << logdirname << std::endl;
115 exit(-1);
116 }
117 }
118 std::string logfilename;
119 logfilename = logdirname + "/log.dat";
120
121 // Open the log file name
122 std::ofstream flog(logfilename.c_str());
123
124 vpRobotAfma4 robot;
125 vpServo task;
126
128
129 vp1394TwoGrabber g(false);
131 g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
132 g.open(I);
133
134 g.acquire(I);
135
136#ifdef VISP_HAVE_X11
137 vpDisplayX display(I, 100, 100, "Current image");
138#elif defined(VISP_HAVE_OPENCV)
139 vpDisplayOpenCV display(I, 100, 100, "Current image");
140#elif defined(VISP_HAVE_GTK)
141 vpDisplayGTK display(I, 100, 100, "Current image");
142#endif
143
146
147 std::cout << std::endl;
148 std::cout << "-------------------------------------------------------" << std::endl;
149 std::cout << " Test program for vpServo " << std::endl;
150 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
151 std::cout << " Simulation " << std::endl;
152 std::cout << " task : servo a point " << std::endl;
153 std::cout << "-------------------------------------------------------" << std::endl;
154 std::cout << std::endl;
155
156 vpDot dot;
157
158 std::cout << "Click on a dot..." << std::endl;
159 dot.initTracking(I);
160
161 // Get the cog of the dot
162 vpImagePoint cog = dot.getCog();
163
166
168
169 vpTRACE("sets the current position of the visual feature ");
171 vpFeatureBuilder::create(p, cam, dot); // retrieve x,y and Z of the vpPoint structure
172
173 vpTRACE("sets the desired position of the visual feature ");
175 pd.buildFrom(0, 0, 1);
176
177 vpTRACE("define the task");
178 vpTRACE("\t we want an eye-in-hand control law");
179 vpTRACE("\t robot is controlled in the camera frame");
181
182 vpTRACE("\t we want to see a point on a point..");
183 std::cout << std::endl;
184 task.addFeature(p, pd);
185
186 vpTRACE("\t set the gain");
187 task.setLambda(0.8);
188
189 vpTRACE("Display task information ");
190 task.print();
191
193
194 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
195 for (;;) {
196 // Acquire a new image from the camera
197 g.acquire(I);
198
199 // Display this image
201
202 // Achieve the tracking of the dot in the image
203 dot.track(I);
204
205 // Get the cog of the dot
206 vpImagePoint cog = dot.getCog();
207
208 // Display a green cross at the center of gravity position in the image
210
211 // Update the point feature from the dot location
212 vpFeatureBuilder::create(p, cam, dot);
213
214 vpColVector v;
215 // Compute the visual servoing skew vector
216 v = task.computeControlLaw();
217
218 // Display the current and desired feature points in the image display
219 vpServoDisplay::display(task, cam, I);
220
221 // Apply the computed joint velocities to the robot
223
224 // Save velocities applied to the robot in the log file
225 // v[0], v[1], v[2] correspond to camera translation velocities in m/s
226 // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
227 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
228
229 // Get the measured joint velocities of the robot
230 vpColVector qvel;
232 // Save measured joint velocities of the robot in the log file:
233 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
234 // velocities in m/s
235 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
236 // velocities in rad/s
237 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
238
239 // Get the measured joint positions of the robot
240 vpColVector q;
241 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
242 // Save measured joint positions of the robot in the log file
243 // - q[0], q[1], q[2] correspond to measured joint translation
244 // positions in m
245 // - q[3], q[4], q[5] correspond to measured joint rotation
246 // positions in rad
247 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
248
249 // Save feature error (s-s*) for the feature point. For this feature
250 // point, we have 2 errors (along x and y axis). This error is
251 // expressed in meters in the camera frame
252 flog << task.getError() << std::endl;
253
254 // Flush the display
256 }
257
258 flog.close(); // Close the log file
259
260 // Display task information
261 task.print();
262
263 return EXIT_SUCCESS;
264 } catch (const vpException &e) {
265 std::cout << "Catch a ViSP exception: " << e << std::endl;
266 return EXIT_FAILURE;
267 }
268}
269
270#else
271int main()
272{
273 std::cout << "You do not have an afma4 robot connected to your computer..." << std::endl;
274 return EXIT_SUCCESS;
275}
276#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
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 cylindrical robot named Afma4.
Definition: vpRobotAfma4.h:179
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
#define vpTRACE
Definition: vpDebug.h:416