Visual Servoing Platform version 3.6.0
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servoViper650FourPoints2DArtVelocityLs_cur.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 articular frame
35 *
36*****************************************************************************/
53#include <fstream>
54#include <iostream>
55#include <sstream>
56#include <stdio.h>
57#include <stdlib.h>
58
59#include <visp3/core/vpConfig.h>
60
61#if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
62
63#include <visp3/blob/vpDot2.h>
64#include <visp3/core/vpHomogeneousMatrix.h>
65#include <visp3/core/vpIoTools.h>
66#include <visp3/core/vpPoint.h>
67#include <visp3/gui/vpDisplayX.h>
68#include <visp3/robot/vpRobotViper650.h>
69#include <visp3/sensor/vp1394TwoGrabber.h>
70#include <visp3/vision/vpPose.h>
71#include <visp3/visual_features/vpFeatureBuilder.h>
72#include <visp3/visual_features/vpFeaturePoint.h>
73#include <visp3/vs/vpServo.h>
74#include <visp3/vs/vpServoDisplay.h>
75
76#define L 0.05 // to deal with a 10cm by 10cm square
77
96void compute_pose(std::vector<vpPoint> &point, std::vector<vpDot2> &dot, vpCameraParameters cam,
97 vpHomogeneousMatrix &cMo, bool init)
98{
99 vpPose pose;
100
101 for (size_t i = 0; i < point.size(); i++) {
102
103 double x = 0, y = 0;
104 vpImagePoint cog = dot[i].getCog();
106 y); // pixel to meter conversion
107 point[i].set_x(x); // projection perspective p
108 point[i].set_y(y);
109 pose.addPoint(point[i]);
110 }
111
112 if (init == true) {
114 } else {
116 }
117}
118
119int main()
120{
121 // Log file creation in /tmp/$USERNAME/log.dat
122 // This file contains by line:
123 // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
124 // - the 6 mesured joint velocities (m/s, rad/s)
125 // - the 6 mesured joint positions (m, rad)
126 // - the 8 values of s - s*
127 std::string username;
128 // Get the user login name
129 vpIoTools::getUserName(username);
130
131 // Create a log filename to save velocities...
132 std::string logdirname;
133 logdirname = "/tmp/" + username;
134
135 // Test if the output path exist. If no try to create it
136 if (vpIoTools::checkDirectory(logdirname) == false) {
137 try {
138 // Create the dirname
139 vpIoTools::makeDirectory(logdirname);
140 } catch (...) {
141 std::cerr << std::endl << "ERROR:" << std::endl;
142 std::cerr << " Cannot create " << logdirname << std::endl;
143 return EXIT_FAILURE;
144 }
145 }
146 std::string logfilename;
147 logfilename = logdirname + "/log.dat";
148
149 // Open the log file name
150 std::ofstream flog(logfilename.c_str());
151
152 try {
153 vpRobotViper650 robot;
154 // Load the end-effector to camera frame transformation obtained
155 // using a camera intrinsic model with distortion
159 robot.get_eMc(eMc);
160 std::cout << "Camera extrinsic parameters (eMc): \n" << eMc << std::endl;
161
162 vpServo task;
163
165
166 bool reset = false;
167 vp1394TwoGrabber g(reset);
169 g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
170 g.open(I);
171
172 g.acquire(I);
173
174 vpDisplayX display(I, 100, 100, "Current image");
177
178 std::vector<vpDot2> dot(4);
179
180 vpImagePoint cog;
181
182 std::cout << "Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
183
184 for (size_t i = 0; i < dot.size(); i++) {
185 dot[i].setGraphics(true);
186 dot[i].initTracking(I);
187 vpImagePoint cog = dot[i].getCog();
190 }
191
193
194 // Update camera parameters
195 robot.getCameraParameters(cam, I);
196 std::cout << "Camera intrinsic parameters: \n" << cam << std::endl;
197
198 // Sets the current position of the visual feature
199 vpFeaturePoint p[4];
200 for (size_t i = 0; i < dot.size(); i++)
201 vpFeatureBuilder::create(p[i], cam, dot[i]); // retrieve x,y of the vpFeaturePoint structure
202
203 // Set the position of the square target in a frame which origin is
204 // centered in the middle of the square
205 std::vector<vpPoint> point(4);
206 point[0].setWorldCoordinates(-L, -L, 0);
207 point[1].setWorldCoordinates(L, -L, 0);
208 point[2].setWorldCoordinates(L, L, 0);
209 point[3].setWorldCoordinates(-L, L, 0);
210
211 // Compute target initial pose
213 compute_pose(point, dot, cam, cMo, true);
214 std::cout << "Initial camera pose (cMo): \n" << cMo << std::endl;
215
216 // Initialise a desired pose to compute s*, the desired 2D point features
217 vpHomogeneousMatrix cMo_d(vpTranslationVector(0, 0, 0.5), // tz = 0.5 meter
218 vpRotationMatrix()); // no rotation
219
220 // Sets the desired position of the 2D visual feature
221 vpFeaturePoint pd[4];
222 // Compute the desired position of the features from the desired pose
223 for (int i = 0; i < 4; i++) {
224 vpColVector cP, p;
225 point[i].changeFrame(cMo_d, cP);
226 point[i].projection(cP, p);
227
228 pd[i].set_x(p[0]);
229 pd[i].set_y(p[1]);
230 pd[i].set_Z(cP[2]);
231 }
232
233 // We want to see a point on a point
234 for (size_t i = 0; i < dot.size(); i++)
235 task.addFeature(p[i], pd[i]);
236
237 // Set the proportional gain
238 task.setLambda(0.3);
239
240 // Define the task
241 // - we want an eye-in-hand control law
242 // - articular velocity are computed
245
247 robot.get_cVe(cVe);
248 task.set_cVe(cVe);
249
250 // Set the Jacobian (expressed in the end-effector frame)
251 vpMatrix eJe;
252 robot.get_eJe(eJe);
253 task.set_eJe(eJe);
254 task.print();
255
256 // Initialise the velocity control of the robot
258
259 std::cout << "\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
260 for (;;) {
261 // Acquire a new image from the camera
262 g.acquire(I);
263
264 // Display this image
266
267 try {
268 // For each point...
269 for (size_t i = 0; i < dot.size(); i++) {
270 // Achieve the tracking of the dot in the image
271 dot[i].track(I);
272 // Display a green cross at the center of gravity position in the
273 // image
274 vpImagePoint cog = dot[i].getCog();
276 }
277 } catch (...) {
278 std::cout << "Error detected while tracking visual features.." << std::endl;
279 break;
280 }
281
282 // During the servo, we compute the pose using LOWE method. For the
283 // initial pose used in the non linear minimization we use the pose
284 // computed at the previous iteration.
285 compute_pose(point, dot, cam, cMo, false);
286
287 for (size_t i = 0; i < dot.size(); i++) {
288 // Update the point feature from the dot location
289 vpFeatureBuilder::create(p[i], cam, dot[i]);
290 // Set the feature Z coordinate from the pose
291 vpColVector cP;
292 point[i].changeFrame(cMo, cP);
293
294 p[i].set_Z(cP[2]);
295 }
296
297 // Get the jacobian of the robot
298 robot.get_eJe(eJe);
299 // Update this jacobian in the task structure. It will be used to
300 // compute the velocity skew (as an articular velocity) qdot = -lambda *
301 // L^+ * cVe * eJe * (s-s*)
302 task.set_eJe(eJe);
303
304 // Compute the visual servoing skew vector
306
307 // Display the current and desired feature points in the image display
308 vpServoDisplay::display(task, cam, I);
309
310 // Apply the computed joint velocities to the robot
312
313 // Save velocities applied to the robot in the log file
314 // v[0], v[1], v[2] correspond to joint translation velocities in m/s
315 // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
316 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
317
318 // Get the measured joint velocities of the robot
319 vpColVector qvel;
321 // Save measured joint velocities of the robot in the log file:
322 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
323 // velocities in m/s
324 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
325 // velocities in rad/s
326 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
327
328 // Get the measured joint positions of the robot
329 vpColVector q;
330 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
331 // Save measured joint positions of the robot in the log file
332 // - q[0], q[1], q[2] correspond to measured joint translation
333 // positions in m
334 // - q[3], q[4], q[5] correspond to measured joint rotation
335 // positions in rad
336 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
337
338 // Save feature error (s-s*) for the 4 feature points. For each feature
339 // point, we have 2 errors (along x and y axis). This error is
340 // expressed in meters in the camera frame
341 flog << (task.getError()).t() << std::endl;
342
343 vpDisplay::displayText(I, 10, 10, "Click to quit...", vpColor::red);
344 if (vpDisplay::getClick(I, false))
345 break;
346
347 // Flush the display
349
350 // std::cout << "\t\t || s - s* || = " << ( task.getError()
351 // ).sumSquare() << std::endl;
352 }
353
354 std::cout << "Display task information: " << std::endl;
355 task.print();
356 flog.close(); // Close the log file
357 return EXIT_SUCCESS;
358 } catch (const vpException &e) {
359 flog.close(); // Close the log file
360 std::cout << "Catched an exception: " << e.getMessage() << std::endl;
361 return EXIT_FAILURE;
362 }
363}
364
365#else
366int main()
367{
368 std::cout << "You do not have an Viper 650 robot connected to your computer..." << std::endl;
369 return EXIT_SUCCESS;
370}
371#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
static const vpColor red
Definition vpColor.h:211
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
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.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
static bool checkDirectory(const std::string &dirname)
static std::string getUserName()
static void makeDirectory(const std::string &dirname)
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Definition vpPose.h:81
void addPoint(const vpPoint &P)
Definition vpPose.cpp:140
@ DEMENTHON_LAGRANGE_VIRTUAL_VS
Definition vpPose.h:102
@ VIRTUAL_VS
Definition vpPose.h:96
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Definition vpPose.cpp:469
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_eJe(vpMatrix &eJe)
Control of Irisa's Viper S650 robot named Viper650.
@ ARTICULAR_FRAME
Definition vpRobot.h:76
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
Implementation of a rotation matrix and operations on such kind of matrices.
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:564
@ EYEINHAND_L_cVe_eJe
Definition vpServo.h:155
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition vpServo.h:448
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition vpServo.cpp:299
void setLambda(double c)
Definition vpServo.h:403
void set_eJe(const vpMatrix &eJe_)
Definition vpServo.h:506
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
@ PSEUDO_INVERSE
Definition vpServo.h:199
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ CURRENT
Definition vpServo.h:179
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
Class that consider the case of a translation vector.
vpVelocityTwistMatrix get_cVe() const
Definition vpUnicycle.h:79
@ TOOL_PTGREY_FLEA2_CAMERA
Definition vpViper650.h:126