Visual Servoing Platform version 3.6.0
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servoAfma6Point2DCamVelocity.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 camera frame
35 *
36*****************************************************************************/
37
57#include <stdlib.h>
58#include <visp3/core/vpConfig.h>
59#include <visp3/core/vpDebug.h> // Debug trace
60#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
61
62#include <visp3/blob/vpDot.h>
63#include <visp3/core/vpDisplay.h>
64#include <visp3/core/vpException.h>
65#include <visp3/core/vpHomogeneousMatrix.h>
66#include <visp3/core/vpImage.h>
67#include <visp3/core/vpImagePoint.h>
68#include <visp3/core/vpIoTools.h>
69#include <visp3/core/vpMath.h>
70#include <visp3/core/vpPoint.h>
71#include <visp3/gui/vpDisplayGTK.h>
72#include <visp3/gui/vpDisplayOpenCV.h>
73#include <visp3/gui/vpDisplayX.h>
74#include <visp3/robot/vpRobotAfma6.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
76#include <visp3/visual_features/vpFeatureBuilder.h>
77#include <visp3/visual_features/vpFeaturePoint.h>
78#include <visp3/vs/vpServo.h>
79#include <visp3/vs/vpServoDisplay.h>
80
81int main()
82{
83 // Log file creation in /tmp/$USERNAME/log.dat
84 // This file contains by line:
85 // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
86 // - the 6 mesured joint velocities (m/s, rad/s)
87 // - the 6 mesured joint positions (m, rad)
88 // - the 2 values of s - s*
89 std::string username;
90 // Get the user login name
91 vpIoTools::getUserName(username);
92
93 // Create a log filename to save velocities...
94 std::string logdirname;
95 logdirname = "/tmp/" + username;
96
97 // Test if the output path exist. If no try to create it
98 if (vpIoTools::checkDirectory(logdirname) == false) {
99 try {
100 // Create the dirname
101 vpIoTools::makeDirectory(logdirname);
102 } catch (...) {
103 std::cerr << std::endl << "ERROR:" << std::endl;
104 std::cerr << " Cannot create " << logdirname << std::endl;
105 return EXIT_FAILURE;
106 }
107 }
108 std::string logfilename;
109 logfilename = logdirname + "/log.dat";
110
111 // Open the log file name
112 std::ofstream flog(logfilename.c_str());
113
114 try {
115 vpServo task;
116
118
122 g.open(I);
123
124 g.acquire(I);
125
126#ifdef VISP_HAVE_X11
127 vpDisplayX display(I, 100, 100, "Current image");
128#elif defined(HAVE_OPENCV_HIGHGUI)
129 vpDisplayOpenCV display(I, 100, 100, "Current image");
130#elif defined(VISP_HAVE_GTK)
131 vpDisplayGTK display(I, 100, 100, "Current image");
132#endif
133
136
137 vpDot dot;
138 vpImagePoint cog;
139
140 std::cout << "Click on a dot..." << std::endl;
141 dot.initTracking(I);
142 cog = dot.getCog();
145
146 vpRobotAfma6 robot;
147
149 // Update camera parameters
150 robot.getCameraParameters(cam, I);
151
152 // sets the current position of the visual feature
154 // retrieve x,y and Z of the vpPoint structure
155 vpFeatureBuilder::create(p, cam, dot);
156
157 // sets the desired position of the visual feature
159 pd.buildFrom(0, 0, 1);
160
161 // define the task
162 // - we want an eye-in-hand control law
163 // - robot is controlled in the camera frame
165
166 // - we want to see a point on a point
167 task.addFeature(p, pd);
168
169 // - set the constant gain
170 task.setLambda(0.8);
171
172 // Display task information
173 task.print();
174
175 // Now the robot will be controlled in velocity
177
178 std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
179 for (;;) {
180 // Acquire a new image from the camera
181 g.acquire(I);
182
183 // Display this image
185
186 // Achieve the tracking of the dot in the image
187 dot.track(I);
188
189 // Get the dot cog
190 cog = dot.getCog();
191
192 // Display a green cross at the center of gravity position in the image
194
195 // Update the point feature from the dot location
196 vpFeatureBuilder::create(p, cam, dot);
197
198 vpColVector v;
199 // Compute the visual servoing skew vector
200 v = task.computeControlLaw();
201
202 // Display the current and desired feature points in the image display
203 vpServoDisplay::display(task, cam, I);
204
205 // Apply the computed joint velocities to the robot
207
208 // Save velocities applied to the robot in the log file
209 // v[0], v[1], v[2] correspond to camera translation velocities in m/s
210 // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
211 flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
212
213 // Get the measured joint velocities of the robot
214 vpColVector qvel;
216 // Save measured joint velocities of the robot in the log file:
217 // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
218 // velocities in m/s
219 // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
220 // velocities in rad/s
221 flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
222
223 // Get the measured joint positions of the robot
224 vpColVector q;
225 robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
226 // Save measured joint positions of the robot in the log file
227 // - q[0], q[1], q[2] correspond to measured joint translation
228 // positions in m
229 // - q[3], q[4], q[5] correspond to measured joint rotation
230 // positions in rad
231 flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
232
233 // Save feature error (s-s*) for the feature point. For this feature
234 // point, we have 2 errors (along x and y axis). This error is
235 // expressed in meters in the camera frame
236 flog << (task.getError()).t() << std::endl;
237
238 // Flush the display
240 }
241
242 flog.close(); // Close the log file
243
244 // Display task information
245 task.print();
246 return EXIT_SUCCESS;
247 } catch (const vpException &e) {
248 flog.close(); // Close the log file
249 std::cout << "Test failed with exception: " << e << std::endl;
250 return EXIT_FAILURE;
251 }
252}
253
254#else
255int main()
256{
257 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
258 return EXIT_SUCCESS;
259}
260#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.
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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:112
void initTracking(const vpImage< unsigned char > &I)
Definition vpDot.cpp:617
vpImagePoint getCog() const
Definition vpDot.h:243
void track(const vpImage< unsigned char > &I)
Definition vpDot.cpp:757
error that can be emitted by ViSP classes.
Definition vpException.h:59
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 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)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ ARTICULAR_FRAME
Definition vpRobot.h:76
@ CAMERA_FRAME
Definition vpRobot.h:80
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
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:151
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 setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
vpColVector computeControlLaw()
Definition vpServo.cpp:930
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487