Visual Servoing Platform version 3.5.0
servoAfma6Segment2DCamVelocity.cpp
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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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26 * Inria at visp@inria.fr
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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 * Filip Novotny
38 *
39 *****************************************************************************/
40
50#include <stdlib.h>
51#include <vector>
52#include <visp3/core/vpConfig.h>
53#include <visp3/core/vpDebug.h> // Debug trace
54#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
55
56#include <visp3/blob/vpDot.h>
57#include <visp3/core/vpDisplay.h>
58#include <visp3/core/vpException.h>
59#include <visp3/core/vpHomogeneousMatrix.h>
60#include <visp3/core/vpImage.h>
61#include <visp3/core/vpImagePoint.h>
62#include <visp3/core/vpIoTools.h>
63#include <visp3/core/vpMath.h>
64#include <visp3/core/vpPoint.h>
65#include <visp3/gui/vpDisplayGTK.h>
66#include <visp3/gui/vpDisplayOpenCV.h>
67#include <visp3/gui/vpDisplayX.h>
68#include <visp3/robot/vpRobotAfma6.h>
69#include <visp3/sensor/vp1394TwoGrabber.h>
70#include <visp3/visual_features/vpFeatureBuilder.h>
71#include <visp3/visual_features/vpFeatureSegment.h>
72#include <visp3/vs/vpServo.h>
73#include <visp3/vs/vpServoDisplay.h>
74
75int main()
76{
77 // Log file creation in /tmp/$USERNAME/log.dat
78 // This file contains by line:
79 // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
80 // - the 6 mesured joint velocities (m/s, rad/s)
81 // - the 6 mesured joint positions (m, rad)
82 // - the 2 values of s - s*
83 std::string username;
84 // Get the user login name
85 vpIoTools::getUserName(username);
86
87 // Create a log filename to save velocities...
88 std::string logdirname;
89 logdirname = "/tmp/" + username;
90
91 // Test if the output path exist. If no try to create it
92 if (vpIoTools::checkDirectory(logdirname) == false) {
93 try {
94 // Create the dirname
95 vpIoTools::makeDirectory(logdirname);
96 } catch (...) {
97 std::cerr << std::endl << "ERROR:" << std::endl;
98 std::cerr << " Cannot create " << logdirname << std::endl;
99 exit(-1);
100 }
101 }
102 std::string logfilename;
103 logfilename = logdirname + "/log.dat";
104
105 // Open the log file name
106 std::ofstream flog(logfilename.c_str());
107
108 try {
109 vpServo task;
110
112
116 g.open(I);
117
118 g.acquire(I);
119
120#ifdef VISP_HAVE_X11
121 vpDisplayX display(I, 100, 100, "Current image");
122#elif defined(VISP_HAVE_OPENCV)
123 vpDisplayOpenCV display(I, 100, 100, "Current image");
124#elif defined(VISP_HAVE_GTK)
125 vpDisplayGTK display(I, 100, 100, "Current image");
126#endif
127
130
131 std::vector<vpDot> dot_d(2), dot(2);
132 vpFeatureSegment seg_d, seg;
133 vpImagePoint cog;
134 vpRobotAfma6 robot;
136
137 // Update camera parameters
138 robot.getCameraParameters(cam, I);
139 std::cout << "define the initial segment" << std::endl;
140
141 for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
142 std::cout << "Click on a dot..." << std::endl;
143 i->initTracking(I);
144 cog = i->getCog();
147 }
148 vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
149 seg.display(cam, I, vpColor::red);
151 std::cout << "define the destination segment" << std::endl;
152 for (std::vector<vpDot>::iterator i = dot_d.begin(); i != dot_d.end(); ++i) {
153 vpImagePoint ip;
154 vpDisplay::getClick(I, ip);
155 *i = vpDot(ip);
157 }
158 vpFeatureBuilder::create(seg_d, cam, dot_d[0], dot_d[1]);
159 seg_d.setZ1(1.);
160 seg_d.setZ2(1.);
161
162 seg_d.display(cam, I);
164 // define the task
165 // - we want an eye-in-hand control law
166 // - robot is controlled in the camera frame
169
170 // - we want to see both segments
171 task.addFeature(seg, seg_d);
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 for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
192 i->track(I);
193 }
194
195 // Update the segment feature from the dot locations
196 vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
197
198 vpColVector v;
199 // Compute the visual servoing skew vector
200 v = task.computeControlLaw();
201
202 // Display the current and desired feature segments in the image display
203 vpServoDisplay::display(task, cam, I);
204
205 // Apply the computed joint velocities to the robot
207
208 // Save feature error (s-s*) for the feature segment. For this feature
209 // segments, we have 4 errors (Xc,Yc,l,alpha).
210 flog << (task.getError()).t() << std::endl;
211
212 // Flush the display
214 }
215
216 flog.close(); // Close the log file
217
218 // Display task information
219 task.print();
220
221 return EXIT_SUCCESS;
222 }
223 catch (const vpException &e) {
224 flog.close(); // Close the log file
225 std::cout << "Test failed with exception: " << e << std::endl;
226 return EXIT_FAILURE;
227 }
228}
229
230#else
231int main()
232{
233 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
234 return EXIT_SUCCESS;
235}
236#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 red
Definition: vpColor.h:217
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 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)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
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 segment visual features. This class allow to consider two sets of visual feat...
void setZ2(double val)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setZ1(double val)
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)
@ 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)
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
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