Visual Servoing Platform version 3.6.0
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servoAfma6FourPoints2DCamVelocityLs_des.cpp

Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in the camera frame. Visual features are the image coordinates of 4 vpDot2 points. The interaction matrix is computed using the desired visual features.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in the camera frame
*
*****************************************************************************/
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
// Exception
#include <visp3/core/vpException.h>
#define L 0.05 // to deal with a 10cm by 10cm square
int main()
{
// Log file creation in /tmp/$USERNAME/log.dat
// This file contains by line:
// - the 6 computed camera velocities (m/s, rad/s) to achieve the task
// - the 6 mesured camera velocities (m/s, rad/s)
// - the 6 mesured joint positions (m, rad)
// - the 8 values of s - s*
std::string username;
// Get the user login name
// Create a log filename to save velocities...
std::string logdirname;
logdirname = "/tmp/" + username;
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(logdirname) == false) {
try {
// Create the dirname
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
return EXIT_FAILURE;
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
// Open the log file name
std::ofstream flog(logfilename.c_str());
try {
vpServo task;
int i;
g.open(I);
#ifdef VISP_HAVE_X11
vpDisplayX display(I, 100, 100, "Current image");
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, 100, 100, "Current image");
#endif
g.acquire(I);
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
std::cout << " Use of the Afma6 robot " << std::endl;
std::cout << " Interaction matrix computed with the desired features " << std::endl;
std::cout << " task : servo 4 points on a square with dimention " << L << " meters" << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
vpDot2 dot[4];
std::cout << "Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
for (i = 0; i < 4; i++) {
dot[i].initTracking(I);
cog = dot[i].getCog();
}
vpRobotAfma6 robot;
// Load the end-effector to camera frame transformation obtained
// using a camera intrinsic model with distortion
robot.init(vpAfma6::TOOL_CCMOP, projModel);
// Update camera parameters
robot.getCameraParameters(cam, I);
// Sets the current position of the visual feature
for (i = 0; i < 4; i++)
vpFeatureBuilder::create(p[i], cam, dot[i]); // retrieve x,y of the vpFeaturePoint structure
// Set the position of the square target in a frame which origin is
// centered in the middle of the square
vpPoint point[4];
point[0].setWorldCoordinates(-L, -L, 0);
point[1].setWorldCoordinates(L, -L, 0);
point[2].setWorldCoordinates(L, L, 0);
point[3].setWorldCoordinates(-L, L, 0);
// Initialise a desired pose to compute s*, the desired 2D point features
vpTranslationVector cto(0, 0, 0.7); // tz = 0.7 meter
vpMath::rad(0)); // No rotations
vpRotationMatrix cRo(cro); // Build the rotation matrix
cMo.buildFrom(cto, cRo); // Build the homogeneous matrix
// sets the desired position of the 2D visual feature
// Compute the desired position of the features from the desired pose
for (int i = 0; i < 4; i++) {
vpColVector cP, p;
point[i].changeFrame(cMo, cP);
point[i].projection(cP, p);
pd[i].set_x(p[0]);
pd[i].set_y(p[1]);
pd[i].set_Z(cP[2]);
}
// Define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// - Interaction matrix is computed with the desired visual features
// We want to see a point on a point
std::cout << std::endl;
for (i = 0; i < 4; i++)
task.addFeature(p[i], pd[i]);
// Set the proportional gain
task.setLambda(0.4);
// Display task information
task.print();
// Initialise the velocity control of the robot
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for (;;) {
// Acquire a new image from the camera
g.acquire(I);
// Display this image
// For each point...
for (i = 0; i < 4; i++) {
// Achieve the tracking of the dot in the image
dot[i].track(I);
// Get the dot cog
cog = dot[i].getCog();
// Display a green cross at the center of gravity position in the
// image
}
// Printing on stdout concerning task information
// task.print() ;
// Update the point feature from the dot location
for (i = 0; i < 4; i++)
vpFeatureBuilder::create(p[i], cam, dot[i]);
// Compute the visual servoing skew vector
v = task.computeControlLaw();
// Display the current and desired feature points in the image display
vpServoDisplay::display(task, cam, I);
// Apply the computed camera velocities to the robot
// Save velocities applied to the robot in the log file
// v[0], v[1], v[2] correspond to camera translation velocities in m/s
// v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
// Get the measured joint velocities of the robot
// Save measured camera velocities of the robot in the log file:
// - qvel[0], qvel[1], qvel[2] correspond to measured camera translation
// velocities in m/s
// - qvel[3], qvel[4], qvel[5] correspond to measured camera rotation
// velocities in rad/s
flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
// Get the measured joint positions of the robot
robot.getPosition(vpRobot::ARTICULAR_FRAME, q);
// Save measured joint positions of the robot in the log file
// - q[0], q[1], q[2] correspond to measured joint translation
// positions in m
// - q[3], q[4], q[5] correspond to measured joint rotation
// positions in rad
flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
// Save feature error (s-s*) for the 4 feature points. For each feature
// point, we have 2 errors (along x and y axis). This error is
// expressed in meters in the camera frame
flog << (task.getError()).t() << std::endl;
// Flush the display
}
flog.close(); // Close the log file
// Display task information
task.print();
return EXIT_SUCCESS;
} catch (const vpException &e) {
flog.close(); // Close the log file
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#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)
@ TOOL_CCMOP
Definition vpAfma6.h:124
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
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 blob (connex pixels with same gray level) on a vpImage.
Definition vpDot2.h:124
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition vpDot2.cpp:441
vpImagePoint getCog() const
Definition vpDot2.h:177
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition vpDot2.cpp:252
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 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.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
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)
static double rad(double deg)
Definition vpMath.h:116
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
void projection(const vpColVector &_cP, vpColVector &_p) const
Definition vpPoint.cpp:219
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
Definition vpPoint.cpp:236
void setWorldCoordinates(double oX, double oY, double oZ)
Definition vpPoint.cpp:110
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
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
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_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
@ PSEUDO_INVERSE
Definition vpServo.h:199
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ DESIRED
Definition vpServo.h:183
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.