ViSP  2.10.0
servoViper850FourPoints2DArtVelocityInteractionDesired.cpp
1 /****************************************************************************
2  *
3  * $Id: servoViper850FourPoints2DArtVelocityInteractionDesired.cpp 4574 2014-01-09 08:48:51Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * tests the control law
36  * eye-in-hand control
37  * velocity computed in the articular frame
38  *
39  * Authors:
40  * Fabien Spindler
41  *
42  *****************************************************************************/
55 #include <visp/vpConfig.h>
56 #include <visp/vpDebug.h> // Debug trace
57 
58 #include <stdio.h>
59 #include <iostream>
60 #include <fstream>
61 #include <sstream>
62 #include <stdlib.h>
63 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
64 
65 #include <visp/vp1394TwoGrabber.h>
66 #include <visp/vpDisplay.h>
67 #include <visp/vpDisplayGTK.h>
68 #include <visp/vpDisplayX.h>
69 #include <visp/vpDisplayOpenCV.h>
70 #include <visp/vpDot2.h>
71 #include <visp/vpFeatureBuilder.h>
72 #include <visp/vpFeaturePoint.h>
73 #include <visp/vpHomogeneousMatrix.h>
74 #include <visp/vpImage.h>
75 #include <visp/vpIoTools.h>
76 #include <visp/vpMath.h>
77 #include <visp/vpPoint.h>
78 #include <visp/vpPose.h>
79 #include <visp/vpRobotViper850.h>
80 #include <visp/vpServo.h>
81 #include <visp/vpServoDisplay.h>
82 
83 int
84 main()
85 {
86  // Log file creation in /tmp/$USERNAME/log.dat
87  // This file contains by line:
88  // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
89  // - the 6 mesured joint velocities (m/s, rad/s)
90  // - the 6 mesured joint positions (m, rad)
91  // - the 8 values of s - s*
92  std::string username;
93  // Get the user login name
94  vpIoTools::getUserName(username);
95 
96  // Create a log filename to save velocities...
97  std::string logdirname;
98  logdirname ="/tmp/" + username;
99 
100  // Test if the output path exist. If no try to create it
101  if (vpIoTools::checkDirectory(logdirname) == false) {
102  try {
103  // Create the dirname
104  vpIoTools::makeDirectory(logdirname);
105  }
106  catch (...) {
107  std::cerr << std::endl
108  << "ERROR:" << std::endl;
109  std::cerr << " Cannot create " << logdirname << std::endl;
110  return(-1);
111  }
112  }
113  std::string logfilename;
114  logfilename = logdirname + "/log.dat";
115 
116  // Open the log file name
117  std::ofstream flog(logfilename.c_str());
118 
119  try {
120  // Define the square CAD model
121  // Square dimention
122  //#define L 0.075
123 #define L 0.05
124  // Distance between the camera and the square at the desired
125  // position after visual servoing convergence
126 #define D 0.5
127 
128  vpRobotViper850 robot ;
129  // Load the end-effector to camera frame transformation obtained
130  // using a camera intrinsic model with distortion
134 
135  vpServo task ;
136 
138  int i ;
139 
140  bool reset = false;
141  vp1394TwoGrabber g(reset);
143  g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
144  g.open(I) ;
145 
146  g.acquire(I) ;
147 
148 #ifdef VISP_HAVE_X11
149  vpDisplayX display(I,100,100,"Current image") ;
150 #elif defined(VISP_HAVE_OPENCV)
151  vpDisplayOpenCV display(I,100,100,"Current image") ;
152 #elif defined(VISP_HAVE_GTK)
153  vpDisplayGTK display(I,100,100,"Current image") ;
154 #endif
155 
156  vpDisplay::display(I) ;
157  vpDisplay::flush(I) ;
158 
159  std::cout << std::endl ;
160  std::cout << "-------------------------------------------------------" << std::endl ;
161  std::cout << " Test program for vpServo " <<std::endl ;
162  std::cout << " Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
163  std::cout << " Use of the Afma6 robot " << std::endl ;
164  std::cout << " task : servo 4 points on a square with dimention " << L << " meters" << std::endl ;
165  std::cout << "-------------------------------------------------------" << std::endl ;
166  std::cout << std::endl ;
167 
168 
169  vpDot dot[4] ;
170  vpImagePoint cog;
171 
172  std::cout << "Click on the 4 dots clockwise starting from upper/left dot..."
173  << std::endl;
174 
175  for (i=0 ; i < 4 ; i++) {
176  dot[i].setGraphics(true) ;
177  dot[i].initTracking(I) ;
178  cog = dot[i].getCog();
180  vpDisplay::flush(I);
181  }
182 
183  vpCameraParameters cam ;
184 
185  // Update camera parameters
186  robot.getCameraParameters (cam, I);
187 
188  cam.printParameters();
189 
190  // Sets the current position of the visual feature
191  vpFeaturePoint p[4] ;
192  for (i=0 ; i < 4 ; i++)
193  vpFeatureBuilder::create(p[i],cam, dot[i]) ; //retrieve x,y and Z of the vpPoint structure
194 
195  // sets the desired position of the visual feature
196  vpFeaturePoint pd[4] ;
197 
198  pd[0].buildFrom(-L,-L,D) ;
199  pd[1].buildFrom(L,-L,D) ;
200  pd[2].buildFrom(L,L,D) ;
201  pd[3].buildFrom(-L,L,D) ;
202 
203  // We want to see a point on a point
204  std::cout << std::endl ;
205  for (i=0 ; i < 4 ; i++)
206  task.addFeature(p[i],pd[i]) ;
207 
208  // Set the proportional gain
209  task.setLambda(0.4) ;
210 
211  // Display task information
212  task.print() ;
213 
214  // Define the task
215  // - we want an eye-in-hand control law
216  // - articular velocity are computed
219  task.print() ;
220 
222  robot.get_cVe(cVe) ;
223  task.set_cVe(cVe) ;
224  task.print() ;
225 
226  // Set the Jacobian (expressed in the end-effector frame)
227  vpMatrix eJe ;
228  robot.get_eJe(eJe) ;
229  task.set_eJe(eJe) ;
230  task.print() ;
231 
232  // Initialise the velocity control of the robot
234 
235  std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
236  for ( ; ; ) {
237  // Acquire a new image from the camera
238  g.acquire(I) ;
239 
240  // Display this image
241  vpDisplay::display(I) ;
242 
243  try {
244  // For each point...
245  for (i=0 ; i < 4 ; i++) {
246  // Achieve the tracking of the dot in the image
247  dot[i].track(I) ;
248  // Display a green cross at the center of gravity position in the
249  // image
250  cog = dot[i].getCog();
252  }
253  }
254  catch(...) {
255  flog.close() ; // Close the log file
256  vpTRACE("Error detected while tracking visual features") ;
257  robot.stopMotion() ;
258  exit(1) ;
259  }
260 
261  // Update the point feature from the dot location
262  for (i=0 ; i < 4 ; i++)
263  vpFeatureBuilder::create(p[i],cam, dot[i]);
264 
265  // Get the jacobian of the robot
266  robot.get_eJe(eJe) ;
267  // Update this jacobian in the task structure. It will be used to compute
268  // the velocity skew (as an articular velocity)
269  // qdot = -lambda * L^+ * cVe * eJe * (s-s*)
270  task.set_eJe(eJe) ;
271 
272  vpColVector v ;
273  // Compute the visual servoing skew vector
274  v = task.computeControlLaw() ;
275 
276  // Display the current and desired feature points in the image display
277  vpServoDisplay::display(task,cam,I) ;
278 
279  // Apply the computed joint velocities to the robot
281 
282  // Save velocities applied to the robot in the log file
283  // v[0], v[1], v[2] correspond to joint translation velocities in m/s
284  // v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
285  flog << v[0] << " " << v[1] << " " << v[2] << " "
286  << v[3] << " " << v[4] << " " << v[5] << " ";
287 
288  // Get the measured joint velocities of the robot
289  vpColVector qvel;
291  // Save measured joint velocities of the robot in the log file:
292  // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
293  // velocities in m/s
294  // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
295  // velocities in rad/s
296  flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
297  << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
298 
299  // Get the measured joint positions of the robot
300  vpColVector q;
302  // Save measured joint positions of the robot in the log file
303  // - q[0], q[1], q[2] correspond to measured joint translation
304  // positions in m
305  // - q[3], q[4], q[5] correspond to measured joint rotation
306  // positions in rad
307  flog << q[0] << " " << q[1] << " " << q[2] << " "
308  << q[3] << " " << q[4] << " " << q[5] << " ";
309 
310  // Save feature error (s-s*) for the 4 feature points. For each feature
311  // point, we have 2 errors (along x and y axis). This error is expressed
312  // in meters in the camera frame
313  flog << ( task.getError() ).t() << std::endl;
314 
315  // Flush the display
316  vpDisplay::flush(I) ;
317 
318  // std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl;
319  }
320 
321  std::cout << "Display task information: " << std::endl;
322  task.print() ;
323  task.kill();
324  flog.close() ; // Close the log file
325  return 0;
326  }
327  catch (...)
328  {
329  flog.close() ; // Close the log file
330  vpERROR_TRACE(" Test failed") ;
331  return 0;
332  }
333 }
334 
335 #else
336 int
337 main()
338 {
339  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
340 }
341 
342 #endif
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Definition of the vpMatrix class.
Definition: vpMatrix.h:98
static bool checkDirectory(const char *dirname)
Definition: vpIoTools.cpp:315
#define vpERROR_TRACE
Definition: vpDebug.h:395
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:580
Control of Irisa's Viper S850 robot named Viper850.
#define vpTRACE
Definition: vpDebug.h:418
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:439
Define the X11 console to display images.
Definition: vpDisplayX.h:152
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:449
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:804
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
Definition: vpColor.h:170
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2232
static void makeDirectory(const char *dirname)
Definition: vpIoTools.cpp:384
vpImagePoint getCog() const
Definition: vpDot.h:228
void kill()
Definition: vpServo.cpp:189
Initialize the velocity controller.
Definition: vpRobot.h:70
vpColVector getError() const
Definition: vpServo.h:257
vpColVector computeControlLaw()
Definition: vpServo.cpp:902
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:210
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
void setLambda(double c)
Definition: vpServo.h:370
static std::string getUserName()
Definition: vpIoTools.cpp:141
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Definition: vpDisplayGTK.h:145
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
Perspective projection with distortion model.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:522
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
void setGraphics(const bool activate)
Definition: vpDot.h:355
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition: vpServo.h:414
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:251
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Definition: vpDot.h:119
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:93
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:220
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:658
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)
static const vpColor blue
Definition: vpColor.h:173