ViSP  2.10.0
servoViper850Point2DCamVelocity.cpp
1 /****************************************************************************
2  *
3  * $Id: servoViper850Point2DCamVelocity.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 camera frame
38  *
39  * Authors:
40  * Eric Marchand
41  * Fabien Spindler
42  *
43  *****************************************************************************/
44 
45 
56 #include <visp/vpConfig.h>
57 #include <visp/vpDebug.h> // Debug trace
58 
59 #include <stdlib.h>
60 #include <stdio.h>
61 #include <iostream>
62 #include <fstream>
63 #include <sstream>
64 
65 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
66 
67 #include <visp/vp1394TwoGrabber.h>
68 #include <visp/vpImage.h>
69 #include <visp/vpMath.h>
70 #include <visp/vpHomogeneousMatrix.h>
71 #include <visp/vpFeaturePoint.h>
72 #include <visp/vpPoint.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpFeatureBuilder.h>
75 #include <visp/vpRobotViper850.h>
76 #include <visp/vpIoTools.h>
77 #include <visp/vpException.h>
78 #include <visp/vpMatrixException.h>
79 #include <visp/vpServoDisplay.h>
80 #include <visp/vpImageIo.h>
81 #include <visp/vpDot2.h>
82 #include <visp/vpDisplay.h>
83 #include <visp/vpDisplayX.h>
84 #include <visp/vpDisplayOpenCV.h>
85 #include <visp/vpDisplayGTK.h>
86 
87 
88 int
89 main()
90 {
91  // Log file creation in /tmp/$USERNAME/log.dat
92  // This file contains by line:
93  // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
94  // - the 6 mesured joint velocities (m/s, rad/s)
95  // - the 6 mesured joint positions (m, rad)
96  // - the 2 values of s - s*
97  std::string username;
98  // Get the user login name
99  vpIoTools::getUserName(username);
100 
101  // Create a log filename to save velocities...
102  std::string logdirname;
103  logdirname ="/tmp/" + username;
104 
105  // Test if the output path exist. If no try to create it
106  if (vpIoTools::checkDirectory(logdirname) == false) {
107  try {
108  // Create the dirname
109  vpIoTools::makeDirectory(logdirname);
110  }
111  catch (...) {
112  std::cerr << std::endl
113  << "ERROR:" << std::endl;
114  std::cerr << " Cannot create " << logdirname << std::endl;
115  exit(-1);
116  }
117  }
118  std::string logfilename;
119  logfilename = logdirname + "/log.dat";
120 
121  // Open the log file name
122  std::ofstream flog(logfilename.c_str());
123 
124  try {
125  vpRobotViper850 robot ;
126 
127  vpServo task ;
128 
130 
131  bool reset = false;
132  vp1394TwoGrabber g(reset);
133 
134 #if 1
136  g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
137 #else
139  g.setColorCoding(vp1394TwoGrabber::vpCOLOR_CODING_MONO8);
140 #endif
141  g.open(I) ;
142 
143 #ifdef VISP_HAVE_X11
144  vpDisplayX display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
145 #elif defined(VISP_HAVE_OPENCV)
146  vpDisplayOpenCV display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
147 #elif defined(VISP_HAVE_GTK)
148  vpDisplayGTK display(I, (int)(100+I.getWidth()+30), 200, "Current image") ;
149 #endif
150 
151  vpDisplay::display(I) ;
152  vpDisplay::flush(I) ;
153 
154  vpDot2 dot ;
155  vpImagePoint cog;
156 
157  dot.setGraphics(true);
158 
159  for (int i=0; i< 10; i++)
160  g.acquire(I) ;
161 
162  std::cout << "Click on a dot..." << std::endl;
163  dot.initTracking(I) ;
164 
165  cog = dot.getCog();
167  vpDisplay::flush(I);
168 
169  vpCameraParameters cam ;
170  // Update camera parameters
171  robot.getCameraParameters (cam, I);
172 
173  // sets the current position of the visual feature
174  vpFeaturePoint p ;
175  // retrieve x,y and Z of the vpPoint structure
176  vpFeatureBuilder::create(p,cam, dot);
177 
178  // sets the desired position of the visual feature
179  vpFeaturePoint pd ;
180  pd.buildFrom(0,0,1) ;
181 
182  // define the task
183  // - we want an eye-in-hand control law
184  // - robot is controlled in the camera frame
186 
187  // - we want to see a point on a point
188  task.addFeature(p,pd) ;
189 
190  // - set the constant gain
191  task.setLambda(0.8) ;
192 
193  // Display task information
194  task.print() ;
195 
196  // Now the robot will be controlled in velocity
198 
199  std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
200  vpColVector v ;
201  for ( ; ; ) {
202  try {
203  // Acquire a new image from the camera
204  g.acquire(I) ;
205 
206  // Display this image
207  vpDisplay::display(I) ;
208 
209  // Achieve the tracking of the dot in the image
210  dot.track(I) ;
211 
212  // Get the dot cog
213  cog = dot.getCog();
214 
215  // Display a green cross at the center of gravity position in the image
217 
218  // Update the point feature from the dot location
219  vpFeatureBuilder::create(p, cam, dot);
220 
221  // Compute the visual servoing skew vector
222  v = task.computeControlLaw() ;
223 
224  // Display the current and desired feature points in the image display
225  vpServoDisplay::display(task, cam, I) ;
226 
227  // Apply the computed camera velocities to the robot
229  }
230  catch(...) {
231  std::cout << "Tracking failed... Stop the robot." << std::endl;
232  v = 0;
233  // Stop robot
235  return 0;
236  }
237 
238  // Save velocities applied to the robot in the log file
239  // v[0], v[1], v[2] correspond to camera translation velocities in m/s
240  // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
241  flog << v[0] << " " << v[1] << " " << v[2] << " "
242  << v[3] << " " << v[4] << " " << v[5] << " ";
243 
244  // Get the measured joint velocities of the robot
245  vpColVector qvel;
247  // Save measured joint velocities of the robot in the log file:
248  // - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
249  // velocities in m/s
250  // - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
251  // velocities in rad/s
252  flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
253  << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
254 
255  // Get the measured joint positions of the robot
256  vpColVector q;
258  // Save measured joint positions of the robot in the log file
259  // - q[0], q[1], q[2] correspond to measured joint translation
260  // positions in m
261  // - q[3], q[4], q[5] correspond to measured joint rotation
262  // positions in rad
263  flog << q[0] << " " << q[1] << " " << q[2] << " "
264  << q[3] << " " << q[4] << " " << q[5] << " ";
265 
266  // Save feature error (s-s*) for the feature point. For this feature
267  // point, we have 2 errors (along x and y axis). This error is expressed
268  // in meters in the camera frame
269  flog << ( task.getError() ).t() << std::endl; // s-s* for point
270 
271  // Flush the display
272  vpDisplay::flush(I) ;
273  }
274 
275  flog.close() ; // Close the log file
276 
277  // Display task information
278  task.print() ;
279 
280  // Kill the task
281  task.kill();
282 
283  return 0;
284  }
285  catch (...)
286  {
287  flog.close() ; // Close the log file
288  vpERROR_TRACE(" Test failed") ;
289  return 0;
290  }
291 }
292 
293 #else
294 int
295 main()
296 {
297  vpERROR_TRACE("You do not have a Viper robot or a firewire framegrabber connected to your computer...");
298 }
299 #endif
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
static bool checkDirectory(const char *dirname)
Definition: vpIoTools.cpp:315
unsigned int getWidth() const
Definition: vpImage.h:161
#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 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
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
Definition: vpColor.h:170
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
void track(const vpImage< unsigned char > &I)
Definition: vpDot2.cpp:465
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2232
vpImagePoint getCog() const
Definition: vpDot2.h:163
static void makeDirectory(const char *dirname)
Definition: vpIoTools.cpp:384
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
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
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 initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:266
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:251
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
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 setGraphics(const bool activate)
Definition: vpDot2.h:312
static const vpColor blue
Definition: vpColor.h:173