testRobotAfma6Pose.cpp

/****************************************************************************
 *
 * $Id: testRobotAfma6Pose.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Test for Afma 6 dof robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp/vpImage.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpRobotAfma6.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpPixelMeterConversion.h>
#include <visp/vp1394TwoGrabber.h>
#include <visp/vpPoint.h>
#include <visp/vpDot.h>
#include <visp/vpPose.h>
#include <visp/vpDebug.h>
#include <iostream>
#if defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394_2)

int main()
{
  try {
    // Create an image B&W container
    vpImage<unsigned char> I;

    // Create a firewire grabber based on libdc1394-2.x
    vp1394TwoGrabber g;

    // Grab an image from the firewire camera
    g.acquire(I);

    // Create an image viewer for the image
#ifdef VISP_HAVE_X11
    vpDisplayX display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display(I,100,100,"Current image") ;
#endif

    // Display the image
    vpDisplay::display(I) ;
    vpDisplay::flush(I) ;

    // Define a squared target
    // The target is made of 4 planar points (square dim = 0.077m)
    double sdim = 0.077; // square width and height
    vpPoint target[4] ;
    // Set the point world coordinates (x,y,z) in the object frame
    // o ----> x
    // |
    // |
    // \/
    // y
    target[0].setWorldCoordinates(-sdim/2., -sdim/2., 0) ;
    target[1].setWorldCoordinates( sdim/2., -sdim/2., 0) ;
    target[2].setWorldCoordinates( sdim/2.,  sdim/2., 0) ;
    target[3].setWorldCoordinates(-sdim/2.,  sdim/2., 0) ;

    // Image processing to extract the 2D coordinates in sub-pixels of the 4
    // points from the image acquired by the camera
    // Creation of 4 trackers
    vpDot dot[4];
    vpImagePoint cog;
    for (int i=0; i < 4; i ++) {
      dot[i].setGraphics(true); // to display the tracking results
      std::cout << "Click on dot " << i << std::endl;
      dot[i].initTracking( I );
      // The tracker computes the sub-pixels coordinates in the image
      // i ----> u
      // |
      // |
      // \/
      // v
      std::cout << "  Coordinates: " << dot[i].getCog() << std::endl;
      // Flush the tracking results in the viewer
      vpDisplay::flush(I) ;
    }

    // Create an intrinsic camera parameters structure
    vpCameraParameters cam;

    // Create a robot access
    vpRobotAfma6 robot;

    // Load the end-effector to camera frame transformation obtained
    // using a camera intrinsic model with distortion
    robot.init(vpAfma6::TOOL_CCMOP,
               vpCameraParameters::perspectiveProjWithDistortion);

    // Get the intrinsic camera parameters associated to the image
    robot.getCameraParameters(cam, I);

    // Using the camera parameters, compute the perspective projection (transform
    // the dot sub-pixel coordinates into coordinates in the camera frame in
    // meter)
    for (int i=0; i < 4; i ++) {
      double x=0, y=0 ; // coordinates of the dots in the camera frame
      // c ----> x
      // |
      // |
      // \/
      // y
      //pixel to meter conversion
      cog = dot[i].getCog();
      vpPixelMeterConversion::convertPoint(cam, cog, x, y);
      target[i].set_x(x) ;
      target[i].set_y(y) ;
    }

    // From now, in target[i], we have the 3D coordinates of a point in the
    // object frame, and their correspondances in the camera frame. We can now
    // compute the pose cMo between the camera and the object.
    vpPose pose;
    // Add the 4 points to compute the pose
    for (int i=0; i < 4; i ++) {
      pose.addPoint(target[i]) ;
    }
    // Create an homogeneous matrix for the camera to object transformation
    // computed just bellow
    vpHomogeneousMatrix cMo;
    vpRotationMatrix    R;
    vpRxyzVector        r;
    // Compute the pose: initialisation is done by Lagrange method, and the final
    // pose is computed by the more accurate Virtual Visual Servoing method.
    pose.computePose(vpPose::LAGRANGE_VIRTUAL_VS, cMo) ;


    std::cout << "Pose cMo: " << std::endl << cMo;
    cMo.extract(R);
    r.buildFrom(R);
    std::cout << "  rotation: "
              << vpMath::deg(r[0]) << " "
              << vpMath::deg(r[1]) << " "
              << vpMath::deg(r[2]) << " deg" << std::endl << std::endl;

    // Get the robot position in the reference frame
    vpHomogeneousMatrix rMc;
    vpColVector p; // position x,y,z,rx,ry,rz
    robot.getPosition(vpRobotAfma6::REFERENCE_FRAME, p);
    std::cout << "Robot pose in reference frame: " << p << std::endl;
    vpTranslationVector t;
    t[0] = p[0]; t[1] = p[1]; t[2] = p[2];
    r[0] = p[3]; r[1] = p[4]; r[2] = p[5];
    R.buildFrom(r);
    rMc.buildFrom(t, R);
    std::cout << "Pose rMc: " << std::endl << rMc;
    rMc.extract(R);
    r.buildFrom(R);
    std::cout << "  rotation: "
              << vpMath::deg(r[0]) << " "
              << vpMath::deg(r[1]) << " "
              << vpMath::deg(r[2]) << " deg" << std::endl << std::endl;

    robot.getPosition(vpRobotAfma6::ARTICULAR_FRAME, p);
    std::cout << "Robot pose in articular: " << p << std::endl;

    robot.get_fMc(p, rMc);
    std::cout << "Pose rMc from MGD: " << std::endl << rMc;
    rMc.extract(R);
    r.buildFrom(R);
    std::cout << "  rotation: "
              << vpMath::deg(r[0]) << " "
              << vpMath::deg(r[1]) << " "
              << vpMath::deg(r[2]) << " deg" << std::endl << std::endl;

    vpHomogeneousMatrix rMo;
    rMo = rMc * cMo;
    std::cout << "Pose rMo = rMc * cMo: " << std::endl << rMo;
    rMo.extract(R);
    r.buildFrom(R);
    std::cout << "  rotation: "
              << vpMath::deg(r[0]) << " "
              << vpMath::deg(r[1]) << " "
              << vpMath::deg(r[2]) << " deg" << std::endl << std::endl;

  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
  return 0;
}
#else
int main()
{
  std::cout << "Sorry, test not valid. You should have an Afma6 robot..."
            << std::endl;
  return 0;
}

#endif