Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
servoViper650Point2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the ADEPT Viper 650 robot (arm, with 6 degrees of freedom). The velocity is computed in the camera frame. The visual feature is the center of gravity of a point.

The device used to acquire images is a firewire camera (PointGrey Flea2)

Camera extrinsic (eMc) and intrinsic parameters are retrieved from the robot low level driver that is not public.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 http://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 camera frame
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <fstream>
#include <iostream>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotViper650.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
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 joint velocities (m/s, rad/s)
// - the 6 mesured joint positions (m, rad)
// - the 2 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;
exit(-1);
}
}
std::string logfilename;
logfilename = logdirname + "/log.dat";
// Open the log file name
std::ofstream flog(logfilename.c_str());
try {
vpServo task;
bool reset = false;
vp1394TwoGrabber g(reset);
#if 1
#else
#endif
g.open(I);
vpDisplayX display(I, 100, 100, "Current image");
vpDot2 dot;
dot.setGraphics(true);
for (int i = 0; i < 10; i++) // warm up the camera
g.acquire(I);
std::cout << "Click on a dot..." << std::endl;
dot.initTracking(I);
vpImagePoint cog = dot.getCog();
// Update camera parameters
robot.getCameraParameters(cam, I);
// sets the current position of the visual feature
// retrieve x,y and Z of the vpPoint structure
// sets the desired position of the visual feature
pd.buildFrom(0, 0, 1);
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// - we want to see a point on a point
task.addFeature(p, pd);
// - set the constant gain
task.setLambda(0.8);
// Display task information
task.print();
// Now the robot will be controlled in velocity
std::cout << "\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
for (;;) {
// Acquire a new image from the camera
g.acquire(I);
// Display this image
try {
// Achieve the tracking of the dot in the image
dot.track(I);
} catch (...) {
std::cout << "Error detected while tracking visual features.." << std::endl;
break;
}
// Get the dot cog
cog = dot.getCog();
// Display a green cross at the center of gravity position in the image
// Update the point feature from the dot location
// Compute the visual servoing skew vector
// 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 joint velocities of the robot in the log file:
// - qvel[0], qvel[1], qvel[2] correspond to measured joint translation
// velocities in m/s
// - qvel[3], qvel[4], qvel[5] correspond to measured joint 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
// 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 feature point. For this 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; // s-s* for point
vpDisplay::displayText(I, 10, 10, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
// Flush the display
}
robot.stopMotion();
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 << "Catched an exception: " << e.getMessage() << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an Viper 650 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif