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.
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#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>
#include <visp3/core/vpException.h>
#define L 0.05
int main()
{
std::string username;
std::string logdirname;
logdirname = "/tmp/" + username;
try {
} 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";
std::ofstream flog(logfilename.c_str());
try {
int i;
#ifdef VISP_HAVE_X11
#elif defined(HAVE_OPENCV_HIGHGUI)
#elif defined(VISP_HAVE_GTK)
#endif
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 dimension " << L << " meters" << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
std::cout << "Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
for (i = 0; i < 4; i++) {
}
robot.getCameraParameters(cam, I);
for (i = 0; i < 4; i++)
for (int i = 0; i < 4; i++) {
}
std::cout << std::endl;
for (i = 0; i < 4; i++)
std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
for (;;) {
for (i = 0; i < 4; i++) {
}
for (i = 0; i < 4; i++)
flog << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5] << " ";
flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " " << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
flog << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << q[4] << " " << q[5] << " ";
flog << (task.
getError()).t() << std::endl;
}
flog.close();
return EXIT_SUCCESS;
flog.close();
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)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
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...
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.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emitted by ViSP classes.
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...
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 ...
static double rad(double deg)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void projection(const vpColVector &_cP, vpColVector &_p) const override
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const override
void setWorldCoordinates(double oX, double oY, double oZ)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) override
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that consider the case of a translation vector.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.