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.
Camera extrinsic (eMc) and intrinsic parameters are retrieved from the robot low level driver that is not public.
#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/vpDisplayFactory.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()
{
#ifdef ENABLE_VISP_NAMESPACE
#endif
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());
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
#endif
try {
bool reset = false;
#if 1
#else
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#else
#endif
for (int i = 0; i < 10; i++)
std::cout << "Click on a dot..." << std::endl;
robot.getCameraParameters(cam, I);
std::cout << "\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
for (;;) {
try {
}
catch (...) {
std::cout << "Error detected while tracking visual features.." << std::endl;
break;
}
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;
break;
}
robot.stopMotion();
flog.close();
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
return EXIT_SUCCESS;
}
flog.close();
std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
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
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setColorCoding(vp1394TwoColorCodingType coding)
void setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
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)
void setGraphics(bool activate)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emitted by ViSP classes.
const char * getMessage() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
vpFeaturePoint & buildFrom(const double &x, const double &y, const double &Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
Control of Irisa's Viper S650 robot named Viper650.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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 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()
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.