Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
testRobotViper850Pose.cpp

Example of robot pose usage.

Show how to compute rMo = rMc * cMo with cMo obtained by pose computation and rMc from the robot position.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
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* If you have questions regarding the use of this file, please contact
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*
* Description:
* Test for Afma 6 dof robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotViper850.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/vision/vpPose.h>
#if defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394)
int main()
{
try {
// Create an image B&W container
// Create a firewire grabber based on libdc1394-2.x
bool reset = false;
vp1394TwoGrabber g(reset);
// 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
// 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];
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
}
// Create an intrinsic camera parameters structure
// Create a robot access
// Load the end-effector to camera frame transformation obtained
// using a camera intrinsic model with distortion
// 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();
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
// Compute the pose: initialisation is done by Lagrange method, and the
// final pose is computed by the more accurate Virtual Visual Servoing
// method.
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
vpColVector p; // position x,y,z,rx,ry,rz
robot.getPosition(vpRobotViper850::REFERENCE_FRAME, p);
std::cout << "Robot pose in reference frame: " << p << std::endl;
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(vpRobotViper850::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;
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 (const 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 Viper850 robot..." << std::endl;
return 0;
}
#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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...
Definition: vpDisplayX.h:135
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
void setGraphics(bool activate)
Definition: vpDot.h:361
vpImagePoint getCog() const
Definition: vpDot.h:247
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void extract(vpRotationMatrix &R) const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
static double deg(double rad)
Definition: vpMath.h:110
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void set_x(double x)
Set the point x coordinate in the image plane.
Definition: vpPoint.cpp:511
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
void set_y(double y)
Set the point y coordinate in the image plane.
Definition: vpPoint.cpp:513
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Definition: vpPose.h:90
void addPoint(const vpPoint &P)
Definition: vpPose.cpp:148
@ LAGRANGE_VIRTUAL_VS
Definition: vpPose.h:108
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Definition: vpPose.cpp:373
@ REFERENCE_FRAME
Definition: vpRobot.h:77
@ ARTICULAR_FRAME
Definition: vpRobot.h:79
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper850.h:137