Visual Servoing Platform  version 3.3.1 under development (2020-07-03)
vpViper850.cpp
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30  *
31  * Description:
32  * Interface for the ADEPT Viper 850 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpXmlParserCamera.h>
50 #include <visp3/robot/vpViper850.h>
51 
52 static const char *opt_viper850[] = {"CAMERA", "eMc_ROT_XYZ", "eMc_TRANS_XYZ", NULL};
53 
54 #ifdef VISP_HAVE_VIPER850_DATA
56  std::string(VISP_VIPER850_DATA_PATH) +
57  std::string("/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf");
58 
60  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf");
61 
63  std::string(VISP_VIPER850_DATA_PATH) +
64  std::string("/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf");
65 
67  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf");
68 
70  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/"
71  "const_eMc_schunk_gripper_without_distortion_Viper850."
72  "cnf");
73 
75  std::string(VISP_VIPER850_DATA_PATH) +
76  std::string("/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf");
77 
79  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_generic_without_distortion_Viper850.cnf");
80 
82  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_generic_with_distortion_Viper850.cnf");
83 
84 const std::string vpViper850::CONST_CAMERA_FILENAME =
85  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_camera_Viper850.xml");
86 
87 #endif // VISP_HAVE_VIPER850_DATA
88 
89 const char *const vpViper850::CONST_MARLIN_F033C_CAMERA_NAME = "Marlin-F033C-12mm";
90 const char *const vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME = "PTGrey-Flea2-6mm";
91 const char *const vpViper850::CONST_SCHUNK_GRIPPER_CAMERA_NAME = "Schunk-Gripper-PTGrey-Flea2-6mm";
92 const char *const vpViper850::CONST_GENERIC_CAMERA_NAME = "Generic-camera";
93 
95 
103  : tool_current(vpViper850::defaultTool), projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
104 
105 {
106  // Denavit Hartenberg parameters
107  a1 = 0.075;
108  a2 = 0.365;
109  a3 = 0.090;
110  d1 = 0.335;
111  d4 = 0.405;
112  d6 = 0.080 + 0.1016; // To take into account the offset to go to the tool changer
113  c56 = -341.33 / 9102.22;
114 
115  // Software joint limits in radians
116  joint_min[0] = vpMath::rad(-170);
117  joint_min[1] = vpMath::rad(-190);
118  joint_min[2] = vpMath::rad(-29);
119  joint_min[3] = vpMath::rad(-190);
120  joint_min[4] = vpMath::rad(-120);
121  joint_min[5] = vpMath::rad(-360);
122  joint_max[0] = vpMath::rad(170);
123  joint_max[1] = vpMath::rad(45);
124  joint_max[2] = vpMath::rad(256);
125  joint_max[3] = vpMath::rad(190);
126  joint_max[4] = vpMath::rad(120);
127  joint_max[5] = vpMath::rad(360);
128 
129  init(); // Set the default tool
130 }
131 
137 {
139  return;
140 }
141 
151 void vpViper850::init(const std::string &camera_extrinsic_parameters)
152 {
153  // vpTRACE ("Parse camera file \""%s\"".", camera_filename);
154  this->parseConfigFile(camera_extrinsic_parameters);
155 
156  return;
157 }
158 
181 {
182 
183  this->projModel = proj_model;
184 
185 #ifdef VISP_HAVE_VIPER850_DATA
186  // Read the robot parameters from files
187  std::string filename_eMc;
188  switch (tool) {
190  switch (projModel) {
193  break;
196  break;
198  throw vpException(vpException::notImplementedError, "Feature TOOL_MARLIN_F033C_CAMERA is not implemented for Kannala-Brandt projection model yet.");
199  break;
200  }
201  break;
202  }
204  switch (projModel) {
207  break;
210  break;
212  throw vpException(vpException::notImplementedError, "Feature TOOL_PTGREY_FLEA2_CAMERA is not implemented for Kannala-Brandt projection model yet.");
213  break;
214  }
215  break;
216  }
218  switch (projModel) {
221  break;
224  break;
226  throw vpException(vpException::notImplementedError, "Feature TOOL_SCHUNK_GRIPPER_CAMERA is not implemented for Kannala-Brandt projection model yet.");
227  break;
228  }
229  break;
230  }
232  switch (projModel) {
235  break;
238  break;
240  throw vpException(vpException::notImplementedError, "Feature TOOL_GENERIC_CAMERA is not implemented for Kannala-Brandt projection model yet.");
241  break;
242  }
243  break;
244  }
247  "No predefined file available for a custom tool"
248  "You should use init(vpViper850::vpToolType, const std::string&) or"
249  "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
250  }
251  default: {
252  vpERROR_TRACE("This error should not occur!");
253  // vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
254  // "que les specs de la classe ont ete modifiee, "
255  // "et que le code n'a pas ete mis a jour "
256  // "correctement.");
257  // vpERROR_TRACE ("Verifiez les valeurs possibles du type "
258  // "vpViper850::vpViper850ToolType, et controlez que "
259  // "tous les cas ont ete pris en compte dans la "
260  // "fonction init(camera).");
261  break;
262  }
263  }
264 
265  this->init(filename_eMc);
266 
267 #else // VISP_HAVE_VIPER850_DATA
268 
269  // Use here default values of the robot constant parameters.
270  switch (tool) {
272  switch (projModel) {
274  erc[0] = vpMath::rad(0.07); // rx
275  erc[1] = vpMath::rad(2.76); // ry
276  erc[2] = vpMath::rad(-91.50); // rz
277  etc[0] = -0.0453; // tx
278  etc[1] = 0.0005; // ty
279  etc[2] = 0.0728; // tz
280  break;
282  erc[0] = vpMath::rad(0.26); // rx
283  erc[1] = vpMath::rad(2.12); // ry
284  erc[2] = vpMath::rad(-91.31); // rz
285  etc[0] = -0.0444; // tx
286  etc[1] = -0.0005; // ty
287  etc[2] = 0.1022; // tz
288  break;
290  throw vpException(vpException::notImplementedError, "Feature TOOL_MARLIN_F033C_CAMERA is not implemented for Kannala-Brandt projection model yet.");
291  break;
292  }
293  break;
294  }
297  switch (projModel) {
299  erc[0] = vpMath::rad(0.15); // rx
300  erc[1] = vpMath::rad(1.28); // ry
301  erc[2] = vpMath::rad(-90.8); // rz
302  etc[0] = -0.0456; // tx
303  etc[1] = -0.0013; // ty
304  etc[2] = 0.001; // tz
305  break;
307  erc[0] = vpMath::rad(0.72); // rx
308  erc[1] = vpMath::rad(2.10); // ry
309  erc[2] = vpMath::rad(-90.5); // rz
310  etc[0] = -0.0444; // tx
311  etc[1] = -0.0012; // ty
312  etc[2] = 0.078; // tz
313  break;
315  throw vpException(vpException::notImplementedError, "Feature TOOL_PTGREY_FLEA2_CAMERA is not implemented for Kannala-Brandt projection model yet.");
316  break;
317  }
318  break;
319  }
321  // Set eMc to identity
322  switch (projModel) {
325  erc[0] = 0; // rx
326  erc[1] = 0; // ry
327  erc[2] = 0; // rz
328  etc[0] = 0; // tx
329  etc[1] = 0; // ty
330  etc[2] = 0; // tz
331  break;
333  throw vpException(vpException::notImplementedError, "Feature TOOL_GENERIC_CAMERA is not implemented for Kannala-Brandt projection model yet.");
334  break;
335  }
336  break;
337  }
340  "No predefined parameters available for a custom tool"
341  "You should use init(vpViper850::vpToolType, const std::string&) or"
342  "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
343  }
344  }
345  vpRotationMatrix eRc(erc);
346  this->eMc.buildFrom(etc, eRc);
347 #endif // VISP_HAVE_VIPER850_DATA
348 
349  setToolType(tool);
350  return;
351 }
352 
383 void vpViper850::init(vpViper850::vpToolType tool, const std::string &filename)
384 {
385  this->setToolType(tool);
386  this->parseConfigFile(filename.c_str());
387 }
388 
405 {
406  this->setToolType(tool);
407  this->set_eMc(eMc_);
408 }
409 
418 void vpViper850::parseConfigFile(const std::string &filename)
419 {
420  vpRxyzVector erc_; // eMc rotation
421  vpTranslationVector etc_; // eMc translation
422 
423  std::ifstream fdconfig(filename.c_str(), std::ios::in);
424 
425  if (!fdconfig.is_open()) {
426  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the config file: %s",
427  filename.c_str());
428  }
429 
430  std::string line;
431  int lineNum = 0;
432  bool get_erc = false;
433  bool get_etc = false;
434  int code;
435 
436  while (std::getline(fdconfig, line)) {
437  lineNum++;
438  if ((line.compare(0, 1, "#") == 0) || line.empty()) { // skip comment or empty line
439  continue;
440  }
441  std::istringstream ss(line);
442  std::string key;
443  ss >> key;
444 
445  for (code = 0; NULL != opt_viper850[code]; ++code) {
446  if (key.compare(opt_viper850[code]) == 0) {
447  break;
448  }
449  }
450 
451  switch (code) {
452  case 0:
453  break; // Nothing to do: camera name
454 
455  case 1: {
456  ss >> erc_[0] >> erc_[1] >> erc_[2];
457 
458  // Convert rotation from degrees to radians
459  erc_ = erc_ * M_PI / 180.0;
460  get_erc = true;
461  break;
462  }
463 
464  case 2: {
465  ss >> etc_[0] >> etc_[1] >> etc_[2];
466  get_etc = true;
467  break;
468  }
469 
470  default:
471  throw(vpRobotException(vpRobotException::readingParametersError, "Bad configuration file %s line #%d",
472  filename.c_str(), lineNum));
473  }
474  }
475 
476  fdconfig.close();
477 
478  // Compute the eMc matrix from the translations and rotations
479  if (get_etc && get_erc) {
480  this->set_eMc(etc_, erc_);
481  } else {
483  "Could not read translation and rotation "
484  "parameters from config file %s",
485  filename.c_str());
486  }
487 }
488 
560 void vpViper850::getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
561  const unsigned int &image_height) const
562 {
563 #if defined(VISP_HAVE_PUGIXML) && defined(VISP_HAVE_VIPER850_DATA)
564  vpXmlParserCamera parser;
565  switch (getToolType()) {
567  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_MARLIN_F033C_CAMERA_NAME << "\""
568  << std::endl
569  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
571  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
572  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
573  }
574  break;
575  }
577  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME << "\""
578  << std::endl
579  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
581  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
582  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
583  }
584  break;
585  }
587  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_SCHUNK_GRIPPER_CAMERA_NAME << "\""
588  << std::endl
589  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
591  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
592  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
593  }
594  break;
595  }
597  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_GENERIC_CAMERA_NAME << "\"" << std::endl
598  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
600  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
601  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
602  }
603  break;
604  }
606  throw vpRobotException(vpRobotException::badValue, "No intrinsic parameters available for a custom tool");
607  }
608  default: {
609  vpERROR_TRACE("This error should not occur!");
610  // vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
611  // "que les specs de la classe ont ete modifiee, "
612  // "et que le code n'a pas ete mis a jour "
613  // "correctement.");
614  // vpERROR_TRACE ("Verifiez les valeurs possibles du type "
615  // "vpViper850::vpViper850ToolType, et controlez que "
616  // "tous les cas ont ete pris en compte dans la "
617  // "fonction init(camera).");
618  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
619  }
620  }
621 #else
622  // Set default parameters
623  switch (getToolType()) {
625  // Set default intrinsic camera parameters for 640x480 images
626  if (image_width == 640 && image_height == 480) {
627  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_MARLIN_F033C_CAMERA_NAME << "\""
628  << std::endl;
629  switch (this->projModel) {
631  cam.initPersProjWithoutDistortion(1232.0, 1233.0, 317.7, 253.9);
632  break;
634  cam.initPersProjWithDistortion(1214.0, 1213.0, 323.1, 240.0, -0.1824, 0.1881);
635  break;
637  throw vpException(vpException::notImplementedError, "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
638  break;
639  }
640  } else {
641  vpTRACE("Cannot get default intrinsic camera parameters for this image "
642  "resolution");
643  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
644  }
645  break;
646  }
649  // Set default intrinsic camera parameters for 640x480 images
650  if (image_width == 640 && image_height == 480) {
651  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME << "\""
652  << std::endl;
653  switch (this->projModel) {
655  cam.initPersProjWithoutDistortion(868.0, 869.0, 314.8, 254.1);
656  break;
658  cam.initPersProjWithDistortion(831.3, 831.6, 322.7, 265.8, -0.1955, 0.2047);
659  break;
661  throw vpException(vpException::notImplementedError, "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
662  break;
663  }
664  } else {
665  vpTRACE("Cannot get default intrinsic camera parameters for this image "
666  "resolution");
667  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
668  }
669  break;
670  }
672  // Set default intrinsic camera parameters for 640x480 images
673  if (image_width == 640 && image_height == 480) {
674  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_GENERIC_CAMERA_NAME << "\""
675  << std::endl;
676  switch (this->projModel) {
678  cam.initPersProjWithoutDistortion(868.0, 869.0, 314.8, 254.1);
679  break;
681  cam.initPersProjWithDistortion(831.3, 831.6, 322.7, 265.8, -0.1955, 0.2047);
682  break;
684  throw vpException(vpException::notImplementedError, "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
685  break;
686  }
687  } else {
688  vpTRACE("Cannot get default intrinsic camera parameters for this image "
689  "resolution");
690  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
691  }
692  break;
693  }
695  throw vpRobotException(vpRobotException::badValue, "No intrinsic parameters available for a custom tool");
696  }
697  default:
698  vpERROR_TRACE("This error should not occur!");
699  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
700  }
701 #endif
702  return;
703 }
704 
768 {
769  getCameraParameters(cam, I.getWidth(), I.getHeight());
770 }
835 {
836  getCameraParameters(cam, I.getWidth(), I.getHeight());
837 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
double a3
for joint 3
Definition: vpViper.h:165
vpHomogeneousMatrix eMc
End effector to camera transformation.
Definition: vpViper.h:157
Error that can be emited by the vpRobot class and its derivates.
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:112
void parseConfigFile(const std::string &filename)
Definition: vpViper850.cpp:418
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper850.h:137
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:560
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:116
Implementation of an homogeneous matrix and operations on such kind of matrices.
#define vpERROR_TRACE
Definition: vpDebug.h:393
static const std::string CONST_CAMERA_FILENAME
Definition: vpViper850.h:117
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpRxyzVector erc
Definition: vpViper.h:160
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition: vpViper850.h:122
XML parser to load and save intrinsic camera parameters.
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition: vpViper850.h:124
double a2
for joint 2
Definition: vpViper.h:164
void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu)
Implementation of a rotation matrix and operations on such kind of matrices.
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:110
double d1
for joint 1
Definition: vpViper.h:163
double c56
Mechanical coupling between joint 5 and joint 6.
Definition: vpViper.h:169
double a1
Definition: vpViper.h:163
void setToolType(vpViper850::vpToolType tool)
Set the current tool type.
Definition: vpViper850.h:170
vpTranslationVector etc
Definition: vpViper.h:159
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition: vpViper.cpp:1230
#define vpTRACE
Definition: vpDebug.h:416
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpViper850.h:125
vpColVector joint_max
Definition: vpViper.h:172
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper850.h:128
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:115
Generic class defining intrinsic camera parameters.
Modelisation of the ADEPT Viper 850 robot.
Definition: vpViper850.h:103
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:109
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
Definition: vpMath.h:110
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
vpToolType getToolType() const
Get the current tool type.
Definition: vpViper850.h:161
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:113
unsigned int getHeight() const
Definition: vpImage.h:188
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:111
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
double d4
for joint 4
Definition: vpViper.h:166
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpViper850.h:177
void init(void)
Definition: vpViper850.cpp:136
unsigned int getWidth() const
Definition: vpImage.h:246
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:114
Class that consider the case of a translation vector.
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition: vpViper850.h:123
double d6
for joint 6
Definition: vpViper.h:167
vpColVector joint_min
Definition: vpViper.h:173