Visual Servoing Platform  version 3.3.0
servoAfma6Line2DCamVelocity.cpp

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. The visual feature is a line.

/****************************************************************************
*
* 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.
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* 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 the camera frame
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/me/vpMeLine.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
try {
g.open(I);
g.acquire(I);
#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
vpServo task;
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 << " Simulation " << std::endl;
std::cout << " task : servo a line " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
vpMeLine line;
vpMe me;
me.setRange(10);
me.setThreshold(100000);
me.setSampleStep(10);
line.setMe(&me);
// Initialize the tracking. Define the line to track.
line.initTracking(I);
line.track(I);
vpRobotAfma6 robot;
// robot.move("pos-init.pos") ;
// Update camera parameters
robot.getCameraParameters(cam, I);
vpTRACE("sets the current position of the visual feature ");
vpFeatureBuilder::create(p, cam, line);
vpTRACE("sets the desired position of the visual feature ");
vpLine lined;
lined.setWorldCoordinates(1, 0, 0, 0, 0, 0, 1, 0);
vpHomogeneousMatrix cMo(0, 0, 0.3, 0, 0, vpMath::rad(0));
lined.project(cMo);
lined.setRho(-fabs(lined.getRho()));
lined.setTheta(0);
vpTRACE("define the task");
vpTRACE("\t we want an eye-in-hand control law");
vpTRACE("\t robot is controlled in the camera frame");
vpTRACE("\t we want to see a point on a point..");
std::cout << std::endl;
task.addFeature(p, pd);
vpTRACE("\t set the gain");
task.setLambda(0.2);
vpTRACE("Display task information ");
task.print();
unsigned int iter = 0;
vpTRACE("\t loop");
for (;;) {
std::cout << "---------------------------------------------" << iter << std::endl;
try {
g.acquire(I);
// Track the line
line.track(I);
// Update the current line feature
vpFeatureBuilder::create(p, cam, line);
// displqy the current and the desired features
p.display(cam, I, vpColor::red);
pd.display(cam, I, vpColor::green);
v = task.computeControlLaw();
if (iter == 0)
} catch (...) {
v = 0;
robot.stopMotion();
exit(1);
}
vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
iter++;
}
vpTRACE("Display task information ");
task.print();
task.kill();
return EXIT_SUCCESS;
} catch (const vpException &e) {
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
vpRobot::STATE_VELOCITY_CONTROL
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
vpLine::setTheta
void setTheta(double theta)
Definition: vpLine.h:134
vp1394TwoGrabber::setVideoMode
void setVideoMode(vp1394TwoVideoModeType videomode)
Definition: vp1394TwoGrabber.cpp:445
vpServo::kill
void kill()
Definition: vpServo.cpp:192
vpMeLine::initTracking
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:108
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:234
vpForwardProjection::project
void project()
Definition: vpForwardProjection.cpp:68
vpRobotAfma6
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:406
vp1394TwoGrabber::setFramerate
void setFramerate(vp1394TwoFramerateType fps)
Definition: vp1394TwoGrabber.cpp:680
vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8
@ vpVIDEO_MODE_640x480_MONO8
Definition: vp1394TwoGrabber.h:215
vpMe::setThreshold
void setThreshold(const double &t)
Definition: vpMe.h:300
vpServo::EYEINHAND_CAMERA
@ EYEINHAND_CAMERA
Definition: vpServo.h:159
vpLine::setWorldCoordinates
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
Definition: vpLine.cpp:85
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:93
vpLine::setRho
void setRho(double rho)
Definition: vpLine.h:124
vpMe
Definition: vpMe.h:61
vpMe::setRange
void setRange(const unsigned int &r)
Definition: vpMe.h:271
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vp1394TwoGrabber::vpFRAMERATE_60
@ vpFRAMERATE_60
Definition: vp1394TwoGrabber.h:254
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:142
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:223
vpFeatureLine::display
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Definition: vpFeatureLine.cpp:461
vpRobot::setRobotState
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
vpServo::print
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:313
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:740
vpMeTracker::setDisplay
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:105
vpDisplayGTK
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:138
vpMeLine::track
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:747
vpMeLine::display
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
vpServo::getError
vpColVector getError() const
Definition: vpServo.h:282
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:196
vp1394TwoGrabber
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Definition: vp1394TwoGrabber.h:185
vpLine
Class that defines a line in the object frame, the camera frame and the image plane....
Definition: vpLine.h:106
vpMeTracker::setMe
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:145
vpMe::setPointsToTrack
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
vpRobot::CAMERA_FRAME
@ CAMERA_FRAME
Definition: vpRobot.h:82
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:497
vp1394TwoGrabber::acquire
void acquire(vpImage< unsigned char > &I)
Definition: vp1394TwoGrabber.cpp:2491
vpServo
Definition: vpServo.h:151
vpColor::green
static const vpColor green
Definition: vpColor.h:182
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:935
vpMe::setSampleStep
void setSampleStep(const double &s)
Definition: vpMe.h:278
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:716
vpImage< unsigned char >
vp1394TwoGrabber::open
void open(vpImage< unsigned char > &I)
Definition: vp1394TwoGrabber.cpp:2066
vpColor::red
static const vpColor red
Definition: vpColor.h:179
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:765
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:150
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:198
vpTRACE
#define vpTRACE
Definition: vpDebug.h:416
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:72
vpMeSite::RANGE_RESULT
@ RANGE_RESULT
Definition: vpMeSite.h:74
vpLine::getRho
double getRho() const
Definition: vpLine.h:157
vpMeLine
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152