Visual Servoing Platform  version 3.3.0
servoAfma6Line2DCamVelocity.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * tests the control law
33  * eye-in-hand control
34  * velocity computed in the camera frame
35  *
36  * Authors:
37  * Eric Marchand
38  *
39  *****************************************************************************/
56 #include <stdlib.h>
57 #include <visp3/core/vpConfig.h>
58 #include <visp3/core/vpDebug.h> // Debug trace
59 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
60 
61 #include <visp3/core/vpDisplay.h>
62 #include <visp3/core/vpImage.h>
63 #include <visp3/gui/vpDisplayGTK.h>
64 #include <visp3/gui/vpDisplayOpenCV.h>
65 #include <visp3/gui/vpDisplayX.h>
66 #include <visp3/sensor/vp1394TwoGrabber.h>
67 
68 #include <visp3/core/vpHomogeneousMatrix.h>
69 #include <visp3/core/vpLine.h>
70 #include <visp3/core/vpMath.h>
71 #include <visp3/me/vpMeLine.h>
72 #include <visp3/visual_features/vpFeatureBuilder.h>
73 #include <visp3/visual_features/vpFeatureLine.h>
74 #include <visp3/vs/vpServo.h>
75 
76 #include <visp3/robot/vpRobotAfma6.h>
77 
78 // Exception
79 #include <visp3/core/vpException.h>
80 #include <visp3/vs/vpServoDisplay.h>
81 
82 int main()
83 {
84  try {
86 
90 
91  g.open(I);
92 
93  g.acquire(I);
94 
95 #ifdef VISP_HAVE_X11
96  vpDisplayX display(I, 100, 100, "Current image");
97 #elif defined(VISP_HAVE_OPENCV)
98  vpDisplayOpenCV display(I, 100, 100, "Current image");
99 #elif defined(VISP_HAVE_GTK)
100  vpDisplayGTK display(I, 100, 100, "Current image");
101 #endif
102 
104  vpDisplay::flush(I);
105 
106  vpServo task;
107 
108  std::cout << std::endl;
109  std::cout << "-------------------------------------------------------" << std::endl;
110  std::cout << " Test program for vpServo " << std::endl;
111  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
112  std::cout << " Simulation " << std::endl;
113  std::cout << " task : servo a line " << std::endl;
114  std::cout << "-------------------------------------------------------" << std::endl;
115  std::cout << std::endl;
116 
117  vpMeLine line;
118 
119  vpMe me;
120  me.setRange(10);
121  me.setPointsToTrack(100);
122  me.setThreshold(100000);
123  me.setSampleStep(10);
125 
126  line.setMe(&me);
127 
128  // Initialize the tracking. Define the line to track.
129  line.initTracking(I);
130  line.track(I);
131 
132  vpRobotAfma6 robot;
133  // robot.move("pos-init.pos") ;
134 
135  vpCameraParameters cam;
136  // Update camera parameters
137  robot.getCameraParameters(cam, I);
138 
139  vpTRACE("sets the current position of the visual feature ");
140  vpFeatureLine p;
141  vpFeatureBuilder::create(p, cam, line);
142 
143  vpTRACE("sets the desired position of the visual feature ");
144  vpLine lined;
145  lined.setWorldCoordinates(1, 0, 0, 0, 0, 0, 1, 0);
146  vpHomogeneousMatrix cMo(0, 0, 0.3, 0, 0, vpMath::rad(0));
147  lined.project(cMo);
148  lined.setRho(-fabs(lined.getRho()));
149  lined.setTheta(0);
150 
151  vpFeatureLine pd;
152  vpFeatureBuilder::create(pd, lined);
153 
154  vpTRACE("define the task");
155  vpTRACE("\t we want an eye-in-hand control law");
156  vpTRACE("\t robot is controlled in the camera frame");
158 
159  vpTRACE("\t we want to see a point on a point..");
160  std::cout << std::endl;
161  task.addFeature(p, pd);
162 
163  vpTRACE("\t set the gain");
164  task.setLambda(0.2);
165 
166  vpTRACE("Display task information ");
167  task.print();
168 
170 
171  unsigned int iter = 0;
172  vpTRACE("\t loop");
173  vpColVector v;
174  for (;;) {
175  std::cout << "---------------------------------------------" << iter << std::endl;
176 
177  try {
178  g.acquire(I);
180 
181  // Track the line
182  line.track(I);
183  line.display(I, vpColor::red);
184 
185  // Update the current line feature
186  vpFeatureBuilder::create(p, cam, line);
187 
188  // displqy the current and the desired features
189  p.display(cam, I, vpColor::red);
190  pd.display(cam, I, vpColor::green);
191 
192  v = task.computeControlLaw();
193 
194  vpDisplay::flush(I);
195  if (iter == 0)
198  } catch (...) {
199  v = 0;
201  robot.stopMotion();
202  exit(1);
203  }
204 
205  vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
206  iter++;
207  }
208 
209  vpTRACE("Display task information ");
210  task.print();
211  task.kill();
212  return EXIT_SUCCESS;
213  } catch (const vpException &e) {
214  std::cout << "Test failed with exception: " << e << std::endl;
215  return EXIT_FAILURE;
216  }
217 }
218 
219 #else
220 int main()
221 {
222  std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
223  return EXIT_SUCCESS;
224 }
225 
226 #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