ViSP  3.0.0
servoAfma6Line2DCamVelocity.cpp
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * tests the control law
32  * eye-in-hand control
33  * velocity computed in the camera frame
34  *
35  * Authors:
36  * Eric Marchand
37  *
38  *****************************************************************************/
58 #include <visp3/core/vpConfig.h>
59 #include <visp3/core/vpDebug.h> // Debug trace
60 #include <stdlib.h>
61 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
62 
63 #include <visp3/sensor/vp1394TwoGrabber.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/gui/vpDisplayX.h>
67 #include <visp3/gui/vpDisplayOpenCV.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 
70 #include <visp3/core/vpMath.h>
71 #include <visp3/core/vpHomogeneousMatrix.h>
72 #include <visp3/visual_features/vpFeatureLine.h>
73 #include <visp3/core/vpLine.h>
74 #include <visp3/me/vpMeLine.h>
75 #include <visp3/vs/vpServo.h>
76 #include <visp3/visual_features/vpFeatureBuilder.h>
77 
78 #include <visp3/robot/vpRobotAfma6.h>
79 
80 // Exception
81 #include <visp3/core/vpException.h>
82 #include <visp3/vs/vpServoDisplay.h>
83 
84 int
85 main()
86 {
87  try
88  {
90 
94 
95  g.open(I) ;
96 
97  g.acquire(I) ;
98 
99 #ifdef VISP_HAVE_X11
100  vpDisplayX display(I,100,100,"Current image") ;
101 #elif defined(VISP_HAVE_OPENCV)
102  vpDisplayOpenCV display(I,100,100,"Current image") ;
103 #elif defined(VISP_HAVE_GTK)
104  vpDisplayGTK display(I,100,100,"Current image") ;
105 #endif
106 
107  vpDisplay::display(I) ;
108  vpDisplay::flush(I) ;
109 
110 
111  vpServo task ;
112 
113 
114  std::cout << std::endl ;
115  std::cout << "-------------------------------------------------------" << std::endl ;
116  std::cout << " Test program for vpServo " <<std::endl ;
117  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
118  std::cout << " Simulation " << std::endl ;
119  std::cout << " task : servo a line " << std::endl ;
120  std::cout << "-------------------------------------------------------" << std::endl ;
121  std::cout << std::endl ;
122 
123 
124  vpMeLine line ;
125 
126  vpMe me ;
127  me.setRange(10) ;
128  me.setPointsToTrack(100) ;
129  me.setThreshold(100000) ;
130  me.setSampleStep(10);
132 
133 
134  line.setMe(&me) ;
135 
136  //Initialize the tracking. Define the line to track.
137  line.initTracking(I) ;
138  line.track(I) ;
139 
140  vpRobotAfma6 robot ;
141  // robot.move("pos-init.pos") ;
142 
143  vpCameraParameters cam ;
144  // Update camera parameters
145  robot.getCameraParameters (cam, I);
146 
147  vpTRACE("sets the current position of the visual feature ") ;
148  vpFeatureLine p ;
149  vpFeatureBuilder::create(p,cam, line) ;
150 
151  vpTRACE("sets the desired position of the visual feature ") ;
152  vpLine lined;
153  lined.setWorldCoordinates(1,0,0,0,0,0,1,0);
154  vpHomogeneousMatrix cMo(0,0,0.3,0,0,vpMath::rad(0));
155  lined.project(cMo);
156  lined.setRho(-fabs(lined.getRho()));
157  lined.setTheta(0);
158 
159  vpFeatureLine pd ;
160  vpFeatureBuilder::create(pd,lined);
161 
162  vpTRACE("define the task") ;
163  vpTRACE("\t we want an eye-in-hand control law") ;
164  vpTRACE("\t robot is controlled in the camera frame") ;
166 
167  vpTRACE("\t we want to see a point on a point..") ;
168  std::cout << std::endl ;
169  task.addFeature(p,pd) ;
170 
171  vpTRACE("\t set the gain") ;
172  task.setLambda(0.2) ;
173 
174 
175  vpTRACE("Display task information " ) ;
176  task.print() ;
177 
178 
180 
181  unsigned int iter=0 ;
182  vpTRACE("\t loop") ;
183  vpColVector v ;
184  for ( ; ; )
185  {
186  std::cout << "---------------------------------------------" << iter <<std::endl ;
187 
188  try {
189  g.acquire(I) ;
190  vpDisplay::display(I) ;
191 
192  //Track the line
193  line.track(I) ;
194  line.display(I, vpColor::red) ;
195 
196  //Update the current line feature
197  vpFeatureBuilder::create(p,cam,line);
198 
199  //displqy the current and the desired features
200  p.display(cam, I, vpColor::red) ;
201  pd.display(cam, I, vpColor::green) ;
202 
203  v = task.computeControlLaw() ;
204 
205  vpDisplay::flush(I) ;
206  if (iter==0) vpDisplay::getClick(I) ;
208  }
209  catch(...)
210  {
211  v =0 ;
213  robot.stopMotion() ;
214  exit(1) ;
215  }
216 
217  vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
218  iter++;
219  }
220 
221  vpTRACE("Display task information " ) ;
222  task.print() ;
223  task.kill();
224  }
225  catch (...)
226  {
227  vpERROR_TRACE(" Test failed") ;
228  return 0;
229  }
230 }
231 
232 #else
233 int
234 main()
235 {
236  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
237 }
238 
239 #endif
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpAfma6.cpp:1244
void setPointsToTrack(const int &n)
Definition: vpMe.h:204
Implementation of an homogeneous matrix and operations on such kind of matrices.
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:94
#define vpERROR_TRACE
Definition: vpDebug.h:391
void setSampleStep(const double &s)
Definition: vpMe.h:260
Define the X11 console to display images.
Definition: vpDisplayX.h:148
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:446
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:812
Definition: vpMe.h:59
static const vpColor green
Definition: vpColor.h:166
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2233
Control of Irisa&#39;s gantry robot named Afma6.
Definition: vpRobotAfma6.h:210
static const vpColor red
Definition: vpColor.h:163
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:241
double getRho() const
Definition: vpLine.h:173
void open(vpImage< unsigned char > &I)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Definition: vpLine.h:120
void kill()
Definition: vpServo.cpp:186
Initialize the velocity controller.
Definition: vpRobot.h:68
vpColVector getError() const
Definition: vpServo.h:271
vpColVector computeControlLaw()
Definition: vpServo.cpp:899
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
#define vpTRACE
Definition: vpDebug.h:414
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:101
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:206
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
void setLambda(double c)
Definition: vpServo.h:390
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Definition: vpDisplayGTK.h:141
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:255
static double rad(double deg)
Definition: vpMath.h:104
void setRho(const double rho)
Definition: vpLine.h:140
void setTheta(const double theta)
Definition: vpLine.h:150
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setThreshold(const double &t)
Definition: vpMe.h:288
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:248
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
Definition: vpMe.h:218
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:135
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:217