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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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.
*
* 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 https://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:
* Test for Viper650 6 dof robot.
*/
/*!
\example 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.
*/
#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()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
// Create an image B&W container
vpImage<unsigned char> I;
// 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(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, 100, 100, "Current image");
#endif
// Display the image
vpDisplay::display(I);
vpDisplay::flush(I);
// 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];
vpImagePoint cog;
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
vpDisplay::flush(I);
}
// Create an intrinsic camera parameters structure
vpCameraParameters cam;
// Create a robot access
vpRobotViper850 robot;
// Load the end-effector to camera frame transformation obtained
// using a camera intrinsic model with distortion
robot.init(vpViper850::defaultTool, vpCameraParameters::perspectiveProjWithDistortion);
// 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();
vpPixelMeterConversion::convertPoint(cam, cog, x, y);
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 correspondences 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
vpHomogeneousMatrix cMo;
vpRotationMatrix R;
vpRxyzVector r;
// Compute the pose: initialisation is done by Dementhon or Lagrange method, and the
// final pose is computed by the more accurate Virtual Visual Servoing method.
pose.computePose(vpPose::DEMENTHON_LAGRANGE_VIRTUAL_VS, cMo);
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
vpHomogeneousMatrix rMc;
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;
vpTranslationVector t;
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;
vpHomogeneousMatrix rMo;
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;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "Sorry, test not valid. You should have an Viper850 robot..." << std::endl;
return EXIT_SUCCESS;
}
#endif
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