Visual Servoing Platform  version 3.3.0
servoAfma6SquareLines2DCamVelocity.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. Visual features are the four lines of a square.

/****************************************************************************
*
* 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.
*
* 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 <cmath> // std::fabs
#include <limits> // numeric_limits
#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/io/vpImageIo.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;
int i;
int nbline = 4;
vpMeLine line[nbline];
vpMe me;
me.setRange(10);
me.setThreshold(50000);
me.setSampleStep(10);
// Initialize the tracking. Define the four lines to track.
for (i = 0; i < nbline; i++) {
line[i].setMe(&me);
line[i].initTracking(I);
line[i].track(I);
}
vpRobotAfma6 robot;
// robot.move("zero.pos") ;
// Update camera parameters
robot.getCameraParameters(cam, I);
vpTRACE("sets the current position of the visual feature ");
vpFeatureLine p[nbline];
for (i = 0; i < nbline; i++)
vpFeatureBuilder::create(p[i], cam, line[i]);
vpTRACE("sets the desired position of the visual feature ");
vpLine lined[nbline];
lined[0].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
lined[1].setWorldCoordinates(0, 1, 0, 0.05, 0, 0, 1, 0);
lined[2].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
lined[3].setWorldCoordinates(0, 1, 0, -0.05, 0, 0, 1, 0);
vpHomogeneousMatrix cMo(0, 0, 0.5, 0, 0, vpMath::rad(0));
lined[0].project(cMo);
lined[1].project(cMo);
lined[2].project(cMo);
lined[3].project(cMo);
// Those lines are needed to keep the conventions define in vpMeLine
// (Those in vpLine are less restrictive) Another way to have the
// coordinates of the desired features is to learn them before executing
// the program.
lined[0].setRho(-fabs(lined[0].getRho()));
lined[0].setTheta(0);
lined[1].setRho(-fabs(lined[1].getRho()));
lined[1].setTheta(M_PI / 2);
lined[2].setRho(-fabs(lined[2].getRho()));
lined[2].setTheta(M_PI);
lined[3].setRho(-fabs(lined[3].getRho()));
lined[3].setTheta(-M_PI / 2);
vpFeatureLine pd[nbline];
vpFeatureBuilder::create(pd[0], lined[0]);
vpFeatureBuilder::create(pd[1], lined[1]);
vpFeatureBuilder::create(pd[2], lined[2]);
vpFeatureBuilder::create(pd[3], lined[3]);
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;
for (i = 0; i < nbline; i++)
task.addFeature(p[i], pd[i]);
vpTRACE("\t set the gain");
task.setLambda(0.2);
vpTRACE("Display task information ");
task.print();
unsigned int iter = 0;
vpTRACE("\t loop");
double lambda_av = 0.05;
double alpha = 0.05;
double beta = 3;
for (;;) {
std::cout << "---------------------------------------------" << iter << std::endl;
try {
g.acquire(I);
// Track the lines and update the features
for (i = 0; i < nbline; i++) {
line[i].track(I);
line[i].display(I, vpColor::red);
vpFeatureBuilder::create(p[i], cam, line[i]);
p[i].display(cam, I, vpColor::red);
pd[i].display(cam, I, vpColor::green);
}
double gain;
{
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
}
}
task.setLambda(gain);
v = task.computeControlLaw();
if (iter == 0)
if (v.sumSquare() > 0.5) {
v = 0;
robot.stopMotion();
}
} 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
vpServo::DESIRED
@ DESIRED
Definition: vpServo.h:190
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::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:574
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
vpColVector::sumSquare
double sumSquare() const
Definition: vpColVector.cpp:1523
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
vpServo::PSEUDO_INVERSE
@ PSEUDO_INVERSE
Definition: vpServo.h:206
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
vpMeLine
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152