ViSP  3.0.0
servoAfma6SquareLines2DCamVelocity.cpp
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3  * This file is part of the ViSP software.
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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
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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  *****************************************************************************/
59 #include <visp3/core/vpConfig.h>
60 #include <visp3/core/vpDebug.h> // Debug trace
61 #include <stdlib.h>
62 #include <cmath> // std::fabs
63 #include <limits> // numeric_limits
64 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
65 
66 #include <visp3/sensor/vp1394TwoGrabber.h>
67 #include <visp3/core/vpImage.h>
68 #include <visp3/io/vpImageIo.h>
69 #include <visp3/core/vpDisplay.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 
74 #include <visp3/core/vpMath.h>
75 #include <visp3/core/vpHomogeneousMatrix.h>
76 #include <visp3/visual_features/vpFeatureLine.h>
77 #include <visp3/core/vpLine.h>
78 #include <visp3/me/vpMeLine.h>
79 #include <visp3/vs/vpServo.h>
80 #include <visp3/visual_features/vpFeatureBuilder.h>
81 
82 #include <visp3/robot/vpRobotAfma6.h>
83 
84 // Exception
85 #include <visp3/core/vpException.h>
86 #include <visp3/vs/vpServoDisplay.h>
87 
88 #include <visp3/blob/vpDot.h>
89 
90 int
91 main()
92 {
93  try
94  {
96 
100  g.open(I) ;
101 
102  g.acquire(I) ;
103 
104 #ifdef VISP_HAVE_X11
105  vpDisplayX display(I,100,100,"Current image") ;
106 #elif defined(VISP_HAVE_OPENCV)
107  vpDisplayOpenCV display(I,100,100,"Current image") ;
108 #elif defined(VISP_HAVE_GTK)
109  vpDisplayGTK display(I,100,100,"Current image") ;
110 #endif
111 
112  vpDisplay::display(I) ;
113  vpDisplay::flush(I);
114 
115  vpServo task ;
116 
117 
118  std::cout << std::endl ;
119  std::cout << "-------------------------------------------------------" << std::endl ;
120  std::cout << " Test program for vpServo " <<std::endl ;
121  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
122  std::cout << " Simulation " << std::endl ;
123  std::cout << " task : servo a line " << std::endl ;
124  std::cout << "-------------------------------------------------------" << std::endl ;
125  std::cout << std::endl ;
126 
127  int i ;
128  int nbline =4 ;
129 
130  vpMeLine line[nbline] ;
131 
132  vpMe me ;
133  me.setRange(10) ;
134  me.setPointsToTrack(100) ;
135  me.setThreshold(50000) ;
136  me.setSampleStep(10);
137 
138  //Initialize the tracking. Define the four lines to track.
139  for (i=0 ; i < nbline ; i++)
140  {
142  line[i].setMe(&me) ;
143 
144  line[i].initTracking(I) ;
145  line[i].track(I) ;
146  }
147 
148  vpRobotAfma6 robot ;
149  //robot.move("zero.pos") ;
150 
151  vpCameraParameters cam ;
152  // Update camera parameters
153  robot.getCameraParameters (cam, I);
154 
155  vpTRACE("sets the current position of the visual feature ") ;
156  vpFeatureLine p[nbline] ;
157  for (i=0 ; i < nbline ; i++)
158  vpFeatureBuilder::create(p[i],cam, line[i]) ;
159 
160  vpTRACE("sets the desired position of the visual feature ") ;
161  vpLine lined[nbline];
162  lined[0].setWorldCoordinates(1,0,0,0.05,0,0,1,0);
163  lined[1].setWorldCoordinates(0,1,0,0.05,0,0,1,0);
164  lined[2].setWorldCoordinates(1,0,0,-0.05,0,0,1,0);
165  lined[3].setWorldCoordinates(0,1,0,-0.05,0,0,1,0);
166 
167  vpHomogeneousMatrix cMo(0,0,0.5,0,0,vpMath::rad(0));
168 
169  lined[0].project(cMo);
170  lined[1].project(cMo);
171  lined[2].project(cMo);
172  lined[3].project(cMo);
173 
174  //Those lines are needed to keep the conventions define in vpMeLine (Those in vpLine are less restrictive)
175  //Another way to have the coordinates of the desired features is to learn them before executing the program.
176  lined[0].setRho(-fabs(lined[0].getRho()));
177  lined[0].setTheta(0);
178  lined[1].setRho(-fabs(lined[1].getRho()));
179  lined[1].setTheta(M_PI/2);
180  lined[2].setRho(-fabs(lined[2].getRho()));
181  lined[2].setTheta(M_PI);
182  lined[3].setRho(-fabs(lined[3].getRho()));
183  lined[3].setTheta(-M_PI/2);
184 
185  vpFeatureLine pd[nbline] ;
186 
187  vpFeatureBuilder::create(pd[0],lined[0]);
188  vpFeatureBuilder::create(pd[1],lined[1]);
189  vpFeatureBuilder::create(pd[2],lined[2]);
190  vpFeatureBuilder::create(pd[3],lined[3]);
191 
192  vpTRACE("define the task") ;
193  vpTRACE("\t we want an eye-in-hand control law") ;
194  vpTRACE("\t robot is controlled in the camera frame") ;
197 
198  vpTRACE("\t we want to see a point on a point..") ;
199  std::cout << std::endl ;
200  for (i=0 ; i < nbline ; i++)
201  task.addFeature(p[i],pd[i]) ;
202 
203  vpTRACE("\t set the gain") ;
204  task.setLambda(0.2) ;
205 
206 
207  vpTRACE("Display task information " ) ;
208  task.print() ;
209 
211 
212  unsigned int iter=0 ;
213  vpTRACE("\t loop") ;
214  vpColVector v ;
215  vpImage<vpRGBa> Ic ;
216  double lambda_av =0.05;
217  double alpha = 0.05 ;
218  double beta =3 ;
219 
220  for ( ; ; )
221  {
222  std::cout << "---------------------------------------------" << iter <<std::endl ;
223 
224  try {
225  g.acquire(I) ;
226  vpDisplay::display(I) ;
227 
228  //Track the lines and update the features
229  for (i=0 ; i < nbline ; i++)
230  {
231  line[i].track(I) ;
232  line[i].display(I, vpColor::red) ;
233 
234  vpFeatureBuilder::create(p[i],cam,line[i]);
235 
236  p[i].display(cam, I, vpColor::red) ;
237  pd[i].display(cam, I, vpColor::green) ;
238  }
239 
240  double gain ;
241  {
242  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
243  gain = lambda_av ;
244  else
245  {
246  gain = alpha * exp (-beta * ( task.getError() ).sumSquare() ) + lambda_av ;
247  }
248  }
249 
250  task.setLambda(gain) ;
251 
252  v = task.computeControlLaw() ;
253 
254  vpDisplay::flush(I) ;
255 
256  if (iter==0) vpDisplay::getClick(I) ;
257  if (v.sumSquare() > 0.5)
258  {
259  v =0 ;
261  robot.stopMotion() ;
263  }
264 
266 
267  }
268  catch(...)
269  {
270  v =0 ;
272  robot.stopMotion() ;
273  exit(1) ;
274  }
275 
276  vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
277  iter++;
278  }
279 
280  vpTRACE("Display task information " ) ;
281  task.print() ;
282  task.kill();
283  }
284  catch (...)
285  {
286  vpERROR_TRACE(" Test failed") ;
287  return 0;
288  }
289 }
290 
291 #else
292 int
293 main()
294 {
295  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
296 }
297 
298 #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'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
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
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:519
static double rad(double deg)
Definition: vpMath.h:104
void setRho(const double rho)
Definition: vpLine.h:140
double sumSquare() const
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