Visual Servoing Platform  version 3.5.0
servoAfma6TwoLines2DCamVelocity.cpp
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20  * Inria Rennes - Bretagne Atlantique
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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  *****************************************************************************/
40 
61 #include <cmath> // std::fabs
62 #include <limits> // numeric_limits
63 #include <stdlib.h>
64 #include <visp3/core/vpConfig.h>
65 #include <visp3/core/vpDebug.h> // Debug trace
66 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
67 
68 #include <visp3/core/vpDisplay.h>
69 #include <visp3/core/vpImage.h>
70 #include <visp3/gui/vpDisplayGTK.h>
71 #include <visp3/gui/vpDisplayOpenCV.h>
72 #include <visp3/gui/vpDisplayX.h>
73 #include <visp3/io/vpImageIo.h>
74 #include <visp3/sensor/vp1394TwoGrabber.h>
75 
76 #include <visp3/core/vpHomogeneousMatrix.h>
77 #include <visp3/core/vpLine.h>
78 #include <visp3/core/vpMath.h>
79 #include <visp3/me/vpMeLine.h>
80 #include <visp3/visual_features/vpFeatureBuilder.h>
81 #include <visp3/visual_features/vpFeatureLine.h>
82 #include <visp3/vs/vpServo.h>
83 
84 #include <visp3/robot/vpRobotAfma6.h>
85 
86 // Exception
87 #include <visp3/core/vpException.h>
88 #include <visp3/vs/vpServoDisplay.h>
89 
90 int main()
91 {
92  try {
94 
98  g.open(I);
99 
100  g.acquire(I);
101 
102 #ifdef VISP_HAVE_X11
103  vpDisplayX display(I, 100, 100, "Current image");
104 #elif defined(VISP_HAVE_OPENCV)
105  vpDisplayOpenCV display(I, 100, 100, "Current image");
106 #elif defined(VISP_HAVE_GTK)
107  vpDisplayGTK display(I, 100, 100, "Current image");
108 #endif
109 
111  vpDisplay::flush(I);
112 
113  vpServo task;
114 
115  std::cout << std::endl;
116  std::cout << "-------------------------------------------------------" << std::endl;
117  std::cout << " Test program for vpServo " << std::endl;
118  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
119  std::cout << " Simulation " << std::endl;
120  std::cout << " task : servo a point " << std::endl;
121  std::cout << "-------------------------------------------------------" << std::endl;
122  std::cout << std::endl;
123 
124  int i;
125  int nbline = 2;
126 
127  vpMeLine line[nbline];
128 
129  vpMe me;
130  me.setRange(10);
131  me.setPointsToTrack(100);
132  me.setThreshold(50000);
133  me.setSampleStep(10);
134 
135  // Initialize the tracking. Define the two lines to track
136  vpTRACE("The two lines to track must be parallels ");
137  // vpTRACE("The two lines to track must be perpendicular ") ;
138  for (i = 0; i < nbline; i++) {
140  line[i].setMe(&me);
141 
142  line[i].initTracking(I);
143  line[i].track(I);
144  }
145 
146  vpRobotAfma6 robot;
147  // robot.move("zero.pos") ;
148 
149  vpCameraParameters cam;
150  // Update camera parameters
151  robot.getCameraParameters(cam, I);
152 
153  vpTRACE("sets the current position of the visual feature ");
154  vpFeatureLine p[nbline];
155  for (i = 0; i < nbline; i++)
156  vpFeatureBuilder::create(p[i], cam, line[i]);
157 
158  vpTRACE("sets the desired position of the visual feature ");
159  vpLine lined[2];
160  lined[0].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
161  lined[1].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
162 
163  vpHomogeneousMatrix cMo(0, 0, 0.5, 0, 0, vpMath::rad(0));
164 
165  lined[0].project(cMo);
166  lined[1].project(cMo);
167 
168  // Those lines are needed to keep the conventions define in vpMeLine
169  // (Those in vpLine are less restrictive) Another way to have the
170  // coordinates of the desired features is to learn them before executing
171  // the program.
172  lined[0].setRho(-fabs(lined[0].getRho()));
173  lined[0].setTheta(0);
174  lined[1].setRho(-fabs(lined[1].getRho()));
175  lined[1].setTheta(M_PI);
176 
177  vpFeatureLine pd[nbline];
178  vpFeatureBuilder::create(pd[0], lined[0]);
179  vpFeatureBuilder::create(pd[1], lined[1]);
180 
181  vpTRACE("define the task");
182  vpTRACE("\t we want an eye-in-hand control law");
183  vpTRACE("\t robot is controlled in the camera frame");
185 
186  vpTRACE("\t we want to see a point on a point..");
187  std::cout << std::endl;
188  for (i = 0; i < nbline; i++)
189  task.addFeature(p[i], pd[i]);
190 
191  vpTRACE("\t set the gain");
192  task.setLambda(0.2);
193 
194  vpTRACE("Display task information ");
195  task.print();
196 
198 
199  unsigned int iter = 0;
200  vpTRACE("\t loop");
201  vpColVector v;
202 
203  vpImage<vpRGBa> Ic;
204  double lambda_av = 0.05;
205  double alpha = 0.2;
206  double beta = 3;
207 
208  for (;;) {
209  std::cout << "---------------------------------------------" << iter << std::endl;
210 
211  try {
212  g.acquire(I);
214 
215  // Track the lines and update the features
216  for (i = 0; i < nbline; i++) {
217  line[i].track(I);
218  line[i].display(I, vpColor::red);
219 
220  vpFeatureBuilder::create(p[i], cam, line[i]);
221 
222  p[i].display(cam, I, vpColor::red);
223  pd[i].display(cam, I, vpColor::green);
224  }
225 
226  vpDisplay::flush(I);
227 
228  // Adaptative gain
229  double gain;
230  {
231  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
232  gain = lambda_av;
233  else {
234  gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
235  }
236  }
237  task.setLambda(gain);
238 
239  v = task.computeControlLaw();
240 
241  if (iter == 0)
244  } catch (...) {
245  v = 0;
247  robot.stopMotion();
248  exit(1);
249  }
250 
251  vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
252  iter++;
253  }
254 
255  vpTRACE("Display task information ");
256  task.print();
257  return EXIT_SUCCESS;
258  }
259  catch (const vpException &e) {
260  std::cout << "Test failed with exception: " << e << std::endl;
261  return EXIT_FAILURE;
262  }
263 }
264 
265 #else
266 int main()
267 {
268  std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
269  return EXIT_SUCCESS;
270 }
271 
272 #endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setRho(double rho)
Definition: vpLine.h:157
void setTheta(double theta)
Definition: vpLine.h:167
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:110
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
void setThreshold(const double &t)
Definition: vpMe.h:300
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
#define vpTRACE
Definition: vpDebug.h:416