Visual Servoing Platform  version 3.4.0
servoAfma6Cylinder2DCamVelocity.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  * Nicolas Melchior
38  *
39  *****************************************************************************/
40 
54 #include <cmath> // std::fabs
55 #include <limits> // numeric_limits
56 #include <stdlib.h>
57 #include <visp3/core/vpConfig.h>
58 #include <visp3/core/vpDebug.h> // Debug trace
59 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
60 
61 #include <visp3/core/vpDisplay.h>
62 #include <visp3/core/vpImage.h>
63 #include <visp3/gui/vpDisplayGTK.h>
64 #include <visp3/gui/vpDisplayOpenCV.h>
65 #include <visp3/gui/vpDisplayX.h>
66 #include <visp3/io/vpImageIo.h>
67 #include <visp3/sensor/vp1394TwoGrabber.h>
68 
69 #include <visp3/core/vpCylinder.h>
70 #include <visp3/core/vpHomogeneousMatrix.h>
71 #include <visp3/core/vpMath.h>
72 #include <visp3/me/vpMeLine.h>
73 #include <visp3/visual_features/vpFeatureBuilder.h>
74 #include <visp3/visual_features/vpFeatureLine.h>
75 #include <visp3/vs/vpServo.h>
76 
77 #include <visp3/robot/vpRobotAfma6.h>
78 
79 // Exception
80 #include <visp3/core/vpException.h>
81 #include <visp3/vs/vpServoDisplay.h>
82 
83 int main()
84 {
85  try {
87 
91  g.open(I);
92 
93  g.acquire(I);
94 
95 #ifdef VISP_HAVE_X11
96  vpDisplayX display(I, 100, 100, "Current image");
97 #elif defined(VISP_HAVE_OPENCV)
98  vpDisplayOpenCV display(I, 100, 100, "Current image");
99 #elif defined(VISP_HAVE_GTK)
100  vpDisplayGTK display(I, 100, 100, "Current image");
101 #endif
103  vpDisplay::flush(I);
104 
105  vpServo task;
106 
107  std::cout << std::endl;
108  std::cout << "-------------------------------------------------------" << std::endl;
109  std::cout << " Test program for vpServo " << std::endl;
110  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
111  std::cout << " Simulation " << std::endl;
112  std::cout << " task : servo a point " << std::endl;
113  std::cout << "-------------------------------------------------------" << std::endl;
114  std::cout << std::endl;
115 
116  int i;
117  int nbline = 2;
118  vpMeLine line[nbline];
119 
120  vpMe me;
121  me.setRange(10);
122  me.setPointsToTrack(100);
123  me.setThreshold(30000);
124  me.setSampleStep(10);
125 
126  // Initialize the tracking of the two edges of the cylinder
127  for (i = 0; i < nbline; i++) {
129  line[i].setMe(&me);
130 
131  line[i].initTracking(I);
132  line[i].track(I);
133  }
134 
135  vpRobotAfma6 robot;
136  // robot.move("zero.pos") ;
137 
138  vpCameraParameters cam;
139  // Update camera parameters
140  robot.getCameraParameters(cam, I);
141 
142  vpTRACE("sets the current position of the visual feature ");
143  vpFeatureLine p[nbline];
144  for (i = 0; i < nbline; i++)
145  vpFeatureBuilder::create(p[i], cam, line[i]);
146 
147  vpTRACE("sets the desired position of the visual feature ");
148  vpCylinder cyld(0, 1, 0, 0, 0, 0, 0.04);
149 
150  vpHomogeneousMatrix cMo(0, 0, 0.4, 0, 0, vpMath::rad(0));
151 
152  cyld.project(cMo);
153 
154  vpFeatureLine pd[nbline];
157 
158  // Those lines are needed to keep the conventions define in vpMeLine
159  // (Those in vpLine are less restrictive) Another way to have the
160  // coordinates of the desired features is to learn them before executing
161  // the program.
162  pd[0].setRhoTheta(-fabs(pd[0].getRho()), 0);
163  pd[1].setRhoTheta(-fabs(pd[1].getRho()), M_PI);
164 
165  vpTRACE("define the task");
166  vpTRACE("\t we want an eye-in-hand control law");
167  vpTRACE("\t robot is controlled in the camera frame");
170 
171  vpTRACE("\t we want to see a two lines on two lines..");
172  std::cout << std::endl;
173  for (i = 0; i < nbline; i++)
174  task.addFeature(p[i], pd[i]);
175 
176  vpTRACE("\t set the gain");
177  task.setLambda(0.2);
178 
179  vpTRACE("Display task information ");
180  task.print();
181 
183 
184  unsigned int iter = 0;
185  vpTRACE("\t loop");
186  vpColVector v;
187  vpImage<vpRGBa> Ic;
188  double lambda_av = 0.05;
189  double alpha = 0.2;
190  double beta = 3;
191  for (;;) {
192  std::cout << "---------------------------------------------" << iter << std::endl;
193 
194  try {
195  g.acquire(I);
197 
198  // Track the two edges and update the features
199  for (i = 0; i < nbline; i++) {
200  line[i].track(I);
201  line[i].display(I, vpColor::red);
202 
203  vpFeatureBuilder::create(p[i], cam, line[i]);
204  vpTRACE("%f %f ", line[i].getRho(), line[i].getTheta());
205 
206  p[i].display(cam, I, vpColor::red);
207  pd[i].display(cam, I, vpColor::green);
208  }
209 
210  vpDisplay::flush(I);
211 
212  // Adaptative gain
213  double gain;
214  {
215  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
216  gain = lambda_av;
217  else {
218  gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
219  }
220  }
221  task.setLambda(gain);
222 
223  v = task.computeControlLaw();
224 
225  if (iter == 0)
228  } catch (...) {
229  v = 0;
231  robot.stopMotion();
232  exit(1);
233  }
234 
235  vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
236  iter++;
237  }
238 
239  vpTRACE("Display task information ");
240  task.print();
241  return EXIT_SUCCESS;
242  }
243  catch (const vpException &e) {
244  std::cout << "Test failed with exception: " << e << std::endl;
245  return EXIT_FAILURE;
246  }
247 }
248 
249 #else
250 int main()
251 {
252  std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
253  return EXIT_SUCCESS;
254 }
255 
256 #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
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
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:151
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 setRhoTheta(double rho, double theta)
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.
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
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ 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
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
#define vpTRACE
Definition: vpDebug.h:416