ViSP  2.6.2
servoAfma6Cylinder2DCamVelocity.cpp
1 /****************************************************************************
2  *
3  * $Id: servoAfma6Cylinder2DCamVelocity.cpp 3668 2012-04-04 09:07:10Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * tests the control law
36  * eye-in-hand control
37  * velocity computed in the camera frame
38  *
39  * Authors:
40  * Nicolas Melchior
41  *
42  *****************************************************************************/
43 
59 #include <visp/vpConfig.h>
60 #include <visp/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_2))
65 
66 #include <visp/vp1394TwoGrabber.h>
67 #include <visp/vpImage.h>
68 #include <visp/vpImageIo.h>
69 #include <visp/vpDisplay.h>
70 #include <visp/vpDisplayX.h>
71 
72 #include <visp/vpMath.h>
73 #include <visp/vpHomogeneousMatrix.h>
74 #include <visp/vpFeatureLine.h>
75 #include <visp/vpMeLine.h>
76 #include <visp/vpCylinder.h>
77 #include <visp/vpServo.h>
78 #include <visp/vpFeatureBuilder.h>
79 
80 #include <visp/vpRobotAfma6.h>
81 
82 // Exception
83 #include <visp/vpException.h>
84 #include <visp/vpMatrixException.h>
85 #include <visp/vpServoDisplay.h>
86 
87 int
88 main()
89 {
90  try
91  {
93 
97  g.open(I) ;
98 
99  g.acquire(I) ;
100 
101  vpDisplayX display(I,100,100,"testDisplayX.cpp ") ;
102  vpTRACE(" ") ;
103 
104  vpDisplay::display(I) ;
105  vpDisplay::flush(I) ;
106 
107  vpServo task ;
108 
109  std::cout << std::endl ;
110  std::cout << "-------------------------------------------------------" << std::endl ;
111  std::cout << " Test program for vpServo " <<std::endl ;
112  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
113  std::cout << " Simulation " << std::endl ;
114  std::cout << " task : servo a point " << std::endl ;
115  std::cout << "-------------------------------------------------------" << std::endl ;
116  std::cout << std::endl ;
117 
118 
119  int i ;
120  int nbline =2 ;
121  vpMeLine line[nbline] ;
122 
123  vpMe me ;
124  me.setRange(10) ;
125  me.setPointsToTrack(100) ;
126  me.setThreshold(30000) ;
127  me.setSampleStep(10);
128 
129  //Initialize the tracking of the two edges of the cylinder
130  for (i=0 ; i < nbline ; i++)
131  {
133  line[i].setMe(&me) ;
134 
135  line[i].initTracking(I) ;
136  line[i].track(I) ;
137  }
138 
139  vpRobotAfma6 robot ;
140  //robot.move("zero.pos") ;
141 
142  vpCameraParameters cam ;
143  // Update camera parameters
144  robot.getCameraParameters (cam, I);
145 
146  vpTRACE("sets the current position of the visual feature ") ;
147  vpFeatureLine p[nbline] ;
148  for (i=0 ; i < nbline ; i++)
149  vpFeatureBuilder::create(p[i],cam, line[i]) ;
150 
151  vpTRACE("sets the desired position of the visual feature ") ;
152  vpCylinder cyld(0,1,0,0,0,0,0.04);
153 
154  vpHomogeneousMatrix cMo(0,0,0.4,0,0,vpMath::rad(0));
155 
156  cyld.project(cMo);
157 
158  vpFeatureLine pd[nbline] ;
161 
162  //Those lines are needed to keep the conventions define in vpMeLine (Those in vpLine are less restrictive)
163  //Another way to have the coordinates of the desired features is to learn them before executing the program.
164  pd[0].setRhoTheta(-fabs(pd[0].getRho()),0);
165  pd[1].setRhoTheta(-fabs(pd[1].getRho()),M_PI);
166 
167  vpTRACE("define the task") ;
168  vpTRACE("\t we want an eye-in-hand control law") ;
169  vpTRACE("\t robot is controlled in the camera frame") ;
172 
173  vpTRACE("\t we want to see a two lines on two lines..") ;
174  std::cout << std::endl ;
175  for (i=0 ; i < nbline ; i++)
176  task.addFeature(p[i],pd[i]) ;
177 
178  vpTRACE("\t set the gain") ;
179  task.setLambda(0.2) ;
180 
181 
182  vpTRACE("Display task information " ) ;
183  task.print() ;
184 
185 
187 
188  unsigned int iter=0 ;
189  vpTRACE("\t loop") ;
190  vpColVector v ;
191  vpImage<vpRGBa> Ic ;
192  double lambda_av =0.05;
193  double alpha = 0.2 ;
194  double beta =3 ;
195  for ( ; ; )
196  {
197  std::cout << "---------------------------------------------" << iter <<std::endl ;
198 
199  try {
200  g.acquire(I) ;
201  vpDisplay::display(I) ;
202 
203  //Track the two edges and update the features
204  for (i=0 ; i < nbline ; i++)
205  {
206  line[i].track(I) ;
207  line[i].display(I, vpColor::red) ;
208 
209  vpFeatureBuilder::create(p[i],cam,line[i]);
210  vpTRACE("%f %f ",line[i].getRho(), line[i].getTheta()) ;
211 
212  p[i].display(cam, I, vpColor::red) ;
213  pd[i].display(cam, I, vpColor::green) ;
214  }
215 
216  vpDisplay::flush(I) ;
217 
218  //Adaptative gain
219  double gain ;
220  {
221  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
222  gain = lambda_av ;
223  else
224  {
225  gain = alpha * exp (-beta * ( task.getError() ).sumSquare() ) + lambda_av ;
226  }
227  }
228  task.setLambda(gain) ;
229 
230  v = task.computeControlLaw() ;
231 
232  if (iter==0) vpDisplay::getClick(I) ;
234  }
235  catch(...)
236  {
237  v =0 ;
239  robot.stopMotion() ;
240  exit(1) ;
241  }
242 
243  vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
244  iter++;
245  }
246 
247  vpTRACE("Display task information " ) ;
248  task.print() ;
249  task.kill();
250  }
251  catch (...)
252  {
253  vpERROR_TRACE(" Test failed") ;
254  return 0;
255  }
256 }
257 
258 #else
259 int
260 main()
261 {
262  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
263 }
264 
265 #endif
void setPointsToTrack(const int &n)
Definition: vpMe.h:215
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
#define vpERROR_TRACE
Definition: vpDebug.h:379
#define vpTRACE
Definition: vpDebug.h:401
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
Definition: vpAfma6.cpp:1226
void setSampleStep(const double &s)
Definition: vpMe.h:277
Define the X11 console to display images.
Definition: vpDisplayX.h:152
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
Definition: vpServo.cpp:444
void setLambda(double _lambda)
set the gain lambda
Definition: vpServo.h:250
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:784
Contains predetermined masks for sites and holds moving edges tracking parameters.
Definition: vpMe.h:70
static const vpColor green
Definition: vpColor.h:168
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:1964
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:214
static const vpColor red
Definition: vpColor.h:165
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:229
void open(vpImage< unsigned char > &I)
void kill()
destruction (memory deallocation if required)
Definition: vpServo.cpp:177
Initialize the velocity controller.
Definition: vpRobot.h:70
vpColVector getError() const
Definition: vpServo.h:298
vpColVector computeControlLaw()
compute the desired control law
Definition: vpServo.cpp:883
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:108
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:186
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:149
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:243
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
Definition: vpServo.cpp:509
static double rad(double deg)
Definition: vpMath.h:100
Class that defines what is a cylinder.
Definition: vpCylinder.h:97
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setThreshold(const double &t)
Definition: vpMe.h:305
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:258
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:229
Class required to compute the visual servoing control law.
Definition: vpServo.h:150
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
Definition: vpServo.cpp:214
void setMe(vpMe *me)
Definition: vpMeTracker.h:140
void setRhoTheta(const double rho, const double theta)