ViSP  2.6.2
servoAfma6TwoLines2DCamVelocity.cpp
1 /****************************************************************************
2  *
3  * $Id: servoAfma6TwoLines2DCamVelocity.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  * Eric Marchand
41  *
42  *****************************************************************************/
43 
67 #include <visp/vpConfig.h>
68 #include <visp/vpDebug.h> // Debug trace
69 #include <stdlib.h>
70 #include <cmath> // std::fabs
71 #include <limits> // numeric_limits
72 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
73 
74 #include <visp/vp1394TwoGrabber.h>
75 #include <visp/vpImage.h>
76 #include <visp/vpImageIo.h>
77 #include <visp/vpDisplay.h>
78 #include <visp/vpDisplayX.h>
79 
80 #include <visp/vpMath.h>
81 #include <visp/vpHomogeneousMatrix.h>
82 #include <visp/vpFeatureLine.h>
83 #include <visp/vpLine.h>
84 #include <visp/vpMeLine.h>
85 #include <visp/vpServo.h>
86 #include <visp/vpFeatureBuilder.h>
87 
88 #include <visp/vpRobotAfma6.h>
89 
90 // Exception
91 #include <visp/vpException.h>
92 #include <visp/vpMatrixException.h>
93 #include <visp/vpServoDisplay.h>
94 
95 int
96 main()
97 {
98  try
99  {
101 
105  g.open(I) ;
106 
107  g.acquire(I) ;
108 
109  vpDisplayX display(I,100,100,"testTwoLines.cpp ") ;
110  vpTRACE(" ") ;
111 
112  vpDisplay::display(I) ;
113  vpDisplay::flush(I) ;
114 
115  vpServo task ;
116 
117  std::cout << std::endl ;
118  std::cout << "-------------------------------------------------------" << std::endl ;
119  std::cout << " Test program for vpServo " <<std::endl ;
120  std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
121  std::cout << " Simulation " << std::endl ;
122  std::cout << " task : servo a point " << std::endl ;
123  std::cout << "-------------------------------------------------------" << std::endl ;
124  std::cout << std::endl ;
125 
126  int i ;
127  int nbline =2 ;
128 
129  vpMeLine line[nbline] ;
130 
131  vpMe me ;
132  me.setRange(10) ;
133  me.setPointsToTrack(100) ;
134  me.setThreshold(50000) ;
135  me.setSampleStep(10);
136 
137  //Initialize the tracking. Define the two lines to track
138  vpTRACE("The two lines to track must be parallels ") ;
139  //vpTRACE("The two lines to track must be perpendicular ") ;
140  for (i=0 ; i < nbline ; i++)
141  {
143  line[i].setMe(&me) ;
144 
145  line[i].initTracking(I) ;
146  line[i].track(I) ;
147  }
148 
149  vpRobotAfma6 robot ;
150  //robot.move("zero.pos") ;
151 
152  vpCameraParameters cam ;
153  // Update camera parameters
154  robot.getCameraParameters (cam, I);
155 
156  vpTRACE("sets the current position of the visual feature ") ;
157  vpFeatureLine p[nbline] ;
158  for (i=0 ; i < nbline ; i++)
159  vpFeatureBuilder::create(p[i],cam, line[i]) ;
160 
161  vpTRACE("sets the desired position of the visual feature ") ;
162  vpLine lined[2];
163  lined[0].setWorldCoordinates(1,0,0,-0.05,0,0,1,0);
164  lined[1].setWorldCoordinates(1,0,0,0.05,0,0,1,0);
165 
166  vpHomogeneousMatrix cMo(0,0,0.5,0,0,vpMath::rad(0));
167 
168  lined[0].project(cMo);
169  lined[1].project(cMo);
170 
171  //Those lines are needed to keep the conventions define in vpMeLine (Those in vpLine are less restrictive)
172  //Another way to have the coordinates of the desired features is to learn them before executing the program.
173  lined[0].setRho(-fabs(lined[0].getRho()));
174  lined[0].setTheta(0);
175  lined[1].setRho(-fabs(lined[1].getRho()));
176  lined[1].setTheta(M_PI);
177 
178  vpFeatureLine pd[nbline] ;
179  vpFeatureBuilder::create(pd[0],lined[0]);
180  vpFeatureBuilder::create(pd[1],lined[1]);
181 
182  vpTRACE("define the task") ;
183  vpTRACE("\t we want an eye-in-hand control law") ;
184  vpTRACE("\t robot is controlled in the camera frame") ;
186 
187  vpTRACE("\t we want to see a point on a point..") ;
188  std::cout << std::endl ;
189  for (i=0 ; i < nbline ; i++)
190  task.addFeature(p[i],pd[i]) ;
191 
192  vpTRACE("\t set the gain") ;
193  task.setLambda(0.2) ;
194 
195 
196  vpTRACE("Display task information " ) ;
197  task.print() ;
198 
199 
201 
202  unsigned int iter=0 ;
203  vpTRACE("\t loop") ;
204  vpColVector v ;
205 
206  vpImage<vpRGBa> Ic ;
207  double lambda_av =0.05;
208  double alpha = 0.2;
209  double beta =3;
210 
211  for ( ; ; )
212  {
213  std::cout << "---------------------------------------------" << iter <<std::endl ;
214 
215  try {
216  g.acquire(I) ;
217  vpDisplay::display(I) ;
218 
219  //Track the lines and update the features
220  for (i=0 ; i < nbline ; i++)
221  {
222  line[i].track(I) ;
223  line[i].display(I, vpColor::red) ;
224 
225  vpFeatureBuilder::create(p[i],cam,line[i]);
226 
227  p[i].display(cam, I, vpColor::red) ;
228  pd[i].display(cam, I, vpColor::green) ;
229  }
230 
231  vpDisplay::flush(I) ;
232 
233  //Adaptative gain
234  double gain ;
235  {
236  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
237  gain = lambda_av ;
238  else
239  {
240  gain = alpha * exp (-beta * ( task.getError() ).sumSquare() ) + lambda_av ;
241  }
242  }
243  task.setLambda(gain) ;
244 
245  v = task.computeControlLaw() ;
246 
247  if (iter==0) vpDisplay::getClick(I) ;
249  }
250  catch(...)
251  {
252  v =0 ;
254  robot.stopMotion() ;
255  exit(1) ;
256  }
257 
258  vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
259  iter++;
260  }
261 
262  vpTRACE("Display task information " ) ;
263  task.print() ;
264  task.kill();
265  }
266  catch (...)
267  {
268  vpERROR_TRACE(" Test failed") ;
269  return 0;
270  }
271 }
272 
273 #else
274 int
275 main()
276 {
277  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
278 }
279 
280 #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 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:98
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)
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:124
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
static double rad(double deg)
Definition: vpMath.h:100
void setRho(const double rho)
Definition: vpLine.h:144
void setTheta(const double theta)
Definition: vpLine.h:154
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