Visual Servoing Platform  version 3.2.0 under development (2018-12-11)
servoAfma6Ellipse2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in the camera frame. The used visual feature is a circle.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in the camera frame
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/blob/vpDot.h>
int main()
{
try {
vpServo task;
g.open(I);
g.acquire(I);
#ifdef VISP_HAVE_X11
vpDisplayX display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display(I, 100, 100, "Current image");
#endif
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
vpDot dot;
dot.setMaxDotSize(0.30); // Max dot size is 30 % of the image size
// dot.setGraphics(true) ;
dot.setComputeMoments(true);
std::cout << "Click on an ellipse..." << std::endl;
dot.initTracking(I);
vpImagePoint cog = dot.getCog();
dot.track(I);
vpRobotAfma6 robot;
// Update camera parameters
robot.getCameraParameters(cam, I);
vpTRACE("sets the current position of the visual feature ");
std::cout << " Learning 0/1 " << std::endl;
int learning;
std::cin >> learning;
char name[FILENAME_MAX];
sprintf(name, "dat/ellipse.dat");
if (learning == 1) {
// save the object position
vpTRACE("Save the location of the object in a file dat/ellipse.dat");
std::ofstream f(name);
f << c.get_s().t();
f.close();
exit(1);
}
vpTRACE("sets the desired position of the visual feature ");
std::ifstream f("dat/ellipse.dat");
double x, y, mu20, mu11, mu02;
f >> x;
f >> y;
f >> mu20;
f >> mu11;
f >> mu02;
f.close();
cd.buildFrom(x, y, mu20, mu11, mu02);
cd.setABC(0, 0, 10);
task.addFeature(c, cd);
task.setLambda(0.01);
unsigned int iter = 0;
double lambda_av = 0.01;
double alpha = 0.1; // 1 ;
double beta = 3; // 3 ;
std::cout << "alpha 0.7" << std::endl;
std::cin >> alpha;
std::cout << "beta 5" << std::endl;
std::cin >> beta;
for (;;) {
std::cout << "---------------------------------------------" << iter++ << std::endl;
g.acquire(I);
dot.track(I);
// Get the dot cog
cog = dot.getCog();
// Compute the adaptative gain (speed up the convergence)
double gain;
if (iter > 2) {
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
}
} else
gain = lambda_av;
vpTRACE("%f %f", (task.getError()).sumSquare(), gain);
task.setLambda(gain);
v = task.computeControlLaw();
std::cout << "rank " << task.getTaskRank() << std::endl;
vpServoDisplay::display(task, cam, I);
std::cout << v.t();
vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
}
vpTRACE("Display task information ");
task.print();
task.kill();
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif