Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
servoMomentPolygon.cpp

Example of moment-based visual servoing with Images

/****************************************************************************
*
* 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:
* Example of visual servoing with moments using a polygon as object container
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMomentCommon.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPlane.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureMomentCommon.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
// Robot simulator used in this example is not available
int main()
{
std::cout << "Can't run this example since vpSimulatorAfma6 capability is "
"not available."
<< std::endl;
std::cout << "You should install pthread third-party library." << std::endl;
return EXIT_SUCCESS;
}
// No display available
#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \
!defined(VISP_HAVE_GTK)
int main()
{
std::cout << "Can't run this example since no display capability is available." << std::endl;
std::cout << "You should install one of the following third-party library: "
"X11, OpenCV, GDI, GTK."
<< std::endl;
return EXIT_SUCCESS;
}
#else
// setup robot parameters
void paramRobot();
// update moment objects and interface
void refreshScene(vpMomentObject &obj);
// initialize scene in the interface
void initScene();
// initialize the moment features
void initFeatures();
void execute(unsigned int nbIter); // launch the simulation
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type);
double error();
void planeToABC(vpPlane &pl, double &A, double &B, double &C);
void paramRobot();
void removeJointLimits(vpSimulatorAfma6 &robot);
int main()
{
try { // intial pose
vpHomogeneousMatrix cMo(-0.1, -0.1, 1.5, -vpMath::rad(20), -vpMath::rad(20), -vpMath::rad(30));
// Desired pose
// init and run the simulation
init(cMo, cdMo);
execute(1500);
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
// init the right display
#if defined VISP_HAVE_X11
vpDisplayX displayInt;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV displayInt;
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayInt;
#elif defined VISP_HAVE_D3D9
vpDisplayD3D displayInt;
#elif defined VISP_HAVE_GTK
vpDisplayGTK displayInt;
#endif
// start and destination positioning matrices
vpSimulatorAfma6 robot(false); // robot used in this simulation
vpImage<vpRGBa> Iint(480, 640,
255); // internal image used for interface display
vpServo task; // servoing task
vpCameraParameters cam; // robot camera parameters
double _error; // current error
vpServo::vpServoIteractionMatrixType interaction_type; // current or desired
vpImageSimulator imsim; // image simulator used to simulate the
// perspective-projection camera
// source and destination objects for moment manipulation
// moment sets and their corresponding features
vpMomentCommon *moments;
vpMomentCommon *momentsDes;
vpFeatureMomentCommon *featureMoments;
vpFeatureMomentCommon *featureMomentsDes;
using namespace std;
void initScene()
{
vector<vpPoint> src_pts;
vector<vpPoint> dst_pts;
double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
int nbpoints = 4;
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(cMo);
src_pts.push_back(p);
}
src.fromVector(src_pts);
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(cdMo);
dst_pts.push_back(p);
}
dst.fromVector(dst_pts);
}
void refreshScene(vpMomentObject &obj)
{
double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
int nbpoints = 5;
vector<vpPoint> cur_pts;
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(cMo);
cur_pts.push_back(p);
}
obj.fromVector(cur_pts);
}
void init(vpHomogeneousMatrix &_cMo, vpHomogeneousMatrix &_cdMo)
{
cMo = _cMo;
cdMo = _cdMo;
interaction_type = vpServo::CURRENT;
displayInt.init(Iint, 700, 0, "Visual servoing with moments");
paramRobot(); // set up robot parameters
initScene(); // initialize graphical scene (for interface)
initFeatures(); // initialize moment features
}
void initFeatures()
{
// A,B,C parameters of source and destination plane
double A;
double B;
double C;
double Ad;
double Bd;
double Cd;
// init main object: using moments up to order 6
// Initializing values from regular plane (with ax+by+cz=d convention)
vpPlane pl;
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(cMo);
planeToABC(pl, A, B, C);
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(cdMo);
planeToABC(pl, Ad, Bd, Cd);
// extracting initial position (actually we only care about Zdst)
cdMo.extract(vec);
// don't need to be specific, vpMomentCommon automatically loads
// Xg,Yg,An,Ci,Cj,Alpha moments
vpMomentCommon::getAlpha(dst), vec[2]);
vpMomentCommon::getAlpha(dst), vec[2]);
// same thing with common features
featureMoments = new vpFeatureMomentCommon(*moments);
featureMomentsDes = new vpFeatureMomentCommon(*momentsDes);
moments->updateAll(src);
momentsDes->updateAll(dst);
featureMoments->updateAll(A, B, C);
featureMomentsDes->updateAll(Ad, Bd, Cd);
// setup the interaction type
task.setInteractionMatrixType(interaction_type);
task.addFeature(featureMoments->getFeatureGravityNormalized(), featureMomentsDes->getFeatureGravityNormalized());
task.addFeature(featureMoments->getFeatureAn(), featureMomentsDes->getFeatureAn());
// the moments are different in case of a symmetric object
task.addFeature(featureMoments->getFeatureCInvariant(), featureMomentsDes->getFeatureCInvariant(),
(1 << 10) | (1 << 11));
task.addFeature(featureMoments->getFeatureAlpha(), featureMomentsDes->getFeatureAlpha());
task.setLambda(0.4);
}
void execute(unsigned int nbIter)
{
// init main object: using moments up to order 5
// setting object type (disrete, continuous[form polygon])
vpTRACE("Display task information ");
task.print();
robot.getInternalView(Iint);
unsigned int iter = 0;
while (iter++ < nbIter) {
double t = vpTime::measureTimeMs();
// get the cMo
cMo = robot.get_cMo();
// setup the plane in A,B,C style
vpPlane pl;
double A, B, C;
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(cMo);
planeToABC(pl, A, B, C);
// track points, draw points and add refresh our object
refreshScene(obj);
// this is the most important thing to do: update our moments
moments->updateAll(obj);
// and update our features. Do it in that order. Features need to use the
// information computed by moments
featureMoments->updateAll(A, B, C);
robot.getInternalView(Iint);
if (iter == 1)
v = task.computeControlLaw();
// pilot robot using position control. The displacement is t*v with t=10ms
// step
vpTime::wait(t, 10);
_error = (task.getError()).sumSquare();
}
task.kill();
vpTRACE("\n\nClick in the internal view window to end...");
delete moments;
delete momentsDes;
delete featureMoments;
delete featureMomentsDes;
}
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type) { interaction_type = type; }
double error() { return _error; }
void removeJointLimits(vpSimulatorAfma6 &robot_)
{
vpColVector limMin(6);
vpColVector limMax(6);
limMin[0] = vpMath::rad(-3600);
limMin[1] = vpMath::rad(-3600);
limMin[2] = vpMath::rad(-3600);
limMin[3] = vpMath::rad(-3600);
limMin[4] = vpMath::rad(-3600);
limMin[5] = vpMath::rad(-3600);
limMax[0] = vpMath::rad(3600);
limMax[1] = vpMath::rad(3600);
limMax[2] = vpMath::rad(3600);
limMax[3] = vpMath::rad(3600);
limMax[4] = vpMath::rad(3600);
limMax[5] = vpMath::rad(3600);
robot_.setJointLimit(limMin, limMax);
}
void planeToABC(vpPlane &pl, double &A, double &B, double &C)
{
if (fabs(pl.getD()) < std::numeric_limits<double>::epsilon()) {
std::cout << "Invalid position:" << std::endl;
std::cout << cMo << std::endl;
std::cout << "Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
throw vpException(vpException::divideByZeroError, "invalid position!");
}
A = -pl.getA() / pl.getD();
B = -pl.getB() / pl.getD();
C = -pl.getC() / pl.getD();
}
void paramRobot()
{
/*Initialise the robot and especially the camera*/
robot.setCurrentViewColor(vpColor(150, 150, 150));
robot.setDesiredViewColor(vpColor(200, 200, 200));
removeJointLimits(robot);
/*Initialise the position of the object relative to the pose of the robot's
* camera*/
/*Set the desired position (for the displaypart)*/
robot.getCameraParameters(cam, Iint);
}
#endif