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.

/****************************************************************************
 *
 * $Id: servoAfma6Ellipse2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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 <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <stdlib.h>
#include <cmath>    // std::fabs
#include <limits>   // numeric_limits
#if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))

#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>

#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureEllipse.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>

#include <visp/vpRobotAfma6.h>

// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>

#include <visp/vpDot.h>



int
main()
{
  try
  {
    vpServo task ;

    vpImage<unsigned char> I ;
    vp1394TwoGrabber g;
    g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
    g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
    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

    vpDisplay::display(I) ;
    vpDisplay::flush(I) ;

    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();
    vpDisplay::displayCross(I, cog, 10, vpColor::blue) ;
    vpDisplay::flush(I);

    dot.track(I) ;

    vpCameraParameters cam ;

    vpRobotAfma6 robot ;

    // Update camera parameters
    robot.getCameraParameters (cam, I);

    vpTRACE("sets the current position of the visual feature ") ;
    vpFeatureEllipse c ;
    vpFeatureBuilder::create(c, cam, dot)  ;


    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 ") ;
    vpFeatureEllipse cd ;
    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.setServo(vpServo::EYEINHAND_CAMERA) ;
    task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;

    task.addFeature(c,cd) ;

    task.setLambda(0.01) ;

    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
    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) ;
      vpDisplay::display(I) ;

      dot.track(I) ;

      // Get the dot cog
      cog = dot.getCog();

      vpDisplay::displayCross(I, cog, 10, vpColor::green) ;

      vpFeatureBuilder::create(c,cam, dot);
      // 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) ;
      vpColVector v ;
      v = task.computeControlLaw() ;
      std::cout <<"rank " << task.getTaskRank() << std::endl ;
      vpServoDisplay::display(task,cam,I) ;
      std::cout << v.t() ;
      robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;

      vpDisplay::flush(I) ;
      vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
    }

    vpTRACE("Display task information " ) ;
    task.print() ;
    task.kill();
  }
  catch (...)
  {
    vpERROR_TRACE(" Test failed") ;
    return 0;
  }
}


#else
int
main()
{
  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
}
#endif