ViSP  2.8.0
servoAfma6SquareLines2DCamVelocity.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. Visual features are the four lines of a square.

/****************************************************************************
*
* $Id: servoAfma6SquareLines2DCamVelocity.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/vpImageIo.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/vpFeatureLine.h>
#include <visp/vpLine.h>
#include <visp/vpMeLine.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
{
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
vpServo task ;
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 line " << std::endl ;
std::cout << "-------------------------------------------------------" << std::endl ;
std::cout << std::endl ;
int i ;
int nbline =4 ;
vpMeLine line[nbline] ;
vpMe me ;
me.setRange(10) ;
me.setPointsToTrack(100) ;
me.setThreshold(50000) ;
me.setSampleStep(10);
//Initialize the tracking. Define the four lines to track.
for (i=0 ; i < nbline ; i++)
{
line[i].setMe(&me) ;
line[i].initTracking(I) ;
line[i].track(I) ;
}
vpRobotAfma6 robot ;
//robot.move("zero.pos") ;
// Update camera parameters
robot.getCameraParameters (cam, I);
vpTRACE("sets the current position of the visual feature ") ;
vpFeatureLine p[nbline] ;
for (i=0 ; i < nbline ; i++)
vpFeatureBuilder::create(p[i],cam, line[i]) ;
vpTRACE("sets the desired position of the visual feature ") ;
vpLine lined[nbline];
lined[0].setWorldCoordinates(1,0,0,0.05,0,0,1,0);
lined[1].setWorldCoordinates(0,1,0,0.05,0,0,1,0);
lined[2].setWorldCoordinates(1,0,0,-0.05,0,0,1,0);
lined[3].setWorldCoordinates(0,1,0,-0.05,0,0,1,0);
vpHomogeneousMatrix cMo(0,0,0.5,0,0,vpMath::rad(0));
lined[0].project(cMo);
lined[1].project(cMo);
lined[2].project(cMo);
lined[3].project(cMo);
//Those lines are needed to keep the conventions define in vpMeLine (Those in vpLine are less restrictive)
//Another way to have the coordinates of the desired features is to learn them before executing the program.
lined[0].setRho(-fabs(lined[0].getRho()));
lined[0].setTheta(0);
lined[1].setRho(-fabs(lined[1].getRho()));
lined[1].setTheta(M_PI/2);
lined[2].setRho(-fabs(lined[2].getRho()));
lined[2].setTheta(M_PI);
lined[3].setRho(-fabs(lined[3].getRho()));
lined[3].setTheta(-M_PI/2);
vpFeatureLine pd[nbline] ;
vpFeatureBuilder::create(pd[0],lined[0]);
vpFeatureBuilder::create(pd[1],lined[1]);
vpFeatureBuilder::create(pd[2],lined[2]);
vpFeatureBuilder::create(pd[3],lined[3]);
vpTRACE("define the task") ;
vpTRACE("\t we want an eye-in-hand control law") ;
vpTRACE("\t robot is controlled in the camera frame") ;
vpTRACE("\t we want to see a point on a point..") ;
std::cout << std::endl ;
for (i=0 ; i < nbline ; i++)
task.addFeature(p[i],pd[i]) ;
vpTRACE("\t set the gain") ;
task.setLambda(0.2) ;
vpTRACE("Display task information " ) ;
task.print() ;
unsigned int iter=0 ;
vpTRACE("\t loop") ;
double lambda_av =0.05;
double alpha = 0.05 ;
double beta =3 ;
for ( ; ; )
{
std::cout << "---------------------------------------------" << iter <<std::endl ;
try {
g.acquire(I) ;
//Track the lines and update the features
for (i=0 ; i < nbline ; i++)
{
line[i].track(I) ;
line[i].display(I, vpColor::red) ;
vpFeatureBuilder::create(p[i],cam,line[i]);
p[i].display(cam, I, vpColor::red) ;
pd[i].display(cam, I, vpColor::green) ;
}
double gain ;
{
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av ;
else
{
gain = alpha * exp (-beta * ( task.getError() ).sumSquare() ) + lambda_av ;
}
}
task.setLambda(gain) ;
v = task.computeControlLaw() ;
if (iter==0) vpDisplay::getClick(I) ;
if (v.sumSquare() > 0.5)
{
v =0 ;
robot.stopMotion() ;
}
}
catch(...)
{
v =0 ;
robot.stopMotion() ;
exit(1) ;
}
vpTRACE("\t\t || s - s* || = %f ", ( task.getError() ).sumSquare()) ;
iter++;
}
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