servoMomentPolygon.cpp

Example of moment-based visual servoing with Images

/****************************************************************************
 *
 * $Id: servoMomentPolygon.cpp 4670 2014-02-17 08:59:05Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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:
 * Example of visual servoing with moments using a polygon as object container
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
#include <iostream>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMomentObject.h>
#include <visp/vpMomentDatabase.h>
#include <visp/vpMomentCommon.h>
#include <visp/vpFeatureMomentCommon.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpIoTools.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpServo.h>
#include <visp/vpDebug.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpSimulatorAfma6.h>
#include <visp/vpPlane.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;
}
// 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;
}
#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 init(vpHomogeneousMatrix& cMo, vpHomogeneousMatrix& cdMo);
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
    vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));

    //init and run the simulation
    init(cMo,cdMo);
    execute(1500);
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}

//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
vpHomogeneousMatrix cMo;
vpHomogeneousMatrix cdMo;

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
vpMomentObject src(6);
vpMomentObject dst(6);
//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;
    p.setWorldCoordinates(x[i],y[i],0.0);
    p.track(cMo) ;
    src_pts.push_back(p);
  }

  src.setType(vpMomentObject::DENSE_POLYGON);
  src.fromVector(src_pts);
  for (int i = 0 ; i < nbpoints ; i++){
    vpPoint p;
    p.setWorldCoordinates(x[i],y[i],0.0);
    p.track(cdMo) ;
    dst_pts.push_back(p);
  }
  dst.setType(vpMomentObject::DENSE_POLYGON);
  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;
    p.setWorldCoordinates(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

  task.setServo(vpServo::EYEINHAND_CAMERA);
  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)
  vpTranslationVector vec;
  cdMo.extract(vec);

  //don't need to be specific, vpMomentCommon automatically loads Xg,Yg,An,Ci,Cj,Alpha moments
  moments = new vpMomentCommon(vpMomentCommon ::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst), vec[2]);
  momentsDes = new vpMomentCommon(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),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
  vpMomentObject obj(6);
  //setting object type (disrete, continuous[form polygon])
  obj.setType(vpMomentObject::DENSE_POLYGON);

  vpTRACE("Display task information " ) ;
  task.print() ;

  vpDisplay::display(Iint);
  robot.getInternalView(Iint);
  vpDisplay::flush(Iint);
  unsigned int iter=0;
  double t=0;
  while(iter++<nbIter ){
    vpColVector v ;
    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);

    vpDisplay::display(Iint) ;
    robot.getInternalView(Iint);
    vpDisplay::flush(Iint);

    if (iter == 1)
      vpDisplay::getClick(Iint) ;
    v = task.computeControlLaw() ;

    //pilot robot using position control. The displacement is t*v with t=10ms step
    robot.setPosition(vpRobot::CAMERA_FRAME,0.01*v);

    vpTime::wait(t,10);
    _error = ( task.getError() ).sumSquare();
  }

  task.kill();

  vpTRACE("\n\nClick in the internal view window to end...");
  vpDisplay::getClick(Iint) ;

  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.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
  robot.setCurrentViewColor(vpColor(150,150,150));
  robot.setDesiredViewColor(vpColor(200,200,200));
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
  removeJointLimits(robot);
  robot.initScene(vpWireFrameSimulator::RECTANGLE, vpWireFrameSimulator::D_STANDARD);
  /*Initialise the position of the object relative to the pose of the robot's camera*/
  robot.initialiseObjectRelativeToCamera(cMo);

  /*Set the desired position (for the displaypart)*/
  robot.setDesiredCameraPosition(cdMo);
  robot.getCameraParameters(cam,Iint);
}

#endif