servoPioneerPoint2DDepthWithoutVpServo.cpp

/****************************************************************************
 *
 * $Id: servoPioneerPoint2DDepthWithoutVpServo.cpp 4574 2014-01-09 08:48:51Z 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:
 * IBVS on Pioneer P3DX mobile platform
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#include <iostream>

#include <visp/vpConfig.h>
#include <visp/vpRobotPioneer.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDot2.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeatureDepth.h>
#include <visp/vpFeaturePoint.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageConvert.h>
#include <visp/vp1394TwoGrabber.h>
#include <visp/vp1394CMUGrabber.h>
#include <visp/vpOpenCVGrabber.h>
#include <visp/vpV4l2Grabber.h>
#include <visp/vpVelocityTwistMatrix.h>

#if defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_OPENCV)
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
#if defined(VISP_HAVE_PIONEER)
#  define TEST_COULD_BE_ACHIEVED
#endif
#endif
#endif

#undef VISP_HAVE_OPENCV // To use a firewire camera
#undef VISP_HAVE_V4L2 // To use a firewire camera

#ifdef TEST_COULD_BE_ACHIEVED
int main(int argc, char **argv)
{
  try {
    vpImage<unsigned char> I; // Create a gray level image container
    double depth = 1.;
    double lambda = 0.6;
    double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface

    vpRobotPioneer robot;
    ArArgumentParser parser(&argc, argv);
    parser.loadDefaultArguments();

    // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
    // and then loads parameter files for this robot.
    ArRobotConnector robotConnector(&parser, &robot);
    if(!robotConnector.connectRobot())
    {
      ArLog::log(ArLog::Terse, "Could not connect to the robot.");
      if(parser.checkHelpAndWarnUnparsed())
      {
        Aria::logOptions();
        Aria::exit(1);
      }
    }
    if (!Aria::parseArgs())
    {
      Aria::logOptions();
      Aria::shutdown();
      return false;
    }

    // Wait 3 sec to be sure that the low level Aria thread used to control
    // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
    // between the velocity send to the robot and the velocity that is really applied
    // to the wheels.
    vpTime::sleepMs(3000);

    std::cout << "Robot connected" << std::endl;

    // Camera parameters. In this experiment we don't need a precise calibration of the camera
    vpCameraParameters cam;

    // Create the camera framegrabber
#if defined(VISP_HAVE_OPENCV)
    int device = 1;
    std::cout << "Use device: " << device << std::endl;
    cv::VideoCapture g(device); // open the default camera
    g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
    g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
    if(!g.isOpened())  // check if we succeeded
      return -1;
    cv::Mat frame;
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);

    // Logitec sphere parameters
    cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_V4L2)
    // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
    vpV4l2Grabber g;
    g.setScale(1);
    g.setInput(0);
    g.setDevice("/dev/video1");
    g.open(I);
    // Logitec sphere parameters
    cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_DC1394_2)
    // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
    vp1394TwoGrabber g(false);
    g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
    g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
    // AVT Pike 032C parameters
    cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#elif defined(VISP_HAVE_CMU1394)
    // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
    vp1394CMUGrabber g;
    g.setVideoMode(0, 5); // 640x480 MONO8
    g.setFramerate(4);    // 30 Hz
    g.open(I);
    // AVT Pike 032C parameters
    cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#endif

    // Acquire an image from the grabber
#if defined(VISP_HAVE_OPENCV)
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#else
    g.acquire(I);
#endif

    // Create an image viewer
#if defined(VISP_HAVE_X11)
    vpDisplayX d(I, 10, 10, "Current frame");
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I, 10, 10, "Current frame");
#endif
    vpDisplay::display(I);
    vpDisplay::flush(I);

    // Create a blob tracker
    vpDot2 dot;
    dot.setGraphics(true);
    dot.setComputeMoments(true);
    dot.setEllipsoidShapePrecision(0.);  // to track a blob without any constraint on the shape
    dot.setGrayLevelPrecision(0.9);  // to set the blob gray level bounds for binarisation
    dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
    dot.initTracking(I);
    vpDisplay::flush(I);

    // Current and desired visual feature associated to the x coordinate of the point
    vpFeaturePoint s_x, s_xd;

    // Create the current x visual feature
    vpFeatureBuilder::create(s_x, cam, dot);

    // Create the desired x* visual feature
    s_xd.buildFrom(0, 0, depth);
    vpMatrix L_x = s_xd.interaction(vpFeaturePoint::selectX());

    // Create the current log(Z/Z*) visual feature
    vpFeatureDepth s_Z;
    // Surface of the blob estimated from the image moment m00 and converted in meters
    double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
    double Z, Zd;
    // Initial depth of the blob in from of the camera
    Z = coef * surface ;
    // Desired depth Z* of the blob. This depth is learned and equal to the initial depth
    Zd = Z;
    s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
    vpMatrix L_Z = s_Z.interaction();

    vpVelocityTwistMatrix cVe = robot.get_cVe();
    vpMatrix eJe; // pioneer jacobian
    robot.get_eJe(eJe);

    vpMatrix L; // Interaction matrix
    L.stackMatrices(L_x); // constant since build with the desired feature
    L.stackMatrices(L_Z); // not constant since it corresponds to log(Z/Z*) that evolves at each iteration

    vpColVector v; // vz, wx

    vpFeatureDepth s_Zd;
    s_Zd.buildFrom(0, 0, 1, 0); // The value of s* is 0 with Z=1 meter.

    while(1)
    {
        // Acquire a new image
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
        g >> frame; // get a new frame from camera
        vpImageConvert::convert(frame, I);
#else
        g.acquire(I);
#endif
      // Set the image as background of the viewer
      vpDisplay::display(I);

      // Does the blob tracking
      dot.track(I);
      // Update the current x feature
      vpFeatureBuilder::create(s_x, cam, dot);

      // Update log(Z/Z*) feature. Since the depth Z change, we need to update the intection matrix
      surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
      Z = coef * surface ;
      s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ;
      L_Z = s_Z.interaction();

      // Update the global interaction matrix
      vpMatrix L;
      L.stackMatrices(L_x); // constant since build with the desired feature
      L.stackMatrices(L_Z); // not constant since it corresponds to log(Z/Z*) that evolves at each iteration

      // Update the global error s-s*
      vpColVector error;
      error.stack( s_x.error( s_xd, vpFeaturePoint::selectX() ) );
      error.stack( s_Z.error( s_Zd ) );

      // Compute the control law. Velocities are computed in the mobile robot reference frame
      v = -lambda * (L * cVe * eJe).pseudoInverse() * error;
   
      std::cout << "Send velocity to the pionner: " << v[0] << " m/s "
                << vpMath::deg(v[1]) << " deg/s" << std::endl;

      // Send the velocity to the robot
      robot.setVelocity(vpRobot::REFERENCE_FRAME, v);

      // Draw a vertical line which corresponds to the desired x coordinate of the dot cog
      vpDisplay::displayLine(I, 0, 320, 479, 320, vpColor::red);
      vpDisplay::flush(I);

      // A click in the viewer to exit
      if ( vpDisplay::getClick(I, false) )
        break;
    }

    std::cout << "Ending robot thread..." << std::endl;
    robot.stopRunning();

    // wait for the thread to stop
    robot.waitForRunExit();
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}
#else
int main()
{
  std::cout << "You don't have the right 3rd party libraries to run this example..." << std::endl;
}
#endif