Visual Servoing Platform  version 3.4.0
servoAfma6Points2DCamVelocityEyeToHand.cpp
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * tests the control law
33  * eye-to-hand control
34  * velocity computed in the camera frame
35  *
36  * Authors:
37  * Eric Marchand
38  *
39  *****************************************************************************/
58 #include <cmath> // std::fabs
59 #include <limits> // numeric_limits
60 #include <list>
61 #include <stdlib.h>
62 #include <visp3/core/vpConfig.h>
63 #include <visp3/core/vpDebug.h> // Debug trace
64 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65 
66 #define SAVE 0
67 
68 #include <visp3/blob/vpDot.h>
69 #include <visp3/core/vpDisplay.h>
70 #include <visp3/core/vpException.h>
71 #include <visp3/core/vpHomogeneousMatrix.h>
72 #include <visp3/core/vpImage.h>
73 #include <visp3/core/vpImagePoint.h>
74 #include <visp3/core/vpMath.h>
75 #include <visp3/core/vpPoint.h>
76 #include <visp3/gui/vpDisplayGTK.h>
77 #include <visp3/gui/vpDisplayOpenCV.h>
78 #include <visp3/gui/vpDisplayX.h>
79 #include <visp3/io/vpImageIo.h>
80 #include <visp3/robot/vpRobotAfma6.h>
81 #include <visp3/sensor/vp1394TwoGrabber.h>
82 #include <visp3/vision/vpPose.h>
83 #include <visp3/visual_features/vpFeatureBuilder.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/vs/vpServo.h>
86 #include <visp3/vs/vpServoDisplay.h>
87 
88 #define L 0.006
89 #define D 0
90 
91 int main()
92 {
93  try {
94  vpServo task;
95 
98  int i;
99 
103  g.open(I);
104 
105  g.acquire(I);
106 
107 #ifdef VISP_HAVE_X11
108  vpDisplayX display(I, 100, 100, "Current image");
109 #elif defined(VISP_HAVE_OPENCV)
110  vpDisplayOpenCV display(I, 100, 100, "Current image");
111 #elif defined(VISP_HAVE_GTK)
112  vpDisplayGTK display(I, 100, 100, "Current image");
113 #endif
114 
116  vpDisplay::flush(I);
117 
118  std::cout << std::endl;
119  std::cout << "-------------------------------------------------------" << std::endl;
120  std::cout << " Test program for vpServo " << std::endl;
121  std::cout << " Eye-to-hand task control" << std::endl;
122  std::cout << " Simulation " << std::endl;
123  std::cout << " task : servo a point " << std::endl;
124  std::cout << "-------------------------------------------------------" << std::endl;
125  std::cout << std::endl;
126 
127  int nbPoint = 7;
128 
129  vpDot dot[nbPoint];
130  vpImagePoint cog;
131 
132  for (i = 0; i < nbPoint; i++) {
133  dot[i].initTracking(I);
134  dot[i].setGraphics(true);
135  dot[i].track(I);
136  vpDisplay::flush(I);
137  dot[i].setGraphics(false);
138  }
139 
140  // Compute the pose 3D model
141  vpPoint point[nbPoint];
142  point[0].setWorldCoordinates(-2 * L, D, -3 * L);
143  point[1].setWorldCoordinates(0, D, -3 * L);
144  point[2].setWorldCoordinates(2 * L, D, -3 * L);
145 
146  point[3].setWorldCoordinates(-L, D, -L);
147  point[4].setWorldCoordinates(L, D, -L);
148  point[5].setWorldCoordinates(L, D, L);
149  point[6].setWorldCoordinates(-L, D, L);
150 
151  vpRobotAfma6 robot;
152  // Update camera parameters
153  robot.getCameraParameters(cam, I);
154 
155  vpHomogeneousMatrix cMo, cdMo;
156  vpPose pose;
157  pose.clearPoint();
158  for (i = 0; i < nbPoint; i++) {
159  cog = dot[i].getCog();
160  double x = 0, y = 0;
161  vpPixelMeterConversion::convertPoint(cam, cog, x, y);
162  point[i].set_x(x);
163  point[i].set_y(y);
164  pose.addPoint(point[i]);
165  }
166 
167  // compute the initial pose using Dementhon method followed by a non
168  // linear minimisation method
170 
171  std::cout << cMo << std::endl;
172  cMo.print();
173 
174  /*------------------------------------------------------------------
175  -- Learning the desired position
176  -- or reading the desired position
177  ------------------------------------------------------------------
178  */
179  std::cout << " Learning 0/1 " << std::endl;
180  char name[FILENAME_MAX];
181  sprintf(name, "cdMo.dat");
182  int learning;
183  std::cin >> learning;
184  if (learning == 1) {
185  // save the object position
186  vpTRACE("Save the location of the object in a file cdMo.dat");
187  std::ofstream f(name);
188  cMo.save(f);
189  f.close();
190  exit(1);
191  }
192 
193  {
194  vpTRACE("Loading desired location from cdMo.dat");
195  std::ifstream f("cdMo.dat");
196  cdMo.load(f);
197  f.close();
198  }
199 
200  vpFeaturePoint p[nbPoint], pd[nbPoint];
201 
202  // set the desired position of the point by forward projection using
203  // the pose cdMo
204  for (i = 0; i < nbPoint; i++) {
205  vpColVector cP, p;
206  point[i].changeFrame(cdMo, cP);
207  point[i].projection(cP, p);
208 
209  pd[i].set_x(p[0]);
210  pd[i].set_y(p[1]);
211  }
212 
213  //------------------------------------------------------------------
214 
215  vpTRACE("define the task");
216  vpTRACE("\t we want an eye-in-hand control law");
217  vpTRACE("\t robot is controlled in the camera frame");
220 
221  for (i = 0; i < nbPoint; i++) {
222  task.addFeature(p[i], pd[i]);
223  }
224 
225  vpTRACE("Display task information ");
226  task.print();
227 
228  //------------------------------------------------------------------
229 
230  double convergence_threshold = 0.00; // 025 ;
232 
233  //-------------------------------------------------------------
234  double error = 1;
235  unsigned int iter = 0;
236  vpTRACE("\t loop");
238  vpColVector v; // computed robot velocity
239 
240  // position of the object in the effector frame
241  vpHomogeneousMatrix oMcamrobot;
242  oMcamrobot[0][3] = -0.05;
243 
244  vpImage<vpRGBa> Ic;
245  int it = 0;
246 
247  double lambda_av = 0.1;
248  double alpha = 1; // 1 ;
249  double beta = 3; // 3 ;
250 
251  std::cout << "alpha 0.7" << std::endl;
252  std::cin >> alpha;
253  std::cout << "beta 5" << std::endl;
254  std::cin >> beta;
255  std::list<vpImagePoint> Lcog;
256  vpImagePoint ip;
257  while (error > convergence_threshold) {
258  std::cout << "---------------------------------------------" << iter++ << std::endl;
259 
260  g.acquire(I);
262  ip.set_i(265);
263  ip.set_j(150);
264  vpDisplay::displayText(I, ip, "Eye-To-Hand Visual Servoing", vpColor::green);
265  ip.set_i(280);
266  ip.set_j(150);
267  vpDisplay::displayText(I, ip, "IRISA-INRIA Rennes, Lagadic project", vpColor::green);
268  try {
269  for (i = 0; i < nbPoint; i++) {
270  dot[i].track(I);
271  Lcog.push_back(dot[i].getCog());
272  }
273  } catch (...) {
274  vpTRACE("Error detected while tracking visual features");
275  robot.stopMotion();
276  exit(1);
277  }
278 
279  // compute the initial pose using a non linear minimisation method
280  pose.clearPoint();
281 
282  for (i = 0; i < nbPoint; i++) {
283  double x = 0, y = 0;
284  cog = dot[i].getCog();
285  vpPixelMeterConversion::convertPoint(cam, cog, x, y);
286  point[i].set_x(x);
287  point[i].set_y(y);
288 
289  vpColVector cP;
290  point[i].changeFrame(cdMo, cP);
291 
292  p[i].set_x(x);
293  p[i].set_y(y);
294  p[i].set_Z(cP[2]);
295 
296  pose.addPoint(point[i]);
297 
298  point[i].display(I, cMo, cam, vpColor::green);
299  point[i].display(I, cdMo, cam, vpColor::blue);
300  }
301  pose.computePose(vpPose::LOWE, cMo);
302  vpDisplay::flush(I);
303 
305  vpHomogeneousMatrix cMe, camrobotMe;
306  robot.get_cMe(camrobotMe);
307  cMe = cMo * oMcamrobot * camrobotMe;
308 
309  task.set_cVe(cMe);
310 
311  vpMatrix eJe;
312  robot.get_eJe(eJe);
313  task.set_eJe(eJe);
314 
315  // Compute the adaptative gain (speed up the convergence)
316  double gain;
317  if (iter > 2) {
318  if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
319  gain = lambda_av;
320  else {
321  gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
322  }
323  } else
324  gain = lambda_av;
325  if (SAVE == 1)
326  gain = gain / 5;
327 
328  vpTRACE("%f %f %f %f %f", alpha, beta, lambda_av, (task.getError()).sumSquare(), gain);
329  task.setLambda(gain);
330 
331  v = task.computeControlLaw();
332 
333  // display points trajectory
334  for (std::list<vpImagePoint>::const_iterator it_cog = Lcog.begin(); it_cog != Lcog.end(); ++it_cog) {
336  }
337  vpServoDisplay::display(task, cam, I);
339 
340  error = (task.getError()).sumSquare();
341  std::cout << "|| s - s* || = " << error << std::endl;
342 
343  if (error > 7) {
344  vpTRACE("Error detected while tracking visual features");
345  robot.stopMotion();
346  exit(1);
347  }
348 
349  // display the pose
350  // pose.display(I,cMo,cam, 0.04, vpColor::red) ;
351  // display the pose
352  // pose.display(I,cdMo,cam, 0.04, vpColor::blue) ;
353  if ((SAVE == 1) && (iter % 3 == 0)) {
354 
355  vpDisplay::getImage(I, Ic);
356  sprintf(name, "/tmp/marchand/image.%04d.ppm", it++);
357  vpImageIo::write(Ic, name);
358  }
359  }
360  v = 0;
363  return EXIT_SUCCESS;
364  }
365  catch (const vpException &e) {
366  std::cout << "Test failed with exception: " << e << std::endl;
367  return EXIT_FAILURE;
368  }
369 }
370 
371 #else
372 int main()
373 {
374  std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
375  return EXIT_SUCCESS;
376 }
377 
378 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Definition: vpPose.cpp:374
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition: vpPoint.cpp:430
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpAfma6.cpp:1256
void get_eJe(vpMatrix &_eJe)
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
Definition: vpPoint.cpp:239
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:506
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:770
error that can be emited by ViSP classes.
Definition: vpException.h:71
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
void set_y(double y)
static const vpColor green
Definition: vpColor.h:220
void acquire(vpImage< unsigned char > &I)
void set_x(double x)
static void flush(const vpImage< unsigned char > &I)
void load(std::ifstream &f)
Control of Irisa&#39;s gantry robot named Afma6.
Definition: vpRobotAfma6.h:211
static const vpColor red
Definition: vpColor.h:217
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
void set_x(double x)
Set the point x coordinate in the image plane.
Definition: vpPoint.cpp:497
void set_y(double y)
Set the point y coordinate in the image plane.
Definition: vpPoint.cpp:499
void get_cMe(vpHomogeneousMatrix &_cMe) const
static void write(const vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:445
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Definition: vpDot.h:247
Initialize the velocity controller.
Definition: vpRobot.h:66
vpColVector getError() const
Definition: vpServo.h:278
void set_i(double ii)
Definition: vpImagePoint.h:166
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
#define vpTRACE
Definition: vpDebug.h:416
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Definition: vpPose.h:80
Generic class defining intrinsic camera parameters.
void setLambda(double c)
Definition: vpServo.h:404
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:144
void projection(const vpColVector &_cP, vpColVector &_p) const
Definition: vpPoint.cpp:222
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
void save(std::ofstream &f) const
void set_j(double jj)
Definition: vpImagePoint.h:177
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition: vpServo.h:448
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Definition: vpDot.h:115
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
void setGraphics(bool activate)
Definition: vpDot.h:361
void print() const
Print the matrix as a pose vector .
void addPoint(const vpPoint &P)
Definition: vpPose.cpp:149
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
static const vpColor blue
Definition: vpColor.h:223
void clearPoint()
Definition: vpPose.cpp:134