Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoAfma62DhalfCamVelocity.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 given thanks to four lines and are the x and y coordinates of the rectangle center, log(Z/Z*) the current depth relative to the desired depth and the thetau rotations.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
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* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
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* Inria at visp@inria.fr
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*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in the camera frame
*
* Authors:
* Nicolas Melchior
*
*****************************************************************************/
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureDepth.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpGenericFeature.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpPoint.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;
vpRobotAfma6 robot;
// robot.move("zero.pos") ;
// Update camera parameters
robot.getCameraParameters(cam, 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 line " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
int nbline = 4;
int nbpoint = 4;
vpTRACE("sets the desired position of the visual feature ");
vpPoint pointd[nbpoint]; // position of the fours corners
vpPoint pointcd; // position of the center of the square
double L = 0.05;
pointd[0].setWorldCoordinates(L, -L, 0);
pointd[1].setWorldCoordinates(L, L, 0);
pointd[2].setWorldCoordinates(-L, L, 0);
pointd[3].setWorldCoordinates(-L, -L, 0);
// The coordinates in the object frame of the point used as a feature ie
// the center of the square
pointcd.setWorldCoordinates(0, 0, 0);
// The desired homogeneous matrix.
vpHomogeneousMatrix cMod(0, 0, 0.4, 0, 0, vpMath::rad(10));
pointd[0].project(cMod);
pointd[1].project(cMod);
pointd[2].project(cMod);
pointd[3].project(cMod);
pointcd.project(cMod);
vpTRACE("Initialization of the tracking");
vpMeLine line[nbline];
vpPoint point[nbpoint];
int i;
vpMe me;
me.setRange(10);
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);
}
// Compute the position of the four corners. The goal is to
// compute the pose
for (i = 0; i < nbline; i++) {
double x = 0, y = 0;
if (!vpMeLine::intersection(line[i % nbline], line[(i + 1) % nbline], ip)) {
exit(-1);
}
point[i].set_x(x);
point[i].set_y(y);
}
// Compute the pose cMo
vpPose pose;
pose.clearPoint();
point[0].setWorldCoordinates(L, -L, 0);
point[1].setWorldCoordinates(L, L, 0);
point[2].setWorldCoordinates(-L, L, 0);
point[3].setWorldCoordinates(-L, -L, 0);
for (i = 0; i < nbline; i++) {
pose.addPoint(point[i]); // and added to the pose computation point list
}
vpTRACE("sets the current position of the visual feature ");
// The first features are the position in the camera frame x and y of the
// square center
vpPoint pointc; // The current position of the center of the square
double xc = (point[0].get_x() + point[2].get_x()) / 2;
double yc = (point[0].get_y() + point[2].get_y()) / 2;
pointc.set_x(xc);
pointc.set_y(yc);
pointc.project(cMo);
// The second feature is the depth of the current square center relative
// to the depth of the desired square center.
logZ.buildFrom(pointc.get_x(), pointc.get_y(), pointc.get_Z(), log(pointc.get_Z() / pointcd.get_Z()));
// The last three features are the rotations thetau between the current
// pose and the desired pose.
cdMc = cMod * cMo.inverse();
tu.buildFrom(cdMc);
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;
task.addFeature(p, pd);
task.addFeature(logZ);
task.addFeature(tu);
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);
pose.clearPoint();
// Track the lines and find the current position of the corners
for (i = 0; i < nbline; i++) {
line[i].track(I);
line[i].display(I, vpColor::green);
double x = 0, y = 0;
if (!vpMeLine::intersection(line[i % nbline], line[(i + 1) % nbline], ip)) {
exit(-1);
}
point[i].set_x(x);
point[i].set_y(y);
pose.addPoint(point[i]);
}
// Compute the pose
// Update the two first features x and y (position of the square
// center)
xc = (point[0].get_x() + point[2].get_x()) / 2;
yc = (point[0].get_y() + point[2].get_y()) / 2;
pointc.set_x(xc);
pointc.set_y(yc);
pointc.project(cMo);
// Print the current and the desired position of the center of the
// square Print the desired position of the four corners
p.display(cam, I, vpColor::green);
pd.display(cam, I, vpColor::red);
for (i = 0; i < nbpoint; i++)
pointd[i].display(I, cam, vpColor::red);
// Update the second feature
logZ.buildFrom(pointc.get_x(), pointc.get_y(), pointc.get_Z(), log(pointc.get_Z() / pointcd.get_Z()));
// Update the last three features
cdMc = cMod * cMo.inverse();
tu.buildFrom(cdMc);
// Adaptive gain
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();
std::cout << v.sumSquare() << std::endl;
if (iter == 0)
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();
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Test failed with exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
return EXIT_SUCCESS;
}
#endif
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
double sumSquare() const
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
void buildFrom(double x, double y, double Z, double LogZoverZstar)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
void buildFrom(vpThetaUVector &tu)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
static double rad(double deg)
Definition: vpMath.h:117
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)
Definition: vpMeLine.cpp:990
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
void setThreshold(const double &t)
Definition: vpMe.h:300
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void set_x(double x)
Set the point x coordinate in the image plane.
Definition: vpPoint.cpp:511
double get_y() const
Get the point y coordinate in the image plane.
Definition: vpPoint.cpp:472
double get_x() const
Get the point x coordinate in the image plane.
Definition: vpPoint.cpp:470
double get_Z() const
Get the point cZ coordinate in the camera frame.
Definition: vpPoint.cpp:456
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
void set_y(double y)
Set the point y coordinate in the image plane.
Definition: vpPoint.cpp:513
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Definition: vpPose.h:90
void addPoint(const vpPoint &P)
Definition: vpPose.cpp:148
@ VIRTUAL_VS
Definition: vpPose.h:104
@ LAGRANGE
Definition: vpPose.h:94
void clearPoint()
Definition: vpPose.cpp:133
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Definition: vpPose.cpp:373
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:83
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:67
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:564
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:303
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
vpColVector getError() const
Definition: vpServo.h:278
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
@ CURRENT
Definition: vpServo.h:182
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487
#define vpTRACE
Definition: vpDebug.h:416