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.
#include <cmath>
#include <limits>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#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>
#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 {
#ifdef VISP_HAVE_X11
#elif defined(HAVE_OPENCV_HIGHGUI)
#elif defined(VISP_HAVE_GTK)
#endif
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 ");
double L = 0.05;
vpTRACE(
"Initialization of the tracking");
int i;
for (i = 0; i < nbline; i++) {
}
for (i = 0; i < nbline; i++) {
double x = 0, y = 0;
return EXIT_FAILURE;
}
}
for (i = 0; i < nbline; i++) {
}
vpTRACE(
"sets the current position of the visual feature ");
double xc = (point[0].
get_x() + point[2].
get_x()) / 2;
double yc = (point[0].
get_y() + point[2].
get_y()) / 2;
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;
vpTRACE(
"Display task information ");
unsigned int iter = 0;
double lambda_av = 0.05;
double alpha = 0.05;
double beta = 3;
for (;;) {
std::cout << "---------------------------------------------" << iter << std::endl;
try {
for (i = 0; i < nbline; i++) {
double x = 0, y = 0;
return EXIT_FAILURE;
}
}
for (i = 0; i < nbpoint; i++)
double gain;
{
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
}
}
if (iter == 0)
v = 0;
robot.stopMotion();
}
}
catch (...) {
v = 0;
robot.stopMotion();
exit(1);
}
iter++;
}
vpTRACE(
"Display task information ");
return EXIT_SUCCESS;
}
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)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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...
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 emitted by ViSP classes.
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 override
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 ...
static double rad(double deg)
Class that tracks in an image a line moving edges.
void display(const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)
void track(const vpImage< unsigned char > &I)
static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)
void initTracking(const vpImage< unsigned char > &I)
void setPointsToTrack(const int &points_to_track)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
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 ...
void set_x(double x)
Set the point x coordinate in the image plane.
double get_y() const
Get the point y coordinate in the image plane.
double get_x() const
Get the point x coordinate in the image plane.
double get_Z() const
Get the point cZ coordinate in the camera frame.
void setWorldCoordinates(double oX, double oY, double oZ)
void set_y(double y)
Set the point y coordinate in the image plane.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void addPoint(const vpPoint &P)
@ DEMENTHON_LAGRANGE_VIRTUAL_VS
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=nullptr)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) override
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.