Example of a eye-to-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The robot is controlled in the camera frame.
#include <cmath>
#include <limits>
#include <list>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#define SAVE 0
#define L 0.006
#define D 0
int main()
{
try {
std::string logdirname = "/tmp/" + username;
if (SAVE) {
try {
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
return EXIT_FAILURE;
}
}
}
int i;
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_OPENCV)
#elif defined(VISP_HAVE_GTK)
#endif
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-to-hand task control" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
int nbPoint = 7;
for (i = 0; i < nbPoint; i++) {
}
robot.getCameraParameters(cam, I);
for (i = 0; i < nbPoint; i++) {
double x = 0, y = 0;
}
std::cout << cMo << std::endl;
std::cout << " Learning 0/1 " << std::endl;
std::string name = "cdMo.dat";
int learning;
std::cin >> learning;
if (learning == 1) {
vpTRACE(
"Save the location of the object in a file cdMo.dat");
std::ofstream f(name.c_str());
f.close();
exit(1);
}
{
vpTRACE(
"Loading desired location from cdMo.dat");
std::ifstream f("cdMo.dat");
f.close();
}
for (i = 0; i < nbPoint; i++) {
}
vpTRACE(
"\t we want an eye-in-hand control law");
vpTRACE(
"\t robot is controlled in the camera frame");
for (i = 0; i < nbPoint; i++) {
}
vpTRACE(
"Display task information ");
double convergence_threshold = 0.00;
double error = 1;
unsigned int iter = 0;
oMcamrobot[0][3] = -0.05;
int it = 0;
double lambda_av = 0.1;
double alpha = 1;
double beta = 3;
std::cout << "alpha 0.7" << std::endl;
std::cin >> alpha;
std::cout << "beta 5" << std::endl;
std::cin >> beta;
std::list<vpImagePoint> Lcog;
while (error > convergence_threshold) {
std::cout << "---------------------------------------------" << iter++ << std::endl;
try {
for (i = 0; i < nbPoint; i++) {
Lcog.push_back(dot[i].getCog());
}
} catch (...) {
vpTRACE(
"Error detected while tracking visual features");
robot.stopMotion();
exit(1);
}
for (i = 0; i < nbPoint; i++) {
double x = 0, y = 0;
}
cMe = cMo * oMcamrobot * camrobotMe;
double gain;
if (iter > 2) {
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
}
} else
gain = lambda_av;
if (SAVE == 1)
gain = gain / 5;
vpTRACE(
"%f %f %f %f %f", alpha, beta, lambda_av, (task.
getError()).sumSquare(), gain);
for (std::list<vpImagePoint>::const_iterator it_cog = Lcog.begin(); it_cog != Lcog.end(); ++it_cog) {
}
std::cout << "|| s - s* || = " << error << std::endl;
if (error > 7) {
vpTRACE(
"Error detected while tracking visual features");
robot.stopMotion();
exit(1);
}
if ((SAVE == 1) && (iter % 3 == 0)) {
std::stringstream ss;
ss << logdirname;
ss << "/image.";
ss << std::setfill('0') << std::setw(4);
ss << it++;
ss << ".ppm";
}
}
v = 0;
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 blue
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 getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
static void flush(const vpImage< unsigned char > &I)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
void setGraphics(bool activate)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
void print() const
Print the matrix as a pose vector .
void save(std::ofstream &f) const
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
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.
void projection(const vpColVector &_cP, vpColVector &_p) const
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
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 &)=NULL)
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpHomogeneousMatrix get_cMe() const