servoAfma6SquareLines2DCamVelocity.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 the four lines of a square.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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
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 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
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 *
 * 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:
 *   tests the control law
 *   eye-in-hand control
 *   velocity computed in the camera frame
 *
*****************************************************************************/
 
#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/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/sensor/vpRealSense2.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/me/vpMeLine.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
 
#include <visp3/robot/vpRobotAfma6.h>
 
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
  try {
    vpImage<unsigned char> I;
 
    vpRealSense2 rs;
    rs2::config config;
    config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
    config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
    config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
    rs.open(config);
 
    // Warm up camera
    for (size_t i = 0; i < 10; ++i) {
      rs.acquire(I);
    }
 
#ifdef VISP_HAVE_X11
    vpDisplayX display(I, 100, 100, "Current image");
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV display(I, 100, 100, "Current image");
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display(I, 100, 100, "Current image");
#endif
 
    vpDisplay::display(I);
    vpDisplay::flush(I);
 
    vpServo task;
 
    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 i;
    int nbline = 4;
 
    vpMeLine line[nbline];
 
    vpMe me;
    me.setRange(10);
    me.setPointsToTrack(100);
    me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
    me.setThreshold(20);
    me.setSampleStep(10);
 
    // Initialize the tracking. Define the four lines to track.
    for (i = 0; i < nbline; i++) {
      line[i].setDisplay(vpMeSite::RANGE_RESULT);
      line[i].setMe(&me);
 
      line[i].initTracking(I);
      line[i].track(I);
    }
 
    vpRobotAfma6 robot;
    robot.init(vpAfma6::TOOL_INTEL_D435_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
    // robot.move("zero.pos");
 
    vpCameraParameters cam;
    // Update camera parameters
    robot.getCameraParameters(cam, I);
 
    vpTRACE("sets the current position of the visual feature ");
    vpFeatureLine p[nbline];
    for (i = 0; i < nbline; i++)
      vpFeatureBuilder::create(p[i], cam, line[i]);
 
    vpTRACE("sets the desired position of the visual feature ");
    vpLine lined[nbline];
    lined[0].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
    lined[1].setWorldCoordinates(0, 1, 0, 0.05, 0, 0, 1, 0);
    lined[2].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
    lined[3].setWorldCoordinates(0, 1, 0, -0.05, 0, 0, 1, 0);
 
    vpHomogeneousMatrix cMo(0, 0, 0.5, 0, 0, vpMath::rad(0));
 
    lined[0].project(cMo);
    lined[1].project(cMo);
    lined[2].project(cMo);
    lined[3].project(cMo);
 
    // Those lines are needed to keep the conventions define in vpMeLine
    // (Those in vpLine are less restrictive)  Another way to have the
    // coordinates of the desired features is to learn them before executing
    // the program.
    lined[0].setRho(-fabs(lined[0].getRho()));
    lined[0].setTheta(0);
    lined[1].setRho(-fabs(lined[1].getRho()));
    lined[1].setTheta(M_PI / 2);
    lined[2].setRho(-fabs(lined[2].getRho()));
    lined[2].setTheta(M_PI);
    lined[3].setRho(-fabs(lined[3].getRho()));
    lined[3].setTheta(-M_PI / 2);
 
    vpFeatureLine pd[nbline];
 
    vpFeatureBuilder::create(pd[0], lined[0]);
    vpFeatureBuilder::create(pd[1], lined[1]);
    vpFeatureBuilder::create(pd[2], lined[2]);
    vpFeatureBuilder::create(pd[3], lined[3]);
 
    vpTRACE("define the task");
    vpTRACE("\t we want an eye-in-hand control law");
    vpTRACE("\t robot is controlled in the camera frame");
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
 
    vpTRACE("\t we want to see a point on a point..");
    std::cout << std::endl;
    for (i = 0; i < nbline; i++)
      task.addFeature(p[i], pd[i]);
 
    vpTRACE("\t set the gain");
    task.setLambda(0.2);
 
    vpTRACE("Display task information ");
    task.print();
 
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
 
    unsigned int iter = 0;
    vpTRACE("\t loop");
    vpColVector v;
    vpImage<vpRGBa> Ic;
    double lambda_av = 0.05;
    double alpha = 0.05;
    double beta = 3;
 
    bool quit = false;
    while (!quit) {
      std::cout << "---------------------------------------------" << iter << std::endl;
 
      try {
        rs.acquire(I);
        vpDisplay::display(I);
 
        // Track the lines and update the features
        for (i = 0; i < nbline; i++) {
          line[i].track(I);
          line[i].display(I, vpColor::red);
 
          vpFeatureBuilder::create(p[i], cam, line[i]);
 
          p[i].display(cam, I, vpColor::red);
          pd[i].display(cam, I, vpColor::green);
        }
 
        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();
 
        if (iter == 0) {
          vpDisplay::getClick(I);
        }
        if (v.sumSquare() > 0.5) {
          v = 0;
          robot.setVelocity(vpRobot::CAMERA_FRAME, v);
          robot.stopMotion();
          vpDisplay::getClick(I);
        }
 
        robot.setVelocity(vpRobot::CAMERA_FRAME, v);
 
        vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::red);
        if (vpDisplay::getClick(I, false)) {
          quit = true;
        }
 
        vpDisplay::flush(I);
      }
      catch (...) {
        v = 0;
        robot.setVelocity(vpRobot::CAMERA_FRAME, v);
        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