Visual Servoing Platform  version 3.3.1 under development (2020-07-09)
servoMomentPolygon.cpp

Example of moment-based visual servoing with Images

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://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
* Inria at visp@inria.fr
*
* 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:
* Example of visual servoing with moments using a polygon as object container
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMomentCommon.h>
#include <visp3/core/vpMomentDatabase.h>
#include <visp3/core/vpMomentObject.h>
#include <visp3/core/vpPlane.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureMomentCommon.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
// Robot simulator used in this example is not available
int main()
{
std::cout << "Can't run this example since vpSimulatorAfma6 capability is "
"not available."
<< std::endl;
std::cout << "You should install pthread third-party library." << std::endl;
return EXIT_SUCCESS;
}
// No display available
#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \
!defined(VISP_HAVE_GTK)
int main()
{
std::cout << "Can't run this example since no display capability is available." << std::endl;
std::cout << "You should install one of the following third-party library: "
"X11, OpenCV, GDI, GTK."
<< std::endl;
return EXIT_SUCCESS;
}
#else
#ifndef DOXYGEN_SHOULD_SKIP_THIS
class servoMoment
{
public:
servoMoment()
: m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(NULL), m_momentsDes(NULL),
m_featureMoments(NULL), m_featureMomentsDes(NULL), m_displayInt(NULL)
{
}
~servoMoment()
{
#ifdef VISP_HAVE_DISPLAY
if (m_displayInt) {
delete m_displayInt;
}
#endif
delete m_moments;
delete m_momentsDes;
delete m_featureMoments;
delete m_featureMomentsDes;
}
void initScene()
{
std::vector<vpPoint> src_pts;
std::vector<vpPoint> dst_pts;
double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
int nbpoints = 4;
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(m_cMo);
src_pts.push_back(p);
}
m_src.fromVector(src_pts);
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(m_cdMo);
dst_pts.push_back(p);
}
m_dst.fromVector(dst_pts);
}
void refreshScene(vpMomentObject &obj)
{
double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
int nbpoints = 5;
std::vector<vpPoint> cur_pts;
for (int i = 0; i < nbpoints; i++) {
vpPoint p(x[i], y[i], 0.0);
p.track(m_cMo);
cur_pts.push_back(p);
}
obj.fromVector(cur_pts);
}
{
m_cMo = cMo; // init source matrix
m_cdMo = cdMo; // init destination matrix
m_interaction_type = vpServo::CURRENT; // use interaction matrix for current position
#ifdef VISP_HAVE_DISPLAY
// init the right display
#if defined VISP_HAVE_X11
m_displayInt = new vpDisplayX;
#elif defined VISP_HAVE_OPENCV
m_displayInt = new vpDisplayOpenCV;
#elif defined VISP_HAVE_GDI
m_displayInt = new vpDisplayGDI;
#elif defined VISP_HAVE_D3D9
m_displayInt = new vpDisplayD3D;
#elif defined VISP_HAVE_GTK
m_displayInt = new vpDisplayGTK;
#endif
m_displayInt->init(m_Iint, 50, 50, "Visual servoing with moments");
#endif
paramRobot(); // set up robot parameters
m_task.setServo(vpServo::EYEINHAND_CAMERA);
initScene(); // initialize graphical scene (for interface)
initFeatures(); // initialize moment features
}
void initFeatures()
{
// A,B,C parameters of source and destination plane
double A;
double B;
double C;
double Ad;
double Bd;
double Cd;
// init main object: using moments up to order 6
// Initializing values from regular plane (with ax+by+cz=d convention)
vpPlane pl;
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(m_cMo);
planeToABC(pl, A, B, C);
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(m_cdMo);
planeToABC(pl, Ad, Bd, Cd);
// extracting initial position (actually we only care about Zdst)
m_cdMo.extract(vec);
// don't need to be specific, vpMomentCommon automatically loads
// Xg,Yg,An,Ci,Cj,Alpha moments
vpMomentCommon::getAlpha(m_dst), vec[2]);
vpMomentCommon::getAlpha(m_dst), vec[2]);
// same thing with common features
m_featureMoments = new vpFeatureMomentCommon(*m_moments);
m_featureMomentsDes = new vpFeatureMomentCommon(*m_momentsDes);
m_moments->updateAll(m_src);
m_momentsDes->updateAll(m_dst);
m_featureMoments->updateAll(A, B, C);
m_featureMomentsDes->updateAll(Ad, Bd, Cd);
// setup the interaction type
m_task.setInteractionMatrixType(m_interaction_type);
m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
m_featureMomentsDes->getFeatureGravityNormalized());
m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
// the moments are different in case of a symmetric object
m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
(1 << 10) | (1 << 11));
m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
m_task.setLambda(0.4);
}
void execute(unsigned int nbIter)
{
vpPlot ViSP_plot;
init_visp_plot(ViSP_plot); // Initialize plot object
// init main object: using moments up to order 5
// setting object type (disrete, continuous[form polygon])
std::cout << "Display task information " << std::endl;
;
m_task.print();
m_robot.getInternalView(m_Iint);
unsigned int iter = 0;
while (iter++ < nbIter) {
double t = vpTime::measureTimeMs();
// get the cMo
m_cMo = m_robot.get_cMo();
// setup the plane in A,B,C style
vpPlane pl;
double A, B, C;
pl.setABCD(0, 0, 1.0, 0);
pl.changeFrame(m_cMo);
planeToABC(pl, A, B, C);
// track points, draw points and add refresh our object
refreshScene(obj);
// this is the most important thing to do: update our moments
m_moments->updateAll(obj);
// and update our features. Do it in that order. Features need to use the
// information computed by moments
m_featureMoments->updateAll(A, B, C);
m_robot.getInternalView(m_Iint);
if (iter == 1) {
vpDisplay::displayText(m_Iint, 20, 20, "Click to start servoing", vpColor::red);
}
v = m_task.computeControlLaw();
m_robot.setVelocity(vpRobot::CAMERA_FRAME, v);
ViSP_plot.plot(0, iter, v);
ViSP_plot.plot(1, iter, vpPoseVector(m_cMo)); // Plot the velocities
ViSP_plot.plot(2, iter, m_task.getError()); // cMo as translations and theta_u
m_error = (m_task.getError()).sumSquare();
vpDisplay::displayText(m_Iint, 20, 20, "Click to stop visual servo...", vpColor::red);
if (vpDisplay::getClick(m_Iint, false)) {
break;
}
vpTime::wait(t, 10);
}
m_task.kill();
m_robot.getInternalView(m_Iint);
vpDisplay::displayText(m_Iint, 20, 20, "Click to quit...", vpColor::red);
}
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type) { m_interaction_type = type; }
double error() { return m_error; }
void removeJointLimits(vpSimulatorAfma6 &robot)
{
vpColVector limMin(6);
vpColVector limMax(6);
limMin[0] = vpMath::rad(-3600);
limMin[1] = vpMath::rad(-3600);
limMin[2] = vpMath::rad(-3600);
limMin[3] = vpMath::rad(-3600);
limMin[4] = vpMath::rad(-3600);
limMin[5] = vpMath::rad(-3600);
limMax[0] = vpMath::rad(3600);
limMax[1] = vpMath::rad(3600);
limMax[2] = vpMath::rad(3600);
limMax[3] = vpMath::rad(3600);
limMax[4] = vpMath::rad(3600);
limMax[5] = vpMath::rad(3600);
robot.setJointLimit(limMin, limMax);
}
void planeToABC(vpPlane &pl, double &A, double &B, double &C)
{
if (fabs(pl.getD()) < std::numeric_limits<double>::epsilon()) {
std::cout << "Invalid position:" << std::endl;
std::cout << m_cMo << std::endl;
std::cout << "Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
throw vpException(vpException::divideByZeroError, "invalid position!");
}
A = -pl.getA() / pl.getD();
B = -pl.getB() / pl.getD();
C = -pl.getC() / pl.getD();
}
void paramRobot()
{
/*Initialise the robot and especially the camera*/
m_robot.setCurrentViewColor(vpColor(150, 150, 150));
m_robot.setDesiredViewColor(vpColor(200, 200, 200));
m_robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
removeJointLimits(m_robot);
/*Initialise the position of the object relative to the pose of the robot's
* camera*/
m_robot.initialiseObjectRelativeToCamera(m_cMo);
/*Set the desired position (for the displaypart)*/
m_robot.setDesiredCameraPosition(m_cdMo);
m_robot.getCameraParameters(m_cam, m_Iint);
}
void init_visp_plot(vpPlot &ViSP_plot)
{
/* -------------------------------------
* Initialize ViSP Plotting
* -------------------------------------
*/
const unsigned int NbGraphs = 3; // No. of graphs
const unsigned int NbCurves_in_graph[NbGraphs] = {6, 6, 6}; // Curves in each graph
ViSP_plot.init(NbGraphs, 800, 800, 100 + static_cast<int>(m_width), 50, "Visual Servoing results...");
vpColor Colors[6] = {// Colour for s1, s2, s3, in 1st plot
for (unsigned int p = 0; p < NbGraphs; p++) {
ViSP_plot.initGraph(p, NbCurves_in_graph[p]);
for (unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
ViSP_plot.setColor(p, c, Colors[c]);
}
ViSP_plot.setTitle(0, "Robot velocities");
ViSP_plot.setLegend(0, 0, "v_x");
ViSP_plot.setLegend(0, 1, "v_y");
ViSP_plot.setLegend(0, 2, "v_z");
ViSP_plot.setLegend(0, 3, "w_x");
ViSP_plot.setLegend(0, 4, "w_y");
ViSP_plot.setLegend(0, 5, "w_z");
ViSP_plot.setTitle(1, "Camera pose cMo");
ViSP_plot.setLegend(1, 0, "tx");
ViSP_plot.setLegend(1, 1, "ty");
ViSP_plot.setLegend(1, 2, "tz");
ViSP_plot.setLegend(1, 3, "tu_x");
ViSP_plot.setLegend(1, 4, "tu_y");
ViSP_plot.setLegend(1, 5, "tu_z");
ViSP_plot.setTitle(2, "Error in visual features: ");
ViSP_plot.setLegend(2, 0, "x_n");
ViSP_plot.setLegend(2, 1, "y_n");
ViSP_plot.setLegend(2, 2, "a_n");
ViSP_plot.setLegend(2, 3, "sx");
ViSP_plot.setLegend(2, 4, "sy");
ViSP_plot.setLegend(2, 5, "alpha");
}
protected:
// start and destination positioning matrices
unsigned int m_width;
unsigned int m_height;
// start and destination positioning matrices
vpSimulatorAfma6 m_robot; // robot used in this simulation
vpImage<vpRGBa> m_Iint; // internal image used for interface display
vpServo m_task; // servoing task
vpCameraParameters m_cam; // robot camera parameters
double m_error; // current error
vpImageSimulator m_imsim; // image simulator used to simulate the perspective-projection camera
vpServo::vpServoIteractionMatrixType m_interaction_type; // current or desired
// source and destination objects for moment manipulation
// moment sets and their corresponding features
vpMomentCommon *m_moments;
vpMomentCommon *m_momentsDes;
vpFeatureMomentCommon *m_featureMoments;
vpFeatureMomentCommon *m_featureMomentsDes;
vpDisplay *m_displayInt;
};
#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
int main()
{
try { // intial pose
vpHomogeneousMatrix cMo(-0.1, -0.1, 1.5, -vpMath::rad(20), -vpMath::rad(20), -vpMath::rad(30));
// Desired pose
servoMoment servo;
// init and run the simulation
servo.init(cMo, cdMo);
servo.execute(1500);
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#endif