Visual Servoing Platform version 3.5.0
servoAfma6Ellipse2DCamVelocity.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * tests the control law
33 * eye-in-hand control
34 * velocity computed in the camera frame
35 *
36 * Authors:
37 * Eric Marchand
38 *
39 *****************************************************************************/
40
59#include <cmath> // std::fabs
60#include <limits> // numeric_limits
61#include <stdlib.h>
62#include <visp3/core/vpConfig.h>
63#include <visp3/core/vpDebug.h> // Debug trace
64#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65
66#include <visp3/core/vpDisplay.h>
67#include <visp3/core/vpImage.h>
68#include <visp3/gui/vpDisplayGTK.h>
69#include <visp3/gui/vpDisplayOpenCV.h>
70#include <visp3/gui/vpDisplayX.h>
71#include <visp3/sensor/vp1394TwoGrabber.h>
72
73#include <visp3/core/vpHomogeneousMatrix.h>
74#include <visp3/core/vpMath.h>
75#include <visp3/visual_features/vpFeatureBuilder.h>
76#include <visp3/visual_features/vpFeatureEllipse.h>
77#include <visp3/vs/vpServo.h>
78
79#include <visp3/robot/vpRobotAfma6.h>
80
81// Exception
82#include <visp3/core/vpException.h>
83#include <visp3/vs/vpServoDisplay.h>
84
85#include <visp3/blob/vpDot.h>
86
87int main()
88{
89 try {
90 vpServo task;
91
96 g.open(I);
97 g.acquire(I);
98
99#ifdef VISP_HAVE_X11
100 vpDisplayX display(I, 100, 100, "Current image");
101#elif defined(VISP_HAVE_OPENCV)
102 vpDisplayOpenCV display(I, 100, 100, "Current image");
103#elif defined(VISP_HAVE_GTK)
104 vpDisplayGTK display(I, 100, 100, "Current image");
105#endif
106
109
110 std::cout << std::endl;
111 std::cout << "-------------------------------------------------------" << std::endl;
112 std::cout << " Test program for vpServo " << std::endl;
113 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
114 std::cout << " Simulation " << std::endl;
115 std::cout << " task : servo a point " << std::endl;
116 std::cout << "-------------------------------------------------------" << std::endl;
117 std::cout << std::endl;
118
119 vpDot dot;
120
121 dot.setMaxDotSize(0.30); // Max dot size is 30 % of the image size
122 // dot.setGraphics(true) ;
123 dot.setComputeMoments(true);
124 std::cout << "Click on an ellipse..." << std::endl;
125 dot.initTracking(I);
126 vpImagePoint cog = dot.getCog();
129
130 dot.track(I);
131
133
134 vpRobotAfma6 robot;
135
136 // Update camera parameters
137 robot.getCameraParameters(cam, I);
138
139 vpTRACE("sets the current position of the visual feature ");
141 vpFeatureBuilder::create(c, cam, dot);
142
143 std::cout << " Learning 0/1 " << std::endl;
144 int learning;
145 std::cin >> learning;
146 char name[FILENAME_MAX];
147 sprintf(name, "dat/ellipse.dat");
148 if (learning == 1) {
149 // save the object position
150 vpTRACE("Save the location of the object in a file dat/ellipse.dat");
151 std::ofstream f(name);
152 f << c.get_s().t();
153 f.close();
154 exit(1);
155 }
156
157 vpTRACE("sets the desired position of the visual feature ");
159 std::ifstream f("dat/ellipse.dat");
160 double x, y, n20, n11, n02;
161 f >> x;
162 f >> y;
163 f >> n20;
164 f >> n11;
165 f >> n02;
166 f.close();
167 cd.buildFrom(x, y, n20, n11, n02);
168 cd.setABC(0, 0, 10);
169
172
173 task.addFeature(c, cd);
174
175 task.setLambda(0.01);
176
178 unsigned int iter = 0;
179 double lambda_av = 0.01;
180 double alpha = 0.1; // 1 ;
181 double beta = 3; // 3 ;
182
183 std::cout << "alpha 0.7" << std::endl;
184 std::cin >> alpha;
185 std::cout << "beta 5" << std::endl;
186 std::cin >> beta;
187 for (;;) {
188 std::cout << "---------------------------------------------" << iter++ << std::endl;
189
190 g.acquire(I);
192
193 dot.track(I);
194
195 // Get the dot cog
196 cog = dot.getCog();
197
199
200 vpFeatureBuilder::create(c, cam, dot);
201 // Compute the adaptative gain (speed up the convergence)
202 double gain;
203 if (iter > 2) {
204 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
205 gain = lambda_av;
206 else {
207 gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
208 }
209 } else
210 gain = lambda_av;
211
212 vpTRACE("%f %f", (task.getError()).sumSquare(), gain);
213 task.setLambda(gain);
214 vpColVector v;
215 v = task.computeControlLaw();
216 std::cout << "rank " << task.getTaskRank() << std::endl;
217 vpServoDisplay::display(task, cam, I);
218 std::cout << v.t();
220
222 vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
223 }
224
225 vpTRACE("Display task information ");
226 task.print();
227 return EXIT_SUCCESS;
228 }
229 catch (const vpException &e) {
230 std::cout << "Test failed with exception: " << e << std::endl;
231 return EXIT_FAILURE;
232 }
233}
234
235#else
236int main()
237{
238 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
239 return EXIT_SUCCESS;
240}
241#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)
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
static const vpColor blue
Definition: vpColor.h:223
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 void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
void setMaxDotSize(double percentage)
Definition: vpDot.cpp:601
void initTracking(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:635
void setComputeMoments(bool activate)
Definition: vpDot.h:337
vpImagePoint getCog() const
Definition: vpDot.h:247
void track(const vpImage< unsigned char > &I)
Definition: vpDot.cpp:770
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 2D ellipse visual feature.
void setABC(double A, double B, double C)
void buildFrom(double x, double y, double n20, double n11, double n02)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
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:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
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)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
unsigned int getTaskRank() const
Definition: vpServo.cpp:1786
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ CURRENT
Definition: vpServo.h:182
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
#define vpTRACE
Definition: vpDebug.h:416