Visual Servoing Platform version 3.5.0
servoPioneerPoint2DDepthWithoutVpServo.cpp
1/****************************************************************************
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.
12 *
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 * IBVS on Pioneer P3DX mobile platform
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#include <iostream>
39
40#include <visp3/robot/vpRobotPioneer.h> // Include first to avoid build issues with Status, None, isfinite
41#include <visp3/blob/vpDot2.h>
42#include <visp3/core/vpCameraParameters.h>
43#include <visp3/core/vpConfig.h>
44#include <visp3/core/vpHomogeneousMatrix.h>
45#include <visp3/core/vpImage.h>
46#include <visp3/core/vpImageConvert.h>
47#include <visp3/core/vpVelocityTwistMatrix.h>
48#include <visp3/gui/vpDisplayGDI.h>
49#include <visp3/gui/vpDisplayX.h>
50#include <visp3/sensor/vp1394CMUGrabber.h>
51#include <visp3/sensor/vp1394TwoGrabber.h>
52#include <visp3/sensor/vpOpenCVGrabber.h>
53#include <visp3/sensor/vpV4l2Grabber.h>
54#include <visp3/visual_features/vpFeatureBuilder.h>
55#include <visp3/visual_features/vpFeatureDepth.h>
56#include <visp3/visual_features/vpFeaturePoint.h>
57
58#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394) || \
59 (VISP_HAVE_OPENCV_VERSION >= 0x020100)
60#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
61#if defined(VISP_HAVE_PIONEER)
62#define TEST_COULD_BE_ACHIEVED
63#endif
64#endif
65#endif
66
67#undef VISP_HAVE_OPENCV // To use a firewire camera
68#undef VISP_HAVE_V4L2 // To use a firewire camera
69
92#ifdef TEST_COULD_BE_ACHIEVED
93int main(int argc, char **argv)
94{
95 try {
96 vpImage<unsigned char> I; // Create a gray level image container
97 double depth = 1.;
98 double lambda = 0.6;
99 double coef = 1. / 6.77; // Scale parameter used to estimate the depth Z
100 // of the blob from its surface
101
102 vpRobotPioneer robot;
103 ArArgumentParser parser(&argc, argv);
104 parser.loadDefaultArguments();
105
106 // ArRobotConnector connects to the robot, get some initial data from it
107 // such as type and name, and then loads parameter files for this robot.
108 ArRobotConnector robotConnector(&parser, &robot);
109 if (!robotConnector.connectRobot()) {
110 ArLog::log(ArLog::Terse, "Could not connect to the robot.");
111 if (parser.checkHelpAndWarnUnparsed()) {
112 Aria::logOptions();
113 Aria::exit(1);
114 }
115 }
116 if (!Aria::parseArgs()) {
117 Aria::logOptions();
118 Aria::shutdown();
119 return false;
120 }
121
122 // Wait 3 sec to be sure that the low level Aria thread used to control
123 // the robot is started. Without this delay we experienced a delay
124 // (arround 2.2 sec) between the velocity send to the robot and the
125 // velocity that is really applied to the wheels.
126 vpTime::sleepMs(3000);
127
128 std::cout << "Robot connected" << std::endl;
129
130 // Camera parameters. In this experiment we don't need a precise
131 // calibration of the camera
133
134// Create the camera framegrabber
135#if defined(VISP_HAVE_OPENCV)
136 int device = 1;
137 std::cout << "Use device: " << device << std::endl;
138 cv::VideoCapture g(device); // open the default camera
139 g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
140 g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
141 if (!g.isOpened()) // check if we succeeded
142 return -1;
143 cv::Mat frame;
144 g >> frame; // get a new frame from camera
145 vpImageConvert::convert(frame, I);
146
147 // Logitec sphere parameters
148 cam.initPersProjWithoutDistortion(558, 555, 312, 210);
149#elif defined(VISP_HAVE_V4L2)
150 // Create a grabber based on v4l2 third party lib (for usb cameras under
151 // Linux)
153 g.setScale(1);
154 g.setInput(0);
155 g.setDevice("/dev/video1");
156 g.open(I);
157 // Logitec sphere parameters
158 cam.initPersProjWithoutDistortion(558, 555, 312, 210);
159#elif defined(VISP_HAVE_DC1394)
160 // Create a grabber based on libdc1394-2.x third party lib (for firewire
161 // cameras under Linux)
162 vp1394TwoGrabber g(false);
165 // AVT Pike 032C parameters
166 cam.initPersProjWithoutDistortion(800, 795, 320, 216);
167#elif defined(VISP_HAVE_CMU1394)
168 // Create a grabber based on CMU 1394 third party lib (for firewire
169 // cameras under windows)
171 g.setVideoMode(0, 5); // 640x480 MONO8
172 g.setFramerate(4); // 30 Hz
173 g.open(I);
174 // AVT Pike 032C parameters
175 cam.initPersProjWithoutDistortion(800, 795, 320, 216);
176#endif
177
178// Acquire an image from the grabber
179#if defined(VISP_HAVE_OPENCV)
180 g >> frame; // get a new frame from camera
181 vpImageConvert::convert(frame, I);
182#else
183 g.acquire(I);
184#endif
185
186// Create an image viewer
187#if defined(VISP_HAVE_X11)
188 vpDisplayX d(I, 10, 10, "Current frame");
189#elif defined(VISP_HAVE_GDI)
190 vpDisplayGDI d(I, 10, 10, "Current frame");
191#endif
194
195 // Create a blob tracker
196 vpDot2 dot;
197 dot.setGraphics(true);
198 dot.setComputeMoments(true);
199 dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
200 dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
201 dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner
202 // and outside points with bad
203 // gray level
204 dot.initTracking(I);
206
207 // Current and desired visual feature associated to the x coordinate of
208 // the point
209 vpFeaturePoint s_x, s_xd;
210
211 // Create the current x visual feature
212 vpFeatureBuilder::create(s_x, cam, dot);
213
214 // Create the desired x* visual feature
215 s_xd.buildFrom(0, 0, depth);
217
218 // Create the current log(Z/Z*) visual feature
219 vpFeatureDepth s_Z;
220 // Surface of the blob estimated from the image moment m00 and converted
221 // in meters
222 double surface = 1. / sqrt(dot.m00 / (cam.get_px() * cam.get_py()));
223 double Z, Zd;
224 // Initial depth of the blob in from of the camera
225 Z = coef * surface;
226 // Desired depth Z* of the blob. This depth is learned and equal to the
227 // initial depth
228 Zd = Z;
229 s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z,
230 0); // log(Z/Z*) = 0 that's why the last parameter is 0
231 vpMatrix L_Z = s_Z.interaction();
232
233 vpVelocityTwistMatrix cVe = robot.get_cVe();
234 vpMatrix eJe; // pioneer jacobian
235 robot.get_eJe(eJe);
236
237 vpMatrix L; // Interaction matrix
238 L.stack(L_x); // constant since build with the desired feature
239 L.stack(L_Z); // not constant since it corresponds to log(Z/Z*) that
240 // evolves at each iteration
241
242 vpColVector v; // vz, wx
243
244 vpFeatureDepth s_Zd;
245 s_Zd.buildFrom(0, 0, 1, 0); // The value of s* is 0 with Z=1 meter.
246
247 while (1) {
248// Acquire a new image
249#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
250 g >> frame; // get a new frame from camera
251 vpImageConvert::convert(frame, I);
252#else
253 g.acquire(I);
254#endif
255 // Set the image as background of the viewer
257
258 // Does the blob tracking
259 dot.track(I);
260 // Update the current x feature
261 vpFeatureBuilder::create(s_x, cam, dot);
262
263 // Update log(Z/Z*) feature. Since the depth Z change, we need to update
264 // the intection matrix
265 surface = 1. / sqrt(dot.m00 / (cam.get_px() * cam.get_py()));
266 Z = coef * surface;
267 s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z / Zd));
268 L_Z = s_Z.interaction();
269
270 // Update the global interaction matrix
271 vpMatrix L;
272 L.stack(L_x); // constant since build with the desired feature
273 L.stack(L_Z); // not constant since it corresponds to log(Z/Z*) that
274 // evolves at each iteration
275
276 // Update the global error s-s*
277 vpColVector error;
278 error.stack(s_x.error(s_xd, vpFeaturePoint::selectX()));
279 error.stack(s_Z.error(s_Zd));
280
281 // Compute the control law. Velocities are computed in the mobile robot
282 // reference frame
283 v = -lambda * (L * cVe * eJe).pseudoInverse() * error;
284
285 std::cout << "Send velocity to the pionner: " << v[0] << " m/s " << vpMath::deg(v[1]) << " deg/s" << std::endl;
286
287 // Send the velocity to the robot
289
290 // Draw a vertical line which corresponds to the desired x coordinate of
291 // the dot cog
292 vpDisplay::displayLine(I, 0, 320, 479, 320, vpColor::red);
294
295 // A click in the viewer to exit
296 if (vpDisplay::getClick(I, false))
297 break;
298 }
299
300 std::cout << "Ending robot thread..." << std::endl;
301 robot.stopRunning();
302
303 // wait for the thread to stop
304 robot.waitForRunExit();
305 return EXIT_SUCCESS;
306 } catch (const vpException &e) {
307 std::cout << "Catch an exception: " << e << std::endl;
308 return EXIT_FAILURE;
309 }
310}
311#else
312int main()
313{
314 std::cout << "You don't have the right 3rd party libraries to run this example..." << std::endl;
315 return EXIT_SUCCESS;
316}
317#endif
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void setVideoMode(unsigned long format, unsigned long mode)
void acquire(vpImage< unsigned char > &I)
void setFramerate(unsigned long fps)
void open(vpImage< unsigned char > &I)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void stack(double d)
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:441
void setGraphics(bool activate)
Definition: vpDot2.h:314
double m00
Definition: vpDot2.h:375
void setGrayLevelPrecision(const double &grayLevelPrecision)
Definition: vpDot2.cpp:735
void setEllipsoidBadPointsPercentage(const double &percentage=0.0)
Definition: vpDot2.h:290
void setEllipsoidShapePrecision(const double &ellipsoidShapePrecision)
Definition: vpDot2.cpp:806
void setComputeMoments(bool activate)
Definition: vpDot2.h:276
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:253
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 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)
vpMatrix interaction(unsigned int select=FEATURE_ALL)
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
static unsigned int selectX()
vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
double get_y() const
double get_x() const
vpMatrix interaction(unsigned int select=FEATURE_ALL)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static double deg(double rad)
Definition: vpMath.h:103
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Interface for Pioneer mobile robots based on Aria 3rd party library.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ REFERENCE_FRAME
Definition: vpRobot.h:76
vpVelocityTwistMatrix get_cVe() const
Definition: vpUnicycle.h:82
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setFramerate(vpV4l2FramerateType framerate)
void setInput(unsigned input=vpV4l2Grabber::DEFAULT_INPUT)
void open(vpImage< unsigned char > &I)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
VISP_EXPORT void sleepMs(double t)