Visual Servoing Platform version 3.5.0
servoAfma6TwoLines2DCamVelocity.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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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
61#include <cmath> // std::fabs
62#include <limits> // numeric_limits
63#include <stdlib.h>
64#include <visp3/core/vpConfig.h>
65#include <visp3/core/vpDebug.h> // Debug trace
66#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
67
68#include <visp3/core/vpDisplay.h>
69#include <visp3/core/vpImage.h>
70#include <visp3/gui/vpDisplayGTK.h>
71#include <visp3/gui/vpDisplayOpenCV.h>
72#include <visp3/gui/vpDisplayX.h>
73#include <visp3/io/vpImageIo.h>
74#include <visp3/sensor/vp1394TwoGrabber.h>
75
76#include <visp3/core/vpHomogeneousMatrix.h>
77#include <visp3/core/vpLine.h>
78#include <visp3/core/vpMath.h>
79#include <visp3/me/vpMeLine.h>
80#include <visp3/visual_features/vpFeatureBuilder.h>
81#include <visp3/visual_features/vpFeatureLine.h>
82#include <visp3/vs/vpServo.h>
83
84#include <visp3/robot/vpRobotAfma6.h>
85
86// Exception
87#include <visp3/core/vpException.h>
88#include <visp3/vs/vpServoDisplay.h>
89
90int main()
91{
92 try {
94
98 g.open(I);
99
100 g.acquire(I);
101
102#ifdef VISP_HAVE_X11
103 vpDisplayX display(I, 100, 100, "Current image");
104#elif defined(VISP_HAVE_OPENCV)
105 vpDisplayOpenCV display(I, 100, 100, "Current image");
106#elif defined(VISP_HAVE_GTK)
107 vpDisplayGTK display(I, 100, 100, "Current image");
108#endif
109
112
113 vpServo task;
114
115 std::cout << std::endl;
116 std::cout << "-------------------------------------------------------" << std::endl;
117 std::cout << " Test program for vpServo " << std::endl;
118 std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
119 std::cout << " Simulation " << std::endl;
120 std::cout << " task : servo a point " << std::endl;
121 std::cout << "-------------------------------------------------------" << std::endl;
122 std::cout << std::endl;
123
124 int i;
125 int nbline = 2;
126
127 vpMeLine line[nbline];
128
129 vpMe me;
130 me.setRange(10);
131 me.setPointsToTrack(100);
132 me.setThreshold(50000);
133 me.setSampleStep(10);
134
135 // Initialize the tracking. Define the two lines to track
136 vpTRACE("The two lines to track must be parallels ");
137 // vpTRACE("The two lines to track must be perpendicular ") ;
138 for (i = 0; i < nbline; i++) {
140 line[i].setMe(&me);
141
142 line[i].initTracking(I);
143 line[i].track(I);
144 }
145
146 vpRobotAfma6 robot;
147 // robot.move("zero.pos") ;
148
150 // Update camera parameters
151 robot.getCameraParameters(cam, I);
152
153 vpTRACE("sets the current position of the visual feature ");
154 vpFeatureLine p[nbline];
155 for (i = 0; i < nbline; i++)
156 vpFeatureBuilder::create(p[i], cam, line[i]);
157
158 vpTRACE("sets the desired position of the visual feature ");
159 vpLine lined[2];
160 lined[0].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
161 lined[1].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
162
163 vpHomogeneousMatrix cMo(0, 0, 0.5, 0, 0, vpMath::rad(0));
164
165 lined[0].project(cMo);
166 lined[1].project(cMo);
167
168 // Those lines are needed to keep the conventions define in vpMeLine
169 // (Those in vpLine are less restrictive) Another way to have the
170 // coordinates of the desired features is to learn them before executing
171 // the program.
172 lined[0].setRho(-fabs(lined[0].getRho()));
173 lined[0].setTheta(0);
174 lined[1].setRho(-fabs(lined[1].getRho()));
175 lined[1].setTheta(M_PI);
176
177 vpFeatureLine pd[nbline];
178 vpFeatureBuilder::create(pd[0], lined[0]);
179 vpFeatureBuilder::create(pd[1], lined[1]);
180
181 vpTRACE("define the task");
182 vpTRACE("\t we want an eye-in-hand control law");
183 vpTRACE("\t robot is controlled in the camera frame");
185
186 vpTRACE("\t we want to see a point on a point..");
187 std::cout << std::endl;
188 for (i = 0; i < nbline; i++)
189 task.addFeature(p[i], pd[i]);
190
191 vpTRACE("\t set the gain");
192 task.setLambda(0.2);
193
194 vpTRACE("Display task information ");
195 task.print();
196
198
199 unsigned int iter = 0;
200 vpTRACE("\t loop");
201 vpColVector v;
202
204 double lambda_av = 0.05;
205 double alpha = 0.2;
206 double beta = 3;
207
208 for (;;) {
209 std::cout << "---------------------------------------------" << iter << std::endl;
210
211 try {
212 g.acquire(I);
214
215 // Track the lines and update the features
216 for (i = 0; i < nbline; i++) {
217 line[i].track(I);
218 line[i].display(I, vpColor::red);
219
220 vpFeatureBuilder::create(p[i], cam, line[i]);
221
222 p[i].display(cam, I, vpColor::red);
223 pd[i].display(cam, I, vpColor::green);
224 }
225
227
228 // Adaptative gain
229 double gain;
230 {
231 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
232 gain = lambda_av;
233 else {
234 gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
235 }
236 }
237 task.setLambda(gain);
238
239 v = task.computeControlLaw();
240
241 if (iter == 0)
244 } catch (...) {
245 v = 0;
247 robot.stopMotion();
248 exit(1);
249 }
250
251 vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
252 iter++;
253 }
254
255 vpTRACE("Display task information ");
256 task.print();
257 return EXIT_SUCCESS;
258 }
259 catch (const vpException &e) {
260 std::cout << "Test failed with exception: " << e << std::endl;
261 return EXIT_FAILURE;
262 }
263}
264
265#else
266int main()
267{
268 std::cout << "You do not have an afma6 robot connected to your computer..." << std::endl;
269 return EXIT_SUCCESS;
270}
271
272#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)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
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 2D line visual feature which is composed by two parameters that are and ,...
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setRho(double rho)
Definition: vpLine.h:157
void setTheta(double theta)
Definition: vpLine.h:167
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:110
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
void setThreshold(const double &t)
Definition: vpMe.h:300
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
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
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
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
#define vpTRACE
Definition: vpDebug.h:416