Visual Servoing Platform version 3.6.0
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servoAfma6Ellipse2DCamVelocity.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. The used visual feature is a circle.

/****************************************************************************
*
* 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
* GPL, please contact Inria about acquiring a ViSP Professional
* 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
* 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:
* 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/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotAfma6.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/blob/vpDot.h>
int main()
{
try {
vpServo task;
g.open(I);
g.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
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 point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
vpDot dot;
dot.setMaxDotSize(0.30); // Max dot size is 30 % of the image size
// dot.setGraphics(true) ;
dot.setComputeMoments(true);
std::cout << "Click on an ellipse..." << std::endl;
dot.initTracking(I);
vpImagePoint cog = dot.getCog();
dot.track(I);
vpRobotAfma6 robot;
// Update camera parameters
robot.getCameraParameters(cam, I);
vpTRACE("sets the current position of the visual feature ");
std::cout << " Learning 0/1 " << std::endl;
int learning;
std::cin >> learning;
std::string name = "dat/ellipse.dat";
if (learning == 1) {
// save the object position
vpTRACE("Save the location of the object in a file dat/ellipse.dat");
std::ofstream f(name.c_str());
f << c.get_s().t();
f.close();
exit(1);
}
vpTRACE("sets the desired position of the visual feature ");
std::ifstream f("dat/ellipse.dat");
double x, y, n20, n11, n02;
f >> x;
f >> y;
f >> n20;
f >> n11;
f >> n02;
f.close();
cd.buildFrom(x, y, n20, n11, n02);
cd.setABC(0, 0, 10);
task.addFeature(c, cd);
task.setLambda(0.01);
unsigned int iter = 0;
double lambda_av = 0.01;
double alpha = 0.1; // 1 ;
double beta = 3; // 3 ;
std::cout << "alpha 0.7" << std::endl;
std::cin >> alpha;
std::cout << "beta 5" << std::endl;
std::cin >> beta;
for (;;) {
std::cout << "---------------------------------------------" << iter++ << std::endl;
g.acquire(I);
dot.track(I);
// Get the dot cog
cog = dot.getCog();
// Compute the adaptative gain (speed up the convergence)
double gain;
if (iter > 2) {
if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
gain = lambda_av;
else {
gain = alpha * exp(-beta * (task.getError()).sumSquare()) + lambda_av;
}
} else
gain = lambda_av;
vpTRACE("%f %f", (task.getError()).sumSquare(), gain);
task.setLambda(gain);
v = task.computeControlLaw();
std::cout << "rank " << task.getTaskRank() << std::endl;
vpServoDisplay::display(task, cam, I);
std::cout << v.t();
vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
}
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
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.
vpRowVector t() const
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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:112
void setMaxDotSize(double percentage)
Definition vpDot.cpp:582
void initTracking(const vpImage< unsigned char > &I)
Definition vpDot.cpp:617
void setComputeMoments(bool activate)
Definition vpDot.h:333
vpImagePoint getCog() const
Definition vpDot.h:243
void track(const vpImage< unsigned char > &I)
Definition vpDot.cpp:757
error that can be emitted by ViSP classes.
Definition vpException.h:59
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 of the vpImage class member functions.
Definition vpImage.h:135
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition vpRobot.h:80
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
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:564
@ EYEINHAND_CAMERA
Definition vpServo.h:151
unsigned int getTaskRank() const
Definition vpServo.cpp:1796
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition vpServo.cpp:299
void setLambda(double c)
Definition vpServo.h:403
void setServo(const vpServoType &servo_type)
Definition vpServo.cpp:210
vpColVector getError() const
Definition vpServo.h:276
@ PSEUDO_INVERSE
Definition vpServo.h:199
vpColVector computeControlLaw()
Definition vpServo.cpp:930
@ CURRENT
Definition vpServo.h:179
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition vpServo.cpp:487
#define vpTRACE
Definition vpDebug.h:411