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servoAfma6Points2DCamVelocityEyeToHand.cpp
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servoAfma6Points2DCamVelocityEyeToHand.cpp
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/****************************************************************************
*
* 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-to-hand control
* velocity computed in the camera frame
*
*****************************************************************************/
/*!
\file servoAfma6Points2DCamVelocityEyeToHand.cpp
\brief Example of a eye-to-hand control law. We control here a real robot,
the Afma6 robot (cartesian robot, with 6 degrees of freedom). The robot is
controlled in the camera frame.
*/
/*!
\example servoAfma6Points2DCamVelocityEyeToHand.cpp
Example of a eye-to-hand control law. We control here a real robot, the
Afma6 robot (cartesian robot, with 6 degrees of freedom). The robot is
controlled in the camera frame.
*/
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <list>
#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/blob/vpDot.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#define SAVE 0
#define L 0.006
#define D 0
int main()
{
try {
std::string username = vpIoTools::getUserName();
std::string logdirname = "/tmp/" + username;
if (SAVE) {
if (vpIoTools::checkDirectory(logdirname) == false) {
try {
// Create the dirname
vpIoTools::makeDirectory(logdirname);
}
catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << logdirname << std::endl;
return EXIT_FAILURE;
}
}
}
vpServo task;
vpCameraParameters cam;
vpImage<unsigned char> I;
int i;
vpRealSense2 rs;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
rs.open(config);
// Warm up camera
for (size_t i = 0; i < 10; ++i) {
rs.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
vpDisplay::display(I);
vpDisplay::flush(I);
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-to-hand task control" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
int nbPoint = 7;
vpDot dot[nbPoint];
vpImagePoint cog;
for (i = 0; i < nbPoint; i++) {
dot[i].initTracking(I);
dot[i].setGraphics(true);
dot[i].track(I);
vpDisplay::flush(I);
dot[i].setGraphics(false);
}
// Compute the pose 3D model
vpPoint point[nbPoint];
point[0].setWorldCoordinates(-2 * L, D, -3 * L);
point[1].setWorldCoordinates(0, D, -3 * L);
point[2].setWorldCoordinates(2 * L, D, -3 * L);
point[3].setWorldCoordinates(-L, D, -L);
point[4].setWorldCoordinates(L, D, -L);
point[5].setWorldCoordinates(L, D, L);
point[6].setWorldCoordinates(-L, D, L);
vpRobotAfma6 robot;
robot.init(vpAfma6::TOOL_INTEL_D435_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
// Update camera parameters
robot.getCameraParameters(cam, I);
vpHomogeneousMatrix cMo, cdMo;
vpPose pose;
pose.clearPoint();
for (i = 0; i < nbPoint; i++) {
cog = dot[i].getCog();
double x = 0, y = 0;
vpPixelMeterConversion::convertPoint(cam, cog, x, y);
point[i].set_x(x);
point[i].set_y(y);
pose.addPoint(point[i]);
}
// compute the initial pose using Dementhon method followed by a non
// linear minimization method
pose.computePose(vpPose::DEMENTHON_LAGRANGE_VIRTUAL_VS, cMo);
std::cout << cMo << std::endl;
cMo.print();
/*------------------------------------------------------------------
-- Learning the desired position
-- or reading the desired position
------------------------------------------------------------------
*/
std::cout << " Learning 0/1 " << std::endl;
std::string name = "cdMo.dat";
int learning;
std::cin >> learning;
if (learning == 1) {
// save the object position
vpTRACE("Save the location of the object in a file cdMo.dat");
std::ofstream f(name.c_str());
cMo.save(f);
f.close();
exit(1);
}
{
vpTRACE("Loading desired location from cdMo.dat");
std::ifstream f("cdMo.dat");
cdMo.load(f);
f.close();
}
vpFeaturePoint p[nbPoint], pd[nbPoint];
// set the desired position of the point by forward projection using
// the pose cdMo
for (i = 0; i < nbPoint; i++) {
vpColVector cP, p;
point[i].changeFrame(cdMo, cP);
point[i].projection(cP, p);
pd[i].set_x(p[0]);
pd[i].set_y(p[1]);
}
//------------------------------------------------------------------
vpTRACE("define the task");
vpTRACE("\t we want an eye-in-hand control law");
vpTRACE("\t robot is controlled in the camera frame");
task.setServo(vpServo::EYETOHAND_L_cVe_eJe);
task.setInteractionMatrixType(vpServo::CURRENT);
for (i = 0; i < nbPoint; i++) {
task.addFeature(p[i], pd[i]);
}
vpTRACE("Display task information ");
task.print();
//------------------------------------------------------------------
double convergence_threshold = 0.00; // 025 ;
vpDisplay::getClick(I);
//-------------------------------------------------------------
double error = 1;
unsigned int iter = 0;
vpTRACE("\t loop");
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
vpColVector v; // computed robot velocity
// position of the object in the effector frame
vpHomogeneousMatrix oMcamrobot;
oMcamrobot[0][3] = -0.05;
vpImage<vpRGBa> Ic;
int it = 0;
double lambda_av = 0.1;
double alpha = 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;
std::list<vpImagePoint> Lcog;
vpImagePoint ip;
bool quit = false;
while ((error > convergence_threshold) && (!quit)) {
std::cout << "---------------------------------------------" << iter++ << std::endl;
rs.acquire(I);
vpDisplay::display(I);
ip.set_i(265);
ip.set_j(150);
vpDisplay::displayText(I, ip, "Eye-To-Hand Visual Servoing", vpColor::green);
ip.set_i(280);
ip.set_j(150);
vpDisplay::displayText(I, ip, "IRISA-INRIA Rennes, Lagadic project", vpColor::green);
try {
for (i = 0; i < nbPoint; i++) {
dot[i].track(I);
Lcog.push_back(dot[i].getCog());
}
}
catch (...) {
vpTRACE("Error detected while tracking visual features");
robot.stopMotion();
exit(1);
}
// compute the initial pose using a non linear minimization method
pose.clearPoint();
for (i = 0; i < nbPoint; i++) {
double x = 0, y = 0;
cog = dot[i].getCog();
vpPixelMeterConversion::convertPoint(cam, cog, x, y);
point[i].set_x(x);
point[i].set_y(y);
vpColVector cP;
point[i].changeFrame(cdMo, cP);
p[i].set_x(x);
p[i].set_y(y);
p[i].set_Z(cP[2]);
pose.addPoint(point[i]);
point[i].display(I, cMo, cam, vpColor::green);
point[i].display(I, cdMo, cam, vpColor::blue);
}
pose.computePose(vpPose::LOWE, cMo);
//! set up the Jacobian
vpHomogeneousMatrix cMe, camrobotMe;
robot.get_cMe(camrobotMe);
cMe = cMo * oMcamrobot * camrobotMe;
task.set_cVe(cMe);
vpMatrix eJe;
robot.get_eJe(eJe);
task.set_eJe(eJe);
// 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;
if (SAVE == 1)
gain = gain / 5;
vpTRACE("%f %f %f %f %f", alpha, beta, lambda_av, (task.getError()).sumSquare(), gain);
task.setLambda(gain);
v = task.computeControlLaw();
// display points trajectory
for (std::list<vpImagePoint>::const_iterator it_cog = Lcog.begin(); it_cog != Lcog.end(); ++it_cog) {
vpDisplay::displayPoint(I, *it_cog, vpColor::red);
}
vpServoDisplay::display(task, cam, I);
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
error = (task.getError()).sumSquare();
std::cout << "|| s - s* || = " << error << std::endl;
if (error > 7) {
vpTRACE("Error detected while tracking visual features");
robot.stopMotion();
return EXIT_FAILURE;
}
// display the pose
// pose.display(I,cMo,cam, 0.04, vpColor::red) ;
// display the pose
// pose.display(I,cdMo,cam, 0.04, vpColor::blue) ;
if ((SAVE == 1) && (iter % 3 == 0)) {
vpDisplay::getImage(I, Ic);
std::stringstream ss;
ss << logdirname;
ss << "/image.";
ss << std::setfill('0') << std::setw(4);
ss << it++;
ss << ".ppm";
vpImageIo::write(Ic, ss.str());
}
vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
}
vpDisplay::flush(I);
}
v = 0;
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::getClick(I);
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