Visual Servoing Platform version 3.5.0
servoMomentPolygon.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 * Example of visual servoing with moments using a polygon as object container
33 *
34 * Authors:
35 * Filip Novotny
36 *
37 *****************************************************************************/
38
44#include <iostream>
45#include <visp3/core/vpCameraParameters.h>
46#include <visp3/core/vpConfig.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpIoTools.h>
50#include <visp3/core/vpMath.h>
51#include <visp3/core/vpMomentCommon.h>
52#include <visp3/core/vpMomentDatabase.h>
53#include <visp3/core/vpMomentObject.h>
54#include <visp3/core/vpPlane.h>
55#include <visp3/gui/vpDisplayD3D.h>
56#include <visp3/gui/vpDisplayGDI.h>
57#include <visp3/gui/vpDisplayGTK.h>
58#include <visp3/gui/vpDisplayOpenCV.h>
59#include <visp3/gui/vpDisplayX.h>
60#include <visp3/gui/vpPlot.h>
61#include <visp3/robot/vpSimulatorAfma6.h>
62#include <visp3/visual_features/vpFeatureBuilder.h>
63#include <visp3/visual_features/vpFeatureMomentCommon.h>
64#include <visp3/visual_features/vpFeaturePoint.h>
65#include <visp3/vs/vpServo.h>
66
67#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
68// Robot simulator used in this example is not available
69int main()
70{
71 std::cout << "Can't run this example since vpSimulatorAfma6 capability is "
72 "not available."
73 << std::endl;
74 std::cout << "You should install pthread third-party library." << std::endl;
75 return EXIT_SUCCESS;
76}
77// No display available
78#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \
79 !defined(VISP_HAVE_GTK)
80int main()
81{
82 std::cout << "Can't run this example since no display capability is available." << std::endl;
83 std::cout << "You should install one of the following third-party library: "
84 "X11, OpenCV, GDI, GTK."
85 << std::endl;
86 return EXIT_SUCCESS;
87}
88#else
89
90#ifndef DOXYGEN_SHOULD_SKIP_THIS
91class servoMoment
92{
93public:
94 servoMoment()
95 : m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
96 m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(NULL), m_momentsDes(NULL),
97 m_featureMoments(NULL), m_featureMomentsDes(NULL), m_displayInt(NULL)
98 {
99 }
100 ~servoMoment()
101 {
102#ifdef VISP_HAVE_DISPLAY
103 if (m_displayInt) {
104 delete m_displayInt;
105 }
106#endif
107 delete m_moments;
108 delete m_momentsDes;
109 delete m_featureMoments;
110 delete m_featureMomentsDes;
111 }
112
113 void initScene()
114 {
115 std::vector<vpPoint> src_pts;
116 std::vector<vpPoint> dst_pts;
117
118 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
119 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
120 int nbpoints = 4;
121
122 for (int i = 0; i < nbpoints; i++) {
123 vpPoint p(x[i], y[i], 0.0);
124 p.track(m_cMo);
125 src_pts.push_back(p);
126 }
127
128 m_src.setType(vpMomentObject::DENSE_POLYGON);
129 m_src.fromVector(src_pts);
130 for (int i = 0; i < nbpoints; i++) {
131 vpPoint p(x[i], y[i], 0.0);
132 p.track(m_cdMo);
133 dst_pts.push_back(p);
134 }
135 m_dst.setType(vpMomentObject::DENSE_POLYGON);
136 m_dst.fromVector(dst_pts);
137 }
138
139 void refreshScene(vpMomentObject &obj)
140 {
141 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
142 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
143 int nbpoints = 5;
144 std::vector<vpPoint> cur_pts;
145
146 for (int i = 0; i < nbpoints; i++) {
147 vpPoint p(x[i], y[i], 0.0);
148 p.track(m_cMo);
149 cur_pts.push_back(p);
150 }
151 obj.fromVector(cur_pts);
152 }
153
154 void init(vpHomogeneousMatrix &cMo, vpHomogeneousMatrix &cdMo)
155 {
156 m_cMo = cMo; // init source matrix
157 m_cdMo = cdMo; // init destination matrix
158
159 m_interaction_type = vpServo::CURRENT; // use interaction matrix for current position
160
161#ifdef VISP_HAVE_DISPLAY
162 // init the right display
163#if defined VISP_HAVE_X11
164 m_displayInt = new vpDisplayX;
165#elif defined VISP_HAVE_OPENCV
166 m_displayInt = new vpDisplayOpenCV;
167#elif defined VISP_HAVE_GDI
168 m_displayInt = new vpDisplayGDI;
169#elif defined VISP_HAVE_D3D9
170 m_displayInt = new vpDisplayD3D;
171#elif defined VISP_HAVE_GTK
172 m_displayInt = new vpDisplayGTK;
173#endif
174 m_displayInt->init(m_Iint, 50, 50, "Visual servoing with moments");
175#endif
176
177 paramRobot(); // set up robot parameters
178
179 m_task.setServo(vpServo::EYEINHAND_CAMERA);
180 initScene(); // initialize graphical scene (for interface)
181 initFeatures(); // initialize moment features
182 }
183
184 void initFeatures()
185 {
186 // A,B,C parameters of source and destination plane
187 double A;
188 double B;
189 double C;
190 double Ad;
191 double Bd;
192 double Cd;
193 // init main object: using moments up to order 6
194
195 // Initializing values from regular plane (with ax+by+cz=d convention)
196 vpPlane pl;
197 pl.setABCD(0, 0, 1.0, 0);
198 pl.changeFrame(m_cMo);
199 planeToABC(pl, A, B, C);
200
201 pl.setABCD(0, 0, 1.0, 0);
202 pl.changeFrame(m_cdMo);
203 planeToABC(pl, Ad, Bd, Cd);
204
205 // extracting initial position (actually we only care about Zdst)
207 m_cdMo.extract(vec);
208
211 // don't need to be specific, vpMomentCommon automatically loads
212 // Xg,Yg,An,Ci,Cj,Alpha moments
214 vpMomentCommon::getAlpha(m_dst), vec[2]);
215 m_momentsDes = new vpMomentCommon(vpMomentCommon::getSurface(m_dst), vpMomentCommon::getMu3(m_dst),
216 vpMomentCommon::getAlpha(m_dst), vec[2]);
217 // same thing with common features
218 m_featureMoments = new vpFeatureMomentCommon(*m_moments);
219 m_featureMomentsDes = new vpFeatureMomentCommon(*m_momentsDes);
220
221 m_moments->updateAll(m_src);
222 m_momentsDes->updateAll(m_dst);
223
224 m_featureMoments->updateAll(A, B, C);
225 m_featureMomentsDes->updateAll(Ad, Bd, Cd);
226
227 // setup the interaction type
228 m_task.setInteractionMatrixType(m_interaction_type);
231 m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
232 m_featureMomentsDes->getFeatureGravityNormalized());
233 m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
234 // the moments are different in case of a symmetric object
235 m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
236 (1 << 10) | (1 << 11));
237 m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
238
239 m_task.setLambda(0.4);
240 }
241
242 void execute(unsigned int nbIter)
243 {
244 vpPlot ViSP_plot;
245 init_visp_plot(ViSP_plot); // Initialize plot object
246
247 // init main object: using moments up to order 5
248 vpMomentObject obj(6);
249 // setting object type (disrete, continuous[form polygon])
251
252 std::cout << "Display task information " << std::endl;
253 m_task.print();
254
255 vpDisplay::display(m_Iint);
256 m_robot.getInternalView(m_Iint);
257 vpDisplay::flush(m_Iint);
258 unsigned int iter = 0;
259
261 while (iter++ < nbIter) {
262 vpColVector v;
263 double t = vpTime::measureTimeMs();
264 // get the cMo
265 m_cMo = m_robot.get_cMo();
266 // setup the plane in A,B,C style
267 vpPlane pl;
268 double A, B, C;
269 pl.setABCD(0, 0, 1.0, 0);
270 pl.changeFrame(m_cMo);
271 planeToABC(pl, A, B, C);
272
273 // track points, draw points and add refresh our object
274 refreshScene(obj);
275 // this is the most important thing to do: update our moments
276 m_moments->updateAll(obj);
277 // and update our features. Do it in that order. Features need to use the
278 // information computed by moments
279 m_featureMoments->updateAll(A, B, C);
280
281 vpDisplay::display(m_Iint);
282 m_robot.getInternalView(m_Iint);
283 vpDisplay::flush(m_Iint);
284
285 if (iter == 1) {
286 vpDisplay::displayText(m_Iint, 20, 20, "Click to start servoing", vpColor::red);
287 vpDisplay::flush(m_Iint);
288 vpDisplay::getClick(m_Iint);
289 }
290 v = m_task.computeControlLaw();
291
292 m_robot.setVelocity(vpRobot::CAMERA_FRAME, v);
293
294 ViSP_plot.plot(0, iter, v);
295 ViSP_plot.plot(1, iter, vpPoseVector(m_cMo)); // Plot the velocities
296 ViSP_plot.plot(2, iter, m_task.getError()); // cMo as translations and theta_u
297
298 m_error = (m_task.getError()).sumSquare();
299
300 vpDisplay::displayText(m_Iint, 20, 20, "Click to stop visual servo...", vpColor::red);
301 if (vpDisplay::getClick(m_Iint, false)) {
302 break;
303 }
304 vpDisplay::flush(m_Iint);
305 vpTime::wait(t, 10);
306 }
307
308 vpDisplay::display(m_Iint);
309 m_robot.getInternalView(m_Iint);
310 vpDisplay::displayText(m_Iint, 20, 20, "Click to quit...", vpColor::red);
311 vpDisplay::flush(m_Iint);
312 vpDisplay::getClick(m_Iint);
313 }
314
315 void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type) { m_interaction_type = type; }
316
317 double error() { return m_error; }
318
319 void removeJointLimits(vpSimulatorAfma6 &robot)
320 {
321 vpColVector limMin(6);
322 vpColVector limMax(6);
323 limMin[0] = vpMath::rad(-3600);
324 limMin[1] = vpMath::rad(-3600);
325 limMin[2] = vpMath::rad(-3600);
326 limMin[3] = vpMath::rad(-3600);
327 limMin[4] = vpMath::rad(-3600);
328 limMin[5] = vpMath::rad(-3600);
329
330 limMax[0] = vpMath::rad(3600);
331 limMax[1] = vpMath::rad(3600);
332 limMax[2] = vpMath::rad(3600);
333 limMax[3] = vpMath::rad(3600);
334 limMax[4] = vpMath::rad(3600);
335 limMax[5] = vpMath::rad(3600);
336
337 robot.setJointLimit(limMin, limMax);
338 }
339
340 void planeToABC(vpPlane &pl, double &A, double &B, double &C)
341 {
342 if (fabs(pl.getD()) < std::numeric_limits<double>::epsilon()) {
343 std::cout << "Invalid position:" << std::endl;
344 std::cout << m_cMo << std::endl;
345 std::cout << "Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
346 throw vpException(vpException::divideByZeroError, "invalid position!");
347 }
348 A = -pl.getA() / pl.getD();
349 B = -pl.getB() / pl.getD();
350 C = -pl.getC() / pl.getD();
351 }
352
353 void paramRobot()
354 {
355 /*Initialise the robot and especially the camera*/
357 m_robot.setCurrentViewColor(vpColor(150, 150, 150));
358 m_robot.setDesiredViewColor(vpColor(200, 200, 200));
359 m_robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
360 removeJointLimits(m_robot);
362 /*Initialise the position of the object relative to the pose of the robot's
363 * camera*/
364 m_robot.initialiseObjectRelativeToCamera(m_cMo);
365
366 /*Set the desired position (for the displaypart)*/
367 m_robot.setDesiredCameraPosition(m_cdMo);
368 m_robot.getCameraParameters(m_cam, m_Iint);
369 }
370
371 void init_visp_plot(vpPlot &ViSP_plot)
372 {
373 /* -------------------------------------
374 * Initialize ViSP Plotting
375 * -------------------------------------
376 */
377 const unsigned int NbGraphs = 3; // No. of graphs
378 const unsigned int NbCurves_in_graph[NbGraphs] = {6, 6, 6}; // Curves in each graph
379
380 ViSP_plot.init(NbGraphs, 800, 800, 100 + static_cast<int>(m_width), 50, "Visual Servoing results...");
381
382 vpColor Colors[6] = {// Colour for s1, s2, s3, in 1st plot
384
385 for (unsigned int p = 0; p < NbGraphs; p++) {
386 ViSP_plot.initGraph(p, NbCurves_in_graph[p]);
387 for (unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
388 ViSP_plot.setColor(p, c, Colors[c]);
389 }
390
391 ViSP_plot.setTitle(0, "Robot velocities");
392 ViSP_plot.setLegend(0, 0, "v_x");
393 ViSP_plot.setLegend(0, 1, "v_y");
394 ViSP_plot.setLegend(0, 2, "v_z");
395 ViSP_plot.setLegend(0, 3, "w_x");
396 ViSP_plot.setLegend(0, 4, "w_y");
397 ViSP_plot.setLegend(0, 5, "w_z");
398
399 ViSP_plot.setTitle(1, "Camera pose cMo");
400 ViSP_plot.setLegend(1, 0, "tx");
401 ViSP_plot.setLegend(1, 1, "ty");
402 ViSP_plot.setLegend(1, 2, "tz");
403 ViSP_plot.setLegend(1, 3, "tu_x");
404 ViSP_plot.setLegend(1, 4, "tu_y");
405 ViSP_plot.setLegend(1, 5, "tu_z");
406
407 ViSP_plot.setTitle(2, "Error in visual features: ");
408 ViSP_plot.setLegend(2, 0, "x_n");
409 ViSP_plot.setLegend(2, 1, "y_n");
410 ViSP_plot.setLegend(2, 2, "a_n");
411 ViSP_plot.setLegend(2, 3, "sx");
412 ViSP_plot.setLegend(2, 4, "sy");
413 ViSP_plot.setLegend(2, 5, "alpha");
414 }
415
416protected:
417 // start and destination positioning matrices
418 unsigned int m_width;
419 unsigned int m_height;
420
421 // start and destination positioning matrices
423 vpHomogeneousMatrix m_cdMo;
424
425 vpSimulatorAfma6 m_robot; // robot used in this simulation
426 vpImage<vpRGBa> m_Iint; // internal image used for interface display
427 vpServo m_task; // servoing task
428 vpCameraParameters m_cam; // robot camera parameters
429 double m_error; // current error
430 vpImageSimulator m_imsim; // image simulator used to simulate the perspective-projection camera
431
432 vpServo::vpServoIteractionMatrixType m_interaction_type; // current or desired
433 // source and destination objects for moment manipulation
434 vpMomentObject m_src;
435 vpMomentObject m_dst;
436
437 // moment sets and their corresponding features
438 vpMomentCommon *m_moments;
439 vpMomentCommon *m_momentsDes;
440 vpFeatureMomentCommon *m_featureMoments;
441 vpFeatureMomentCommon *m_featureMomentsDes;
442
443 vpDisplay *m_displayInt;
444};
445#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
446
447int main()
448{
449 try { // intial pose
450 vpHomogeneousMatrix cMo(-0.1, -0.1, 1.5, -vpMath::rad(20), -vpMath::rad(20), -vpMath::rad(30));
451 // Desired pose
453
454 servoMoment servo;
455 // init and run the simulation
456 servo.init(cMo, cdMo);
457 servo.execute(1500);
458 return EXIT_SUCCESS;
459 } catch (const vpException &e) {
460 std::cout << "Catch an exception: " << e << std::endl;
461 return EXIT_FAILURE;
462 }
463}
464
465#endif
@ TOOL_CCMOP
Definition: vpAfma6.h:127
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor red
Definition: vpColor.h:217
static const vpColor cyan
Definition: vpColor.h:226
static const vpColor orange
Definition: vpColor.h:227
static const vpColor blue
Definition: vpColor.h:223
static const vpColor purple
Definition: vpColor.h:228
static const vpColor green
Definition: vpColor.h:220
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
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
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ divideByZeroError
Division by zero.
Definition: vpException.h:94
This class allows to access common vpFeatureMoments in a pre-filled database.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class which enables to project an image in the 3D space and get the view of a virtual camera.
static double rad(double deg)
Definition: vpMath.h:110
This class initializes and allows access to commonly used moments.
static std::vector< double > getMu3(vpMomentObject &object)
static double getAlpha(vpMomentObject &object)
static double getSurface(vpMomentObject &object)
Class for generic objects.
void setType(vpObjectType input_type)
void fromVector(std::vector< vpPoint > &points)
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:59
void changeFrame(const vpHomogeneousMatrix &cMo)
Definition: vpPlane.cpp:354
double getD() const
Definition: vpPlane.h:108
double getA() const
Definition: vpPlane.h:102
double getC() const
Definition: vpPlane.h:106
void setABCD(double a, double b, double c, double d)
Definition: vpPlane.h:90
double getB() const
Definition: vpPlane.h:104
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:116
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:206
void init(unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="")
Definition: vpPlot.cpp:100
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:547
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:286
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
Definition: vpPlot.cpp:261
void setTitle(unsigned int graphNum, const std::string &title)
Definition: vpPlot.cpp:498
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
vpServoIteractionMatrixType
Definition: vpServo.h:181
@ CURRENT
Definition: vpServo.h:182
Simulator of Irisa's gantry robot named Afma6.
Class that consider the case of a translation vector.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()