Example that shows how to control the Pioneer mobile robot by IBVS visual servoing with respect to a blob. The current visual features that are used are s = (x, log(Z/Z*)). The desired one are s* = (x*, 0), with:
The degrees of freedom that are controlled are (vx, wz), where wz is the rotational velocity and vx the translational velocity of the mobile platform at point M located at the middle between the two wheels.
The feature x allows to control wy, while log(Z/Z*) allows to control vz. The value of x is measured thanks to a blob tracker. The value of Z is estimated from the surface of the blob that is proportional to the depth Z.
#include <iostream> #include <visp/vpCameraParameters.h> #include <visp/vpDisplayX.h> #include <visp/vpDot2.h> #include <visp/vpFeatureBuilder.h> #include <visp/vpFeatureDepth.h> #include <visp/vpFeaturePoint.h> #include <visp/vpHomogeneousMatrix.h> #include <visp/vpImage.h> #include <visp/vpImageConvert.h> #include <visp/vpServo.h> #include <visp/vpVelocityTwistMatrix.h> #include <visp_ros/vpROSGrabber.h> #include <visp_ros/vpROSRobotPioneer.h> #if defined(VISP_HAVE_DC1394_2) && defined(VISP_HAVE_X11) # define TEST_COULD_BE_ACHIEVED #endif #ifdef TEST_COULD_BE_ACHIEVED int main(int argc, char **argv) { try { vpImage<unsigned char> I; // Create a gray level image container double depth = 1.; double lambda = 0.6; double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface vpROSRobotPioneer robot; robot.setCmdVelTopic("/RosAria/cmd_vel"); robot.init(); // Wait 3 sec to be sure that the low level Aria thread used to control // the robot is started. Without this delay we experienced a delay (arround 2.2 sec) // between the velocity send to the robot and the velocity that is really applied // to the wheels. vpTime::sleepMs(3000); std::cout << "Robot connected" << std::endl; // Camera parameters. In this experiment we don't need a precise calibration of the camera vpCameraParameters cam; // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux) vpROSGrabber g; g.setCameraInfoTopic("/camera/camera_info"); g.setImageTopic("/camera/image_raw"); g.setRectify(true); // Get camera parameters from /camera/camera_info topic if (g.getCameraInfo(cam) == false) cam.initPersProjWithoutDistortion(600,600,I.getWidth()/2, I.getHeight()/2); g.acquire(I); // Create an image viewer vpDisplayX d(I, 10, 10, "Current frame"); vpDisplay::display(I); vpDisplay::flush(I); // Create a blob tracker vpDot2 dot; dot.setGraphics(true); dot.setComputeMoments(true); dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level dot.initTracking(I); vpDisplay::flush(I); vpServo task; task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ; task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ; task.setLambda(lambda) ; vpVelocityTwistMatrix cVe ; cVe = robot.get_cVe() ; task.set_cVe(cVe) ; std::cout << "cVe: \n" << cVe << std::endl; vpMatrix eJe; robot.get_eJe(eJe) ; task.set_eJe(eJe) ; std::cout << "eJe: \n" << eJe << std::endl; // Current and desired visual feature associated to the x coordinate of the point vpFeaturePoint s_x, s_xd; // Create the current x visual feature vpFeatureBuilder::create(s_x, cam, dot); // Create the desired x* visual feature s_xd.buildFrom(0, 0, depth); // Add the feature task.addFeature(s_x, s_xd) ; // Create the current log(Z/Z*) visual feature vpFeatureDepth s_Z, s_Zd; // Surface of the blob estimated from the image moment m00 and converted in meters double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py())); double Z, Zd; // Initial depth of the blob in from of the camera Z = coef * surface ; // Desired depth Z* of the blob. This depth is learned and equal to the initial depth Zd = Z; std::cout << "Z " << Z << std::endl; s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0 s_Zd.buildFrom(s_x.get_x(), s_x.get_y(), Zd , 0); // log(Z/Z*) = 0 that's why the last parameter is 0 // Add the feature task.addFeature(s_Z, s_Zd) ; vpColVector v; // vz, wx while(1) { // Acquire a new image g.acquire(I); // Set the image as background of the viewer vpDisplay::display(I); // Does the blob tracking dot.track(I); // Update the current x feature vpFeatureBuilder::create(s_x, cam, dot); // Update log(Z/Z*) feature. Since the depth Z change, we need to update the intection matrix surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py())); Z = coef * surface ; s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ; robot.get_cVe(cVe) ; task.set_cVe(cVe) ; robot.get_eJe(eJe) ; task.set_eJe(eJe) ; // Compute the control law. Velocities are computed in the mobile robot reference frame v = task.computeControlLaw() ; std::cout << "Send velocity to the pionner: " << v[0] << " m/s " << vpMath::deg(v[1]) << " deg/s" << std::endl; // Send the velocity to the robot robot.setVelocity(vpRobot::REFERENCE_FRAME, v); // Draw a vertical line which corresponds to the desired x coordinate of the dot cog vpDisplay::displayLine(I, 0, 320, 479, 320, vpColor::red); vpDisplay::flush(I); // A click in the viewer to exit if ( vpDisplay::getClick(I, false) ) break; } std::cout << "Ending robot thread..." << std::endl; // Kill the servo task task.print() ; task.kill(); } catch(vpException e) { std::cout << "Catch an exception: " << e << std::endl; return 1; } } #else int main() { std::cout << "You don't have the right 3rd party libraries to run this example..." << std::endl; } #endif