Visual Servoing Platform version 3.5.0
servoSimuCylinder2DCamVelocityDisplay.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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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 * Simulation of a 2D visual servoing on a cylinder.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpDebug.h>
52
53#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) \
54 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
55
56#include <stdio.h>
57#include <stdlib.h>
58
59#include <visp3/core/vpCameraParameters.h>
60#include <visp3/core/vpCylinder.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/core/vpMath.h>
64#include <visp3/gui/vpDisplayGDI.h>
65#include <visp3/gui/vpDisplayGTK.h>
66#include <visp3/gui/vpDisplayOpenCV.h>
67#include <visp3/gui/vpDisplayX.h>
68#include <visp3/io/vpParseArgv.h>
69#include <visp3/robot/vpSimulatorCamera.h>
70#include <visp3/visual_features/vpFeatureBuilder.h>
71#include <visp3/visual_features/vpFeatureLine.h>
72#include <visp3/vs/vpServo.h>
73#include <visp3/vs/vpServoDisplay.h>
74
75// List of allowed command line options
76#define GETOPTARGS "cdh"
77
78void usage(const char *name, const char *badparam);
79bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
80
89void usage(const char *name, const char *badparam)
90{
91 fprintf(stdout, "\n\
92Simulation of a 2D visual servoing on a cylinder:\n\
93- eye-in-hand control law,\n\
94- velocity computed in the camera frame,\n\
95- display the camera view.\n\
96 \n\
97SYNOPSIS\n\
98 %s [-c] [-d] [-h]\n", name);
99
100 fprintf(stdout, "\n\
101OPTIONS: Default\n\
102 \n\
103 -c\n\
104 Disable the mouse click. Useful to automaze the \n\
105 execution of this program without humain intervention.\n\
106 \n\
107 -d \n\
108 Turn off the display.\n\
109 \n\
110 -h\n\
111 Print the help.\n");
112
113 if (badparam)
114 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
115}
116
128bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
129{
130 const char *optarg_;
131 int c;
132 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
133
134 switch (c) {
135 case 'c':
136 click_allowed = false;
137 break;
138 case 'd':
139 display = false;
140 break;
141 case 'h':
142 usage(argv[0], NULL);
143 return false;
144
145 default:
146 usage(argv[0], optarg_);
147 return false;
148 }
149 }
150
151 if ((c == 1) || (c == -1)) {
152 // standalone param or error
153 usage(argv[0], NULL);
154 std::cerr << "ERROR: " << std::endl;
155 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
156 return false;
157 }
158
159 return true;
160}
161
162int main(int argc, const char **argv)
163{
164 try {
165 bool opt_display = true;
166 bool opt_click_allowed = true;
167
168 // Read the command line options
169 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
170 exit(-1);
171 }
172
173 vpImage<unsigned char> I(512, 512, 255);
174
175// We open a window using either X11, GTK or GDI.
176#if defined VISP_HAVE_X11
177 vpDisplayX display;
178#elif defined VISP_HAVE_GTK
179 vpDisplayGTK display;
180#elif defined VISP_HAVE_GDI
181 vpDisplayGDI display;
182#elif defined VISP_HAVE_OPENCV
183 vpDisplayOpenCV display;
184#endif
185
186 if (opt_display) {
187 try {
188 // Display size is automatically defined by the image (I) size
189 display.init(I, 100, 100, "Camera view...");
190 // Display the image
191 // The image class has a member that specify a pointer toward
192 // the display that has been initialized in the display declaration
193 // therefore is is no longuer necessary to make a reference to the
194 // display variable.
197 } catch (...) {
198 vpERROR_TRACE("Error while displaying the image");
199 exit(-1);
200 }
201 }
202
203 double px, py;
204 px = py = 600;
205 double u0, v0;
206 u0 = v0 = 256;
207
208 vpCameraParameters cam(px, py, u0, v0);
209
210 vpServo task;
211 vpSimulatorCamera robot;
212
213 // sets the initial camera location
214 vpHomogeneousMatrix cMo(-0.2, 0.1, 2, vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
215
216 vpHomogeneousMatrix wMc, wMo;
217 robot.getPosition(wMc);
218 wMo = wMc * cMo; // Compute the position of the object in the world frame
219
220 // sets the final camera location (for simulation purpose)
221 vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(-60), vpMath::rad(0), vpMath::rad(0));
222
223 // sets the cylinder coordinates in the world frame
224 vpCylinder cylinder(0, 1, 0, // direction
225 0, 0, 0, // point of the axis
226 0.1); // radius
227
228 // sets the desired position of the visual feature
229 cylinder.track(cMod);
230 cylinder.print();
231
232 vpFeatureLine ld[2];
233 for (unsigned int i = 0; i < 2; i++)
234 vpFeatureBuilder::create(ld[i], cylinder, i);
235
236 // computes the cylinder coordinates in the camera frame and its 2D
237 // coordinates sets the current position of the visual feature
238 cylinder.track(cMo);
239 cylinder.print();
240
241 vpFeatureLine l[2];
242 for (unsigned int i = 0; i < 2; i++) {
243 vpFeatureBuilder::create(l[i], cylinder, i);
244 l[i].print();
245 }
246
247 // define the task
248 // - we want an eye-in-hand control law
249 // - robot is controlled in the camera frame
251 // task.setInteractionMatrixType(vpServo::CURRENT,
252 // vpServo::PSEUDO_INVERSE) ;
253 // it can also be interesting to test these possibilities
254 // task.setInteractionMatrixType(vpServo::MEAN,
255 // vpServo::PSEUDO_INVERSE) ;
257 // task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
258 // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
259
260 // - we want to see 2 lines on 2 lines
261 task.addFeature(l[0], ld[0]);
262 task.addFeature(l[1], ld[1]);
263
264 vpServoDisplay::display(task, cam, I);
266
267 // Display task information
268 task.print();
269
270 if (opt_display && opt_click_allowed) {
271 std::cout << "\n\nClick in the camera view window to start..." << std::endl;
273 }
274
275 // - set the gain
276 task.setLambda(1);
277
278 // Display task information
279 task.print();
280
281 unsigned int iter = 0;
282 // loop
283 do {
284 std::cout << "---------------------------------------------" << iter++ << std::endl;
285 vpColVector v;
286
287 // get the robot position
288 robot.getPosition(wMc);
289 // Compute the position of the object frame in the camera frame
290 cMo = wMc.inverse() * wMo;
291
292 // new line position
293 // retrieve x,y and Z of the vpLine structure
294 cylinder.track(cMo);
295 // cylinder.print() ;
296 for (unsigned int i = 0; i < 2; i++) {
297 vpFeatureBuilder::create(l[i], cylinder, i);
298 // l[i].print() ;
299 }
300
301 if (opt_display) {
303 vpServoDisplay::display(task, cam, I);
305 }
306
307 // compute the control law
308 v = task.computeControlLaw();
309
310 // send the camera velocity to the controller
312
313 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
314
315 // vpDisplay::getClick(I) ;
316 } while ((task.getError()).sumSquare() > 1e-9);
317
318 if (opt_display && opt_click_allowed) {
319 vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::black);
322 }
323
324 // Display task information
325 task.print();
326 return EXIT_SUCCESS;
327 } catch (const vpException &e) {
328 std::cout << "Catch a ViSP exception: " << e << std::endl;
329 return EXIT_FAILURE;
330 }
331}
332
333#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
334int main()
335{
336 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
337 return EXIT_SUCCESS;
338}
339#else
340int main()
341{
342 std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display images..." << std::endl;
343 std::cout << "Tip if you are on a unix-like system:" << std::endl;
344 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
345 std::cout << "Tip if you are on a windows-like system:" << std::endl;
346 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
347 return EXIT_SUCCESS;
348}
349#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor black
Definition: vpColor.h:211
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
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
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)
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
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 print(unsigned int select=FEATURE_ALL) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Definition: vpMath.h:110
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
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:567
@ 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
@ PSEUDO_INVERSE
Definition: vpServo.h:202
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that defines the simplest robot: a free flying camera.
#define vpERROR_TRACE
Definition: vpDebug.h:393