Visual Servoing Platform version 3.5.0
servoSimuSphere2DCamVelocityDisplay.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 * Simulation of a 2D visual servoing on a sphere.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
49#include <stdio.h>
50#include <stdlib.h>
51
52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpSphere.h>
55#include <visp3/gui/vpDisplayGDI.h>
56#include <visp3/gui/vpDisplayGTK.h>
57#include <visp3/gui/vpDisplayOpenCV.h>
58#include <visp3/gui/vpDisplayX.h>
59#include <visp3/io/vpParseArgv.h>
60#include <visp3/robot/vpSimulatorCamera.h>
61#include <visp3/visual_features/vpFeatureBuilder.h>
62#include <visp3/visual_features/vpFeatureEllipse.h>
63#include <visp3/vs/vpServo.h>
64#include <visp3/vs/vpServoDisplay.h>
65
66// List of allowed command line options
67#define GETOPTARGS "cdh"
68
69void usage(const char *name, const char *badparam);
70bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
71
80void usage(const char *name, const char *badparam)
81{
82 fprintf(stdout, "\n\
83Simulation of a 2D visual servoing on a sphere:\n\
84- eye-in-hand control law,\n\
85- velocity computed in the camera frame,\n\
86- display the camera view.\n\
87 \n\
88SYNOPSIS\n\
89 %s [-c] [-d] [-h]\n", name);
90
91 fprintf(stdout, "\n\
92OPTIONS: Default\n\
93 \n\
94 -c\n\
95 Disable the mouse click. Useful to automaze the \n\
96 execution of this program without humain intervention.\n\
97 \n\
98 -d \n\
99 Turn off the display.\n\
100 \n\
101 -h\n\
102 Print the help.\n");
103
104 if (badparam)
105 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
106}
107
120bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
121{
122 const char *optarg_;
123 int c;
124 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
125
126 switch (c) {
127 case 'c':
128 click_allowed = false;
129 break;
130 case 'd':
131 display = false;
132 break;
133 case 'h':
134 usage(argv[0], NULL);
135 return false;
136
137 default:
138 usage(argv[0], optarg_);
139 return false;
140 }
141 }
142
143 if ((c == 1) || (c == -1)) {
144 // standalone param or error
145 usage(argv[0], NULL);
146 std::cerr << "ERROR: " << std::endl;
147 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
148 return false;
149 }
150
151 return true;
152}
153
154int main(int argc, const char **argv)
155{
156#if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
157 try {
158 bool opt_display = true;
159 bool opt_click_allowed = true;
160
161 // Read the command line options
162 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
163 return(EXIT_FAILURE);
164 }
165
166 vpImage<unsigned char> I(512, 512, 0);
167
168// We open a window using either X11, GTK or GDI.
169#if defined VISP_HAVE_X11
170 vpDisplayX display;
171#elif defined VISP_HAVE_GTK
172 vpDisplayGTK display;
173#elif defined VISP_HAVE_GDI
174 vpDisplayGDI display;
175#elif defined VISP_HAVE_OPENCV
176 vpDisplayOpenCV display;
177#endif
178
179 if (opt_display) {
180#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
181 // Display size is automatically defined by the image (I) size
182 display.init(I, 100, 100, "Camera view...");
183#endif
184 // Display the image
185 // The image class has a member that specify a pointer toward
186 // the display that has been initialized in the display declaration
187 // therefore is is no longuer necessary to make a reference to the
188 // display variable.
191 }
192
193 double px = 600, py = 600;
194 double u0 = I.getWidth()/2., v0 = I.getHeight() / 2.;
195
196 vpCameraParameters cam(px, py, u0, v0);
197
198 vpServo task;
199 vpSimulatorCamera robot;
200
201 // sets the initial camera location
203 cMo[0][3] = 0.1;
204 cMo[1][3] = 0.2;
205 cMo[2][3] = 2;
206 // Compute the position of the object in the world frame
207 vpHomogeneousMatrix wMc, wMo;
208 robot.getPosition(wMc);
209 wMo = wMc * cMo;
210
212 cMod[0][3] = 0;
213 cMod[1][3] = 0;
214 cMod[2][3] = 1;
215
216 // sets the sphere coordinates in the world frame
217 vpSphere sphere;
218 sphere.setWorldCoordinates(0, 0, 0, 0.1);
219
220 // sets the desired position of the visual feature
222 sphere.track(cMod);
223 vpFeatureBuilder::create(pd, sphere);
224
225 // computes the sphere coordinates in the camera frame and its 2D
226 // coordinates sets the current position of the visual feature
228 sphere.track(cMo);
229 vpFeatureBuilder::create(p, sphere);
230
231 // define the task
232 // - we want an eye-in-hand control law
233 // - robot is controlled in the camera frame
235
236 // we want to see a sphere on a sphere
237 task.addFeature(p, pd);
238
239 // set the gain
240 task.setLambda(1);
241
242 // Display task information
243 task.print();
244
245 unsigned int iter = 0;
246 // loop
247 while (iter++ < 200) {
248 std::cout << "---------------------------------------------" << iter << std::endl;
249 vpColVector v;
250
251 // get the robot position
252 robot.getPosition(wMc);
253 // Compute the position of the object frame in the camera frame
254 cMo = wMc.inverse() * wMo;
255
256 // new sphere position: retrieve x,y and Z of the vpSphere structure
257 sphere.track(cMo);
258 vpFeatureBuilder::create(p, sphere);
259
260 if (opt_display) {
262 vpServoDisplay::display(task, cam, I);
264 }
265
266 // compute the control law
267 v = task.computeControlLaw();
268
269 std::cout << "Task rank: " << task.getTaskRank() << std::endl;
270 // send the camera velocity to the controller
272
273 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
274 }
275
276 if (opt_display && opt_click_allowed) {
277 vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
280 }
281
282 // Display task information
283 task.print();
284 return EXIT_SUCCESS;
285 } catch (const vpException &e) {
286 std::cout << "Catch a ViSP exception: " << e << std::endl;
287 return EXIT_FAILURE;
288 }
289#else
290 (void)argc;
291 (void)argv;
292 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
293 return EXIT_SUCCESS;
294#endif
295}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor white
Definition: vpColor.h:212
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 2D ellipse visual feature.
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
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)
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
unsigned int getTaskRank() const
Definition: vpServo.cpp:1786
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
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
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.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83
void setWorldCoordinates(const vpColVector &oP)
Definition: vpSphere.cpp:62