Visual Servoing Platform version 3.5.0
servoSimuCircle2DCamVelocityDisplay.cpp
1/****************************************************************************
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
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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 circle.
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/vpCircle.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 circle:\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(stderr, "ERROR: \n");
115 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
116 }
117}
118
131bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
132{
133 const char *optarg_;
134 int c;
135 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
136
137 switch (c) {
138 case 'c':
139 click_allowed = false;
140 break;
141 case 'd':
142 display = false;
143 break;
144 case 'h':
145 usage(argv[0], NULL);
146 return false;
147
148 default:
149 usage(argv[0], optarg_);
150 return false;
151 }
152 }
153
154 if ((c == 1) || (c == -1)) {
155 // standalone param or error
156 usage(argv[0], NULL);
157 std::cerr << "ERROR: " << std::endl;
158 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
159 return false;
160 }
161
162 return true;
163}
164
165int main(int argc, const char **argv)
166{
167 try {
168 bool opt_display = true;
169 bool opt_click_allowed = true;
170
171 // Read the command line options
172 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
173 return(EXIT_FAILURE);
174 }
175
176 vpImage<unsigned char> I(512, 512, 0);
177
178// We open a window using either X11, GTK or GDI.
179#if defined VISP_HAVE_X11
180 vpDisplayX display;
181#elif defined VISP_HAVE_GTK
182 vpDisplayGTK display;
183#elif defined VISP_HAVE_GDI
184 vpDisplayGDI display;
185#elif defined VISP_HAVE_OPENCV
186 vpDisplayOpenCV display;
187#endif
188
189 if (opt_display) {
190 // Display size is automatically defined by the image (I) size
191 display.init(I, 100, 100, "Camera view...");
192 // Display the image
193 // The image class has a member that specify a pointer toward
194 // the display that has been initialized in the display declaration
195 // therefore is is no longuer necessary to make a reference to the
196 // display variable.
199 }
200
201 double px = 600, py = 600;
202 double u0 = I.getWidth()/2., v0 = I.getHeight() / 2.;
203
204 vpCameraParameters cam(px, py, u0, v0);
205
206 vpServo task;
207 vpSimulatorCamera robot;
208
209 // sets the initial camera location
210 vpHomogeneousMatrix cMo(0, 0, 1, vpMath::rad(0), vpMath::rad(80), vpMath::rad(30));
211 vpHomogeneousMatrix wMc, wMo;
212 robot.getPosition(wMc);
213 wMo = wMc * cMo; // Compute the position of the object in the world frame
214
215 vpHomogeneousMatrix cMod(-0.1, -0.1, 0.7, vpMath::rad(40), vpMath::rad(10), vpMath::rad(30));
216
217 // sets the circle coordinates in the world frame
218 vpCircle circle;
219 circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);
220
221 // sets the desired position of the visual feature
223 circle.track(cMod);
224 vpFeatureBuilder::create(pd, circle);
225
226 // project : computes the circle coordinates in the camera frame and its
227 // 2D coordinates sets the current position of the visual feature
229 circle.track(cMo);
230 vpFeatureBuilder::create(p, circle);
231
232 // define the task
233 // - we want an eye-in-hand control law
234 // - robot is controlled in the camera frame
237 // - we want to see a circle on a circle
238 task.addFeature(p, pd);
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 circle position
257 // retrieve x,y and Z of the vpCircle structure
258 circle.track(cMo);
259 vpFeatureBuilder::create(p, circle);
260 circle.print();
261 p.print();
262
263 if (opt_display) {
265 vpServoDisplay::display(task, cam, I);
267 }
268
269 // compute the control law
270 v = task.computeControlLaw();
271 std::cout << "task rank: " << task.getTaskRank() << std::endl;
272 // send the camera velocity to the controller
274
275 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
276 }
277
278 // Display task information
279 task.print();
280
281 if (opt_display && opt_click_allowed) {
282 vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
285 }
286 return EXIT_SUCCESS;
287 } catch (const vpException &e) {
288 std::cout << "Catch a ViSP exception: " << e << std::endl;
289 return EXIT_FAILURE;
290 }
291}
292#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
293int main()
294{
295 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
296 return EXIT_SUCCESS;
297}
298#else
299int main()
300{
301 std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display images..." << std::endl;
302 std::cout << "Tip if you are on a unix-like system:" << std::endl;
303 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
304 std::cout << "Tip if you are on a windows-like system:" << std::endl;
305 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
306 return EXIT_SUCCESS;
307}
308#endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60
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 print(unsigned int select=FEATURE_ALL) const
print the name of the feature
virtual void print() const
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 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
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
@ 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.