Visual Servoing Platform  version 3.3.0
servoSimuCylinder2DCamVelocityDisplay.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
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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.
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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.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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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 
55 #include <stdio.h>
56 #include <stdlib.h>
57 
58 #include <visp3/core/vpCameraParameters.h>
59 #include <visp3/core/vpCylinder.h>
60 #include <visp3/core/vpHomogeneousMatrix.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpMath.h>
63 #include <visp3/gui/vpDisplayGDI.h>
64 #include <visp3/gui/vpDisplayGTK.h>
65 #include <visp3/gui/vpDisplayOpenCV.h>
66 #include <visp3/gui/vpDisplayX.h>
67 #include <visp3/io/vpParseArgv.h>
68 #include <visp3/robot/vpSimulatorCamera.h>
69 #include <visp3/visual_features/vpFeatureBuilder.h>
70 #include <visp3/visual_features/vpFeatureLine.h>
71 #include <visp3/vs/vpServo.h>
72 #include <visp3/vs/vpServoDisplay.h>
73 
74 // List of allowed command line options
75 #define GETOPTARGS "cdh"
76 
77 void usage(const char *name, const char *badparam);
78 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
79 
88 void usage(const char *name, const char *badparam)
89 {
90  fprintf(stdout, "\n\
91 Simulation of a 2D visual servoing on a cylinder:\n\
92 - eye-in-hand control law,\n\
93 - velocity computed in the camera frame,\n\
94 - display the camera view.\n\
95  \n\
96 SYNOPSIS\n\
97  %s [-c] [-d] [-h]\n", name);
98 
99  fprintf(stdout, "\n\
100 OPTIONS: Default\n\
101  \n\
102  -c\n\
103  Disable the mouse click. Useful to automaze the \n\
104  execution of this program without humain intervention.\n\
105  \n\
106  -d \n\
107  Turn off the display.\n\
108  \n\
109  -h\n\
110  Print the help.\n");
111 
112  if (badparam)
113  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
114 }
115 
127 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
128 {
129  const char *optarg_;
130  int c;
131  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
132 
133  switch (c) {
134  case 'c':
135  click_allowed = false;
136  break;
137  case 'd':
138  display = false;
139  break;
140  case 'h':
141  usage(argv[0], NULL);
142  return false;
143  break;
144 
145  default:
146  usage(argv[0], optarg_);
147  return false;
148  break;
149  }
150  }
151 
152  if ((c == 1) || (c == -1)) {
153  // standalone param or error
154  usage(argv[0], NULL);
155  std::cerr << "ERROR: " << std::endl;
156  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
157  return false;
158  }
159 
160  return true;
161 }
162 
163 int main(int argc, const char **argv)
164 {
165  try {
166  bool opt_display = true;
167  bool opt_click_allowed = true;
168 
169  // Read the command line options
170  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
171  exit(-1);
172  }
173 
174  vpImage<unsigned char> I(512, 512, 255);
175 
176 // We open a window using either X11, GTK or GDI.
177 #if defined VISP_HAVE_X11
178  vpDisplayX display;
179 #elif defined VISP_HAVE_GTK
180  vpDisplayGTK display;
181 #elif defined VISP_HAVE_GDI
182  vpDisplayGDI display;
183 #elif defined VISP_HAVE_OPENCV
184  vpDisplayOpenCV display;
185 #endif
186 
187  if (opt_display) {
188  try {
189  // Display size is automatically defined by the image (I) size
190  display.init(I, 100, 100, "Camera view...");
191  // Display the image
192  // The image class has a member that specify a pointer toward
193  // the display that has been initialized in the display declaration
194  // therefore is is no longuer necessary to make a reference to the
195  // display variable.
197  vpDisplay::flush(I);
198  } catch (...) {
199  vpERROR_TRACE("Error while displaying the image");
200  exit(-1);
201  }
202  }
203 
204  double px, py;
205  px = py = 600;
206  double u0, v0;
207  u0 = v0 = 256;
208 
209  vpCameraParameters cam(px, py, u0, v0);
210 
211  vpServo task;
212  vpSimulatorCamera robot;
213 
214  // sets the initial camera location
215  vpHomogeneousMatrix cMo(-0.2, 0.1, 2, vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
216 
217  vpHomogeneousMatrix wMc, wMo;
218  robot.getPosition(wMc);
219  wMo = wMc * cMo; // Compute the position of the object in the world frame
220 
221  // sets the final camera location (for simulation purpose)
222  vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(-60), vpMath::rad(0), vpMath::rad(0));
223 
224  // sets the cylinder coordinates in the world frame
225  vpCylinder cylinder(0, 1, 0, // direction
226  0, 0, 0, // point of the axis
227  0.1); // radius
228 
229  // sets the desired position of the visual feature
230  cylinder.track(cMod);
231  cylinder.print();
232 
233  vpFeatureLine ld[2];
234  int i;
235  for (i = 0; i < 2; i++)
236  vpFeatureBuilder::create(ld[i], cylinder, i);
237 
238  // computes the cylinder coordinates in the camera frame and its 2D
239  // coordinates sets the current position of the visual feature
240  cylinder.track(cMo);
241  cylinder.print();
242 
243  vpFeatureLine l[2];
244  for (i = 0; i < 2; i++) {
245  vpFeatureBuilder::create(l[i], cylinder, i);
246  l[i].print();
247  }
248 
249  // define the task
250  // - we want an eye-in-hand control law
251  // - robot is controlled in the camera frame
253  // task.setInteractionMatrixType(vpServo::CURRENT,
254  // vpServo::PSEUDO_INVERSE) ;
255  // it can also be interesting to test these possibilities
256  // task.setInteractionMatrixType(vpServo::MEAN,
257  // vpServo::PSEUDO_INVERSE) ;
259  // task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
260  // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
261 
262  // - we want to see 2 lines on 2 lines
263  task.addFeature(l[0], ld[0]);
264  task.addFeature(l[1], ld[1]);
265 
266  vpServoDisplay::display(task, cam, I);
267  vpDisplay::flush(I);
268 
269  // Display task information
270  task.print();
271 
272  if (opt_display && opt_click_allowed) {
273  std::cout << "\n\nClick in the camera view window to start..." << std::endl;
275  }
276 
277  // - set the gain
278  task.setLambda(1);
279 
280  // Display task information
281  task.print();
282 
283  unsigned int iter = 0;
284  // loop
285  do {
286  std::cout << "---------------------------------------------" << iter++ << std::endl;
287  vpColVector v;
288 
289  // get the robot position
290  robot.getPosition(wMc);
291  // Compute the position of the object frame in the camera frame
292  cMo = wMc.inverse() * wMo;
293 
294  // new line position
295  // retrieve x,y and Z of the vpLine structure
296  cylinder.track(cMo);
297  // cylinder.print() ;
298  for (i = 0; i < 2; i++) {
299  vpFeatureBuilder::create(l[i], cylinder, i);
300  // l[i].print() ;
301  }
302 
303  if (opt_display) {
305  vpServoDisplay::display(task, cam, I);
306  vpDisplay::flush(I);
307  }
308 
309  // compute the control law
310  v = task.computeControlLaw();
311 
312  // send the camera velocity to the controller
314 
315  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
316  ;
317 
318  // vpDisplay::getClick(I) ;
319  } while ((task.getError()).sumSquare() > 1e-9);
320 
321  if (opt_display && opt_click_allowed) {
322  std::cout << "\nClick in the camera view window to end..." << std::endl;
324  }
325 
326  // Display task information
327  task.print();
328  task.kill();
329  return EXIT_SUCCESS;
330  } catch (const vpException &e) {
331  std::cout << "Catch a ViSP exception: " << e << std::endl;
332  return EXIT_FAILURE;
333  }
334 }
335 
336 #else
337 int main()
338 {
339  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
340  std::cout << "Tip if you are on a unix-like system:" << std::endl;
341  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
342  std::cout << "Tip if you are on a windows-like system:" << std::endl;
343  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
344  return EXIT_SUCCESS;
345 }
346 #endif
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpServo::kill
void kill()
Definition: vpServo.cpp:191
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:405
vpServo::EYEINHAND_CAMERA
Definition: vpServo.h:158
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:92
vpSimulatorCamera
Class that defines the simplest robot: a free flying camera.
Definition: vpSimulatorCamera.h:106
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpParseArgv::parse
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:68
vpCylinder
Class that defines what is a cylinder.
Definition: vpCylinder.h:95
vpSimulatorCamera::getPosition
vpHomogeneousMatrix getPosition() const
Definition: vpSimulatorCamera.cpp:118
vpServo::print
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:312
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplayGTK
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:136
vpServo::getError
vpColVector getError() const
Definition: vpServo.h:281
vpServo::DESIRED
Definition: vpServo.h:189
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:194
vpRobot::CAMERA_FRAME
Definition: vpRobot.h:81
vpERROR_TRACE
#define vpERROR_TRACE
Definition: vpDebug.h:392
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpFeatureLine::print
void print(unsigned int select=FEATURE_ALL) const
Definition: vpFeatureLine.cpp:360
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:573
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpHomogeneousMatrix::inverse
vpHomogeneousMatrix inverse() const
Definition: vpHomogeneousMatrix.cpp:640
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197
vpServo::PSEUDO_INVERSE
Definition: vpServo.h:205
vpServoDisplay::display
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)
Definition: vpServoDisplay.cpp:79
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70