Visual Servoing Platform  version 3.4.0
servoSimuCylinder2DCamVelocityDisplay.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 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 
78 void usage(const char *name, const char *badparam);
79 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
80 
89 void usage(const char *name, const char *badparam)
90 {
91  fprintf(stdout, "\n\
92 Simulation 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\
97 SYNOPSIS\n\
98  %s [-c] [-d] [-h]\n", name);
99 
100  fprintf(stdout, "\n\
101 OPTIONS: 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 
128 bool 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 
162 int 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.
196  vpDisplay::flush(I);
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);
265  vpDisplay::flush(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);
304  vpDisplay::flush(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);
320  vpDisplay::flush(I);
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))
334 int main()
335 {
336  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
337  return EXIT_SUCCESS;
338 }
339 #else
340 int 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:151
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