Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
manSimu4Points.cpp

Visual servoing experiment on 4 points with a visualization from the camera and from an external view using vpSimulator.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Simulation of a visual servoing with visualization.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_COIN3D_AND_GUI))
#include <visp3/ar/vpSimulator.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpTime.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
static void *mainLoop(void *_simu)
{
// pointer copy of the vpSimulator instance
vpSimulator *simu = static_cast<vpSimulator *>(_simu);
// Simulation initialization
// sets the initial camera location
vpHomogeneousMatrix cMo(-0.3, -0.2, 3, vpMath::rad(0), vpMath::rad(0), vpMath::rad(40));
vpHomogeneousMatrix wMo; // Set to identity
vpHomogeneousMatrix wMc; // Camera position in the world frame
// Initialize the robot
robot.setSamplingTime(0.04); // 40ms
wMc = wMo * cMo.inverse();
robot.setPosition(wMc);
// Send the robot position to the visualizator
simu->setCameraPosition(cMo);
// Initialize the camera parameters
simu->getCameraParameters(cam);
// Desired visual features initialization
// sets the points coordinates in the object frame (in meter)
vpPoint point[4];
point[0].setWorldCoordinates(-0.1, -0.1, 0);
point[1].setWorldCoordinates(0.1, -0.1, 0);
point[2].setWorldCoordinates(0.1, 0.1, 0);
point[3].setWorldCoordinates(-0.1, 0.1, 0);
// sets the desired camera location
vpHomogeneousMatrix cMo_d(0, 0, 1, 0, 0, 0);
// computes the 3D point coordinates in the camera frame and its 2D
// coordinates
for (int i = 0; i < 4; i++)
point[i].project(cMo_d);
// creates the associated features
for (int i = 0; i < 4; i++)
vpFeatureBuilder::create(pd[i], point[i]);
// Current visual features initialization
// computes the 3D point coordinates in the camera frame and its 2D
// coordinates
for (int i = 0; i < 4; i++)
point[i].project(cMo);
// creates the associated features
for (int i = 0; i < 4; i++)
vpFeatureBuilder::create(p[i], point[i]);
// Task defintion
vpServo task;
// we want an eye-in-hand control law ;
// Set the position of the camera in the end-effector frame
task.set_cVe(cVe);
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe;
robot.get_eJe(eJe);
task.set_eJe(eJe);
// we want to see a point on a point
for (int i = 0; i < 4; i++)
task.addFeature(p[i], pd[i]);
// Set the gain
task.setLambda(1.0);
// Print the current information about the task
task.print();
// The control loop
int k = 0;
while (k++ < 200) {
double t = vpTime::measureTimeMs();
// Update the current features
for (int i = 0; i < 4; i++) {
point[i].project(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
// Update the robot Jacobian
robot.get_eJe(eJe);
task.set_eJe(eJe);
// Compute the control law
// Send the computed velocity to the robot and compute the new robot
// position
wMc = robot.getPosition();
cMo = wMc.inverse() * wMo;
// Send the robot position to the visualizator
simu->setCameraPosition(cMo);
// Print the current information about the task
task.print();
// Wait 40 ms
vpTime::wait(t, 40);
}
task.kill();
void *a = NULL;
return a;
// return (void *);
}
int main()
{
try {
// Internal view initialization : view from the robot camera
simu.initInternalViewer(480, 360);
// External view initialization : view from an external camera
simu.initExternalViewer(300, 300);
// Inernal camera paramters initialization
vpCameraParameters cam(800, 800, 240, 180);
vpTime::wait(1000);
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
std::string ipath = vpIoTools::getViSPImagesDataPath();
std::string filename = "./4points.iv";
// Set the default input path
if (!ipath.empty())
filename = vpIoTools::createFilePath(ipath, "iv/4points.iv");
std::cout << "Load : " << filename << std::endl << "This file should be in the working directory" << std::endl;
simu.load(filename.c_str());
// Run the main loop
simu.initApplication(&mainLoop);
// Run the simulator
simu.mainLoop();
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have Coin3D and SoQT or SoWin or SoXt functionalities enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install Coin3D and SoQT or SoWin or SoXt, configure ViSP again using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif