ViSP  2.6.2
servoSimuCircle2DCamVelocityDisplay.cpp

Servo a circle:

/****************************************************************************
*
* $Id: servoSimuCircle2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2012 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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 2D visual servoing on a circle.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
#include <stdlib.h>
#include <stdio.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureEllipse.h>
#include <visp/vpCircle.h>
#include <visp/vpServo.h>
#include <visp/vpRobotCamera.h>
#include <visp/vpFeatureBuilder.h>
// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
// Debug trace
#include <visp/vpDebug.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpImage.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdh"
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a circle:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n");
if (badparam) {
fprintf(stderr, "ERROR: \n" );
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
const char *optarg;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
case 'h': usage(argv[0], NULL); return false; break;
default:
usage(argv[0], optarg);
return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
int
main(int argc, const char ** argv)
{
bool opt_display = true;
bool opt_click_allowed = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit (-1);
}
vpImage<unsigned char> I(512,512,0) ;
// We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
vpDisplayX display;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display;
#endif
if (opt_display) {
try{
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Camera view...") ;
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
// therefore is is no longuer necessary to make a reference to the
// display variable.
}
catch(...)
{
vpERROR_TRACE("Error while displaying the image") ;
exit(-1);
}
}
double px, py ; px = py = 600 ;
double u0, v0 ; u0 = v0 = 256 ;
vpCameraParameters cam(px,py,u0,v0);
vpServo task ;
vpRobotCamera robot ;
vpTRACE("sets the initial camera location " ) ;
robot.setPosition(cMo) ;
vpHomogeneousMatrix cMod(-0.1,-0.1,0.7,
vpTRACE("sets the circle coordinates in the world frame " ) ;
vpCircle circle ;
circle.setWorldCoordinates(0,0,1,
0,0,0,
0.1) ;
vpTRACE("sets the desired position of the visual feature ") ;
circle.track(cMod) ;
vpTRACE("project : computes the circle coordinates in the camera frame and its 2D coordinates" ) ;
vpTRACE("sets the current position of the visual feature ") ;
circle.track(cMo) ;
vpTRACE("define the task") ;
vpTRACE("\t we want an eye-in-hand control law") ;
vpTRACE("\t robot is controlled in the camera frame") ;
vpTRACE("\t we want to see a circle on a circle..") ;
std::cout << std::endl ;
task.addFeature(p,pd) ;
vpTRACE("\t set the gain") ;
task.setLambda(1) ;
vpTRACE("Display task information " ) ;
task.print() ;
unsigned int iter=0 ;
vpTRACE("\t loop") ;
while(iter++ < 200)
{
std::cout << "---------------------------------------------" << iter <<std::endl ;
if (iter==1) vpTRACE("\t\t get the robot position ") ;
robot.getPosition(cMo) ;
if (iter==1) vpTRACE("\t\t new circle position ") ;
//retrieve x,y and Z of the vpCircle structure
circle.track(cMo) ;
circle.print() ;
p.print() ;
if (opt_display) {
}
if (iter==1) vpTRACE("\t\t compute the control law ") ;
v = task.computeControlLaw() ;
// vpTRACE("computeControlLaw" ) ;
std::cout << task.rankJ1 <<std::endl ;
if (iter==1) vpTRACE("\t\t send the camera velocity to the controller ") ;
}
vpTRACE("Display task information " ) ;
task.print() ;
task.kill();
if (opt_display && opt_click_allowed) {
std::cout << "Click in the camera view window to end..." << std::endl;
}
}
#else
int
main()
{
vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
}
#endif