servoSimuFourPoints2DCamVelocityDisplay.cpp

Simulation of a 2D visual servoing:

• servo on 4 points with cartesian coordinates,
• eye-in-hand control law,
• camera velocities are computed,
• display internal camera view and an external view.

Interaction matrix is computed as the mean of the current and desired interaction matrix.

/****************************************************************************
 *
 * $Id: servoSimuFourPoints2DCamVelocityDisplay.cpp 2503 2010-02-16 18:55:01Z fspindle $
 *
 * 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 using 4 points as visual feature.
 *
 * 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/vpFeaturePoint.h>
#include <visp/vpServo.h>
#include <visp/vpRobotCamera.h>
#include <visp/vpDebug.h>
#include <visp/vpFeatureBuilder.h>

#include <visp/vpServoDisplay.h>
#include <visp/vpProjectionDisplay.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\
Tests a control law with the following characteristics:\n\
- eye-in-hand control\n\
- articular velocity are computed\n\
- servo on 4 points,\n\
- internal and external camera view displays.\n\
          \n\
SYNOPSIS\n\
  %s [-c] [-d] [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\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(stdout, "\nERROR: Bad 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_click_allowed = true;
  bool opt_display = true;

  // Read the command line options
  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
    exit (-1);
  }

  // We open two displays, one for the internal camera view, the other one for
  // the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
  vpDisplayX displayInt;
  vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
  vpDisplayGTK displayInt;
  vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
  vpDisplayGDI displayInt;
  vpDisplayGDI displayExt;
#endif

  // open a display for the visualization

  vpImage<unsigned char> Iint(300, 300, 0) ;
  vpImage<unsigned char> Iext(300, 300, 0) ;

  if (opt_display) {
    displayInt.init(Iint,0,0, "Internal view") ;
    displayExt.init(Iext,330,000, "External view") ;

  }
  vpProjectionDisplay externalview ;

  double px, py ; px = py = 500 ;
  double u0, v0 ; u0 = 150, v0 = 160 ;

  vpCameraParameters cam(px,py,u0,v0);

  int i ;
  vpServo task ;
  vpRobotCamera robot ;


  std::cout << std::endl ;
  std::cout << "----------------------------------------------" << std::endl ;
  std::cout << " Test program for vpServo "  <<std::endl ;
  std::cout << " Eye-in-hand task control, articular velocity are computed" 
            << std::endl ;
  std::cout << " Simulation " << std::endl ;
  std::cout << " task : servo 4 points " << std::endl ;
  std::cout << "----------------------------------------------" << std::endl ;
  std::cout << std::endl ;


  vpTRACE("sets the initial camera location " ) ;
  vpHomogeneousMatrix cMo(-0.1,-0.1,1,
                          vpMath::rad(40),  vpMath::rad(10),  vpMath::rad(60))   ;

  robot.setPosition(cMo) ;

  vpHomogeneousMatrix cextMo(0,0,2,
                             0,0,0) ;//vpMath::rad(40),  vpMath::rad(10),  vpMath::rad(60))   ;


  vpTRACE("sets the point coordinates in the object frame "  ) ;
  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) ;


  for (i = 0 ; i < 4 ; i++)
    externalview.insert(point[i]) ;

  vpTRACE("project : computes  the point coordinates in the camera frame and its 2D coordinates"  ) ;
  for (i = 0 ; i < 4 ; i++)
    point[i].track(cMo) ;

  vpTRACE("sets the desired position of the point ") ;
  vpFeaturePoint p[4] ;
  for (i = 0 ; i < 4 ; i++)
    vpFeatureBuilder::create(p[i],point[i])  ;  //retrieve x,y and Z of the vpPoint structure


  vpTRACE("sets the desired position of the feature point s*") ;
  vpFeaturePoint pd[4] ;

  pd[0].buildFrom(-0.1,-0.1,1) ;
  pd[1].buildFrom(0.1,-0.1,1) ;
  pd[2].buildFrom(0.1,0.1,1) ;
  pd[3].buildFrom(-0.1,0.1,1) ;

  vpTRACE("define the task") ;
  vpTRACE("\t we want an eye-in-hand control law") ;
  vpTRACE("\t articular velocity are computed") ;
  task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
  task.setInteractionMatrixType(vpServo::MEAN) ;


  vpTRACE("Set the position of the camera in the end-effector frame ") ;
  vpHomogeneousMatrix cMe ;
  vpVelocityTwistMatrix cVe(cMe) ;
  task.set_cVe(cVe) ;

  vpTRACE("Set the Jacobian (expressed in the end-effector frame)") ;
  vpMatrix eJe ;
  robot.get_eJe(eJe) ;
  task.set_eJe(eJe) ;

  vpTRACE("\t we want to see a point on a point..") ;
  for (i = 0 ; i < 4 ; i++)
    task.addFeature(p[i],pd[i]) ;

  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 ;
    vpColVector v ;


    if (iter==1)
    {
      vpTRACE("Set the Jacobian (expressed in the end-effector frame)") ;
      vpTRACE("since q is modified eJe is modified") ;
    }
    robot.get_eJe(eJe) ;
    task.set_eJe(eJe) ;

    robot.getPosition(cMo) ;

    if (iter==1) {
      std::cout <<"Initial robot position with respect to the object frame:\n";
      cMo.print();
    }

    if (iter==1) vpTRACE("\t new point position ") ;
    for (i = 0 ; i < 4 ; i++)
    {
      point[i].track(cMo) ;
      //retrieve x,y and Z of the vpPoint structure
      vpFeatureBuilder::create(p[i],point[i])  ;

    }

    if (opt_display) {
      vpDisplay::display(Iint) ;
      vpDisplay::display(Iext) ;
      vpServoDisplay::display(task,cam,Iint) ;
      externalview.display(Iext,cextMo, cMo, cam, vpColor::green) ;
      vpDisplay::flush(Iint);
      vpDisplay::flush(Iext);
    }

    if (iter==1) vpTRACE("\t\t compute the control law ") ;
    v = task.computeControlLaw() ;

    if (iter==1)
    {
      vpTRACE("Display task information " ) ;
      task.print() ;
    }

    if (iter==1) vpTRACE("\t\t send the camera velocity to the controller ") ;
    robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;

    vpTRACE("\t\t || s - s* || ") ;
    std::cout << ( task.getError() ).sumSquare() <<std::endl ;
  }

  vpTRACE("Display task information " ) ;
  task.print() ;
  task.kill();


  std::cout <<"Final robot position with respect to the object frame:\n";
  cMo.print();

  if (opt_display && opt_click_allowed) {
    // suppressed for automate test
    vpTRACE("\n\nClick in the internal view window to end...");
    vpDisplay::getClick(Iint) ;
  }
}
#else
int
main()
{
  vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
}

#endif