servoSimuFourPoints2DPolarCamVelocityDisplay.cpp

Simulation of a 2D visual servoing:Simulation of a 2D visual servoing:

• servo on 4 points with polar 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: servoSimuFourPoints2DPolarCamVelocityDisplay.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 with polar
 * coordinates as visual feature.
 *
 * Authors:
 * 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/vpServo.h>
#include <visp/vpRobotCamera.h>
#include <visp/vpDebug.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpFeaturePointPolar.h>

#include <visp/vpServoDisplay.h>
#include <visp/vpProjectionDisplay.h>
#include <visp/vpMeterPixelConversion.h>

#include <visp/vpImage.h>
#include <visp/vpImagePoint.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpParseArgv.h>
#include <visp/vpIoTools.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)
{

  // Log file creation in /tmp/$USERNAME/log.dat
  // This file contains by line:
  // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
  // - the 6 mesured camera velocities (m/s, rad/s)
  // - the 6 mesured joint positions (m, rad)
  // - the 8 values of s - s*
  std::string username;
  // Get the user login name
  vpIoTools::getUserName(username);

  // Create a log filename to save velocities...
  std::string logdirname;
  logdirname ="C://" + username;

  // Test if the output path exist. If no try to create it
  if (vpIoTools::checkDirectory(logdirname) == false) {
    try {
      // Create the dirname
      vpIoTools::makeDirectory(logdirname);
    }
    catch (...) {
      std::cerr << std::endl
                << "ERROR:" << std::endl;
      std::cerr << "  Cannot create " << logdirname << std::endl;
      exit(-1);
    }
  }
  std::string logfilename;
  logfilename = logdirname + "/log.dat";

  // Open the log file name
  std::ofstream flog(logfilename.c_str());


  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 ;

  // #define TRANS_Z_PURE
  // #define TRANS_X_PURE
  // #define ROT_Z_PURE
  // #define ROT_X_PURE
#define COMPLEX
  //#define PROBLEM

#if defined(TRANS_Z_PURE)
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0, 0, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0, 0, 2,
                           vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
#elif defined(TRANS_X_PURE)
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0.3, 0.3, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0.5, 0.3, 3,
                           vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));

#elif defined(ROT_Z_PURE)
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0, 0, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0, 0, 3,
                           vpMath::rad(0), vpMath::rad(0), vpMath::rad(180));

#elif defined(ROT_X_PURE)
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0, 0, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0, 0, 3,
                           vpMath::rad(45), vpMath::rad(0), vpMath::rad(0));

#elif defined(COMPLEX)
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0.2, 0.2, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0, 0, 2.5,
                           vpMath::rad(45), vpMath::rad(10), vpMath::rad(30));

#elif defined(PROBLEM)
  // Bad behavior with an interaction matrix computed from the desired features
  // sets the initial camera location
  vpHomogeneousMatrix cMo(0.2, 0.2, 3,
                          vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
  // sets the desired camera location
  vpHomogeneousMatrix cMod(0.4, 0.2, 3,
                           vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));

#endif
  robot.setPosition(cMo) ;

  vpHomogeneousMatrix cextMo(0,0,6,
                             vpMath::rad(40),  vpMath::rad(10),  vpMath::rad(60))   ;


  // sets the point coordinates in the object frame
  vpPoint point[4] ;
  point[0].setWorldCoordinates(-0.25,-0.25,0) ;
  point[1].setWorldCoordinates(0.25,-0.25,0) ;
  point[2].setWorldCoordinates(0.25,0.25,0) ;
  point[3].setWorldCoordinates(-0.25,0.25,0) ;


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

  // sets the desired position of the feature point s*"
  vpFeaturePointPolar pd[4] ;

  // computes the point coordinates in the desired camera frame and
  // its 2D coordinates
  for (i = 0 ; i < 4 ; i++) {
    point[i].track(cMod);
    // Computes the polar coordinates from the image point
    // cartesian coordinates
    vpFeatureBuilder::create(pd[i],point[i]); 
  }


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

  // sets the desired position of the point
  vpFeaturePointPolar p[4] ;
  for (i = 0 ; i < 4 ; i++) {
    // retrieve x,y and Z of the vpPoint structure to initialize the
    // visual feature
    vpFeatureBuilder::create(p[i], point[i]);  
  }

  // Define the task;
  // - we want an eye-in-hand control law
  // - articular velocity are computed
  task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
  //  task.setInteractionMatrixType(vpServo::MEAN) ;
  //  task.setInteractionMatrixType(vpServo::DESIRED) ;
  task.setInteractionMatrixType(vpServo::CURRENT) ;


  // Set the position of the camera in the end-effector frame
  vpHomogeneousMatrix cMe ;
  vpVelocityTwistMatrix cVe(cMe) ;
  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 (i = 0 ; i < 4 ; i++)
    task.addFeature(p[i],pd[i]) ;

  // set the gain
  task.setLambda(1) ;


  std::cout << "\nDisplay task information: " << std::endl;
  task.print() ;

  unsigned int iter=0 ;
  // loop
  while(iter++ < 200) {
    std::cout << "---------------------------------------------" 
              << iter <<std::endl ;
    vpColVector v ;


    // Set the Jacobian (expressed in the end-effector frame)
    // 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();
    }

    // Compute new point position
    for (i = 0 ; i < 4 ; i++) {
      point[i].track(cMo) ;
      // retrieve x,y and Z of the vpPoint structure to compute the feature
      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);
    }

    // Compute the control law
    v = task.computeControlLaw() ;

    if (iter==1) {
      std::cout << "Display task information: " << std::endl;
      task.print() ;
    }

    task.print(vpServo::FEATURE_CURRENT);
    task.print(vpServo::FEATURE_DESIRED);

    // Send the camera velocity to the controller
    robot.setVelocity(vpRobot::CAMERA_FRAME, v);
    // Save velocities applied to the robot in the log file
    // v[0], v[1], v[2] correspond to camera translation velocities in m/s
    // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
    flog << v[0] << " " << v[1] << " " << v[2] << " "
         << v[3] << " " << v[4] << " " << v[5] << " ";

    std::cout << "v: " << v.t() << std::endl;

    std::cout << "|| s - s* || = "<< ( task.getError() ).sumSquare() << std::endl;

    // Save feature error (s-s*) for the 4 feature points. For each feature
    // point, we have 2 errors (along x and y axis).  This error is expressed
    // in meters in the camera frame
    flog << ( task.getError() ).t() << " ";// s-s* for point 4
    std::cout << "Error (s-s*): " << ( task.getError() ).t() << "\n";// s-s*

    // Save current visual feature s = (rho,theta)
    for (i = 0 ; i < 4 ; i++) {
      flog << p[i].get_rho() << " " <<  p[i].get_theta() << " ";
    }
    // Save current position of the points
    for (i = 0 ; i < 4 ; i++) {
      flog << point[i].get_x() << " " <<  point[i].get_y() << " ";
    }
    flog << std::endl;

    if (iter == 1) {
      vpImagePoint ip;
      ip.set_i( 10 );
      ip.set_j( 10 );

      vpDisplay::displayCharString(Iint, ip, 
                                   "A click to continue...",vpColor::red);
      vpDisplay::getClick(Iint);
      vpDisplay::flush(Iint);
    }

  }

  
  flog.close() ; // Close the log file
  
  // Display task information
  task.print() ;
  
  // Kill the task
  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
    std::cout << "\n\nClick in the internal view to end..." << std::endl;
    vpDisplay::getClick(Iint) ;
  }
}
#else
int
main()
{
  vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
}

#endif