tutorial-ibvs-4pts-wireframe-robot-viper.cpp

#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayX.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorViper850.h>

void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
                        const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
{
  int thickness = 3;
  static std::vector<vpImagePoint> traj[4];
  vpImagePoint cog;
  for (unsigned int i=0; i<4; i++) {
    // Project the point at the given camera position
    point[i].project(cMo);
    vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
    traj[i].push_back(cog);
  }
  for (unsigned int i=0; i<4; i++) {
    for (unsigned int j=1; j<traj[i].size(); j++) {
      vpDisplay::displayLine(I, traj[i][j-1], traj[i][j], vpColor::green, thickness);
    }
  }
}

int main()
{
#if defined(VISP_HAVE_PTHREAD)

  vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
  vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));

  /*
    Top view of the world frame, the camera frame and the object frame

    world, also robot base frame :  --> w_y
                                    |
                                   \|/
                                      w_x

    object :
                     o_y
                  /|\
                   |
             o_x <--


    camera :
                     c_y
                  /|\
                   |
             c_x <--

    */
  vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15),
                          vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI/2.)));

  std::vector<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);

  vpServo task ;
  task.setServo(vpServo::EYEINHAND_CAMERA);
  task.setInteractionMatrixType(vpServo::CURRENT);
  task.setLambda(0.5);

  vpFeaturePoint p[4], pd[4] ;
  for (int i = 0 ; i < 4 ; i++) {
    point[i].track(cdMo);
    vpFeatureBuilder::create(pd[i], point[i]);
    point[i].track(cMo);
    vpFeatureBuilder::create(p[i], point[i]);
    task.addFeature(p[i], pd[i]);
  }

  vpSimulatorViper850 robot(true);
  robot.setVerbose(true);

  // Enlarge the default joint limits
  vpColVector qmin = robot.getJointMin();
  vpColVector qmax = robot.getJointMax();
  qmin[0] = -vpMath::rad(180);
  qmax[0] =  vpMath::rad(180);
  qmax[1] =  vpMath::rad(0);
  qmax[2] =  vpMath::rad(270);
  qmin[4] = -vpMath::rad(180);
  qmax[4] =  vpMath::rad(180);

  robot.setJointLimit(qmin, qmax);

  std::cout << "Robot joint limits: " << std::endl;
  for (unsigned int i=0; i< qmin.size(); i ++)
    std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;

  robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
  robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
  robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
  robot.set_fMo(wMo);
  bool ret = true;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
  ret =
#endif
  robot.initialiseCameraRelativeToObject(cMo);
  if (ret == false)
    return 0; // Not able to set the position
  robot.setDesiredCameraPosition(cdMo);
  // We modify the default external camera position
  robot.setExternalCameraPosition(vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2),
                                                      vpRotationMatrix(vpRxyzVector(M_PI/2,0,0))));

  vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
  vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#else
  std::cout << "No image viewer is available..." << std::endl;
#endif

  vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
  // Modify the camera parameters to match those used in the other simulations
  robot.setCameraParameters(cam);

  bool start = true;
  //for ( ; ; )
  for (int iter =0; iter < 275; iter ++)
  {
    cMo = robot.get_cMo();

    for (int i = 0 ; i < 4 ; i++) {
      point[i].track(cMo);
      vpFeatureBuilder::create(p[i], point[i]);
    }

    vpDisplay::display(Iint);
    robot.getInternalView(Iint);
    if (!start) {
      display_trajectory(Iint, point, cMo, cam);
      vpDisplay::displayCharString(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
    }
    vpDisplay::flush(Iint);

    vpColVector v = task.computeControlLaw();
    robot.setVelocity(vpRobot::CAMERA_FRAME, v);

    // A click to exit
    if (vpDisplay::getClick(Iint, false))
      break;

    if (start) {
      start = false;
      v = 0;
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);
      vpDisplay::displayCharString(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
      vpDisplay::flush(Iint);
      //vpDisplay::getClick(Iint);
    }

    vpTime::wait(1000*robot.getSamplingTime());
  }
  task.kill();
#endif
}