ViSP  2.9.0
simulateCircle2DCamVelocity.cpp

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

/****************************************************************************
*
* $Id: simulateCircle2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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 visual servoing with visualization.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
#ifdef VISP_HAVE_COIN_AND_GUI
#include <visp/vpImage.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpTime.h>
#include <visp/vpSimulator.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>
#include <visp/vpParseArgv.h>
#include <visp/vpIoTools.h>
#define GETOPTARGS "cdi:h"
#define SAVE 0
void usage(const char *name, const char *badparam, std::string ipath)
{
fprintf(stdout, "\n\
Simulation Servo Circle\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"ViSP-images/iv/4points.iv\"\n\
cad model.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-d \n\
Disable the image display. This can be useful \n\
for automatic tests using crontab under Unix or \n\
using the task manager under Windows.\n\
\n\
-h\n\
Print the help.\n\n",
ipath.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
{
const char *optarg;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'i': ipath = optarg; break;
case 'd': display = false; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
usage(argv[0], optarg, ipath); return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
static
void *mainLoop (void *_simu)
{
vpSimulator *simu = (vpSimulator *)_simu ;
simu->initMainApplication() ;
vpPoseVector vcMo ;
vcMo[0] = 0.3 ;
vcMo[1] = 0.2 ;
vcMo[2] = 3 ;
vcMo[3] = 0 ;
vcMo[4] = vpMath::rad(45) ;
vcMo[5] = vpMath::rad(40) ;
vpHomogeneousMatrix cMo(vcMo) ; ;
vpHomogeneousMatrix cMod ;
cMod[0][3] = 0 ;
cMod[1][3] = 0 ;
cMod[2][3] = 1 ;
int it =0 ;
unsigned int pos = 2 ;
while (pos!=0)
{
vpServo task ;
vpRobotCamera robot ;
float sampling_time = 0.040f; // Sampling period in second
robot.setSamplingTime(sampling_time);
/* std::cout << std::endl ;
std::cout << "-----------------------" << std::endl ;
std::cout << " Test program for vpServo " <<std::endl ;
std::cout << " Simulation " << std::endl ;
std::cout << " task : servo a circle " << std::endl ;
std::cout << "-----------------------" << std::endl ;
std::cout << std::endl ;
*/
vpTRACE("sets the initial camera location " ) ;
robot.setPosition(cMo) ;
simu->setCameraPosition(cMo) ;
if (pos==1) cMod[2][3] = 0.32 ;
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 ") ;
vpFeatureEllipse pd ;
circle.track(cMod) ;
vpFeatureBuilder::create(pd,circle) ;
vpTRACE("project : computes the circle coordinates in the camera frame and its 2D coordinates" ) ;
vpTRACE("sets the current position of the visual feature ") ;
vpFeatureEllipse p ;
circle.track(cMo) ;
vpFeatureBuilder::create(p,circle) ;
vpTRACE("define the task") ;
vpTRACE("\t we want an eye-in-hand control law") ;
vpTRACE("\t robot is controlled in the camera frame") ;
task.setServo(vpServo::EYEINHAND_CAMERA) ;
task.setInteractionMatrixType(vpServo::CURRENT) ;
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(1.0) ;
// if (pos==2)
// task.setLambda(0.0251) ;
// else
// task.setLambda(0.0251) ;
vpTRACE("Display task information " ) ;
task.print() ;
vpTime::wait(1000); // Sleep 1s
std::cout << "\nEnter a character to continue... " <<std::endl ;
{ int a ; std::cin >> a ; }
unsigned int iter=0 ;
vpTRACE("\t loop") ;
unsigned int itermax ;
if (pos==2) itermax = 75 ; else itermax = 100 ;
char name[FILENAME_MAX] ;
while(iter++<itermax)
{
double t = vpTime::measureTimeMs();
std::cout << "---------------------------------------------"
<< iter <<std::endl ;
vpColVector v ;
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) ;
vpFeatureBuilder::create(p,circle);
if (iter==1) vpTRACE("\t\t compute the control law ") ;
v = task.computeControlLaw() ;
// vpTRACE("computeControlLaw" ) ;
std::cout << "Task rank: " << task.getTaskRank() <<std::endl ;
if (iter==1)
vpTRACE("\t\t send the camera velocity to the controller ") ;
robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
simu->setCameraPosition(cMo) ;
if(SAVE==1)
{
sprintf(name,"/tmp/image.%04d.external.png",it) ;
std::cout << "Save " << name << std::endl ;
simu->write(name) ;
sprintf(name,"/tmp/image.%04d.internal.png",iter) ;
std::cout << "Save " << name << std::endl ;
simu->write(name) ;
it++ ;
}
// vpTRACE("\t\t || s - s* || ") ;
// std::cout << ( task.getError() ).sumSquare() <<std::endl ; ;
vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
}
pos-- ;
task.kill();
}
simu->closeMainApplication() ;
void *a=NULL ;
return a ;
// return (void *);
}
int
main(int argc, const char ** argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
std::string username;
bool opt_display = true;
// Get the VISP_IMAGE_PATH environment variable value
char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
if (ptenv != NULL)
env_ipath = ptenv;
// Set the default input path
if (! env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
exit (-1);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl
<< "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_INPUT_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath);
std::cerr << std::endl
<< "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
<< std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
vpCameraParameters cam ;
vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
if (opt_display) {
vpSimulator simu ;
simu.initInternalViewer(300, 300) ;
simu.initExternalViewer(300, 300) ;
vpTime::wait(1000) ;
simu.setZoomFactor(1.0f) ;
simu.addAbsoluteFrame() ;
// Load the cad model
filename = ipath + vpIoTools::path("/ViSP-images/iv/circle.iv");
simu.load(filename.c_str(),fMo) ;
simu.setInternalCameraParameters(cam) ;
simu.initApplication(&mainLoop) ;
simu.mainLoop() ;
}
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int
main()
{ vpTRACE("You should install Coin3D and SoQT or SoWin or SoXt") ;
}
#endif