manServo4PointsDisplay.cpp

Visual servoing experiment on 4 points with a display.

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 display.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>

#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)

#include <visp3/core/vpImage.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpTime.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>

#include <visp3/core/vpMath.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/core/vpIoTools.h>

int main()
{
  try {
    // sets the initial camera location
    vpHomogeneousMatrix cMo(0.3,0.2,3,
                            vpMath::rad(0),vpMath::rad(0),vpMath::rad(40))  ;
    vpHomogeneousMatrix wMo; // Set to identity
    vpHomogeneousMatrix wMc; // Camera position in the world frame

    // initialize the robot
    vpSimulatorCamera robot ;
    robot.setSamplingTime(0.04); // 40ms
    wMc = wMo * cMo.inverse();
    robot.setPosition(wMc) ;

    //initialize the camera parameters
    vpCameraParameters cam(800,800,240,180);

    //Image definition
    unsigned int height = 360 ;
    unsigned int width  = 480 ;
    vpImage<unsigned char> I(height,width);

    //Display initialization
#if defined(VISP_HAVE_X11)
    vpDisplayX disp;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK disp;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI disp;
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV disp;
#endif
    disp.init(I,100,100,"Simulation display");

    // Desired visual features initialization

    // sets the points coordinates in the object frame (in meter)
    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) ;

    // sets the desired camera location
    vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;

    // computes the 3D point coordinates in the camera frame and its 2D coordinates
    for (int i = 0 ; i < 4 ; i++)
      point[i].project(cMo_d) ;

    // creates the associated features
    vpFeaturePoint pd[4] ;
    for (int i = 0 ; i < 4 ; i++)
      vpFeatureBuilder::create(pd[i],point[i]) ;


    // Current visual features initialization

    // computes the 3D point coordinates in the camera frame and its 2D coordinates
    for (int i = 0 ; i < 4 ; i++)
      point[i].project(cMo) ;

    // creates the associated features
    vpFeaturePoint p[4] ;
    for (int i = 0 ; i < 4 ; i++)
      vpFeatureBuilder::create(p[i],point[i])  ;


    // Task defintion
    vpServo task ;
    // we want an eye-in-hand control law ;
    task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
    task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;

    // 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 (int i = 0 ; i < 4 ; i++)
      task.addFeature(p[i],pd[i]) ;
    // Set the gain
    task.setLambda(1.0) ;
    // Print the current information about the task
    task.print();


    // The control loop
    int k = 0;
    while(k++ < 200){
      double t = vpTime::measureTimeMs();

      // Display the image background
      vpDisplay::display(I);

      // Update the current features
      for (int i = 0 ; i < 4 ; i++)
      {
        point[i].project(cMo) ;
        vpFeatureBuilder::create(p[i],point[i])  ;
      }

      // Display the task features (current and desired)
      vpServoDisplay::display(task,cam,I);
      vpDisplay::flush(I);

      // Update the robot Jacobian
      robot.get_eJe(eJe) ;
      task.set_eJe(eJe) ;

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

      // Send the computed velocity to the robot and compute the new robot position
      robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
      wMc = robot.getPosition();
      cMo = wMc.inverse() * wMo;

      // Print the current information about the task
      task.print();

      // Wait 40 ms
      vpTime::wait(t,40);
    }
    task.kill();
    return 0;
  }
  catch(vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}

#else
int
main()
{  vpTRACE("You should install GTK") ;

}
#endif