manSimu4Points.cpp

Visual servoing experiment on 4 points with a visualization from the camera and from an external view using vpSimulator.

/****************************************************************************
 *
 * 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 visualization.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

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


#if (defined(VISP_HAVE_COIN3D_AND_GUI))

#include <visp3/core/vpImage.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpTime.h>
#include <visp3/ar/vpSimulator.h>


#include <visp3/core/vpMath.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/core/vpIoTools.h>

static
void *mainLoop (void *_simu)
{
  // pointer copy of the vpSimulator instance
  vpSimulator *simu = (vpSimulator *)_simu ;

  // Simulation initialization
  simu->initMainApplication() ;

  // 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) ;
  // Send the robot position to the visualizator
  simu->setCameraPosition(cMo) ;
  // Initialize the camera parameters
  vpCameraParameters cam ;
  simu->getCameraParameters(cam);  

  // 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();

  vpTime::wait(500);
  // The control loop
  int k = 0;
  while(k++ < 200){
    double t = vpTime::measureTimeMs();
    
    
    // Update the current features
    for (int i = 0 ; i < 4 ; i++)
    {
      point[i].project(cMo) ;
      vpFeatureBuilder::create(p[i],point[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;
    
    // Send the robot position to the visualizator
    simu->setCameraPosition(cMo) ;

    // Print the current information about the task
    task.print();
    
    // Wait 40 ms
    vpTime::wait(t,40); 
  }  
  task.kill();
  simu->closeMainApplication() ;


  void *a=NULL ;
  return a ;
  // return (void *);
}


int
main()
{
  try {
    vpSimulator simu ;

    // Internal view initialization : view from the robot camera
    simu.initInternalViewer(480, 360) ;
    // External view initialization : view from an external camera
    simu.initExternalViewer(300, 300) ;

    // Inernal camera paramters initialization
    vpCameraParameters cam(800,800,240,180) ;
    simu.setInternalCameraParameters(cam) ;

    vpTime::wait(1000) ;
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH environment variable value
    std::string ipath = vpIoTools::getViSPImagesDataPath();
    std::string filename = "./4points.iv";

    // Set the default input path
    if (! ipath.empty())
      filename = vpIoTools::createFilePath(ipath, "ViSP-images/iv/4points.iv");

    std::cout << "Load : " << filename << std::endl
              << "This file should be in the working directory" << std::endl;

    simu.load(filename.c_str());

    // Run the main loop
    simu.initApplication(&mainLoop) ;
    // Run the simulator
    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/or GTK") ;
}
#endif