servoSimuAfma6FourPoints2DCamVelocity.cpp

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

• servo on 4 points with cartesian 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.

/****************************************************************************
 *
 * 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 2D visual servoing using 4 points with cartesian
 * coordinates as visual feature.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


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

#if ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD)) && (defined (VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))

// We need to use threading capabilities. Thus on Unix-like
// platforms, the libpthread third-party library need to be
// installed. On Windows, we use the native threading capabilities.

#include <stdlib.h>
#include <stdio.h>

#include <visp3/core/vpCameraParameters.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpSimulatorAfma6.h>

// List of allowed command line options
#define GETOPTARGS  "cdh"

void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);

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)
{
  try {
    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;
#elif defined VISP_HAVE_GDI
    vpDisplayGDI displayInt;
#elif defined VISP_HAVE_OPENCV
    vpDisplayOpenCV displayInt;
#endif

    vpImage<unsigned char> Iint(480, 640, 255);

    if (opt_display) {
      // open a display for the visualization
      displayInt.init(Iint,700,0, "Internal view") ;
    }

    vpServo task;

    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 ;

    // sets the initial camera location
    vpHomogeneousMatrix cMo(-0.05,-0.05,0.7,
                            vpMath::rad(10),  vpMath::rad(10),  vpMath::rad(-30));

    // sets the point coordinates in the object frame
    vpPoint point[4] ;
    point[0].setWorldCoordinates(-0.045,-0.045,0) ;
    point[3].setWorldCoordinates(-0.045,0.045,0) ;
    point[2].setWorldCoordinates(0.045,0.045,0) ;
    point[1].setWorldCoordinates(0.045,-0.045,0) ;

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

    // sets the desired position of the point
    vpFeaturePoint p[4] ;
    for (unsigned int i = 0 ; i < 4 ; i++)
      vpFeatureBuilder::create(p[i],point[i])  ;  //retrieve x,y and Z of the vpPoint structure

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

    // Desired pose
    vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));

    // Projection of the points
    for (unsigned int  i = 0 ; i < 4 ; i++)
      point[i].track(cdMo);

    for (unsigned int  i = 0 ; i < 4 ; i++)
      vpFeatureBuilder::create(pd[i], point[i]);

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

    // we want to see a point on a point
    for (unsigned int i = 0 ; i < 4 ; i++)
      task.addFeature(p[i],pd[i]) ;

    // set the gain
    task.setLambda(0.8) ;

    // Declaration of the robot
    vpSimulatorAfma6 robot(opt_display);

    // Initialise the robot and especially the camera
    robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);

    // Initialise the object for the display part*/
    robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);

    // Initialise the position of the object relative to the pose of the robot's camera
    robot.initialiseObjectRelativeToCamera(cMo);

    // Set the desired position (for the displaypart)
    robot.setDesiredCameraPosition(cdMo);

    // Get the internal robot's camera parameters
    vpCameraParameters cam;
    robot.getCameraParameters(cam,Iint);

    if (opt_display)
    {
      //Get the internal view
      vpDisplay::display(Iint);
      robot.getInternalView(Iint);
      vpDisplay::flush(Iint);
    }

    // Display task information
    task.print() ;

    unsigned int iter=0 ;
    vpTRACE("\t loop") ;
    while(iter++<500)
    {
      std::cout << "---------------------------------------------" << iter <<std::endl ;
      vpColVector v ;

      // Get the Time at the beginning of the loop
      double t = vpTime::measureTimeMs();

      // Get the current pose of the camera
      cMo = robot.get_cMo();

      if (iter==1) {
        std::cout <<"Initial robot position with respect to the object frame:\n";
        cMo.print();
      }

      // new point position
      for (unsigned int i = 0 ; i < 4 ; i++)
      {
        point[i].track(cMo) ;
        // retrieve x,y and Z of the vpPoint structure
        vpFeatureBuilder::create(p[i],point[i])  ;
      }

      if (opt_display)
      {
        // Get the internal view and display it
        vpDisplay::display(Iint) ;
        robot.getInternalView(Iint);
        vpDisplay::flush(Iint);
      }

      if (opt_display && opt_click_allowed && iter == 1)
      {
        // suppressed for automate test
        std::cout << "Click in the internal view window to continue..." << std::endl;
        vpDisplay::getClick(Iint) ;
      }

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

      // send the camera velocity to the controller
      robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;

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

      // The main loop has a duration of 10 ms at minimum
      vpTime::wait(t,10);
    }

    // Display task information
    task.print() ;
    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 << "Click in the internal view window to end..." << std::endl;
      vpDisplay::getClick(Iint) ;
    }
    return 0;
  }
  catch(vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return 1;
  }
}
#else
int
main()
{
  vpERROR_TRACE("You do not have X11, OpenCV or GDI display functionalities or threading capabilities...");
}

#endif