Visual Servoing Platform  version 3.0.1
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servoSimuLine2DCamVelocityDisplay.cpp

Servo a line:

/****************************************************************************
*
* 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 on a line.
*
* Authors:
* Eric Marchand
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpConfig.h>
#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#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/gui/vpDisplayOpenCV.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/robot/vpSimulatorCamera.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\
Simulation of 2D a visual servoing on a line:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\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_display = true;
bool opt_click_allowed = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit (-1);
}
vpImage<unsigned char> I(512,512,0) ;
// We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
vpDisplayX display;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV display;
#endif
if (opt_display) {
try{
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Camera view...") ;
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
// therefore is is no longuer necessary to make a reference to the
// display variable.
}
catch(...)
{
vpERROR_TRACE("Error while displaying the image") ;
exit(-1);
}
}
double px, py ; px = py = 600 ;
double u0, v0 ; u0 = v0 = 256 ;
vpCameraParameters cam(px,py,u0,v0);
vpServo task ;
// sets the initial camera location
vpHomogeneousMatrix cMo(-0.2,0.1,1,
// Compute the position of the object in the world frame
robot.getPosition(wMc) ;
wMo = wMc * cMo;
// sets the final camera location (for simulation purpose)
vpHomogeneousMatrix cMod(0,0,1,
// sets the line coordinates (2 planes) in the world frame
vpColVector plane1(4) ;
vpColVector plane2(4) ;
plane1[0] = 0; // z = 0
plane1[1] = 0;
plane1[2] = 1;
plane1[3] = 0;
plane2[0] = 0; // y =0
plane2[1] = 1;
plane2[2] = 0;
plane2[3] = 0;
vpLine line ;
line.setWorldCoordinates(plane1, plane2) ;
// sets the desired position of the visual feature
line.track(cMod) ;
line.print() ;
// computes the line coordinates in the camera frame and its 2D coordinates
// sets the current position of the visual feature
line.track(cMo) ;
line.print() ;
l.print() ;
// define the task
// - we want an eye-in-hand control law
// - robot is controlled in the camera frame
// we want to see a line on a line
task.addFeature(l,ld) ;
// set the gain
task.setLambda(1) ;
// Display task information " ) ;
task.print() ;
if (opt_display && opt_click_allowed) {
std::cout << "\n\nClick in the camera view window to start..." << std::endl;
}
unsigned int iter=0 ;
// loop
while(iter++<200)
{
std::cout << "---------------------------------------------" << iter <<std::endl ;
// get the robot position
robot.getPosition(wMc) ;
// Compute the position of the camera wrt the object frame
cMo = wMc.inverse() * wMo;
// new line position
line.track(cMo) ;
// retrieve x,y and Z of the vpLine structure
if (opt_display) {
}
// compute the control law
v = task.computeControlLaw() ;
// send the camera velocity to the controller
std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
}
if (opt_display && opt_click_allowed) {
std::cout << "\nClick in the camera view window to end..." << std::endl;
}
// Display task information
task.print() ;
task.kill();
return 0;
}
catch(vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
return 1;
}
}
#else
int
main()
{
std::cout << "You do not have X11, GTK, GDI or OpenCV display functionalities..." << std::endl;
}
#endif