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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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/vpConfig.h>
#include <visp3/core/vpDebug.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 <stdio.h>
#include <stdlib.h>

#include <visp3/core/vpCameraParameters.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/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.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)
{
  std::string appveyor_threading = "";
  try {
    appveyor_threading = vpIoTools::getenv("APPVEYOR_THREADING");
  } catch (...) {
  }

  if (appveyor_threading == "true") {
    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;
    }
  }
  return 0;
}
#else
int main()
{
  vpERROR_TRACE("You do not have X11, OpenCV or GDI display functionalities "
                "or threading capabilities...");
}

#endif