simulateCircle2DCamVelocity.cpp

Visual servoing experiment on a circle 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 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 visual servoing with visualization.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

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

#ifdef VISP_HAVE_COIN3D_AND_GUI
#include <visp3/ar/vpSimulator.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpTime.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/vs/vpServo.h>

#define GETOPTARGS "cdi:h"
#define SAVE 0

void usage(const char *name, const char *badparam, std::string ipath)
{
  fprintf(stdout, "\n\
Simulation Servo Circle\n\
          \n\
SYNOPSIS\n\
  %s [-i <input image path>] [-d] [-h]\n", name);

  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                %s\n\
     Set image input path.\n\
     From this path read \"iv/4points.iv\"\n\
     cad model.\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\n\
 \n\
  -d                                             \n\
     Disable the image display. This can be useful \n\
     for automatic tests using crontab under Unix or \n\
     using the task manager under Windows.\n\
                  \n\
  -h\n\
     Print the help.\n\n", ipath.c_str());

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
{
  const char *optarg;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {

    switch (c) {
    case 'i':
      ipath = optarg;
      break;
    case 'd':
      display = false;
      break;
    case 'h':
      usage(argv[0], NULL, ipath);
      return false;
      break;

    default:
      usage(argv[0], optarg, ipath);
      return false;
      break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL, ipath);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg << std::endl << std::endl;
    return false;
  }

  return true;
}

static void *mainLoop(void *_simu)
{
  vpSimulator *simu = static_cast<vpSimulator *>(_simu);
  simu->initMainApplication();

  vpPoseVector vcMo;

  vcMo[0] = 0.3;
  vcMo[1] = 0.2;
  vcMo[2] = 3;
  vcMo[3] = 0;
  vcMo[4] = vpMath::rad(45);
  vcMo[5] = vpMath::rad(40);
  vpHomogeneousMatrix cMo(vcMo);
  vpHomogeneousMatrix wMo; // Set to identity
  vpHomogeneousMatrix wMc; // Robot (=camera) location in the world frame

  vpHomogeneousMatrix cMod;
  cMod[0][3] = 0;
  cMod[1][3] = 0;
  cMod[2][3] = 1;

  int it = 0;
  unsigned int pos = 2;
  while (pos != 0) {
    vpServo task;
    vpSimulatorCamera robot;

    float sampling_time = 0.040f; // Sampling period in second
    robot.setSamplingTime(sampling_time);
    robot.setMaxTranslationVelocity(4.);

    // Sets the initial camera location
    wMc = wMo * cMo.inverse();
    robot.setPosition(wMc);
    simu->setCameraPosition(cMo);

    if (pos == 1)
      cMod[2][3] = 0.32;

    // Sets the circle coordinates in the world frame
    vpCircle circle;
    circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);

    // Sets the desired position of the visual feature
    vpFeatureEllipse pd;
    circle.track(cMod);
    vpFeatureBuilder::create(pd, circle);

    // Project : computes the circle coordinates in the camera frame and its
    // 2D coordinates Sets the current position of the visual feature
    vpFeatureEllipse p;
    circle.track(cMo);
    vpFeatureBuilder::create(p, circle);

    // Define the task
    // We want an eye-in-hand control law
    // Robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::CURRENT);

    // We want to see a circle on a circle
    std::cout << std::endl;
    task.addFeature(p, pd);

    // Set the gain
    task.setLambda(1.0);

    // Display task information
    task.print();

    vpTime::wait(1000); // Sleep 1s

    unsigned int iter = 0;
    // Visual servoing loop
    unsigned int itermax;
    if (pos == 2)
      itermax = 75;
    else
      itermax = 100;
    while (iter++ < itermax) {
      double t = vpTime::measureTimeMs();

      if (iter == 1)
        std::cout << "get the robot position" << std::endl;
      wMc = robot.getPosition();
      if (iter == 1)
        std::cout << "new circle position" << std::endl;
      // retrieve x,y and Z of the vpCircle structure

      cMo = wMc.inverse() * wMo;
      circle.track(cMo);
      vpFeatureBuilder::create(p, circle);

      if (iter == 1)
        std::cout << "compute the control law" << std::endl;
      vpColVector v = task.computeControlLaw();
      if (iter == 1) {
        std::cout << "Task rank: " << task.getTaskRank() << std::endl;
        std::cout << "send the camera velocity to the controller" << std::endl;
      }
      robot.setVelocity(vpRobot::CAMERA_FRAME, v);

      simu->setCameraPosition(cMo);

      if (SAVE == 1) {
        char name[FILENAME_MAX];
        sprintf(name, "/tmp/image.%04d.external.png", it);
        std::cout << "Save " << name << std::endl;
        simu->write(name);
        sprintf(name, "/tmp/image.%04u.internal.png", iter);
        std::cout << "Save " << name << std::endl;
        simu->write(name);
        it++;
      }
      //  std::cout << "\t\t || s - s* || "
      //  std::cout << ( task.getError() ).sumSquare() <<std::endl ; ;
      vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
    }
    pos--;
    task.kill();
  }

  simu->closeMainApplication();

  void *a = NULL;
  return a;
}

int main(int argc, const char **argv)
{
  try {
    std::string env_ipath;
    std::string opt_ipath;
    std::string ipath;
    std::string filename;
    bool opt_display = true;

    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();

    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;

    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
      exit(-1);
    }

    // Get the option values
    if (!opt_ipath.empty())
      ipath = opt_ipath;

    // Compare ipath and env_ipath. If they differ, we take into account
    // the input path comming from the command line option
    if (!opt_ipath.empty() && !env_ipath.empty()) {
      if (ipath != env_ipath) {
        std::cout << std::endl << "WARNING: " << std::endl;
        std::cout << "  Since -i <visp image path=" << ipath << "> "
                  << "  is different from VISP_INPUT_IMAGE_PATH=" << env_ipath << std::endl
                  << "  we skip the environment variable." << std::endl;
      }
    }

    // Test if an input path is set
    if (opt_ipath.empty() && env_ipath.empty()) {
      usage(argv[0], NULL, ipath);
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
                << "  environment variable to specify the location of the " << std::endl
                << "  image path where test images are located." << std::endl
                << std::endl;
      exit(-1);
    }

    vpCameraParameters cam;
    vpHomogeneousMatrix fMo;
    fMo[2][3] = 0;

    if (opt_display) {

      vpSimulator simu;
      simu.initInternalViewer(300, 300);
      simu.initExternalViewer(300, 300);

      vpTime::wait(1000);
      simu.setZoomFactor(1.0f);
      simu.addAbsoluteFrame();

      // Load the cad model
      filename = vpIoTools::createFilePath(ipath, "iv/circle.iv");
      simu.load(filename.c_str(), fMo);

      simu.setInternalCameraParameters(cam);

      simu.initApplication(&mainLoop);
      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 SoQT or SoWin or SoXt"); }
#endif