This example illustrates in one hand a classical visual servoing with a cylinder. And in the other hand it illustrates the behaviour of the robot when adding a secondary task.
#include <iostream>
#include <visp3/core/vpConfig.h>
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#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 a 2D visual servoing on a cylinder:\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;
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)) {
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;
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit(-1);
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#endif
if (opt_display) {
try {
displayInt.
init(Iint, 100, 100,
"Internal view");
displayExt.
init(Iext, (
int)(130 + Iint.
getWidth()), 100,
"External view");
} catch (...) {
exit(-1);
}
}
double px, py;
px = py = 600;
double u0, v0;
u0 = v0 = 256;
wMo = wMc * cMo;
0, 0, 0,
0.1);
externalview.
insert(cylinder);
cylinder.track(cMod);
cylinder.print();
int i;
for (i = 0; i < 2; i++)
cylinder.track(cMo);
cylinder.print();
for (i = 0; i < 2; i++) {
}
if (opt_display && opt_click_allowed) {
std::cout << "\n\nClick in the internal camera view window to start..." << std::endl;
}
unsigned int iter = 0;
do {
std::cout << "---------------------------------------------" << iter++ << std::endl;
cylinder.track(cMo);
for (i = 0; i < 2; i++) {
}
if (opt_display) {
}
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
}
while ((task.
getError()).sumSquare() > 1e-9);
e1 = 0;
e2 = 0;
iter = 0;
double rapport = 0;
double vitesse = 0.5;
unsigned int tempo = 800;
while (iter < tempo) {
cylinder.track(cMo);
for (i = 0; i < 2; i++) {
}
if (opt_display) {
}
if (iter % tempo < 200 /*&& iter%tempo >= 0*/) {
e2 = 0;
e1[0] = fabs(vitesse);
rapport = vitesse / proj_e1[0];
proj_e1 *= rapport;
v += proj_e1;
}
if (iter % tempo < 400 && iter % tempo >= 200) {
e1 = 0;
e2[1] = fabs(vitesse);
rapport = vitesse / proj_e2[1];
proj_e2 *= rapport;
v += proj_e2;
}
if (iter % tempo < 600 && iter % tempo >= 400) {
e2 = 0;
e1[0] = -fabs(vitesse);
rapport = -vitesse / proj_e1[0];
proj_e1 *= rapport;
v += proj_e1;
}
if (iter % tempo < 800 && iter % tempo >= 600) {
e1 = 0;
e2[1] = -fabs(vitesse);
rapport = -vitesse / proj_e2[1];
proj_e2 *= rapport;
v += proj_e2;
}
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
iter++;
}
if (opt_display && opt_click_allowed) {
std::cout << "\nClick in the internal camera view window to end..." << std::endl;
}
return EXIT_SUCCESS;
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif