servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp

Servo a sphere:

• eye-in-hand control law,
• velocity computed in the camera frame,
• display the camera view,
• a secondary task is the added.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 on a sphere.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

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

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpSphere.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.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>
#include <visp3/vs/vpServoDisplay.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 a 2D visual servoing on a sphere:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view,\n\
- a secondary task is the added.\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) {
      return(EXIT_FAILURE);
    }

    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) {
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
      // Display size is automatically defined by the image (I) size
      display.init(I, 100, 100, "Camera view...");
#endif
      // 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.
      vpDisplay::display(I);
      vpDisplay::flush(I);
    }

    double px = 600, py = 600;
    double u0 = I.getWidth()/2., v0 = I.getHeight() / 2.;

    vpCameraParameters cam(px, py, u0, v0);

    vpServo task;
    vpSimulatorCamera robot;

    // sets the initial camera location
    vpHomogeneousMatrix cMo;
    cMo[0][3] = 0.1;
    cMo[1][3] = 0.2;
    cMo[2][3] = 2;
    // Compute the position of the object in the world frame
    vpHomogeneousMatrix wMc, wMo;
    robot.getPosition(wMc);
    wMo = wMc * cMo;

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

    // sets the sphere coordinates in the world frame
    vpSphere sphere;
    sphere.setWorldCoordinates(0, 0, 0, 0.1);

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

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

    // define the task
    // - we want an eye-in-hand control law
    // - robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA);

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

    // set the gain
    task.setLambda(1);

    // Display task information
    task.print();
    // exit(1) ;
    unsigned int iter = 0;
    // loop
    while (iter++ < 200) {
      std::cout << "---------------------------------------------" << iter << std::endl;
      vpColVector v;

      // get the robot position
      robot.getPosition(wMc);
      // Compute the position of the camera wrt the object frame
      cMo = wMc.inverse() * wMo;

      // new sphere position: retrieve x,y and Z of the vpSphere structure
      sphere.track(cMo);
      vpFeatureBuilder::create(p, sphere);

      vpColVector de2dt(6);
      de2dt[2] = 1;    // should be zero in (I-WpW)de2dt
      de2dt[5] = 0.01; // should be ok
      de2dt[0] = 0.01; // should generate a motion on (I-WpW)de2dt[4]

      if (opt_display) {
        vpDisplay::display(I);
        vpServoDisplay::display(task, cam, I);
        vpDisplay::flush(I);
      }

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

      std::cout << "de2dt :" << de2dt.t() << std::endl;
      vpColVector sec;
      sec = task.secondaryTask(de2dt);
      std::cout << "(I-WpW)de2dt :" << sec.t() << std::endl;

      if (iter > 20)
        v += sec;

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

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

    // Display task information
    task.print();
    task.kill();
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}