Visual servoing experiment on a circle with a visualization from the camera and from an external view using vpSimulator.
#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;
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)) {
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)
{
vcMo[0] = 0.3;
vcMo[1] = 0.2;
vcMo[2] = 3;
vcMo[3] = 0;
cMod[0][3] = 0;
cMod[1][3] = 0;
cMod[2][3] = 1;
int it = 0;
unsigned int pos = 2;
while (pos != 0) {
float sampling_time = 0.040f;
if (pos == 1)
cMod[2][3] = 0.32;
std::cout << std::endl;
unsigned int iter = 0;
unsigned int itermax;
if (pos == 2)
itermax = 75;
else
itermax = 100;
while (iter++ < itermax) {
if (iter == 1)
std::cout << "get the robot position" << std::endl;
if (iter == 1)
std::cout << "new circle position" << std::endl;
if (iter == 1)
std::cout << "compute the control law" << std::endl;
if (iter == 1) {
std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
std::cout << "send the camera velocity to the controller" << std::endl;
}
if (SAVE == 1) {
char name[FILENAME_MAX];
sprintf(name, "/tmp/image.%04d.external.png", it);
std::cout << "Save " << name << std::endl;
sprintf(name, "/tmp/image.%04u.internal.png", iter);
std::cout << "Save " << name << std::endl;
it++;
}
}
pos--;
}
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;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
exit(-1);
}
if (!opt_ipath.empty())
ipath = opt_ipath;
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;
}
}
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);
}
fMo[2][3] = 0;
if (opt_display) {
simu.
load(filename.c_str(), fMo);
}
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have Coin3D and SoQT or SoWin or SoXt functionalities enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install Coin3D and SoQT or SoWin or SoXt, configure ViSP again using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif