simulateFourPoints2DPolarCamVelocity.cpp

/****************************************************************************
 *
 * 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 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/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/vpFeaturePointPolar.h>
#include <visp3/vs/vpServo.h>

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

void usage(const char *name, const char *badparam, std::string ipath)
{
  fprintf(stdout, "\n\
Simulation Servo 4points.\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();

  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
  vpPoseVector vcMo;

  vcMo[0] = 0.;
  vcMo[1] = 0.;
  vcMo[2] = 3;
  vcMo[3] = 0;
  vcMo[4] = vpMath::rad(0);
  vcMo[5] = vpMath::rad(90);

  vpHomogeneousMatrix cMo(vcMo);
  vpHomogeneousMatrix wMo; // Set to identity
  vpHomogeneousMatrix wMc; // Camera location in world frame
  wMc = wMo * cMo.inverse();
  robot.setPosition(wMc);
  simu->setCameraPosition(cMo);

  simu->getCameraPosition(cMo);
  wMc = wMo * cMo.inverse();
  robot.setPosition(wMc);

  vpCameraParameters cam;

  // Sets the point coordinates in the world frame
  vpPoint point[4];
  point[0].setWorldCoordinates(-0.1, -0.1, 0);
  point[1].setWorldCoordinates(0.1, -0.1, 0);
  point[2].setWorldCoordinates(0.1, 0.1, 0);
  point[3].setWorldCoordinates(-0.1, 0.1, 0);

  // Project : computes the point coordinates in the camera frame and its 2D
  // coordinates
  for (int i = 0; i < 4; i++) {
    point[i].changeFrame(cMo); // Compute point coordinates in the camera frame
    point[i].project();        // Compute desired point doordinates in the camera frame
  }

  // Sets the desired position of the point
  vpFeaturePointPolar p[4];
  for (int i = 0; i < 4; i++)
    vpFeatureBuilder::create(p[i],
                             point[i]); // retrieve x,y and Z of the
                                        // vpPoint structure to build the
                                        // polar coordinates

  std::cout << "s: \n";
  for (int i = 0; i < 4; i++) {
    printf("[%d] rho %f theta %f Z %f\n", i, p[i].get_rho(), p[i].get_theta(), p[i].get_Z());
  }

  // Sets the desired position of the point
  vcMo[0] = 0;
  vcMo[1] = 0;
  vcMo[2] = 1;
  vcMo[3] = vpMath::rad(0);
  vcMo[4] = vpMath::rad(0);
  vcMo[5] = vpMath::rad(0);

  vpHomogeneousMatrix cMod(vcMo);

  vpFeaturePointPolar pd[4];
  vpPoint pointd[4]; // Desired position of the points
  pointd[0].setWorldCoordinates(-0.1, -0.1, 0);
  pointd[1].setWorldCoordinates(0.1, -0.1, 0);
  pointd[2].setWorldCoordinates(0.1, 0.1, 0);
  pointd[3].setWorldCoordinates(-0.1, 0.1, 0);
  for (int i = 0; i < 4; i++) {
    pointd[i].changeFrame(cMod); // Compute desired point doordinates in the camera frame
    pointd[i].project();         // Compute desired point doordinates in the camera frame

    vpFeatureBuilder::create(pd[i], pointd[i]); // retrieve x,y and Z of the
                                                // vpPoint structure to build
                                                // the polar coordinates
  }
  std::cout << "s*: \n";
  for (int i = 0; i < 4; i++) {
    printf("[%d] rho %f theta %f Z %f\n", i, pd[i].get_rho(), pd[i].get_theta(), pd[i].get_Z());
  }

  // Define the task
  // We want an eye-in-hand control law
  // Articular velocity are computed
  task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
  task.setInteractionMatrixType(vpServo::CURRENT);

  // Set the position of the end-effector frame in the camera frame as identity
  vpHomogeneousMatrix cMe;
  vpVelocityTwistMatrix cVe(cMe);
  task.set_cVe(cVe);

  // Set the Jacobian (expressed in the end-effector frame)
  vpMatrix eJe;
  robot.get_eJe(eJe);
  task.set_eJe(eJe);

  // We want to see a point on a point
  for (int i = 0; i < 4; i++)
    task.addFeature(p[i], pd[i]);

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

  // Display task information
  task.print();

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

  unsigned int iter = 0;
  // Visual servo loop
  while (iter++ < 200) {
    double t = vpTime::measureTimeMs();

    robot.get_eJe(eJe);
    task.set_eJe(eJe);

    wMc = robot.getPosition();
    cMo = wMc.inverse() * wMo;
    for (int i = 0; i < 4; i++) {
      point[i].track(cMo);
      vpFeatureBuilder::create(p[i], point[i]);
    }

    vpColVector v = task.computeControlLaw();
    robot.setVelocity(vpRobot::CAMERA_FRAME, v);

    simu->setCameraPosition(cMo);

    if (SAVE == 1) {
      char name[FILENAME_MAX];
      sprintf(name, "/tmp/image.%04u.external.png", iter);
      std::cout << name << std::endl;
      simu->write(name);
      sprintf(name, "/tmp/image.%04u.internal.png", iter);
      simu->write(name);
    }

    vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
  }
  // Display task information
  task.print();
  task.kill();

  std::cout << "cMo:\n" << cMo << std::endl;
  vpPoseVector pose(cMo);
  std::cout << "final pose:\n" << pose.t() << std::endl;

  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_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);

      // Load the cad model
      filename = vpIoTools::createFilePath(ipath, "iv/4points.iv");
      simu.load(filename.c_str());

      simu.setInternalCameraParameters(cam);
      simu.setExternalCameraParameters(cam);
      simu.initApplication(&mainLoop);

      simu.mainLoop();
    }
    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    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