45 #include <visp3/core/vpCameraParameters.h> 46 #include <visp3/core/vpConfig.h> 47 #include <visp3/core/vpDebug.h> 48 #include <visp3/core/vpHomogeneousMatrix.h> 49 #include <visp3/core/vpIoTools.h> 50 #include <visp3/core/vpMath.h> 51 #include <visp3/core/vpMomentCommon.h> 52 #include <visp3/core/vpMomentDatabase.h> 53 #include <visp3/core/vpMomentObject.h> 54 #include <visp3/core/vpPlane.h> 55 #include <visp3/gui/vpDisplayD3D.h> 56 #include <visp3/gui/vpDisplayGDI.h> 57 #include <visp3/gui/vpDisplayGTK.h> 58 #include <visp3/gui/vpDisplayOpenCV.h> 59 #include <visp3/gui/vpDisplayX.h> 60 #include <visp3/gui/vpPlot.h> 61 #include <visp3/robot/vpSimulatorAfma6.h> 62 #include <visp3/visual_features/vpFeatureBuilder.h> 63 #include <visp3/visual_features/vpFeatureMomentCommon.h> 64 #include <visp3/visual_features/vpFeaturePoint.h> 65 #include <visp3/vs/vpServo.h> 67 #if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD) 71 std::cout <<
"Can't run this example since vpSimulatorAfma6 capability is " 74 std::cout <<
"You should install pthread third-party library." << std::endl;
78 #elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \ 79 !defined(VISP_HAVE_GTK) 82 std::cout <<
"Can't run this example since no display capability is available." << std::endl;
83 std::cout <<
"You should install one of the following third-party library: " 84 "X11, OpenCV, GDI, GTK." 90 #ifndef DOXYGEN_SHOULD_SKIP_THIS 95 : m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
96 m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(NULL), m_momentsDes(NULL),
97 m_featureMoments(NULL), m_featureMomentsDes(NULL), m_displayInt(NULL)
102 #ifdef VISP_HAVE_DISPLAY 109 delete m_featureMoments;
110 delete m_featureMomentsDes;
115 std::vector<vpPoint> src_pts;
116 std::vector<vpPoint> dst_pts;
118 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
119 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
122 for (
int i = 0; i < nbpoints; i++) {
125 src_pts.push_back(p);
129 m_src.fromVector(src_pts);
130 for (
int i = 0; i < nbpoints; i++) {
133 dst_pts.push_back(p);
136 m_dst.fromVector(dst_pts);
141 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
142 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
144 std::vector<vpPoint> cur_pts;
146 for (
int i = 0; i < nbpoints; i++) {
149 cur_pts.push_back(p);
161 #ifdef VISP_HAVE_DISPLAY 163 #if defined VISP_HAVE_X11 165 #elif defined VISP_HAVE_OPENCV 167 #elif defined VISP_HAVE_GDI 169 #elif defined VISP_HAVE_D3D9 171 #elif defined VISP_HAVE_GTK 174 m_displayInt->
init(m_Iint, 50, 50,
"Visual servoing with moments");
199 planeToABC(pl, A, B, C);
203 planeToABC(pl, Ad, Bd, Cd);
221 m_moments->updateAll(m_src);
222 m_momentsDes->updateAll(m_dst);
224 m_featureMoments->updateAll(A, B, C);
225 m_featureMomentsDes->updateAll(Ad, Bd, Cd);
228 m_task.setInteractionMatrixType(m_interaction_type);
231 m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
232 m_featureMomentsDes->getFeatureGravityNormalized());
233 m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
235 m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
236 (1 << 10) | (1 << 11));
237 m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
239 m_task.setLambda(0.4);
242 void execute(
unsigned int nbIter)
245 init_visp_plot(ViSP_plot);
252 std::cout <<
"Display task information " << std::endl;
256 m_robot.getInternalView(m_Iint);
258 unsigned int iter = 0;
261 while (iter++ < nbIter) {
265 m_cMo = m_robot.get_cMo();
271 planeToABC(pl, A, B, C);
276 m_moments->updateAll(obj);
279 m_featureMoments->updateAll(A, B, C);
282 m_robot.getInternalView(m_Iint);
290 v = m_task.computeControlLaw();
294 ViSP_plot.
plot(0, iter, v);
296 ViSP_plot.
plot(2, iter, m_task.getError());
298 m_error = (m_task.getError()).sumSquare();
309 m_robot.getInternalView(m_Iint);
317 double error() {
return m_error; }
340 void planeToABC(
vpPlane &pl,
double &A,
double &B,
double &C)
342 if (fabs(pl.
getD()) < std::numeric_limits<double>::epsilon()) {
343 std::cout <<
"Invalid position:" << std::endl;
344 std::cout << m_cMo << std::endl;
345 std::cout <<
"Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
357 m_robot.setCurrentViewColor(
vpColor(150, 150, 150));
358 m_robot.setDesiredViewColor(
vpColor(200, 200, 200));
360 removeJointLimits(m_robot);
364 m_robot.initialiseObjectRelativeToCamera(m_cMo);
367 m_robot.setDesiredCameraPosition(m_cdMo);
368 m_robot.getCameraParameters(m_cam, m_Iint);
371 void init_visp_plot(
vpPlot &ViSP_plot)
377 const unsigned int NbGraphs = 3;
378 const unsigned int NbCurves_in_graph[NbGraphs] = {6, 6, 6};
380 ViSP_plot.
init(NbGraphs, 800, 800, 100 + static_cast<int>(m_width), 50,
"Visual Servoing results...");
385 for (
unsigned int p = 0; p < NbGraphs; p++) {
386 ViSP_plot.
initGraph(p, NbCurves_in_graph[p]);
387 for (
unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
388 ViSP_plot.
setColor(p, c, Colors[c]);
391 ViSP_plot.
setTitle(0,
"Robot velocities");
399 ViSP_plot.
setTitle(1,
"Camera pose cMo");
407 ViSP_plot.
setTitle(2,
"Error in visual features: ");
418 unsigned int m_width;
419 unsigned int m_height;
445 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS 456 servo.init(cMo, cdMo);
460 std::cout <<
"Catch an exception: " << e << std::endl;
VISP_EXPORT int wait(double t0, double t)
Class that defines generic functionnalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void init(unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="")
Display for windows using GDI (available on any windows 32 platform).
Class to define RGB colors available for display functionnalities.
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
This class allows to access common vpFeatureMoments in a pre-filled database.
error that can be emited by ViSP classes.
void setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax)
Class for generic objects.
static const vpColor green
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
static const vpColor orange
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
Initialize the velocity controller.
static const vpColor cyan
void changeFrame(const vpHomogeneousMatrix &cMo)
static std::vector< double > getMu3(vpMomentObject &object)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
Class which enables to project an image in the 3D space and get the view of a virtual camera...
Simulator of Irisa's gantry robot named Afma6.
void setTitle(unsigned int graphNum, const std::string &title)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
vpServoIteractionMatrixType
void setABCD(double a, double b, double c, double d)
void fromVector(std::vector< vpPoint > &points)
static double getSurface(vpMomentObject &object)
static double rad(double deg)
void initGraph(unsigned int graphNum, unsigned int curveNbr)
This class initializes and allows access to commonly used moments.
static double getAlpha(vpMomentObject &object)
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
void setType(vpObjectType input_type)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
This class defines the container for a plane geometrical structure.
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
static const vpColor purple
Class that consider the case of a translation vector.
static const vpColor blue