Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
manServo4PointsDisplay.cpp

Visual servoing experiment on 4 points with a display.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
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*
* Description:
* Simulation of a visual servoing with display.
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/vision/vpPose.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
// sets the initial camera location
vpHomogeneousMatrix cMo(0.3, 0.2, 3, vpMath::rad(0), vpMath::rad(0), vpMath::rad(40));
vpHomogeneousMatrix wMo; // Set to identity
vpHomogeneousMatrix wMc; // Camera position in the world frame
// initialize the robot
robot.setSamplingTime(0.04); // 40ms
wMc = wMo * cMo.inverse();
robot.setPosition(wMc);
// initialize the camera parameters
vpCameraParameters cam(800, 800, 240, 180);
// Image definition
unsigned int height = 360;
unsigned int width = 480;
vpImage<unsigned char> I(height, width);
// Display initialization
#if defined(VISP_HAVE_X11)
vpDisplayX disp;
#elif defined(VISP_HAVE_GTK)
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
disp.init(I, 100, 100, "Simulation display");
#endif
// Desired visual features initialization
// sets the points coordinates in the object frame (in meter)
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);
// sets the desired camera location
vpHomogeneousMatrix cMo_d(0, 0, 1, 0, 0, 0);
// computes the 3D point coordinates in the camera frame and its 2D
// coordinates
for (int i = 0; i < 4; i++)
point[i].project(cMo_d);
// creates the associated features
for (int i = 0; i < 4; i++)
vpFeatureBuilder::create(pd[i], point[i]);
// Current visual features initialization
// computes the 3D point coordinates in the camera frame and its 2D
// coordinates
for (int i = 0; i < 4; i++)
point[i].project(cMo);
// creates the associated features
for (int i = 0; i < 4; i++)
vpFeatureBuilder::create(p[i], point[i]);
// Task defintion
vpServo task;
// we want an eye-in-hand control law ;
// Set the position of the end-effector frame in the camera frame as identity
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);
// Print the current information about the task
task.print();
// The control loop
int k = 0;
while (k++ < 200) {
double t = vpTime::measureTimeMs();
// Display the image background
// Update the current features
for (int i = 0; i < 4; i++) {
point[i].project(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
// Display the task features (current and desired)
vpServoDisplay::display(task, cam, I);
// Update the robot Jacobian
robot.get_eJe(eJe);
task.set_eJe(eJe);
// Compute the control law
// Send the computed velocity to the robot and compute the new robot
// position
wMc = robot.getPosition();
cMo = wMc.inverse() * wMo;
// Print the current information about the task
task.print();
// Wait 40 ms
vpTime::wait(t, 40);
}
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 X11, GTK, or OpenCV, 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
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:130
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:133
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="") VP_OVERRIDE
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition: vpException.h:60
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Definition: vpMath.h:129
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:111
void get_eJe(vpMatrix &eJe) VP_OVERRIDE
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
@ ARTICULAR_FRAME
Definition: vpRobot.h:80
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:380
@ EYEINHAND_L_cVe_eJe
Definition: vpServo.h:168
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:331
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Definition: vpServo.h:1038
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:171
void setLambda(double c)
Definition: vpServo.h:986
void set_eJe(const vpMatrix &eJe_)
Definition: vpServo.h:1101
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:134
@ PSEUDO_INVERSE
Definition: vpServo.h:235
vpColVector computeControlLaw()
Definition: vpServo.cpp:705
@ DESIRED
Definition: vpServo.h:208
Class that defines the simplest robot: a free flying camera.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()