41 #include <visp3/core/vpCameraParameters.h>
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpDebug.h>
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpIoTools.h>
46 #include <visp3/core/vpMath.h>
47 #include <visp3/core/vpMomentCommon.h>
48 #include <visp3/core/vpMomentDatabase.h>
49 #include <visp3/core/vpMomentObject.h>
50 #include <visp3/core/vpPlane.h>
51 #include <visp3/gui/vpDisplayD3D.h>
52 #include <visp3/gui/vpDisplayGDI.h>
53 #include <visp3/gui/vpDisplayGTK.h>
54 #include <visp3/gui/vpDisplayOpenCV.h>
55 #include <visp3/gui/vpDisplayX.h>
56 #include <visp3/gui/vpPlot.h>
57 #include <visp3/robot/vpSimulatorAfma6.h>
58 #include <visp3/visual_features/vpFeatureBuilder.h>
59 #include <visp3/visual_features/vpFeatureMomentCommon.h>
60 #include <visp3/visual_features/vpFeaturePoint.h>
61 #include <visp3/vs/vpServo.h>
63 #if !defined(VISP_HAVE_DISPLAY)
66 std::cout <<
"Can't run this example since no display capability is available." << std::endl;
67 std::cout <<
"You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
70 #elif !defined(VISP_HAVE_THREADS)
73 std::cout <<
"Can't run this example since multi-threading capability is not available." << std::endl;
74 std::cout <<
"You should maybe enable cxx11 standard." << std::endl;
79 #ifndef DOXYGEN_SHOULD_SKIP_THIS
84 : m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
85 m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(nullptr), m_momentsDes(nullptr),
86 m_featureMoments(nullptr), m_featureMomentsDes(nullptr), m_displayInt(nullptr)
90 #ifdef VISP_HAVE_DISPLAY
97 delete m_featureMoments;
98 delete m_featureMomentsDes;
103 std::vector<vpPoint> src_pts;
104 std::vector<vpPoint> dst_pts;
106 double x[5] = { 0.2, 0.2, -0.2, -0.2, 0.2 };
107 double y[5] = { -0.1, 0.1, 0.1, -0.1, -0.1 };
110 for (
int i = 0; i < nbpoints; i++) {
113 src_pts.push_back(p);
117 m_src.fromVector(src_pts);
118 for (
int i = 0; i < nbpoints; i++) {
121 dst_pts.push_back(p);
124 m_dst.fromVector(dst_pts);
129 double x[5] = { 0.2, 0.2, -0.2, -0.2, 0.2 };
130 double y[5] = { -0.1, 0.1, 0.1, -0.1, -0.1 };
132 std::vector<vpPoint> cur_pts;
134 for (
int i = 0; i < nbpoints; i++) {
137 cur_pts.push_back(p);
149 #ifdef VISP_HAVE_DISPLAY
151 #if defined(VISP_HAVE_X11)
153 #elif defined(HAVE_OPENCV_HIGHGUI)
155 #elif defined(VISP_HAVE_GDI)
157 #elif defined(VISP_HAVE_D3D9)
159 #elif defined(VISP_HAVE_GTK)
162 m_displayInt->
init(m_Iint, 50, 50,
"Visual servoing with moments");
187 planeToABC(pl, A, B, C);
191 planeToABC(pl, Ad, Bd, Cd);
209 m_moments->updateAll(m_src);
210 m_momentsDes->updateAll(m_dst);
212 m_featureMoments->updateAll(A, B, C);
213 m_featureMomentsDes->updateAll(Ad, Bd, Cd);
216 m_task.setInteractionMatrixType(m_interaction_type);
219 m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
220 m_featureMomentsDes->getFeatureGravityNormalized());
221 m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
223 m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
224 (1 << 10) | (1 << 11));
225 m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
227 m_task.setLambda(0.4);
230 void execute(
unsigned int nbIter)
233 init_visp_plot(ViSP_plot);
240 std::cout <<
"Display task information " << std::endl;
244 m_robot.getInternalView(m_Iint);
246 unsigned int iter = 0;
249 while (iter++ < nbIter) {
253 m_cMo = m_robot.get_cMo();
259 planeToABC(pl, A, B, C);
264 m_moments->updateAll(obj);
267 m_featureMoments->updateAll(A, B, C);
270 m_robot.getInternalView(m_Iint);
278 v = m_task.computeControlLaw();
282 ViSP_plot.
plot(0, iter, v);
284 ViSP_plot.
plot(2, iter, m_task.getError());
286 m_error = (m_task.getError()).sumSquare();
297 m_robot.getInternalView(m_Iint);
305 double error() {
return m_error; }
325 robot.setJointLimit(limMin, limMax);
328 void planeToABC(
vpPlane &pl,
double &A,
double &B,
double &C)
330 if (fabs(pl.
getD()) < std::numeric_limits<double>::epsilon()) {
331 std::cout <<
"Invalid position:" << std::endl;
332 std::cout << m_cMo << std::endl;
333 std::cout <<
"Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
345 m_robot.setCurrentViewColor(
vpColor(150, 150, 150));
346 m_robot.setDesiredViewColor(
vpColor(200, 200, 200));
348 removeJointLimits(m_robot);
352 m_robot.initialiseObjectRelativeToCamera(m_cMo);
355 m_robot.setDesiredCameraPosition(m_cdMo);
356 m_robot.getCameraParameters(m_cam, m_Iint);
359 void init_visp_plot(
vpPlot &ViSP_plot)
365 const unsigned int NbGraphs = 3;
366 const unsigned int NbCurves_in_graph[NbGraphs] = { 6, 6, 6 };
368 ViSP_plot.
init(NbGraphs, 800, 800, 100 +
static_cast<int>(m_width), 50,
"Visual Servoing results...");
373 for (
unsigned int p = 0; p < NbGraphs; p++) {
374 ViSP_plot.
initGraph(p, NbCurves_in_graph[p]);
375 for (
unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
376 ViSP_plot.
setColor(p, c, Colors[c]);
379 ViSP_plot.
setTitle(0,
"Robot velocities");
387 ViSP_plot.
setTitle(1,
"Camera pose cMo");
395 ViSP_plot.
setTitle(2,
"Error in visual features: ");
406 unsigned int m_width;
407 unsigned int m_height;
444 servo.init(cMo, cdMo);
449 std::cout <<
"Catch an exception: " << e << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
static const vpColor cyan
static const vpColor orange
static const vpColor blue
static const vpColor purple
static const vpColor green
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") vp_override
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
@ divideByZeroError
Division by zero.
This class allows to access common vpFeatureMoments in a pre-filled database.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class which enables to project an image in the 3D space and get the view of a virtual camera.
static double rad(double deg)
This class initializes and allows access to commonly used moments.
static std::vector< double > getMu3(vpMomentObject &object)
static double getAlpha(vpMomentObject &object)
static double getSurface(vpMomentObject &object)
Class for generic objects.
void setType(vpObjectType input_type)
void fromVector(std::vector< vpPoint > &points)
This class defines the container for a plane geometrical structure.
void changeFrame(const vpHomogeneousMatrix &cMo)
void setABCD(double a, double b, double c, double d)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void init(unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="")
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
void setTitle(unsigned int graphNum, const std::string &title)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
vpServoIteractionMatrixType
Simulator of Irisa's gantry robot named Afma6.
Class that consider the case of a translation vector.
void init(vpImage< unsigned char > &Iinput, vpImage< unsigned char > &IcannyVisp, vpImage< unsigned char > *p_dIx, vpImage< unsigned char > *p_dIy, vpImage< unsigned char > *p_IcannyimgFilter)
Initialize the different displays.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()