Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoSimuCircle2DCamVelocityDisplay.cpp
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Simulation of a 2D visual servoing on a circle.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
52 
53 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
54  (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
55 
56 #include <stdio.h>
57 #include <stdlib.h>
58 
59 #include <visp3/core/vpCameraParameters.h>
60 #include <visp3/core/vpCircle.h>
61 #include <visp3/core/vpHomogeneousMatrix.h>
62 #include <visp3/core/vpImage.h>
63 #include <visp3/core/vpMath.h>
64 #include <visp3/gui/vpDisplayGDI.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/gui/vpDisplayOpenCV.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/io/vpParseArgv.h>
69 #include <visp3/robot/vpSimulatorCamera.h>
70 #include <visp3/visual_features/vpFeatureBuilder.h>
71 #include <visp3/visual_features/vpFeatureLine.h>
72 #include <visp3/vs/vpServo.h>
73 #include <visp3/vs/vpServoDisplay.h>
74 
75 // List of allowed command line options
76 #define GETOPTARGS "cdh"
77 
78 void usage(const char *name, const char *badparam);
79 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
80 
89 void usage(const char *name, const char *badparam)
90 {
91  fprintf(stdout, "\n\
92 Simulation of a 2D visual servoing on a circle:\n\
93 - eye-in-hand control law,\n\
94 - velocity computed in the camera frame,\n\
95 - display the camera view.\n\
96  \n\
97 SYNOPSIS\n\
98  %s [-c] [-d] [-h]\n",
99  name);
100 
101  fprintf(stdout, "\n\
102 OPTIONS: Default\n\
103  \n\
104  -c\n\
105  Disable the mouse click. Useful to automaze the \n\
106  execution of this program without humain intervention.\n\
107  \n\
108  -d \n\
109  Turn off the display.\n\
110  \n\
111  -h\n\
112  Print the help.\n");
113 
114  if (badparam) {
115  fprintf(stderr, "ERROR: \n");
116  fprintf(stderr, "\nBad parameter [%s]\n", badparam);
117  }
118 }
119 
132 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
133 {
134  const char *optarg_;
135  int c;
136  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
137 
138  switch (c) {
139  case 'c':
140  click_allowed = false;
141  break;
142  case 'd':
143  display = false;
144  break;
145  case 'h':
146  usage(argv[0], NULL);
147  return false;
148 
149  default:
150  usage(argv[0], optarg_);
151  return false;
152  }
153  }
154 
155  if ((c == 1) || (c == -1)) {
156  // standalone param or error
157  usage(argv[0], NULL);
158  std::cerr << "ERROR: " << std::endl;
159  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
160  return false;
161  }
162 
163  return true;
164 }
165 
166 int main(int argc, const char **argv)
167 {
168  try {
169  bool opt_display = true;
170  bool opt_click_allowed = true;
171 
172  // Read the command line options
173  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
174  return (EXIT_FAILURE);
175  }
176 
177  vpImage<unsigned char> I(512, 512, 0);
178 
179 // We open a window using either X11, GTK or GDI.
180 #if defined VISP_HAVE_X11
181  vpDisplayX display;
182 #elif defined VISP_HAVE_GTK
183  vpDisplayGTK display;
184 #elif defined VISP_HAVE_GDI
185  vpDisplayGDI display;
186 #elif defined VISP_HAVE_OPENCV
187  vpDisplayOpenCV display;
188 #endif
189 
190  if (opt_display) {
191  // Display size is automatically defined by the image (I) size
192  display.init(I, 100, 100, "Camera view...");
193  // Display the image
194  // The image class has a member that specify a pointer toward
195  // the display that has been initialized in the display declaration
196  // therefore is is no longuer necessary to make a reference to the
197  // display variable.
199  vpDisplay::flush(I);
200  }
201 
202  double px = 600, py = 600;
203  double u0 = I.getWidth() / 2., v0 = I.getHeight() / 2.;
204 
205  vpCameraParameters cam(px, py, u0, v0);
206 
207  vpServo task;
208  vpSimulatorCamera robot;
209 
210  // sets the initial camera location
211  vpHomogeneousMatrix cMo(0, 0, 1, vpMath::rad(0), vpMath::rad(80), vpMath::rad(30));
212  vpHomogeneousMatrix wMc, wMo;
213  robot.getPosition(wMc);
214  wMo = wMc * cMo; // Compute the position of the object in the world frame
215 
216  vpHomogeneousMatrix cMod(-0.1, -0.1, 0.7, vpMath::rad(40), vpMath::rad(10), vpMath::rad(30));
217 
218  // sets the circle coordinates in the world frame
219  vpCircle circle;
220  circle.setWorldCoordinates(0, 0, 1, 0, 0, 0, 0.1);
221 
222  // sets the desired position of the visual feature
223  vpFeatureEllipse pd;
224  circle.track(cMod);
225  vpFeatureBuilder::create(pd, circle);
226 
227  // project : computes the circle coordinates in the camera frame and its
228  // 2D coordinates sets the current position of the visual feature
230  circle.track(cMo);
231  vpFeatureBuilder::create(p, circle);
232 
233  // define the task
234  // - we want an eye-in-hand control law
235  // - robot is controlled in the camera frame
238  // - we want to see a circle on a circle
239  task.addFeature(p, pd);
240  // - set the gain
241  task.setLambda(1);
242 
243  // Display task information
244  task.print();
245 
246  unsigned int iter = 0;
247  // loop
248  while (iter++ < 200) {
249  std::cout << "---------------------------------------------" << iter << std::endl;
250  vpColVector v;
251 
252  // get the robot position
253  robot.getPosition(wMc);
254  // Compute the position of the object frame in the camera frame
255  cMo = wMc.inverse() * wMo;
256 
257  // new circle position
258  // retrieve x,y and Z of the vpCircle structure
259  circle.track(cMo);
260  vpFeatureBuilder::create(p, circle);
261  circle.print();
262  p.print();
263 
264  if (opt_display) {
266  vpServoDisplay::display(task, cam, I);
267  vpDisplay::flush(I);
268  }
269 
270  // compute the control law
271  v = task.computeControlLaw();
272  std::cout << "task rank: " << task.getTaskRank() << std::endl;
273  // send the camera velocity to the controller
275 
276  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
277  }
278 
279  // Display task information
280  task.print();
281 
282  if (opt_display && opt_click_allowed) {
283  vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
284  vpDisplay::flush(I);
286  }
287  return EXIT_SUCCESS;
288  } catch (const vpException &e) {
289  std::cout << "Catch a ViSP exception: " << e << std::endl;
290  return EXIT_FAILURE;
291  }
292 }
293 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
294 int main()
295 {
296  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
297  return EXIT_SUCCESS;
298 }
299 #else
300 int main()
301 {
302  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
303  "images..."
304  << std::endl;
305  std::cout << "Tip if you are on a unix-like system:" << std::endl;
306  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
307  std::cout << "Tip if you are on a windows-like system:" << std::endl;
308  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
309  return EXIT_SUCCESS;
310 }
311 #endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:60
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor white
Definition: vpColor.h:212
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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...
Definition: vpDisplayX.h:135
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 emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void print(unsigned int select=FEATURE_ALL) const
print the name of the feature
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static double rad(double deg)
Definition: vpMath.h:117
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:83
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:564
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
unsigned int getTaskRank() const
Definition: vpServo.cpp:1783
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:303
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
@ DESIRED
Definition: vpServo.h:186
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487
Class that defines the simplest robot: a free flying camera.