Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoSimuCylinder2DCamVelocityDisplay.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Simulation of a 2D visual servoing on a cylinder.
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/vpCylinder.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 cylinder:\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(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
116 }
117 
129 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
130 {
131  const char *optarg_;
132  int c;
133  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
134 
135  switch (c) {
136  case 'c':
137  click_allowed = false;
138  break;
139  case 'd':
140  display = false;
141  break;
142  case 'h':
143  usage(argv[0], NULL);
144  return false;
145 
146  default:
147  usage(argv[0], optarg_);
148  return false;
149  }
150  }
151 
152  if ((c == 1) || (c == -1)) {
153  // standalone param or error
154  usage(argv[0], NULL);
155  std::cerr << "ERROR: " << std::endl;
156  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
157  return false;
158  }
159 
160  return true;
161 }
162 
163 int main(int argc, const char **argv)
164 {
165  try {
166  bool opt_display = true;
167  bool opt_click_allowed = true;
168 
169  // Read the command line options
170  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
171  exit(-1);
172  }
173 
174  vpImage<unsigned char> I(512, 512, 255);
175 
176 // We open a window using either X11, GTK or GDI.
177 #if defined VISP_HAVE_X11
178  vpDisplayX display;
179 #elif defined VISP_HAVE_GTK
180  vpDisplayGTK display;
181 #elif defined VISP_HAVE_GDI
182  vpDisplayGDI display;
183 #elif defined VISP_HAVE_OPENCV
184  vpDisplayOpenCV display;
185 #endif
186 
187  if (opt_display) {
188  try {
189  // Display size is automatically defined by the image (I) size
190  display.init(I, 100, 100, "Camera view...");
191  // Display the image
192  // The image class has a member that specify a pointer toward
193  // the display that has been initialized in the display declaration
194  // therefore is is no longuer necessary to make a reference to the
195  // display variable.
197  vpDisplay::flush(I);
198  } catch (...) {
199  vpERROR_TRACE("Error while displaying the image");
200  exit(-1);
201  }
202  }
203 
204  double px, py;
205  px = py = 600;
206  double u0, v0;
207  u0 = v0 = 256;
208 
209  vpCameraParameters cam(px, py, u0, v0);
210 
211  vpServo task;
212  vpSimulatorCamera robot;
213 
214  // sets the initial camera location
215  vpHomogeneousMatrix cMo(-0.2, 0.1, 2, vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
216 
217  vpHomogeneousMatrix wMc, wMo;
218  robot.getPosition(wMc);
219  wMo = wMc * cMo; // Compute the position of the object in the world frame
220 
221  // sets the final camera location (for simulation purpose)
222  vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(-60), vpMath::rad(0), vpMath::rad(0));
223 
224  // sets the cylinder coordinates in the world frame
225  vpCylinder cylinder(0, 1, 0, // direction
226  0, 0, 0, // point of the axis
227  0.1); // radius
228 
229  // sets the desired position of the visual feature
230  cylinder.track(cMod);
231  cylinder.print();
232 
233  vpFeatureLine ld[2];
234  for (unsigned int i = 0; i < 2; i++)
235  vpFeatureBuilder::create(ld[i], cylinder, i);
236 
237  // computes the cylinder coordinates in the camera frame and its 2D
238  // coordinates sets the current position of the visual feature
239  cylinder.track(cMo);
240  cylinder.print();
241 
242  vpFeatureLine l[2];
243  for (unsigned int i = 0; i < 2; i++) {
244  vpFeatureBuilder::create(l[i], cylinder, i);
245  l[i].print();
246  }
247 
248  // define the task
249  // - we want an eye-in-hand control law
250  // - robot is controlled in the camera frame
252  // task.setInteractionMatrixType(vpServo::CURRENT,
253  // vpServo::PSEUDO_INVERSE) ;
254  // it can also be interesting to test these possibilities
255  // task.setInteractionMatrixType(vpServo::MEAN,
256  // vpServo::PSEUDO_INVERSE) ;
258  // task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
259  // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
260 
261  // - we want to see 2 lines on 2 lines
262  task.addFeature(l[0], ld[0]);
263  task.addFeature(l[1], ld[1]);
264 
265  vpServoDisplay::display(task, cam, I);
266  vpDisplay::flush(I);
267 
268  // Display task information
269  task.print();
270 
271  if (opt_display && opt_click_allowed) {
272  std::cout << "\n\nClick in the camera view window to start..." << std::endl;
274  }
275 
276  // - set the gain
277  task.setLambda(1);
278 
279  // Display task information
280  task.print();
281 
282  unsigned int iter = 0;
283  // loop
284  do {
285  std::cout << "---------------------------------------------" << iter++ << std::endl;
286  vpColVector v;
287 
288  // get the robot position
289  robot.getPosition(wMc);
290  // Compute the position of the object frame in the camera frame
291  cMo = wMc.inverse() * wMo;
292 
293  // new line position
294  // retrieve x,y and Z of the vpLine structure
295  cylinder.track(cMo);
296  // cylinder.print() ;
297  for (unsigned int i = 0; i < 2; i++) {
298  vpFeatureBuilder::create(l[i], cylinder, i);
299  // l[i].print() ;
300  }
301 
302  if (opt_display) {
304  vpServoDisplay::display(task, cam, I);
305  vpDisplay::flush(I);
306  }
307 
308  // compute the control law
309  v = task.computeControlLaw();
310 
311  // send the camera velocity to the controller
313 
314  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
315 
316  // vpDisplay::getClick(I) ;
317  } while ((task.getError()).sumSquare() > 1e-9);
318 
319  if (opt_display && opt_click_allowed) {
320  vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::black);
321  vpDisplay::flush(I);
323  }
324 
325  // Display task information
326  task.print();
327  return EXIT_SUCCESS;
328  } catch (const vpException &e) {
329  std::cout << "Catch a ViSP exception: " << e << std::endl;
330  return EXIT_FAILURE;
331  }
332 }
333 
334 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
335 int main()
336 {
337  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
338  return EXIT_SUCCESS;
339 }
340 #else
341 int main()
342 {
343  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
344  "images..."
345  << std::endl;
346  std::cout << "Tip if you are on a unix-like system:" << std::endl;
347  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
348  std::cout << "Tip if you are on a windows-like system:" << std::endl;
349  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
350  return EXIT_SUCCESS;
351 }
352 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor black
Definition: vpColor.h:211
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
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 a 2D line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
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
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
@ PSEUDO_INVERSE
Definition: vpServo.h:202
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.
#define vpERROR_TRACE
Definition: vpDebug.h:393