Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoSimuLine2DCamVelocityDisplay.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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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 line.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
50 
51 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
52  (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
53 
54 #include <stdio.h>
55 #include <stdlib.h>
56 
57 #include <visp3/core/vpCameraParameters.h>
58 #include <visp3/core/vpHomogeneousMatrix.h>
59 #include <visp3/core/vpImage.h>
60 #include <visp3/core/vpLine.h>
61 #include <visp3/core/vpMath.h>
62 #include <visp3/gui/vpDisplayGDI.h>
63 #include <visp3/gui/vpDisplayGTK.h>
64 #include <visp3/gui/vpDisplayOpenCV.h>
65 #include <visp3/gui/vpDisplayX.h>
66 #include <visp3/io/vpParseArgv.h>
67 #include <visp3/robot/vpSimulatorCamera.h>
68 #include <visp3/visual_features/vpFeatureBuilder.h>
69 #include <visp3/visual_features/vpFeatureLine.h>
70 #include <visp3/vs/vpServo.h>
71 #include <visp3/vs/vpServoDisplay.h>
72 
73 // List of allowed command line options
74 #define GETOPTARGS "cdh"
75 
76 void usage(const char *name, const char *badparam);
77 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
78 
87 void usage(const char *name, const char *badparam)
88 {
89  fprintf(stdout, "\n\
90 Simulation of 2D a visual servoing on a line:\n\
91 - eye-in-hand control law,\n\
92 - velocity computed in the camera frame,\n\
93 - display the camera view.\n\
94  \n\
95 SYNOPSIS\n\
96  %s [-c] [-d] [-h]\n",
97  name);
98 
99  fprintf(stdout, "\n\
100 OPTIONS: Default\n\
101  \n\
102  -c\n\
103  Disable the mouse click. Useful to automaze the \n\
104  execution of this program without humain intervention.\n\
105  \n\
106  -d \n\
107  Turn off the display.\n\
108  \n\
109  -h\n\
110  Print the help.\n");
111 
112  if (badparam)
113  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
114 }
115 
128 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
129 {
130  const char *optarg_;
131  int c;
132  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
133 
134  switch (c) {
135  case 'c':
136  click_allowed = false;
137  break;
138  case 'd':
139  display = false;
140  break;
141  case 'h':
142  usage(argv[0], NULL);
143  return false;
144 
145  default:
146  usage(argv[0], optarg_);
147  return false;
148  }
149  }
150 
151  if ((c == 1) || (c == -1)) {
152  // standalone param or error
153  usage(argv[0], NULL);
154  std::cerr << "ERROR: " << std::endl;
155  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
156  return false;
157  }
158 
159  return true;
160 }
161 
162 int main(int argc, const char **argv)
163 {
164  try {
165  bool opt_display = true;
166  bool opt_click_allowed = true;
167 
168  // Read the command line options
169  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
170  exit(-1);
171  }
172 
173  vpImage<unsigned char> I(512, 512, 0);
174 
175 // We open a window using either X11, GTK or GDI.
176 #if defined VISP_HAVE_X11
177  vpDisplayX display;
178 #elif defined VISP_HAVE_GTK
179  vpDisplayGTK display;
180 #elif defined VISP_HAVE_GDI
181  vpDisplayGDI display;
182 #elif defined VISP_HAVE_OPENCV
183  vpDisplayOpenCV display;
184 #endif
185 
186  if (opt_display) {
187  try {
188  // Display size is automatically defined by the image (I) size
189  display.init(I, 100, 100, "Camera view...");
190  // Display the image
191  // The image class has a member that specify a pointer toward
192  // the display that has been initialized in the display declaration
193  // therefore is is no longuer necessary to make a reference to the
194  // display variable.
196  vpDisplay::flush(I);
197  } catch (...) {
198  vpERROR_TRACE("Error while displaying the image");
199  exit(-1);
200  }
201  }
202 
203  double px = 500, py = 500;
204  double u0 = 150, v0 = 160;
205 
206  vpCameraParameters cam(px, py, u0, v0);
207 
208  vpServo task;
209  vpSimulatorCamera robot;
210 
211  // sets the initial camera location
212  vpHomogeneousMatrix cMo(-0.2, 0.1, 1, vpMath::rad(5), vpMath::rad(5), vpMath::rad(90));
213 
214  // Compute the position of the object in the world frame
215  vpHomogeneousMatrix wMc, wMo;
216  robot.getPosition(wMc);
217  wMo = wMc * cMo;
218 
219  // sets the final camera location (for simulation purpose)
220  vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
221 
222  // sets the line coordinates (2 planes) in the world frame
223  vpColVector plane1(4);
224  vpColVector plane2(4);
225  plane1[0] = 0; // z = 0
226  plane1[1] = 0;
227  plane1[2] = 1;
228  plane1[3] = 0;
229  plane2[0] = 0; // y =0
230  plane2[1] = 1;
231  plane2[2] = 0;
232  plane2[3] = 0;
233 
234  vpLine line;
235  line.setWorldCoordinates(plane1, plane2);
236 
237  // sets the desired position of the visual feature
238  line.track(cMod);
239  line.print();
240 
241  vpFeatureLine ld;
242  vpFeatureBuilder::create(ld, line);
243 
244  // computes the line coordinates in the camera frame and its 2D
245  // coordinates sets the current position of the visual feature
246  line.track(cMo);
247  line.print();
248 
249  vpFeatureLine l;
250  vpFeatureBuilder::create(l, line);
251  l.print();
252 
253  // define the task
254  // - we want an eye-in-hand control law
255  // - robot is controlled in the camera frame
257 
258  // we want to see a line on a line
259 
260  task.addFeature(l, ld);
262  vpServoDisplay::display(task, cam, I);
263  vpDisplay::flush(I);
264 
265  // set the gain
266  task.setLambda(1);
267  // Display task information " ) ;
268  task.print();
269 
270  if (opt_display && opt_click_allowed) {
271  std::cout << "\n\nClick in the camera view window to start..." << std::endl;
273  }
274 
275  unsigned int iter = 0;
276  // loop
277  while (iter++ < 200) {
278  std::cout << "---------------------------------------------" << iter << std::endl;
279  vpColVector v;
280 
281  // get the robot position
282  robot.getPosition(wMc);
283  // Compute the position of the object frame in the camera frame
284  cMo = wMc.inverse() * wMo;
285 
286  // new line position
287  line.track(cMo);
288  // retrieve x,y and Z of the vpLine structure
289  vpFeatureBuilder::create(l, line);
290 
291  if (opt_display) {
293  vpServoDisplay::display(task, cam, I);
294  vpDisplay::flush(I);
295  }
296 
297  // compute the control law
298  v = task.computeControlLaw();
299 
300  // send the camera velocity to the controller
302 
303  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
304  }
305 
306  if (opt_display && opt_click_allowed) {
307  vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
308  vpDisplay::flush(I);
310  }
311 
312  // Display task information
313  task.print();
314  return EXIT_SUCCESS;
315  } catch (const vpException &e) {
316  std::cout << "Catch a ViSP exception: " << e << std::endl;
317  return EXIT_FAILURE;
318  }
319 }
320 
321 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
322 int main()
323 {
324  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
325  return EXIT_SUCCESS;
326 }
327 #else
328 int main()
329 {
330  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..."
331  << std::endl;
332  std::cout << "Tip if you are on a unix-like system:" << std::endl;
333  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
334  std::cout << "Tip if you are on a windows-like system:" << std::endl;
335  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
336  return EXIT_SUCCESS;
337 }
338 #endif
Generic class defining intrinsic camera parameters.
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 a 2D line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
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)
@ 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
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
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