Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
servoSimuPoint2DhalfCamVelocity3.cpp
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30  *
31  * Description:
32  * Simulation of a 2 1/2 D visual servoing using theta U visual features.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
49 #include <stdio.h>
50 #include <stdlib.h>
51 
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpPoint.h>
55 #include <visp3/io/vpParseArgv.h>
56 #include <visp3/robot/vpSimulatorCamera.h>
57 #include <visp3/visual_features/vpFeatureBuilder.h>
58 #include <visp3/visual_features/vpFeaturePoint.h>
59 #include <visp3/visual_features/vpFeatureThetaU.h>
60 #include <visp3/visual_features/vpGenericFeature.h>
61 #include <visp3/vs/vpServo.h>
62 
63 // List of allowed command line options
64 #define GETOPTARGS "h"
65 
66 void usage(const char *name, const char *badparam);
67 bool getOptions(int argc, const char **argv);
68 
77 void usage(const char *name, const char *badparam)
78 {
79  fprintf(stdout, "\n\
80 Simulation of a 2 1/2 D visual servoing (x,y,logZ, theta U):\n\
81 - eye-in-hand control law,\n\
82 - velocity computed in the camera frame,\n\
83 - without display.\n\
84  \n\
85 SYNOPSIS\n\
86  %s [-h]\n",
87  name);
88 
89  fprintf(stdout, "\n\
90 OPTIONS: Default\n\
91  \n\
92  -h\n\
93  Print the help.\n");
94 
95  if (badparam)
96  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
97 }
98 
108 bool getOptions(int argc, const char **argv)
109 {
110  const char *optarg_;
111  int c;
112  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
113 
114  switch (c) {
115  case 'h':
116  usage(argv[0], NULL);
117  return false;
118 
119  default:
120  usage(argv[0], optarg_);
121  return false;
122  }
123  }
124 
125  if ((c == 1) || (c == -1)) {
126  // standalone param or error
127  usage(argv[0], NULL);
128  std::cerr << "ERROR: " << std::endl;
129  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
130  return false;
131  }
132 
133  return true;
134 }
135 
136 int main(int argc, const char **argv)
137 {
138 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
139  try {
140  // Read the command line options
141  if (getOptions(argc, argv) == false) {
142  exit(-1);
143  }
144 
145  std::cout << std::endl;
146  std::cout << "-------------------------------------------------------" << std::endl;
147  std::cout << " simulation of a 2 1/2 D visual servoing " << std::endl;
148  std::cout << "-------------------------------------------------------" << std::endl;
149  std::cout << std::endl;
150 
151  // In this example we will simulate a visual servoing task.
152  // In simulation, we have to define the scene frane Ro and the
153  // camera frame Rc.
154  // The camera location is given by an homogenous matrix cMo that
155  // describes the position of the scene or object frame in the camera frame.
156 
157  vpServo task;
158 
159  // sets the initial camera location
160  // we give the camera location as a size 6 vector (3 translations in meter
161  // and 3 rotation (theta U representation)
162  vpPoseVector c_r_o(0.1, 0.2, 2, vpMath::rad(20), vpMath::rad(10), vpMath::rad(50));
163 
164  // this pose vector is then transformed in a 4x4 homogeneous matrix
165  vpHomogeneousMatrix cMo(c_r_o);
166 
167  // We define a robot
168  // The vpSimulatorCamera implements a simple moving that is juste defined
169  // by its location cMo
170  vpSimulatorCamera robot;
171 
172  // Compute the position of the object in the world frame
173  vpHomogeneousMatrix wMc, wMo;
174  robot.getPosition(wMc);
175  wMo = wMc * cMo;
176 
177  // Now that the current camera position has been defined,
178  // let us defined the defined camera location.
179  // It is defined by cdMo
180  // sets the desired camera location " ) ;
181  vpPoseVector cd_r_o(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
182  vpHomogeneousMatrix cdMo(cd_r_o);
183 
184  //----------------------------------------------------------------------
185  // A 2 1/2 D visual servoing can be defined by
186  // - the position of a point x,y
187  // - the difference between this point depth and a desire depth
188  // modeled by log Z/Zd to be regulated to 0
189  // - the rotation that the camera has to realized cdMc
190 
191  // Let us now defined the current value of these features
192 
193  // since we simulate we have to define a 3D point that will
194  // forward-projected to define the current position x,y of the
195  // reference point
196 
197  //------------------------------------------------------------------
198  // First feature (x,y)
199  //------------------------------------------------------------------
200  // Let oP be this ... point,
201  // a vpPoint class has three main member
202  // .oP : 3D coordinates in scene frame
203  // .cP : 3D coordinates in camera frame
204  // .p : 2D
205 
206  //------------------------------------------------------------------
207  // sets the point coordinates in the world frame
208  vpPoint P(0, 0, 0);
209  // computes the P coordinates in the camera frame and its
210  // 2D coordinates cP and then p
211  // computes the point coordinates in the camera frame and its 2D
212  // coordinates
213  P.track(cMo);
214 
215  // We also defined (again by forward projection) the desired position
216  // of this point according to the desired camera position
217  vpPoint Pd(0, 0, 0);
218  Pd.track(cdMo);
219 
220  // Nevertheless, a vpPoint is not a feature, this is just a "tracker"
221  // from which the feature are built
222  // a feature is juste defined by a vector s, a way to compute the
223  // interaction matrix and the error, and if required a (or a vector of)
224  // 3D information
225 
226  // for a point (x,y) Visp implements the vpFeaturePoint class.
227  // we no defined a feature for x,y (and for (x*,y*))
228  vpFeaturePoint p, pd;
229 
230  // and we initialized the vector s=(x,y) of p from the tracker P
231  // Z coordinates in p is also initialized, it will be used to compute
232  // the interaction matrix
234  vpFeatureBuilder::create(pd, Pd);
235 
236  // This visual has to be regulated to zero
237 
238  //------------------------------------------------------------------
239  // 2nd feature ThetaUz and 3rd feature t
240  // The thetaU feature is defined, tu represents the rotation that the
241  // camera has to realized. t the translation. the complete displacement is
242  // then defined by:
243  //------------------------------------------------------------------
244  vpHomogeneousMatrix cdMc;
245  // compute the rotation that the camera has to achieve
246  cdMc = cdMo * cMo.inverse();
247 
248  // from this displacement, we extract the rotation cdRc represented by
249  // the angle theta and the rotation axis u
251  tuz.buildFrom(cdMc);
252  // And the translations
254  t.buildFrom(cdMc);
255 
256  // This visual has to be regulated to zero
257 
258  // sets the desired rotation (always zero !)
259  // since s is the rotation that the camera has to achieve
260 
261  //------------------------------------------------------------------
262  // Let us now the task itself
263  //------------------------------------------------------------------
264 
265  // define the task
266  // - we want an eye-in-hand control law
267  // - robot is controlled in the camera frame
268  // we choose to control the robot in the camera frame
270  // Interaction matrix is computed with the current value of s
272 
273  // we build the task by "stacking" the visual feature
274  // previously defined
275  task.addFeature(t);
276  task.addFeature(p, pd);
277  task.addFeature(tuz, vpFeatureThetaU::TUz); // selection of TUz
278 
279  // addFeature(X,Xd) means X should be regulated to Xd
280  // addFeature(X) means that X should be regulated to 0
281  // some features such as vpFeatureThetaU MUST be regulated to zero
282  // (otherwise, it will results in an error at exectution level)
283 
284  // set the gain
285  task.setLambda(1);
286 
287  // Display task information " ) ;
288  task.print();
289  //------------------------------------------------------------------
290  // An now the closed loop
291 
292  unsigned int iter = 0;
293  // loop
294  while (iter++ < 200) {
295  std::cout << "---------------------------------------------" << iter << std::endl;
296  vpColVector v;
297 
298  // get the robot position
299  robot.getPosition(wMc);
300  // Compute the position of the object frame in the camera frame
301  cMo = wMc.inverse() * wMo;
302 
303  // update the feature
304  P.track(cMo);
306 
307  cdMc = cdMo * cMo.inverse();
308  tuz.buildFrom(cdMc);
309  t.buildFrom(cdMc);
310 
311  // compute the control law: v = -lambda L^+(s-sd)
312  v = task.computeControlLaw();
313 
314  // send the camera velocity to the controller
316 
317  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
318  }
319 
320  // Display task information
321  task.print();
322  // Final camera location
323  std::cout << "Final camera location: \n" << cMo << std::endl;
324  return EXIT_SUCCESS;
325  } catch (const vpException &e) {
326  std::cout << "Catch a ViSP exception: " << e << std::endl;
327  return EXIT_SUCCESS;
328  }
329 #else
330  (void)argc;
331  (void)argv;
332  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
333  return EXIT_SUCCESS;
334 #endif
335 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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 point visual feature which is composed by two parameters that are the cartes...
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
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
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:83
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
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
@ CURRENT
Definition: vpServo.h:182
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.