Visual servoing experiment on a circle with a visualization from the camera and from an external view using vpSimulator.
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#ifdef VISP_HAVE_COIN3D_AND_GUI
#include <visp3/ar/vpSimulator.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpTime.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/vs/vpServo.h>
#define GETOPTARGS "cdi:h"
#define SAVE 0
#ifdef ENABLE_VISP_NAMESPACE
#endif
void usage(const char *name, const char *badparam, std::string ipath)
{
fprintf(stdout, "\n\
Simulation Servo Circle\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-d] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"iv/4points.iv\"\n\
cad model.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-d \n\
Disable the image display. This can be useful \n\
for automatic tests using crontab under Unix or \n\
using the task manager under Windows.\n\
\n\
-h\n\
Print the help.\n\n",
ipath.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
{
const char *optarg;
int c;
switch (c) {
case 'i':
ipath = optarg;
break;
case 'd':
display = false;
break;
case 'h':
usage(argv[0], nullptr, ipath);
return false;
break;
default:
usage(argv[0], optarg, ipath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], nullptr, ipath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
static void *mainLoop(void *_simu)
{
vcMo[0] = 0.3;
vcMo[1] = 0.2;
vcMo[2] = 3;
vcMo[3] = 0;
cMod[0][3] = 0;
cMod[1][3] = 0;
cMod[2][3] = 1;
int it = 0;
unsigned int pos = 2;
while (pos != 0) {
float sampling_time = 0.040f;
robot.setSamplingTime(sampling_time);
if (pos == 1)
cMod[2][3] = 0.32;
std::cout << std::endl;
unsigned int iter = 0;
unsigned int itermax;
if (pos == 2)
itermax = 75;
else
itermax = 100;
while (iter++ < itermax) {
if (iter == 1)
std::cout << "get the robot position" << std::endl;
wMc = robot.
getPosition();
if (iter == 1)
std::cout << "new circle position" << std::endl;
if (iter == 1)
std::cout << "compute the control law" << std::endl;
if (iter == 1) {
std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
std::cout << "send the camera velocity to the controller" << std::endl;
}
if (SAVE == 1) {
char name[FILENAME_MAX];
snprintf(name, FILENAME_MAX, "/tmp/image.%04d.external.png", it);
std::cout << "Save " << name << std::endl;
simu->write(name);
snprintf(name, FILENAME_MAX, "/tmp/image.%04u.internal.png", iter);
std::cout << "Save " << name << std::endl;
simu->write(name);
it++;
}
}
pos--;
}
void *a = nullptr;
return a;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
bool opt_display = true;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
return EXIT_FAILURE;
}
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_INPUT_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], nullptr, ipath);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
fMo[2][3] = 0;
if (opt_display) {
simu.
load(filename.c_str(), fMo);
}
return EXIT_SUCCESS;
}
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have Coin3D and SoQT or SoWin or SoXt functionalities enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout
<< "- Install Coin3D and SoQT or SoWin or SoXt, configure ViSP again using cmake and build again this example"
<< std::endl;
return EXIT_SUCCESS;
}
#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...
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines 2D ellipse visual feature.
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
void setMaxTranslationVelocity(double maxVt)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
unsigned int getTaskRank() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
Implementation of a simulator based on Coin3d (www.coin3d.org).
void load(const char *file_name)
load an iv file
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
virtual void mainLoop()
activate the mainloop
void initMainApplication()
perform some initialization in the main program thread
void initApplication(void *(*start_routine)(void *))
begin the main program
void setZoomFactor(float zoom)
set the size of the camera/frame
void setCameraPosition(vpHomogeneousMatrix &cMf)
set the camera position (from an homogeneous matrix)
void initExternalViewer(unsigned int nlig, unsigned int ncol)
initialize the external view
virtual void initInternalViewer(unsigned int nlig, unsigned int ncol)
initialize the camera view
void closeMainApplication()
void addAbsoluteFrame(float zoom=1)
Add the representation of the absolute frame.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()