Visual servoing experiment on 4 points 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/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/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#define GETOPTARGS "di: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 4points.\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)
{
float sampling_time = 0.040f;
robot.setSamplingTime(sampling_time);
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, articular velocities are computed" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo 4 points " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
vcMo[0] = 0.3;
vcMo[1] = 0.2;
vcMo[2] = 3;
vcMo[3] = 0;
robot.setPosition(wMc);
for (int i = 0; i < 4; i++)
point[i].track(cMo);
for (int i = 0; i < 4; i++)
for (int i = 0; i < 4; i++)
std::cout << "Display task information" << std::endl;
unsigned int iter = 0;
while (iter++ < 100) {
wMc = robot.
getPosition();
for (int i = 0; i < 4; i++) {
}
if (SAVE == 1) {
char name[FILENAME_MAX];
snprintf(name, FILENAME_MAX, "/tmp/image.%04u.external.png", iter);
std::cout << name << std::endl;
simu->write(name);
snprintf(name, FILENAME_MAX, "/tmp/image.%04u.internal.png", iter);
simu->write(name);
}
}
std::cout << "\nDisplay task information" << std::endl;
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_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());
}
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.
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 a 2D point visual feature which is composed by two parameters that are the cartes...
vpFeaturePoint & buildFrom(const double &x, const double &y, const double &Z)
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)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of a pose vector and operations on poses.
void get_eJe(vpMatrix &eJe) VP_OVERRIDE
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)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
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 setExternalCameraParameters(vpCameraParameters &cam)
set external camera parameters
void initMainApplication()
perform some initialization in the main program thread
void initApplication(void *(*start_routine)(void *))
begin the main program
void getCameraPosition(vpHomogeneousMatrix &_cMf)
get the camera position (from an homogeneous matrix)
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()
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()