Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
1 
2 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/robot/vpSimulatorAfma6.h>
6 #include <visp3/visual_features/vpFeatureBuilder.h>
7 #include <visp3/vs/vpServo.h>
8 
9 void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
10  const vpCameraParameters &cam);
11 
12 void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
13  const vpCameraParameters &cam)
14 {
15  unsigned int thickness = 3;
16  static std::vector<vpImagePoint> traj[4];
17  vpImagePoint cog;
18  for (unsigned int i = 0; i < 4; i++) {
19  // Project the point at the given camera position
20  point[i].project(cMo);
21  vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
22  traj[i].push_back(cog);
23  }
24  for (unsigned int i = 0; i < 4; i++) {
25  for (unsigned int j = 1; j < traj[i].size(); j++) {
26  vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green, thickness);
27  }
28  }
29 }
30 
31 int main()
32 {
33 #if defined(VISP_HAVE_PTHREAD)
34  try {
35  vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
36  vpHomogeneousMatrix cMo(-0.15, 0.1, 1., vpMath::rad(-10), vpMath::rad(10), vpMath::rad(50));
37 
38  /*
39  Top view of the world frame, the camera frame and the object frame
40 
41  world, also robot base frame :
42  w_y
43  /|\
44  |
45  w_x <--
46 
47  object :
48  o_y
49  /|\
50  |
51  o_x <--
52 
53 
54  camera :
55  c_y
56  /|\
57  |
58  c_x <--
59 
60  */
61  vpHomogeneousMatrix wMo(0, 0, 1., 0, 0, 0);
62 
63  std::vector<vpPoint> point;
64  point.push_back(vpPoint(-0.1, -0.1, 0));
65  point.push_back(vpPoint(0.1, -0.1, 0));
66  point.push_back(vpPoint(0.1, 0.1, 0));
67  point.push_back(vpPoint(-0.1, 0.1, 0));
68 
69  vpServo task;
72  task.setLambda(0.5);
73 
74  vpFeaturePoint p[4], pd[4];
75  for (unsigned int i = 0; i < 4; i++) {
76  point[i].track(cdMo);
77  vpFeatureBuilder::create(pd[i], point[i]);
78  point[i].track(cMo);
79  vpFeatureBuilder::create(p[i], point[i]);
80  task.addFeature(p[i], pd[i]);
81  }
82 
83  vpSimulatorAfma6 robot(true);
84  robot.setVerbose(true);
85 
86  // Get the default joint limits
87  vpColVector qmin = robot.getJointMin();
88  vpColVector qmax = robot.getJointMax();
89 
90  std::cout << "Robot joint limits: " << std::endl;
91  for (unsigned int i = 0; i < 3; i++)
92  std::cout << "Joint " << i << ": min " << qmin[i] << " max " << qmax[i] << " (m)" << std::endl;
93  for (unsigned int i = 3; i < qmin.size(); i++)
94  std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
95  << std::endl;
96 
100  robot.set_fMo(wMo);
101  bool ret = robot.initialiseCameraRelativeToObject(cMo);
102  if (ret == false)
103  return 0; // Not able to set the position
104  robot.setDesiredCameraPosition(cdMo);
105 
106  vpImage<unsigned char> Iint(480, 640, 255);
107 #if defined(VISP_HAVE_X11)
108  vpDisplayX displayInt(Iint, 700, 0, "Internal view");
109 #elif defined(VISP_HAVE_GDI)
110  vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
111 #elif defined(VISP_HAVE_OPENCV)
112  vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
113 #else
114  std::cout << "No image viewer is available..." << std::endl;
115 #endif
116 
117  vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
118  robot.setCameraParameters(cam);
119 
120  bool start = true;
121  for (;;) {
122  cMo = robot.get_cMo();
123 
124  for (unsigned int i = 0; i < 4; i++) {
125  point[i].track(cMo);
126  vpFeatureBuilder::create(p[i], point[i]);
127  }
128 
129  vpDisplay::display(Iint);
130  robot.getInternalView(Iint);
131  if (!start) {
132  display_trajectory(Iint, point, cMo, cam);
133  vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
134  }
135  vpDisplay::flush(Iint);
136 
137  vpColVector v = task.computeControlLaw();
139 
140  // A click to exit
141  if (vpDisplay::getClick(Iint, false))
142  break;
143 
144  if (start) {
145  start = false;
146  v = 0;
148  vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
149  vpDisplay::flush(Iint);
150  vpDisplay::getClick(Iint);
151  }
152 
153  vpTime::wait(1000 * robot.getSamplingTime());
154  }
155  } catch (const vpException &e) {
156  std::cout << "Catch an exception: " << e << std::endl;
157  }
158 #endif
159 }
@ TOOL_CCMOP
Definition: vpAfma6.h:127
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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 displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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 point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
static double rad(double deg)
Definition: vpMath.h:117
static double deg(double rad)
Definition: vpMath.h:110
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setVerbose(bool verbose)
Definition: vpRobot.h:160
@ CAMERA_FRAME
Definition: vpRobot.h:83
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:67
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:564
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
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
Simulator of Irisa's gantry robot named Afma6.
VISP_EXPORT int wait(double t0, double t)