Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-ibvs-4pts-wireframe-robot-viper.cpp
1 
2 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/robot/vpSimulatorViper850.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 : --> w_y
42  |
43  \|/
44  w_x
45 
46  object :
47  o_y
48  /|\
49  |
50  o_x <--
51 
52 
53  camera :
54  c_y
55  /|\
56  |
57  c_x <--
58 
59  */
60  vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15), vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI / 2.)));
61 
62  std::vector<vpPoint> point;
63  point.push_back(vpPoint(-0.1, -0.1, 0));
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 
68  vpServo task;
71  task.setLambda(0.5);
72 
73  vpFeaturePoint p[4], pd[4];
74  for (unsigned int i = 0; i < 4; i++) {
75  point[i].track(cdMo);
76  vpFeatureBuilder::create(pd[i], point[i]);
77  point[i].track(cMo);
78  vpFeatureBuilder::create(p[i], point[i]);
79  task.addFeature(p[i], pd[i]);
80  }
81 
82  vpSimulatorViper850 robot(true);
83  robot.setVerbose(true);
84 
85  // Enlarge the default joint limits
86  vpColVector qmin = robot.getJointMin();
87  vpColVector qmax = robot.getJointMax();
88  qmin[0] = -vpMath::rad(180);
89  qmax[0] = vpMath::rad(180);
90  qmax[1] = vpMath::rad(0);
91  qmax[2] = vpMath::rad(270);
92  qmin[4] = -vpMath::rad(180);
93  qmax[4] = vpMath::rad(180);
94 
95  robot.setJointLimit(qmin, qmax);
96 
97  std::cout << "Robot joint limits: " << std::endl;
98  for (unsigned int i = 0; i < qmin.size(); i++)
99  std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
100  << std::endl;
101 
105  robot.set_fMo(wMo);
106  bool ret = robot.initialiseCameraRelativeToObject(cMo);
107  if (ret == false)
108  return 0; // Not able to set the position
109  robot.setDesiredCameraPosition(cdMo);
110  // We modify the default external camera position
111  robot.setExternalCameraPosition(
112  vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2), vpRotationMatrix(vpRxyzVector(M_PI / 2, 0, 0))));
113 
114  vpImage<unsigned char> Iint(480, 640, 255);
115 #if defined(VISP_HAVE_X11)
116  vpDisplayX displayInt(Iint, 700, 0, "Internal view");
117 #elif defined(VISP_HAVE_GDI)
118  vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
119 #elif defined(VISP_HAVE_OPENCV)
120  vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
121 #else
122  std::cout << "No image viewer is available..." << std::endl;
123 #endif
124 
125  vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
126  // Modify the camera parameters to match those used in the other
127  // simulations
128  robot.setCameraParameters(cam);
129 
130  bool start = true;
131  // for ( ; ; )
132  for (int iter = 0; iter < 275; iter++) {
133  cMo = robot.get_cMo();
134 
135  for (unsigned int i = 0; i < 4; i++) {
136  point[i].track(cMo);
137  vpFeatureBuilder::create(p[i], point[i]);
138  }
139 
140  vpDisplay::display(Iint);
141  robot.getInternalView(Iint);
142  if (!start) {
143  display_trajectory(Iint, point, cMo, cam);
144  vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
145  }
146  vpDisplay::flush(Iint);
147 
148  vpColVector v = task.computeControlLaw();
150 
151  // A click to exit
152  if (vpDisplay::getClick(Iint, false))
153  break;
154 
155  if (start) {
156  start = false;
157  v = 0;
159  vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
160  vpDisplay::flush(Iint);
161  // vpDisplay::getClick(Iint);
162  }
163 
164  vpTime::wait(1000 * robot.getSamplingTime());
165  }
166  } catch (const vpException &e) {
167  std::cout << "Catch an exception: " << e << std::endl;
168  }
169 #endif
170 }
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
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
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 Viper S850 robot named Viper850.
Class that consider the case of a translation vector.
@ TOOL_PTGREY_FLEA2_CAMERA
Definition: vpViper850.h:130
VISP_EXPORT int wait(double t0, double t)