ViSP
servoSimuLine2DCamVelocityDisplay.cpp
1 
2 /****************************************************************************
3  *
4  * $Id: servoSimuLine2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
5  *
6  * This file is part of the ViSP software.
7  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
8  *
9  * This software is free software; you can redistribute it and/or
10  * modify it under the terms of the GNU General Public License
11  * ("GPL") version 2 as published by the Free Software Foundation.
12  * See the file LICENSE.txt at the root directory of this source
13  * distribution for additional information about the GNU GPL.
14  *
15  * For using ViSP with software that can not be combined with the GNU
16  * GPL, please contact INRIA about acquiring a ViSP Professional
17  * Edition License.
18  *
19  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
20  *
21  * This software was developed at:
22  * INRIA Rennes - Bretagne Atlantique
23  * Campus Universitaire de Beaulieu
24  * 35042 Rennes Cedex
25  * France
26  * http://www.irisa.fr/lagadic
27  *
28  * If you have questions regarding the use of this file, please contact
29  * INRIA at visp@inria.fr
30  *
31  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
32  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
33  *
34  *
35  * Description:
36  * Simulation of a 2D visual servoing on a line.
37  *
38  * Authors:
39  * Eric Marchand
40  * Fabien Spindler
41  *
42  *****************************************************************************/
43 
44 
53 #include <visp/vpDebug.h>
54 #include <visp/vpConfig.h>
55 
56 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
57 
58 #include <stdlib.h>
59 #include <stdio.h>
60 
61 #include <visp/vpCameraParameters.h>
62 #include <visp/vpDisplayX.h>
63 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpDisplayGDI.h>
65 #include <visp/vpDisplayOpenCV.h>
66 #include <visp/vpFeatureBuilder.h>
67 #include <visp/vpFeatureLine.h>
68 #include <visp/vpHomogeneousMatrix.h>
69 #include <visp/vpImage.h>
70 #include <visp/vpLine.h>
71 #include <visp/vpMath.h>
72 #include <visp/vpParseArgv.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpServoDisplay.h>
75 #include <visp/vpSimulatorCamera.h>
76 
77 // List of allowed command line options
78 #define GETOPTARGS "cdh"
79 
80 void usage(const char *name, const char *badparam);
81 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
82 
91 void usage(const char *name, const char *badparam)
92 {
93  fprintf(stdout, "\n\
94 Simulation of 2D a visual servoing on a line:\n\
95 - eye-in-hand control law,\n\
96 - velocity computed in the camera frame,\n\
97 - display the camera view.\n\
98  \n\
99 SYNOPSIS\n\
100  %s [-c] [-d] [-h]\n", name);
101 
102  fprintf(stdout, "\n\
103 OPTIONS: Default\n\
104  \n\
105  -c\n\
106  Disable the mouse click. Useful to automaze the \n\
107  execution of this program without humain intervention.\n\
108  \n\
109  -d \n\
110  Turn off the display.\n\
111  \n\
112  -h\n\
113  Print the help.\n");
114 
115  if (badparam)
116  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
117 }
118 
131 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
132 {
133  const char *optarg_;
134  int c;
135  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
136 
137  switch (c) {
138  case 'c': click_allowed = false; break;
139  case 'd': display = false; break;
140  case 'h': usage(argv[0], NULL); return false; break;
141 
142  default:
143  usage(argv[0], optarg_);
144  return false; break;
145  }
146  }
147 
148  if ((c == 1) || (c == -1)) {
149  // standalone param or error
150  usage(argv[0], NULL);
151  std::cerr << "ERROR: " << std::endl;
152  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
153  return false;
154  }
155 
156  return true;
157 }
158 
159 
160 int
161 main(int argc, const char ** argv)
162 {
163  try {
164  bool opt_display = true;
165  bool opt_click_allowed = true;
166 
167  // Read the command line options
168  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
169  exit (-1);
170  }
171 
172  vpImage<unsigned char> I(512,512,0) ;
173 
174  // We open a window using either X11, GTK or GDI.
175 #if defined VISP_HAVE_X11
176  vpDisplayX display;
177 #elif defined VISP_HAVE_GTK
178  vpDisplayGTK display;
179 #elif defined VISP_HAVE_GDI
180  vpDisplayGDI display;
181 #elif defined VISP_HAVE_OPENCV
182  vpDisplayOpenCV display;
183 #endif
184 
185  if (opt_display) {
186  try{
187  // Display size is automatically defined by the image (I) size
188  display.init(I, 100, 100,"Camera view...") ;
189  // Display the image
190  // The image class has a member that specify a pointer toward
191  // the display that has been initialized in the display declaration
192  // therefore is is no longuer necessary to make a reference to the
193  // display variable.
194  vpDisplay::display(I) ;
195  vpDisplay::flush(I) ;
196  }
197  catch(...)
198  {
199  vpERROR_TRACE("Error while displaying the image") ;
200  exit(-1);
201  }
202  }
203 
204  double px, py ; px = py = 600 ;
205  double u0, v0 ; u0 = v0 = 256 ;
206 
207  vpCameraParameters cam(px,py,u0,v0);
208 
209  vpServo task ;
210  vpSimulatorCamera robot ;
211 
212  // sets the initial camera location
213  vpHomogeneousMatrix cMo(-0.2,0.1,1,
214  vpMath::rad(5), vpMath::rad(5), vpMath::rad(90));
215 
216  // Compute the position of the object in the world frame
217  vpHomogeneousMatrix wMc, wMo;
218  robot.getPosition(wMc) ;
219  wMo = wMc * cMo;
220 
221  // sets the final camera location (for simulation purpose)
222  vpHomogeneousMatrix cMod(0,0,1,
223  vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
224 
225  // sets the line coordinates (2 planes) in the world frame
226  vpColVector plane1(4) ;
227  vpColVector plane2(4) ;
228  plane1[0] = 0; // z = 0
229  plane1[1] = 0;
230  plane1[2] = 1;
231  plane1[3] = 0;
232  plane2[0] = 0; // y =0
233  plane2[1] = 1;
234  plane2[2] = 0;
235  plane2[3] = 0;
236 
237  vpLine line ;
238  line.setWorldCoordinates(plane1, plane2) ;
239 
240  // sets the desired position of the visual feature
241  line.track(cMod) ;
242  line.print() ;
243 
244  vpFeatureLine ld ;
245  vpFeatureBuilder::create(ld,line) ;
246 
247  // computes the line coordinates in the camera frame and its 2D coordinates
248  // sets the current position of the visual feature
249  line.track(cMo) ;
250  line.print() ;
251 
252  vpFeatureLine l ;
253  vpFeatureBuilder::create(l,line) ;
254  l.print() ;
255 
256  // define the task
257  // - we want an eye-in-hand control law
258  // - robot is controlled in the camera frame
260 
261  // we want to see a line on a line
262 
263  task.addFeature(l,ld) ;
264  vpDisplay::display(I) ;
265  vpServoDisplay::display(task,cam,I) ;
266  vpDisplay::flush(I) ;
267 
268  // set the gain
269  task.setLambda(1) ;
270  // Display task information " ) ;
271  task.print() ;
272 
273  if (opt_display && opt_click_allowed) {
274  std::cout << "\n\nClick in the camera view window to start..." << std::endl;
276  }
277 
278  unsigned int iter=0 ;
279  // loop
280  while(iter++<200)
281  {
282  std::cout << "---------------------------------------------" << iter <<std::endl ;
283  vpColVector v ;
284 
285  // get the robot position
286  robot.getPosition(wMc) ;
287  // Compute the position of the camera wrt the object frame
288  cMo = wMc.inverse() * wMo;
289 
290  // new line position
291  line.track(cMo) ;
292  // retrieve x,y and Z of the vpLine structure
293  vpFeatureBuilder::create(l,line);
294 
295  if (opt_display) {
296  vpDisplay::display(I) ;
297  vpServoDisplay::display(task,cam,I) ;
298  vpDisplay::flush(I) ;
299  }
300 
301  // compute the control law
302  v = task.computeControlLaw() ;
303 
304  // send the camera velocity to the controller
306 
307  std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
308  }
309 
310  if (opt_display && opt_click_allowed) {
311  std::cout << "\nClick in the camera view window to end..." << std::endl;
313  }
314 
315  // Display task information
316  task.print() ;
317  task.kill();
318  return 0;
319  }
320  catch(vpException e) {
321  std::cout << "Catch a ViSP exception: " << e << std::endl;
322  return 1;
323  }
324 }
325 
326 #else
327 int
328 main()
329 {
330  std::cout << "You do not have X11, GTK, GDI or OpenCV display functionalities..." << std::endl;
331 }
332 
333 #endif
334 
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void print(const unsigned int select=FEATURE_ALL) const
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
#define vpERROR_TRACE
Definition: vpDebug.h:395
Class that defines the simplest robot: a free flying camera.
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
Definition: vpLine.cpp:98
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:132
Define the X11 console to display images.
Definition: vpDisplayX.h:152
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:449
error that can be emited by ViSP classes.
Definition: vpException.h:76
void track(const vpHomogeneousMatrix &cMo)
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2232
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:80
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Definition: vpLine.h:124
void kill()
Definition: vpServo.cpp:189
vpColVector getError() const
Definition: vpServo.h:257
virtual void print() const
vpColVector computeControlLaw()
Definition: vpServo.cpp:902
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:210
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
void getPosition(vpHomogeneousMatrix &wMc) const
void setLambda(double c)
Definition: vpServo.h:370
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Definition: vpDisplayGTK.h:145
static double rad(double deg)
Definition: vpMath.h:100
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:251
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:220
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)