Visual Servoing Platform  version 3.2.0
servoSimuLine2DCamVelocityDisplay.cpp
1 /****************************************************************************
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3  * ViSP, open source Visual Servoing Platform software.
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15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Simulation of a 2D visual servoing on a line.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
50 
51 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
52 
53 #include <stdio.h>
54 #include <stdlib.h>
55 
56 #include <visp3/core/vpCameraParameters.h>
57 #include <visp3/core/vpHomogeneousMatrix.h>
58 #include <visp3/core/vpImage.h>
59 #include <visp3/core/vpLine.h>
60 #include <visp3/core/vpMath.h>
61 #include <visp3/gui/vpDisplayGDI.h>
62 #include <visp3/gui/vpDisplayGTK.h>
63 #include <visp3/gui/vpDisplayOpenCV.h>
64 #include <visp3/gui/vpDisplayX.h>
65 #include <visp3/io/vpParseArgv.h>
66 #include <visp3/robot/vpSimulatorCamera.h>
67 #include <visp3/visual_features/vpFeatureBuilder.h>
68 #include <visp3/visual_features/vpFeatureLine.h>
69 #include <visp3/vs/vpServo.h>
70 #include <visp3/vs/vpServoDisplay.h>
71 
72 // List of allowed command line options
73 #define GETOPTARGS "cdh"
74 
75 void usage(const char *name, const char *badparam);
76 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
77 
86 void usage(const char *name, const char *badparam)
87 {
88  fprintf(stdout, "\n\
89 Simulation of 2D a visual servoing on a line:\n\
90 - eye-in-hand control law,\n\
91 - velocity computed in the camera frame,\n\
92 - display the camera view.\n\
93  \n\
94 SYNOPSIS\n\
95  %s [-c] [-d] [-h]\n", name);
96 
97  fprintf(stdout, "\n\
98 OPTIONS: Default\n\
99  \n\
100  -c\n\
101  Disable the mouse click. Useful to automaze the \n\
102  execution of this program without humain intervention.\n\
103  \n\
104  -d \n\
105  Turn off the display.\n\
106  \n\
107  -h\n\
108  Print the help.\n");
109 
110  if (badparam)
111  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
112 }
113 
126 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
127 {
128  const char *optarg_;
129  int c;
130  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
131 
132  switch (c) {
133  case 'c':
134  click_allowed = false;
135  break;
136  case 'd':
137  display = false;
138  break;
139  case 'h':
140  usage(argv[0], NULL);
141  return false;
142  break;
143 
144  default:
145  usage(argv[0], optarg_);
146  return false;
147  break;
148  }
149  }
150 
151  if ((c == 1) || (c == -1)) {
152  // standalone param or error
153  usage(argv[0], NULL);
154  std::cerr << "ERROR: " << std::endl;
155  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
156  return false;
157  }
158 
159  return true;
160 }
161 
162 int main(int argc, const char **argv)
163 {
164  try {
165  bool opt_display = true;
166  bool opt_click_allowed = true;
167 
168  // Read the command line options
169  if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
170  exit(-1);
171  }
172 
173  vpImage<unsigned char> I(512, 512, 0);
174 
175 // We open a window using either X11, GTK or GDI.
176 #if defined VISP_HAVE_X11
177  vpDisplayX display;
178 #elif defined VISP_HAVE_GTK
179  vpDisplayGTK display;
180 #elif defined VISP_HAVE_GDI
181  vpDisplayGDI display;
182 #elif defined VISP_HAVE_OPENCV
183  vpDisplayOpenCV display;
184 #endif
185 
186  if (opt_display) {
187  try {
188  // Display size is automatically defined by the image (I) size
189  display.init(I, 100, 100, "Camera view...");
190  // Display the image
191  // The image class has a member that specify a pointer toward
192  // the display that has been initialized in the display declaration
193  // therefore is is no longuer necessary to make a reference to the
194  // display variable.
196  vpDisplay::flush(I);
197  } catch (...) {
198  vpERROR_TRACE("Error while displaying the image");
199  exit(-1);
200  }
201  }
202 
203  double px, py;
204  px = py = 600;
205  double u0, v0;
206  u0 = v0 = 256;
207 
208  vpCameraParameters cam(px, py, u0, v0);
209 
210  vpServo task;
211  vpSimulatorCamera robot;
212 
213  // sets the initial camera location
214  vpHomogeneousMatrix cMo(-0.2, 0.1, 1, 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, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
223 
224  // sets the line coordinates (2 planes) in the world frame
225  vpColVector plane1(4);
226  vpColVector plane2(4);
227  plane1[0] = 0; // z = 0
228  plane1[1] = 0;
229  plane1[2] = 1;
230  plane1[3] = 0;
231  plane2[0] = 0; // y =0
232  plane2[1] = 1;
233  plane2[2] = 0;
234  plane2[3] = 0;
235 
236  vpLine line;
237  line.setWorldCoordinates(plane1, plane2);
238 
239  // sets the desired position of the visual feature
240  line.track(cMod);
241  line.print();
242 
243  vpFeatureLine ld;
244  vpFeatureBuilder::create(ld, line);
245 
246  // computes the line coordinates in the camera frame and its 2D
247  // coordinates sets the current position of the visual feature
248  line.track(cMo);
249  line.print();
250 
251  vpFeatureLine l;
252  vpFeatureBuilder::create(l, line);
253  l.print();
254 
255  // define the task
256  // - we want an eye-in-hand control law
257  // - robot is controlled in the camera frame
259 
260  // we want to see a line on a line
261 
262  task.addFeature(l, ld);
264  vpServoDisplay::display(task, cam, I);
265  vpDisplay::flush(I);
266 
267  // set the gain
268  task.setLambda(1);
269  // Display task information " ) ;
270  task.print();
271 
272  if (opt_display && opt_click_allowed) {
273  std::cout << "\n\nClick in the camera view window to start..." << std::endl;
275  }
276 
277  unsigned int iter = 0;
278  // loop
279  while (iter++ < 200) {
280  std::cout << "---------------------------------------------" << iter << std::endl;
281  vpColVector v;
282 
283  // get the robot position
284  robot.getPosition(wMc);
285  // Compute the position of the camera wrt the object frame
286  cMo = wMc.inverse() * wMo;
287 
288  // new line position
289  line.track(cMo);
290  // retrieve x,y and Z of the vpLine structure
291  vpFeatureBuilder::create(l, line);
292 
293  if (opt_display) {
295  vpServoDisplay::display(task, cam, I);
296  vpDisplay::flush(I);
297  }
298 
299  // compute the control law
300  v = task.computeControlLaw();
301 
302  // send the camera velocity to the controller
304 
305  std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
306  }
307 
308  if (opt_display && opt_click_allowed) {
309  std::cout << "\nClick in the camera view window to end..." << std::endl;
311  }
312 
313  // Display task information
314  task.print();
315  task.kill();
316  return EXIT_SUCCESS;
317  } catch (const vpException &e) {
318  std::cout << "Catch a ViSP exception: " << e << std::endl;
319  return EXIT_FAILURE;
320  }
321 }
322 
323 #else
324 int main()
325 {
326  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
327  std::cout << "Tip if you are on a unix-like system:" << std::endl;
328  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
329  std::cout << "Tip if you are on a windows-like system:" << std::endl;
330  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
331  return EXIT_SUCCESS;
332 }
333 #endif
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
vpFeatureLine::print
void print(const unsigned int select=FEATURE_ALL) const
Definition: vpFeatureLine.cpp:368
vpServo::kill
void kill()
Definition: vpServo.cpp:191
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:101
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:405
vpServo::EYEINHAND_CAMERA
Definition: vpServo.h:158
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpForwardProjection::print
virtual void print() const
Definition: vpForwardProjection.cpp:52
vpLine::setWorldCoordinates
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:84
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:92
vpSimulatorCamera
Class that defines the simplest robot: a free flying camera.
Definition: vpSimulatorCamera.h:106
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpParseArgv::parse
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:68
vpSimulatorCamera::getPosition
vpHomogeneousMatrix getPosition() const
Definition: vpSimulatorCamera.cpp:118
vpServo::print
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:312
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:676
vpDisplayGTK
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:137
vpServo::getError
vpColVector getError() const
Definition: vpServo.h:281
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:194
vpLine
Class that defines a line in the object frame, the camera frame and the image plane....
Definition: vpLine.h:104
vpRobot::CAMERA_FRAME
Definition: vpRobot.h:81
vpERROR_TRACE
#define vpERROR_TRACE
Definition: vpDebug.h:392
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpHomogeneousMatrix::inverse
vpHomogeneousMatrix inverse() const
Definition: vpHomogeneousMatrix.cpp:642
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197
vpServoDisplay::display
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)
Definition: vpServoDisplay.cpp:79
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpForwardProjection::track
void track(const vpHomogeneousMatrix &cMo)
Definition: vpForwardProjection.cpp:110