Visual Servoing Platform  version 3.3.0
tutorial-ibvs-4pts-wireframe-robot-viper.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpSimulatorViper850.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam);
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam)
{
unsigned int thickness = 3;
static std::vector<vpImagePoint> traj[4];
for (unsigned int i = 0; i < 4; i++) {
// Project the point at the given camera position
point[i].project(cMo);
vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
traj[i].push_back(cog);
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 1; j < traj[i].size(); j++) {
vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green, thickness);
}
}
}
int main()
{
#if defined(VISP_HAVE_PTHREAD)
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
/*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame : --> w_y
|
\|/
w_x
object :
o_y
/|\
|
o_x <--
camera :
c_y
/|\
|
c_x <--
*/
vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15), vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI / 2.)));
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.1, -0.1, 0));
point.push_back(vpPoint(0.1, -0.1, 0));
point.push_back(vpPoint(0.1, 0.1, 0));
point.push_back(vpPoint(-0.1, 0.1, 0));
vpServo task;
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4];
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
vpSimulatorViper850 robot(true);
robot.setVerbose(true);
// Enlarge the default joint limits
vpColVector qmin = robot.getJointMin();
vpColVector qmax = robot.getJointMax();
qmin[0] = -vpMath::rad(180);
qmax[0] = vpMath::rad(180);
qmax[1] = vpMath::rad(0);
qmax[2] = vpMath::rad(270);
qmin[4] = -vpMath::rad(180);
qmax[4] = vpMath::rad(180);
robot.setJointLimit(qmin, qmax);
std::cout << "Robot joint limits: " << std::endl;
for (unsigned int i = 0; i < qmin.size(); i++)
std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
<< std::endl;
robot.set_fMo(wMo);
bool ret = robot.initialiseCameraRelativeToObject(cMo);
if (ret == false)
return 0; // Not able to set the position
robot.setDesiredCameraPosition(cdMo);
// We modify the default external camera position
robot.setExternalCameraPosition(
vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
// Modify the camera parameters to match those used in the other
// simulations
robot.setCameraParameters(cam);
bool start = true;
// for ( ; ; )
for (int iter = 0; iter < 275; iter++) {
cMo = robot.get_cMo();
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
robot.getInternalView(Iint);
if (!start) {
display_trajectory(Iint, point, cMo, cam);
vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
}
// A click to exit
if (vpDisplay::getClick(Iint, false))
break;
if (start) {
start = false;
v = 0;
vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
// vpDisplay::getClick(Iint);
}
vpTime::wait(1000 * robot.getSamplingTime());
}
task.kill();
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
vpRobot::STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:65
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpWireFrameSimulator::D_STANDARD
Definition: vpWireFrameSimulator.h:211
vpServo::kill
void kill()
Definition: vpServo.cpp:191
vpTime::wait
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:172
vpDisplay::displayLine
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
Definition: vpDisplay_uchar.cpp:399
vpServo::CURRENT
Definition: vpServo.h:185
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
vpViper850::TOOL_PTGREY_FLEA2_CAMERA
Definition: vpViper850.h:129
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpCameraParameters::perspectiveProjWithoutDistortion
Definition: vpCameraParameters.h:239
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:405
vpMath::deg
static double deg(double rad)
Definition: vpMath.h:100
vpWireFrameSimulator::PLATE
Definition: vpWireFrameSimulator.h:164
vpRobotSimulator::getSamplingTime
double getSamplingTime() const
Definition: vpRobotSimulator.h:81
vpServo::EYEINHAND_CAMERA
Definition: vpServo.h:158
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:92
vpTranslationVector
Class that consider the case of a translation vector.
Definition: vpTranslationVector.h:118
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpRobot::setRobotState
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:200
vpColor::green
static const vpColor green
Definition: vpColor.h:181
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:663
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:121
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:185
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpArray2D::size
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:290
vpRobot::CAMERA_FRAME
Definition: vpRobot.h:81
vpSimulatorViper850
Simulator of Irisa's Viper S850 robot named Viper850.
Definition: vpSimulatorViper850.h:201
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:180
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:573
vpColor::blue
static const vpColor blue
Definition: vpColor.h:184
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpImage< unsigned char >
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197
vpMeterPixelConversion::convertPoint
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Definition: vpMeterPixelConversion.h:106
vpRobot::setVerbose
void setVerbose(bool verbose)
Definition: vpRobot.h:158
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpColor::red
static const vpColor red
Definition: vpColor.h:178
vpRxyzVector
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:182
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:243