45#include <visp3/core/vpCameraParameters.h>
46#include <visp3/core/vpConfig.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpIoTools.h>
50#include <visp3/core/vpMath.h>
51#include <visp3/core/vpMomentCommon.h>
52#include <visp3/core/vpMomentDatabase.h>
53#include <visp3/core/vpMomentObject.h>
54#include <visp3/core/vpPlane.h>
55#include <visp3/gui/vpDisplayD3D.h>
56#include <visp3/gui/vpDisplayGDI.h>
57#include <visp3/gui/vpDisplayGTK.h>
58#include <visp3/gui/vpDisplayOpenCV.h>
59#include <visp3/gui/vpDisplayX.h>
60#include <visp3/gui/vpPlot.h>
61#include <visp3/robot/vpSimulatorAfma6.h>
62#include <visp3/visual_features/vpFeatureBuilder.h>
63#include <visp3/visual_features/vpFeatureMomentCommon.h>
64#include <visp3/visual_features/vpFeaturePoint.h>
65#include <visp3/vs/vpServo.h>
67#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
71 std::cout <<
"Can't run this example since vpSimulatorAfma6 capability is "
74 std::cout <<
"You should install pthread third-party library." << std::endl;
78#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \
79 !defined(VISP_HAVE_GTK)
82 std::cout <<
"Can't run this example since no display capability is available." << std::endl;
83 std::cout <<
"You should install one of the following third-party library: "
84 "X11, OpenCV, GDI, GTK."
90#ifndef DOXYGEN_SHOULD_SKIP_THIS
95 : m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
96 m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(NULL), m_momentsDes(NULL),
97 m_featureMoments(NULL), m_featureMomentsDes(NULL), m_displayInt(NULL)
102#ifdef VISP_HAVE_DISPLAY
109 delete m_featureMoments;
110 delete m_featureMomentsDes;
115 std::vector<vpPoint> src_pts;
116 std::vector<vpPoint> dst_pts;
118 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
119 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
122 for (
int i = 0; i < nbpoints; i++) {
125 src_pts.push_back(p);
129 m_src.fromVector(src_pts);
130 for (
int i = 0; i < nbpoints; i++) {
133 dst_pts.push_back(p);
136 m_dst.fromVector(dst_pts);
141 double x[5] = {0.2, 0.2, -0.2, -0.2, 0.2};
142 double y[5] = {-0.1, 0.1, 0.1, -0.1, -0.1};
144 std::vector<vpPoint> cur_pts;
146 for (
int i = 0; i < nbpoints; i++) {
149 cur_pts.push_back(p);
161#ifdef VISP_HAVE_DISPLAY
163#if defined VISP_HAVE_X11
165#elif defined VISP_HAVE_OPENCV
167#elif defined VISP_HAVE_GDI
169#elif defined VISP_HAVE_D3D9
171#elif defined VISP_HAVE_GTK
174 m_displayInt->
init(m_Iint, 50, 50,
"Visual servoing with moments");
199 planeToABC(pl, A, B, C);
203 planeToABC(pl, Ad, Bd, Cd);
221 m_moments->updateAll(m_src);
222 m_momentsDes->updateAll(m_dst);
224 m_featureMoments->updateAll(A, B, C);
225 m_featureMomentsDes->updateAll(Ad, Bd, Cd);
228 m_task.setInteractionMatrixType(m_interaction_type);
231 m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
232 m_featureMomentsDes->getFeatureGravityNormalized());
233 m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
235 m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
236 (1 << 10) | (1 << 11));
237 m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
239 m_task.setLambda(0.4);
242 void execute(
unsigned int nbIter)
245 init_visp_plot(ViSP_plot);
252 std::cout <<
"Display task information " << std::endl;
256 m_robot.getInternalView(m_Iint);
258 unsigned int iter = 0;
261 while (iter++ < nbIter) {
265 m_cMo = m_robot.get_cMo();
271 planeToABC(pl, A, B, C);
276 m_moments->updateAll(obj);
279 m_featureMoments->updateAll(A, B, C);
282 m_robot.getInternalView(m_Iint);
290 v = m_task.computeControlLaw();
294 ViSP_plot.
plot(0, iter, v);
296 ViSP_plot.
plot(2, iter, m_task.getError());
298 m_error = (m_task.getError()).sumSquare();
309 m_robot.getInternalView(m_Iint);
317 double error() {
return m_error; }
337 robot.setJointLimit(limMin, limMax);
340 void planeToABC(
vpPlane &pl,
double &A,
double &B,
double &C)
342 if (fabs(pl.
getD()) < std::numeric_limits<double>::epsilon()) {
343 std::cout <<
"Invalid position:" << std::endl;
344 std::cout << m_cMo << std::endl;
345 std::cout <<
"Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
357 m_robot.setCurrentViewColor(
vpColor(150, 150, 150));
358 m_robot.setDesiredViewColor(
vpColor(200, 200, 200));
360 removeJointLimits(m_robot);
364 m_robot.initialiseObjectRelativeToCamera(m_cMo);
367 m_robot.setDesiredCameraPosition(m_cdMo);
368 m_robot.getCameraParameters(m_cam, m_Iint);
371 void init_visp_plot(
vpPlot &ViSP_plot)
377 const unsigned int NbGraphs = 3;
378 const unsigned int NbCurves_in_graph[NbGraphs] = {6, 6, 6};
380 ViSP_plot.
init(NbGraphs, 800, 800, 100 +
static_cast<int>(m_width), 50,
"Visual Servoing results...");
385 for (
unsigned int p = 0; p < NbGraphs; p++) {
386 ViSP_plot.
initGraph(p, NbCurves_in_graph[p]);
387 for (
unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
388 ViSP_plot.
setColor(p, c, Colors[c]);
391 ViSP_plot.
setTitle(0,
"Robot velocities");
399 ViSP_plot.
setTitle(1,
"Camera pose cMo");
407 ViSP_plot.
setTitle(2,
"Error in visual features: ");
418 unsigned int m_width;
419 unsigned int m_height;
456 servo.init(cMo, cdMo);
460 std::cout <<
"Catch an exception: " << e << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionnalities.
static const vpColor cyan
static const vpColor orange
static const vpColor blue
static const vpColor purple
static const vpColor green
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
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...
Class that defines generic functionnalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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.
@ divideByZeroError
Division by zero.
This class allows to access common vpFeatureMoments in a pre-filled database.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class which enables to project an image in the 3D space and get the view of a virtual camera.
static double rad(double deg)
This class initializes and allows access to commonly used moments.
static std::vector< double > getMu3(vpMomentObject &object)
static double getAlpha(vpMomentObject &object)
static double getSurface(vpMomentObject &object)
Class for generic objects.
void setType(vpObjectType input_type)
void fromVector(std::vector< vpPoint > &points)
This class defines the container for a plane geometrical structure.
void changeFrame(const vpHomogeneousMatrix &cMo)
void setABCD(double a, double b, double c, double d)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void init(unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="")
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
void setTitle(unsigned int graphNum, const std::string &title)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
vpServoIteractionMatrixType
Simulator of Irisa's gantry robot named Afma6.
Class that consider the case of a translation vector.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()