Visual Servoing Platform version 3.5.0
servoSimuLine2DCamVelocityDisplay.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
53
54#include <stdio.h>
55#include <stdlib.h>
56
57#include <visp3/core/vpCameraParameters.h>
58#include <visp3/core/vpHomogeneousMatrix.h>
59#include <visp3/core/vpImage.h>
60#include <visp3/core/vpLine.h>
61#include <visp3/core/vpMath.h>
62#include <visp3/gui/vpDisplayGDI.h>
63#include <visp3/gui/vpDisplayGTK.h>
64#include <visp3/gui/vpDisplayOpenCV.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/io/vpParseArgv.h>
67#include <visp3/robot/vpSimulatorCamera.h>
68#include <visp3/visual_features/vpFeatureBuilder.h>
69#include <visp3/visual_features/vpFeatureLine.h>
70#include <visp3/vs/vpServo.h>
71#include <visp3/vs/vpServoDisplay.h>
72
73// List of allowed command line options
74#define GETOPTARGS "cdh"
75
76void usage(const char *name, const char *badparam);
77bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
78
87void usage(const char *name, const char *badparam)
88{
89 fprintf(stdout, "\n\
90Simulation of 2D a visual servoing on a line:\n\
91- eye-in-hand control law,\n\
92- velocity computed in the camera frame,\n\
93- display the camera view.\n\
94 \n\
95SYNOPSIS\n\
96 %s [-c] [-d] [-h]\n", name);
97
98 fprintf(stdout, "\n\
99OPTIONS: Default\n\
100 \n\
101 -c\n\
102 Disable the mouse click. Useful to automaze the \n\
103 execution of this program without humain intervention.\n\
104 \n\
105 -d \n\
106 Turn off the display.\n\
107 \n\
108 -h\n\
109 Print the help.\n");
110
111 if (badparam)
112 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
113}
114
127bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
128{
129 const char *optarg_;
130 int c;
131 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
132
133 switch (c) {
134 case 'c':
135 click_allowed = false;
136 break;
137 case 'd':
138 display = false;
139 break;
140 case 'h':
141 usage(argv[0], NULL);
142 return false;
143
144 default:
145 usage(argv[0], optarg_);
146 return false;
147 }
148 }
149
150 if ((c == 1) || (c == -1)) {
151 // standalone param or error
152 usage(argv[0], NULL);
153 std::cerr << "ERROR: " << std::endl;
154 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
155 return false;
156 }
157
158 return true;
159}
160
161int 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.
196 } catch (...) {
197 vpERROR_TRACE("Error while displaying the image");
198 exit(-1);
199 }
200 }
201
202 double px = 500, py = 500;
203 double u0 = 150, v0 = 160;
204
205 vpCameraParameters cam(px, py, u0, v0);
206
207 vpServo task;
208 vpSimulatorCamera robot;
209
210 // sets the initial camera location
211 vpHomogeneousMatrix cMo(-0.2, 0.1, 1, vpMath::rad(5), vpMath::rad(5), vpMath::rad(90));
212
213 // Compute the position of the object in the world frame
214 vpHomogeneousMatrix wMc, wMo;
215 robot.getPosition(wMc);
216 wMo = wMc * cMo;
217
218 // sets the final camera location (for simulation purpose)
219 vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
220
221 // sets the line coordinates (2 planes) in the world frame
222 vpColVector plane1(4);
223 vpColVector plane2(4);
224 plane1[0] = 0; // z = 0
225 plane1[1] = 0;
226 plane1[2] = 1;
227 plane1[3] = 0;
228 plane2[0] = 0; // y =0
229 plane2[1] = 1;
230 plane2[2] = 0;
231 plane2[3] = 0;
232
233 vpLine line;
234 line.setWorldCoordinates(plane1, plane2);
235
236 // sets the desired position of the visual feature
237 line.track(cMod);
238 line.print();
239
240 vpFeatureLine ld;
241 vpFeatureBuilder::create(ld, line);
242
243 // computes the line coordinates in the camera frame and its 2D
244 // coordinates sets the current position of the visual feature
245 line.track(cMo);
246 line.print();
247
250 l.print();
251
252 // define the task
253 // - we want an eye-in-hand control law
254 // - robot is controlled in the camera frame
256
257 // we want to see a line on a line
258
259 task.addFeature(l, ld);
261 vpServoDisplay::display(task, cam, I);
263
264 // set the gain
265 task.setLambda(1);
266 // Display task information " ) ;
267 task.print();
268
269 if (opt_display && opt_click_allowed) {
270 std::cout << "\n\nClick in the camera view window to start..." << std::endl;
272 }
273
274 unsigned int iter = 0;
275 // loop
276 while (iter++ < 200) {
277 std::cout << "---------------------------------------------" << iter << std::endl;
278 vpColVector v;
279
280 // get the robot position
281 robot.getPosition(wMc);
282 // Compute the position of the object frame in the camera frame
283 cMo = wMc.inverse() * wMo;
284
285 // new line position
286 line.track(cMo);
287 // retrieve x,y and Z of the vpLine structure
289
290 if (opt_display) {
292 vpServoDisplay::display(task, cam, I);
294 }
295
296 // compute the control law
297 v = task.computeControlLaw();
298
299 // send the camera velocity to the controller
301
302 std::cout << "|| s - s* || = " << (task.getError()).sumSquare() << std::endl;
303 }
304
305 if (opt_display && opt_click_allowed) {
306 vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
309 }
310
311 // Display task information
312 task.print();
313 return EXIT_SUCCESS;
314 } catch (const vpException &e) {
315 std::cout << "Catch a ViSP exception: " << e << std::endl;
316 return EXIT_FAILURE;
317 }
318}
319
320#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
321int main()
322{
323 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
324 return EXIT_SUCCESS;
325}
326#else
327int main()
328{
329 std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
330 std::cout << "Tip if you are on a unix-like system:" << std::endl;
331 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
332 std::cout << "Tip if you are on a windows-like system:" << std::endl;
333 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
334 return EXIT_SUCCESS;
335}
336#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor white
Definition: vpColor.h:212
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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 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 line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:85
static double rad(double deg)
Definition: vpMath.h:110
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
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)
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Definition: vpServo.cpp:306
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector getError() const
Definition: vpServo.h:278
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that defines the simplest robot: a free flying camera.
#define vpERROR_TRACE
Definition: vpDebug.h:393