Visual Servoing Platform  version 3.4.0
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 
76 void usage(const char *name, const char *badparam);
77 bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
78 
87 void usage(const char *name, const char *badparam)
88 {
89  fprintf(stdout, "\n\
90 Simulation 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\
95 SYNOPSIS\n\
96  %s [-c] [-d] [-h]\n", name);
97 
98  fprintf(stdout, "\n\
99 OPTIONS: 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 
127 bool 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 
161 int 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.
195  vpDisplay::flush(I);
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 
248  vpFeatureLine l;
249  vpFeatureBuilder::create(l, line);
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);
262  vpDisplay::flush(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
288  vpFeatureBuilder::create(l, line);
289 
290  if (opt_display) {
292  vpServoDisplay::display(task, cam, I);
293  vpDisplay::flush(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);
307  vpDisplay::flush(I);
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))
321 int main()
322 {
323  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
324  return EXIT_SUCCESS;
325 }
326 #else
327 int 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:151
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