int main()
{
//////////////////////////////////////////
// sets the initial camera location
vpHomogeneousMatrix cMo(0.3,0.2,3,
vpMath::rad(0),vpMath::rad(0),vpMath::rad(40)) ;
///////////////////////////////////
// initialize the robot
vpRobotCamera robot ;
robot.setSamplingTime(0.04); // 40ms
robot.setPosition(cMo) ;
//initialize the camera parameters
vpCameraParameters cam(800,800,240,180);
//Image definition
unsigned int height = 360 ;
unsigned int width = 480 ;
vpImage<unsigned char> I(height,width);
//Display initialization
vpDisplayGTK disp;
disp.init(I,100,100,"Simulation display");
////////////////////////////////////////
// Desired visual features initialization
// sets the points coordinates in the object frame (in meter)
vpPoint point[4] ;
point[0].setWorldCoordinates(-0.1,-0.1,0) ;
point[1].setWorldCoordinates(0.1,-0.1,0) ;
point[2].setWorldCoordinates(0.1,0.1,0) ;
point[3].setWorldCoordinates(-0.1,0.1,0) ;
// sets the desired camera location
vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;
// computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
point[i].project(cMo_d) ;
// creates the associated features
vpFeaturePoint pd[4] ;
for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(pd[i],point[i]) ;
///////////////////////////////////////
// Current visual features initialization
// computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
point[i].project(cMo) ;
// creates the associated features
vpFeaturePoint p[4] ;
for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(p[i],point[i]) ;
/////////////////////////////////
// Task defintion
vpServo task ;
// we want an eye-in-hand control law ;
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
// Set the position of the camera in the end-effector frame
vpHomogeneousMatrix cMe ;
vpVelocityTwistMatrix cVe(cMe) ;
task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// we want to see a point on a point
for (int i = 0 ; i < 4 ; i++)
task.addFeature(p[i],pd[i]) ;
// Set the gain
task.setLambda(1.0) ;
// Print the current information about the task
task.print();
////////////////////////////////////////////////
// The control loop
int k = 0;
while(k++ < 200){
double t = vpTime::measureTimeMs();
// Display the image background
vpDisplay::display(I);
// Update the current features
for (int i = 0 ; i < 4 ; i++)
{
point[i].project(cMo) ;
vpFeatureBuilder::create(p[i],point[i]) ;
}
// Display the task features (current and desired)
vpServoDisplay::display(task,cam,I);
vpDisplay::flush(I);
// Update the robot Jacobian
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// Compute the control law
vpColVector v = task.computeControlLaw() ;
// Send the computed velocity to the robot and compute the new robot position
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;
robot.getPosition(cMo) ;
// Print the current information about the task
task.print();
// Wait 40 ms
vpTime::wait(t,40);
}
task.kill();
return 0;
}
static
void *mainLoop (void *_simu)
{
// pointer copy of the vpSimulator instance
vpSimulator *simu = (vpSimulator *)_simu ;
// Simulation initialization
simu->initMainApplication() ;
/////////////////////////////////////////
// sets the initial camera location
vpHomogeneousMatrix cMo(-0.3,-0.2,3,
vpMath::rad(0),vpMath::rad(0),vpMath::rad(40)) ;
///////////////////////////////////
// Initialize the robot
vpRobotCamera robot ;
robot.setSamplingTime(0.04); // 40ms
robot.setPosition(cMo) ;
// Send the robot position to the visualizator
simu->setCameraPosition(cMo) ;
// Initialize the camera parameters
vpCameraParameters cam ;
simu->getCameraParameters(cam);
////////////////////////////////////////
// Desired visual features initialization
// sets the points coordinates in the object frame (in meter)
vpPoint point[4] ;
point[0].setWorldCoordinates(-0.1,-0.1,0) ;
point[1].setWorldCoordinates(0.1,-0.1,0) ;
point[2].setWorldCoordinates(0.1,0.1,0) ;
point[3].setWorldCoordinates(-0.1,0.1,0) ;
// sets the desired camera location
vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;
// computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
point[i].project(cMo_d) ;
// creates the associated features
vpFeaturePoint pd[4] ;
for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(pd[i],point[i]) ;
///////////////////////////////////////
// Current visual features initialization
// computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
point[i].project(cMo) ;
// creates the associated features
vpFeaturePoint p[4] ;
for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(p[i],point[i]) ;
/////////////////////////////////
// Task defintion
vpServo task ;
// we want an eye-in-hand control law ;
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
// Set the position of the camera in the end-effector frame
vpHomogeneousMatrix cMe ;
vpVelocityTwistMatrix cVe(cMe) ;
task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// we want to see a point on a point
for (int i = 0 ; i < 4 ; i++)
task.addFeature(p[i],pd[i]) ;
// Set the gain
task.setLambda(1.0) ;
// Print the current information about the task
task.print();
vpTime::wait(500);
////////////////////////////////////////////////
// The control loop
int k = 0;
while(k++ < 200){
double t = vpTime::measureTimeMs();
// Update the current features
for (int i = 0 ; i < 4 ; i++)
{
point[i].project(cMo) ;
vpFeatureBuilder::create(p[i],point[i]) ;
}
// Update the robot Jacobian
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// Compute the control law
vpColVector v = task.computeControlLaw() ;
// Send the computed velocity to the robot and compute the new robot position
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;
robot.getPosition(cMo) ;
// Send the robot position to the visualizator
simu->setCameraPosition(cMo) ;
// Print the current information about the task
task.print();
// Wait 40 ms
vpTime::wait(t,40);
}
task.kill();
simu->closeMainApplication() ;
void *a=NULL ;
return a ;
// return (void *);
}
static
void *mainLoop (void *_simu)
{
// pointer copy of the vpSimulator instance
vpSimulator *simu = (vpSimulator *)_simu ;
// Simulation initialization
simu->initMainApplication() ;
///////////////////////////////////
// Set the initial camera location
vpHomogeneousMatrix cMo(0.3,0.2,3,
vpMath::rad(0),vpMath::rad(0),vpMath::rad(40));
vpHomogeneousMatrix wMo; // Set to identity
vpHomogeneousMatrix wMc; // Camera position in the world frame
///////////////////////////////////
// Initialize the robot
vpSimulatorCamera robot ;
robot.setSamplingTime(0.04); // 40ms
wMc = wMo * cMo.inverse();
robot.setPosition(wMc) ;
// Send the robot position to the visualizator
simu->setCameraPosition(cMo) ;
// Initialize the camera parameters
vpCameraParameters cam ;
simu->getCameraParameters(cam);
////////////////////////////////////////
// Desired visual features initialization
// sets the points coordinates in the object frame (in meter)
vpPoint point[4] ;
point[0].setWorldCoordinates(-0.1,-0.1,0) ;
point[1].setWorldCoordinates(0.1,-0.1,0) ;
point[2].setWorldCoordinates(0.1,0.1,0) ;
point[3].setWorldCoordinates(-0.1,0.1,0) ;
// sets the desired camera location
vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;
// computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
point[i].project(cMo_d) ;
// creates the associated features
vpFeaturePoint pd[4] ;
for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(pd[i],point[i]) ;
///////////////////////////////////////
// Current visual features initialization
unsigned int height = simu->getInternalHeight();
unsigned int width = simu->getInternalWidth();
// Create a greyscale image
vpImage<unsigned char> I(height,width);
//Display initialization
#if defined(VISP_HAVE_X11)
vpDisplayX disp;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI disp;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK disp;
#endif
disp.init(I,100,100,"Simulation display");
// disp(I);
// Get the current image
vpTime::wait(500); // wait to be sure the image is generated
simu->getInternalImage(I);
// Display the current image
vpDisplay::display(I);
vpDisplay::flush(I);
// Initialize the four dots tracker
std::cout << "A click in the four dots clockwise. " << std::endl;
vpDot2 dot[4];
vpFeaturePoint p[4];
for (int i = 0 ; i < 4 ; i++)
{
dot[i].setGraphics(true);
// Call for a click
std::cout << "A click in the dot " << i << std::endl;
dot[i].initTracking(I);
// Create the associated feature
vpFeatureBuilder::create(p[i],cam,dot[i]);
// flush the display
vpDisplay::flush(I);
}
/////////////////////////////////
// Task defintion
vpServo task ;
// we want an eye-in-hand control law ;
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::DESIRED) ;
// Set the position of the camera in the end-effector frame
vpHomogeneousMatrix cMe ;
vpVelocityTwistMatrix cVe(cMe) ;
task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// we want to see a point on a point
for (int i = 0 ; i < 4 ; i++)
task.addFeature(p[i],pd[i]) ;
// Set the gain
task.setLambda(1.0) ;
// Print the current information about the task
task.print();
vpTime::wait(500);
////////////////////////////////////////////////
// The control loop
int k = 0;
while(k++ < 200){
double t = vpTime::measureTimeMs();
// Get the current internal camera view and display it
simu->getInternalImage(I);
vpDisplay::display(I);
// Track the four dots and update the associated visual features
for (int i = 0 ; i < 4 ; i++)
{
dot[i].track(I) ;
vpFeatureBuilder::create(p[i],cam,dot[i]) ;
}
// Display the desired and current visual features
vpServoDisplay::display(task,cam,I) ;
vpDisplay::flush(I);
// Update the robot Jacobian
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// Compute the control law
vpColVector v = task.computeControlLaw() ;
// Send the computed velocity to the robot and compute the new robot position
robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
wMc = robot.getPosition();
cMo = wMc.inverse() * wMo;
// Send the robot position to the visualizator
simu->setCameraPosition(cMo) ;
// Wait 40 ms
vpTime::wait(t,40);
}
// Print information about the task
task.print();
task.kill();
simu->closeMainApplication() ;
void *a=NULL ;
return a ;
}
int
main(int argc, const char ** argv)
{
try {
// Read the command line options
if (getOptions(argc, argv) == false) {
exit (-1);
}
int i ;
vpServo task ;
vpSimulatorCamera robot ;
std::cout << std::endl ;
std::cout << "-------------------------------------------------------" << std::endl ;
std::cout << " Test program for vpServo " <<std::endl ;
std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
std::cout << " Simulation " << std::endl ;
std::cout << " task : servo 4 points " << std::endl ;
std::cout << "-------------------------------------------------------" << std::endl ;
std::cout << std::endl ;
// sets the initial camera location with respect to the object
vpHomogeneousMatrix cMo ;
cMo[0][3] = 0.1 ;
cMo[1][3] = 0.2 ;
cMo[2][3] = 2 ;
// Compute the position of the object in the world frame
vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
wMo = wMc * cMo;
// sets the point coordinates in the object frame
vpPoint point[4] ;
point[0].setWorldCoordinates(-1,-1,0) ;
point[1].setWorldCoordinates(1,-1,0) ;
point[2].setWorldCoordinates(1,1,0) ;
point[3].setWorldCoordinates(-1,1,0) ;
// computes the point coordinates in the camera frame and its 2D coordinates
for (i = 0 ; i < 4 ; i++)
point[i].track(cMo) ;
// sets the desired position of the point
vpFeaturePoint p[4] ;
for (i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(p[i], point[i]) ; //retrieve x,y and Z of the vpPoint structure
// sets the desired position of the point
vpFeaturePoint pd[4] ;
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
// define the task
// - we want an eye-in-hand control law
// - articular velocity are computed
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::MEAN) ;
// Set the position of the camera in the end-effector frame
vpHomogeneousMatrix cMe ;
vpVelocityTwistMatrix cVe(cMe) ;
task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// we want to see a point on a point
for (i = 0 ; i < 4 ; i++)
task.addFeature(p[i],pd[i]) ;
// set the gain
task.setLambda(1) ;
// Display task information
task.print() ;
unsigned int iter=0 ;
// loop
while(iter++<1500)
{
std::cout << "---------------------------------------------" << iter <<std::endl ;
vpColVector v ;
// Set the Jacobian (expressed in the end-effector frame)
// since q is modified eJe is modified
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// get the robot position
robot.getPosition(wMc) ;
// Compute the position of the camera wrt the object frame
cMo = wMc.inverse() * wMo;
// update new point position and corresponding features
for (i = 0 ; i < 4 ; i++)
{
point[i].track(cMo) ;
//retrieve x,y and Z of the vpPoint structure
vpFeatureBuilder::create(p[i],point[i]) ;
}
// since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
// compute the control law ") ;
v = task.computeControlLaw() ;
// send the camera velocity to the controller ") ;
robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl;
}
// Display task information
task.print() ;
task.kill();
return 0;
}
catch(vpException e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
return 1;
}
}
int
main(int argc, const char ** argv)
{
try {
bool opt_click_allowed = true;
bool opt_display = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit (-1);
}
// We open two displays, one for the internal camera view, the other one for
// the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
vpDisplayX displayInt;
vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
vpDisplayGTK displayInt;
vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayInt;
vpDisplayGDI displayExt;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV displayInt;
vpDisplayOpenCV displayExt;
#endif
// open a display for the visualization
vpImage<unsigned char> Iint(300, 300, 0) ;
vpImage<unsigned char> Iext(300, 300, 0) ;
if (opt_display) {
displayInt.init(Iint,0,0, "Internal view") ;
displayExt.init(Iext,330,000, "External view") ;
}
vpProjectionDisplay externalview ;
double px, py ; px = py = 500 ;
double u0, v0 ; u0 = 150, v0 = 160 ;
vpCameraParameters cam(px,py,u0,v0);
int i ;
vpServo task ;
vpSimulatorCamera robot ;
std::cout << std::endl ;
std::cout << "----------------------------------------------" << std::endl ;
std::cout << " Test program for vpServo " <<std::endl ;
std::cout << " Eye-in-hand task control, articular velocity are computed"
<< std::endl ;
std::cout << " Simulation " << std::endl ;
std::cout << " task : servo 4 points " << std::endl ;
std::cout << "----------------------------------------------" << std::endl ;
std::cout << std::endl ;
// sets the initial camera location
vpHomogeneousMatrix cMo(-0.1,-0.1,1,
vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
// Compute the position of the object in the world frame
vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
wMo = wMc * cMo;
vpHomogeneousMatrix cextMo(0,0,2,
0,0,0) ;//vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
// sets the point coordinates in the object frame
vpPoint point[4] ;
point[0].setWorldCoordinates(-0.1,-0.1,0) ;
point[1].setWorldCoordinates(0.1,-0.1,0) ;
point[2].setWorldCoordinates(0.1,0.1,0) ;
point[3].setWorldCoordinates(-0.1,0.1,0) ;
for (i = 0 ; i < 4 ; i++)
externalview.insert(point[i]) ;
// computes the point coordinates in the camera frame and its 2D coordinates
for (i = 0 ; i < 4 ; i++)
point[i].track(cMo) ;
// sets the desired position of the point
vpFeaturePoint p[4] ;
for (i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
// sets the desired position of the feature point s*
vpFeaturePoint pd[4] ;
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
// define the task
// - we want an eye-in-hand control law
// - articular velocity are computed
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::MEAN) ;
// Set the position of the camera in the end-effector frame ") ;
vpHomogeneousMatrix cMe ;
vpVelocityTwistMatrix cVe(cMe) ;
task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// we want to see a point on a point
for (i = 0 ; i < 4 ; i++)
task.addFeature(p[i],pd[i]) ;
// set the gain
task.setLambda(1) ;
// Display task information " ) ;
task.print() ;
unsigned int iter=0 ;
// loop
while(iter++<200)
{
std::cout << "---------------------------------------------" << iter <<std::endl ;
vpColVector v ;
// Set the Jacobian (expressed in the end-effector frame)
// since q is modified eJe is modified
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
// get the robot position
robot.getPosition(wMc) ;
// Compute the position of the camera wrt the object frame
cMo = wMc.inverse() * wMo;
// update new point position and corresponding features
for (i = 0 ; i < 4 ; i++)
{
point[i].track(cMo) ;
//retrieve x,y and Z of the vpPoint structure
vpFeatureBuilder::create(p[i],point[i]) ;
}
// since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
if (opt_display) {
vpDisplay::display(Iint) ;
vpDisplay::display(Iext) ;
vpServoDisplay::display(task,cam,Iint) ;
externalview.display(Iext,cextMo, cMo, cam, vpColor::green) ;
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
}
// compute the control law
v = task.computeControlLaw() ;
// send the camera velocity to the controller
robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
}
// Display task information
task.print() ;
task.kill();
std::cout <<"Final robot position with respect to the object frame:\n";
cMo.print();
if (opt_display && opt_click_allowed) {
// suppressed for automate test
std::cout << "\n\nClick in the internal view window to end..." << std::endl;
vpDisplay::getClick(Iint) ;
}
return 0;
}
catch(vpException e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
return 1;
}
}
