Visual Servoing Platform version 3.5.0
tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
1
2#include <visp3/gui/vpDisplayGDI.h>
3#include <visp3/gui/vpDisplayOpenCV.h>
4#include <visp3/gui/vpDisplayX.h>
5#include <visp3/robot/vpSimulatorAfma6.h>
6#include <visp3/visual_features/vpFeatureBuilder.h>
7#include <visp3/vs/vpServo.h>
8
9void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
10 const vpCameraParameters &cam);
11
12void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
13 const vpCameraParameters &cam)
14{
15 unsigned int thickness = 3;
16 static std::vector<vpImagePoint> traj[4];
17 vpImagePoint cog;
18 for (unsigned int i = 0; i < 4; i++) {
19 // Project the point at the given camera position
20 point[i].project(cMo);
21 vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
22 traj[i].push_back(cog);
23 }
24 for (unsigned int i = 0; i < 4; i++) {
25 for (unsigned int j = 1; j < traj[i].size(); j++) {
26 vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green, thickness);
27 }
28 }
29}
30
31int main()
32{
33#if defined(VISP_HAVE_PTHREAD)
34 try {
35 vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
36 vpHomogeneousMatrix cMo(-0.15, 0.1, 1., vpMath::rad(-10), vpMath::rad(10), vpMath::rad(50));
37
38 /*
39 Top view of the world frame, the camera frame and the object frame
40
41 world, also robot base frame :
42 w_y
43 /|\
44 |
45 w_x <--
46
47 object :
48 o_y
49 /|\
50 |
51 o_x <--
52
53
54 camera :
55 c_y
56 /|\
57 |
58 c_x <--
59
60 */
61 vpHomogeneousMatrix wMo(0, 0, 1., 0, 0, 0);
62
63 std::vector<vpPoint> point;
64 point.push_back(vpPoint(-0.1, -0.1, 0));
65 point.push_back(vpPoint(0.1, -0.1, 0));
66 point.push_back(vpPoint(0.1, 0.1, 0));
67 point.push_back(vpPoint(-0.1, 0.1, 0));
68
69 vpServo task;
72 task.setLambda(0.5);
73
74 vpFeaturePoint p[4], pd[4];
75 for (unsigned int i = 0; i < 4; i++) {
76 point[i].track(cdMo);
77 vpFeatureBuilder::create(pd[i], point[i]);
78 point[i].track(cMo);
79 vpFeatureBuilder::create(p[i], point[i]);
80 task.addFeature(p[i], pd[i]);
81 }
82
83 vpSimulatorAfma6 robot(true);
84 robot.setVerbose(true);
85
86 // Get the default joint limits
87 vpColVector qmin = robot.getJointMin();
88 vpColVector qmax = robot.getJointMax();
89
90 std::cout << "Robot joint limits: " << std::endl;
91 for (unsigned int i = 0; i < 3; i++)
92 std::cout << "Joint " << i << ": min " << qmin[i] << " max " << qmax[i] << " (m)" << std::endl;
93 for (unsigned int i = 3; i < qmin.size(); i++)
94 std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
95 << std::endl;
96
100 robot.set_fMo(wMo);
101 bool ret = robot.initialiseCameraRelativeToObject(cMo);
102 if (ret == false)
103 return 0; // Not able to set the position
104 robot.setDesiredCameraPosition(cdMo);
105
106 vpImage<unsigned char> Iint(480, 640, 255);
107#if defined(VISP_HAVE_X11)
108 vpDisplayX displayInt(Iint, 700, 0, "Internal view");
109#elif defined(VISP_HAVE_GDI)
110 vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
111#elif defined(VISP_HAVE_OPENCV)
112 vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
113#else
114 std::cout << "No image viewer is available..." << std::endl;
115#endif
116
117 vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
118 robot.setCameraParameters(cam);
119
120 bool start = true;
121 for (;;) {
122 cMo = robot.get_cMo();
123
124 for (unsigned int i = 0; i < 4; i++) {
125 point[i].track(cMo);
126 vpFeatureBuilder::create(p[i], point[i]);
127 }
128
129 vpDisplay::display(Iint);
130 robot.getInternalView(Iint);
131 if (!start) {
132 display_trajectory(Iint, point, cMo, cam);
133 vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
134 }
135 vpDisplay::flush(Iint);
136
139
140 // A click to exit
141 if (vpDisplay::getClick(Iint, false))
142 break;
143
144 if (start) {
145 start = false;
146 v = 0;
148 vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
149 vpDisplay::flush(Iint);
151 }
152
153 vpTime::wait(1000 * robot.getSamplingTime());
154 }
155 } catch (const vpException &e) {
156 std::cout << "Catch an exception: " << e << std::endl;
157 }
158#endif
159}
@ TOOL_CCMOP
Definition: vpAfma6.h:127
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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 displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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 point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static double rad(double deg)
Definition: vpMath.h:110
static double deg(double rad)
Definition: vpMath.h:103
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setVerbose(bool verbose)
Definition: vpRobot.h:159
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ CURRENT
Definition: vpServo.h:182
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Simulator of Irisa's gantry robot named Afma6.
VISP_EXPORT int wait(double t0, double t)