servoSimuSquareLine2DCamVelocityDisplay.cpp

Servo four lines:

Servo four lines:- eye-in-hand control law,

• velocity computed in the camera frame,
• display the camera view.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulation of a 2D visual servoing on a line.
 */

 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
 
#if defined(VISP_HAVE_DISPLAY) &&       \
    (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
 
#include <stdio.h>
#include <stdlib.h>
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
 
// List of allowed command line options
#define GETOPTARGS "cdh"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);

void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Simulation of 2D a visual servoing on a line:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
          \n\
SYNOPSIS\n\
  %s [-c] [-d] [-h]\n",
          name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
                  \n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
                  \n\
  -d \n\
     Turn off the display.\n\
                  \n\
  -h\n\
     Print the help.\n");
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
    case 'h':
      usage(argv[0], nullptr);
      return false;
 
    default:
      usage(argv[0], optarg_);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
int main(int argc, const char **argv)
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  try {
    bool opt_display = true;
    bool opt_click_allowed = true;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
      return EXIT_FAILURE;
    }
 
    vpImage<unsigned char> I(512, 512, 0);
 
    if (opt_display) {
      try {
        // Display size is automatically defined by the image (I) size
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
        display = vpDisplayFactory::createDisplay(I, 100, 100, "Camera view...");
#else
        display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Camera view...");
#endif
        // Display the image
        // The image class has a member that specify a pointer toward
        // the display that has been initialized in the display declaration
        // therefore is is no longer necessary to make a reference to the
        // display variable.
        vpDisplay::display(I);
        vpDisplay::flush(I);
      }
      catch (...) {
        vpERROR_TRACE("Error while displaying the image");
        return EXIT_FAILURE;
      }
    }
 
    // Set the camera parameters
    double px, py;
    px = py = 600;
    double u0, v0;
    u0 = v0 = 256;
 
    vpCameraParameters cam(px, py, u0, v0);
 
    vpServo task;
    vpSimulatorCamera robot;
 
    // sets the initial camera location
    vpHomogeneousMatrix cMo(0.2, 0.2, 1, vpMath::rad(45), vpMath::rad(45), vpMath::rad(125));
 
    // Compute the position of the object in the world frame
    vpHomogeneousMatrix wMc, wMo;
    robot.getPosition(wMc);
    wMo = wMc * cMo;
 
    // sets the final camera location (for simulation purpose)
    vpHomogeneousMatrix cMod(0, 0, 1, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
 
    int nbline = 4;
 
    // sets the line coordinates (2 planes) in the world frame
    vpLine line[4];
    line[0].setWorldCoordinates(1, 0, 0, 0.05, 0, 0, 1, 0);
    line[1].setWorldCoordinates(0, 1, 0, 0.05, 0, 0, 1, 0);
    line[2].setWorldCoordinates(1, 0, 0, -0.05, 0, 0, 1, 0);
    line[3].setWorldCoordinates(0, 1, 0, -0.05, 0, 0, 1, 0);
 
    vpFeatureLine ld[4];
    vpFeatureLine l[4];
 
    // sets the desired position of the visual feature
    for (int i = 0; i < nbline; i++) {
      line[i].track(cMod);
      line[i].print();
 
      vpFeatureBuilder::create(ld[i], line[i]);
    }
 
    // computes  the line coordinates in the camera frame and its 2D
    // coordinates sets the current position of the visual feature
    for (int i = 0; i < nbline; i++) {
      line[i].track(cMo);
      line[i].print();
 
      vpFeatureBuilder::create(l[i], line[i]);
      l[i].print();
    }
 
    // define the task
    // - we want an eye-in-hand control law
    // - robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA);
    task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
    // It could be also interesting to test the following tasks
    // task.setInteractionMatrixType(vpServo::DESIRED,
    // vpServo::PSEUDO_INVERSE);  task.setInteractionMatrixType(vpServo::MEAN,
    // vpServo::PSEUDO_INVERSE);
 
    // we want to see a four lines on four lines
    for (int i = 0; i < nbline; i++)
      task.addFeature(l[i], ld[i]);
 
    vpDisplay::display(I);
    vpServoDisplay::display(task, cam, I);
    vpDisplay::flush(I);
 
    // set the gain
    task.setLambda(1);
 
    // Display task information
    task.print();
 
    if (opt_display && opt_click_allowed) {
      std::cout << "\n\nClick in the camera view window to start..." << std::endl;
      vpDisplay::getClick(I);
    }
 
    unsigned int iter = 0;
    // loop
    while (iter++ < 200) {
      std::cout << "---------------------------------------------" << iter << std::endl;
      vpColVector v;
 
      // get the robot position
      robot.getPosition(wMc);
      // Compute the position of the object frame in the camera frame
      cMo = wMc.inverse() * wMo;
 
      // new line position: retrieve x,y and Z of the vpLine structure
      for (int i = 0; i < nbline; i++) {
        line[i].track(cMo);
        vpFeatureBuilder::create(l[i], line[i]);
      }
 
      if (opt_display) {
        vpDisplay::display(I);
        vpServoDisplay::display(task, cam, I);
        vpDisplay::flush(I);
      }
 
      // 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;
    }
 
    if (opt_display && opt_click_allowed) {
      vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::white);
      vpDisplay::flush(I);
      vpDisplay::getClick(I);
    }
 
    // Display task information
    task.print();
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch a ViSP exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE;
  }
}
 
#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
int main()
{
  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
  return EXIT_SUCCESS;
}
#else
int main()
{
  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
    "images..."
    << std::endl;
  std::cout << "Tip if you are on a unix-like system:" << std::endl;
  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
  std::cout << "Tip if you are on a windows-like system:" << std::endl;
  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
  return EXIT_SUCCESS;
}
#endif