43#include <visp3/core/vpCameraParameters.h>
44#include <visp3/core/vpConfig.h>
45#include <visp3/core/vpDebug.h>
46#include <visp3/core/vpHomogeneousMatrix.h>
47#include <visp3/core/vpIoTools.h>
48#include <visp3/core/vpMath.h>
49#include <visp3/core/vpMomentCommon.h>
50#include <visp3/core/vpMomentDatabase.h>
51#include <visp3/core/vpMomentObject.h>
52#include <visp3/core/vpPlane.h>
53#include <visp3/gui/vpDisplayD3D.h>
54#include <visp3/gui/vpDisplayGDI.h>
55#include <visp3/gui/vpDisplayGTK.h>
56#include <visp3/gui/vpDisplayOpenCV.h>
57#include <visp3/gui/vpDisplayX.h>
58#include <visp3/gui/vpPlot.h>
59#include <visp3/robot/vpSimulatorAfma6.h>
60#include <visp3/visual_features/vpFeatureBuilder.h>
61#include <visp3/visual_features/vpFeatureMomentCommon.h>
62#include <visp3/visual_features/vpFeaturePoint.h>
63#include <visp3/vs/vpServo.h>
65#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
69 std::cout <<
"Can't run this example since vpSimulatorAfma6 capability is "
72 std::cout <<
"You should install pthread third-party library." << std::endl;
76#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && \
77 !defined(VISP_HAVE_GTK)
80 std::cout <<
"Can't run this example since no display capability is available." << std::endl;
81 std::cout <<
"You should install one of the following third-party library: "
82 "X11, OpenCV, GDI, GTK."
88#ifndef DOXYGEN_SHOULD_SKIP_THIS
93 : m_width(640), m_height(480), m_cMo(), m_cdMo(), m_robot(false), m_Iint(m_height, m_width, 255), m_task(), m_cam(),
94 m_error(0), m_imsim(), m_interaction_type(), m_src(6), m_dst(6), m_moments(NULL), m_momentsDes(NULL),
95 m_featureMoments(NULL), m_featureMomentsDes(NULL), m_displayInt(NULL)
99#ifdef VISP_HAVE_DISPLAY
106 delete m_featureMoments;
107 delete m_featureMomentsDes;
113 std::vector<vpPoint> src_pts;
114 std::vector<vpPoint> dst_pts;
116 double x[8] = { 1, 3, 4, -1, -3, -2, -1, 1 };
117 double y[8] = { 0, 1, 4, 4, -2, -2, 1, 0 };
120 for (
int i = 0; i < nbpoints; i++) {
121 vpPoint p(x[i] / 20, y[i] / 20, 0.0);
123 src_pts.push_back(p);
127 m_src.fromVector(src_pts);
128 for (
int i = 0; i < nbpoints; i++) {
129 vpPoint p(x[i] / 20, y[i] / 20, 0.0);
131 dst_pts.push_back(p);
134 m_dst.fromVector(dst_pts);
153 planeToABC(pl, A, B, C);
157 planeToABC(pl, Ad, Bd, Cd);
175 m_moments->updateAll(m_src);
176 m_momentsDes->updateAll(m_dst);
178 m_featureMoments->updateAll(A, B, C);
179 m_featureMomentsDes->updateAll(Ad, Bd, Cd);
182 m_task.setInteractionMatrixType(m_interaction_type);
185 m_task.addFeature(m_featureMoments->getFeatureGravityNormalized(),
186 m_featureMomentsDes->getFeatureGravityNormalized());
187 m_task.addFeature(m_featureMoments->getFeatureAn(), m_featureMomentsDes->getFeatureAn());
188 m_task.addFeature(m_featureMoments->getFeatureCInvariant(), m_featureMomentsDes->getFeatureCInvariant(),
189 (1 << 3) | (1 << 5));
190 m_task.addFeature(m_featureMoments->getFeatureAlpha(), m_featureMomentsDes->getFeatureAlpha());
192 m_task.setLambda(1.);
200 double x[8] = { 1, 3, 4, -1, -3, -2, -1, 1 };
201 double y[8] = { 0, 1, 4, 4, -2, -2, 1, 0 };
203 std::vector<vpPoint> cur_pts;
205 for (
int i = 0; i < nbpoints; i++) {
206 vpPoint p(x[i] / 20, y[i] / 20, 0.0);
208 cur_pts.push_back(p);
220#ifdef VISP_HAVE_DISPLAY
222#if defined(VISP_HAVE_X11)
224#elif defined(HAVE_OPENCV_HIGHGUI)
226#elif defined(VISP_HAVE_GDI)
228#elif defined(VISP_HAVE_D3D9)
230#elif defined(VISP_HAVE_GTK)
233 m_displayInt->
init(m_Iint, 50, 50,
"Visual servoing with moments");
244 void execute(
unsigned int nbIter)
247 init_visp_plot(ViSP_plot);
254 std::cout <<
"Display task information " << std::endl;
258 m_robot.getInternalView(m_Iint);
260 unsigned int iter = 0;
263 while (iter++ < nbIter) {
266 m_cMo = m_robot.get_cMo();
272 planeToABC(pl, A, B, C);
277 m_moments->updateAll(obj);
280 m_featureMoments->updateAll(A, B, C);
283 m_robot.getInternalView(m_Iint);
290 v = m_task.computeControlLaw();
296 ViSP_plot.
plot(0, iter, v);
298 ViSP_plot.
plot(2, iter, m_task.getError());
300 m_error = (m_task.getError()).sumSquare();
310 m_robot.getInternalView(m_Iint);
334 robot.setJointLimit(limMin, limMax);
339 void planeToABC(
vpPlane &pl,
double &A,
double &B,
double &C)
341 if (fabs(pl.
getD()) < std::numeric_limits<double>::epsilon()) {
342 std::cout <<
"Invalid position:" << std::endl;
343 std::cout << m_cMo << std::endl;
344 std::cout <<
"Cannot put plane in the form 1/Z=Ax+By+C." << std::endl;
357 m_robot.setCurrentViewColor(
vpColor(150, 150, 150));
358 m_robot.setDesiredViewColor(
vpColor(200, 200, 200));
360 removeJointLimits(m_robot);
362 m_robot.setConstantSamplingTimeMode(
true);
365 m_robot.initialiseObjectRelativeToCamera(m_cMo);
368 m_robot.setDesiredCameraPosition(m_cdMo);
369 m_robot.getCameraParameters(m_cam, m_Iint);
374 double error() {
return m_error; }
376 void init_visp_plot(
vpPlot &ViSP_plot)
382 const unsigned int NbGraphs = 3;
383 const unsigned int NbCurves_in_graph[NbGraphs] = { 6, 6, 6 };
385 ViSP_plot.
init(NbGraphs, 800, 800, 100 +
static_cast<int>(m_width), 50,
"Visual Servoing results...");
390 for (
unsigned int p = 0; p < NbGraphs; p++) {
391 ViSP_plot.
initGraph(p, NbCurves_in_graph[p]);
392 for (
unsigned int c = 0; c < NbCurves_in_graph[p]; c++)
393 ViSP_plot.
setColor(p, c, Colors[c]);
396 ViSP_plot.
setTitle(0,
"Robot velocities");
404 ViSP_plot.
setTitle(1,
"Camera pose cMo");
412 ViSP_plot.
setTitle(2,
"Error in visual features: ");
423 unsigned int m_width;
424 unsigned int m_height;
461 servo.init(cMo, cdMo);
466 std::cout <<
"Catch an exception: " << e << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
static const vpColor cyan
static const vpColor orange
static const vpColor blue
static const vpColor purple
static const vpColor green
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
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...
Class that defines generic functionalities for display.
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 emitted by ViSP classes.
@ divideByZeroError
Division by zero.
This class allows to access common vpFeatureMoments in a pre-filled database.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class which enables to project an image in the 3D space and get the view of a virtual camera.
Definition of the vpImage class member functions.
static double rad(double deg)
This class initializes and allows access to commonly used moments.
static std::vector< double > getMu3(vpMomentObject &object)
static double getAlpha(vpMomentObject &object)
static double getSurface(vpMomentObject &object)
Class for generic objects.
void setType(vpObjectType input_type)
void fromVector(std::vector< vpPoint > &points)
This class defines the container for a plane geometrical structure.
void changeFrame(const vpHomogeneousMatrix &cMo)
void setABCD(double a, double b, double c, double d)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void init(unsigned int nbGraph, unsigned int height=700, unsigned int width=700, int x=-1, int y=-1, const std::string &title="")
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
void setTitle(unsigned int graphNum, const std::string &title)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
void setMaxRotationVelocity(double maxVr)
void setMaxTranslationVelocity(double maxVt)
vpServoIteractionMatrixType
Simulator of Irisa's gantry robot named Afma6.
Class that consider the case of a translation vector.