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/*! \example tutorial-ibvs-4pts-wireframe-robot-viper.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/robot/vpSimulatorViper850.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam)
{
unsigned int thickness = 3;
VP_ATTRIBUTE_NO_DESTROY static std::vector<vpImagePoint> traj[4];
vpImagePoint cog;
for (unsigned int i = 0; i < 4; i++) {
// Project the point at the given camera position
point[i].project(cMo);
vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
traj[i].push_back(cog);
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 1; j < traj[i].size(); j++) {
vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green, thickness);
}
}
}
int main()
{
#if defined(VISP_HAVE_THREADS)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
try {
vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
/*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame : --> w_y
|
\|/
w_x
object :
o_y
/|\
|
o_x <--
camera :
c_y
/|\
|
c_x <--
*/
vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15), vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI / 2.)));
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.1, -0.1, 0));
point.push_back(vpPoint(0.1, -0.1, 0));
point.push_back(vpPoint(0.1, 0.1, 0));
point.push_back(vpPoint(-0.1, 0.1, 0));
vpServo task;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4];
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
task.addFeature(p[i], pd[i]);
}
vpSimulatorViper850 robot(true);
robot.setVerbose(true);
// Enlarge the default joint limits
vpColVector qmin = robot.getJointMin();
vpColVector qmax = robot.getJointMax();
qmin[0] = -vpMath::rad(180);
qmax[0] = vpMath::rad(180);
qmax[1] = vpMath::rad(0);
qmax[2] = vpMath::rad(270);
qmin[4] = -vpMath::rad(180);
qmax[4] = vpMath::rad(180);
robot.setJointLimit(qmin, qmax);
std::cout << "Robot joint limits: " << std::endl;
for (unsigned int i = 0; i < qmin.size(); i++)
std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)"
<< std::endl;
robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
robot.set_fMo(wMo);
bool ret = robot.initialiseCameraRelativeToObject(cMo);
if (ret == false)
return EXIT_FAILURE; // Not able to set the position
robot.setDesiredCameraPosition(cdMo);
// We modify the default external camera position
robot.setExternalCameraPosition(
vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2), vpRotationMatrix(vpRxyzVector(M_PI / 2, 0, 0))));
vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(Iint, 700, 0, "Internal view");
#else
display = vpDisplayFactory::allocateDisplay(Iint, 700, 0, "Internal view");
#endif
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
// Modify the camera parameters to match those used in the other
// simulations
robot.setCameraParameters(cam);
bool start = true;
// for ( ; ; )
for (int iter = 0; iter < 275; iter++) {
cMo = robot.get_cMo();
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
vpDisplay::display(Iint);
robot.getInternalView(Iint);
if (!start) {
display_trajectory(Iint, point, cMo, cam);
vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
}
vpDisplay::flush(Iint);
vpColVector v = task.computeControlLaw();
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
// A click to exit
if (vpDisplay::getClick(Iint, false))
break;
if (start) {
start = false;
v = 0;
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
vpDisplay::flush(Iint);
// vpDisplay::getClick(Iint);
}
vpTime::wait(1000 * robot.getSamplingTime());
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#endif
}
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