54 #include <visp/vpDebug.h>
55 #include <visp/vpConfig.h>
57 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
62 #include <visp/vpCameraParameters.h>
63 #include <visp/vpCircle.h>
64 #include <visp/vpDisplayX.h>
65 #include <visp/vpDisplayGTK.h>
66 #include <visp/vpDisplayGDI.h>
67 #include <visp/vpDisplayOpenCV.h>
68 #include <visp/vpFeatureBuilder.h>
69 #include <visp/vpFeatureLine.h>
70 #include <visp/vpHomogeneousMatrix.h>
71 #include <visp/vpImage.h>
72 #include <visp/vpMath.h>
73 #include <visp/vpParseArgv.h>
74 #include <visp/vpProjectionDisplay.h>
75 #include <visp/vpServo.h>
76 #include <visp/vpSimulatorCamera.h>
77 #include <visp/vpServoDisplay.h>
80 #define GETOPTARGS "cdh"
82 void usage(
const char *name,
const char *badparam);
83 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
93 void usage(
const char *name,
const char *badparam)
96 Simulation of a 2D visual servoing on a circle:\n\
97 - eye-in-hand control law,\n\
98 - velocity computed in the camera frame,\n\
99 - display the camera view.\n\
102 %s [-c] [-d] [-h]\n", name);
108 Disable the mouse click. Useful to automaze the \n\
109 execution of this program without humain intervention.\n\
112 Turn off the display.\n\
118 fprintf(stderr,
"ERROR: \n" );
119 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
135 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
142 case 'c': click_allowed =
false;
break;
143 case 'd': display =
false;
break;
144 case 'h': usage(argv[0], NULL);
return false;
break;
147 usage(argv[0], optarg_);
152 if ((c == 1) || (c == -1)) {
154 usage(argv[0], NULL);
155 std::cerr <<
"ERROR: " << std::endl;
156 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
165 main(
int argc,
const char ** argv)
168 bool opt_display =
true;
169 bool opt_click_allowed =
true;
172 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
179 #if defined VISP_HAVE_X11
181 #elif defined VISP_HAVE_GTK
183 #elif defined VISP_HAVE_GDI
185 #elif defined VISP_HAVE_OPENCV
192 display.
init(I, 100, 100,
"Camera view...") ;
208 double px, py ; px = py = 600 ;
209 double u0, v0 ; u0 = v0 = 256 ;
256 unsigned int iter=0 ;
260 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
283 std::cout <<
"task rank: " << task.
getTaskRank() <<std::endl ;
287 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
294 if (opt_display && opt_click_allowed) {
295 std::cout <<
"Click in the camera view window to end..." << std::endl;
301 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
309 vpERROR_TRACE(
"You do not have X11, GTK, GDI or OpenCV display functionalities...");
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Class that defines the simplest robot: a free flying camera.
Display for windows using GDI (available on any windows 32 platform).
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpColVector getError() const
virtual void print() const
vpColVector computeControlLaw()
void print(const unsigned int select=FEATURE_ALL) const
print the name of the feature
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
void getPosition(vpHomogeneousMatrix &wMc) const
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
virtual bool getClick(bool blocking=true)=0
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines what is a circle.
void setServo(const vpServoType &servo_type)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
unsigned int getTaskRank() const
void setWorldCoordinates(const vpColVector &oP)