53 #include <visp/vpDebug.h>
54 #include <visp/vpConfig.h>
56 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
61 #include <visp/vpCameraParameters.h>
62 #include <visp/vpDisplayX.h>
63 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpDisplayGDI.h>
65 #include <visp/vpDisplayOpenCV.h>
66 #include <visp/vpFeatureBuilder.h>
67 #include <visp/vpFeatureLine.h>
68 #include <visp/vpHomogeneousMatrix.h>
69 #include <visp/vpImage.h>
70 #include <visp/vpLine.h>
71 #include <visp/vpMath.h>
72 #include <visp/vpParseArgv.h>
73 #include <visp/vpRobotCamera.h>
74 #include <visp/vpServo.h>
75 #include <visp/vpServoDisplay.h>
76 #include <visp/vpSimulatorCamera.h>
79 #define GETOPTARGS "cdh"
81 void usage(
const char *name,
const char *badparam);
82 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
92 void usage(
const char *name,
const char *badparam)
95 Simulation of 2D a visual servoing on a line:\n\
96 - eye-in-hand control law,\n\
97 - velocity computed in the camera frame,\n\
98 - display the camera view.\n\
101 %s [-c] [-d] [-h]\n", name);
107 Disable the mouse click. Useful to automaze the \n\
108 execution of this program without humain intervention.\n\
111 Turn off the display.\n\
117 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
132 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
139 case 'c': click_allowed =
false;
break;
140 case 'd': display =
false;
break;
141 case 'h': usage(argv[0], NULL);
return false;
break;
144 usage(argv[0], optarg_);
149 if ((c == 1) || (c == -1)) {
151 usage(argv[0], NULL);
152 std::cerr <<
"ERROR: " << std::endl;
153 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
162 main(
int argc,
const char ** argv)
165 bool opt_display =
true;
166 bool opt_click_allowed =
true;
169 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
176 #if defined VISP_HAVE_X11
178 #elif defined VISP_HAVE_GTK
180 #elif defined VISP_HAVE_GDI
182 #elif defined VISP_HAVE_OPENCV
189 display.
init(I, 100, 100,
"Camera view...") ;
206 double px, py ; px = py = 600 ;
207 double u0, v0 ; u0 = v0 = 256 ;
241 for(
int i = 0; i < nbline; i++)
243 line[i].
track(cMod) ;
251 for(
int i = 0; i < nbline; i++)
270 for(
int i = 0; i < nbline; i++)
283 if (opt_display && opt_click_allowed) {
284 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
288 unsigned int iter=0 ;
292 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
301 for(
int i = 0; i < nbline; i++)
319 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ; ;
323 if (opt_display && opt_click_allowed) {
324 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
334 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
343 std::cout <<
"You do not have X11, GTK, GDI or OpenCV display functionalities..." << std::endl;
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)
void print(const unsigned int select=FEATURE_ALL) const
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.
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
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)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
vpColVector getError() const
virtual void print() const
vpColVector computeControlLaw()
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
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
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
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
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)