50 #include <visp/vpCameraParameters.h>
51 #include <visp/vpDisplayOpenCV.h>
52 #include <visp/vpDisplayX.h>
53 #include <visp/vpDisplayGTK.h>
54 #include <visp/vpDisplayGDI.h>
55 #include <visp/vpDisplayD3D.h>
56 #include <visp/vpFeatureBuilder.h>
57 #include <visp/vpFeaturePoint.h>
58 #include <visp/vpHomogeneousMatrix.h>
59 #include <visp/vpImage.h>
60 #include <visp/vpImageIo.h>
61 #include <visp/vpIoTools.h>
62 #include <visp/vpMath.h>
63 #include <visp/vpParseArgv.h>
64 #include <visp/vpServo.h>
65 #include <visp/vpSimulatorCamera.h>
66 #include <visp/vpTime.h>
67 #include <visp/vpVelocityTwistMatrix.h>
68 #include <visp/vpWireFrameSimulator.h>
70 #define GETOPTARGS "dh"
72 #ifdef VISP_HAVE_DISPLAY
83 void usage(
const char *name, std::string ipath,
const char *badparam)
86 Demonstration of the wireframe simulator with a simple visual servoing.\n\
88 The visual servoing consists in bringing the camera at a desired \n\
89 position from the object.\n\
91 The visual features used to compute the pose of the camera and \n\
92 thus the control law are four points.\n\
94 This demonstration explains also how to move the object around a world\n\
95 reference frame. Here, the movement is a rotation around the x and y axis\n\
96 at a given distance from the world frame. In fact the object trajectory\n\
97 is on a sphere whose center is the origin of the world frame.\n\
100 %s [-d] [-h]\n", name);
104 -i <input image path> %s\n\
105 Set mire.pgm image input path.\n\
106 From this path read \"ViSP-images/mire/mire.pgm\" video.\n\
107 Setting the VISP_INPUT_IMAGE_PATH environment variable \n\
108 produces the same behaviour than using this option.\n\
111 Turn off the display.\n\
114 Print the help.\n", ipath.c_str());
117 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
133 bool getOptions(
int argc,
const char **argv, std::string &ipath,
bool &display)
140 case 'i': ipath = optarg;
break;
141 case 'd': display =
false;
break;
142 case 'h': usage(argv[0],ipath, NULL);
return false;
break;
145 usage(argv[0],ipath, optarg);
150 if ((c == 1) || (c == -1)) {
152 usage(argv[0], ipath, NULL);
153 std::cerr <<
"ERROR: " << std::endl;
154 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
163 main(
int argc,
const char ** argv)
165 bool opt_display =
true;
166 std::string opt_ipath;
167 std::string env_ipath;
169 std::string filename;
172 if (getOptions(argc, argv, opt_ipath, opt_display) ==
false) {
180 #if defined VISP_HAVE_X11
182 #elif defined VISP_HAVE_OPENCV
184 #elif defined VISP_HAVE_GDI
186 #elif defined VISP_HAVE_D3D9
188 #elif defined VISP_HAVE_GTK
197 display[0].
init(Iint, 100, 100,
"The internal view") ;
198 display[1].
init(Iext1, 100, 100,
"The first external view") ;
199 display[2].
init(Iext2, 100, 100,
"The second external view") ;
219 float sampling_time = 0.040f;
245 for (
int i = 0 ; i < 4 ; i++)
250 for (
int i = 0 ; i < 4 ; i++)
254 for (
int i = 0 ; i < 4 ; i++)
255 point[i].track(cdMo);
258 for (
int i = 0 ; i < 4 ; i++)
272 for (
int i = 0 ; i < 4 ; i++)
277 std::list<vpImageSimulator> list;
281 for (
int i = 0; i < 4; i++) X[i].resize(3);
298 char *ptenv = getenv(
"VISP_INPUT_IMAGE_PATH");
302 if (! env_ipath.empty())
305 if (!opt_ipath.empty())
312 imsim.
init(filename.c_str(), X);
316 vpTRACE(
"You need the ViSP data ");
321 list.push_back(imsim);
374 std::cout <<
"Click on a display" << std::endl;
401 for (
int i = 0 ; i < 4 ; i++)
403 point[i].
track(cMo) ;
452 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
464 vpERROR_TRACE(
"You do not have X11, OpenCV, GDI, D3D9 or GTK display functionalities...");
void setPosition(const vpHomogeneousMatrix &wMc)
The object displayed at the desired position is the same than the scene object defined in vpSceneObje...
Definition of the vpMatrix class.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setMaxTranslationVelocity(const double maxVt)
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.
A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
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)
create a new ste of two visual features
static const vpColor none
void setLambda(double _lambda)
set the gain lambda
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void track(const vpHomogeneousMatrix &cMo)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static double measureTimeMs()
static int wait(double t0, double t)
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo)
void set_cVe(vpVelocityTwistMatrix &_cVe)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setExternalCameraPosition(const vpHomogeneousMatrix &camMf)
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
Display for windows using Direct3D.
void kill()
destruction (memory deallocation if required)
vpColVector getError() const
vpHomogeneousMatrix get_fMo() const
vpColVector computeControlLaw()
compute the desired control law
virtual void setWindowPosition(int winx, int winy)=0
static void display(const vpImage< unsigned char > &I)
void set_eJe(vpMatrix &_eJe)
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
void init(const vpImage< unsigned char > &I, vpColVector *_X)
void getPosition(vpHomogeneousMatrix &wMc) const
Class which enables to project an image in the 3D space and get the view of a virtual camera...
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void getExternalImage(vpImage< unsigned char > &I)
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness=1)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
void setExternalCameraParameters(const vpCameraParameters &cam)
void setMaxRotationVelocity(const double maxVr)
void getInternalImage(vpImage< unsigned char > &I)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo)
vpHomogeneousMatrix inverse() const
void setInternalCameraParameters(const vpCameraParameters &cam)
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)
Class required to compute the visual servoing control law descbribed in and .
void get_eJe(vpMatrix &eJe)
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
void set_fMo(const vpHomogeneousMatrix &fMo)
vpHomogeneousMatrix getExternalCameraPosition() const
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...