49 #include <visp3/core/vpConfig.h> 50 #include <visp3/core/vpDebug.h> 52 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) 54 #include <visp3/core/vpImage.h> 55 #include <visp3/core/vpCameraParameters.h> 56 #include <visp3/core/vpTime.h> 57 #include <visp3/core/vpImage.h> 58 #include <visp3/core/vpImageConvert.h> 59 #include <visp3/gui/vpDisplayX.h> 60 #include <visp3/gui/vpDisplayGTK.h> 61 #include <visp3/gui/vpDisplayGDI.h> 62 #include <visp3/gui/vpDisplayOpenCV.h> 64 #include <visp3/core/vpMath.h> 65 #include <visp3/core/vpHomogeneousMatrix.h> 66 #include <visp3/vision/vpPose.h> 67 #include <visp3/visual_features/vpFeaturePoint.h> 68 #include <visp3/vs/vpServo.h> 69 #include <visp3/vs/vpServoDisplay.h> 70 #include <visp3/robot/vpSimulatorCamera.h> 71 #include <visp3/visual_features/vpFeatureBuilder.h> 72 #include <visp3/core/vpIoTools.h> 95 unsigned int height = 360 ;
96 unsigned int width = 480 ;
100 #if defined(VISP_HAVE_X11) 102 #elif defined(VISP_HAVE_GTK) 104 #elif defined(VISP_HAVE_GDI) 106 #elif defined(VISP_HAVE_OPENCV) 109 disp.
init(I,100,100,
"Simulation display");
125 for (
int i = 0 ; i < 4 ; i++)
126 point[i].project(cMo_d) ;
130 for (
int i = 0 ; i < 4 ; i++)
138 for (
int i = 0 ; i < 4 ; i++)
139 point[i].project(cMo) ;
143 for (
int i = 0 ; i < 4 ; i++)
164 for (
int i = 0 ; i < 4 ; i++)
182 for (
int i = 0 ; i < 4 ; i++)
214 std::cout <<
"Catch an exception: " << e << std::endl;
222 {
vpTRACE(
"You should install GTK") ;
void setPosition(const vpHomogeneousMatrix &wMc)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
Implementation of a matrix and operations on matrices.
VISP_EXPORT int wait(double t0, double t)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
Display for windows using GDI (available on any windows 32 platform).
void set_eJe(const vpMatrix &eJe_)
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.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void flush(const vpImage< unsigned char > &I)
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
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.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpHomogeneousMatrix getPosition() const
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
VISP_EXPORT double measureTimeMs()
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void get_eJe(vpMatrix &eJe)
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)