49 #include <visp3/core/vpDebug.h> 50 #include <visp3/core/vpConfig.h> 52 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) 57 #include <visp3/core/vpCameraParameters.h> 58 #include <visp3/core/vpCircle.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> 63 #include <visp3/visual_features/vpFeatureBuilder.h> 64 #include <visp3/visual_features/vpFeatureLine.h> 65 #include <visp3/core/vpHomogeneousMatrix.h> 66 #include <visp3/core/vpImage.h> 67 #include <visp3/core/vpMath.h> 68 #include <visp3/io/vpParseArgv.h> 69 #include <visp3/vs/vpServo.h> 70 #include <visp3/robot/vpSimulatorCamera.h> 71 #include <visp3/vs/vpServoDisplay.h> 74 #define GETOPTARGS "cdh" 76 void usage(
const char *name,
const char *badparam);
77 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
87 void usage(
const char *name,
const char *badparam)
90 Simulation of a 2D visual servoing on a circle:\n\ 91 - eye-in-hand control law,\n\ 92 - velocity computed in the camera frame,\n\ 93 - display the camera view.\n\ 96 %s [-c] [-d] [-h]\n", name);
102 Disable the mouse click. Useful to automaze the \n\ 103 execution of this program without humain intervention.\n\ 106 Turn off the display.\n\ 112 fprintf(stderr,
"ERROR: \n" );
113 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
129 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
136 case 'c': click_allowed =
false;
break;
137 case 'd': display =
false;
break;
138 case 'h': usage(argv[0], NULL);
return false;
break;
141 usage(argv[0], optarg_);
146 if ((c == 1) || (c == -1)) {
148 usage(argv[0], NULL);
149 std::cerr <<
"ERROR: " << std::endl;
150 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
159 main(
int argc,
const char ** argv)
162 bool opt_display =
true;
163 bool opt_click_allowed =
true;
166 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
173 #if defined VISP_HAVE_X11 175 #elif defined VISP_HAVE_GTK 177 #elif defined VISP_HAVE_GDI 179 #elif defined VISP_HAVE_OPENCV 186 display.
init(I, 100, 100,
"Camera view...") ;
202 double px, py ; px = py = 600 ;
203 double u0, v0 ; u0 = v0 = 256 ;
250 unsigned int iter=0 ;
254 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
277 std::cout <<
"task rank: " << task.
getTaskRank() <<std::endl ;
281 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
288 if (opt_display && opt_click_allowed) {
289 std::cout <<
"Click in the camera view window to end..." << std::endl;
295 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
303 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)
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).
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.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpHomogeneousMatrix getPosition() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Implementation of column vector and the associated operations.
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)