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/vpCylinder.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 cylinder:\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(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
126 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
133 case 'c': click_allowed =
false;
break;
134 case 'd': display =
false;
break;
135 case 'h': usage(argv[0], NULL);
return false;
break;
138 usage(argv[0], optarg_);
143 if ((c == 1) || (c == -1)) {
145 usage(argv[0], NULL);
146 std::cerr <<
"ERROR: " << std::endl;
147 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
156 main(
int argc,
const char ** argv)
159 bool opt_display =
true;
160 bool opt_click_allowed =
true;
163 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
170 #if defined VISP_HAVE_X11 172 #elif defined VISP_HAVE_GTK 174 #elif defined VISP_HAVE_GDI 176 #elif defined VISP_HAVE_OPENCV 183 display.
init(I, 100, 100,
"Camera view...") ;
199 double px, py ; px = py = 600 ;
200 double u0, v0 ; u0 = v0 = 256 ;
225 cylinder.track(cMod) ;
230 for(i=0 ; i < 2 ; i++)
235 cylinder.track(cMo) ;
239 for(i=0 ; i < 2 ; i++)
266 if (opt_display && opt_click_allowed) {
267 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
277 unsigned int iter=0 ;
281 std::cout <<
"---------------------------------------------" << iter++ <<std::endl ;
291 cylinder.track(cMo) ;
293 for(i=0 ; i < 2 ; i++)
311 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ; ;
315 while(( task.
getError() ).sumSquare() > 1e-9) ;
317 if (opt_display && opt_click_allowed) {
318 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
328 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
337 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)
void print(const unsigned int select=FEATURE_ALL) const
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.
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpColVector getError() 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.
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.
vpHomogeneousMatrix getPosition() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Class that defines what is a cylinder.
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
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)