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Visual Servoing Platform
version 3.2.0
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50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
53 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
55 #include <visp3/core/vpCameraParameters.h>
56 #include <visp3/core/vpImage.h>
57 #include <visp3/core/vpImageConvert.h>
58 #include <visp3/core/vpTime.h>
59 #include <visp3/gui/vpDisplayGDI.h>
60 #include <visp3/gui/vpDisplayGTK.h>
61 #include <visp3/gui/vpDisplayOpenCV.h>
62 #include <visp3/gui/vpDisplayX.h>
64 #include <visp3/core/vpHomogeneousMatrix.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/robot/vpSimulatorCamera.h>
68 #include <visp3/vision/vpPose.h>
69 #include <visp3/visual_features/vpFeatureBuilder.h>
70 #include <visp3/visual_features/vpFeaturePoint.h>
71 #include <visp3/vs/vpServo.h>
72 #include <visp3/vs/vpServoDisplay.h>
94 unsigned int height = 360;
95 unsigned int width = 480;
99 #if defined(VISP_HAVE_X11)
101 #elif defined(VISP_HAVE_GTK)
103 #elif defined(VISP_HAVE_GDI)
105 #elif defined(VISP_HAVE_OPENCV)
109 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
110 disp.
init(I, 100, 100,
"Simulation display");
128 for (
int i = 0; i < 4; i++)
129 point[i].project(cMo_d);
133 for (
int i = 0; i < 4; i++)
141 for (
int i = 0; i < 4; i++)
142 point[i].project(cMo);
146 for (
int i = 0; i < 4; i++)
166 for (
int i = 0; i < 4; i++)
183 for (
int i = 0; i < 4; i++) {
214 std::cout <<
"Catch an exception: " << e << std::endl;
222 std::cout <<
"You do not have X11, GTK, or OpenCV, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
223 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
224 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
225 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
226 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void setWorldCoordinates(const double oX, const double oY, const double oZ)
VISP_EXPORT int wait(double t0, double t)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
void set_eJe(const vpMatrix &eJe_)
void setPosition(const vpHomogeneousMatrix &wMc)
Display for windows using GDI (available on any windows 32 platform).
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Class that defines the simplest robot: a free flying camera.
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
VISP_EXPORT double measureTimeMs()
vpHomogeneousMatrix getPosition() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static void flush(const vpImage< unsigned char > &I)
virtual void setSamplingTime(const double &delta_t)
vpHomogeneousMatrix inverse() const
Class that defines what is a point.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
error that can be emited by ViSP classes.