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Visual Servoing Platform
version 3.2.0
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56 #include <visp3/core/vpConfig.h>
58 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
63 #include <visp3/core/vpCameraParameters.h>
64 #include <visp3/core/vpCylinder.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpMath.h>
68 #include <visp3/gui/vpDisplayGDI.h>
69 #include <visp3/gui/vpDisplayGTK.h>
70 #include <visp3/gui/vpDisplayOpenCV.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/gui/vpProjectionDisplay.h>
73 #include <visp3/io/vpParseArgv.h>
74 #include <visp3/robot/vpSimulatorCamera.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeatureLine.h>
77 #include <visp3/vs/vpServo.h>
78 #include <visp3/vs/vpServoDisplay.h>
81 #define GETOPTARGS "cdh"
83 void usage(
const char *name,
const char *badparam);
84 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
94 void usage(
const char *name,
const char *badparam)
97 Simulation of a 2D visual servoing on a cylinder:\n\
98 - eye-in-hand control law,\n\
99 - velocity computed in the camera frame,\n\
100 - display the camera view.\n\
103 %s [-c] [-d] [-h]\n", name);
109 Disable the mouse click. Useful to automaze the \n\
110 execution of this program without humain intervention.\n\
113 Turn off the display.\n\
119 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
133 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
141 click_allowed =
false;
147 usage(argv[0], NULL);
152 usage(argv[0], optarg_);
158 if ((c == 1) || (c == -1)) {
160 usage(argv[0], NULL);
161 std::cerr <<
"ERROR: " << std::endl;
162 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
169 int main(
int argc,
const char **argv)
172 bool opt_display =
true;
173 bool opt_click_allowed =
true;
176 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
184 #if defined VISP_HAVE_X11
187 #elif defined VISP_HAVE_GTK
190 #elif defined VISP_HAVE_GDI
193 #elif defined VISP_HAVE_OPENCV
202 displayInt.
init(Iint, 100, 100,
"Internal view");
203 displayExt.
init(Iext, (
int)(130 + Iint.
getWidth()), 100,
"External view");
247 externalview.
insert(cylinder);
250 cylinder.track(cMod);
257 for (i = 0; i < 2; i++)
268 for (i = 0; i < 2; i++) {
302 if (opt_display && opt_click_allowed) {
303 std::cout <<
"\n\nClick in the internal camera view window to start..." << std::endl;
313 unsigned int iter = 0;
316 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
332 for (i = 0; i < 2; i++) {
352 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
353 }
while ((task.
getError()).sumSquare() > 1e-9);
373 double vitesse = 0.5;
374 unsigned int tempo = 800;
376 while (iter < tempo) {
385 for (i = 0; i < 2; i++) {
400 if (iter % tempo < 200 /*&& iter%tempo >= 0*/) {
402 e1[0] = fabs(vitesse);
404 rapport = vitesse / proj_e1[0];
409 if (iter % tempo < 400 && iter % tempo >= 200) {
411 e2[1] = fabs(vitesse);
413 rapport = vitesse / proj_e2[1];
418 if (iter % tempo < 600 && iter % tempo >= 400) {
420 e1[0] = -fabs(vitesse);
422 rapport = -vitesse / proj_e1[0];
427 if (iter % tempo < 800 && iter % tempo >= 600) {
429 e2[1] = -fabs(vitesse);
431 rapport = -vitesse / proj_e2[1];
438 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
443 if (opt_display && opt_click_allowed) {
444 std::cout <<
"\nClick in the internal camera view window to end..." << std::endl;
453 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
461 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
462 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
463 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
464 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
465 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 print(const unsigned int select=FEATURE_ALL) const
static double rad(double deg)
Generic class defining intrinsic camera parameters.
Display for windows using GDI (available on any windows 32 platform).
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
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...
void setServo(const vpServoType &servo_type)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a cylinder.
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="")
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
vpColVector getError() const
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj=false, const unsigned int thickness=1)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
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)
interface with the image for feature display
vpHomogeneousMatrix inverse() const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void insert(vpForwardProjection &fp)
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.
unsigned int getWidth() const