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Visual Servoing Platform
version 3.3.0
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52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpSphere.h>
55 #include <visp3/gui/vpDisplayGDI.h>
56 #include <visp3/gui/vpDisplayGTK.h>
57 #include <visp3/gui/vpDisplayOpenCV.h>
58 #include <visp3/gui/vpDisplayX.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/robot/vpSimulatorCamera.h>
61 #include <visp3/visual_features/vpFeatureBuilder.h>
62 #include <visp3/visual_features/vpFeatureEllipse.h>
63 #include <visp3/vs/vpServo.h>
64 #include <visp3/vs/vpServoDisplay.h>
67 #define GETOPTARGS "cdh"
69 void usage(
const char *name,
const char *badparam);
70 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
80 void usage(
const char *name,
const char *badparam)
83 Simulation of a 2D visual servoing on a sphere:\n\
84 - eye-in-hand control law,\n\
85 - velocity computed in the camera frame,\n\
86 - display the camera view.\n\
89 %s [-c] [-d] [-h]\n", name);
95 Disable the mouse click. Useful to automaze the \n\
96 execution of this program without humain intervention.\n\
99 Turn off the display.\n\
105 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
120 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
128 click_allowed =
false;
134 usage(argv[0], NULL);
139 usage(argv[0], optarg_);
145 if ((c == 1) || (c == -1)) {
147 usage(argv[0], NULL);
148 std::cerr <<
"ERROR: " << std::endl;
149 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
156 int 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) {
164 return(EXIT_FAILURE);
170 #if defined VISP_HAVE_X11
172 #elif defined VISP_HAVE_GTK
174 #elif defined VISP_HAVE_GDI
176 #elif defined VISP_HAVE_OPENCV
181 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
183 display.init(I, 100, 100,
"Camera view...");
194 double px = 600, py = 600;
246 unsigned int iter = 0;
248 while (iter++ < 200) {
249 std::cout <<
"---------------------------------------------" << iter << std::endl;
270 std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
274 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
282 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that defines 2D ellipse visual feature.
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)
unsigned int getHeight() const
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)
unsigned int getWidth() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
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 setWorldCoordinates(const vpColVector &oP)
vpColVector getError() const
unsigned int getTaskRank() const
Class that defines what is a sphere.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpColVector computeControlLaw()
static void flush(const vpImage< unsigned char > &I)
vpHomogeneousMatrix inverse() const
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.
void track(const vpHomogeneousMatrix &cMo)