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Visual Servoing Platform
version 3.3.0
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48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
51 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
56 #include <visp3/core/vpCameraParameters.h>
57 #include <visp3/core/vpHomogeneousMatrix.h>
58 #include <visp3/core/vpImage.h>
59 #include <visp3/core/vpLine.h>
60 #include <visp3/core/vpMath.h>
61 #include <visp3/gui/vpDisplayGDI.h>
62 #include <visp3/gui/vpDisplayGTK.h>
63 #include <visp3/gui/vpDisplayOpenCV.h>
64 #include <visp3/gui/vpDisplayX.h>
65 #include <visp3/io/vpParseArgv.h>
66 #include <visp3/robot/vpSimulatorCamera.h>
67 #include <visp3/visual_features/vpFeatureBuilder.h>
68 #include <visp3/visual_features/vpFeatureLine.h>
69 #include <visp3/vs/vpServo.h>
70 #include <visp3/vs/vpServoDisplay.h>
73 #define GETOPTARGS "cdh"
75 void usage(
const char *name,
const char *badparam);
76 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
86 void usage(
const char *name,
const char *badparam)
89 Simulation of 2D a visual servoing on a line:\n\
90 - eye-in-hand control law,\n\
91 - velocity computed in the camera frame,\n\
92 - display the camera view.\n\
95 %s [-c] [-d] [-h]\n", name);
101 Disable the mouse click. Useful to automaze the \n\
102 execution of this program without humain intervention.\n\
105 Turn off the display.\n\
111 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
126 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
134 click_allowed =
false;
140 usage(argv[0], NULL);
145 usage(argv[0], optarg_);
151 if ((c == 1) || (c == -1)) {
153 usage(argv[0], NULL);
154 std::cerr <<
"ERROR: " << std::endl;
155 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
162 int main(
int argc,
const char **argv)
165 bool opt_display =
true;
166 bool opt_click_allowed =
true;
169 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
176 #if defined VISP_HAVE_X11
178 #elif defined VISP_HAVE_GTK
180 #elif defined VISP_HAVE_GDI
182 #elif defined VISP_HAVE_OPENCV
189 display.init(I, 100, 100,
"Camera view...");
238 for (
int i = 0; i < nbline; i++) {
247 for (
int i = 0; i < nbline; i++) {
266 for (
int i = 0; i < nbline; i++)
279 if (opt_display && opt_click_allowed) {
280 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
284 unsigned int iter = 0;
286 while (iter++ < 200) {
287 std::cout <<
"---------------------------------------------" << iter << std::endl;
296 for (
int i = 0; i < nbline; i++) {
313 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
317 if (opt_display && opt_click_allowed) {
318 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
327 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
335 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
336 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
337 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
338 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
339 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...
static double rad(double deg)
Generic class defining intrinsic camera parameters.
Display for windows using GDI (available on any windows 32 platform).
virtual void print() const
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
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)
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...
vpColVector getError() const
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Class that defines a line in the object frame, the camera frame and the image plane....
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(unsigned int select=FEATURE_ALL) const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
vpColVector computeControlLaw()
static void flush(const vpImage< unsigned char > &I)
vpHomogeneousMatrix inverse() const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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)