 |
Visual Servoing Platform
version 3.3.0
|
56 #include <visp3/core/vpConfig.h>
57 #include <visp3/core/vpDebug.h>
59 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
64 #include <visp3/core/vpCameraParameters.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpImagePoint.h>
68 #include <visp3/core/vpIoTools.h>
69 #include <visp3/core/vpMath.h>
70 #include <visp3/core/vpMeterPixelConversion.h>
71 #include <visp3/gui/vpDisplayGDI.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 #include <visp3/gui/vpDisplayOpenCV.h>
74 #include <visp3/gui/vpDisplayX.h>
75 #include <visp3/gui/vpProjectionDisplay.h>
76 #include <visp3/io/vpParseArgv.h>
77 #include <visp3/robot/vpSimulatorCamera.h>
78 #include <visp3/visual_features/vpFeatureBuilder.h>
79 #include <visp3/visual_features/vpFeaturePointPolar.h>
80 #include <visp3/vs/vpServo.h>
81 #include <visp3/vs/vpServoDisplay.h>
84 #define GETOPTARGS "cdh"
86 void usage(
const char *name,
const char *badparam);
87 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
97 void usage(
const char *name,
const char *badparam)
100 Tests a control law with the following characteristics:\n\
101 - eye-in-hand control\n\
102 - articular velocity are computed\n\
103 - servo on 4 points,\n\
104 - internal and external camera view displays.\n\
107 %s [-c] [-d] [-h]\n", name);
112 Disable the mouse click. Useful to automaze the \n\
113 execution of this program without humain intervention.\n\
116 Turn off the display.\n\
122 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
136 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
144 click_allowed =
false;
150 usage(argv[0], NULL);
155 usage(argv[0], optarg_);
161 if ((c == 1) || (c == -1)) {
163 usage(argv[0], NULL);
164 std::cerr <<
"ERROR: " << std::endl;
165 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
172 int main(
int argc,
const char **argv)
181 std::string username;
186 std::string logdirname;
188 logdirname =
"C:/temp/" + username;
190 logdirname =
"/tmp/" + username;
199 std::cerr << std::endl <<
"ERROR:" << std::endl;
200 std::cerr <<
" Cannot create " << logdirname << std::endl;
204 std::string logfilename;
205 logfilename = logdirname +
"/log.dat";
208 std::ofstream flog(logfilename.c_str());
210 bool opt_click_allowed =
true;
211 bool opt_display =
true;
214 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
220 #if defined VISP_HAVE_X11
223 #elif defined VISP_HAVE_GTK
226 #elif defined VISP_HAVE_GDI
229 #elif defined VISP_HAVE_OPENCV
240 displayInt.
init(Iint, 0, 0,
"Internal view");
241 displayExt.
init(Iext, 330, 000,
"External view");
256 std::cout << std::endl;
257 std::cout <<
"----------------------------------------------" << std::endl;
258 std::cout <<
" Test program for vpServo " << std::endl;
259 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl;
260 std::cout <<
" Simulation " << std::endl;
261 std::cout <<
" task : servo 4 points " << std::endl;
262 std::cout <<
"----------------------------------------------" << std::endl;
263 std::cout << std::endl;
272 #if defined(TRANS_Z_PURE)
277 #elif defined(TRANS_X_PURE)
283 #elif defined(ROT_Z_PURE)
289 #elif defined(ROT_X_PURE)
295 #elif defined(COMPLEX)
301 #elif defined(PROBLEM)
323 for (i = 0; i < 4; i++)
324 externalview.
insert(point[i]);
331 for (i = 0; i < 4; i++) {
332 point[i].
track(cMod);
340 for (i = 0; i < 4; i++)
345 for (i = 0; i < 4; i++) {
370 for (i = 0; i < 4; i++)
376 std::cout <<
"\nDisplay task information: " << std::endl;
379 unsigned int iter = 0;
381 while (iter++ < 200) {
382 std::cout <<
"---------------------------------------------" << iter << std::endl;
396 for (i = 0; i < 4; i++) {
416 std::cout <<
"Display task information: " << std::endl;
428 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
430 std::cout <<
"v: " << v.
t() << std::endl;
432 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
437 flog << (task.
getError()).t() <<
" ";
438 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
441 for (i = 0; i < 4; i++) {
445 for (i = 0; i < 4; i++) {
446 flog << point[i].
get_x() <<
" " << point[i].
get_y() <<
" ";
455 std::cout <<
"\nClick in the internal camera view to continue..." << std::endl;
470 std::cout <<
"Final robot position with respect to the object frame:\n";
473 if (opt_display && opt_click_allowed) {
475 std::cout <<
"\n\nClick in the internal view to end..." << std::endl;
480 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
487 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
488 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
489 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
490 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
491 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.
void print() const
Print the matrix as a pose vector .
void set_eJe(const vpMatrix &eJe_)
double get_x() const
Get the point x coordinate in the image plane.
Class that defines 2D image point visual feature with polar coordinates described in .
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)
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...
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void setWorldCoordinates(double oX, double oY, double oZ)
vpColVector getError() const
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj=false, unsigned int thickness=1)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
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)
static const vpColor green
vpColVector computeControlLaw()
static void flush(const vpImage< unsigned char > &I)
interface with the image for feature display
vpHomogeneousMatrix inverse() const
Class that defines what is a point.
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.
void track(const vpHomogeneousMatrix &cMo)
double get_y() const
Get the point y coordinate in the image plane.