47#include <visp3/core/vpCameraParameters.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpImage.h>
50#include <visp3/core/vpIoTools.h>
51#include <visp3/core/vpMath.h>
52#include <visp3/core/vpTime.h>
53#include <visp3/core/vpVelocityTwistMatrix.h>
54#include <visp3/gui/vpDisplayD3D.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/gui/vpPlot.h>
60#include <visp3/io/vpImageIo.h>
61#include <visp3/io/vpParseArgv.h>
62#include <visp3/robot/vpSimulatorCamera.h>
63#include <visp3/robot/vpWireFrameSimulator.h>
64#include <visp3/visual_features/vpFeatureBuilder.h>
65#include <visp3/visual_features/vpFeaturePoint.h>
66#include <visp3/vs/vpServo.h>
68#define GETOPTARGS "dhp"
70#if defined(VISP_HAVE_DISPLAY) \
71 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
81void usage(
const char *name,
const char *badparam)
84Demonstration of the wireframe simulator with a simple visual servoing.\n\
86The visual servoing consists in bringing the camera at a desired \n\
87position from the object.\n\
89The visual features used to compute the pose of the camera and \n\
90thus the control law are four points.\n\
92This demonstration explains also how to move the object around a world\n\
93reference frame. Here, the movement is a rotation around the x and y axis\n\
94at a given distance from the world frame. In fact the object trajectory\n\
95is on a sphere whose center is the origin of the world frame.\n\
98 %s [-d] [-p] [-h]\n", name);
103 Turn off the display.\n\
106 Turn off the plotter.\n\
112 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
141 usage(argv[0], NULL);
145 usage(argv[0], optarg_);
150 if ((c == 1) || (c == -1)) {
152 usage(argv[0], NULL);
153 std::cerr <<
"ERROR: " << std::endl;
154 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
161int main(
int argc,
const char **argv)
164 bool opt_display =
true;
165 bool opt_plot =
true;
167 std::cout <<
"Read " << filename << std::endl;
170 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
178#if defined VISP_HAVE_X11
180#elif defined VISP_HAVE_OPENCV
182#elif defined VISP_HAVE_GDI
184#elif defined VISP_HAVE_D3D9
186#elif defined VISP_HAVE_GTK
192 display[0].init(Iint, 100, 100,
"The internal view");
193 display[1].init(Iext1, 100, 100,
"The first external view");
194 display[2].init(Iext2, 100, 100,
"The second external view");
209 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
210 plotter->
setTitle(0,
"Visual features error");
211 plotter->
setTitle(1,
"Camera velocities");
214 plotter->
setLegend(0, 0,
"error_feat_p1_x");
215 plotter->
setLegend(0, 1,
"error_feat_p1_y");
216 plotter->
setLegend(0, 2,
"error_feat_p2_x");
217 plotter->
setLegend(0, 3,
"error_feat_p2_y");
218 plotter->
setLegend(0, 4,
"error_feat_p3_x");
219 plotter->
setLegend(0, 5,
"error_feat_p3_y");
220 plotter->
setLegend(0, 6,
"error_feat_p4_x");
221 plotter->
setLegend(0, 7,
"error_feat_p4_y");
232 float sampling_time = 0.020f;
233 robot.setSamplingTime(sampling_time);
258 for (
int i = 0; i < 4; i++)
263 for (
int i = 0; i < 4; i++)
267 for (
int i = 0; i < 4; i++)
268 point[i].track(cdMo);
271 for (
int i = 0; i < 4; i++)
285 for (
int i = 0; i < 4; i++)
290 std::list<vpImageSimulator> list;
294 for (
int i = 0; i < 4; i++)
312 imsim.
init(filename.c_str(), X);
314 list.push_back(imsim);
369 std::cout <<
"Click on a display" << std::endl;
376 robot.setPosition(wMc);
386 while (iter++ < max_iter && !stop) {
399 wMc = robot.getPosition();
401 for (
int i = 0; i < 4; i++) {
422 camoMf.buildFrom(0, 0.0, 1.5, 0,
vpMath::rad(150), 0);
427 plotter->
plot(1, iter, v);
453 std::stringstream ss;
454 ss <<
"Loop time: " << t - t_prev <<
" ms";
467 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
470 if (opt_plot && plotter != NULL) {
488 std::cout <<
"Catch an exception: " << e << std::endl;
492#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
495 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
501 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
502 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
503 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
504 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
505 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor none
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
static void setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void init(const vpImage< unsigned char > &I, vpColVector *X)
static double rad(double deg)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setTitle(unsigned int graphNum, const std::string &title)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
void setMaxRotationVelocity(double maxVr)
void setMaxTranslationVelocity(double maxVt)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines the simplest robot: a free flying camera.
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
vpHomogeneousMatrix getExternalCameraPosition() const
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void getInternalImage(vpImage< unsigned char > &I)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
void set_fMo(const vpHomogeneousMatrix &fMo_)
vpHomogeneousMatrix get_fMo() const
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
void setInternalCameraParameters(const vpCameraParameters &cam)
void setExternalCameraParameters(const vpCameraParameters &cam)
void getExternalImage(vpImage< unsigned char > &I)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()