50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpDebug.h>
53#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) \
54 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
59#include <visp3/core/vpCameraParameters.h>
60#include <visp3/core/vpCylinder.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/core/vpMath.h>
64#include <visp3/gui/vpDisplayGDI.h>
65#include <visp3/gui/vpDisplayGTK.h>
66#include <visp3/gui/vpDisplayOpenCV.h>
67#include <visp3/gui/vpDisplayX.h>
68#include <visp3/io/vpParseArgv.h>
69#include <visp3/robot/vpSimulatorCamera.h>
70#include <visp3/visual_features/vpFeatureBuilder.h>
71#include <visp3/visual_features/vpFeatureLine.h>
72#include <visp3/vs/vpServo.h>
73#include <visp3/vs/vpServoDisplay.h>
76#define GETOPTARGS "cdh"
78void usage(
const char *name,
const char *badparam);
79bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
89void usage(
const char *name,
const char *badparam)
92Simulation of a 2D visual servoing on a cylinder:\n\
93- eye-in-hand control law,\n\
94- velocity computed in the camera frame,\n\
95- display the camera view.\n\
98 %s [-c] [-d] [-h]\n", name);
104 Disable the mouse click. Useful to automaze the \n\
105 execution of this program without humain intervention.\n\
108 Turn off the display.\n\
114 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
128bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
136 click_allowed =
false;
142 usage(argv[0], NULL);
146 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;
162int 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...");
217 robot.getPosition(wMc);
229 cylinder.track(cMod);
233 for (
unsigned int i = 0; i < 2; i++)
242 for (
unsigned int i = 0; i < 2; i++) {
270 if (opt_display && opt_click_allowed) {
271 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
281 unsigned int iter = 0;
284 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
288 robot.getPosition(wMc);
296 for (
unsigned int i = 0; i < 2; i++) {
313 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
316 }
while ((task.
getError()).sumSquare() > 1e-9);
318 if (opt_display && opt_click_allowed) {
328 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
333#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
336 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
342 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display images..." << std::endl;
343 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
344 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
345 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
346 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 black
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
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 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 line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
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.