61 #include <visp/vpDebug.h>
62 #include <visp/vpConfig.h>
64 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
69 #include <visp/vpMath.h>
70 #include <visp/vpHomogeneousMatrix.h>
71 #include <visp/vpFeatureLine.h>
72 #include <visp/vpLine.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpRobotCamera.h>
75 #include <visp/vpFeatureBuilder.h>
79 #include <visp/vpException.h>
80 #include <visp/vpMatrixException.h>
83 #include <visp/vpDebug.h>
86 #include <visp/vpServoDisplay.h>
88 #include <visp/vpImage.h>
89 #include <visp/vpDisplayX.h>
90 #include <visp/vpDisplayGTK.h>
91 #include <visp/vpDisplayGDI.h>
92 #include <visp/vpCameraParameters.h>
93 #include <visp/vpParseArgv.h>
97 #define GETOPTARGS "cdh"
107 void usage(
const char *name,
const char *badparam)
110 Simulation of 2D a visual servoing on a line:\n\
111 - eye-in-hand control law,\n\
112 - velocity computed in the camera frame,\n\
113 - display the camera view.\n\
116 %s [-c] [-d] [-h]\n", name);
122 Disable the mouse click. Useful to automaze the \n\
123 execution of this program without humain intervention.\n\
126 Turn off the display.\n\
132 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
147 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
154 case 'c': click_allowed =
false;
break;
155 case 'd': display =
false;
break;
156 case 'h': usage(argv[0], NULL);
return false;
break;
159 usage(argv[0], optarg);
164 if ((c == 1) || (c == -1)) {
166 usage(argv[0], NULL);
167 std::cerr <<
"ERROR: " << std::endl;
168 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
177 main(
int argc,
const char ** argv)
179 bool opt_display =
true;
180 bool opt_click_allowed =
true;
183 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
190 #if defined VISP_HAVE_X11
192 #elif defined VISP_HAVE_GTK
194 #elif defined VISP_HAVE_GDI
201 display.
init(I, 100, 100,
"Camera view...") ;
217 double px, py ; px = py = 600 ;
218 double u0, v0 ; u0 = v0 = 256 ;
225 vpTRACE(
"sets the initial camera location " ) ;
231 vpTRACE(
"sets the final camera location (for simulation purpose)" ) ;
237 vpTRACE(
"sets the line coordinates (2 planes) in the world frame " ) ;
254 vpTRACE(
"sets the desired position of the visual feature ") ;
262 vpTRACE(
"project : computes the line coordinates in the camera frame and its 2D coordinates" ) ;
263 vpTRACE(
"sets the current position of the visual feature ") ;
272 vpTRACE(
"\t we want an eye-in-hand control law") ;
273 vpTRACE(
"\t robot is controlled in the camera frame") ;
276 vpTRACE(
"\t we want to see a line on a line..\n") ;
287 vpTRACE(
"Display task information " ) ;
290 if (opt_display && opt_click_allowed) {
291 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
295 unsigned int iter=0 ;
299 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
302 if (iter==1)
vpTRACE(
"\t\t get the robot position ") ;
304 if (iter==1)
vpTRACE(
"\t\t new line position ") ;
316 if (iter==1)
vpTRACE(
"\t\t compute the control law ") ;
319 if (iter==1)
vpTRACE(
"\t\t send the camera velocity to the controller ") ;
322 vpTRACE(
"\t\t || s - s* || ") ;
323 std::cout << ( task.
getError() ).sumSquare() <<std::endl ; ;
327 if (opt_display && opt_click_allowed) {
328 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
332 vpTRACE(
"Display task information " ) ;
341 vpERROR_TRACE(
"You do not have X11, GTK or GDI display functionalities...");
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void print(const unsigned int select=FEATURE_ALL) const
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
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)
Display for windows using GDI (available on any windows 32 platform).
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
void track(const vpHomogeneousMatrix &cMo)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
void kill()
destruction (memory deallocation if required)
vpColVector getError() const
virtual void print() const
vpColVector computeControlLaw()
compute the desired control law
Class that defines the simplest robot: a free flying camera.
static void display(const vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void getPosition(vpColVector &q)
void setPosition(const vpRobot::vpControlFrameType, const vpColVector &)
Set a displacement (frame has to be specified) in position control.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
static double rad(double deg)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class required to compute the visual servoing control law.
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.