60 #include <visp/vpDebug.h>
61 #include <visp/vpConfig.h>
63 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
68 #include <visp/vpMath.h>
69 #include <visp/vpHomogeneousMatrix.h>
70 #include <visp/vpFeatureLine.h>
71 #include <visp/vpCylinder.h>
72 #include <visp/vpServo.h>
73 #include <visp/vpRobotCamera.h>
74 #include <visp/vpFeatureBuilder.h>
78 #include <visp/vpException.h>
79 #include <visp/vpMatrixException.h>
82 #include <visp/vpDebug.h>
85 #include <visp/vpServoDisplay.h>
87 #include <visp/vpImage.h>
88 #include <visp/vpDisplayX.h>
89 #include <visp/vpDisplayGTK.h>
90 #include <visp/vpDisplayGDI.h>
91 #include <visp/vpCameraParameters.h>
92 #include <visp/vpParseArgv.h>
95 #define GETOPTARGS "cdh"
105 void usage(
const char *name,
const char *badparam)
108 Simulation of a 2D visual servoing on a cylinder:\n\
109 - eye-in-hand control law,\n\
110 - velocity computed in the camera frame,\n\
111 - display the camera view.\n\
114 %s [-c] [-d] [-h]\n", name);
120 Disable the mouse click. Useful to automaze the \n\
121 execution of this program without humain intervention.\n\
124 Turn off the display.\n\
130 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
144 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
151 case 'c': click_allowed =
false;
break;
152 case 'd': display =
false;
break;
153 case 'h': usage(argv[0], NULL);
return false;
break;
156 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;
174 main(
int argc,
const char ** argv)
176 bool opt_display =
true;
177 bool opt_click_allowed =
true;
180 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
187 #if defined VISP_HAVE_X11
189 #elif defined VISP_HAVE_GTK
191 #elif defined VISP_HAVE_GDI
198 display.
init(I, 100, 100,
"Camera view...") ;
214 double px, py ; px = py = 600 ;
215 double u0, v0 ; u0 = v0 = 256 ;
222 vpTRACE(
"sets the initial camera location " ) ;
228 vpTRACE(
"sets the final camera location (for simulation purpose)" ) ;
234 vpTRACE(
"sets the cylinder coordinates in the world frame " ) ;
239 vpTRACE(
"sets the desired position of the visual feature ") ;
240 cylinder.track(cMod) ;
245 for(i=0 ; i < 2 ; i++)
249 vpTRACE(
"project : computes the cylinder coordinates in the camera frame and its 2D coordinates" ) ;
250 vpTRACE(
"sets the current position of the visual feature ") ;
251 cylinder.track(cMo) ;
255 for(i=0 ; i < 2 ; i++)
262 vpTRACE(
"\t we want an eye-in-hand control law") ;
263 vpTRACE(
"\t robot is controlled in the camera frame") ;
272 vpTRACE(
"\t we want to see 2 lines on 2 lines.") ;
280 vpTRACE(
"Display task information " ) ;
283 if (opt_display && opt_click_allowed) {
284 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
292 vpTRACE(
"Display task information " ) ;
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 ") ;
307 cylinder.track(cMo) ;
309 for(i=0 ; i < 2 ; i++)
321 if (iter==1)
vpTRACE(
"\t\t compute the control law ") ;
324 if (iter==1)
vpTRACE(
"\t\t send the camera velocity to the controller ") ;
327 vpTRACE(
"\t\t || s - s* || ") ;
328 std::cout << ( task.
getError() ).sumSquare() <<std::endl ; ;
332 while(( task.
getError() ).sumSquare() > 1e-9) ;
334 if (opt_display && opt_click_allowed) {
335 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
339 vpTRACE(
"Display task information " ) ;
348 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...
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 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)
void kill()
destruction (memory deallocation if required)
vpColVector getError() 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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
Class that defines what is a cylinder.
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.