59 #include <visp/vpDebug.h>
60 #include <visp/vpConfig.h>
62 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
67 #include <visp/vpMath.h>
68 #include <visp/vpHomogeneousMatrix.h>
69 #include <visp/vpFeatureLine.h>
70 #include <visp/vpCylinder.h>
71 #include <visp/vpServo.h>
72 #include <visp/vpRobotCamera.h>
73 #include <visp/vpFeatureBuilder.h>
77 #include <visp/vpException.h>
78 #include <visp/vpMatrixException.h>
81 #include <visp/vpDebug.h>
84 #include <visp/vpServoDisplay.h>
85 #include <visp/vpProjectionDisplay.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"
106 void usage(
const char *name,
const char *badparam)
109 Simulation of a 2D visual servoing on a cylinder:\n\
110 - eye-in-hand control law,\n\
111 - velocity computed in the camera frame,\n\
112 - display the camera view.\n\
115 %s [-c] [-d] [-h]\n", name);
121 Disable the mouse click. Useful to automaze the \n\
122 execution of this program without humain intervention.\n\
125 Turn off the display.\n\
131 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
145 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
152 case 'c': click_allowed =
false;
break;
153 case 'd': display =
false;
break;
154 case 'h': usage(argv[0], NULL);
return false;
break;
157 usage(argv[0], optarg);
162 if ((c == 1) || (c == -1)) {
164 usage(argv[0], NULL);
165 std::cerr <<
"ERROR: " << std::endl;
166 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
175 main(
int argc,
const char ** argv)
177 bool opt_display =
true;
178 bool opt_click_allowed =
true;
181 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
189 #if defined VISP_HAVE_X11
192 #elif defined VISP_HAVE_GTK
195 #elif defined VISP_HAVE_GDI
203 displayInt.
init(Iint, 100, 100,
"Internal view") ;
204 displayExt.
init(Iext,330,000,
"External view") ;
225 double px, py ; px = py = 600 ;
226 double u0, v0 ; u0 = v0 = 256 ;
233 vpTRACE(
"sets the initial camera location " ) ;
239 vpTRACE(
"sets the final camera location (for simulation purpose)" ) ;
245 vpTRACE(
"sets the cylinder coordinates in the world frame " ) ;
250 externalview.
insert(cylinder) ;
252 vpTRACE(
"sets the desired position of the visual feature ") ;
253 cylinder.track(cMod) ;
259 for(i=0 ; i < 2 ; i++)
263 vpTRACE(
"project : computes the cylinder coordinates in the camera frame and its 2D coordinates" ) ;
264 vpTRACE(
"sets the current position of the visual feature ") ;
265 cylinder.track(cMo) ;
270 for(i=0 ; i < 2 ; i++)
277 vpTRACE(
"\t we want an eye-in-hand control law") ;
278 vpTRACE(
"\t robot is controlled in the camera frame") ;
288 vpTRACE(
"\t we want to see 2 lines on 2 lines.") ;
303 vpTRACE(
"Display task information " ) ;
306 if (opt_display && opt_click_allowed) {
307 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
315 vpTRACE(
"Display task information " ) ;
318 unsigned int iter=0 ;
323 std::cout <<
"---------------------------------------------" << iter++ <<std::endl ;
326 if (iter==1)
vpTRACE(
"\t\t get the robot position ") ;
328 if (iter==1)
vpTRACE(
"\t\t new line position ") ;
332 cylinder.track(cMo) ;
335 for(i=0 ; i < 2 ; i++)
350 if (iter==1)
vpTRACE(
"\t\t compute the control law ") ;
353 if (iter==1)
vpTRACE(
"\t\t send the camera velocity to the controller ") ;
356 vpTRACE(
"\t\t || s - s* || ") ;
357 std::cout << ( task.
getError() ).sumSquare() <<std::endl ;
359 while(( task.
getError() ).sumSquare() > 1e-9) ;
375 double vitesse = 0.5;
376 unsigned int tempo = 800;
384 cylinder.track(cMo) ;
386 for(i=0 ; i < 2 ; i++)
403 if ( iter%tempo < 200 /*&& iter%tempo >= 0*/)
406 e1[0] = fabs(vitesse) ;
408 rapport = vitesse/proj_e1[0];
413 if ( iter%tempo < 400 && iter%tempo >= 200)
416 e2[1] = fabs(vitesse) ;
418 rapport = vitesse/proj_e2[1];
423 if ( iter%tempo < 600 && iter%tempo >= 400)
426 e1[0] = -fabs(vitesse) ;
428 rapport = -vitesse/proj_e1[0];
433 if ( iter%tempo < 800 && iter%tempo >= 600)
436 e2[1] = -fabs(vitesse) ;
438 rapport = -vitesse/proj_e2[1];
449 if (opt_display && opt_click_allowed) {
450 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
454 vpTRACE(
"Display task information " ) ;
463 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)
vpColVector secondaryTask(vpColVector &de2dt)
Add a secondary task.
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 insert(vpForwardProjection &fp)
void getPosition(vpColVector &q)
void setPosition(const vpRobot::vpControlFrameType, const vpColVector &)
Set a displacement (frame has to be specified) in position control.
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor color, const bool &displayTraj=false)
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.
interface with the image for feature display
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.