53 #include <visp/vpDebug.h>
54 #include <visp/vpConfig.h>
56 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
61 #include <visp/vpCameraParameters.h>
62 #include <visp/vpDisplayX.h>
63 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpDisplayGDI.h>
65 #include <visp/vpFeatureBuilder.h>
66 #include <visp/vpFeatureLine.h>
67 #include <visp/vpHomogeneousMatrix.h>
68 #include <visp/vpImage.h>
69 #include <visp/vpLine.h>
70 #include <visp/vpMath.h>
71 #include <visp/vpParseArgv.h>
72 #include <visp/vpRobotCamera.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpServoDisplay.h>
75 #include <visp/vpSimulatorCamera.h>
78 #define GETOPTARGS "cdh"
80 void usage(
const char *name,
const char *badparam);
81 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
91 void usage(
const char *name,
const char *badparam)
94 Simulation of 2D a visual servoing on a line:\n\
95 - eye-in-hand control law,\n\
96 - velocity computed in the camera frame,\n\
97 - display the camera view.\n\
100 %s [-c] [-d] [-h]\n", name);
106 Disable the mouse click. Useful to automaze the \n\
107 execution of this program without humain intervention.\n\
110 Turn off the display.\n\
116 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
131 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
138 case 'c': click_allowed =
false;
break;
139 case 'd': display =
false;
break;
140 case 'h': usage(argv[0], NULL);
return false;
break;
143 usage(argv[0], optarg_);
148 if ((c == 1) || (c == -1)) {
150 usage(argv[0], NULL);
151 std::cerr <<
"ERROR: " << std::endl;
152 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
161 main(
int argc,
const char ** argv)
164 bool opt_display =
true;
165 bool opt_click_allowed =
true;
168 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
175 #if defined VISP_HAVE_X11
177 #elif defined VISP_HAVE_GTK
179 #elif defined VISP_HAVE_GDI
186 display.
init(I, 100, 100,
"Camera view...") ;
203 double px, py ; px = py = 600 ;
204 double u0, v0 ; u0 = v0 = 256 ;
238 for(
int i = 0; i < nbline; i++)
240 line[i].
track(cMod) ;
248 for(
int i = 0; i < nbline; i++)
267 for(
int i = 0; i < nbline; i++)
280 if (opt_display && opt_click_allowed) {
281 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
285 unsigned int iter=0 ;
289 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
298 for(
int i = 0; i < nbline; i++)
316 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ; ;
320 if (opt_display && opt_click_allowed) {
321 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
331 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
340 vpERROR_TRACE(
"You do not have X11, GTK or GDI display functionalities...");
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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...
Class that defines the simplest robot: a free flying camera.
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)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
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.
vpColVector getError() const
virtual void print() const
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
void getPosition(vpHomogeneousMatrix &wMc) const
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 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)
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...
vpHomogeneousMatrix inverse() const
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)
void setServo(const vpServoType &servo_type)
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)