48 #include <visp3/core/vpConfig.h> 49 #include <visp3/core/vpDebug.h> 51 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) \ 52 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 57 #include <visp3/core/vpCameraParameters.h> 58 #include <visp3/core/vpHomogeneousMatrix.h> 59 #include <visp3/core/vpImage.h> 60 #include <visp3/core/vpLine.h> 61 #include <visp3/core/vpMath.h> 62 #include <visp3/gui/vpDisplayGDI.h> 63 #include <visp3/gui/vpDisplayGTK.h> 64 #include <visp3/gui/vpDisplayOpenCV.h> 65 #include <visp3/gui/vpDisplayX.h> 66 #include <visp3/io/vpParseArgv.h> 67 #include <visp3/robot/vpSimulatorCamera.h> 68 #include <visp3/visual_features/vpFeatureBuilder.h> 69 #include <visp3/visual_features/vpFeatureLine.h> 70 #include <visp3/vs/vpServo.h> 71 #include <visp3/vs/vpServoDisplay.h> 74 #define GETOPTARGS "cdh" 76 void usage(
const char *name,
const char *badparam);
77 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
87 void usage(
const char *name,
const char *badparam)
90 Simulation of 2D a visual servoing on a line:\n\ 91 - eye-in-hand control law,\n\ 92 - velocity computed in the camera frame,\n\ 93 - display the camera view.\n\ 96 %s [-c] [-d] [-h]\n", name);
102 Disable the mouse click. Useful to automaze the \n\ 103 execution of this program without humain intervention.\n\ 106 Turn off the display.\n\ 112 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
135 click_allowed =
false;
141 usage(argv[0], NULL);
145 usage(argv[0], optarg_);
150 if ((c == 1) || (c == -1)) {
152 usage(argv[0], NULL);
153 std::cerr <<
"ERROR: " << std::endl;
154 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
161 int 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 181 #elif defined VISP_HAVE_OPENCV 188 display.
init(I, 100, 100,
"Camera view...");
237 for (
int i = 0; i < nbline; i++) {
246 for (
int i = 0; i < nbline; i++) {
265 for (
int i = 0; i < nbline; i++)
278 if (opt_display && opt_click_allowed) {
279 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
283 unsigned int iter = 0;
285 while (iter++ < 200) {
286 std::cout <<
"---------------------------------------------" << iter << std::endl;
295 for (
int i = 0; i < nbline; i++) {
312 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
315 if (opt_display && opt_click_allowed) {
325 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
330 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 333 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
339 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display images..." << std::endl;
340 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
341 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
342 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
343 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Display for windows using GDI (available on any windows 32 platform).
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
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 3D line in the object frame and allows forward projection of the line in the cam...
vpColVector getError() const
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
virtual void print() const
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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 3rd party library. Thus to enable this class G...
vpHomogeneousMatrix getPosition() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void print(unsigned int select=FEATURE_ALL) const
Implementation of column vector and the associated operations.
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
static const vpColor white
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)