56 #include <visp3/core/vpConfig.h> 57 #include <visp3/core/vpDebug.h> 59 #if ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD)) \ 60 && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI)) \ 61 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 70 #include <visp3/core/vpCameraParameters.h> 71 #include <visp3/core/vpHomogeneousMatrix.h> 72 #include <visp3/core/vpImage.h> 73 #include <visp3/core/vpImagePoint.h> 74 #include <visp3/core/vpIoTools.h> 75 #include <visp3/core/vpMath.h> 76 #include <visp3/core/vpMeterPixelConversion.h> 77 #include <visp3/gui/vpDisplayGDI.h> 78 #include <visp3/gui/vpDisplayGTK.h> 79 #include <visp3/gui/vpDisplayX.h> 80 #include <visp3/io/vpParseArgv.h> 81 #include <visp3/robot/vpSimulatorViper850.h> 82 #include <visp3/visual_features/vpFeatureBuilder.h> 83 #include <visp3/visual_features/vpFeaturePoint.h> 84 #include <visp3/vs/vpServo.h> 87 #define GETOPTARGS "cdh" 89 void usage(
const char *name,
const char *badparam);
90 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
100 void usage(
const char *name,
const char *badparam)
103 Tests a control law with the following characteristics:\n\ 104 - eye-in-hand control\n\ 105 - articular velocity are computed\n\ 106 - servo on 4 points,\n\ 107 - internal and external camera view displays.\n\ 110 %s [-c] [-d] [-h]\n", name);
115 Disable the mouse click. Useful to automaze the \n\ 116 execution of this program without humain intervention.\n\ 119 Turn off the display.\n\ 125 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
139 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
147 click_allowed =
false;
153 usage(argv[0], NULL);
158 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;
175 int main(
int argc,
const char **argv)
178 bool opt_click_allowed =
true;
179 bool opt_display =
true;
182 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
188 #if defined VISP_HAVE_X11 190 #elif defined VISP_HAVE_GDI 192 #elif defined VISP_HAVE_OPENCV 201 displayInt.
init(Iint, 700, 0,
"Internal view");
206 std::cout << std::endl;
207 std::cout <<
"----------------------------------------------" << std::endl;
208 std::cout <<
" Test program for vpServo " << std::endl;
209 std::cout <<
" Eye-in-hand task control, articular velocity are computed" << std::endl;
210 std::cout <<
" Simulation " << std::endl;
211 std::cout <<
" task : servo 4 points " << std::endl;
212 std::cout <<
"----------------------------------------------" << std::endl;
213 std::cout << std::endl;
227 for (
unsigned int i = 0; i < 4; i++)
232 for (
unsigned int i = 0; i < 4; i++)
242 for (
unsigned int i = 0; i < 4; i++)
243 point[i].track(cdMo);
245 for (
unsigned int i = 0; i < 4; i++)
255 for (
unsigned int i = 0; i < 4; i++)
273 robot.initialiseObjectRelativeToCamera(cMo);
276 robot.setDesiredCameraPosition(cdMo);
280 robot.getCameraParameters(cam, Iint);
285 robot.getInternalView(Iint);
292 unsigned int iter = 0;
294 while (iter++ < 500) {
295 std::cout <<
"---------------------------------------------" << iter << std::endl;
302 cMo = robot.get_cMo();
305 std::cout <<
"Initial robot position with respect to the object frame:\n";
310 for (
unsigned int i = 0; i < 4; i++) {
319 robot.getInternalView(Iint);
323 if (opt_display && opt_click_allowed && iter == 1) {
325 std::cout <<
"Click in the internal view window to continue..." << std::endl;
335 std::cout <<
"|| s - s* || " << (task.
getError()).sumSquare() << std::endl;
344 std::cout <<
"Final robot position with respect to the object frame:\n";
347 if (opt_display && opt_click_allowed) {
349 std::cout <<
"Click in the internal view window to end..." << std::endl;
355 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
359 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)) 362 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface) of OpenCV functionalities to display images..." << std::endl;
363 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
364 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
365 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
366 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
369 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 372 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
378 std::cout <<
"You do not have threading capabilities" << std::endl;
379 std::cout <<
"Tip:" << std::endl;
380 std::cout <<
"- Install pthread, configure again ViSP using cmake and build again this example" << std::endl;
VISP_EXPORT int wait(double t0, double t)
void setWorldCoordinates(double oX, double oY, double oZ)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Display for windows using GDI (available on any windows 32 platform).
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Initialize the velocity controller.
vpColVector getError() 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.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Simulator of Irisa's Viper S850 robot named Viper850.
Implementation of column vector and the associated operations.
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)