47 #include <visp3/core/vpCameraParameters.h> 48 #include <visp3/core/vpHomogeneousMatrix.h> 49 #include <visp3/core/vpImage.h> 50 #include <visp3/core/vpIoTools.h> 51 #include <visp3/core/vpMath.h> 52 #include <visp3/core/vpTime.h> 53 #include <visp3/core/vpVelocityTwistMatrix.h> 54 #include <visp3/gui/vpDisplayD3D.h> 55 #include <visp3/gui/vpDisplayGDI.h> 56 #include <visp3/gui/vpDisplayGTK.h> 57 #include <visp3/gui/vpDisplayOpenCV.h> 58 #include <visp3/gui/vpDisplayX.h> 59 #include <visp3/gui/vpPlot.h> 60 #include <visp3/io/vpImageIo.h> 61 #include <visp3/io/vpParseArgv.h> 62 #include <visp3/robot/vpSimulatorCamera.h> 63 #include <visp3/robot/vpWireFrameSimulator.h> 64 #include <visp3/visual_features/vpFeatureBuilder.h> 65 #include <visp3/visual_features/vpFeaturePoint.h> 66 #include <visp3/vs/vpServo.h> 68 #define GETOPTARGS "dhp" 70 #if defined(VISP_HAVE_DISPLAY) \ 71 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 81 void usage(
const char *name,
const char *badparam)
84 Demonstration of the wireframe simulator with a simple visual servoing.\n\ 86 The visual servoing consists in bringing the camera at a desired \n\ 87 position from the object.\n\ 89 The visual features used to compute the pose of the camera and \n\ 90 thus the control law are four points.\n\ 92 This demonstration explains also how to move the object around a world\n\ 93 reference frame. Here, the movement is a rotation around the x and y axis\n\ 94 at a given distance from the world frame. In fact the object trajectory\n\ 95 is on a sphere whose center is the origin of the world frame.\n\ 98 %s [-d] [-p] [-h]\n", name);
103 Turn off the display.\n\ 106 Turn off the plotter.\n\ 112 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127 bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
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_plot =
true;
167 std::cout <<
"Read " << filename << std::endl;
170 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
178 #if defined VISP_HAVE_X11 180 #elif defined VISP_HAVE_OPENCV 182 #elif defined VISP_HAVE_GDI 184 #elif defined VISP_HAVE_D3D9 186 #elif defined VISP_HAVE_GTK 192 display[0].
init(Iint, 100, 100,
"The internal view");
193 display[1].
init(Iext1, 100, 100,
"The first external view");
194 display[2].
init(Iext2, 100, 100,
"The second external view");
209 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
210 plotter->
setTitle(0,
"Visual features error");
211 plotter->
setTitle(1,
"Camera velocities");
214 plotter->
setLegend(0, 0,
"error_feat_p1_x");
215 plotter->
setLegend(0, 1,
"error_feat_p1_y");
216 plotter->
setLegend(0, 2,
"error_feat_p2_x");
217 plotter->
setLegend(0, 3,
"error_feat_p2_y");
218 plotter->
setLegend(0, 4,
"error_feat_p3_x");
219 plotter->
setLegend(0, 5,
"error_feat_p3_y");
220 plotter->
setLegend(0, 6,
"error_feat_p4_x");
221 plotter->
setLegend(0, 7,
"error_feat_p4_y");
232 float sampling_time = 0.020f;
258 for (
int i = 0; i < 4; i++)
263 for (
int i = 0; i < 4; i++)
267 for (
int i = 0; i < 4; i++)
268 point[i].track(cdMo);
271 for (
int i = 0; i < 4; i++)
285 for (
int i = 0; i < 4; i++)
290 std::list<vpImageSimulator> list;
294 for (
int i = 0; i < 4; i++)
312 imsim.
init(filename.c_str(), X);
314 list.push_back(imsim);
369 std::cout <<
"Click on a display" << std::endl;
386 while (iter++ < max_iter && !stop) {
401 for (
int i = 0; i < 4; i++) {
422 camoMf.buildFrom(0, 0.0, 1.5, 0,
vpMath::rad(150), 0);
427 plotter->
plot(1, iter, v);
453 std::stringstream ss;
454 ss <<
"Loop time: " << t - t_prev <<
" ms";
467 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
470 if (opt_plot && plotter != NULL) {
488 std::cout <<
"Catch an exception: " << e << std::endl;
492 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)) 495 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
501 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
502 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
503 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
504 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
505 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
void setPosition(const vpHomogeneousMatrix &wMc)
Implementation of a matrix and operations on matrices.
VISP_EXPORT int wait(double t0, double t)
void init(const vpImage< unsigned char > &I, vpColVector *X)
void setWorldCoordinates(double oX, double oY, double oZ)
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.
vpHomogeneousMatrix get_fMo() const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_fMo(const vpHomogeneousMatrix &fMo_)
Display for windows using GDI (available on any windows 32 platform).
void set_eJe(const vpMatrix &eJe_)
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...
static const vpColor none
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
vpHomogeneousMatrix getPosition() const
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setMaxRotationVelocity(double maxVr)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
virtual void setSamplingTime(const double &delta_t)
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
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 init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
Class which enables to project an image in the 3D space and get the view of a virtual camera...
void setTitle(unsigned int graphNum, const std::string &title)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void getExternalImage(vpImage< unsigned char > &I)
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setExternalCameraParameters(const vpCameraParameters &cam)
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void getInternalImage(vpImage< unsigned char > &I)
static void setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
Implementation of column vector and the associated operations.
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void setInternalCameraParameters(const vpCameraParameters &cam)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
vpColVector getError() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void get_eJe(vpMatrix &eJe)
void setServo(const vpServoType &servo_type)
void setMaxTranslationVelocity(double maxVt)
vpHomogeneousMatrix getExternalCameraPosition() const