44 #include <visp3/core/vpCameraParameters.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpImage.h>
47 #include <visp3/core/vpIoTools.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpTime.h>
50 #include <visp3/core/vpVelocityTwistMatrix.h>
51 #include <visp3/gui/vpDisplayD3D.h>
52 #include <visp3/gui/vpDisplayGDI.h>
53 #include <visp3/gui/vpDisplayGTK.h>
54 #include <visp3/gui/vpDisplayOpenCV.h>
55 #include <visp3/gui/vpDisplayX.h>
56 #include <visp3/gui/vpPlot.h>
57 #include <visp3/io/vpImageIo.h>
58 #include <visp3/io/vpParseArgv.h>
59 #include <visp3/robot/vpSimulatorCamera.h>
60 #include <visp3/robot/vpWireFrameSimulator.h>
61 #include <visp3/visual_features/vpFeatureBuilder.h>
62 #include <visp3/visual_features/vpFeaturePoint.h>
63 #include <visp3/vs/vpServo.h>
65 #define GETOPTARGS "dhp"
67 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
77 void usage(
const char *name,
const char *badparam)
80 Demonstration of the wireframe simulator with a simple visual servoing.\n\
82 The visual servoing consists in bringing the camera at a desired \n\
83 position from the object.\n\
85 The visual features used to compute the pose of the camera and \n\
86 thus the control law are four points.\n\
88 This demonstration explains also how to move the object around a world\n\
89 reference frame. Here, the movement is a rotation around the x and y axis\n\
90 at a given distance from the world frame. In fact the object trajectory\n\
91 is on a sphere whose center is the origin of the world frame.\n\
100 Turn off the display.\n\
103 Turn off the plotter.\n\
109 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
124 bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
138 usage(argv[0],
nullptr);
142 usage(argv[0], optarg_);
147 if ((c == 1) || (c == -1)) {
149 usage(argv[0],
nullptr);
150 std::cerr <<
"ERROR: " << std::endl;
151 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
158 int main(
int argc,
const char **argv)
161 bool opt_display =
true;
162 bool opt_plot =
true;
164 std::cout <<
"Read " << filename << std::endl;
167 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
175 #if defined(VISP_HAVE_X11)
177 #elif defined(HAVE_OPENCV_HIGHGUI)
179 #elif defined(VISP_HAVE_GDI)
181 #elif defined(VISP_HAVE_D3D9)
183 #elif defined(VISP_HAVE_GTK)
189 display[0].init(Iint, 100, 100,
"The internal view");
190 display[1].init(Iext1, 100, 100,
"The first external view");
191 display[2].init(Iext2, 100, 100,
"The second external view");
203 vpPlot *plotter =
nullptr;
206 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
207 plotter->
setTitle(0,
"Visual features error");
208 plotter->
setTitle(1,
"Camera velocities");
211 plotter->
setLegend(0, 0,
"error_feat_p1_x");
212 plotter->
setLegend(0, 1,
"error_feat_p1_y");
213 plotter->
setLegend(0, 2,
"error_feat_p2_x");
214 plotter->
setLegend(0, 3,
"error_feat_p2_y");
215 plotter->
setLegend(0, 4,
"error_feat_p3_x");
216 plotter->
setLegend(0, 5,
"error_feat_p3_y");
217 plotter->
setLegend(0, 6,
"error_feat_p4_x");
218 plotter->
setLegend(0, 7,
"error_feat_p4_y");
229 float sampling_time = 0.020f;
230 robot.setSamplingTime(sampling_time);
255 for (
int i = 0; i < 4; i++)
260 for (
int i = 0; i < 4; i++)
264 for (
int i = 0; i < 4; i++)
265 point[i].track(cdMo);
268 for (
int i = 0; i < 4; i++)
282 for (
int i = 0; i < 4; i++)
287 std::list<vpImageSimulator> list;
291 for (
int i = 0; i < 4; i++)
309 imsim.
init(filename.c_str(), X);
311 list.push_back(imsim);
366 std::cout <<
"Click on a display" << std::endl;
373 robot.setPosition(wMc);
383 while (iter++ < max_iter && !stop) {
396 wMc = robot.getPosition();
398 for (
int i = 0; i < 4; i++) {
419 camoMf.buildFrom(0, 0.0, 1.5, 0,
vpMath::rad(150), 0);
424 plotter->
plot(1, iter, v);
450 std::stringstream ss;
451 ss <<
"Loop time: " << t - t_prev <<
" ms";
464 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
467 if (opt_plot && plotter !=
nullptr) {
486 std::cout <<
"Catch an exception: " << e << std::endl;
490 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
493 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
499 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..."
501 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
502 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
503 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
504 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor none
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void setWindowPosition(const vpImage< unsigned char > &I, int winx, int winy)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void init(const vpImage< unsigned char > &I, vpColVector *X)
static double rad(double deg)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
void initGraph(unsigned int graphNum, unsigned int curveNbr)
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
void setTitle(unsigned int graphNum, const std::string &title)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
void get_eJe(vpMatrix &eJe) vp_override
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void setMaxRotationVelocity(double maxVr)
void setMaxTranslationVelocity(double maxVt)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
vpHomogeneousMatrix getExternalCameraPosition() const
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void getInternalImage(vpImage< unsigned char > &I)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
void set_fMo(const vpHomogeneousMatrix &fMo_)
vpHomogeneousMatrix get_fMo() const
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
void setInternalCameraParameters(const vpCameraParameters &cam)
void setExternalCameraParameters(const vpCameraParameters &cam)
void getExternalImage(vpImage< unsigned char > &I)
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()