#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if defined(VISP_HAVE_DISPLAY) && \
(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
#define GETOPTARGS "cdh"
#ifdef ENABLE_VISP_NAMESPACE
#endif
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Simulation of a 2D visual servoing on a circle:\n\
- eye-in-hand control law,\n\
- velocity computed in the camera frame,\n\
- display the camera view.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n");
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'h':
usage(argv[0], nullptr);
return false;
default:
usage(argv[0], optarg_);
return false;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], nullptr);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
#endif
try {
bool opt_display = true;
bool opt_click_allowed = true;
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
return (EXIT_FAILURE);
}
if (opt_display) {
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#else
#endif
}
double px = 600, py = 600;
wMo = wMc * cMo;
unsigned int iter = 0;
while (iter++ < 200) {
std::cout << "---------------------------------------------" << iter << std::endl;
robot.getPosition(wMc);
if (opt_display) {
}
std::cout <<
"task rank: " << task.
getTaskRank() << std::endl;
std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
}
if (opt_display && opt_click_allowed) {
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
return EXIT_SUCCESS;
}
std::cout << "Catch a ViSP exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
return EXIT_FAILURE;
}
}
#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
int main()
{
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
"images..."
<< std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE
Implementation of column vector and the associated operations.
static const vpColor white
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
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 vpImagePoint &t)
Class that defines 2D ellipse visual feature.
void print(unsigned int select=FEATURE_ALL) const VP_OVERRIDE
Print the name of the feature.
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
unsigned int getWidth() const
unsigned int getHeight() const
static double rad(double deg)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
unsigned int getTaskRank() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.