46 #include <visp3/core/vpConfig.h>
47 #include <visp3/core/vpDebug.h>
49 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
50 (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
55 #include <visp3/core/vpCameraParameters.h>
56 #include <visp3/core/vpCircle.h>
57 #include <visp3/core/vpHomogeneousMatrix.h>
58 #include <visp3/core/vpImage.h>
59 #include <visp3/core/vpMath.h>
60 #include <visp3/gui/vpDisplayGDI.h>
61 #include <visp3/gui/vpDisplayGTK.h>
62 #include <visp3/gui/vpDisplayOpenCV.h>
63 #include <visp3/gui/vpDisplayX.h>
64 #include <visp3/io/vpParseArgv.h>
65 #include <visp3/robot/vpSimulatorCamera.h>
66 #include <visp3/visual_features/vpFeatureBuilder.h>
67 #include <visp3/visual_features/vpFeatureLine.h>
68 #include <visp3/vs/vpServo.h>
69 #include <visp3/vs/vpServoDisplay.h>
72 #define GETOPTARGS "cdh"
74 void usage(
const char *name,
const char *badparam);
75 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
85 void usage(
const char *name,
const char *badparam)
88 Simulation of a 2D visual servoing on a circle:\n\
89 - eye-in-hand control law,\n\
90 - velocity computed in the camera frame,\n\
91 - display the camera view.\n\
101 Disable the mouse click. Useful to automate the \n\
102 execution of this program without human intervention.\n\
105 Turn off the display.\n\
111 fprintf(stderr,
"ERROR: \n");
112 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
128 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
136 click_allowed =
false;
142 usage(argv[0],
nullptr);
146 usage(argv[0], optarg_);
151 if ((c == 1) || (c == -1)) {
153 usage(argv[0],
nullptr);
154 std::cerr <<
"ERROR: " << std::endl;
155 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
162 int main(
int argc,
const char **argv)
165 bool opt_display =
true;
166 bool opt_click_allowed =
true;
169 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
170 return (EXIT_FAILURE);
176 #if defined(VISP_HAVE_X11)
178 #elif defined(VISP_HAVE_GTK)
180 #elif defined(VISP_HAVE_GDI)
182 #elif defined(HAVE_OPENCV_HIGHGUI)
188 display.init(I, 100, 100,
"Camera view...");
198 double px = 600, py = 600;
209 robot.getPosition(wMc);
242 unsigned int iter = 0;
244 while (iter++ < 200) {
245 std::cout <<
"---------------------------------------------" << iter << std::endl;
249 robot.getPosition(wMc);
268 std::cout <<
"task rank: " << task.
getTaskRank() << std::endl;
272 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
278 if (opt_display && opt_click_allowed) {
286 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
290 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
293 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
299 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
302 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
303 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
304 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
305 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
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
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 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 vpDot &d)
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.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.