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/vpCylinder.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 cylinder:\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(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
125 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
133 click_allowed =
false;
139 usage(argv[0],
nullptr);
143 usage(argv[0], optarg_);
148 if ((c == 1) || (c == -1)) {
150 usage(argv[0],
nullptr);
151 std::cerr <<
"ERROR: " << std::endl;
152 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
159 int main(
int argc,
const char **argv)
162 bool opt_display =
true;
163 bool opt_click_allowed =
true;
166 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
173 #if defined(VISP_HAVE_X11)
175 #elif defined(VISP_HAVE_GTK)
177 #elif defined(VISP_HAVE_GDI)
179 #elif defined(HAVE_OPENCV_HIGHGUI)
186 display.init(I, 100, 100,
"Camera view...");
215 robot.getPosition(wMc);
227 cylinder.track(cMod);
231 for (
unsigned int i = 0; i < 2; i++)
240 for (
unsigned int i = 0; i < 2; i++) {
268 if (opt_display && opt_click_allowed) {
269 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
279 unsigned int iter = 0;
282 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
286 robot.getPosition(wMc);
294 for (
unsigned int i = 0; i < 2; i++) {
311 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
314 }
while ((task.
getError()).sumSquare() > 1e-9);
316 if (opt_display && opt_click_allowed) {
327 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
332 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
335 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
341 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
344 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
345 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
346 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
347 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 black
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
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 a 2D line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const vp_override
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() 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)
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.