49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpMath.h>
52 #include <visp3/core/vpSphere.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/gui/vpDisplayGDI.h>
55 #include <visp3/gui/vpDisplayGTK.h>
56 #include <visp3/gui/vpDisplayOpenCV.h>
57 #include <visp3/gui/vpDisplayX.h>
58 #include <visp3/gui/vpProjectionDisplay.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/robot/vpSimulatorCamera.h>
61 #include <visp3/visual_features/vpFeatureBuilder.h>
62 #include <visp3/visual_features/vpFeatureEllipse.h>
63 #include <visp3/vs/vpServo.h>
64 #include <visp3/vs/vpServoDisplay.h>
67 #define GETOPTARGS "cdho"
69 #ifdef ENABLE_VISP_NAMESPACE
73 void usage(
const char *name,
const char *badparam);
74 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
84 void usage(
const char *name,
const char *badparam)
87 Simulation of a 2D visual servoing on a sphere:\n\
88 - eye-in-hand control law,\n\
89 - velocity computed in the camera frame,\n\
90 - display the camera view,\n\
91 - a secondary task is the added.\n\
94 %s [-c] [-d] [-o] [-h]\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\
108 Disable new projection operator usage for secondary task.\n\
114 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
130 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display,
bool &new_proj_operator)
138 click_allowed =
false;
144 new_proj_operator =
false;
147 usage(argv[0],
nullptr);
151 usage(argv[0], optarg_);
156 if ((c == 1) || (c == -1)) {
158 usage(argv[0],
nullptr);
159 std::cerr <<
"ERROR: " << std::endl;
160 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
167 int main(
int argc,
const char **argv)
169 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
171 bool opt_display =
true;
172 bool opt_click_allowed =
true;
173 bool opt_new_proj_operator =
true;
176 if (getOptions(argc, argv, opt_click_allowed, opt_display, opt_new_proj_operator) ==
false) {
177 return (EXIT_FAILURE);
184 #ifdef VISP_HAVE_DISPLAY
185 #if defined(VISP_HAVE_X11)
187 vpDisplayX displayExt;
188 #elif defined(VISP_HAVE_GTK)
191 #elif defined(VISP_HAVE_GDI)
194 #elif defined(HAVE_OPENCV_HIGHGUI)
197 #elif defined(VISP_HAVE_D3D9)
204 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
206 displayI.
init(I, 100, 100,
"Camera view...");
207 displayExt.init(Iext, 130 +
static_cast<int>(I.
getWidth()), 100,
"External view");
220 #ifdef VISP_HAVE_DISPLAY
224 double px = 600, py = 600;
239 robot.getPosition(wMc);
251 #ifdef VISP_HAVE_DISPLAY
252 externalview.
insert(sphere);
271 std::cout << std::endl;
282 #ifdef VISP_HAVE_DISPLAY
291 if (opt_display && opt_click_allowed) {
297 unsigned int iter = 0;
299 bool start_secondary_task =
false;
302 while (iter++ < 2000 && !stop) {
303 std::cout <<
"---------------------------------------------" << iter << std::endl;
306 robot.getPosition(wMc);
318 #ifdef VISP_HAVE_DISPLAY
328 start_secondary_task =
true;
331 if (start_secondary_task) {
341 std::cout <<
"de2dt :" << de2dt.t() << std::endl;
343 std::cout <<
"(I-WpW)de2dt :" << sec.
t() << std::endl;
347 if (opt_display && opt_click_allowed) {
348 std::stringstream ss;
349 ss << std::string(
"New projection operator: ") +
350 (opt_new_proj_operator ? std::string(
"yes (use option -o to use old one)") : std::string(
"no"));
356 if (opt_display && opt_click_allowed) {
364 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
376 if (opt_display && opt_click_allowed) {
389 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
395 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor white
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...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="") VP_OVERRIDE
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 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)
interface with the image for feature display
void insert(vpForwardProjection &fp)
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj=false, unsigned int thickness=1)
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 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)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE