46 #include <visp3/core/vpCameraParameters.h>
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpImage.h>
49 #include <visp3/core/vpIoTools.h>
50 #include <visp3/core/vpMath.h>
51 #include <visp3/core/vpSphere.h>
52 #include <visp3/core/vpTime.h>
53 #include <visp3/core/vpVelocityTwistMatrix.h>
54 #include <visp3/gui/vpDisplayD3D.h>
55 #include <visp3/gui/vpDisplayGDI.h>
56 #include <visp3/gui/vpDisplayGTK.h>
57 #include <visp3/gui/vpDisplayOpenCV.h>
58 #include <visp3/gui/vpDisplayX.h>
59 #include <visp3/gui/vpPlot.h>
60 #include <visp3/io/vpImageIo.h>
61 #include <visp3/io/vpParseArgv.h>
62 #include <visp3/robot/vpSimulatorCamera.h>
63 #include <visp3/robot/vpWireFrameSimulator.h>
64 #include <visp3/visual_features/vpFeatureBuilder.h>
65 #include <visp3/visual_features/vpGenericFeature.h>
66 #include <visp3/vs/vpServo.h>
68 #define GETOPTARGS "dhp"
70 #if defined(VISP_HAVE_DISPLAY) && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
80 void usage(
const char *name,
const char *badparam)
83 Demonstration of the wireframe simulator with a simple visual servoing.\n\
85 The visual servoing consists in bringing the camera at a desired position from the object.\n\
87 The visual features used to compute the pose of the camera and thus the control law are special moments computed with the sphere's parameters.\n\
96 Turn off the display.\n\
99 Turn off the plotter.\n\
105 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
120 bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
134 usage(argv[0],
nullptr);
138 usage(argv[0], optarg_);
143 if ((c == 1) || (c == -1)) {
145 usage(argv[0],
nullptr);
146 std::cerr <<
"ERROR: " << std::endl;
147 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
168 double gx = sphere.
get_x();
169 double gy = sphere.
get_y();
175 if (std::fabs(gx) > std::numeric_limits<double>::epsilon() || std::fabs(gy) > std::numeric_limits<double>::epsilon())
181 double sx = gx * h2 / (sqrt(h2 + 1));
182 double sy = gy * h2 / (sqrt(h2 + 1));
183 double sz = sqrt(h2 + 1);
198 L[0][0] = -1 / sphere.
getR();
199 L[1][1] = -1 / sphere.
getR();
200 L[2][2] = -1 / sphere.
getR();
209 for (
unsigned int i = 0; i < 3; i++)
210 for (
unsigned int j = 0; j < 3; j++)
211 L[i][j + 3] = sk[i][j];
214 int main(
int argc,
const char **argv)
217 bool opt_display =
true;
218 bool opt_plot =
true;
221 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
229 #if defined(VISP_HAVE_X11)
231 #elif defined(HAVE_OPENCV_HIGHGUI)
233 #elif defined(VISP_HAVE_GDI)
235 #elif defined(VISP_HAVE_D3D9)
237 #elif defined(VISP_HAVE_GTK)
243 display[0].init(Iint, 100, 100,
"The internal view");
244 display[1].init(Iext1, 100, 100,
"The first external view");
245 display[2].init(Iext2, 100, 100,
"The second external view");
257 vpPlot *plotter =
nullptr;
261 float sampling_time = 0.020f;
262 robot.setSamplingTime(sampling_time);
279 robot.setPosition(wMc);
289 computeVisualFeatures(sphere, s);
295 computeVisualFeatures(sphere, sd);
298 computeInteractionMatrix(sd, sphere, L);
299 sd.setInteractionMatrix(L);
317 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
318 plotter->
setTitle(0,
"Visual features error");
319 plotter->
setTitle(1,
"Camera velocities");
322 plotter->
setLegend(0, 0,
"error_feat_sx");
323 plotter->
setLegend(0, 1,
"error_feat_sy");
324 plotter->
setLegend(0, 2,
"error_feat_sz");
385 std::cout <<
"Click on a display" << std::endl;
400 while (iter++ < max_iter && !stop) {
413 wMc = robot.getPosition();
419 computeVisualFeatures(sphere, s);
427 camoMf.buildFrom(0, 0.0, 2.5, 0,
vpMath::rad(150), 0);
432 plotter->
plot(1, iter, v);
458 std::stringstream ss;
459 ss <<
"Loop time: " << t - t_prev <<
" ms";
473 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
476 if (opt_plot && plotter !=
nullptr) {
494 std::cout <<
"Catch an exception: " << e << std::endl;
498 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
501 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
507 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..."
509 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
510 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
511 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
512 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.
void track(const vpHomogeneousMatrix &cMo)
Class that enables to define a feature or a set of features which are not implemented in ViSP as a sp...
void get_s(vpColVector &s) const
get the value of all the features.
void set_s(const vpColVector &s)
set the value of all the features.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
static double sqr(double x)
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)
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)
unsigned int getDimension() const
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.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Class that consider the case of a translation vector.
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)
@ SPHERE
A 15cm radius sphere.
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()