45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpDebug.h>
48 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
49 (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
54 #include <visp3/core/vpCameraParameters.h>
55 #include <visp3/core/vpHomogeneousMatrix.h>
56 #include <visp3/core/vpImage.h>
57 #include <visp3/core/vpLine.h>
58 #include <visp3/core/vpMath.h>
59 #include <visp3/gui/vpDisplayGDI.h>
60 #include <visp3/gui/vpDisplayGTK.h>
61 #include <visp3/gui/vpDisplayOpenCV.h>
62 #include <visp3/gui/vpDisplayX.h>
63 #include <visp3/io/vpParseArgv.h>
64 #include <visp3/robot/vpSimulatorCamera.h>
65 #include <visp3/visual_features/vpFeatureBuilder.h>
66 #include <visp3/visual_features/vpFeatureLine.h>
67 #include <visp3/vs/vpServo.h>
68 #include <visp3/vs/vpServoDisplay.h>
71 #define GETOPTARGS "cdh"
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 2D a visual servoing on a line:\n\
88 - eye-in-hand control law,\n\
89 - velocity computed in the camera frame,\n\
90 - display the camera view.\n\
100 Disable the mouse click. Useful to automate the \n\
101 execution of this program without human intervention.\n\
104 Turn off the display.\n\
110 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...");
216 robot.getPosition(wMc);
235 for (
int i = 0; i < nbline; i++) {
244 for (
int i = 0; i < nbline; i++) {
263 for (
int i = 0; i < nbline; i++)
276 if (opt_display && opt_click_allowed) {
277 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
281 unsigned int iter = 0;
283 while (iter++ < 200) {
284 std::cout <<
"---------------------------------------------" << iter << std::endl;
288 robot.getPosition(wMc);
293 for (
int i = 0; i < nbline; i++) {
310 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
313 if (opt_display && opt_click_allowed) {
323 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
328 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
331 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
337 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display "
340 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
341 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
342 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
343 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 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 a 2D line visual feature which is composed by two parameters that are and ,...
void print(unsigned int select=FEATURE_ALL) const vp_override
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
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.