48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
51 #ifdef VISP_HAVE_COIN3D_AND_GUI
53 #include <visp3/ar/vpSimulator.h>
54 #include <visp3/core/vpCameraParameters.h>
55 #include <visp3/core/vpHomogeneousMatrix.h>
56 #include <visp3/core/vpImage.h>
57 #include <visp3/core/vpIoTools.h>
58 #include <visp3/core/vpMath.h>
59 #include <visp3/core/vpTime.h>
60 #include <visp3/io/vpParseArgv.h>
61 #include <visp3/robot/vpSimulatorCamera.h>
62 #include <visp3/visual_features/vpFeatureBuilder.h>
63 #include <visp3/visual_features/vpFeaturePoint.h>
64 #include <visp3/vs/vpServo.h>
66 #define GETOPTARGS "di:h"
78 void usage(
const char *name,
const char *badparam, std::string ipath)
81 Simulation Servo 4points.\n\
84 %s [-i <input image path>] [-d] [-h]\n",
89 -i <input image path> %s\n\
90 Set image input path.\n\
91 From this path read \"iv/4points.iv\"\n\
93 Setting the VISP_INPUT_IMAGE_PATH environment\n\
94 variable produces the same behaviour than using\n\
98 Disable the image display. This can be useful \n\
99 for automatic tests using crontab under Unix or \n\
100 using the task manager under Windows.\n\
103 Print the help.\n\n",
107 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
125 bool getOptions(
int argc,
const char **argv, std::string &ipath,
bool &display)
139 usage(argv[0],
nullptr, ipath);
144 usage(argv[0], optarg, ipath);
150 if ((c == 1) || (c == -1)) {
152 usage(argv[0],
nullptr, ipath);
153 std::cerr <<
"ERROR: " << std::endl;
154 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
161 static void *mainLoop(
void *_simu)
169 float sampling_time = 0.040f;
170 robot.setSamplingTime(sampling_time);
172 std::cout << std::endl;
173 std::cout <<
"-------------------------------------------------------" << std::endl;
174 std::cout <<
" Test program for vpServo " << std::endl;
175 std::cout <<
" Eye-in-hand task control, articular velocities are computed" << std::endl;
176 std::cout <<
" Simulation " << std::endl;
177 std::cout <<
" task : servo 4 points " << std::endl;
178 std::cout <<
"-------------------------------------------------------" << std::endl;
179 std::cout << std::endl;
195 robot.setPosition(wMc);
200 robot.setPosition(wMc);
214 for (
int i = 0; i < 4; i++)
219 for (
int i = 0; i < 4; i++)
247 for (
int i = 0; i < 4; i++)
253 std::cout <<
"Display task information" << std::endl;
258 unsigned int iter = 0;
260 while (iter++ < 100) {
268 wMc = robot.getPosition();
270 for (
int i = 0; i < 4; i++) {
281 char name[FILENAME_MAX];
282 snprintf(name, FILENAME_MAX,
"/tmp/image.%04u.external.png", iter);
283 std::cout << name << std::endl;
285 snprintf(name, FILENAME_MAX,
"/tmp/image.%04u.internal.png", iter);
291 std::cout <<
"\nDisplay task information" << std::endl;
300 int main(
int argc,
const char **argv)
303 std::string env_ipath;
304 std::string opt_ipath;
306 std::string filename;
307 bool opt_display =
true;
314 if (!env_ipath.empty())
318 if (getOptions(argc, argv, opt_ipath, opt_display) ==
false) {
323 if (!opt_ipath.empty())
328 if (!opt_ipath.empty() && !env_ipath.empty()) {
329 if (ipath != env_ipath) {
330 std::cout << std::endl <<
"WARNING: " << std::endl;
331 std::cout <<
" Since -i <visp image path=" << ipath <<
"> "
332 <<
" is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
333 <<
" we skip the environment variable." << std::endl;
338 if (opt_ipath.empty() && env_ipath.empty()) {
339 usage(argv[0],
nullptr, ipath);
340 std::cerr << std::endl <<
"ERROR:" << std::endl;
341 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
342 <<
" environment variable to specify the location of the " << std::endl
343 <<
" image path where test images are located." << std::endl
362 simu.
load(filename.c_str());
373 std::cout <<
"Catch an exception: " << e << std::endl;
381 std::cout <<
"You do not have Coin3D and SoQT or SoWin or SoXt functionalities enabled..." << std::endl;
382 std::cout <<
"Tip:" << std::endl;
384 <<
"- Install Coin3D and SoQT or SoWin or SoXt, configure ViSP again using cmake and build again this example"
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of a pose vector and operations on poses.
void get_eJe(vpMatrix &eJe) vp_override
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void setMaxTranslationVelocity(double maxVt)
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 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 computeControlLaw()
Class that defines the simplest robot: a free flying camera.
Implementation of a simulator based on Coin3d (www.coin3d.org).
void load(const char *file_name)
load an iv file
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
virtual void mainLoop()
activate the mainloop
void setExternalCameraParameters(vpCameraParameters &cam)
set external camera parameters
void initMainApplication()
perform some initialization in the main program thread
void initApplication(void *(*start_routine)(void *))
begin the main program
void getCameraPosition(vpHomogeneousMatrix &_cMf)
get the camera position (from an homogeneous matrix)
void setZoomFactor(float zoom)
set the size of the camera/frame
void setCameraPosition(vpHomogeneousMatrix &cMf)
set the camera position (from an homogeneous matrix)
void initExternalViewer(unsigned int nlig, unsigned int ncol)
initialize the external view
void write(const char *fileName)
virtual void initInternalViewer(unsigned int nlig, unsigned int ncol)
initialize the camera view
void closeMainApplication()
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()