47#include <visp3/core/vpCameraParameters.h>
48#include <visp3/core/vpCylinder.h>
49#include <visp3/core/vpHomogeneousMatrix.h>
50#include <visp3/core/vpImage.h>
51#include <visp3/core/vpIoTools.h>
52#include <visp3/core/vpMath.h>
53#include <visp3/core/vpTime.h>
54#include <visp3/core/vpVelocityTwistMatrix.h>
55#include <visp3/gui/vpDisplayD3D.h>
56#include <visp3/gui/vpDisplayGDI.h>
57#include <visp3/gui/vpDisplayGTK.h>
58#include <visp3/gui/vpDisplayOpenCV.h>
59#include <visp3/gui/vpDisplayX.h>
60#include <visp3/gui/vpPlot.h>
61#include <visp3/io/vpImageIo.h>
62#include <visp3/io/vpParseArgv.h>
63#include <visp3/robot/vpSimulatorCamera.h>
64#include <visp3/robot/vpWireFrameSimulator.h>
65#include <visp3/visual_features/vpFeatureBuilder.h>
66#include <visp3/vs/vpServo.h>
68#define GETOPTARGS "dhp"
70#if defined(VISP_HAVE_DISPLAY) \
71 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
81void usage(
const char *name,
const char *badparam)
84Demonstration of the wireframe simulator with a simple visual servoing.\n\
86The visual servoing consists in bringing the camera at a desired position\n\
89The visual features used to compute the pose of the camera and \n\
90thus the control law are two lines. These features are computed thanks \n\
91to the equation of a cylinder.\n\
93This demonstration explains also how to move the object around a world \n\
94reference frame. Here, the movment is a rotation around the x and y axis \n\
95at a given distance from the world frame. In fact the object trajectory \n\
96is on a sphere whose center is the origin of the world frame.\n\
99 %s [-d] [-p] [-h]\n", name);
104 Turn off the display.\n\
107 Turn off the plotter.\n\
113 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
128bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
142 usage(argv[0], NULL);
146 usage(argv[0], optarg_);
151 if ((c == 1) || (c == -1)) {
153 usage(argv[0], NULL);
154 std::cerr <<
"ERROR: " << std::endl;
155 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
162int main(
int argc,
const char **argv)
165 bool opt_display =
true;
166 bool opt_plot =
true;
169 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
176#if defined VISP_HAVE_X11
178#elif defined VISP_HAVE_OPENCV
180#elif defined VISP_HAVE_GDI
182#elif defined VISP_HAVE_D3D9
184#elif defined VISP_HAVE_GTK
190 display[0].init(Iint, 100, 100,
"The internal view");
191 display[1].init(Iext, 100, 100,
"The first external view");
204 float sampling_time = 0.020f;
205 robot.setSamplingTime(sampling_time);
229 cylinder.track(cdMo);
246 for (
int i = 0; i < 2; i++)
250 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
251 plotter->
setTitle(0,
"Visual features error");
252 plotter->
setTitle(1,
"Camera velocities");
255 plotter->
setLegend(0, 0,
"error_feat_l1_rho");
256 plotter->
setLegend(0, 1,
"error_feat_l1_theta");
257 plotter->
setLegend(0, 2,
"error_feat_l2_rho");
258 plotter->
setLegend(0, 3,
"error_feat_l2_theta");
312 std::cout <<
"Click on a display" << std::endl;
317 robot.setPosition(wMc);
332 double vitesse = 0.3;
337 while (iter++ < max_iter && !stop) {
349 wMc = robot.getPosition();
359 if (iter % tempo < 200 && iter % tempo >= 0) {
361 e1[0] = -fabs(vitesse);
363 rapport = -vitesse / proj_e1[0];
368 else if (iter % tempo < 300 && iter % tempo >= 200) {
370 e2[1] = -fabs(vitesse);
372 rapport = -vitesse / proj_e2[1];
377 else if (iter % tempo < 500 && iter % tempo >= 300) {
379 e1[0] = -fabs(vitesse);
381 rapport = vitesse / proj_e1[0];
386 else if (iter % tempo < 600 && iter % tempo >= 500) {
388 e2[1] = -fabs(vitesse);
390 rapport = vitesse / proj_e2[1];
404 plotter->
plot(1, iter, v);
425 std::stringstream ss;
426 ss <<
"Loop time: " << t - t_prev <<
" ms";
439 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
442 if (opt_plot && plotter != NULL) {
460 std::cout <<
"Catch an exception: " << e << std::endl;
464#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
467 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
473 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
474 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
475 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
476 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
477 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
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
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 flush(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))
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 emited 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 ,...
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)
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
unsigned int getDimension() const
Return the task dimension.
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_)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines the simplest robot: a free flying camera.
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)
@ CYLINDER
A cylinder of 80cm length and 10cm radius.
void getExternalImage(vpImage< unsigned char > &I)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()