49#include <visp3/core/vpCameraParameters.h>
50#include <visp3/core/vpHomogeneousMatrix.h>
51#include <visp3/core/vpImage.h>
52#include <visp3/core/vpIoTools.h>
53#include <visp3/core/vpMath.h>
54#include <visp3/core/vpSphere.h>
55#include <visp3/core/vpTime.h>
56#include <visp3/core/vpVelocityTwistMatrix.h>
57#include <visp3/gui/vpDisplayD3D.h>
58#include <visp3/gui/vpDisplayGDI.h>
59#include <visp3/gui/vpDisplayGTK.h>
60#include <visp3/gui/vpDisplayOpenCV.h>
61#include <visp3/gui/vpDisplayX.h>
62#include <visp3/gui/vpPlot.h>
63#include <visp3/io/vpImageIo.h>
64#include <visp3/io/vpParseArgv.h>
65#include <visp3/robot/vpSimulatorCamera.h>
66#include <visp3/robot/vpWireFrameSimulator.h>
67#include <visp3/visual_features/vpFeatureBuilder.h>
68#include <visp3/visual_features/vpGenericFeature.h>
69#include <visp3/vs/vpServo.h>
71#define GETOPTARGS "dhp"
73#if defined(VISP_HAVE_DISPLAY) \
74 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
84void usage(
const char *name,
const char *badparam)
87Demonstration of the wireframe simulator with a simple visual servoing.\n\
89The visual servoing consists in bringing the camera at a desired position from the object.\n\
91The 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\
94 %s [-d] [-p] [-h]\n", name);
99 Turn off the display.\n\
102 Turn off the plotter.\n\
108 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
123bool getOptions(
int argc,
const char **argv,
bool &display,
bool &plot)
137 usage(argv[0], NULL);
141 usage(argv[0], optarg_);
146 if ((c == 1) || (c == -1)) {
148 usage(argv[0], NULL);
149 std::cerr <<
"ERROR: " << std::endl;
150 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
171 double gx = sphere.
get_x();
172 double gy = sphere.
get_y();
178 if (std::fabs(gx) > std::numeric_limits<double>::epsilon() || std::fabs(gy) > std::numeric_limits<double>::epsilon())
184 double sx = gx * h2 / (sqrt(h2 + 1));
185 double sy = gy * h2 / (sqrt(h2 + 1));
186 double sz = sqrt(h2 + 1);
201 L[0][0] = -1 / sphere.
getR();
202 L[1][1] = -1 / sphere.
getR();
203 L[2][2] = -1 / sphere.
getR();
212 for (
unsigned int i = 0; i < 3; i++)
213 for (
unsigned int j = 0; j < 3; j++)
214 L[i][j + 3] = sk[i][j];
217int main(
int argc,
const char **argv)
220 bool opt_display =
true;
221 bool opt_plot =
true;
224 if (getOptions(argc, argv, opt_display, opt_plot) ==
false) {
232#if defined VISP_HAVE_X11
234#elif defined VISP_HAVE_OPENCV
236#elif defined VISP_HAVE_GDI
238#elif defined VISP_HAVE_D3D9
240#elif defined VISP_HAVE_GTK
246 display[0].init(Iint, 100, 100,
"The internal view");
247 display[1].init(Iext1, 100, 100,
"The first external view");
248 display[2].init(Iext2, 100, 100,
"The second external view");
264 float sampling_time = 0.020f;
265 robot.setSamplingTime(sampling_time);
282 robot.setPosition(wMc);
292 computeVisualFeatures(sphere, s);
298 computeVisualFeatures(sphere, sd);
301 computeInteractionMatrix(sd, sphere, L);
302 sd.setInteractionMatrix(L);
320 plotter =
new vpPlot(2, 480, 640, 750, 550,
"Real time curves plotter");
321 plotter->
setTitle(0,
"Visual features error");
322 plotter->
setTitle(1,
"Camera velocities");
325 plotter->
setLegend(0, 0,
"error_feat_sx");
326 plotter->
setLegend(0, 1,
"error_feat_sy");
327 plotter->
setLegend(0, 2,
"error_feat_sz");
388 std::cout <<
"Click on a display" << std::endl;
403 while (iter++ < max_iter && !stop) {
416 wMc = robot.getPosition();
422 computeVisualFeatures(sphere, s);
430 camoMf.buildFrom(0, 0.0, 2.5, 0,
vpMath::rad(150), 0);
435 plotter->
plot(1, iter, v);
461 std::stringstream ss;
462 ss <<
"Loop time: " << t - t_prev <<
" ms";
476 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
479 if (opt_plot && plotter != NULL) {
496 std::cout <<
"Catch an exception: " << e << std::endl;
500#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
503 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
509 std::cout <<
"You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
510 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
511 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
512 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
513 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 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.
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
void setMaxRotationVelocity(double maxVr)
void setMaxTranslationVelocity(double maxVt)
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_)
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.
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)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()