50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpDebug.h>
53#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) \
54 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
59#include <visp3/core/vpCameraParameters.h>
60#include <visp3/core/vpCircle.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/core/vpMath.h>
64#include <visp3/gui/vpDisplayGDI.h>
65#include <visp3/gui/vpDisplayGTK.h>
66#include <visp3/gui/vpDisplayOpenCV.h>
67#include <visp3/gui/vpDisplayX.h>
68#include <visp3/io/vpParseArgv.h>
69#include <visp3/robot/vpSimulatorCamera.h>
70#include <visp3/visual_features/vpFeatureBuilder.h>
71#include <visp3/visual_features/vpFeatureLine.h>
72#include <visp3/vs/vpServo.h>
73#include <visp3/vs/vpServoDisplay.h>
76#define GETOPTARGS "cdh"
78void usage(
const char *name,
const char *badparam);
79bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
89void usage(
const char *name,
const char *badparam)
92Simulation of a 2D visual servoing on a circle:\n\
93- eye-in-hand control law,\n\
94- velocity computed in the camera frame,\n\
95- display the camera view.\n\
98 %s [-c] [-d] [-h]\n", name);
104 Disable the mouse click. Useful to automaze the \n\
105 execution of this program without humain intervention.\n\
108 Turn off the display.\n\
114 fprintf(stderr,
"ERROR: \n");
115 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
131bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
139 click_allowed =
false;
145 usage(argv[0], NULL);
149 usage(argv[0], optarg_);
154 if ((c == 1) || (c == -1)) {
156 usage(argv[0], NULL);
157 std::cerr <<
"ERROR: " << std::endl;
158 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
165int main(
int argc,
const char **argv)
168 bool opt_display =
true;
169 bool opt_click_allowed =
true;
172 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
173 return(EXIT_FAILURE);
179#if defined VISP_HAVE_X11
181#elif defined VISP_HAVE_GTK
183#elif defined VISP_HAVE_GDI
185#elif defined VISP_HAVE_OPENCV
191 display.init(I, 100, 100,
"Camera view...");
201 double px = 600, py = 600;
212 robot.getPosition(wMc);
245 unsigned int iter = 0;
247 while (iter++ < 200) {
248 std::cout <<
"---------------------------------------------" << iter << std::endl;
252 robot.getPosition(wMc);
271 std::cout <<
"task rank: " << task.
getTaskRank() << std::endl;
275 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
281 if (opt_display && opt_click_allowed) {
288 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
292#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
295 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
301 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) or OpenCV functionalities to display images..." << std::endl;
302 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
303 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
304 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
305 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
void setWorldCoordinates(const vpColVector &oP)
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 emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void print(unsigned int select=FEATURE_ALL) const
print the name of the feature
virtual void print() const
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
unsigned int getWidth() const
unsigned int getHeight() const
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)
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)
unsigned int getTaskRank() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
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.