48#include <visp3/core/vpConfig.h>
49#include <visp3/core/vpDebug.h>
51#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) \
52 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
57#include <visp3/core/vpCameraParameters.h>
58#include <visp3/core/vpHomogeneousMatrix.h>
59#include <visp3/core/vpImage.h>
60#include <visp3/core/vpLine.h>
61#include <visp3/core/vpMath.h>
62#include <visp3/gui/vpDisplayGDI.h>
63#include <visp3/gui/vpDisplayGTK.h>
64#include <visp3/gui/vpDisplayOpenCV.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/io/vpParseArgv.h>
67#include <visp3/robot/vpSimulatorCamera.h>
68#include <visp3/visual_features/vpFeatureBuilder.h>
69#include <visp3/visual_features/vpFeatureLine.h>
70#include <visp3/vs/vpServo.h>
71#include <visp3/vs/vpServoDisplay.h>
74#define GETOPTARGS "cdh"
76void usage(
const char *name,
const char *badparam);
77bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
87void usage(
const char *name,
const char *badparam)
90Simulation of 2D a visual servoing on a line:\n\
91- eye-in-hand control law,\n\
92- velocity computed in the camera frame,\n\
93- display the camera view.\n\
96 %s [-c] [-d] [-h]\n", name);
102 Disable the mouse click. Useful to automaze the \n\
103 execution of this program without humain intervention.\n\
106 Turn off the display.\n\
112 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
135 click_allowed =
false;
141 usage(argv[0], NULL);
145 usage(argv[0], optarg_);
150 if ((c == 1) || (c == -1)) {
152 usage(argv[0], NULL);
153 std::cerr <<
"ERROR: " << std::endl;
154 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
161int main(
int argc,
const char **argv)
164 bool opt_display =
true;
165 bool opt_click_allowed =
true;
168 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
175#if defined VISP_HAVE_X11
177#elif defined VISP_HAVE_GTK
179#elif defined VISP_HAVE_GDI
181#elif defined VISP_HAVE_OPENCV
188 display.init(I, 100, 100,
"Camera view...");
202 double px = 500, py = 500;
203 double u0 = 150, v0 = 160;
215 robot.getPosition(wMc);
269 if (opt_display && opt_click_allowed) {
270 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
274 unsigned int iter = 0;
276 while (iter++ < 200) {
277 std::cout <<
"---------------------------------------------" << iter << std::endl;
281 robot.getPosition(wMc);
302 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
305 if (opt_display && opt_click_allowed) {
315 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
320#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
323 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
329 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
330 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
331 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
332 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
333 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 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 ,...
void print(unsigned int select=FEATURE_ALL) const
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)
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 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.