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Visual Servoing Platform
version 3.3.0
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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))
58 #include <visp3/core/vpCameraParameters.h>
59 #include <visp3/core/vpCylinder.h>
60 #include <visp3/core/vpHomogeneousMatrix.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpMath.h>
63 #include <visp3/gui/vpDisplayGDI.h>
64 #include <visp3/gui/vpDisplayGTK.h>
65 #include <visp3/gui/vpDisplayOpenCV.h>
66 #include <visp3/gui/vpDisplayX.h>
67 #include <visp3/io/vpParseArgv.h>
68 #include <visp3/robot/vpSimulatorCamera.h>
69 #include <visp3/visual_features/vpFeatureBuilder.h>
70 #include <visp3/visual_features/vpFeatureLine.h>
71 #include <visp3/vs/vpServo.h>
72 #include <visp3/vs/vpServoDisplay.h>
75 #define GETOPTARGS "cdh"
77 void usage(
const char *name,
const char *badparam);
78 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
88 void usage(
const char *name,
const char *badparam)
91 Simulation of a 2D visual servoing on a cylinder:\n\
92 - eye-in-hand control law,\n\
93 - velocity computed in the camera frame,\n\
94 - display the camera view.\n\
97 %s [-c] [-d] [-h]\n", name);
103 Disable the mouse click. Useful to automaze the \n\
104 execution of this program without humain intervention.\n\
107 Turn off the display.\n\
113 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
135 click_allowed =
false;
141 usage(argv[0], NULL);
146 usage(argv[0], optarg_);
152 if ((c == 1) || (c == -1)) {
154 usage(argv[0], NULL);
155 std::cerr <<
"ERROR: " << std::endl;
156 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
163 int main(
int argc,
const char **argv)
166 bool opt_display =
true;
167 bool opt_click_allowed =
true;
170 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
177 #if defined VISP_HAVE_X11
179 #elif defined VISP_HAVE_GTK
181 #elif defined VISP_HAVE_GDI
183 #elif defined VISP_HAVE_OPENCV
190 display.init(I, 100, 100,
"Camera view...");
230 cylinder.track(cMod);
235 for (i = 0; i < 2; i++)
244 for (i = 0; i < 2; i++) {
272 if (opt_display && opt_click_allowed) {
273 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
283 unsigned int iter = 0;
286 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
298 for (i = 0; i < 2; i++) {
315 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
319 }
while ((task.
getError()).sumSquare() > 1e-9);
321 if (opt_display && opt_click_allowed) {
322 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
331 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
339 std::cout <<
"You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
340 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
341 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
342 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
343 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static double rad(double deg)
Generic class defining intrinsic camera parameters.
Display for windows using GDI (available on any windows 32 platform).
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines the simplest robot: a free flying camera.
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a cylinder.
vpHomogeneousMatrix getPosition() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpColVector getError() const
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(unsigned int select=FEATURE_ALL) const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
vpColVector computeControlLaw()
static void flush(const vpImage< unsigned char > &I)
vpHomogeneousMatrix inverse() const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
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)
error that can be emited by ViSP classes.