53 #include <visp3/core/vpConfig.h>
55 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
60 #include <visp3/core/vpCameraParameters.h>
61 #include <visp3/core/vpCylinder.h>
62 #include <visp3/gui/vpDisplayX.h>
63 #include <visp3/gui/vpDisplayGTK.h>
64 #include <visp3/gui/vpDisplayGDI.h>
65 #include <visp3/gui/vpDisplayOpenCV.h>
66 #include <visp3/visual_features/vpFeatureBuilder.h>
67 #include <visp3/visual_features/vpFeatureLine.h>
68 #include <visp3/core/vpHomogeneousMatrix.h>
69 #include <visp3/core/vpImage.h>
70 #include <visp3/core/vpMath.h>
71 #include <visp3/io/vpParseArgv.h>
72 #include <visp3/gui/vpProjectionDisplay.h>
73 #include <visp3/vs/vpServo.h>
74 #include <visp3/robot/vpSimulatorCamera.h>
75 #include <visp3/vs/vpServoDisplay.h>
78 #define GETOPTARGS "cdh"
80 void usage(
const char *name,
const char *badparam);
81 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
91 void usage(
const char *name,
const char *badparam)
94 Simulation of a 2D visual servoing on a cylinder:\n\
95 - eye-in-hand control law,\n\
96 - velocity computed in the camera frame,\n\
97 - display the camera view.\n\
100 %s [-c] [-d] [-h]\n", name);
106 Disable the mouse click. Useful to automaze the \n\
107 execution of this program without humain intervention.\n\
110 Turn off the display.\n\
116 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
130 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
137 case 'c': click_allowed =
false;
break;
138 case 'd': display =
false;
break;
139 case 'h': usage(argv[0], NULL);
return false;
break;
142 usage(argv[0], optarg_);
147 if ((c == 1) || (c == -1)) {
149 usage(argv[0], NULL);
150 std::cerr <<
"ERROR: " << std::endl;
151 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
160 main(
int argc,
const char ** argv)
163 bool opt_display =
true;
164 bool opt_click_allowed =
true;
167 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
175 #if defined VISP_HAVE_X11
178 #elif defined VISP_HAVE_GTK
181 #elif defined VISP_HAVE_GDI
184 #elif defined VISP_HAVE_OPENCV
192 displayInt.
init(Iint, 100, 100,
"Internal view") ;
193 displayExt.
init(Iext, (
int)(130+Iint.
getWidth()), 100,
"External view") ;
214 double px, py ; px = py = 600 ;
215 double u0, v0 ; u0 = v0 = 256 ;
239 externalview.
insert(cylinder) ;
242 cylinder.track(cMod) ;
248 for(i=0 ; i < 2 ; i++)
253 cylinder.track(cMo) ;
258 for(i=0 ; i < 2 ; i++)
293 if (opt_display && opt_click_allowed) {
294 std::cout <<
"\n\nClick in the internal camera view window to start..." << std::endl;
304 unsigned int iter=0 ;
308 std::cout <<
"---------------------------------------------" << iter++ <<std::endl ;
319 cylinder.track(cMo) ;
322 for(i=0 ; i < 2 ; i++)
343 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
345 while(( task.
getError() ).sumSquare() > 1e-9) ;
361 double vitesse = 0.5;
362 unsigned int tempo = 800;
372 cylinder.track(cMo) ;
374 for(i=0 ; i < 2 ; i++)
391 if ( iter%tempo < 200 /*&& iter%tempo >= 0*/)
394 e1[0] = fabs(vitesse) ;
396 rapport = vitesse/proj_e1[0];
401 if ( iter%tempo < 400 && iter%tempo >= 200)
404 e2[1] = fabs(vitesse) ;
406 rapport = vitesse/proj_e2[1];
411 if ( iter%tempo < 600 && iter%tempo >= 400)
414 e1[0] = -fabs(vitesse) ;
416 rapport = -vitesse/proj_e1[0];
421 if ( iter%tempo < 800 && iter%tempo >= 600)
424 e2[1] = -fabs(vitesse) ;
426 rapport = -vitesse/proj_e2[1];
433 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
438 if (opt_display && opt_click_allowed) {
439 std::cout <<
"\nClick in the internal camera view window to end..." << std::endl;
449 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
459 std::cout <<
"You do not have X11, GTK, GDI or OpenCV display functionalities..." << std::endl;
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj=false, const unsigned int thickness=1)
unsigned int getWidth() const
void print(const unsigned int select=FEATURE_ALL) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
Display for windows using GDI (available on any windows 32 platform).
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpColVector secondaryTask(const vpColVector &de2dt, const bool &useLargeProjectionOperator=false)
vpColVector getError() const
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void insert(vpForwardProjection &fp)
vpHomogeneousMatrix getPosition() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
Class that defines what is a cylinder.
Implementation of column vector and the associated operations.
vpHomogeneousMatrix inverse() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
interface with the image for feature display
void setServo(const vpServoType &servo_type)
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)