52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMath.h>
54 #include <visp3/core/vpSphere.h>
55 #include <visp3/gui/vpDisplayGDI.h>
56 #include <visp3/gui/vpDisplayGTK.h>
57 #include <visp3/gui/vpDisplayOpenCV.h>
58 #include <visp3/gui/vpDisplayX.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/robot/vpSimulatorCamera.h>
61 #include <visp3/visual_features/vpFeatureBuilder.h>
62 #include <visp3/visual_features/vpFeatureEllipse.h>
63 #include <visp3/vs/vpServo.h>
64 #include <visp3/vs/vpServoDisplay.h>
67 #define GETOPTARGS "cdh"
69 void usage(
const char *name,
const char *badparam);
70 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display);
80 void usage(
const char *name,
const char *badparam)
83 Simulation of a 2D visual servoing on a sphere:\n\
84 - eye-in-hand control law,\n\
85 - velocity computed in the camera frame,\n\
86 - display the camera view.\n\
89 %s [-c] [-d] [-h]\n", name);
95 Disable the mouse click. Useful to automaze the \n\
96 execution of this program without humain intervention.\n\
99 Turn off the display.\n\
105 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
120 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
128 click_allowed =
false;
134 usage(argv[0], NULL);
138 usage(argv[0], optarg_);
143 if ((c == 1) || (c == -1)) {
145 usage(argv[0], NULL);
146 std::cerr <<
"ERROR: " << std::endl;
147 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
154 int main(
int argc,
const char **argv)
156 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
158 bool opt_display =
true;
159 bool opt_click_allowed =
true;
162 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
163 return(EXIT_FAILURE);
169 #if defined VISP_HAVE_X11
171 #elif defined VISP_HAVE_GTK
173 #elif defined VISP_HAVE_GDI
175 #elif defined VISP_HAVE_OPENCV
180 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
182 display.init(I, 100, 100,
"Camera view...");
193 double px = 600, py = 600;
208 robot.getPosition(wMc);
245 unsigned int iter = 0;
247 while (iter++ < 200) {
248 std::cout <<
"---------------------------------------------" << iter << std::endl;
252 robot.getPosition(wMc);
269 std::cout <<
"Task rank: " << task.
getTaskRank() << std::endl;
273 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
276 if (opt_display && opt_click_allowed) {
286 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
292 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << 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 2D ellipse visual feature.
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 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)
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.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
void setWorldCoordinates(const vpColVector &oP)