53 #include <visp/vpDebug.h>
54 #include <visp/vpConfig.h>
56 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
61 #include <visp/vpCameraParameters.h>
62 #include <visp/vpCylinder.h>
63 #include <visp/vpDisplayX.h>
64 #include <visp/vpDisplayGTK.h>
65 #include <visp/vpDisplayGDI.h>
66 #include <visp/vpFeatureBuilder.h>
67 #include <visp/vpFeatureLine.h>
68 #include <visp/vpHomogeneousMatrix.h>
69 #include <visp/vpImage.h>
70 #include <visp/vpMath.h>
71 #include <visp/vpParseArgv.h>
72 #include <visp/vpProjectionDisplay.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpSimulatorCamera.h>
75 #include <visp/vpServoDisplay.h>
78 #define GETOPTARGS "cdh"
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)
134 case 'c': click_allowed =
false;
break;
135 case 'd': display =
false;
break;
136 case 'h': usage(argv[0], NULL);
return false;
break;
139 usage(argv[0], optarg);
144 if ((c == 1) || (c == -1)) {
146 usage(argv[0], NULL);
147 std::cerr <<
"ERROR: " << std::endl;
148 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
157 main(
int argc,
const char ** argv)
159 bool opt_display =
true;
160 bool opt_click_allowed =
true;
163 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
170 #if defined VISP_HAVE_X11
172 #elif defined VISP_HAVE_GTK
174 #elif defined VISP_HAVE_GDI
181 display.
init(I, 100, 100,
"Camera view...") ;
197 double px, py ; px = py = 600 ;
198 double u0, v0 ; u0 = v0 = 256 ;
223 cylinder.track(cMod) ;
228 for(i=0 ; i < 2 ; i++)
233 cylinder.track(cMo) ;
237 for(i=0 ; i < 2 ; i++)
264 if (opt_display && opt_click_allowed) {
265 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
275 unsigned int iter=0 ;
279 std::cout <<
"---------------------------------------------" << iter++ <<std::endl ;
289 cylinder.track(cMo) ;
291 for(i=0 ; i < 2 ; i++)
309 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ; ;
313 while(( task.
getError() ).sumSquare() > 1e-9) ;
315 if (opt_display && opt_click_allowed) {
316 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
329 vpERROR_TRACE(
"You do not have X11, GTK or GDI display functionalities...");