47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpCylinder.h>
49 #include <visp3/gui/vpDisplayOpenCV.h>
50 #include <visp3/gui/vpDisplayX.h>
51 #include <visp3/gui/vpDisplayGTK.h>
52 #include <visp3/gui/vpDisplayGDI.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/visual_features/vpFeatureBuilder.h>
55 #include <visp3/core/vpHomogeneousMatrix.h>
56 #include <visp3/core/vpImage.h>
57 #include <visp3/io/vpImageIo.h>
58 #include <visp3/core/vpIoTools.h>
59 #include <visp3/core/vpMath.h>
60 #include <visp3/io/vpParseArgv.h>
61 #include <visp3/robot/vpSimulatorCamera.h>
62 #include <visp3/vs/vpServo.h>
63 #include <visp3/core/vpTime.h>
64 #include <visp3/core/vpVelocityTwistMatrix.h>
65 #include <visp3/robot/vpWireFrameSimulator.h>
67 #define GETOPTARGS "dh"
69 #ifdef VISP_HAVE_DISPLAY
70 void usage(
const char *name,
const char *badparam);
71 bool getOptions(
int argc,
const char **argv,
bool &display);
81 void usage(
const char *name,
const char *badparam)
84 Demonstration of the wireframe simulator with a simple visual servoing.\n\
86 The visual servoing consists in bringing the camera at a desired position\n\
89 The visual features used to compute the pose of the camera and \n\
90 thus the control law are two lines. These features are computed thanks \n\
91 to the equation of a cylinder.\n\
93 This demonstration explains also how to move the object around a world \n\
94 reference frame. Here, the movment is a rotation around the x and y axis \n\
95 at a given distance from the world frame. In fact the object trajectory \n\
96 is on a sphere whose center is the origin of the world frame.\n\
99 %s [-d] [-h]\n", name);
104 Turn off the display.\n\
110 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
125 bool getOptions(
int argc,
const char **argv,
bool &display)
132 case 'd': display =
false;
break;
133 case 'h': usage(argv[0], NULL);
return false;
break;
136 usage(argv[0], optarg_);
141 if ((c == 1) || (c == -1)) {
143 usage(argv[0], NULL);
144 std::cerr <<
"ERROR: " << std::endl;
145 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
154 main(
int argc,
const char ** argv)
157 bool opt_display =
true;
160 if (getOptions(argc, argv, opt_display) ==
false) {
167 #if defined VISP_HAVE_X11
169 #elif defined VISP_HAVE_OPENCV
171 #elif defined VISP_HAVE_GDI
173 #elif defined VISP_HAVE_D3D9
175 #elif defined VISP_HAVE_GTK
182 display[0].
init(Iint, 100, 100,
"The internal view") ;
183 display[1].
init(Iext, 100, 100,
"The first external view") ;
194 float sampling_time = 0.040f;
219 cylinder.track(cdMo);
236 for (
int i = 0 ; i < 2 ; i++)
282 std::cout <<
"Click on a display" << std::endl;
301 double vitesse = 0.3;
320 cylinder.track(cMo) ;
327 if ( iter%tempo < 200 && iter%tempo >= 0)
330 e1[0] = -fabs(vitesse) ;
332 rapport = -vitesse/proj_e1[0];
337 if ( iter%tempo < 300 && iter%tempo >= 200)
340 e2[1] = -fabs(vitesse) ;
342 rapport = -vitesse/proj_e2[1];
347 if ( iter%tempo < 500 && iter%tempo >= 300)
350 e1[0] = -fabs(vitesse) ;
352 rapport = vitesse/proj_e1[0];
357 if ( iter%tempo < 600 && iter%tempo >= 500)
360 e2[1] = -fabs(vitesse) ;
362 rapport = vitesse/proj_e2[1];
394 std::cout <<
"|| s - s* || = " << (task.
getError() ).sumSquare() <<std::endl ;
403 std::cout <<
"Catch an exception: " << e << std::endl;
411 vpERROR_TRACE(
"You do not have X11, OpenCV, GDI, D3D9 or GTK display functionalities...");
void setPosition(const vpHomogeneousMatrix &wMc)
The object displayed at the desired position is the same than the scene object defined in vpSceneObje...
Implementation of a matrix and operations on matrices.
A cylinder of 80cm length and 10cm radius.
VISP_EXPORT int wait(double t0, double t)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void set_fMo(const vpHomogeneousMatrix &fMo_)
Display for windows using GDI (available on any windows 32 platform).
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static const vpColor none
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
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)
virtual void setSamplingTime(const double &delta_t)
Display for windows using Direct3D.
vpColVector getError() const
vpHomogeneousMatrix get_fMo() const
vpColVector computeControlLaw()
virtual void setWindowPosition(int winx, int winy)=0
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 ...
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpHomogeneousMatrix getPosition() const
Implementation of a velocity twist matrix and operations on such kind of matrices.
void getExternalImage(vpImage< unsigned char > &I)
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setExternalCameraParameters(const vpCameraParameters &cam)
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
VISP_EXPORT double measureTimeMs()
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, vpImagePoint offset=vpImagePoint(0, 0))
void getInternalImage(vpImage< unsigned char > &I)
Class that defines what is a cylinder.
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
vpHomogeneousMatrix inverse() const
void setInternalCameraParameters(const vpCameraParameters &cam)
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)
void get_eJe(vpMatrix &eJe)
void setServo(const vpServoType &servo_type)
vpHomogeneousMatrix getExternalCameraPosition() const