52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpDebug.h>
55 #ifdef VISP_HAVE_COIN3D_AND_GUI
57 #include <visp3/ar/vpSimulator.h>
58 #include <visp3/core/vpCameraParameters.h>
59 #include <visp3/core/vpHomogeneousMatrix.h>
60 #include <visp3/core/vpImage.h>
61 #include <visp3/core/vpIoTools.h>
62 #include <visp3/core/vpMath.h>
63 #include <visp3/core/vpTime.h>
64 #include <visp3/io/vpParseArgv.h>
65 #include <visp3/robot/vpSimulatorCamera.h>
66 #include <visp3/visual_features/vpFeatureBuilder.h>
67 #include <visp3/visual_features/vpFeaturePoint.h>
68 #include <visp3/vs/vpServo.h>
70 #define GETOPTARGS "di:h"
82 void usage(
const char *name,
const char *badparam, std::string ipath)
85 Simulation Servo 4points.\n\
88 %s [-i <input image path>] [-d] [-h]\n", name);
92 -i <input image path> %s\n\
93 Set image input path.\n\
94 From this path read \"iv/4points.iv\"\n\
96 Setting the VISP_INPUT_IMAGE_PATH environment\n\
97 variable produces the same behaviour than using\n\
101 Disable the image display. This can be useful \n\
102 for automatic tests using crontab under Unix or \n\
103 using the task manager under Windows.\n\
106 Print the help.\n\n", ipath.c_str());
109 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
127 bool getOptions(
int argc,
const char **argv, std::string &ipath,
bool &display)
141 usage(argv[0], NULL, ipath);
146 usage(argv[0], optarg, ipath);
152 if ((c == 1) || (c == -1)) {
154 usage(argv[0], NULL, ipath);
155 std::cerr <<
"ERROR: " << std::endl;
156 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
163 static void *mainLoop(
void *_simu)
171 float sampling_time = 0.040f;
172 robot.setSamplingTime(sampling_time);
174 std::cout << std::endl;
175 std::cout <<
"-------------------------------------------------------" << std::endl;
176 std::cout <<
" Test program for vpServo " << std::endl;
177 std::cout <<
" Eye-in-hand task control, articular velocities are computed" << std::endl;
178 std::cout <<
" Simulation " << std::endl;
179 std::cout <<
" task : servo 4 points " << std::endl;
180 std::cout <<
"-------------------------------------------------------" << std::endl;
181 std::cout << std::endl;
197 robot.setPosition(wMc);
202 robot.setPosition(wMc);
216 for (
int i = 0; i < 4; i++)
221 for (
int i = 0; i < 4; i++)
249 for (
int i = 0; i < 4; i++)
255 std::cout <<
"Display task information" << std::endl;
260 unsigned int iter = 0;
262 while (iter++ < 100) {
270 wMc = robot.getPosition();
272 for (
int i = 0; i < 4; i++) {
283 char name[FILENAME_MAX];
284 sprintf(name,
"/tmp/image.%04u.external.png", iter);
285 std::cout << name << std::endl;
287 sprintf(name,
"/tmp/image.%04u.internal.png", iter);
293 std::cout <<
"\nDisplay task information" << std::endl;
302 int main(
int argc,
const char **argv)
305 std::string env_ipath;
306 std::string opt_ipath;
308 std::string filename;
309 bool opt_display =
true;
316 if (!env_ipath.empty())
320 if (getOptions(argc, argv, opt_ipath, opt_display) ==
false) {
325 if (!opt_ipath.empty())
330 if (!opt_ipath.empty() && !env_ipath.empty()) {
331 if (ipath != env_ipath) {
332 std::cout << std::endl <<
"WARNING: " << std::endl;
333 std::cout <<
" Since -i <visp image path=" << ipath <<
"> "
334 <<
" is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
335 <<
" we skip the environment variable." << std::endl;
340 if (opt_ipath.empty() && env_ipath.empty()) {
341 usage(argv[0], NULL, ipath);
342 std::cerr << std::endl <<
"ERROR:" << std::endl;
343 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
344 <<
" environment variable to specify the location of the " << std::endl
345 <<
" image path where test images are located." << std::endl
364 simu.
load(filename.c_str());
374 std::cout <<
"Catch an exception: " << e << std::endl;
382 std::cout <<
"You do not have Coin3D and SoQT or SoWin or SoXt functionalities enabled..." << std::endl;
383 std::cout <<
"Tip:" << std::endl;
384 std::cout <<
"- Install Coin3D and SoQT or SoWin or SoXt, configure ViSP again using cmake and build again this example" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
void track(const vpHomogeneousMatrix &cMo)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static double rad(double deg)
Implementation of a matrix and operations on matrices.
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of a pose vector and operations on poses.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
void setMaxTranslationVelocity(double maxVt)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
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.
Implementation of a simulator based on Coin3d (www.coin3d.org).
void load(const char *file_name)
load an iv file
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
virtual void mainLoop()
activate the mainloop
void setExternalCameraParameters(vpCameraParameters &cam)
set external camera parameters
void initMainApplication()
perform some initialization in the main program thread
void initApplication(void *(*start_routine)(void *))
begin the main program
void getCameraPosition(vpHomogeneousMatrix &_cMf)
get the camera position (from an homogeneous matrix)
void setZoomFactor(float zoom)
set the size of the camera/frame
void setCameraPosition(vpHomogeneousMatrix &cMf)
set the camera position (from an homogeneous matrix)
void initExternalViewer(unsigned int nlig, unsigned int ncol)
initialize the external view
void write(const char *fileName)
virtual void initInternalViewer(unsigned int nlig, unsigned int ncol)
initialize the camera view
void closeMainApplication()
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()