47 #include <visp/vpConfig.h>
48 #include <visp/vpCameraParameters.h>
49 #include <visp/vpDisplay.h>
50 #include <visp/vpDisplayGDI.h>
51 #include <visp/vpDisplayX.h>
52 #include <visp/vpFeatureBuilder.h>
53 #include <visp/vpFeatureSegment.h>
54 #include <visp/vpHomogeneousMatrix.h>
55 #include <visp/vpImage.h>
56 #include <visp/vpMath.h>
57 #include <visp/vpParseArgv.h>
58 #include <visp/vpPlot.h>
59 #include <visp/vpPoint.h>
60 #include <visp/vpRobotCamera.h>
61 #include <visp/vpServo.h>
70 int main(
int argc,
const char **argv)
72 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
76 int opt_normalized = 1;
79 vpParseArgv::vpArgvInfo argTable[] =
81 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
83 "Disable display and graphics viewer."},
86 "1 to use normalized features, 0 for non normalized."},
100 std::cout <<
"Used options: " << std::endl;
101 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
102 opt_curves = opt_display;
103 std::cout <<
" - display : " << opt_display << std::endl;
104 std::cout <<
" - curves : " << opt_curves << std::endl;
106 std::cout <<
" - normalized: " << opt_normalized << std::endl;
110 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
113 #if defined(VISP_HAVE_X11)
115 #elif defined VISP_HAVE_GDI
122 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
137 for (
int i=0; i<4; i++) {
142 for (
int i=0; i<4; i++) {
148 for (
int i=0; i <2; i++)
150 if (opt_normalized) {
170 for (
int i=0; i <2; i++)
173 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
176 for (
int i=0; i <2; i++) {
184 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
189 graph =
new vpPlot(2, 500, 500, 700, 10,
"Curves...");
201 float sampling_time = 0.010f ;
209 for (
int i=0; i <4; i++)
212 for (
int i=0; i <2; i++)
215 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
218 for (
int i=0; i <2; i++) {
229 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
232 graph->
plot(0, iter, v);
240 }
while(( task.
getError() ).sumSquare() > 0.0005);
246 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
250 #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
251 if (opt_display && display != NULL)
255 std::cout <<
"final error=" << ( task.
getError() ).sumSquare() << std::endl;