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/vpDisplayX.h>
63 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpDisplayGDI.h>
65 #include <visp/vpFeatureBuilder.h>
66 #include <visp/vpFeatureLine.h>
67 #include <visp/vpHomogeneousMatrix.h>
68 #include <visp/vpImage.h>
69 #include <visp/vpLine.h>
70 #include <visp/vpMath.h>
71 #include <visp/vpParseArgv.h>
72 #include <visp/vpRobotCamera.h>
73 #include <visp/vpServo.h>
74 #include <visp/vpServoDisplay.h>
75 #include <visp/vpSimulatorCamera.h>
78 #define GETOPTARGS "cdh"
88 void usage(
const char *name,
const char *badparam)
91 Simulation of 2D a visual servoing on a line:\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);
128 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
135 case 'c': click_allowed =
false;
break;
136 case 'd': display =
false;
break;
137 case 'h': usage(argv[0], NULL);
return false;
break;
140 usage(argv[0], optarg);
145 if ((c == 1) || (c == -1)) {
147 usage(argv[0], NULL);
148 std::cerr <<
"ERROR: " << std::endl;
149 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
158 main(
int argc,
const char ** argv)
160 bool opt_display =
true;
161 bool opt_click_allowed =
true;
164 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
171 #if defined VISP_HAVE_X11
173 #elif defined VISP_HAVE_GTK
175 #elif defined VISP_HAVE_GDI
182 display.
init(I, 100, 100,
"Camera view...") ;
199 double px, py ; px = py = 600 ;
200 double u0, v0 ; u0 = v0 = 256 ;
234 for(
int i = 0; i < nbline; i++)
236 line[i].
track(cMod) ;
244 for(
int i = 0; i < nbline; i++)
263 for(
int i = 0; i < nbline; i++)
276 if (opt_display && opt_click_allowed) {
277 std::cout <<
"\n\nClick in the camera view window to start..." << std::endl;
281 unsigned int iter=0 ;
285 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
294 for(
int i = 0; i < nbline; i++)
312 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ; ;
316 if (opt_display && opt_click_allowed) {
317 std::cout <<
"\nClick in the camera view window to end..." << std::endl;
330 vpERROR_TRACE(
"You do not have X11, GTK or GDI display functionalities...");