54 #include <visp/vpDebug.h>
55 #include <visp/vpConfig.h>
57 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
62 #include <visp/vpCameraParameters.h>
63 #include <visp/vpCircle.h>
64 #include <visp/vpDisplayX.h>
65 #include <visp/vpDisplayGTK.h>
66 #include <visp/vpDisplayGDI.h>
67 #include <visp/vpFeatureBuilder.h>
68 #include <visp/vpFeatureLine.h>
69 #include <visp/vpHomogeneousMatrix.h>
70 #include <visp/vpImage.h>
71 #include <visp/vpMath.h>
72 #include <visp/vpParseArgv.h>
73 #include <visp/vpProjectionDisplay.h>
74 #include <visp/vpServo.h>
75 #include <visp/vpSimulatorCamera.h>
76 #include <visp/vpServoDisplay.h>
79 #define GETOPTARGS "cdh"
89 void usage(
const char *name,
const char *badparam)
92 Simulation of a 2D visual servoing on a circle:\n\
93 - eye-in-hand control law,\n\
94 - velocity computed in the camera frame,\n\
95 - display the camera view.\n\
98 %s [-c] [-d] [-h]\n", name);
104 Disable the mouse click. Useful to automaze the \n\
105 execution of this program without humain intervention.\n\
108 Turn off the display.\n\
114 fprintf(stderr,
"ERROR: \n" );
115 fprintf(stderr,
"\nBad parameter [%s]\n", badparam);
131 bool getOptions(
int argc,
const char **argv,
bool &click_allowed,
bool &display)
138 case 'c': click_allowed =
false;
break;
139 case 'd': display =
false;
break;
140 case 'h': usage(argv[0], NULL);
return false;
break;
143 usage(argv[0], optarg);
148 if ((c == 1) || (c == -1)) {
150 usage(argv[0], NULL);
151 std::cerr <<
"ERROR: " << std::endl;
152 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
161 main(
int argc,
const char ** argv)
163 bool opt_display =
true;
164 bool opt_click_allowed =
true;
167 if (getOptions(argc, argv, opt_click_allowed, opt_display) ==
false) {
174 #if defined VISP_HAVE_X11
176 #elif defined VISP_HAVE_GTK
178 #elif defined VISP_HAVE_GDI
185 display.
init(I, 100, 100,
"Camera view...") ;
201 double px, py ; px = py = 600 ;
202 double u0, v0 ; u0 = v0 = 256 ;
249 unsigned int iter=0 ;
253 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
276 std::cout <<
"task rank: " << task.
getTaskRank() <<std::endl ;
280 std::cout <<
"|| s - s* || = " << ( task.
getError() ).sumSquare() <<std::endl ;
287 if (opt_display && opt_click_allowed) {
288 std::cout <<
"Click in the camera view window to end..." << std::endl;
297 vpERROR_TRACE(
"You do not have X11, GTK or GDI display functionalities...");