52 #include <visp3/core/vpConfig.h> 53 #include <visp3/core/vpDebug.h> 55 #if (defined(VISP_HAVE_COIN3D_AND_GUI)) 57 #include <visp3/ar/vpSimulator.h> 58 #include <visp3/core/vpCameraParameters.h> 59 #include <visp3/core/vpImage.h> 60 #include <visp3/core/vpTime.h> 62 #include <visp3/core/vpHomogeneousMatrix.h> 63 #include <visp3/core/vpIoTools.h> 64 #include <visp3/core/vpMath.h> 65 #include <visp3/io/vpParseArgv.h> 66 #include <visp3/robot/vpSimulatorCamera.h> 67 #include <visp3/visual_features/vpFeatureBuilder.h> 68 #include <visp3/visual_features/vpFeaturePoint.h> 69 #include <visp3/vs/vpServo.h> 71 static void *mainLoop(
void *_simu)
112 for (
int i = 0; i < 4; i++)
113 point[i].project(cMo_d);
117 for (
int i = 0; i < 4; i++)
125 for (
int i = 0; i < 4; i++)
126 point[i].project(cMo);
130 for (
int i = 0; i < 4; i++)
150 for (
int i = 0; i < 4; i++)
165 for (
int i = 0; i < 4; i++) {
218 std::string filename =
"./4points.iv";
224 std::cout <<
"Load : " << filename << std::endl <<
"This file should be in the working directory" << std::endl;
226 simu.
load(filename.c_str());
234 std::cout <<
"Catch an exception: " << e << std::endl;
240 int main() {
vpTRACE(
"You should install Coin3D and/or GTK"); }
void setPosition(const vpHomogeneousMatrix &wMc)
Implementation of a matrix and operations on matrices.
virtual void initInternalViewer(const unsigned int nlig, const unsigned int ncol)
initialize the camera view
VISP_EXPORT int wait(double t0, double t)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setCameraPosition(vpHomogeneousMatrix &cMf)
set the camera position (from an homogeneous matrix)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
Implementation of a simulator based on Coin3d (www.coin3d.org).
void set_eJe(const vpMatrix &eJe_)
void closeMainApplication()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void getCameraParameters(vpCameraParameters &cam)
get the intrinsic parameters of the camera
vpHomogeneousMatrix getPosition() const
virtual void mainLoop()
activate the mainloop
VISP_EXPORT double measureTimeMs()
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
void initApplication(void *(*start_routine)(void *))
begin the main program
vpColVector computeControlLaw()
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
Generic class defining intrinsic camera parameters.
void load(const char *file_name)
load an iv file
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void initMainApplication()
perform some initialization in the main program thread
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void get_eJe(vpMatrix &eJe)
void initExternalViewer(const unsigned int nlig, const unsigned int ncol)
initialize the external view
void setServo(const vpServoType &servo_type)