52 #include <visp3/core/vpConfig.h> 53 #include <visp3/core/vpDebug.h> 55 #if (defined(VISP_HAVE_COIN3D_AND_GUI) && (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))) 57 #include <visp3/ar/vpSimulator.h> 58 #include <visp3/core/vpCameraParameters.h> 59 #include <visp3/core/vpImage.h> 60 #include <visp3/core/vpImageConvert.h> 61 #include <visp3/core/vpTime.h> 63 #if defined(VISP_HAVE_X11) 64 #include <visp3/gui/vpDisplayX.h> 65 #elif defined(VISP_HAVE_GDI) 66 #include <visp3/gui/vpDisplayGDI.h> 67 #elif defined(VISP_HAVE_GTK) 68 #include <visp3/gui/vpDisplayGTK.h> 73 #include <visp3/blob/vpDot2.h> 74 #include <visp3/core/vpHomogeneousMatrix.h> 75 #include <visp3/core/vpIoTools.h> 76 #include <visp3/core/vpMath.h> 77 #include <visp3/robot/vpSimulatorCamera.h> 78 #include <visp3/vision/vpPose.h> 79 #include <visp3/visual_features/vpFeatureBuilder.h> 80 #include <visp3/visual_features/vpFeaturePoint.h> 81 #include <visp3/vs/vpServo.h> 82 #include <visp3/vs/vpServoDisplay.h> 84 static void *mainLoop(
void *_simu)
125 for (
int i = 0; i < 4; i++)
126 point[i].project(cMo_d);
130 for (
int i = 0; i < 4; i++)
142 #if defined(VISP_HAVE_X11) 144 #elif defined(VISP_HAVE_GDI) 146 #elif defined(VISP_HAVE_GTK) 149 disp.
init(I, 100, 100,
"Simulation display");
160 std::cout <<
"A click in the four dots clockwise. " << std::endl;
163 for (
int i = 0; i < 4; i++) {
166 std::cout <<
"A click in the dot " << i << std::endl;
191 for (
int i = 0; i < 4; i++)
211 for (
int i = 0; i < 4; i++) {
268 std::string filename =
"./4points.iv";
274 std::cout <<
"Load : " << filename << std::endl <<
"This file should be in the working directory" << std::endl;
276 simu.
load(filename.c_str());
284 std::cout <<
"Catch an exception: " << e << std::endl;
292 std::cout <<
"You do not have X11, GTK, or OpenCV, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
293 std::cout <<
"Tip if you are on a unix-like system:" << std::endl;
294 std::cout <<
"- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
295 std::cout <<
"Tip if you are on a windows-like system:" << std::endl;
296 std::cout <<
"- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
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).
Display for windows using GDI (available on any windows 32 platform).
void set_eJe(const vpMatrix &eJe_)
void closeMainApplication()
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
Class that defines what is a point.
void getInternalImage(vpImage< unsigned char > &I)
get an Image of the internal view
virtual void setSamplingTime(const double &delta_t)
void initApplication(void *(*start_routine)(void *))
begin the main program
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
void setInternalCameraParameters(vpCameraParameters &cam)
set internal camera parameters
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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 init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void initMainApplication()
perform some initialization in the main program thread
unsigned int getInternalHeight() const
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 initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
unsigned int getInternalWidth() const
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)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setGraphics(const bool activate)