[visp] 01/08: Imported upstream version 2.9.0
Thomas Moulard
thomas_moulard-guest at moszumanska.debian.org
Tue Jun 24 05:19:05 UTC 2014
This is an automated email from the git hooks/post-receive script.
thomas_moulard-guest pushed a commit to branch master
in repository visp.
commit e929e62e17f81e5975a3496d30dab9d337525598
Author: Fabien Spindler <Fabien.Spindler at inria.fr>
Date: Sun Jun 1 18:04:10 2014 +0200
Imported upstream version 2.9.0
---
CMakeHeaderFileList.cmake | 58 +-
CMakeLists.txt | 578 ++-
CMakeModules/AddExtraCompilationFlags.cmake | 10 +-
CMakeModules/CPackConfig.cmake | 4 +-
CMakeModules/CPackConfigDeb.cmake | 4 +-
CMakeModules/CPackConfigNsis.cmake | 4 +-
CMakeModules/CPackConfigRpm.cmake | 4 +-
CMakeModules/FindARIA.cmake | 4 +-
CMakeModules/FindBICLOPS.cmake | 4 +-
CMakeModules/FindCALINUX.cmake | 4 +-
CMakeModules/FindCMU1394.cmake | 52 +-
CMakeModules/FindCPP11.cmake | 4 +-
CMakeModules/FindCycabTk.cmake | 146 -
CMakeModules/FindDC1394.cmake | 73 +-
CMakeModules/FindDIRECT3D.cmake | 4 +-
CMakeModules/FindDIRECTSHOW.cmake | 4 +-
CMakeModules/FindDL.cmake | 4 +-
CMakeModules/FindFFMPEG.cmake | 4 +-
CMakeModules/FindGDI.cmake | 5 +-
CMakeModules/FindGSL.cmake | 4 +-
CMakeModules/FindICONV.cmake | 4 +-
CMakeModules/FindIRISA.cmake | 4 +-
CMakeModules/FindLAPACK_C.cmake | 4 +-
CMakeModules/FindLIBFREENECT.cmake | 4 +-
CMakeModules/FindLIBUSB-1.cmake | 16 +-
CMakeModules/FindMyCoin3D.cmake | 4 +-
CMakeModules/FindMyGTK2.cmake | 30 +-
CMakeModules/FindMyJPEG.cmake | 4 +-
CMakeModules/FindMyPNG.cmake | 4 +-
CMakeModules/FindMyZLIB.cmake | 4 +-
CMakeModules/FindNAS.cmake | 4 +-
CMakeModules/FindPARPORT.cmake | 4 +-
CMakeModules/FindPTHREAD.cmake | 4 +-
CMakeModules/FindPTU46.cmake | 4 +-
CMakeModules/FindRAW1394.cmake | 4 +-
CMakeModules/FindRT.cmake | 4 +-
CMakeModules/FindSOQT.cmake | 4 +-
CMakeModules/FindSOWIN.cmake | 4 +-
CMakeModules/FindSOXT.cmake | 4 +-
CMakeModules/FindV4L2.cmake | 4 +-
CMakeModules/FindXML2.cmake | 4 +-
CMakeModules/GenerateConfigScript.cmake | 57 +-
CMakeModules/OgreTools.cmake | 66 +-
CMakeModules/TargetDistclean.cmake | 4 +-
CMakeModules/VISPCRTLinkage.cmake | 44 +
CMakeModules/VISPConfig.cmake.in | 102 +-
CMakeModules/VISPUse.cmake.in | 9 +-
CMakeModules/checkForItifg8Version.cpp | 60 -
CMakeModules/cmake_uninstall.cmake.in | 4 +-
CMakeModules/resources.cfg.in | 4 +-
CMakeModules/visp-config.bat.in | 8 +-
CMakeModules/visp-config.in | 8 +-
CMakeModules/visp-config.install.in | 24 +-
CMakeModules/visp.pc.in | 2 +-
CMakeSourceFileList.cmake | 38 +-
CTestConfig.cmake | 8 +-
ChangeLog | 51 +-
INSTALL.txt | 2 +-
README.txt | 2 +-
ViSP-third-party.txt.cmake | 4 +-
.../media/materials/scripts/Examples.material | 33 +
.../media/materials/textures/grass_1024.jpg | Bin 0 -> 202003 bytes
.../media/materials/textures/r2skin.jpg | Bin 0 -> 44863 bytes
data/ogre-simulator/media/models/robot.mesh | Bin 0 -> 42612 bytes
data/ogre-simulator/media/models/robot.skeleton | Bin 0 -> 18984 bytes
demo/CMakeLists.txt | 4 +-
demo/wireframe-simulator/CMakeLists.txt | 4 +-
demo/wireframe-simulator/servoSimu4Points.cpp | 476 ++-
demo/wireframe-simulator/servoSimuCylinder.cpp | 414 +-
demo/wireframe-simulator/servoSimuSphere.cpp | 344 +-
distclean.sh | 2 +-
doc/biblio/references.bib | 119 +-
doc/config-doxygen.in | 5 +-
doc/image/img-chessboard-01.png | Bin 22994 -> 33459 bytes
doc/image/img-circles-grid-02.png | Bin 23952 -> 32432 bytes
doc/image/img-cmake-debug-trace.jpg | Bin 0 -> 86382 bytes
doc/image/img-ibvs-control-law-adaptive.png | Bin 0 -> 35616 bytes
.../img-ibvs-control-law-continuous-adaptive.png | Bin 0 -> 37074 bytes
doc/image/img-ibvs-control-law-exponential.png | Bin 0 -> 35316 bytes
doc/image/img-lena-blured-default.png | Bin 0 -> 24562 bytes
doc/image/img-lena-blured-var2.png | Bin 0 -> 21714 bytes
doc/image/img-lena-canny.png | Bin 0 -> 7297 bytes
doc/image/img-lena-dIxy.png | Bin 0 -> 53066 bytes
doc/image/img-lena-gray.png | Bin 0 -> 39372 bytes
doc/image/img-lena-pyr.png | Bin 0 -> 38446 bytes
doc/image/img-lena-sobel.png | Bin 0 -> 25691 bytes
doc/image/img-template-tracker.jpg | Bin 0 -> 10207 bytes
doc/image/initClickTemplateTracker.png | Bin 0 -> 6039 bytes
doc/mainpage.doc.in | 88 +-
doc/tutorial-boost-vs.doc | 98 +
doc/tutorial-calibration.doc | 117 +-
doc/tutorial-getting-started.doc | 75 +-
doc/tutorial-homography.doc | 250 ++
doc/tutorial-ibvs.doc | 11 +-
doc/tutorial-image-filtering.doc | 152 +
...tall-ubuntu.doc => tutorial-install-fedora.doc} | 69 +-
doc/tutorial-install-iOS.doc | 13 +-
doc/tutorial-install-ubuntu.doc | 29 +-
doc/tutorial-install-win.doc | 15 +-
doc/tutorial-matching.doc | 94 +
doc/tutorial-simu-robot-pioneer.doc | 1 +
doc/tutorial-trace.doc | 116 +
doc/tutorial-tracking-mb.doc | 123 +-
doc/tutorial-tracking-me.doc | 2 +-
doc/tutorial-tracking-tt.doc | 223 +
example/CMakeLists.txt | 7 +-
example/calibration/CMakeLists.txt | 26 +-
example/calibration/calibrateTsai.cpp | 145 +-
example/calibration/camera_calibration.cpp | 313 +-
example/calibration/chessboard-01.png | Bin 0 -> 33459 bytes
example/calibration/chessboard-02.png | Bin 0 -> 34739 bytes
example/calibration/chessboard-03.png | Bin 0 -> 34043 bytes
example/calibration/chessboard-04.png | Bin 0 -> 41700 bytes
example/calibration/chessboard-05.png | Bin 0 -> 38847 bytes
example/calibration/circles-01.png | Bin 0 -> 33023 bytes
example/calibration/circles-02.png | Bin 0 -> 32432 bytes
example/calibration/circles-03.png | Bin 0 -> 36957 bytes
example/calibration/circles-04.png | Bin 0 -> 34362 bytes
example/calibration/circles-05.png | Bin 0 -> 38327 bytes
example/calibration/default-chessboard.cfg | 3 +
example/calibration/default-circles.cfg | 5 +-
example/coin-simulator/CMakeLists.txt | 4 +-
.../coin-simulator/simulateCircle2DCamVelocity.cpp | 133 +-
.../simulateFourPoints2DCartesianCamVelocity.cpp | 131 +-
.../simulateFourPoints2DPolarCamVelocity.cpp | 131 +-
example/device/CMakeLists.txt | 4 +-
example/device/display/CMakeLists.txt | 4 +-
example/device/display/displayD3D.cpp | 442 +-
example/device/display/displayGDI.cpp | 443 +-
example/device/display/displayGTK.cpp | 439 +-
example/device/display/displayOpenCV.cpp | 464 +-
example/device/display/displaySequence.cpp | 299 +-
example/device/display/displayX.cpp | 463 +-
example/device/display/displayXMulti.cpp | 422 +-
example/device/framegrabber/CMakeLists.txt | 4 +-
example/device/framegrabber/grab1394CMU.cpp | 27 +-
example/device/framegrabber/grab1394Two.cpp | 77 +-
example/device/framegrabber/grabDirectShow.cpp | 82 +-
.../device/framegrabber/grabDirectShowMulti.cpp | 16 +-
example/device/framegrabber/grabDisk.cpp | 234 +-
example/device/framegrabber/grabOpenCV-2.cpp | 72 +-
example/device/framegrabber/grabOpenCV.cpp | 140 +-
example/device/framegrabber/grabV4l2.cpp | 104 +-
example/device/kinect/CMakeLists.txt | 4 +-
example/device/kinect/kinectAcquisition.cpp | 104 +-
example/device/laserscanner/CMakeLists.txt | 4 +-
example/device/laserscanner/SickLDMRS-Acq.cpp | 44 +-
example/device/laserscanner/SickLDMRS-Process.cpp | 111 +-
example/device/light/CMakeLists.txt | 4 +-
example/device/light/ringLight.cpp | 20 +-
example/direct-visual-servoing/CMakeLists.txt | 4 +-
.../photometricVisualServoing.cpp | 524 +--
example/homography/CMakeLists.txt | 4 +-
example/homography/homographyHLM2DObject.cpp | 236 +-
example/homography/homographyHLM3DObject.cpp | 212 +-
.../homography/homographyHartleyDLT2DObject.cpp | 192 +-
example/homography/homographyRansac2DObject.cpp | 180 +-
example/image/CMakeLists.txt | 4 +-
example/image/imageDiskRW.cpp | 306 +-
example/key-point/CMakeLists.txt | 4 +-
example/key-point/fernClassifier.cpp | 507 +--
example/key-point/keyPointSurf.cpp | 370 +-
example/key-point/planarObjectDetector.cpp | 484 +--
example/manual/CMakeLists.txt | 5 +-
.../geometric-features/manGeometricFeatures.cpp | 135 +-
example/manual/hello-world/Autotools/have_visp.m4 | 4 +-
example/manual/hello-world/CMake/HelloWorld.cpp | 29 +-
example/manual/image-manipulation/manDisplay.cpp | 178 +-
.../manual/image-manipulation/manGrab1394-1.cpp | 92 -
.../manual/image-manipulation/manGrab1394-2.cpp | 49 +-
.../image-manipulation/manGrabDirectShow.cpp | 45 +-
example/manual/image-manipulation/manGrabDisk.cpp | 65 +-
.../manual/image-manipulation/manGrabOpenCV.cpp | 4 +-
example/manual/image-manipulation/manGrabV4l2.cpp | 31 +-
example/manual/moments/manServoMomentsSimple.cpp | 198 +-
example/manual/ogre/HelloWorldOgre.cpp | 153 +-
example/manual/ogre/HelloWorldOgreAdvanced.cpp | 112 +-
.../manual/simulation/manServo4PointsDisplay.cpp | 242 +-
example/manual/simulation/manSimu4Dots.cpp | 55 +-
example/manual/simulation/manSimu4Points.cpp | 53 +-
example/math/BSpline.cpp | 251 +-
example/math/CMakeLists.txt | 4 +-
example/math/Nurbs.cpp | 406 +-
example/math/exponentialMap.cpp | 141 +-
example/moments/image/CMakeLists.txt | 4 +-
example/moments/image/servoMomentImage.cpp | 73 +-
example/moments/points/CMakeLists.txt | 4 +-
example/moments/points/servoMomentPoints.cpp | 86 +-
example/moments/polygon/CMakeLists.txt | 4 +-
example/moments/polygon/servoMomentPolygon.cpp | 73 +-
example/ogre-simulator/AROgre.cpp | 356 +-
example/ogre-simulator/AROgreBasic.cpp | 373 +-
example/ogre-simulator/CMakeLists.txt | 4 +-
example/parse-argv/CMakeLists.txt | 4 +-
example/parse-argv/parse-argv1.cpp | 67 +-
example/parse-argv/parse-argv2.cpp | 70 +-
example/pose-estimation/CMakeLists.txt | 4 +-
example/pose-estimation/poseVirtualVS.cpp | 541 ++-
example/robot-simulator/afma6/CMakeLists.txt | 2 +-
.../servoSimuAfma6FourPoints2DCamVelocity.cpp | 327 +-
example/robot-simulator/camera/CMakeLists.txt | 2 +-
.../camera/servoSimu3D_cMcd_CamVelocity.cpp | 282 +-
.../servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp | 262 +-
.../camera/servoSimu3D_cdMc_CamVelocity.cpp | 282 +-
.../servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp | 260 +-
.../camera/servoSimuCircle2DCamVelocity.cpp | 176 +-
.../camera/servoSimuCircle2DCamVelocityDisplay.cpp | 241 +-
.../servoSimuCylinder2DCamVelocityDisplay.cpp | 284 +-
...muCylinder2DCamVelocityDisplaySecondaryTask.cpp | 495 +--
.../camera/servoSimuFourPoints2DCamVelocity.cpp | 234 +-
.../servoSimuFourPoints2DCamVelocityDisplay.cpp | 319 +-
...ervoSimuFourPoints2DPolarCamVelocityDisplay.cpp | 545 +--
.../camera/servoSimuLine2DCamVelocityDisplay.cpp | 282 +-
.../camera/servoSimuPoint2DCamVelocity1.cpp | 140 +-
.../camera/servoSimuPoint2DCamVelocity2.cpp | 200 +-
.../camera/servoSimuPoint2DCamVelocity3.cpp | 196 +-
.../camera/servoSimuPoint2DhalfCamVelocity1.cpp | 236 +-
.../camera/servoSimuPoint2DhalfCamVelocity2.cpp | 434 +-
.../camera/servoSimuPoint2DhalfCamVelocity3.cpp | 386 +-
.../camera/servoSimuPoint3DCamVelocity.cpp | 178 +-
.../camera/servoSimuSphere2DCamVelocity.cpp | 183 +-
.../servoSimuSphere2DCamVelocitySecondaryTask.cpp | 208 +-
.../servoSimuSquareLine2DCamVelocityDisplay.cpp | 270 +-
.../camera/servoSimuThetaUCamVelocity.cpp | 148 +-
example/robot-simulator/viper850/CMakeLists.txt | 2 +-
.../servoSimuViper850FourPoints2DCamVelocity.cpp | 329 +-
example/servo-afma4/CMakeLists.txt | 4 +-
example/servo-afma4/moveAfma4.cpp | 11 +-
.../servo-afma4/servoAfma4Point2DArtVelocity.cpp | 80 +-
.../servo-afma4/servoAfma4Point2DCamVelocity.cpp | 83 +-
.../servoAfma4Point2DCamVelocityKalman.cpp | 146 +-
example/servo-afma6/CMakeLists.txt | 4 +-
.../servo-afma6/servoAfma62DhalfCamVelocity.cpp | 4 +-
.../servoAfma6Cylinder2DCamVelocity.cpp | 4 +-
...ervoAfma6Cylinder2DCamVelocitySecondaryTask.cpp | 4 +-
.../servo-afma6/servoAfma6Ellipse2DCamVelocity.cpp | 4 +-
.../servoAfma6FourPoints2DArtVelocity.cpp | 4 +-
...a6FourPoints2DCamVelocityInteractionCurrent.cpp | 4 +-
...a6FourPoints2DCamVelocityInteractionDesired.cpp | 4 +-
.../servo-afma6/servoAfma6Line2DCamVelocity.cpp | 4 +-
.../servo-afma6/servoAfma6Point2DArtVelocity.cpp | 4 +-
.../servo-afma6/servoAfma6Point2DCamVelocity.cpp | 4 +-
.../servoAfma6Points2DCamVelocityEyeToHand.cpp | 4 +-
.../servo-afma6/servoAfma6Segment2DCamVelocity.cpp | 2 +-
.../servoAfma6SquareLines2DCamVelocity.cpp | 4 +-
.../servoAfma6TwoLines2DCamVelocity.cpp | 4 +-
example/servo-biclops/CMakeLists.txt | 4 +-
example/servo-biclops/moveBiclops.cpp | 4 +-
.../servoBiclopsPoint2DArtVelocity.cpp | 16 +-
example/servo-cycab/CMakeLists.txt | 60 -
example/servo-cycab/servoCycab.cpp | 172 -
example/servo-cycab/servoCycabBasic.cpp | 99 -
example/servo-pioneer/CMakeLists.txt | 4 +-
example/servo-pioneer/movePioneer.cpp | 102 +-
example/servo-pioneer/servoPioneerPanSegment3D.cpp | 553 +--
example/servo-pioneer/servoPioneerPoint2DDepth.cpp | 302 +-
.../servoPioneerPoint2DDepthWithoutVpServo.cpp | 268 +-
example/servo-pioneer/sonarPioneerReader.cpp | 212 +-
example/servo-ptu46/CMakeLists.txt | 4 +-
example/servo-ptu46/movePtu46.cpp | 6 +-
.../servo-ptu46/servoPtu46Point2DArtVelocity.cpp | 12 +-
example/servo-viper650/CMakeLists.txt | 2 +-
...50FourPoints2DArtVelocityInteractionCurrent.cpp | 2 +-
...50FourPoints2DCamVelocityInteractionCurrent.cpp | 2 +-
.../servoViper650Point2DCamVelocity.cpp | 2 +-
example/servo-viper850/CMakeLists.txt | 4 +-
...50FourPoints2DArtVelocityInteractionCurrent.cpp | 4 +-
...50FourPoints2DArtVelocityInteractionDesired.cpp | 4 +-
...50FourPoints2DCamVelocityInteractionCurrent.cpp | 4 +-
.../servoViper850FourPointsKinect.cpp | 2 +-
...r850Point2DArtVelocity-jointAvoidance-basic.cpp | 10 +-
...per850Point2DArtVelocity-jointAvoidance-gpa.cpp | 15 +-
.../servoViper850Point2DArtVelocity.cpp | 4 +-
.../servoViper850Point2DCamVelocity.cpp | 4 +-
.../servoViper850Point2DCamVelocityKalman.cpp | 4 +-
example/tools/CMakeLists.txt | 4 +-
example/tools/histogram.cpp | 431 +-
example/tools/keyboard.cpp | 6 +-
example/tools/parallelPort.cpp | 4 +-
example/tools/plot2d.cpp | 123 +-
example/tools/plot3d.cpp | 108 +-
example/tracking/CMakeLists.txt | 77 +-
example/tracking/mbtEdgeKltTracking.cpp | 479 ++-
example/tracking/mbtEdgeTracking.cpp | 452 +-
example/tracking/mbtKltTracking.cpp | 437 +-
example/tracking/templateTracker.cpp | 430 ++
example/tracking/trackDot.cpp | 331 +-
example/tracking/trackDot2.cpp | 363 +-
example/tracking/trackDot2WithAutoDetection.cpp | 425 +-
example/tracking/trackKltOpencv.cpp | 364 +-
example/tracking/trackMeCircle.cpp | 285 +-
example/tracking/trackMeEllipse.cpp | 320 +-
example/tracking/trackMeLine.cpp | 337 +-
example/tracking/trackMeNurbs.cpp | 267 +-
example/video/CMakeLists.txt | 2 +-
example/video/imageSequenceReader.cpp | 282 +-
example/video/videoReader.cpp | 264 +-
example/wireframe-simulator/CMakeLists.txt | 4 +-
example/wireframe-simulator/wireframeSimulator.cpp | 280 +-
include/vpConfig.h.cmake | 26 +-
macros/have_visp.m4 | 4 +-
src/CMakeLists.txt | 4 +-
src/camera/calibration/vpCalibration.cpp | 218 +-
src/camera/calibration/vpCalibration.h | 56 +-
src/camera/calibration/vpCalibrationException.h | 44 +-
src/camera/calibration/vpCalibrationTools.cpp | 209 +-
src/camera/vpCameraParameters.cpp | 188 +-
src/camera/vpCameraParameters.h | 8 +-
src/camera/vpMeterPixelConversion.cpp | 4 +-
src/camera/vpMeterPixelConversion.h | 4 +-
src/camera/vpPixelMeterConversion.cpp | 4 +-
src/camera/vpPixelMeterConversion.h | 4 +-
src/camera/vpXmlParserCamera.cpp | 267 +-
src/camera/vpXmlParserCamera.h | 16 +-
.../homography-estimation/vpHomography.cpp | 584 ++-
.../homography-estimation/vpHomography.h | 464 +-
.../homography-estimation/vpHomographyDLT.cpp | 350 +-
.../homography-estimation/vpHomographyExtract.cpp | 124 +-
.../homography-estimation/vpHomographyMalis.cpp | 195 +-
.../homography-estimation/vpHomographyRansac.cpp | 310 +-
.../homography-estimation/vpHomographyVVS.cpp | 130 +-
.../pose-estimation/vpLevenbergMarquartd.cpp | 80 +-
.../pose-estimation/vpLevenbergMarquartd.h | 4 +-
src/computer-vision/pose-estimation/vpPose.cpp | 36 +-
src/computer-vision/pose-estimation/vpPose.h | 12 +-
.../pose-estimation/vpPoseDementhon.cpp | 56 +-
.../pose-estimation/vpPoseException.h | 45 +-
.../pose-estimation/vpPoseFeatures.cpp | 14 +-
.../pose-estimation/vpPoseFeatures.h | 11 +-
.../pose-estimation/vpPoseLagrange.cpp | 14 +-
src/computer-vision/pose-estimation/vpPoseLowe.cpp | 28 +-
.../pose-estimation/vpPoseRansac.cpp | 24 +-
.../vpPoseVirtualVisualServoing.cpp | 51 +-
src/data-structure/vpList.h | 29 +-
src/device/display/vpDisplay.cpp | 29 +-
src/device/display/vpDisplay.h | 21 +-
src/device/display/vpDisplayException.h | 49 +-
src/device/display/vpDisplayGTK.cpp | 97 +-
src/device/display/vpDisplayGTK.h | 16 +-
src/device/display/vpDisplayOpenCV.cpp | 166 +-
src/device/display/vpDisplayOpenCV.h | 4 +-
src/device/display/vpDisplayX.cpp | 480 ++-
src/device/display/vpDisplayX.h | 21 +-
src/device/display/vpMouseButton.h | 4 +-
src/device/display/windows/vpD3DRenderer.cpp | 6 +-
src/device/display/windows/vpD3DRenderer.h | 4 +-
src/device/display/windows/vpDisplayD3D.cpp | 28 +-
src/device/display/windows/vpDisplayD3D.h | 10 +-
src/device/display/windows/vpDisplayGDI.cpp | 26 +-
src/device/display/windows/vpDisplayGDI.h | 17 +-
src/device/display/windows/vpDisplayWin32.cpp | 14 +-
src/device/display/windows/vpDisplayWin32.h | 8 +-
src/device/display/windows/vpGDIRenderer.cpp | 4 +-
src/device/display/windows/vpGDIRenderer.h | 4 +-
src/device/display/windows/vpWin32API.cpp | 4 +-
src/device/display/windows/vpWin32API.h | 4 +-
src/device/display/windows/vpWin32Renderer.h | 4 +-
src/device/display/windows/vpWin32Window.cpp | 4 +-
src/device/display/windows/vpWin32Window.h | 4 +-
src/device/framegrabber/1394/vp1394CMUGrabber.cpp | 4 +-
src/device/framegrabber/1394/vp1394CMUGrabber.h | 4 +-
src/device/framegrabber/1394/vp1394Grabber.cpp | 2394 -----------
src/device/framegrabber/1394/vp1394Grabber.h | 249 --
src/device/framegrabber/1394/vp1394TwoGrabber.cpp | 144 +-
src/device/framegrabber/1394/vp1394TwoGrabber.h | 14 +-
src/device/framegrabber/OpenCV/vpOpenCVGrabber.cpp | 26 +-
src/device/framegrabber/OpenCV/vpOpenCVGrabber.h | 4 +-
.../framegrabber/directshow/vpDirectShowDevice.cpp | 9 +-
.../framegrabber/directshow/vpDirectShowDevice.h | 9 +-
.../directshow/vpDirectShowGrabber.cpp | 4 +-
.../framegrabber/directshow/vpDirectShowGrabber.h | 4 +-
.../directshow/vpDirectShowGrabberImpl.cpp | 4 +-
.../directshow/vpDirectShowGrabberImpl.h | 4 +-
.../directshow/vpDirectShowSampleGrabberI.h | 4 +-
src/device/framegrabber/disk/vpDiskGrabber.cpp | 68 +-
src/device/framegrabber/disk/vpDiskGrabber.h | 4 +-
.../generic-framegrabber/vpFrameGrabber.h | 5 +-
.../generic-framegrabber/vpFrameGrabberException.h | 41 +-
src/device/framegrabber/v4l2/vpV4l2Grabber.cpp | 21 +-
src/device/framegrabber/v4l2/vpV4l2Grabber.h | 4 +-
src/device/kinect/vpKinect.cpp | 4 +-
src/device/kinect/vpKinect.h | 4 +-
src/device/laserscanner/sick/vpSickLDMRS.cpp | 33 +-
src/device/laserscanner/sick/vpSickLDMRS.h | 37 +-
src/device/laserscanner/vpLaserScan.h | 57 +-
src/device/laserscanner/vpLaserScanner.h | 33 +-
src/device/laserscanner/vpScanPoint.h | 64 +-
src/device/light/vpRingLight.cpp | 4 +-
src/device/light/vpRingLight.h | 4 +-
src/exceptions/vpException.cpp | 58 +-
src/exceptions/vpException.h | 76 +-
src/image/vpColor.cpp | 26 +-
src/image/vpColor.h | 67 +-
src/image/vpImage.h | 118 +-
src/image/vpImageConvert.cpp | 218 +-
src/image/vpImageConvert.h | 6 +-
src/image/vpImageException.h | 44 +-
src/image/vpImageFilter.cpp | 483 ++-
src/image/vpImageFilter.h | 423 +-
src/image/vpImageIo.cpp | 512 ++-
src/image/vpImageIo.h | 12 +-
src/image/vpImageMorphology.h | 4 +-
src/image/vpImagePoint.cpp | 319 +-
src/image/vpImagePoint.h | 334 +-
src/image/vpImageTools.cpp | 14 +-
src/image/vpImageTools.h | 35 +-
src/image/vpRGBa.cpp | 13 +-
src/image/vpRGBa.h | 51 +-
src/key-point/vpBasicKeyPoint.cpp | 17 +-
src/key-point/vpBasicKeyPoint.h | 4 +-
src/key-point/vpFernClassifier.cpp | 22 +-
src/key-point/vpFernClassifier.h | 13 +-
src/key-point/vpKeyPointSurf.cpp | 50 +-
src/key-point/vpKeyPointSurf.h | 20 +-
src/key-point/vpPlanarObjectDetector.cpp | 19 +-
src/key-point/vpPlanarObjectDetector.h | 4 +-
src/math/kalman/vpKalmanFilter.cpp | 55 +-
src/math/kalman/vpKalmanFilter.h | 16 +-
.../kalman/vpLinearKalmanFilterInstantiation.cpp | 60 +-
.../kalman/vpLinearKalmanFilterInstantiation.h | 13 +-
src/math/matrix/vpColVector.cpp | 10 +-
src/math/matrix/vpColVector.h | 14 +-
src/math/matrix/vpGEMM.h | 4 +-
src/math/matrix/vpMatrix.cpp | 416 +-
src/math/matrix/vpMatrix.h | 195 +-
src/math/matrix/vpMatrixException.h | 45 +-
src/math/matrix/vpMatrix_cholesky.cpp | 18 +-
src/math/matrix/vpMatrix_covariance.cpp | 2 +-
src/math/matrix/vpMatrix_lu.cpp | 12 +-
src/math/matrix/vpMatrix_qr.cpp | 32 +-
src/math/matrix/vpMatrix_svd.cpp | 13 +-
src/math/matrix/vpRowVector.cpp | 7 +-
src/math/matrix/vpRowVector.h | 4 +-
src/math/matrix/vpSubColVector.cpp | 20 +-
src/math/matrix/vpSubColVector.h | 4 +-
src/math/matrix/vpSubMatrix.cpp | 40 +-
src/math/matrix/vpSubMatrix.h | 4 +-
src/math/matrix/vpSubRowVector.cpp | 24 +-
src/math/matrix/vpSubRowVector.h | 4 +-
src/math/misc/vpHinkley.cpp | 34 +-
src/math/misc/vpHinkley.h | 4 +-
src/math/misc/vpMath.cpp | 4 +-
src/math/misc/vpMath.h | 6 +-
src/math/misc/vpNoise.cpp | 4 +-
src/math/misc/vpNoise.h | 138 +-
src/math/robust/vpRansac.h | 56 +-
src/math/robust/vpRobust.cpp | 19 +-
src/math/robust/vpRobust.h | 4 +-
src/math/robust/vpScale.cpp | 23 +-
src/math/robust/vpScale.h | 4 +-
src/math/spline/vpBSpline.cpp | 9 +-
src/math/spline/vpBSpline.h | 8 +-
src/math/spline/vpNurbs.cpp | 22 +-
src/math/spline/vpNurbs.h | 4 +-
src/math/transformation/vpExponentialMap.cpp | 4 +-
src/math/transformation/vpExponentialMap.h | 4 +-
src/math/transformation/vpForceTwistMatrix.cpp | 40 +-
src/math/transformation/vpForceTwistMatrix.h | 4 +-
src/math/transformation/vpHomogeneousMatrix.cpp | 52 +-
src/math/transformation/vpHomogeneousMatrix.h | 4 +-
src/math/transformation/vpPoseVector.cpp | 52 +-
src/math/transformation/vpPoseVector.h | 4 +-
src/math/transformation/vpQuaternionVector.cpp | 49 +-
src/math/transformation/vpQuaternionVector.h | 13 +-
src/math/transformation/vpRotationMatrix.cpp | 6 +-
src/math/transformation/vpRotationMatrix.h | 4 +-
src/math/transformation/vpRotationVector.cpp | 20 +-
src/math/transformation/vpRotationVector.h | 57 +-
src/math/transformation/vpRxyzVector.cpp | 25 +-
src/math/transformation/vpRxyzVector.h | 24 +-
src/math/transformation/vpRzyxVector.cpp | 27 +-
src/math/transformation/vpRzyxVector.h | 18 +-
src/math/transformation/vpRzyzVector.cpp | 56 +-
src/math/transformation/vpRzyzVector.h | 24 +-
src/math/transformation/vpThetaUVector.cpp | 33 +-
src/math/transformation/vpThetaUVector.h | 14 +-
src/math/transformation/vpTranslationVector.cpp | 52 +-
src/math/transformation/vpTranslationVector.h | 4 +-
src/math/transformation/vpVelocityTwistMatrix.cpp | 63 +-
src/math/transformation/vpVelocityTwistMatrix.h | 4 +-
src/network/vpClient.cpp | 23 +-
src/network/vpClient.h | 4 +-
src/network/vpNetwork.cpp | 45 +-
src/network/vpNetwork.h | 37 +-
src/network/vpRequest.cpp | 5 +-
src/network/vpRequest.h | 4 +-
src/network/vpServer.cpp | 61 +-
src/network/vpServer.h | 4 +-
src/robot/real-robot/afma4/vpAfma4.cpp | 39 +-
src/robot/real-robot/afma4/vpAfma4.h | 39 +-
src/robot/real-robot/afma4/vpRobotAfma4.cpp | 10 +-
src/robot/real-robot/afma4/vpRobotAfma4.h | 14 +-
src/robot/real-robot/afma4/vpServolens.cpp | 61 +-
src/robot/real-robot/afma4/vpServolens.h | 39 +-
src/robot/real-robot/afma6/vpAfma6.cpp | 172 +-
src/robot/real-robot/afma6/vpAfma6.h | 48 +-
src/robot/real-robot/afma6/vpRobotAfma6.cpp | 8 +-
src/robot/real-robot/afma6/vpRobotAfma6.h | 12 +-
src/robot/real-robot/biclops/vpBiclops.cpp | 34 +-
src/robot/real-robot/biclops/vpBiclops.h | 33 +-
src/robot/real-robot/biclops/vpRobotBiclops.cpp | 35 +-
src/robot/real-robot/biclops/vpRobotBiclops.h | 8 +-
.../biclops/vpRobotBiclopsController.cpp | 7 +-
.../real-robot/biclops/vpRobotBiclopsController.h | 6 +-
src/robot/real-robot/cycab/vpRobotCycab.cpp | 295 --
src/robot/real-robot/cycab/vpRobotCycab.h | 111 -
src/robot/real-robot/pioneer/vpPioneer.h | 4 +-
src/robot/real-robot/pioneer/vpPioneerPan.h | 6 +-
src/robot/real-robot/pioneer/vpRobotPioneer.cpp | 4 +-
src/robot/real-robot/pioneer/vpRobotPioneer.h | 4 +-
src/robot/real-robot/pioneer/vpUnicycle.h | 6 +-
src/robot/real-robot/ptu46/vpPtu46.cpp | 36 +-
src/robot/real-robot/ptu46/vpPtu46.h | 25 +-
src/robot/real-robot/ptu46/vpRobotPtu46.cpp | 8 +-
src/robot/real-robot/ptu46/vpRobotPtu46.h | 8 +-
src/robot/real-robot/viper/vpRobotViper650.cpp | 22 +-
src/robot/real-robot/viper/vpRobotViper650.h | 38 +-
src/robot/real-robot/viper/vpRobotViper850.cpp | 91 +-
src/robot/real-robot/viper/vpRobotViper850.h | 34 +-
src/robot/real-robot/viper/vpViper.cpp | 61 +-
src/robot/real-robot/viper/vpViper.h | 57 +-
src/robot/real-robot/viper/vpViper650.cpp | 78 +-
src/robot/real-robot/viper/vpViper650.h | 14 +-
src/robot/real-robot/viper/vpViper850.cpp | 79 +-
src/robot/real-robot/viper/vpViper850.h | 14 +-
src/robot/robot/vpRobot.cpp | 48 +-
src/robot/robot/vpRobot.h | 15 +-
src/robot/robot/vpRobotException.h | 135 +-
src/robot/robot/vpRobotTemplate.cpp | 4 +-
src/robot/robot/vpRobotTemplate.h | 4 +-
.../simulator-robot/arms/CMakeRobotArmsList.cmake | 4 +-
src/robot/simulator-robot/vpRobotCamera.cpp | 11 +-
src/robot/simulator-robot/vpRobotCamera.h | 6 +-
src/robot/simulator-robot/vpRobotSimulator.cpp | 7 +-
src/robot/simulator-robot/vpRobotSimulator.h | 4 +-
.../simulator-robot/vpRobotWireFrameSimulator.cpp | 101 +-
.../simulator-robot/vpRobotWireFrameSimulator.h | 36 +-
src/robot/simulator-robot/vpSimulatorAfma6.cpp | 341 +-
src/robot/simulator-robot/vpSimulatorAfma6.h | 15 +-
src/robot/simulator-robot/vpSimulatorCamera.cpp | 12 +-
src/robot/simulator-robot/vpSimulatorCamera.h | 4 +-
src/robot/simulator-robot/vpSimulatorPioneer.cpp | 9 +-
src/robot/simulator-robot/vpSimulatorPioneer.h | 2 +-
.../simulator-robot/vpSimulatorPioneerPan.cpp | 10 +-
src/robot/simulator-robot/vpSimulatorPioneerPan.h | 2 +-
src/robot/simulator-robot/vpSimulatorViper850.cpp | 314 +-
src/robot/simulator-robot/vpSimulatorViper850.h | 18 +-
src/servo/vpAdaptativeGain.cpp | 360 --
src/servo/vpAdaptativeGain.h | 190 -
src/servo/vpAdaptiveGain.cpp | 196 +-
src/servo/vpAdaptiveGain.h | 64 +-
src/servo/vpServo.cpp | 1001 +++--
src/servo/vpServo.h | 446 +-
src/servo/vpServoData.cpp | 4 +-
src/servo/vpServoData.h | 14 +-
src/servo/vpServoDisplay.cpp | 69 +-
src/servo/vpServoDisplay.h | 12 +-
src/servo/vpServoException.h | 43 +-
src/simulator/coin-simulator/vpAR.cpp | 4 +-
src/simulator/coin-simulator/vpAR.h | 4 +-
.../coin-simulator/vpProjectionDisplay.cpp | 4 +-
src/simulator/coin-simulator/vpProjectionDisplay.h | 25 +-
src/simulator/coin-simulator/vpSimulator.cpp | 22 +-
src/simulator/coin-simulator/vpSimulator.h | 4 +-
.../coin-simulator/vpSimulatorException.h | 43 +-
src/simulator/coin-simulator/vpViewer.cpp | 4 +-
src/simulator/coin-simulator/vpViewer.h | 4 +-
src/simulator/image-simulator/vpImageSimulator.cpp | 108 +-
src/simulator/image-simulator/vpImageSimulator.h | 30 +-
src/simulator/ogre-simulator/vpAROgre.cpp | 214 +-
src/simulator/ogre-simulator/vpAROgre.h | 4 +-
src/simulator/wireframe-simulator/core/vpArit.c | 4 +-
src/simulator/wireframe-simulator/core/vpArit.h | 4 +-
src/simulator/wireframe-simulator/core/vpAritio.c | 4 +-
src/simulator/wireframe-simulator/core/vpBound.c | 4 +-
src/simulator/wireframe-simulator/core/vpBound.h | 4 +-
src/simulator/wireframe-simulator/core/vpBoundio.c | 4 +-
.../wireframe-simulator/core/vpCgiconstants.h | 4 +-
src/simulator/wireframe-simulator/core/vpCgidefs.h | 4 +-
.../wireframe-simulator/core/vpClipping.c | 4 +-
src/simulator/wireframe-simulator/core/vpDisplay.c | 4 +-
src/simulator/wireframe-simulator/core/vpImstack.h | 4 +-
src/simulator/wireframe-simulator/core/vpKeyword.c | 4 +-
src/simulator/wireframe-simulator/core/vpKeyword.h | 4 +-
src/simulator/wireframe-simulator/core/vpLex.c | 356 +-
src/simulator/wireframe-simulator/core/vpLex.h | 4 +-
src/simulator/wireframe-simulator/core/vpMy.h | 4 +-
src/simulator/wireframe-simulator/core/vpMyio.c | 13 +-
src/simulator/wireframe-simulator/core/vpParser.c | 4 +-
.../wireframe-simulator/core/vpProjection.c | 4 +-
src/simulator/wireframe-simulator/core/vpRfstack.c | 35 +-
src/simulator/wireframe-simulator/core/vpRfstack.h | 4 +-
src/simulator/wireframe-simulator/core/vpSkipio.c | 4 +-
src/simulator/wireframe-simulator/core/vpSkipio.h | 4 +-
src/simulator/wireframe-simulator/core/vpTmstack.c | 4 +-
src/simulator/wireframe-simulator/core/vpTmstack.h | 4 +-
src/simulator/wireframe-simulator/core/vpToken.c | 4 +-
src/simulator/wireframe-simulator/core/vpToken.h | 4 +-
src/simulator/wireframe-simulator/core/vpView.h | 4 +-
src/simulator/wireframe-simulator/core/vpViewio.c | 4 +-
src/simulator/wireframe-simulator/core/vpVwstack.c | 4 +-
src/simulator/wireframe-simulator/core/vpVwstack.h | 4 +-
.../scene/CMakeWireframeScenesList.cmake | 4 +-
.../wireframe-simulator/vpWireFrameSimulator.cpp | 225 +-
.../wireframe-simulator/vpWireFrameSimulator.h | 34 +-
src/tools/geometry/vpPlane.cpp | 37 +-
src/tools/geometry/vpPlane.h | 41 +-
src/tools/geometry/vpPolygon.cpp | 13 +-
src/tools/geometry/vpPolygon.h | 4 +-
src/tools/geometry/vpRect.cpp | 96 +-
src/tools/geometry/vpRect.h | 42 +-
src/tools/geometry/vpTriangle.cpp | 24 +-
src/tools/geometry/vpTriangle.h | 4 +-
src/tools/histogram/vpHistogram.cpp | 21 +-
src/tools/histogram/vpHistogram.h | 4 +-
src/tools/histogram/vpHistogramPeak.cpp | 24 +-
src/tools/histogram/vpHistogramPeak.h | 32 +-
src/tools/histogram/vpHistogramValey.cpp | 6 +-
src/tools/histogram/vpHistogramValey.h | 38 +-
src/tools/io/vpIoException.h | 43 +-
src/tools/io/vpIoTools.cpp | 76 +-
src/tools/io/vpIoTools.h | 4 +-
src/tools/io/vpKeyboard.cpp | 8 +-
src/tools/io/vpKeyboard.h | 6 +-
src/tools/io/vpParallelPort.cpp | 4 +-
src/tools/io/vpParallelPort.h | 4 +-
src/tools/io/vpParallelPortException.h | 43 +-
src/tools/io/vpParseArgv.h | 3 +-
src/tools/mutex/vpMutex.h | 4 +-
src/tools/plot/vpPlot.cpp | 52 +-
src/tools/plot/vpPlot.h | 4 +-
src/tools/plot/vpPlotCurve.cpp | 14 +-
src/tools/plot/vpPlotCurve.h | 4 +-
src/tools/plot/vpPlotGraph.cpp | 152 +-
src/tools/plot/vpPlotGraph.h | 5 +-
src/tools/time/vpTime.cpp | 32 +-
src/tools/time/vpTime.h | 5 +-
src/tools/trace/vpDebug.h | 220 +-
src/tools/xml/vpXmlParser.cpp | 12 +-
src/tools/xml/vpXmlParser.h | 4 +-
src/tracking/dots/vpDot.cpp | 71 +-
src/tracking/dots/vpDot.h | 88 +-
src/tracking/dots/vpDot2.cpp | 886 +---
src/tracking/dots/vpDot2.h | 98 +-
src/tracking/feature-builder/vpFeatureBuilder.h | 4 +-
.../feature-builder/vpFeatureBuilderEllipse.cpp | 4 +-
.../feature-builder/vpFeatureBuilderLine.cpp | 12 +-
.../feature-builder/vpFeatureBuilderPoint.cpp | 4 +-
.../feature-builder/vpFeatureBuilderPoint3D.cpp | 4 +-
.../feature-builder/vpFeatureBuilderPointPolar.cpp | 4 +-
.../feature-builder/vpFeatureBuilderSegment.cpp | 2 +-
.../vpFeatureBuilderVanishingPoint.cpp | 9 +-
src/tracking/forward-projection/vpCircle.cpp | 64 +-
src/tracking/forward-projection/vpCircle.h | 4 +-
src/tracking/forward-projection/vpCylinder.cpp | 62 +-
src/tracking/forward-projection/vpCylinder.h | 4 +-
.../forward-projection/vpForwardProjection.cpp | 4 +-
.../forward-projection/vpForwardProjection.h | 6 +-
src/tracking/forward-projection/vpLine.cpp | 58 +-
src/tracking/forward-projection/vpLine.h | 4 +-
src/tracking/forward-projection/vpPoint.cpp | 6 +-
src/tracking/forward-projection/vpPoint.h | 4 +-
src/tracking/forward-projection/vpSphere.cpp | 52 +-
src/tracking/forward-projection/vpSphere.h | 4 +-
src/tracking/general-tracking-issues/vpTracker.cpp | 11 +-
src/tracking/general-tracking-issues/vpTracker.h | 4 +-
.../general-tracking-issues/vpTrackingException.h | 43 +-
src/tracking/klt/vpKltOpencv.cpp | 201 +-
src/tracking/klt/vpKltOpencv.h | 5 +-
src/tracking/mbt/edge/vpMbEdgeTracker.cpp | 197 +-
src/tracking/mbt/edge/vpMbEdgeTracker.h | 18 +-
src/tracking/mbt/edge/vpMbtDistanceCylinder.cpp | 42 +-
src/tracking/mbt/edge/vpMbtDistanceCylinder.h | 21 +-
src/tracking/mbt/edge/vpMbtDistanceLine.cpp | 42 +-
src/tracking/mbt/edge/vpMbtDistanceLine.h | 26 +-
src/tracking/mbt/edge/vpMbtMeLine.cpp | 123 +-
src/tracking/mbt/edge/vpMbtMeLine.h | 4 +-
src/tracking/mbt/edge/vpMbtPolygon.cpp | 44 +-
src/tracking/mbt/edge/vpMbtPolygon.h | 13 +-
src/tracking/mbt/edge/vpMbtXmlParser.cpp | 303 +-
src/tracking/mbt/edge/vpMbtXmlParser.h | 147 +-
src/tracking/mbt/hybrid/vpMbEdgeKltTracker.cpp | 124 +-
src/tracking/mbt/hybrid/vpMbEdgeKltTracker.h | 16 +-
src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.cpp | 198 +
.../mbt/hybrid/vpMbtEdgeKltXmlParser.h} | 93 +-
src/tracking/mbt/klt/vpMbKltTracker.cpp | 73 +-
src/tracking/mbt/klt/vpMbKltTracker.h | 10 +-
src/tracking/mbt/klt/vpMbtKltPolygon.cpp | 61 +-
src/tracking/mbt/klt/vpMbtKltPolygon.h | 6 +-
src/tracking/mbt/klt/vpMbtKltXmlParser.cpp | 256 +-
src/tracking/mbt/klt/vpMbtKltXmlParser.h | 141 +-
src/tracking/mbt/vpMbHiddenFaces.h | 132 +-
src/tracking/mbt/vpMbTracker.cpp | 187 +-
src/tracking/mbt/vpMbTracker.h | 20 +-
src/tracking/mbt/vpMbXmlParser.cpp | 323 ++
.../mbt/{edge/vpMbtXmlParser.h => vpMbXmlParser.h} | 64 +-
src/tracking/moments/vpMoment.cpp | 29 +-
src/tracking/moments/vpMoment.h | 24 +-
src/tracking/moments/vpMomentAlpha.cpp | 177 +-
src/tracking/moments/vpMomentAlpha.h | 24 +-
src/tracking/moments/vpMomentArea.cpp | 6 +-
src/tracking/moments/vpMomentArea.h | 4 +-
src/tracking/moments/vpMomentAreaNormalized.cpp | 16 +-
src/tracking/moments/vpMomentAreaNormalized.h | 10 +-
src/tracking/moments/vpMomentBasic.cpp | 8 +-
src/tracking/moments/vpMomentBasic.h | 10 +-
src/tracking/moments/vpMomentCInvariant.cpp | 111 +-
src/tracking/moments/vpMomentCInvariant.h | 93 +-
src/tracking/moments/vpMomentCentered.cpp | 31 +-
src/tracking/moments/vpMomentCentered.h | 19 +-
src/tracking/moments/vpMomentCommon.cpp | 40 +-
src/tracking/moments/vpMomentCommon.h | 21 +-
src/tracking/moments/vpMomentDatabase.cpp | 8 +-
src/tracking/moments/vpMomentDatabase.h | 7 +-
src/tracking/moments/vpMomentGravityCenter.cpp | 8 +-
src/tracking/moments/vpMomentGravityCenter.h | 8 +-
.../moments/vpMomentGravityCenterNormalized.cpp | 10 +-
.../moments/vpMomentGravityCenterNormalized.h | 6 +-
src/tracking/moments/vpMomentObject.cpp | 219 +-
src/tracking/moments/vpMomentObject.h | 43 +-
src/tracking/moving-edges/vpMe.cpp | 40 +-
src/tracking/moving-edges/vpMe.h | 12 +-
src/tracking/moving-edges/vpMeEllipse.cpp | 118 +-
src/tracking/moving-edges/vpMeEllipse.h | 8 +-
src/tracking/moving-edges/vpMeLine.cpp | 100 +-
src/tracking/moving-edges/vpMeLine.h | 4 +-
src/tracking/moving-edges/vpMeNurbs.cpp | 72 +-
src/tracking/moving-edges/vpMeNurbs.h | 12 +-
src/tracking/moving-edges/vpMeSite.cpp | 45 +-
src/tracking/moving-edges/vpMeSite.h | 4 +-
src/tracking/moving-edges/vpMeTracker.cpp | 35 +-
src/tracking/moving-edges/vpMeTracker.h | 8 +-
.../template-tracker/ssd/vpTemplateTrackerSSD.cpp | 132 +
.../template-tracker/ssd/vpTemplateTrackerSSD.h} | 88 +-
.../ssd/vpTemplateTrackerSSDESM.cpp | 332 ++
.../template-tracker/ssd/vpTemplateTrackerSSDESM.h | 74 +-
.../ssd/vpTemplateTrackerSSDForwardAdditional.cpp | 211 +
.../ssd/vpTemplateTrackerSSDForwardAdditional.h} | 88 +-
.../vpTemplateTrackerSSDForwardCompositional.cpp | 175 +
.../ssd/vpTemplateTrackerSSDForwardCompositional.h | 63 +-
.../vpTemplateTrackerSSDInverseCompositional.cpp | 235 ++
.../ssd/vpTemplateTrackerSSDInverseCompositional.h | 85 +
.../tools/vpTemplateTrackerBSpline.cpp | 98 +-
.../tools/vpTemplateTrackerBSpline.h} | 38 +-
.../tools/vpTemplateTrackerHeader.h | 103 +-
.../tools/vpTemplateTrackerTriangle.cpp | 436 ++
.../tools/vpTemplateTrackerTriangle.h | 155 +
.../tools/vpTemplateTrackerZone.cpp | 590 +++
.../template-tracker/tools/vpTemplateTrackerZone.h | 118 +
.../template-tracker/vpTemplateTracker.cpp | 927 ++++
src/tracking/template-tracker/vpTemplateTracker.h | 219 +
.../warp/vpTemplateTrackerWarp.cpp | 163 +
.../template-tracker/warp/vpTemplateTrackerWarp.h | 245 ++
.../warp/vpTemplateTrackerWarpAffine.cpp | 172 +
.../warp/vpTemplateTrackerWarpAffine.h | 175 +
.../warp/vpTemplateTrackerWarpHomography.cpp | 221 +
.../warp/vpTemplateTrackerWarpHomography.h | 200 +
.../warp/vpTemplateTrackerWarpHomographySL3.cpp | 402 ++
.../warp/vpTemplateTrackerWarpHomographySL3.h | 216 +
.../warp/vpTemplateTrackerWarpSRT.cpp | 188 +
.../warp/vpTemplateTrackerWarpSRT.h | 174 +
.../warp/vpTemplateTrackerWarpTranslation.cpp | 129 +
.../warp/vpTemplateTrackerWarpTranslation.h | 175 +
.../zncc/vpTemplateTrackerZNCC.cpp | 134 +
.../template-tracker/zncc/vpTemplateTrackerZNCC.h | 81 +-
.../vpTemplateTrackerZNCCForwardAdditional.cpp | 323 ++
.../zncc/vpTemplateTrackerZNCCForwardAdditional.h | 57 +-
.../vpTemplateTrackerZNCCInverseCompositional.cpp | 439 ++
.../vpTemplateTrackerZNCCInverseCompositional.h | 82 +
src/video/vpFFMPEG.cpp | 47 +-
src/video/vpFFMPEG.h | 6 +-
src/video/vpVideoReader.cpp | 68 +-
src/video/vpVideoReader.h | 21 +-
src/video/vpVideoWriter.cpp | 35 +-
src/video/vpVideoWriter.h | 22 +-
src/visual-feature/vpBasicFeature.cpp | 46 +-
src/visual-feature/vpBasicFeature.h | 6 +-
src/visual-feature/vpFeatureDepth.cpp | 78 +-
src/visual-feature/vpFeatureDepth.h | 4 +-
src/visual-feature/vpFeatureDisplay.cpp | 4 +-
src/visual-feature/vpFeatureDisplay.h | 4 +-
src/visual-feature/vpFeatureEllipse.cpp | 22 +-
src/visual-feature/vpFeatureEllipse.h | 4 +-
src/visual-feature/vpFeatureException.h | 43 +-
src/visual-feature/vpFeatureLine.cpp | 46 +-
src/visual-feature/vpFeatureLine.h | 4 +-
src/visual-feature/vpFeatureLuminance.cpp | 46 +-
src/visual-feature/vpFeatureLuminance.h | 20 +-
src/visual-feature/vpFeatureMoment.cpp | 32 +-
src/visual-feature/vpFeatureMoment.h | 46 +-
src/visual-feature/vpFeatureMomentAlpha.cpp | 12 +-
src/visual-feature/vpFeatureMomentAlpha.h | 22 +-
src/visual-feature/vpFeatureMomentArea.cpp | 10 +-
src/visual-feature/vpFeatureMomentArea.h | 18 +-
.../vpFeatureMomentAreaNormalized.cpp | 22 +-
src/visual-feature/vpFeatureMomentAreaNormalized.h | 28 +-
src/visual-feature/vpFeatureMomentBasic.cpp | 68 +-
src/visual-feature/vpFeatureMomentBasic.h | 10 +-
src/visual-feature/vpFeatureMomentCInvariant.cpp | 33 +-
src/visual-feature/vpFeatureMomentCInvariant.h | 22 +-
src/visual-feature/vpFeatureMomentCentered.cpp | 55 +-
src/visual-feature/vpFeatureMomentCentered.h | 16 +-
src/visual-feature/vpFeatureMomentCommon.cpp | 6 +-
src/visual-feature/vpFeatureMomentCommon.h | 4 +-
src/visual-feature/vpFeatureMomentDatabase.cpp | 4 +-
src/visual-feature/vpFeatureMomentDatabase.h | 10 +-
.../vpFeatureMomentGravityCenter.cpp | 12 +-
src/visual-feature/vpFeatureMomentGravityCenter.h | 34 +-
.../vpFeatureMomentGravityCenterNormalized.cpp | 18 +-
.../vpFeatureMomentGravityCenterNormalized.h | 35 +-
src/visual-feature/vpFeaturePoint.cpp | 87 +-
src/visual-feature/vpFeaturePoint.h | 4 +-
src/visual-feature/vpFeaturePoint3D.cpp | 6 +-
src/visual-feature/vpFeaturePoint3D.h | 4 +-
src/visual-feature/vpFeaturePointPolar.cpp | 55 +-
src/visual-feature/vpFeaturePointPolar.h | 4 +-
src/visual-feature/vpFeatureSegment.cpp | 9 +-
src/visual-feature/vpFeatureSegment.h | 2 +-
src/visual-feature/vpFeatureThetaU.cpp | 29 +-
src/visual-feature/vpFeatureThetaU.h | 4 +-
src/visual-feature/vpFeatureTranslation.cpp | 24 +-
src/visual-feature/vpFeatureTranslation.h | 4 +-
src/visual-feature/vpFeatureVanishingPoint.cpp | 6 +-
src/visual-feature/vpFeatureVanishingPoint.h | 4 +-
src/visual-feature/vpGenericFeature.cpp | 55 +-
src/visual-feature/vpGenericFeature.h | 6 +-
test/CMakeLists.txt | 4 +-
test/camera/CMakeLists.txt | 4 +-
test/camera/testCameraParametersConversion.cpp | 119 +-
test/device/CMakeLists.txt | 2 +-
test/device/display/CMakeLists.txt | 4 +-
test/device/display/testClick.cpp | 24 +-
test/device/display/testDisplays.cpp | 20 +-
test/device/display/testMouseEvent.cpp | 33 +-
test/device/display/testVideoDevice.cpp | 21 +-
test/device/display/testVideoDeviceDual.cpp | 230 +-
test/device/framegrabber/CMakeLists.txt | 4 +-
test/device/framegrabber/test1394TwoGrabber.cpp | 4 +-
test/device/framegrabber/test1394TwoResetBus.cpp | 4 +-
test/feature/CMakeLists.txt | 4 +-
test/feature/testPoint.cpp | 201 +-
test/homography/CMakeLists.txt | 4 +-
test/homography/testDisplacement.cpp | 186 +-
test/image/CMakeLists.txt | 4 +-
test/image/testConversion.cpp | 766 ++--
test/image/testCreateSubImage.cpp | 214 +-
test/image/testImagePoint.cpp | 4 +-
test/image/testIoPGM.cpp | 229 +-
test/image/testIoPPM.cpp | 300 +-
test/image/testReadImage.cpp | 201 +-
test/image/testUndistortImage.cpp | 227 +-
test/key-point/CMakeLists.txt | 4 +-
test/key-point/testSurfKeyPoint.cpp | 350 +-
test/math/CMakeLists.txt | 4 +-
test/math/testColvector.cpp | 52 +-
test/math/testKalmanAcceleration.cpp | 100 +-
test/math/testKalmanVelocity.cpp | 138 +-
test/math/testMatrix.cpp | 283 +-
test/math/testMatrixException.cpp | 72 +-
test/math/testMatrixInverse.cpp | 238 +-
test/math/testRobust.cpp | 128 +-
test/math/testRotation.cpp | 186 +-
test/math/testSvd.cpp | 147 +-
test/math/testTwistMatrix.cpp | 98 +-
test/network/CMakeLists.txt | 4 +-
test/network/testClient.cpp | 45 +-
test/network/testServer.cpp | 57 +-
test/pose/CMakeLists.txt | 4 +-
test/pose/testFindMatch.cpp | 110 +-
test/pose/testPose.cpp | 179 +-
test/pose/testPoseFeatures.cpp | 235 +-
test/pose/testPoseRansac.cpp | 12 +-
test/servo-afma4/CMakeLists.txt | 4 +-
test/servo-afma4/testAfma4.cpp | 11 +-
test/servo-afma4/testRobotAfma4.cpp | 13 +-
test/servo-afma6/CMakeLists.txt | 4 +-
test/servo-afma6/testAfma6.cpp | 11 +-
test/servo-afma6/testRobotAfma6.cpp | 13 +-
test/servo-afma6/testRobotAfma6Pose.cpp | 11 +-
test/servo-viper/CMakeLists.txt | 4 +-
test/servo-viper/testRobotViper850.cpp | 12 +-
test/servo-viper/testRobotViper850Pose.cpp | 11 +-
test/servo-viper/testViper850.cpp | 10 +-
test/tools/CMakeLists.txt | 4 +-
test/tools/geometry/CMakeLists.txt | 2 +-
test/tools/geometry/testPolygon.cpp | 192 +-
test/tools/time/CMakeLists.txt | 4 +-
test/tools/time/testTime.cpp | 109 +-
test/tools/xml/CMakeLists.txt | 4 +-
test/tools/xml/testXmlParser.cpp | 197 +-
test/tracking/CMakeLists.txt | 4 +-
test/tracking/testTrackDot.cpp | 254 +-
test/visual-feature/CMakeLists.txt | 4 +-
test/visual-feature/testFeature.cpp | 10 +-
test/visual-feature/testFeatureMoment.cpp | 135 +-
test/visual-feature/testFeatureSegment.cpp | 259 +-
tutorial/CMakeLists.txt | 27 +-
tutorial/computer-vision/CMakeLists.txt | 29 +-
.../tutorial-homography-from-points.cpp | 63 +
.../tutorial-pose-from-points-image.cpp | 68 +-
.../tutorial-pose-from-points-tracking.cpp | 66 +-
tutorial/grabber/CMakeLists.txt | 38 +-
tutorial/grabber/tutorial-grabber-1394-writer.cpp | 62 +
tutorial/grabber/tutorial-grabber-1394.cpp | 35 +-
tutorial/grabber/tutorial-grabber-CMU1394.cpp | 37 +-
tutorial/grabber/tutorial-grabber-opencv-bis.cpp | 43 +-
tutorial/grabber/tutorial-grabber-opencv.cpp | 27 +-
tutorial/grabber/tutorial-grabber-v4l2.cpp | 27 +-
tutorial/grabber/tutorial-grabber-video.cpp | 37 +-
tutorial/image/CMakeLists.txt | 46 +-
tutorial/image/lena.jpeg | Bin 0 -> 11689 bytes
tutorial/image/lena.pgm | 4 +
tutorial/image/lena.png | Bin 0 -> 80630 bytes
tutorial/image/tutorial-image-converter.cpp | 15 +-
tutorial/image/tutorial-image-filter.cpp | 107 +
tutorial/image/tutorial-image-manipulation.cpp | 37 +-
tutorial/image/tutorial-image-reader.cpp | 3 +
tutorial/image/tutorial-image-viewer.cpp | 41 +-
tutorial/image/tutorial-undistort.cpp | 33 +-
tutorial/image/tutorial-viewer.cpp | 29 +-
tutorial/matching/CMakeLists.txt | 21 +
.../matching/tutorial-matching-surf-homography.cpp | 117 +
tutorial/matching/tutorial-matching-surf.cpp | 53 +
tutorial/matching/video-postcard.mpeg | Bin 0 -> 899326 bytes
tutorial/robot/pioneer/CMakeLists.txt | 19 +-
tutorial/robot/pioneer/tutorial-pioneer-robot.cpp | 47 +-
...orial-simu-pioneer-continuous-gain-adaptive.cpp | 148 +
...orial-simu-pioneer-continuous-gain-constant.cpp | 148 +
.../robot/pioneer/tutorial-simu-pioneer-pan.cpp | 179 +-
tutorial/robot/pioneer/tutorial-simu-pioneer.cpp | 139 +-
tutorial/simulator/image/CMakeLists.txt | 27 +-
.../simulator/image/tutorial-image-simulator.cpp | 77 +-
tutorial/trace/CMakeLists.txt | 15 +
tutorial/trace/tutorial-trace.cpp | 39 +
tutorial/tracking/blob/CMakeLists.txt | 29 +-
.../tracking/blob/tutorial-blob-auto-tracker.cpp | 117 +-
tutorial/tracking/blob/tutorial-blob-tracker.cpp | 47 +-
tutorial/tracking/keypoint/CMakeLists.txt | 27 +-
.../tracking/keypoint/tutorial-klt-tracker.cpp | 79 +-
tutorial/tracking/model-based/edges/CMakeLists.txt | 33 +-
tutorial/tracking/model-based/edges/teabox.wrl | 33 +
tutorial/tracking/model-based/edges/teabox.xml | 12 +-
.../model-based/edges/tutorial-mb-edge-tracker.cpp | 92 +-
.../tracking/model-based/hybrid/CMakeLists.txt | 33 +-
tutorial/tracking/model-based/hybrid/teabox.xml | 14 +-
.../hybrid/tutorial-mb-hybrid-tracker.cpp | 114 +-
.../tracking/model-based/keypoint/CMakeLists.txt | 35 +-
tutorial/tracking/model-based/keypoint/teabox.xml | 14 +-
.../keypoint/tutorial-mb-klt-tracker.cpp | 93 +-
tutorial/tracking/moving-edges/CMakeLists.txt | 14 +-
.../moving-edges/tutorial-me-ellipse-tracker.cpp | 58 +-
.../moving-edges/tutorial-me-line-tracker.cpp | 58 +-
tutorial/tracking/template-tracker/CMakeLists.txt | 20 +
.../template-tracker/pattern-template-tracker.pgm | 4440 ++++++++++++++++++++
.../template-tracker/tutorial-template-tracker.cpp | 51 +
tutorial/visual-servo/ibvs/CMakeLists.txt | 50 +-
.../ibvs/tutorial-ibvs-4pts-display.cpp | 124 +-
.../ibvs/tutorial-ibvs-4pts-image-tracking.cpp | 127 +-
.../ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp | 266 +-
.../visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp | 137 +-
...-ibvs-4pts-plotter-continuous-gain-adaptive.cpp | 102 +
.../tutorial-ibvs-4pts-plotter-gain-adaptive.cpp | 102 +
.../ibvs/tutorial-ibvs-4pts-plotter.cpp | 141 +-
.../ibvs/tutorial-ibvs-4pts-wireframe-camera.cpp | 148 +-
.../tutorial-ibvs-4pts-wireframe-robot-afma6.cpp | 178 +-
.../tutorial-ibvs-4pts-wireframe-robot-viper.cpp | 209 +-
tutorial/visual-servo/ibvs/tutorial-ibvs-4pts.cpp | 81 +-
967 files changed, 48367 insertions(+), 34071 deletions(-)
diff --git a/CMakeHeaderFileList.cmake b/CMakeHeaderFileList.cmake
index 25ecc09..5c8d630 100644
--- a/CMakeHeaderFileList.cmake
+++ b/CMakeHeaderFileList.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeHeaderFileList.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeHeaderFileList.cmake 4617 2014-01-25 10:13:21Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -71,7 +71,6 @@ SET (HEADER_EXCEPTION
)
SET (HEADER_DEVICE_FRAMEGRABBER
- device/framegrabber/1394/vp1394Grabber.h
device/framegrabber/1394/vp1394TwoGrabber.h
device/framegrabber/1394/vp1394CMUGrabber.h
device/framegrabber/disk/vpDiskGrabber.h
@@ -166,7 +165,6 @@ SET (HEADER_ROBOT
robot/real-robot/biclops/vpBiclops.h
robot/real-robot/biclops/vpRobotBiclopsController.h
robot/real-robot/biclops/vpRobotBiclops.h
- robot/real-robot/cycab/vpRobotCycab.h
robot/real-robot/pioneer/vpUnicycle.h
robot/real-robot/pioneer/vpPioneer.h
robot/real-robot/pioneer/vpPioneerPan.h
@@ -189,7 +187,6 @@ SET (HEADER_ROBOT
)
SET (HEADER_SERVO
- servo/vpAdaptativeGain.h
servo/vpAdaptiveGain.h
servo/vpServoData.h
servo/vpServoDisplay.h
@@ -265,7 +262,8 @@ SET (HEADER_TRACKING
tracking/moving-edges/vpMeNurbs.h
tracking/mbt/vpMbTracker.h
- tracking/mbt/vpMbHiddenFaces.h
+ tracking/mbt/vpMbHiddenFaces.h
+ tracking/mbt/vpMbXmlParser.h
tracking/mbt/edge/vpMbtDistanceLine.h
tracking/mbt/edge/vpMbtPolygon.h
tracking/mbt/edge/vpMbtMeLine.h
@@ -273,11 +271,11 @@ SET (HEADER_TRACKING
tracking/mbt/edge/vpMbtXmlParser.h
tracking/mbt/edge/vpMbtDistanceCylinder.h
tracking/mbt/hybrid/vpMbEdgeKltTracker.h
+ tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.h
tracking/mbt/klt/vpMbtKltPolygon.h
tracking/mbt/klt/vpMbKltTracker.h
tracking/mbt/klt/vpMbtKltXmlParser.h
- tracking/moments/vpMomentObject.h
tracking/moments/vpMomentAlpha.h
tracking/moments/vpMomentBasic.h
tracking/moments/vpMomentCentered.h
@@ -290,6 +288,26 @@ SET (HEADER_TRACKING
tracking/moments/vpMomentObject.h
tracking/moments/vpMomentAreaNormalized.h
tracking/moments/vpMomentArea.h
+
+ tracking/template-tracker/vpTemplateTracker.h
+ tracking/template-tracker/ssd/vpTemplateTrackerSSD.h
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.h
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.h
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.h
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.h
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCC.h
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.h
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.h
+ tracking/template-tracker/tools/vpTemplateTrackerBSpline.h
+ tracking/template-tracker/tools/vpTemplateTrackerHeader.h
+ tracking/template-tracker/tools/vpTemplateTrackerZone.h
+ tracking/template-tracker/tools/vpTemplateTrackerTriangle.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarp.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.h
+ tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.h
)
SET (HEADER_VIDEO
@@ -322,26 +340,24 @@ SET (HEADER_VISUAL_FEATURE
visual-feature/vpFeatureEllipse.h
visual-feature/vpFeatureException.h
visual-feature/vpFeatureLine.h
+ visual-feature/vpFeatureLuminance.h
+ visual-feature/vpFeatureMoment.h
+ visual-feature/vpFeatureMomentAlpha.h
+ visual-feature/vpFeatureMomentArea.h
+ visual-feature/vpFeatureMomentAreaNormalized.h
+ visual-feature/vpFeatureMomentBasic.h
+ visual-feature/vpFeatureMomentCentered.h
+ visual-feature/vpFeatureMomentCInvariant.h
+ visual-feature/vpFeatureMomentCommon.h
+ visual-feature/vpFeatureMomentDatabase.h
+ visual-feature/vpFeatureMomentGravityCenter.h
+ visual-feature/vpFeatureMomentGravityCenterNormalized.h
visual-feature/vpFeaturePoint3D.h
visual-feature/vpFeaturePoint.h
visual-feature/vpFeaturePointPolar.h
visual-feature/vpFeatureThetaU.h
visual-feature/vpFeatureTranslation.h
visual-feature/vpFeatureVanishingPoint.h
- visual-feature/vpFeatureMoment.h
- visual-feature/vpFeatureMomentDatabase.h
- visual-feature/vpFeatureMomentCommon.h
- visual-feature/vpFeatureMomentAlpha.h
- visual-feature/vpFeatureMomentGravityCenter.h
- visual-feature/vpFeatureMomentBasic.h
- visual-feature/vpFeatureMomentGravityCenterNormalized.h
- visual-feature/vpFeatureMomentCentered.h
- visual-feature/vpFeatureMomentCInvariant.h
- visual-feature/vpFeatureMomentCommon.h
- visual-feature/vpFeatureMomentAreaNormalized.h
- visual-feature/vpFeatureMomentArea.h
-
- visual-feature/vpFeatureLuminance.h
visual-feature/vpFeatureSegment.h
visual-feature/vpGenericFeature.h
)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f83aaf5..9b44006 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4340 2013-07-23 20:11:12Z fspindle $
+# $Id: CMakeLists.txt 4678 2014-02-19 09:52:35Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -40,12 +40,12 @@
PROJECT(VISP C CXX)
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
#-----------------------------------------------------------------------------
# VISP version number. An even minor number corresponds to releases.
SET(VISP_VERSION_MAJOR "2")
-SET(VISP_VERSION_MINOR "8")
+SET(VISP_VERSION_MINOR "9")
SET(VISP_VERSION_PATCH "0")
SET(VISP_VERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}.${VISP_VERSION_PATCH}")
# Package revision number
@@ -142,6 +142,20 @@ OPTION(BUILD_DEMOS "Build ViSP demos." ON)
OPTION(BUILD_TUTORIAL "Build ViSP tutorial." ON)
# Build deprecated functions as an option.
OPTION(BUILD_DEPRECATED_FUNCTIONS "Build deprecated functionalities." ON)
+# Debug and trace cflags
+option(ACTIVATE_DEBUG_TRACE "Enable debug and trace printings" ON)
+
+if(ACTIVATE_DEBUG_TRACE)
+ list(APPEND VISP_DEFS "-DVP_TRACE")
+ list(APPEND VISP_DEFS "-DVP_DEBUG")
+else()
+ string(REPLACE "-DVP_TRACE" "" " " VISP_DEFS "${VISP_DEFS}")
+ string(REPLACE "-DVP_DEBUG" "" " " VISP_DEFS "${VISP_DEFS}")
+endif()
+
+if(MSVC)
+ option(BUILD_WITH_STATIC_CRT "Enables use of staticaly linked CRT for staticaly linked ViSP" ON)
+endif()
# Note that it is better to set MOMENTS_COMBINE_MATRICES to OFF
OPTION(MOMENTS_COMBINE_MATRICES "Use linear combination of matrices instead of linear combination of moments to compute interaction matrices." OFF)
@@ -164,17 +178,12 @@ ENDIF()
IF (UNIX)
- FIND_PACKAGE(DC1394)
- IF(DC1394_2_FOUND)
- OPTION(USE_DC1394_2 "Compile ViSP with the libdc1394.2 library" ON)
- ELSE(DC1394_2_FOUND)
- SET(USE_DC1394_2 OFF)
- ENDIF(DC1394_2_FOUND)
- IF(DC1394_1_FOUND)
- OPTION(USE_DC1394_1 "Compile ViSP with the libdc1394.1 library" ON)
- ELSE(DC1394_1_FOUND)
- SET(USE_DC1394_1 OFF)
- ENDIF(DC1394_1_FOUND)
+ find_package(DC1394)
+ if(DC1394_FOUND)
+ option(USE_DC1394 "Compile ViSP with the libdc1394.2 library" ON)
+ else()
+ set(USE_DC1394 OFF)
+ endif()
FIND_PACKAGE(V4L2)
IF(V4L2_FOUND)
@@ -215,13 +224,6 @@ IF (UNIX)
SET(USE_PTU46 OFF)
ENDIF(PTU46_FOUND)
- FIND_PACKAGE(CycabTk)
- IF(CycabTk_FOUND)
- OPTION(USE_CYCAB "Compile ViSP for Cycab car-like mobile robot at Irisa" OFF)
- ELSE(CycabTk_FOUND)
- SET(USE_CYCAB OFF)
- ENDIF(CycabTk_FOUND)
-
ENDIF(UNIX)
IF(WIN32)
@@ -278,16 +280,15 @@ ELSE(LAPACK_FOUND)
SET(USE_LAPACK OFF)
ENDIF(LAPACK_FOUND)
-IF(NOT USE_LAPACK)
- FIND_PACKAGE(GSL)
- IF(GSL_FOUND)
- OPTION(USE_GSL "Compile ViSP with the GSL library" ON)
- ELSE(GSL_FOUND)
- SET(USE_GSL OFF)
- ENDIF(GSL_FOUND)
-ENDIF()
+#IF(NOT USE_LAPACK) # line removed since the template tracker needs gsl
+ find_package(GSL)
+ if(GSL_FOUND)
+ option(USE_GSL "Compile ViSP with the GSL library" ON)
+ else()
+ set(USE_GSL OFF)
+ endif()
+#ENDIF()
-INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
FIND_PACKAGE(OpenGL)
FIND_PACKAGE(Coin3D)
if (NOT COIN3D_FOUND)
@@ -509,8 +510,7 @@ endif()
#SET(USE_GTK2 ON) # For Linux/OSX/Windows display with gtk-2.x
#SET(USE_DIRECT3D ON) # For Windows display
#SET(USE_GDI ON) # For Windows display
-#SET(USE_DC1394_1 ON) # For firewire grabber under Linux and OSX ?
-#SET(USE_DC1394_2 ON) # For firewire grabber under Linux and OSX ?
+#SET(USE_DC1394 ON) # For firewire grabber under Linux and OSX ?
#SET(USE_V4L2 ON) # For Video 4 Linux 2 grabber under Linux
#SET(USE_DIRECTSHOW ON) # For Windows direct show grabber
#SET(USE_LIBJPEG ON) # For reading jpeg files
@@ -594,8 +594,9 @@ ENDIF(NAS_FOUND)
# Platform dependent
#----------------------------------------------------------------------
IF(WIN32 AND NOT CYGWIN)
- LIST(APPEND VISP_DEFS "-DWIN32")
- LIST(APPEND VISP_DEFS "-DGX") # To support exceptions
+ if(BUILD_DEPRECATED_FUNCTIONS)
+ list(APPEND VISP_DEFS "-DWIN32") # only for compat with previous versions
+ endif()
CHECK_LIBRARY_EXISTS("winmm.lib" getch "" HAVE_LIBWINMM) # for timeGetTime()
IF(HAVE_LIBWINMM)
#MESSAGE("have winmm.lib")
@@ -616,26 +617,30 @@ IF(WIN32 AND NOT CYGWIN)
if(HAVE_LIBWS2_32)
#message("have ws2_32.lib")
list(APPEND VISP_EXTERN_LIBRARIES "ws2_32.lib")
- endif()
+ endif()
endif()
ENDIF(WIN32 AND NOT CYGWIN)
-IF(UNIX)
- LIST(APPEND VISP_DEFS "-DUNIX")
- IF(APPLE)
- LIST(APPEND VISP_DEFS "-DAPPLE")
- ENDIF(APPLE)
-ENDIF(UNIX)
+if(UNIX)
+ if(BUILD_DEPRECATED_FUNCTIONS)
+ list(APPEND VISP_DEFS "-DUNIX")
+ if(APPLE)
+ list(APPEND VISP_DEFS "-DAPPLE")
+ endif()
+ if(${CMAKE_SYSTEM_NAME} MATCHES "SunOS")
+ list(APPEND VISP_DEFS "-DSOLARIS")
+ endif()
+ endif()
+endif()
-IF(UNIX)
- INCLUDE(TestBigEndian)
+if(UNIX)
+ include(TestBigEndian)
TEST_BIG_ENDIAN(BIGENDIAN)
#SET(BIGENDIAN FALSE)
-ENDIF()
-
-IF(BIGENDIAN)
- LIST(APPEND VISP_DEFS "-DBIGENDIAN")
-ENDIF(BIGENDIAN)
+ if(BIGENDIAN)
+ add_definitions("-DBIGENDIAN")
+ endif()
+endif()
#--------------------------------------------------------------------
# OpenMP
@@ -685,15 +690,32 @@ ENDIF(USE_LAPACK)
#--------------------------------------------------------------------
# X11 lib
#--------------------------------------------------------------------
-SET(VISP_HAVE_X11_FOUND "no") # for ViSP-third-party.txt
-IF(USE_X11)
- MESSAGE(STATUS "X11 found")
- SET(VISP_HAVE_X11 TRUE) # for header vpConfig.h
- SET(VISP_HAVE_X11_FOUND "yes") # for ViSP-third-party.txt
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${X11_INCLUDE_DIR})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${X11_LIBRARIES} -lm)
+set(VISP_HAVE_X11_FOUND "no") # for ViSP-third-party.txt
+if(USE_X11)
+ message(STATUS "X11 found")
+ set(VISP_HAVE_X11 TRUE) # for header vpConfig.h
+ set(VISP_HAVE_X11_FOUND "yes") # for ViSP-third-party.txt
+ # try to found -lm requested on some platforms to link with X11
+ list(APPEND VISP_EXTERN_INCLUDE_DIRS ${X11_INCLUDE_DIR})
+ list(APPEND VISP_EXTERN_LIBRARIES ${X11_LIBRARIES})
+ find_library(M_LIBRARY NAMES m)
+ mark_as_advanced(M_LIBRARY)
+ if(M_LIBRARY)
+ list(APPEND VISP_EXTERN_LIBRARIES ${M_LIBRARY})
+ endif()
#MESSAGE("X11: ${X11_LIBRARIES}")
-ENDIF(USE_X11)
+else()
+ # try to found -lsocket -lnsl requested for vpNetwork and vpSickLDMRS
+ find_library(SOCKET_LIBRARY NAMES socket)
+ find_library(NSL_LIBRARY NAMES nsl)
+ if (SOCKET_LIBRARY)
+ list(APPEND VISP_EXTERN_LIBRARIES ${SOCKET_LIBRARY})
+ endif()
+ if (NSL_LIBRARY)
+ list(APPEND VISP_EXTERN_LIBRARIES ${NSL_LIBRARY})
+ endif()
+ mark_as_advanced(SOCKET_LIBRARY NSL_LIBRARY)
+endif()
#--------------------------------------------------------------------
@@ -743,7 +765,7 @@ IF(USE_OGRE)
if (Boost_FOUND)
# Set up referencing of Boost
- LIST(APPEND VISP_DEFS "-DBOOST_ALL_NO_LIB")
+ #LIST(APPEND VISP_DEFS "-DBOOST_ALL_NO_LIB")
LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${Boost_INCLUDE_DIR})
LIST(APPEND VISP_EXTERN_LIBRARIES ${Boost_LIBRARIES})
endif()
@@ -772,6 +794,19 @@ IF(USE_OGRE)
SET(VISP_HAVE_OGRE_FOUND "yes") # for ViSP-third-party.txt
SET(VISP_HAVE_OGRE TRUE) # for header vpConfig.h
+ # If Ogre media are not available we provide the minimal material to run the examples:
+ # - resources.cfg
+ # - plugins.cfg
+ # - media/materials/...
+ # - media/models/...
+ #
+ # We need to introduce OGRE_MEDIA_NOT_AVAILABLE to memorize when OGRE_MEDIA_DIR is not set.
+ # Because in that case, OGRE_MEDIA_DIR should be set first to VISP_HAVE_OGRE_RESOURCES_PATH
+ # (for the "make all" case) then to VISP_INSTALL_DIR_OGRE_RESOURCES (for the "make install" case)
+ if(NOT OGRE_MEDIA_DIR)
+ set(OGRE_MEDIA_NOT_AVAILABLE "TRUE")
+ endif()
+
# Try to search for an existing plugins.cfg file
# Here we cannot use OGRE_PLUGIN_DIR_REL or OGRE_PLUGIN_DIR_DBG where
# we may find an existing plugins.cfg file, since under Windows in these
@@ -846,17 +881,34 @@ IF(USE_OGRE)
NO_SYSTEM_ENVIRONMENT_PATH
)
+ # Here we copy all the minimal media files
+ # - media/materials/...
+ # - media/models/...
+ if(OGRE_MEDIA_NOT_AVAILABLE)
+ file(COPY data/ogre-simulator/media DESTINATION ${VISP_BINARY_DIR}/data/ogre-simulator)
+ endif()
+
+
+ # Here we create a resources.cfg if it was not found
IF(NOT VISP_HAVE_OGRE_RESOURCES_PATH)
# we create a resources.cfg file for vpAROgre.cpp
# case 1: normal case
+ # If OGRE_MEDIA_DIR is not found, we set it to VISP_HAVE_OGRE_RESOURCES_PATH in order to use
+ # the minimal requested media to run the examples
#--------------
SET(VISP_HAVE_OGRE_RESOURCES_PATH ${VISP_BINARY_DIR}/data/ogre-simulator)
+ if(OGRE_MEDIA_NOT_AVAILABLE)
+ set(OGRE_MEDIA_DIR ${VISP_HAVE_OGRE_RESOURCES_PATH}/media)
+ endif()
+
CONFIGURE_FILE(
${VISP_CMAKE_MODULE_PATH}/resources.cfg.in
${VISP_HAVE_OGRE_RESOURCES_PATH}/resources.cfg
IMMEDIATE @ONLY)
# case 2: install or packaging case
+ # If OGRE_MEDIA_DIR is not found, we set it to VISP_INSTALL_DIR_OGRE_RESOURCES in order to use
+ # the minimal requested media to run the examples
#--------------
IF(UNIX)
set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator")
@@ -864,23 +916,47 @@ IF(USE_OGRE)
set(VISP_INSTALL_DIR_OGRE_RESOURCES "${CMAKE_INSTALL_PREFIX}/data/ogre-simulator")
ENDIF()
- # install rule for resources.cfg:
- IF(UNIX)
- INSTALL(FILES
- ${VISP_HAVE_OGRE_RESOURCES_PATH}/resources.cfg
+ if(OGRE_MEDIA_NOT_AVAILABLE)
+ set(OGRE_MEDIA_DIR ${VISP_INSTALL_DIR_OGRE_RESOURCES}/media)
+ endif()
+ CONFIGURE_FILE(
+ ${VISP_CMAKE_MODULE_PATH}/resources.cfg.in
+ ${VISP_BINARY_DIR}/install/resources.cfg
+ IMMEDIATE @ONLY)
+
+ # install rule for resources.cfg and Ogre media if they are not available:
+ if(UNIX)
+ install(FILES
+ ${VISP_BINARY_DIR}/install/resources.cfg
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
COMPONENT libraries
)
- ELSE()
- INSTALL(FILES
- ${VISP_HAVE_OGRE_RESOURCES_PATH}/resources.cfg
+ if(OGRE_MEDIA_NOT_AVAILABLE)
+ install(DIRECTORY
+ data/ogre-simulator/media
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/visp/data/ogre-simulator
+ FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+ COMPONENT libraries
+ )
+ endif()
+ else()
+ install(FILES
+ ${VISP_BINARY_DIR}/install/resources.cfg
DESTINATION data/ogre-simulator
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
COMPONENT libraries
)
- ENDIF()
- ENDIF()
+ if(OGRE_MEDIA_NOT_AVAILABLE)
+ install(DIRECTORY
+ data/ogre-simulator/media
+ DESTINATION data/ogre-simulator
+ FILE_PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+ COMPONENT libraries
+ )
+ endif()
+ endif()
+ endif()
MARK_AS_ADVANCED(VISP_HAVE_OGRE_PLUGINS_PATH)
MARK_AS_ADVANCED(VISP_HAVE_OGRE_RESOURCES_PATH)
@@ -914,9 +990,15 @@ IF(USE_COIN)
IF(WIN32)
LIST(APPEND VISP_DEFS "-DCOIN_DLL")
ENDIF(WIN32)
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${OPENGL_INCLUDE_DIR})
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${COIN3D_INCLUDE_DIRS})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${OPENGL_LIBRARIES})
+ LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${COIN3D_INCLUDE_DIRS})
+ # On OSX cmake 2.8 found OpenGL but OPENGL_INCLUDE_DIR was set to NOT_FOUND
+ # We add a test to be sure that the OPENGL vars exist.
+ if(OPENGL_INCLUDE_DIR)
+ list(APPEND VISP_EXTERN_INCLUDE_DIRS ${OPENGL_INCLUDE_DIR})
+ endif()
+ if(OPENGL_LIBRARIES)
+ list(APPEND VISP_EXTERN_LIBRARIES ${OPENGL_LIBRARIES})
+ endif()
#MESSAGE("COIN3D_INCLUDE_DIRS = ${COIN3D_INCLUDE_DIRS}")
#MESSAGE("COIN3D_LIBRARIES = ${COIN3D_LIBRARIES}")
@@ -1073,6 +1155,7 @@ IF(USE_LIBUSB_1)
MESSAGE(STATUS "libusb-1.0 found")
+ LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${LIBUSB_1_INCLUDE_DIRS})
LIST(APPEND VISP_EXTERN_LIBRARIES ${LIBUSB_1_LIBRARIES})
ELSE()
MESSAGE(STATUS "libusb-1.0 not found")
@@ -1089,7 +1172,7 @@ IF(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_PTHREAD)
# The material is found. Check if libfreenect is an old version
include(CheckCXXSourceCompiles)
SET(CMAKE_REQUIRED_LIBRARIES ${LIBFREENECT_LIBRARIES} ${PTHREAD_LIBRARIES} ${LIBUSB_1_LIBRARIES})
- SET(CMAKE_REQUIRED_INCLUDES ${LIBFREENECT_INCLUDE_DIRS} ${PTHREAD_INCLUDE_DIRS})
+ SET(CMAKE_REQUIRED_INCLUDES ${LIBFREENECT_INCLUDE_DIRS} ${PTHREAD_INCLUDE_DIRS} ${LIBUSB_1_INCLUDE_DIRS})
CHECK_CXX_SOURCE_COMPILES("
#include <libfreenect.hpp>
@@ -1168,21 +1251,100 @@ IF(USE_OPENCV)
ENDIF(VISP_BUILD_SHARED_LIBS AND VISP_USE_MSVC)
SET(VISP_HAVE_OPENCV TRUE) # for header vpConfig.h
SET(VISP_HAVE_OPENCV_FOUND "yes") # for ViSP-third-party.txt
-
+ # On win32 since OpenCV 2.4.7 we cannot use OpenCV_LIBS to set ViSP 3rd party libraries.
+ # Using OpenCV_LIBS works to build visp library, examples, demos and test thanks to the components,
+ # but not tutorials that are stand alone Cmake project that use ViSP as a 3rd party.
+ # To be clear OpenCV_LIBS contains opencv_core and not c:\...\opencv_core248.lib full path as requested
+ # to use ViSP. This was not the case with OpenCV 2.4.6.
+ # For the build of ViSP it works with OpenCV_LIBS: in that case thanks to opencv_core properties, CMake
+ # is able to find the real name and location of the libraries.
+ # But when ViSP is used as a 3rd party where it should import OpenCV libraries, it doesn't work with
+ # OpenCV_LIBS.
+ # The solution here is to get the real name of OpenCV libraries thanks to the properties and link
+ # with these names.
+ # An other way could be to include OpenCVConfig.cmake, but in that case, visp-config and visp.pc
+ # will be not able to give the names of OpenCV libraries when used without CMake.
+ #message("OpenCV_LIB_COMPONENTS: ${OpenCV_LIB_COMPONENTS}")
+ #message("OpenCV_LIBS: ${OpenCV_LIBS}")
+ if(WIN32 AND OpenCV_LIB_COMPONENTS AND OpenCV_VERSION AND OpenCV_VERSION VERSION_GREATER 2.4.6)
+ foreach(component_ ${OpenCV_LIB_COMPONENTS})
+ #message("component: ${component_}")
+ if(VISP_BUILD_SHARED_LIBS)
+ get_target_property(component_property_opt_ ${component_} IMPORTED_IMPLIB_RELEASE)
+ get_target_property(component_property_dbg_ ${component_} IMPORTED_IMPLIB_DEBUG)
+ # particular case of opencv_ts that doesn't have an optimized implib
+ if(NOT component_property_opt_)
+ get_target_property(component_property_opt_ ${component_} IMPORTED_LOCATION_RELEASE)
+ endif()
+ # particular case of opencv_ts that doesn't have a debug implib
+ if(NOT component_property_dbg_)
+ get_target_property(component_property_dbg_ ${component_} IMPORTED_LOCATION_DEBUG)
+ endif()
+ else()
+ get_target_property(component_property_opt_ ${component_} IMPORTED_LOCATION_RELEASE)
+ get_target_property(component_property_dbg_ ${component_} IMPORTED_LOCATION_DEBUG)
+ endif()
+ get_target_property(component_property_3rdparty_opt_ ${component_} IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE)
+ get_target_property(component_property_3rdparty_dbg_ ${component_} IMPORTED_LINK_INTERFACE_LIBRARIES_DEBUG)
+ #message("component_property_opt_: ${component_property_opt_}")
+ #message("component_property_dbg_: ${component_property_dbg_}")
+ #message("component_property_3rdparty_opt_: ${component_property_3rdparty_opt_}")
+ #message("component_property_3rdparty_dbg_: ${component_property_3rdparty_dbg_}")
+ if(component_property_opt_)
+ list(APPEND VISP_EXTERN_LIBRARIES optimized ${component_property_opt_})
+ endif()
+ if(component_property_dbg_)
+ list(APPEND VISP_EXTERN_LIBRARIES debug ${component_property_dbg_})
+ endif()
+ #if(NOT component_property_opt_ AND NOT component_property_dbg_)
+ # message("No implib for component ${component_}")
+ #endif()
+ foreach(3rdparty_opt_ ${component_property_3rdparty_opt_})
+ list(FIND OpenCV_LIB_COMPONENTS ${3rdparty_opt_} 3rdparty_is_opencv_component_)
+ if(3rdparty_is_opencv_component_ LESS 0)
+ #message("${3rdparty_opt_} is not an opencv component")
+ get_target_property(3rdparty_opt_location_ ${3rdparty_opt_} IMPORTED_LOCATION_RELEASE)
+ #message("3rdparty_opt_: ${3rdparty_opt_} location: ${3rdparty_opt_location_}")
+ if(3rdparty_opt_location_)
+ list(APPEND VISP_EXTERN_LIBRARIES optimized ${3rdparty_opt_location_})
+ else()
+ list(APPEND VISP_EXTERN_LIBRARIES ${3rdparty_opt_}) # should be a system dependency
+ endif()
+ endif()
+ endforeach()
+ foreach(3rdparty_dbg_ ${component_property_3rdparty_dbg_})
+ list(FIND OpenCV_LIB_COMPONENTS ${3rdparty_dbg_} 3rdparty_is_opencv_component_)
+ if(3rdparty_is_opencv_component_ LESS 0)
+ get_target_property(3rdparty_dbg_location_ ${3rdparty_dbg_} IMPORTED_LOCATION_DEBUG)
+ #message("3rdparty_dbg_: ${3rdparty_dbg_} location: ${3rdparty_dbg_location_}")
+ if(3rdparty_dbg_location_)
+ list(APPEND VISP_EXTERN_LIBRARIES debug ${3rdparty_dbg_location_})
+ else()
+ list(APPEND VISP_EXTERN_LIBRARIES ${3rdparty_dbg_}) # should be a system dependency
+ endif()
+ endif()
+ endforeach()
+ endforeach()
+ else()
+ # this should be an old OpenCV version that doesn't have the previous behavior
+ list(APPEND VISP_EXTERN_LIBRARIES ${OpenCV_LIBS})
+ endif()
LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS})
LIST(APPEND VISP_EXTERN_LINK_DIR ${OpenCV_LIB_DIR})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${OpenCV_LIBS})
+ #LIST(APPEND VISP_EXTERN_LIBRARIES ${OpenCV_LIBS})
#MESSAGE("OpenCV_INCLUDE_DIRS = ${OpenCV_INCLUDE_DIRS}")
#MESSAGE("OpenCV_LIBS = ${OpenCV_LIBS}")
#MESSAGE("OpenCV_LIB_DIR = ${OpenCV_LIB_DIR}")
SET(VISP_HAVE_OPENCV_VERSION "(${OpenCV_VERSION_MAJOR}*65536 + ${OpenCV_VERSION_MINOR}*256 + ${OpenCV_VERSION_PATCH})") # for ViSP-third-party.txt
#MESSAGE("VISP_HAVE_OPENCV_VERSION = ${VISP_HAVE_OPENCV_VERSION}")
+ #MESSAGE("VISP_EXTERN_LIBRARIES = ${VISP_EXTERN_LIBRARIES}")
# additional check to see if opencv_nonfree module introduced in OpenCV 2.4 is available
#message("OpenCV_VERSION = ${OpenCV_VERSION}")
#message("OpenCV_NONFREE_FOUND: ${OPENCV_NONFREE_FOUND}")
- if(${OpenCV_VERSION})
- if(${OpenCV_VERSION} VERSION_LESS "2.4.2")
+ if(OpenCV_VERSION)
+ if(OpenCV_VERSION VERSION_LESS "2.4.2")
+ message(STATUS "OpenCV nonfree found")
set(VISP_HAVE_OPENCV_NONFREE TRUE) # for header vpConfig.h
else() # Version is greater or equal to 2.4.0
if(OPENCV_NONFREE_FOUND)
@@ -1193,6 +1355,7 @@ IF(USE_OPENCV)
endif()
endif()
else()
+ message("OpenCV_VERSION is false")
message(STATUS "OpenCV nonfree not found")
endif()
ELSE(OpenCV_FOUND)
@@ -1372,63 +1535,43 @@ ENDIF(USE_FFMPEG)
# Specific hardware : framegrabbers and cameras
#----------------------------------------------------------------------
# default initialisation
-SET(VISP_HAVE_DC1394_1_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_DC1394_2_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_V4L2_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_DIRECTSHOW_FOUND "no") # for ViSP-third-party.txt
# library for firewire cameras
-IF(USE_DC1394_1 OR USE_DC1394_2)
+IF(USE_DC1394)
#FIND_PACKAGE(DC1394)
- IF(DC1394_FOUND)
- SET(VISP_HAVE_DC1394 TRUE) # for header vpConfig.h
- IF(DC1394_2_FOUND AND USE_DC1394_2)
- MESSAGE(STATUS "libdc1394-2.x found")
- SET(VISP_HAVE_DC1394_2 TRUE) # for header vpConfig.h
- SET(VISP_HAVE_DC1394_2_FOUND "yes") # for ViSP-third-party.txt
- IF(DC1394_CAMERA_ENUMERATE_FOUND)
- SET(VISP_HAVE_DC1394_2_CAMERA_ENUMERATE TRUE) # for header vpConfig.h
- ENDIF(DC1394_CAMERA_ENUMERATE_FOUND)
- IF(DC1394_FIND_CAMERAS_FOUND)
- SET(VISP_HAVE_DC1394_2_FIND_CAMERAS TRUE) # for header vpConfig.h
- ENDIF(DC1394_FIND_CAMERAS_FOUND)
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${DC1394_2_INCLUDE_DIRS})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${DC1394_2_LIBRARY})
-
- #MESSAGE("DBG VISP_HAVE_DC1394_2= ${VISP_HAVE_DC1394_2}")
- ELSE(DC1394_2_FOUND AND USE_DC1394_2)
- MESSAGE(STATUS "libdc1394-2.x not found")
- SET(VISP_HAVE_DC1394_2_FOUND "no") # for ViSP-third-party.txt
- ENDIF(DC1394_2_FOUND AND USE_DC1394_2)
-
- IF(DC1394_1_FOUND AND USE_DC1394_1)
- MESSAGE(STATUS "libdc1394-1.x found")
- SET(VISP_HAVE_DC1394_1 TRUE) # for header vpConfig.h
- SET(VISP_HAVE_DC1394_1_FOUND "yes") # for ViSP-third-party.txt
- #MESSAGE("DBG VISP_HAVE_DC1394_1= ${VISP_HAVE_DC1394_1}")
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${DC1394_1_INCLUDE_DIRS})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${DC1394_1_LIBRARY})
- ELSE(DC1394_1_FOUND AND USE_DC1394_1)
- MESSAGE(STATUS "libdc1394-1.x not found")
- SET(VISP_HAVE_DC1394_1_FOUND "no") # for ViSP-third-party.txt
- ENDIF(DC1394_1_FOUND AND USE_DC1394_1)
+ if(DC1394_FOUND)
+ set(VISP_HAVE_DC1394 TRUE) # for header vpConfig.h
+
+ MESSAGE(STATUS "libdc1394-2.x found")
+ SET(VISP_HAVE_DC1394_2 TRUE) # for header vpConfig.h
+ SET(VISP_HAVE_DC1394_2_FOUND "yes") # for ViSP-third-party.txt
+ IF(DC1394_CAMERA_ENUMERATE_FOUND)
+ SET(VISP_HAVE_DC1394_2_CAMERA_ENUMERATE TRUE) # for header vpConfig.h
+ ENDIF(DC1394_CAMERA_ENUMERATE_FOUND)
+ IF(DC1394_FIND_CAMERAS_FOUND)
+ SET(VISP_HAVE_DC1394_2_FIND_CAMERAS TRUE) # for header vpConfig.h
+ ENDIF(DC1394_FIND_CAMERAS_FOUND)
+ LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${DC1394_INCLUDE_DIRS})
+ LIST(APPEND VISP_EXTERN_LIBRARIES ${DC1394_LIBRARY})
+
+ #MESSAGE("DBG VISP_HAVE_DC1394_2= ${VISP_HAVE_DC1394_2}")
#MESSAGE("DBG DC1394_INCLUDE_DIRS=${DC1394_INCLUDE_DIRS}")
-
IF(APPLE)
#SET(VISP_EXTERN_LIBRARIES ${VISP_EXTERN_LIBRARIES} IOkit "-framework Carbon")
LIST(APPEND VISP_EXTERN_LIBRARIES "-framework IOkit -framework Carbon")
ENDIF(APPLE)
- #MESSAGE("DC1394_LIBRARIES = ${DC1394_LIBRARIES}")
+ #MESSAGE("DC1394_LIBRARIES = ${DC1394_LIBRARIES}")
ELSE(DC1394_FOUND)
- MESSAGE(STATUS "libdc1394-1.x not found")
MESSAGE(STATUS "libdc1394-2.x not found")
- SET(VISP_HAVE_DC1394_1_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_DC1394_2_FOUND "no") # for ViSP-third-party.txt
#MESSAGE("Firewire dc1394 requested but not found. Turn off USE_DC1394!")
# SET(USE_DC1394 OFF)
ENDIF(DC1394_FOUND)
-ENDIF(USE_DC1394_1 OR USE_DC1394_2)
+ENDIF(USE_DC1394)
# library for CMU1394 pan-tilt head
IF(USE_CMU1394)
@@ -1604,7 +1747,6 @@ SET(VISP_HAVE_PTU46_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_PIONEER_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_VIPER650_FOUND "no") # for ViSP-third-party.txt
SET(VISP_HAVE_VIPER850_FOUND "no") # for ViSP-third-party.txt
-SET(VISP_HAVE_CYCAB_FOUND "no") # for ViSP-third-party.txt
# library for Irisa's Afma4 cylindrical robot
IF(USE_AFMA4)
@@ -1766,26 +1908,6 @@ IF(USE_PTU46)
ENDIF(PTU46_FOUND)
ENDIF(USE_PTU46)
-# library for Cycab car-like mobile robot
-IF(USE_CYCAB)
- IF(CycabTk_FOUND)
- IF(CycabTk_NEW_FOUND)
- SET(VISP_HAVE_CYCABTK TRUE) # for header vpConfig.h
- ENDIF(CycabTk_NEW_FOUND)
- IF(CycabTk_OLD_FOUND)
- SET(VISP_HAVE_CYCABTK_OLD TRUE) # for header vpConfig.h
- ENDIF(CycabTk_OLD_FOUND)
- SET(VISP_HAVE_CYCAB TRUE) # for header vpConfig.h
- SET(VISP_HAVE_CYCAB_FOUND "yes") # for ViSP-third-party.txt
- LIST(APPEND VISP_EXTERN_INCLUDE_DIRS ${CycabTk_INCLUDE_DIRS})
- LIST(APPEND VISP_EXTERN_LIBRARIES ${CycabTk_LIBRARIES})
- ELSE(CycabTk_FOUND)
- MESSAGE(STATUS "Cycab interface not found")
- MESSAGE("Cycab requested but not found. Turn off USE_CYCAB option!")
- SET(VISP_HAVE_CYCAB_FOUND "no") # for ViSP-third-party.txt
- ENDIF(CycabTk_FOUND)
-ENDIF(USE_CYCAB)
-
# libraries for Pioneer mobile robots
if(USE_ARIA)
if(UNIX)
@@ -1865,8 +1987,7 @@ ENDIF(DOXYGEN_FOUND)
# warnings. To suppress it, we add the _CRT_SECURE_NO_DEPRECATE preprocessor
# definition
if(WIN32 AND MSVC)
- #MESSAGE("Add -D_CRT_SECURE_NO_DEPRECATE ")
- list(APPEND VISP_DEFS "-D_CRT_SECURE_NO_DEPRECATE")
+ add_definitions("-D_CRT_SECURE_NO_DEPRECATE")
endif()
#MESSAGE("Definitions: ${VISP_DEFS}")
@@ -1874,7 +1995,7 @@ IF(VISP_DEFS)
LIST(REMOVE_DUPLICATES VISP_DEFS)
ENDIF(VISP_DEFS)
#MESSAGE("Definitions without duplicates: ${VISP_DEFS}")
-ADD_DEFINITIONS(${VISP_DEFS})
+add_definitions(${VISP_DEFS})
#----------------------------------------------------------------------
# Add intern and third party include dirs
@@ -1897,6 +2018,14 @@ ENDIF(VISP_EXTERN_LINK_DIR)
LINK_DIRECTORIES(${VISP_EXTERN_LINK_DIR})
#----------------------------------------------------------------------
+# Use statically or dynamically linked CRT?
+# Default: dynamic
+#----------------------------------------------------------------------
+if(MSVC)
+ include(${VISP_CMAKE_MODULE_PATH}/VISPCRTLinkage.cmake)
+endif(MSVC)
+
+#----------------------------------------------------------------------
# Cleanify the libraries list
#----------------------------------------------------------------------
IF(APPLE)
@@ -1904,14 +2033,6 @@ IF(APPLE)
ENDIF()
#----------------------------------------------------------------------
-# Generate the package dependent visp-config shell script for projects which
-# are not using CMake:
-# Usage:
-# visp-config --cflags ...
-#----------------------------------------------------------------------
-INCLUDE(${VISP_CMAKE_MODULE_PATH}/GenerateConfigScript.cmake)
-
-#----------------------------------------------------------------------
# add distclean target
#----------------------------------------------------------------------
INCLUDE(${VISP_CMAKE_MODULE_PATH}/TargetDistclean.cmake)
@@ -1943,29 +2064,13 @@ ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#----------------------------------------------------------------------
-# Configure the file describing how to use ViSP. VISPConfig.cmake
-# is the main file configuring a CMake package.
-# . Exports build settings and dependencies for projects using ViSP as a
-# third party project.
-# . Create and install files for simple use of FIND_PACKAGE(VISP)
-# by other cmakified "user" projects and libraries depending on ViSP.
-# (see "Mastering CMake", pp.72)
-# . To use ViSP in a third party project based on CMake:
-# FIND_PACKAGE(VISP REQUIRED)
-# IF(VISP_FOUND)
-# INCLUDE(${VISP_USE_FILE})
-# ENDIF(VISP_FOUND)
+# Configure the files that depend on the build <binary dir> or
+# installation <install dir> usage. This is the case of:
+# vpConfig.h
#----------------------------------------------------------------------
-# Installation for ViSPConfig.cmake
-# case 1: <binary dir>/ViSPConfig.cmake for use with make
-# case 2: <install dir>/ViSPConfig.cmake for use with make install
-
-# case 1
+# case 1: when ViSP is build with make; files are used in <binary dir>
#--------------
-
-set(VISP_ROOT_DIR_CONFIGCMAKE "${VISP_BINARY_DIR}")
-set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${VISP_BINARY_DIR}")
set(VISP_ROOT_DIR_DATA_CONFIGCMAKE "${VISP_BINARY_DIR}")
SET(VISP_SCENES_DIR ${VISP_ROOT_DIR_DATA_CONFIGCMAKE}/data/wireframe-simulator)
@@ -1976,32 +2081,11 @@ CONFIGURE_FILE(${VISP_SOURCE_DIR}/include/vpConfig.h.cmake
${VISP_INCLUDE_DIR}/vpConfig.h
)
-CONFIGURE_FILE(
- ${VISP_CMAKE_MODULE_PATH}/VISPConfig.cmake.in
- ${VISP_BINARY_DIR}/VISPConfig.cmake
- IMMEDIATE @ONLY)
-
-# Just to copy ./CMakeModule/VISPUse.cmake.in <binary dir>/UseVISP.cmake
-CONFIGURE_FILE(
- ${VISP_CMAKE_MODULE_PATH}/VISPUse.cmake.in
- ${VISP_BINARY_DIR}/VISPUse.cmake
- IMMEDIATE @ONLY)
-
-# Generate the package dependent file include/visp/vpConfig.h
-CONFIGURE_FILE(${VISP_SOURCE_DIR}/ViSP-third-party.txt.cmake
- ${VISP_BINARY_DIR}/ViSP-third-party.txt
-)
-
-
-# case 2
+# case 2: when ViSP is build with make install; files are used in <install dir>
#--------------
-
-set(VISP_ROOT_DIR_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}")
IF(UNIX)
- set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/visp")
set(VISP_ROOT_DIR_DATA_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/visp")
ELSE()
- set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}")
set(VISP_ROOT_DIR_DATA_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}")
ENDIF()
@@ -2021,24 +2105,6 @@ CONFIGURE_FILE(${VISP_SOURCE_DIR}/include/vpConfig.h.cmake
${VISP_BINARY_DIR}/install/vpConfig.h
)
-CONFIGURE_FILE(
- ${VISP_CMAKE_MODULE_PATH}/VISPConfig.cmake.in
- ${VISP_BINARY_DIR}/install/VISPConfig.cmake
- IMMEDIATE @ONLY)
-
-# Just to copy ./CMakeModule/VISPUse.cmake.in in <install dir>/UseVISP.cmake
-CONFIGURE_FILE(
- ${VISP_CMAKE_MODULE_PATH}/VISPUse.cmake.in
- ${VISP_BINARY_DIR}/install/VISPUse.cmake
- IMMEDIATE @ONLY)
-
-# Export our build settings and library dependencies for use by the third party
-# user projects
-INCLUDE(${CMAKE_ROOT}/Modules/CMakeExportBuildSettings.cmake)
-CMAKE_EXPORT_BUILD_SETTINGS(
- ${VISP_BINARY_DIR}/install/VISPBuildSettings.cmake
- )
-
# Install vpConfig.h that may differ from the one in include/visp
INSTALL(FILES ${VISP_BINARY_DIR}/install/vpConfig.h
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/visp
@@ -2046,7 +2112,16 @@ INSTALL(FILES ${VISP_BINARY_DIR}/install/vpConfig.h
COMPONENT headers
)
+#----------------------------------------------------------------------
+# Generate the ViSP-third-party.txt information file
+#----------------------------------------------------------------------
+CONFIGURE_FILE(${VISP_SOURCE_DIR}/ViSP-third-party.txt.cmake
+ ${VISP_BINARY_DIR}/ViSP-third-party.txt
+)
+
+#----------------------------------------------------------------------
# Create and install visp-config.1.gz man page
+#----------------------------------------------------------------------
if(UNIX)
FIND_PROGRAM(GZIP gzip)
file(MAKE_DIRECTORY ${VISP_BINARY_DIR}/doc/man/man1)
@@ -2075,7 +2150,6 @@ IF(UNIX)
INSTALL(FILES
${VISP_BINARY_DIR}/install/VISPUse.cmake
${VISP_BINARY_DIR}/install/VISPConfig.cmake
- ${VISP_BINARY_DIR}/install/VISPBuildSettings.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/visp
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
COMPONENT libraries
@@ -2100,7 +2174,6 @@ ELSE()
INSTALL(FILES
${VISP_BINARY_DIR}/install/VISPUse.cmake
${VISP_BINARY_DIR}/install/VISPConfig.cmake
- ${VISP_BINARY_DIR}/install/VISPBuildSettings.cmake
DESTINATION .
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
COMPONENT libraries
@@ -2146,26 +2219,99 @@ if (BUILD_PACKAGE)
include (${VISP_SOURCE_DIR}/CMakeModules/CPackConfig.cmake)
endif(BUILD_PACKAGE)
+#----------------------------------------------------------------------
+# Propagation in src to build the library
+#----------------------------------------------------------------------
+add_subdirectory(src)
+
+#----------------------------------------------------------------------
+# Configure the file describing how to use ViSP. VISPConfig.cmake
+# is the main file configuring a CMake package.
+# . Exports build settings and dependencies for projects using ViSP as a
+# third party project.
+# . Create and install files for simple use of FIND_PACKAGE(VISP)
+# by other cmakified "user" projects and libraries depending on ViSP.
+# (see "Mastering CMake", pp.72)
+# . To use ViSP in a third party project based on CMake:
+# FIND_PACKAGE(VISP REQUIRED)
+# IF(VISP_FOUND)
+# INCLUDE(${VISP_USE_FILE})
+# ENDIF(VISP_FOUND)
+#----------------------------------------------------------------------
+
+# Installation for ViSPConfig.cmake and VISPUse.cmake
+# case 1: <binary dir>/ViSPConfig.cmake for use with make
+# case 2: <install dir>/ViSPConfig.cmake for use with make install
+
+get_target_property(VISP_LIBNAME_DBG ${VISP_INTERN_LIBRARY} LOCATION_Debug)
+get_target_property(VISP_LIBNAME_OPT ${VISP_INTERN_LIBRARY} LOCATION_Release)
+
+get_filename_component(VISP_LIBNAME_DBG "${VISP_LIBNAME_DBG}" NAME)
+get_filename_component(VISP_LIBNAME_OPT "${VISP_LIBNAME_OPT}" NAME)
+
+#message("VISP_LIBNAME_DBG: ${VISP_LIBNAME_DBG}")
+#message("VISP_LIBNAME_OPT: ${VISP_LIBNAME_OPT}")
+
+# case 1
+#--------------
+set(VISP_ROOT_DIR_CONFIGCMAKE "${VISP_BINARY_DIR}")
+set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${VISP_BINARY_DIR}")
+CONFIGURE_FILE(
+ ${VISP_CMAKE_MODULE_PATH}/VISPConfig.cmake.in
+ ${VISP_BINARY_DIR}/VISPConfig.cmake
+ IMMEDIATE @ONLY)
+
+# Just to copy ./CMakeModule/VISPUse.cmake.in <binary dir>/UseVISP.cmake
+CONFIGURE_FILE(
+ ${VISP_CMAKE_MODULE_PATH}/VISPUse.cmake.in
+ ${VISP_BINARY_DIR}/VISPUse.cmake
+ IMMEDIATE @ONLY)
+
+# case 2
+#--------------
+set(VISP_ROOT_DIR_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}")
+if(UNIX)
+ set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/visp")
+else()
+ set(VISP_ROOT_DIR_CMAKE_CONFIGCMAKE "${CMAKE_INSTALL_PREFIX}")
+endif()
+CONFIGURE_FILE(
+ ${VISP_CMAKE_MODULE_PATH}/VISPConfig.cmake.in
+ ${VISP_BINARY_DIR}/install/VISPConfig.cmake
+ IMMEDIATE @ONLY)
+
+# Just to copy ./CMakeModule/VISPUse.cmake.in in <install dir>/UseVISP.cmake
+CONFIGURE_FILE(
+ ${VISP_CMAKE_MODULE_PATH}/VISPUse.cmake.in
+ ${VISP_BINARY_DIR}/install/VISPUse.cmake
+ IMMEDIATE @ONLY)
+
+#----------------------------------------------------------------------
+# Generate the package dependent visp-config shell script for projects which
+# are not using CMake:
+# Usage:
+# visp-config --cflags ...
+#----------------------------------------------------------------------
+INCLUDE(${VISP_CMAKE_MODULE_PATH}/GenerateConfigScript.cmake)
#----------------------------------------------------------------------
-# Propagation in sub dirs
+# Propagation in sub dirs to build demo, example, test, tutorial
#----------------------------------------------------------------------
-SUBDIRS(src)
if(BUILD_DEMOS)
- subdirs(demo)
+ add_subdirectory(demo)
endif()
if(BUILD_EXAMPLES)
- subdirs(example)
+ add_subdirectory(example)
endif()
if(BUILD_TUTORIAL)
set(VISP_DIR ${PROJECT_BINARY_DIR})
mark_as_advanced(VISP_DIR)
mark_as_advanced(VISP_INCLUDE_DIRS)
mark_as_advanced(VISP_LIBRARY_DIRS)
- subdirs(tutorial)
+ add_subdirectory(tutorial)
endif()
-IF(BUILD_TESTING)
+if(BUILD_TESTING)
#
# Test coverage specific code
#
@@ -2184,5 +2330,5 @@ IF(BUILD_TESTING)
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ftest-coverage -fprofile-arcs")
ENDIF(BUILD_TEST_COVERAGE)
- SUBDIRS(test)
-ENDIF(BUILD_TESTING)
+ add_subdirectory(test)
+endif(BUILD_TESTING)
diff --git a/CMakeModules/AddExtraCompilationFlags.cmake b/CMakeModules/AddExtraCompilationFlags.cmake
index f496f28..c75a694 100644
--- a/CMakeModules/AddExtraCompilationFlags.cmake
+++ b/CMakeModules/AddExtraCompilationFlags.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: AddExtraCompilationFlags.cmake 4308 2013-07-08 08:47:09Z fspindle $
+# $Id: AddExtraCompilationFlags.cmake 4608 2014-01-21 16:37:58Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -146,6 +146,12 @@ MACRO(ADD_EXTRA_COMPILATION_FLAGS)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
endif()
+ if(UNIX)
+ if(CMAKE_COMPILER_IS_GNUCXX OR CV_ICC)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+ endif()
+ endif()
+
# Remove duplicates compilation flags
separate_arguments(CMAKE_CXX_FLAGS)
list(REMOVE_DUPLICATES CMAKE_CXX_FLAGS)
diff --git a/CMakeModules/CPackConfig.cmake b/CMakeModules/CPackConfig.cmake
index 85cf0c3..cb4e00d 100644
--- a/CMakeModules/CPackConfig.cmake
+++ b/CMakeModules/CPackConfig.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CPackConfig.cmake 4335 2013-07-23 09:53:54Z fspindle $
+# $Id: CPackConfig.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/CPackConfigDeb.cmake b/CMakeModules/CPackConfigDeb.cmake
index 729f711..b7aaa40 100644
--- a/CMakeModules/CPackConfigDeb.cmake
+++ b/CMakeModules/CPackConfigDeb.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CPackConfigDeb.cmake 4132 2013-02-11 21:04:12Z fspindle $
+# $Id: CPackConfigDeb.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/CPackConfigNsis.cmake b/CMakeModules/CPackConfigNsis.cmake
index dfd71e2..9ccb97c 100644
--- a/CMakeModules/CPackConfigNsis.cmake
+++ b/CMakeModules/CPackConfigNsis.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CPackConfigNsis.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CPackConfigNsis.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/CPackConfigRpm.cmake b/CMakeModules/CPackConfigRpm.cmake
index ca677cd..92d7617 100644
--- a/CMakeModules/CPackConfigRpm.cmake
+++ b/CMakeModules/CPackConfigRpm.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CPackConfigRpm.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CPackConfigRpm.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindARIA.cmake b/CMakeModules/FindARIA.cmake
index 3de03f2..e3c32aa 100644
--- a/CMakeModules/FindARIA.cmake
+++ b/CMakeModules/FindARIA.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindARIA.cmake 4288 2013-06-27 11:56:18Z fspindle $
+# $Id: FindARIA.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindBICLOPS.cmake b/CMakeModules/FindBICLOPS.cmake
index 754b482..c5fa981 100644
--- a/CMakeModules/FindBICLOPS.cmake
+++ b/CMakeModules/FindBICLOPS.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindBICLOPS.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindBICLOPS.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindCALINUX.cmake b/CMakeModules/FindCALINUX.cmake
index 617dcfb..19d58d0 100644
--- a/CMakeModules/FindCALINUX.cmake
+++ b/CMakeModules/FindCALINUX.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindCALINUX.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindCALINUX.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindCMU1394.cmake b/CMakeModules/FindCMU1394.cmake
index 09a2cbf..a01b813 100644
--- a/CMakeModules/FindCMU1394.cmake
+++ b/CMakeModules/FindCMU1394.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindCMU1394.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindCMU1394.cmake 4603 2014-01-21 13:40:58Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -52,22 +52,40 @@ if(WIN32)
)
#MESSAGE("DBG CMU1394_INCLUDE_DIR=${CMU1394_INCLUDE_DIR}")
- FIND_LIBRARY(CMU1394_LIBRARY_DEBUG
- NAMES 1394camerad
- PATHS
- $ENV{CMU1394_HOME}/lib
- "C:/Program Files (x86)/CMU/1394Camera/lib"
- "C:/Program Files/CMU/1394Camera/lib"
- )
- #MESSAGE("DBG CMU1394_LIBRARY_DEBUG=${CMU1394_LIBRARY_DEBUG}")
+ if(CMAKE_CL_64)
+ FIND_LIBRARY(CMU1394_LIBRARY_DEBUG
+ NAMES 1394camerad
+ PATHS
+ $ENV{CMU1394_HOME}/lib64/x64
+ "C:/Program Files (x86)/CMU/1394Camera/lib64/x64"
+ "C:/Program Files/CMU/1394Camera/lib64/x64"
+ )
- FIND_LIBRARY(CMU1394_LIBRARY_RELEASE
- NAMES 1394camera
- PATHS
- $ENV{CMU1394_HOME}/lib
- "C:/Program Files (x86)/CMU/1394Camera/lib"
- "C:/Program Files/CMU/1394Camera/lib"
- )
+ FIND_LIBRARY(CMU1394_LIBRARY_RELEASE
+ NAMES 1394camera
+ PATHS
+ $ENV{CMU1394_HOME}/lib64/x64
+ "C:/Program Files (x86)/CMU/1394Camera/lib64/x64"
+ "C:/Program Files/CMU/1394Camera/lib64/x64"
+ )
+ else()
+ FIND_LIBRARY(CMU1394_LIBRARY_DEBUG
+ NAMES 1394camerad
+ PATHS
+ $ENV{CMU1394_HOME}/lib
+ "C:/Program Files (x86)/CMU/1394Camera/lib"
+ "C:/Program Files/CMU/1394Camera/lib"
+ )
+
+ FIND_LIBRARY(CMU1394_LIBRARY_RELEASE
+ NAMES 1394camera
+ PATHS
+ $ENV{CMU1394_HOME}/lib
+ "C:/Program Files (x86)/CMU/1394Camera/lib"
+ "C:/Program Files/CMU/1394Camera/lib"
+ )
+ endif()
+ #MESSAGE("DBG CMU1394_LIBRARY_DEBUG=${CMU1394_LIBRARY_DEBUG}")
#MESSAGE("DBG CMU1394_LIBRARY_RELEASE=${CMU1394_LIBRARY_RELEASE}")
set(CMU1394_LIBRARIES "")
diff --git a/CMakeModules/FindCPP11.cmake b/CMakeModules/FindCPP11.cmake
index 4e45c22..6900179 100644
--- a/CMakeModules/FindCPP11.cmake
+++ b/CMakeModules/FindCPP11.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindCPP11.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindCPP11.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindCycabTk.cmake b/CMakeModules/FindCycabTk.cmake
deleted file mode 100644
index 6eac6c5..0000000
--- a/CMakeModules/FindCycabTk.cmake
+++ /dev/null
@@ -1,146 +0,0 @@
-#############################################################################
-#
-# $Id: FindCycabTk.cmake 4056 2013-01-05 13:04:42Z fspindle $
-#
-# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
-#
-# This software is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# ("GPL") version 2 as published by the Free Software Foundation.
-# See the file LICENSE.txt at the root directory of this source
-# distribution for additional information about the GNU GPL.
-#
-# For using ViSP with software that can not be combined with the GNU
-# GPL, please contact INRIA about acquiring a ViSP Professional
-# Edition License.
-#
-# See http://www.irisa.fr/lagadic/visp/visp.html for more information.
-#
-# This software was developed at:
-# INRIA Rennes - Bretagne Atlantique
-# Campus Universitaire de Beaulieu
-# 35042 Rennes Cedex
-# France
-# http://www.irisa.fr/lagadic
-#
-# If you have questions regarding the use of this file, please contact
-# INRIA at visp at inria.fr
-#
-# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
-# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
-#
-# Description:
-# Try to find CycabTk toolkit to control the Cycab car-like mobile robot.
-# Once run this will define:
-#
-# CycabTk_FOUND
-# CycabTk_INCLUDE_DIRS
-# CycabTk_LIBRARIES
-#
-# Additional var set when the new version of cycabtk exists (to use)
-# CycabTk_NEW_FOUND
-# CycabTk_NEW_INCLUDE_DIRS
-# CycabTk_NEW_LIBRARIES
-#
-# Additional var set when the old version of cycabtk exists (obsolete)
-# CycabTk_OLD_FOUND
-# CycabTk_OLD_INCLUDE_DIRS
-# CycabTk_OLD_LIBRARIES
-#
-# Authors:
-# Fabien Spindler
-#
-#############################################################################
-
-#
-# check first if the old version of cycabtk exists
-# This old version is to use with the Syndex base low level control of the Cycab
-# running on cycab-hf1 computer
-#
-FIND_PATH(CycabTk_OLD_INCLUDE_DIR EtherCycab/EtherCycab.hpp
- $ENV{CycabTk_OLD_HOME}/include
- $ENV{HOME}/soft/Cycab/third-party/cycabtk-old/cycabtk-old/include
- /local/fspindle/soft/Cycab/third-party/cycabtk-old/cycabtk-old/include
-)
-#MESSAGE("DBG CycabTk_OLD_INCLUDE_DIR=${CycabTk_OLD_INCLUDE_DIR}")
-
-FIND_LIBRARY(CycabTk_OLD_LIBRARY
- NAMES cycabtk
- PATHS
- $ENV{CycabTk_OLD_HOME}/lib
- $ENV{HOME}/soft/Cycab/third-party/cycabtk-old/cycabtk-old/lib
- /local/fspindle/soft/Cycab/third-party/cycabtk-old/cycabtk-old/lib
-)
-#MESSAGE("DBG CycabTk_OLD_LIBRARY=${CycabTk_OLD_LIBRARY}")
-
-
-IF(CycabTk_OLD_INCLUDE_DIR AND CycabTk_OLD_LIBRARY)
- SET(CycabTk_OLD_FOUND TRUE)
- SET(CycabTk_OLD_INCLUDE_DIRS ${CycabTk_OLD_INCLUDE_DIR})
- SET(CycabTk_OLD_LIBRARIES ${CycabTk_OLD_LIBRARY})
-ELSE(CycabTk_OLD_INCLUDE_DIR AND CycabTk_OLD_LIBRARY)
- SET(CycabTk_OLD_FOUND FALSE)
-ENDIF(CycabTk_OLD_INCLUDE_DIR AND CycabTk_OLD_LIBRARY)
-
-#
-# check secondly if the new version of cycabtk exists
-# This new version is to use with the C base low level control of the Cycab
-# throw the Peak CAN dongle
-#
-# --- Check library dependency
-include(FindPkgConfig)
-
-set( Boost_USE_MULTITHREADED ON )
-find_package( Boost COMPONENTS serialization)
-
-FIND_LIBRARY(HUGR_LIBRARY
- NAMES hugr
- PATHS
- /usr/lib
- /usr/local/lib
-)
-
-IF(Boost_SERIALIZATION_FOUND AND HUGR_LIBRARY)
- SET(CycabTk_NEW_FOUND TRUE)
- SET(CycabTk_NEW_LIBRARIES ${HUGR_LIBRARY} ${Boost_SERIALIZATION_LIBRARIES})
-ELSE(Boost_SERIALIZATION_FOUND AND HUGR_LIBRARY)
- SET(CycabTk_NEW_FOUND FALSE)
-ENDIF(Boost_SERIALIZATION_FOUND AND HUGR_LIBRARY)
-
-#MESSAGE("CycabTk new: ${CycabTk_NEW_FOUND} old: ${CycabTk_OLD_FOUND}")
-
-IF(CycabTk_NEW_FOUND AND CycabTk_OLD_FOUND)
- OPTION(USE_CYCAB_WITH_OLD_CYCABTK "Use the old and obsolete CycabTk" FALSE)
-ENDIF(CycabTk_NEW_FOUND AND CycabTk_OLD_FOUND)
-
-IF(USE_CYCAB_WITH_OLD_CYCABTK)
- # either old or new cycabtk is detected
- SET(CycabTk_FOUND TRUE)
- SET(CycabTk_NEW_FOUND FALSE)
- SET(CycabTk_INCLUDE_DIRS ${CycabTk_OLD_INCLUDE_DIRS})
- SET(CycabTk_LIBRARIES ${CycabTk_OLD_LIBRARIES})
-ELSE(USE_CYCAB_WITH_OLD_CYCABTK)
- IF(CycabTk_NEW_FOUND)
- SET(CycabTk_FOUND TRUE)
- SET(CycabTk_OLD_FOUND FALSE)
- SET(CycabTk_LIBRARIES ${CycabTk_NEW_LIBRARIES})
- ELSE(CycabTk_NEW_FOUND)
- IF(CycabTk_OLD_FOUND)
- SET(CycabTk_FOUND TRUE)
- SET(CycabTk_INCLUDE_DIRS ${CycabTk_OLD_INCLUDE_DIRS})
- SET(CycabTk_LIBRARIES ${CycabTk_OLD_LIBRARIES})
- ENDIF(CycabTk_OLD_FOUND)
- ENDIF(CycabTk_NEW_FOUND)
-ENDIF(USE_CYCAB_WITH_OLD_CYCABTK)
-
-MARK_AS_ADVANCED(
- CycabTk_INCLUDE_DIR
- CycabTk_LIBRARIES
- CycabTk_NEW_INCLUDE_DIR
- CycabTk_NEW_LIBRARIES
- CycabTk_OLD_INCLUDE_DIR
- CycabTk_OLD_LIBRARY
- CycabTk_OLD_LIBRARIES
- HUGR_LIBRARY
-)
\ No newline at end of file
diff --git a/CMakeModules/FindDC1394.cmake b/CMakeModules/FindDC1394.cmake
index 797a754..01b4db7 100644
--- a/CMakeModules/FindDC1394.cmake
+++ b/CMakeModules/FindDC1394.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindDC1394.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindDC1394.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -36,15 +36,8 @@
# Once run this will define:
#
# DC1394_FOUND
-# DC1394_1_FOUND
-# DC1394_2_FOUND
-# DC1394_VERSION
# DC1394_INCLUDE_DIRS
-# DC1394_1_INCLUDE_DIRS
-# DC1394_2_INCLUDE_DIRS
# DC1394_LIBRARIES
-# DC1394_1_LIBRARY
-# DC1394_2_LIBRARY
#
# The two defines below are only useful to compile with libdc1394-2.x. In
# that case DC1394_VERSION=2. Since the libdc1394-2.x API is not stable, we
@@ -64,53 +57,24 @@
IF(NOT UNIX)
# MESSAGE("FindDC1394.cmake: libdc1394 only available for Unix.")
SET(DC1394_FOUND FALSE)
-ELSE(NOT UNIX)
-# Search for libdc1394-1.x
-
- FIND_PATH(DC1394_1_INCLUDE_DIR libdc1394/dc1394_control.h
- $ENV{DC1394_HOME}/include
- $ENV{DC1394_DIR}/include
- /usr/include )
-#MESSAGE("DBG DC1394_1_INCLUDE_DIR=${DC1394_1_INCLUDE_DIR}")
-
- FIND_LIBRARY(DC1394_1_LIBRARY
- NAMES dc1394_control
- PATHS
- $ENV{DC1394_HOME}/lib
- $ENV{DC1394_DIR}/lib
- /usr/lib
- )
-#MESSAGE("DBG DC1394_1_LIBRARY=${DC1394_LIBRARY}")
-
- IF(DC1394_1_LIBRARY AND DC1394_1_INCLUDE_DIR)
- SET(DC1394_FOUND TRUE)
- SET(DC1394_1_FOUND TRUE)
- SET(DC1394_VERSION 1)
- SET(DC1394_LIBRARIES ${DC1394_1_LIBRARY})
- SET(DC1394_1_INCLUDE_DIRS ${DC1394_1_INCLUDE_DIR})
- SET(DC1394_INCLUDE_DIRS ${DC1394_1_INCLUDE_DIRS})
- ELSE(DC1394_1_LIBRARY AND DC1394_1_INCLUDE_DIR)
- SET(DC1394_FOUND FALSE)
- SET(DC1394_1_FOUND FALSE)
- ENDIF(DC1394_1_LIBRARY AND DC1394_1_INCLUDE_DIR)
-
+ELSE(NOT UNIX)
# Search for libdc1394-2.x
- FIND_PATH(DC1394_2_INCLUDE_DIR dc1394/control.h
+ FIND_PATH(DC1394_INCLUDE_DIR dc1394/control.h
$ENV{DC1394_HOME}/include
$ENV{DC1394_DIR}/include
/usr/include )
- #MESSAGE("DBG DC1394_2_INCLUDE_DIR=${DC1394_2_INCLUDE_DIR}")
+ #MESSAGE("DBG DC1394_INCLUDE_DIR=${DC1394_INCLUDE_DIR}")
- FIND_LIBRARY(DC1394_2_LIBRARY
+ FIND_LIBRARY(DC1394_LIBRARY
NAMES dc1394
PATHS
$ENV{DC1394_HOME}/lib
$ENV{DC1394_DIR}/lib
/usr/lib
)
- #MESSAGE("DBG DC1394_2_LIBRARY=${DC1394_2_LIBRARY}")
+ #MESSAGE("DBG DC1394_LIBRARY=${DC1394_LIBRARY}")
- IF(DC1394_2_LIBRARY AND DC1394_2_INCLUDE_DIR)
+ IF(DC1394_LIBRARY AND DC1394_INCLUDE_DIR)
# Since the libdc1394-2.x API is not stable, try to compile a
# sample code to determine if we have to use dc1394_find_cameras() or
@@ -119,8 +83,8 @@ ELSE(NOT UNIX)
include(CheckCXXSourceCompiles)
- SET(CMAKE_REQUIRED_LIBRARIES ${DC1394_2_LIBRARY})
- SET(CMAKE_REQUIRED_INCLUDES ${DC1394_2_INCLUDE_DIR})
+ SET(CMAKE_REQUIRED_LIBRARIES ${DC1394_LIBRARY})
+ SET(CMAKE_REQUIRED_INCLUDES ${DC1394_INCLUDE_DIR})
CHECK_CXX_SOURCE_COMPILES("
#include <dc1394/control.h>
@@ -153,28 +117,23 @@ ELSE(NOT UNIX)
ENDIF(NOT DC1394_CAMERA_ENUMERATE_FOUND)
IF(NOT DC1394_CAMERA_ENUMERATE_FOUND AND NOT DC1394_FIND_CAMERAS_FOUND)
- SET(DC1394_2_FOUND FALSE)
+ SET(DC1394_FOUND FALSE)
MESSAGE("libdc1394-2.x found but not compatible with ViSP...")
ELSE(NOT DC1394_CAMERA_ENUMERATE_FOUND AND NOT DC1394_FIND_CAMERAS_FOUND)
SET(DC1394_FOUND TRUE)
- SET(DC1394_2_FOUND TRUE)
ENDIF(NOT DC1394_CAMERA_ENUMERATE_FOUND AND NOT DC1394_FIND_CAMERAS_FOUND)
- SET(DC1394_VERSION 2)
- SET(DC1394_LIBRARIES ${DC1394_2_LIBRARY})
- SET(DC1394_2_INCLUDE_DIRS ${DC1394_2_INCLUDE_DIR})
- SET(DC1394_INCLUDE_DIRS ${DC1394_2_INCLUDE_DIRS})
- ENDIF(DC1394_2_LIBRARY AND DC1394_2_INCLUDE_DIR)
+ SET(DC1394_LIBRARIES ${DC1394_LIBRARY})
+ SET(DC1394_INCLUDE_DIRS ${DC1394_INCLUDE_DIR})
+ ENDIF(DC1394_LIBRARY AND DC1394_INCLUDE_DIR)
## --------------------------------
MARK_AS_ADVANCED(
- DC1394_1_LIBRARY
- DC1394_1_INCLUDE_DIR
- DC1394_2_LIBRARY
- DC1394_2_INCLUDE_DIR
+ DC1394_LIBRARY
+ DC1394_INCLUDE_DIR
DC1394_INCLUDE_DIR
DC1394_LIBRARIES
DC1394_LIBRARY
diff --git a/CMakeModules/FindDIRECT3D.cmake b/CMakeModules/FindDIRECT3D.cmake
index f6bb4a4..18eb6a1 100755
--- a/CMakeModules/FindDIRECT3D.cmake
+++ b/CMakeModules/FindDIRECT3D.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindDIRECT3D.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindDIRECT3D.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindDIRECTSHOW.cmake b/CMakeModules/FindDIRECTSHOW.cmake
index 7d3d626..95ecea8 100644
--- a/CMakeModules/FindDIRECTSHOW.cmake
+++ b/CMakeModules/FindDIRECTSHOW.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindDIRECTSHOW.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindDIRECTSHOW.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindDL.cmake b/CMakeModules/FindDL.cmake
index 62b5704..f62ab6b 100644
--- a/CMakeModules/FindDL.cmake
+++ b/CMakeModules/FindDL.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindDL.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindDL.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindFFMPEG.cmake b/CMakeModules/FindFFMPEG.cmake
index 017bfc3..9d6c9b3 100644
--- a/CMakeModules/FindFFMPEG.cmake
+++ b/CMakeModules/FindFFMPEG.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindFFMPEG.cmake 4160 2013-03-12 08:34:49Z fspindle $
+# $Id: FindFFMPEG.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindGDI.cmake b/CMakeModules/FindGDI.cmake
index c39a3e1..4bb65bf 100644
--- a/CMakeModules/FindGDI.cmake
+++ b/CMakeModules/FindGDI.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindGDI.cmake 4293 2013-07-01 16:05:01Z fspindle $
+# $Id: FindGDI.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -107,6 +107,7 @@ IF(WIN32)
"C:/Program Files/Microsoft SDKs/Windows/v7.0A/Lib"
"C:/Program Files (x86)/Microsoft SDKs/Windows/v7.0A/Lib"
"C:/Program Files (x86)/Microsoft SDKs/Windows/v7.1/Lib"
+ "C:/Program Files (x86)/Microsoft SDKs/Windows/v7.1A/Lib"
"C:/Program Files/Microsoft Platform SDK/Lib"
"C:/DXSDK/Include/Lib"
"C:/Program Files/Microsoft SDKs/Windows/v6.0a/Lib"
diff --git a/CMakeModules/FindGSL.cmake b/CMakeModules/FindGSL.cmake
index 406888c..adecf19 100644
--- a/CMakeModules/FindGSL.cmake
+++ b/CMakeModules/FindGSL.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindGSL.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindGSL.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindICONV.cmake b/CMakeModules/FindICONV.cmake
index 23579cf..b460dc7 100755
--- a/CMakeModules/FindICONV.cmake
+++ b/CMakeModules/FindICONV.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindICONV.cmake 4160 2013-03-12 08:34:49Z fspindle $
+# $Id: FindICONV.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindIRISA.cmake b/CMakeModules/FindIRISA.cmake
index fdb37f3..01f7209 100644
--- a/CMakeModules/FindIRISA.cmake
+++ b/CMakeModules/FindIRISA.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindIRISA.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindIRISA.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindLAPACK_C.cmake b/CMakeModules/FindLAPACK_C.cmake
index 5deff69..577944d 100644
--- a/CMakeModules/FindLAPACK_C.cmake
+++ b/CMakeModules/FindLAPACK_C.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindLAPACK_C.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindLAPACK_C.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindLIBFREENECT.cmake b/CMakeModules/FindLIBFREENECT.cmake
index 0ce94fb..a73a38d 100644
--- a/CMakeModules/FindLIBFREENECT.cmake
+++ b/CMakeModules/FindLIBFREENECT.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindLIBFREENECT.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindLIBFREENECT.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindLIBUSB-1.cmake b/CMakeModules/FindLIBUSB-1.cmake
index 79d57a4..4a9432c 100644
--- a/CMakeModules/FindLIBUSB-1.cmake
+++ b/CMakeModules/FindLIBUSB-1.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindLIBUSB-1.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindLIBUSB-1.cmake 4678 2014-02-19 09:52:35Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -35,6 +35,7 @@
#
# LIBUSB_1_FOUND
# LIBUSB_1_LIBRARIES
+# LIBUSB_1_INCLUDE_DIRS
#
# Authors:
# Celine Teuliere
@@ -55,11 +56,18 @@ ELSE(WIN32)
/usr/lib
/usr/local/lib
)
+ FIND_PATH(LIBUSB_1_INCLUDE_DIR libusb.h
+ $ENV{LIBUSB_1_HOME}/include/libusb-1.0
+ $ENV{LIBUSB_1_HOME}/build/include/libusb-1.0
+ /usr/include/libusb-1.0
+ /usr/local/include/libusb-1.0
+ )
ENDIF(WIN32)
## --------------------------------
-IF(LIBUSB_1_LIBRARY)
+IF(LIBUSB_1_LIBRARY AND LIBUSB_1_INCLUDE_DIR)
+ SET(LIBUSB_1_INCLUDE_DIRS ${LIBUSB_1_INCLUDE_DIR})
SET(LIBUSB_1_LIBRARIES ${LIBUSB_1_LIBRARY})
SET(LIBUSB_1_FOUND TRUE)
ELSE()
@@ -67,6 +75,8 @@ ELSE()
ENDIF()
MARK_AS_ADVANCED(
+ LIBUSB_1_INCLUDE_DIRS
+ LIBUSB_1_INCLUDE_DIR
LIBUSB_1_LIBRARIES
LIBUSB_1_LIBRARY
)
diff --git a/CMakeModules/FindMyCoin3D.cmake b/CMakeModules/FindMyCoin3D.cmake
index 60c5a28..1cefd16 100644
--- a/CMakeModules/FindMyCoin3D.cmake
+++ b/CMakeModules/FindMyCoin3D.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindMyCoin3D.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindMyCoin3D.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindMyGTK2.cmake b/CMakeModules/FindMyGTK2.cmake
index a6c95b0..674de22 100644
--- a/CMakeModules/FindMyGTK2.cmake
+++ b/CMakeModules/FindMyGTK2.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindMyGTK2.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindMyGTK2.cmake 4637 2014-02-04 09:48:33Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -69,7 +69,7 @@ IF(UNIX OR WIN32)
/usr/lib/i386-linux-gnu/glib-2.0/include
/usr/lib/x86_64-linux-gnu/glib-2.0/include
/opt/gnome/lib/glib-2.0/include
- "C:/GTK/lib/glib-2.0/include"glib
+ C:/GTK/lib/glib-2.0/include
/sw/lib/glib-2.0/include
)
@@ -78,7 +78,7 @@ IF(UNIX OR WIN32)
$ENV{GTK2_HOME}/include/glib-2.0
/usr/include/glib-2.0
/opt/gnome/include/glib-2.0
- "C:/GTK/include/glib-2.0"
+ C:/GTK/include/glib-2.0
/sw/include/glib-2.0
)
@@ -87,7 +87,7 @@ IF(UNIX OR WIN32)
$ENV{GTK2_HOME}/include/pango-1.0
/usr/include/pango-1.0
/opt/gnome/include/pango-1.0
- "C:/GTK/include/pango-1.0"
+ C:/GTK/include/pango-1.0
/sw/include/pango-1.0
)
@@ -96,7 +96,7 @@ IF(UNIX OR WIN32)
$ENV{GTK2_HOME}/include/cairo
/usr/include/cairo
/opt/gnome/include/cairo
- "C:/GTK/include/cairo"
+ C:/GTK/include/cairo
/sw/include/cairo
)
@@ -106,7 +106,7 @@ IF(UNIX OR WIN32)
/usr/lib/gtk-2.0/include
/usr/lib64/gtk-2.0/include
/opt/gnome/lib/gtk-2.0/include
- "C:/GTK/lib/gtk-2.0/include"
+ C:/GTK/lib/gtk-2.0/include
/sw/lib/gtk-2.0/include
/usr/lib/i386-linux-gnu/gtk-2.0/include
/usr/lib/x86_64-linux-gnu/gtk-2.0/include
@@ -117,7 +117,7 @@ IF(UNIX OR WIN32)
$ENV{GTK2_HOME}/gdk-pixbuf-2.0
/usr/include/gdk-pixbuf-2.0
/usr/include/gtk-2.0
- "C:/GTK/include/gtk-2.0"
+ C:/GTK/include/gtk-2.0
/sw/include/gtk-2.0
)
@@ -128,7 +128,7 @@ IF(UNIX OR WIN32)
$ENV{GTK2_HOME}/include/atk-1.0
/usr/include/atk-1.0
/opt/gnome/include/atk-1.0
- "C:/GTK/include/atk-1.0"
+ C:/GTK/include/atk-1.0
/sw/include/atk-1.0
)
@@ -141,7 +141,7 @@ IF(UNIX OR WIN32)
/usr/openwin/lib
/usr/X11R6/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
@@ -154,7 +154,7 @@ IF(UNIX OR WIN32)
/usr/openwin/lib
/usr/X11R6/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
@@ -167,7 +167,7 @@ IF(UNIX OR WIN32)
/usr/openwin/lib
/usr/X11R6/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
@@ -180,7 +180,7 @@ IF(UNIX OR WIN32)
/usr/openwin/lib
/usr/X11R6/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
@@ -193,7 +193,7 @@ IF(UNIX OR WIN32)
/usr/openwin/lib
/usr/X11R6/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
@@ -203,7 +203,7 @@ IF(UNIX OR WIN32)
PATHS $ENV{GTK2_HOME}/lib
/usr/lib
/opt/gnome/lib
- "C:/GTK/lib"
+ C:/GTK/lib
/sw/lib
)
diff --git a/CMakeModules/FindMyJPEG.cmake b/CMakeModules/FindMyJPEG.cmake
index d626897..5c4a8b6 100644
--- a/CMakeModules/FindMyJPEG.cmake
+++ b/CMakeModules/FindMyJPEG.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindMyJPEG.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindMyJPEG.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindMyPNG.cmake b/CMakeModules/FindMyPNG.cmake
index b23f1b9..e27f2a9 100644
--- a/CMakeModules/FindMyPNG.cmake
+++ b/CMakeModules/FindMyPNG.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindMyPNG.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindMyPNG.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindMyZLIB.cmake b/CMakeModules/FindMyZLIB.cmake
index 8cc7163..f3ccdba 100644
--- a/CMakeModules/FindMyZLIB.cmake
+++ b/CMakeModules/FindMyZLIB.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindMyZLIB.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindMyZLIB.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindNAS.cmake b/CMakeModules/FindNAS.cmake
index 71324ef..4e927af 100644
--- a/CMakeModules/FindNAS.cmake
+++ b/CMakeModules/FindNAS.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindNAS.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindNAS.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindPARPORT.cmake b/CMakeModules/FindPARPORT.cmake
index 58f414d..8450d1e 100644
--- a/CMakeModules/FindPARPORT.cmake
+++ b/CMakeModules/FindPARPORT.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindPARPORT.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindPARPORT.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindPTHREAD.cmake b/CMakeModules/FindPTHREAD.cmake
index 0627c6d..e6da44d 100644
--- a/CMakeModules/FindPTHREAD.cmake
+++ b/CMakeModules/FindPTHREAD.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindPTHREAD.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindPTHREAD.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindPTU46.cmake b/CMakeModules/FindPTU46.cmake
index 9960f5d..46fdae3 100644
--- a/CMakeModules/FindPTU46.cmake
+++ b/CMakeModules/FindPTU46.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindPTU46.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindPTU46.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindRAW1394.cmake b/CMakeModules/FindRAW1394.cmake
index 1c7a7f7..db33295 100644
--- a/CMakeModules/FindRAW1394.cmake
+++ b/CMakeModules/FindRAW1394.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindRAW1394.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindRAW1394.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindRT.cmake b/CMakeModules/FindRT.cmake
index 87d7569..4554ea7 100644
--- a/CMakeModules/FindRT.cmake
+++ b/CMakeModules/FindRT.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindRT.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindRT.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindSOQT.cmake b/CMakeModules/FindSOQT.cmake
index f52e23e..ad7d73c 100644
--- a/CMakeModules/FindSOQT.cmake
+++ b/CMakeModules/FindSOQT.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindSOQT.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindSOQT.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindSOWIN.cmake b/CMakeModules/FindSOWIN.cmake
index 4c224c4..632fb72 100644
--- a/CMakeModules/FindSOWIN.cmake
+++ b/CMakeModules/FindSOWIN.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindSOWIN.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindSOWIN.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindSOXT.cmake b/CMakeModules/FindSOXT.cmake
index d41d911..2d17830 100644
--- a/CMakeModules/FindSOXT.cmake
+++ b/CMakeModules/FindSOXT.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindSOXT.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindSOXT.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindV4L2.cmake b/CMakeModules/FindV4L2.cmake
index 884dd5c..fe068c3 100644
--- a/CMakeModules/FindV4L2.cmake
+++ b/CMakeModules/FindV4L2.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindV4L2.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: FindV4L2.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/FindXML2.cmake b/CMakeModules/FindXML2.cmake
index 1e0e739..abac264 100755
--- a/CMakeModules/FindXML2.cmake
+++ b/CMakeModules/FindXML2.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: FindXML2.cmake 4069 2013-01-21 14:28:56Z fspindle $
+# $Id: FindXML2.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/GenerateConfigScript.cmake b/CMakeModules/GenerateConfigScript.cmake
index cb21dd3..225899d 100644
--- a/CMakeModules/GenerateConfigScript.cmake
+++ b/CMakeModules/GenerateConfigScript.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: GenerateConfigScript.cmake 4209 2013-04-16 07:04:20Z fspindle $
+# $Id: GenerateConfigScript.cmake 4676 2014-02-17 22:08:37Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -67,8 +67,13 @@ IF (UNIX)
#---------------------------------------------------------------------
# Updates VISP_CONFIG_CFLAGS
#----------------------------------------------------------------------
- SET(VISP_CONFIG_CFLAGS ${VISP_OPENMP_FLAGS})
- LIST(APPEND VISP_CONFIG_CFLAGS "${VISP_DEFS}")
+ if(NOT ${VISP_OPENMP_FLAGS} STREQUAL "")
+ list(APPEND VISP_CONFIG_CFLAGS ${VISP_OPENMP_FLAGS})
+ endif()
+ if(NOT ${VISP_CPP11_FLAGS} STREQUAL "")
+ list(APPEND VISP_CONFIG_CFLAGS ${VISP_CPP11_CFLAGS})
+ endif()
+ list(APPEND VISP_CONFIG_CFLAGS "${VISP_DEFS}")
FOREACH(INCDIR ${VISP_EXTERN_INCLUDE_DIRS})
LIST(APPEND VISP_CONFIG_CFLAGS "-I${INCDIR}")
@@ -107,11 +112,11 @@ IF (UNIX)
# Manage the lib path
SET(VISP_CONFIG_SCRIPT_TMP_LDFLAGS)
FOREACH(dir ${VISP_EXTERN_LINK_DIR})
- LIST(APPEND VISP_CONFIG_SCRIPT_TMP_LDFLAGS "-L${dir}")
+ LIST(APPEND VISP_CONFIG_SCRIPT_TMP_LDFLAGS "-L${dir}")
ENDFOREACH(dir)
#MESSAGE("VISP_EXTERN_LINK_DIR: ${VISP_EXTERN_LINK_DIR}")
#MESSAGE("VISP_CONFIG_SCRIPT_TMP_LDFLAGS: ${VISP_CONFIG_SCRIPT_TMP_LDFLAGS}")
- # convert semicolon-separated vector to space-separated string
+ # convert semicolon-separated vector to space-separated string
FOREACH(val ${VISP_CONFIG_SCRIPT_TMP_LDFLAGS})
SET(VISP_CONFIG_LIBS "${VISP_CONFIG_LIBS} ${val}")
ENDFOREACH(val)
@@ -160,13 +165,8 @@ IF (UNIX)
# prepend with ViSP own include dir
set(VISP_CONFIG_CFLAGS_SCRIPT "-I$PREFIX/${CMAKE_INSTALL_INCLUDEDIR} ${VISP_CONFIG_CFLAGS}")
- # prepend with ViSP own lib dir
- SET(VISP_CONFIG_LIBS_SCRIPT "-L$PREFIX/${CMAKE_INSTALL_LIBDIR} -l${VISP_INTERN_LIBRARY} ${VISP_CONFIG_LIBS}")
- IF(UNIX)
- IF(NOT APPLE)
- SET(VISP_CONFIG_LIBS_SCRIPT "-Wl,-rpath,$PREFIX/${CMAKE_INSTALL_LIBDIR} ${VISP_CONFIG_LIBS_SCRIPT}")
- ENDIF(NOT APPLE)
- ENDIF(UNIX)
+ # prepend with ViSP own lib and -L<lib dir>
+ SET(VISP_CONFIG_LIBS_SCRIPT "$PREFIX/${CMAKE_INSTALL_LIBDIR}/${VISP_LIBNAME_OPT} -L$PREFIX/${CMAKE_INSTALL_LIBDIR} ${VISP_CONFIG_LIBS}")
SET(VISP_ECHO_NO_NEWLINE_CHARACTER "")
SET(VISP_ECHO_NO_NEWLINE_OPTION "")
@@ -196,13 +196,8 @@ IF (UNIX)
# prepend with ViSP own include dir
set(VISP_CONFIG_CFLAGS_PC "-I\${includedir} ${VISP_CONFIG_CFLAGS}")
- # prepend with ViSP own lib dir
- SET(VISP_CONFIG_LIBS_PC "-L\${libdir} -l${VISP_INTERN_LIBRARY} ${VISP_CONFIG_LIBS}")
- IF(UNIX)
- IF(NOT APPLE)
- SET(VISP_CONFIG_LIBS_PC "-Wl,-rpath,\${libdir} ${VISP_CONFIG_LIBS_PC}")
- ENDIF(NOT APPLE)
- ENDIF(UNIX)
+ # prepend with ViSP own lib dir and append -L<lib dir>
+ SET(VISP_CONFIG_LIBS_PC "\${libdir}/${VISP_LIBNAME_OPT} ${VISP_CONFIG_LIBS} -L\${libdir}")
CONFIGURE_FILE(${FILE_VISP_CONFIG_PC_INSTALL_IN} ${FILE_VISP_CONFIG_PC_INSTALL})
ELSE(UNIX)
@@ -222,7 +217,14 @@ ELSE(UNIX)
#---------------------------------------------------------------------
# Updates VISP_CONFIG_SCRIPT_DEF
#----------------------------------------------------------------------
- SET(VISP_CONFIG_SCRIPT_DEFS "")
+ set(VISP_CONFIG_SCRIPT_DEFS "")
+ if(NOT ${VISP_OPENMP_FLAGS} STREQUAL "")
+ set(VISP_CONFIG_SCRIPT_DEFS "${VISP_OPENMP_FLAGS}")
+ endif()
+ if(NOT ${VISP_CPP11_FLAGS} STREQUAL "")
+ set(VISP_CONFIG_SCRIPT_DEFS "${VISP_CPP11_FLAGS}, ${VISP_CONFIG_SCRIPT_DEFS}")
+ endif()
+
FOREACH(def ${VISP_DEFS})
#MESSAGE("def to process: ${def}")
IF("${def}" MATCHES "[-][D]+.")
@@ -248,15 +250,6 @@ ELSE(UNIX)
# MESSAGE(VISP_CONFIG_SCRIPT_INC ${VISP_CONFIG_SCRIPT_INC})
#---------------------------------------------------------------------
- # Updates VISP_OPENMP_SUPPORT
- #----------------------------------------------------------------------
- IF(VISP_OPENMP_FLAGS)
- SET(VISP_OPENMP_SUPPORT "OpenMP support: Yes")
- ELSE()
- SET(VISP_OPENMP_SUPPORT "OpenMP support: No")
- ENDIF()
-
- #---------------------------------------------------------------------
# Updates VISP_CONFIG_SCRIPT_LIBDIR
#----------------------------------------------------------------------
SET(TMP_SCRIPT_LIBDIR "%PREFIX%\\lib")
@@ -266,9 +259,9 @@ ELSE(UNIX)
FOREACH(var ${VISP_EXTERN_LINK_DIR})
#MESSAGE("var to process: ${var}")
IF("${var}" MATCHES "[-][L]+.")
- #MESSAGE("${var} matches -L")
+ #MESSAGE("${var} matches -L")
STRING(REGEX REPLACE "[-][L]" "" var ${var})
- #MESSAGE("new ${newvar} without -L")
+ #MESSAGE("new ${newvar} without -L")
ENDIF("${var}" MATCHES "[-][L]+.")
LIST(APPEND TMP_SCRIPT_LIBDIR ${var})
LIST(APPEND TMP_SCRIPT_LIBDIR "${var}\\$(ConfigurationName)")
diff --git a/CMakeModules/OgreTools.cmake b/CMakeModules/OgreTools.cmake
index 301b737..6d8c458 100755
--- a/CMakeModules/OgreTools.cmake
+++ b/CMakeModules/OgreTools.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: OgreTools.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: OgreTools.cmake 4588 2014-01-15 17:29:53Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -38,18 +38,72 @@
#
#############################################################################
+#########################################################
+# Find Ogre plugins
+#
+# This is a modified version of the macro provided with Ogre
+# except that should be used only in a desparate way when the one original
+# one doesn't detect anything
+#########################################################
+
+macro(ogre_find_plugin_lib_visp PLUGIN)
+ # On Unix, the plugins might have no prefix
+ if (CMAKE_FIND_LIBRARY_PREFIXES)
+ set(TMP_CMAKE_LIB_PREFIX ${CMAKE_FIND_LIBRARY_PREFIXES})
+ set(CMAKE_FIND_LIBRARY_PREFIXES ${CMAKE_FIND_LIBRARY_PREFIXES} "")
+ endif()
+
+ # strip RenderSystem_ or Plugin_ prefix from plugin name
+ string(REPLACE "RenderSystem_" "" PLUGIN_TEMP ${PLUGIN})
+ string(REPLACE "Plugin_" "" PLUGIN_NAME ${PLUGIN_TEMP})
+
+ set(OGRE_PLUGIN_PATH_SUFFIXES
+ PlugIns PlugIns/${PLUGIN_NAME} Plugins Plugins/${PLUGIN_NAME} ${PLUGIN}
+ RenderSystems RenderSystems/${PLUGIN_NAME} ${ARGN})
+ # find link libraries for plugins
+ set(OGRE_${PLUGIN}_LIBRARY_NAMES "${PLUGIN}${OGRE_LIB_SUFFIX}")
+ get_debug_names(OGRE_${PLUGIN}_LIBRARY_NAMES)
+ find_library(OGRE_${PLUGIN}_LIBRARY_REL NAMES ${OGRE_${PLUGIN}_LIBRARY_NAMES}
+ HINTS ${OGRE_LIBRARY_DIRS} ${OGRE_LIBRARY_DIRS}/OGRE ${OGRE_LIBRARY_DIRS}/OGRE-${OGRE_VERSION_MAJOR}.${OGRE_VERSION_MINOR}.${OGRE_VERSION_PATCH}
+ PATH_SUFFIXES "" OGRE opt release release/opt relwithdebinfo relwithdebinfo/opt minsizerel minsizerel/opt)
+ find_library(OGRE_${PLUGIN}_LIBRARY_DBG NAMES ${OGRE_${PLUGIN}_LIBRARY_NAMES_DBG}
+ HINTS ${OGRE_LIBRARY_DIRS} ${OGRE_LIBRARY_DIRS}/OGRE ${OGRE_LIBRARY_DIRS}/OGRE-${OGRE_VERSION_MAJOR}.${OGRE_VERSION_MINOR}.${OGRE_VERSION_PATCH}
+ PATH_SUFFIXES "" OGRE opt debug debug/opt)
+ make_library_set(OGRE_${PLUGIN}_LIBRARY)
+
+ if (OGRE_${PLUGIN}_LIBRARY)
+ set(OGRE_${PLUGIN}_FOUND TRUE)
+ endif ()
+
+ mark_as_advanced(OGRE_${PLUGIN}_LIBRARY_REL OGRE_${PLUGIN}_LIBRARY_DBG OGRE_${PLUGIN}_LIBRARY_FWK)
+
+endmacro(ogre_find_plugin_lib_visp)
+
MACRO(CREATE_OGRE_PLUGIN_CONFIG_FILE)
SET(VISP_HAVE_OGRE_PLUGINS_PATH ${VISP_BINARY_DIR}/data/ogre-simulator)
# If OGRE_PLUGIN_DIR_REL and OGRE_PLUGIN_DIR_DBG are not defined we
- # try to find these path manually
+ # try to find them manually
IF(NOT OGRE_PLUGIN_DIR_REL AND NOT OGRE_PLUGIN_DIR_DBG)
- IF(OGRE_RenderSystem_GL_LIBRARY_REL)
+ ogre_find_plugin_lib_visp(RenderSystem_Direct3D9)
+ ogre_find_plugin_lib_visp(RenderSystem_Direct3D10)
+ ogre_find_plugin_lib_visp(RenderSystem_Direct3D11)
+ ogre_find_plugin_lib_visp(RenderSystem_GL)
+ ogre_find_plugin_lib_visp(RenderSystem_GLES)
+ ogre_find_plugin_lib_visp(Plugin_ParticleFX)
+ ogre_find_plugin_lib_visp(Plugin_BSPSceneManager)
+ ogre_find_plugin_lib_visp(Plugin_CgProgramManager)
+ ogre_find_plugin_lib_visp(Plugin_PCZSceneManager)
+ ogre_find_plugin_lib_visp(Plugin_OctreeSceneManager)
+ ogre_find_plugin_lib_visp(Plugin_OctreeZone)
+
+
+ IF(OGRE_RenderSystem_GL_LIBRARY_REL)
GET_FILENAME_COMPONENT(OGRE_PLUGIN_DIR_REL ${OGRE_RenderSystem_GL_LIBRARY_REL} PATH)
- #message("set manually OGRE_PLUGIN_DIR_REL to ${OGRE_PLUGIN_DIR_REL}")
+ #message("set manually OGRE_PLUGIN_DIR_REL to ${OGRE_PLUGIN_DIR_REL}")
ELSEIF(OGRE_RenderSystem_GL_LIBRARY_DBG)
GET_FILENAME_COMPONENT(OGRE_PLUGIN_DIR_DBG ${OGRE_RenderSystem_GL_LIBRARY_DBG} PATH)
- #message("set manually OGRE_PLUGIN_DIR_DBG to ${OGRE_PLUGIN_DIR_DBG}")
+ #message("set manually OGRE_PLUGIN_DIR_DBG to ${OGRE_PLUGIN_DIR_DBG}")
ENDIF()
ENDIF()
diff --git a/CMakeModules/TargetDistclean.cmake b/CMakeModules/TargetDistclean.cmake
index c46819a..9acff5d 100644
--- a/CMakeModules/TargetDistclean.cmake
+++ b/CMakeModules/TargetDistclean.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: TargetDistclean.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: TargetDistclean.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/VISPCRTLinkage.cmake b/CMakeModules/VISPCRTLinkage.cmake
new file mode 100644
index 0000000..20675fa
--- /dev/null
+++ b/CMakeModules/VISPCRTLinkage.cmake
@@ -0,0 +1,44 @@
+if(NOT MSVC)
+ message(FATAL_ERROR "CRT options are available only for MSVC")
+endif()
+
+if(NOT BUILD_SHARED_LIBS AND BUILD_WITH_STATIC_CRT)
+ foreach(flag_var
+ CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+ CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+ CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+ CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+ if(${flag_var} MATCHES "/MD")
+ string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
+ endif()
+ if(${flag_var} MATCHES "/MDd")
+ string(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
+ endif()
+ endforeach(flag_var)
+
+ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:msvcrt.lib /NODEFAULTLIB:msvcrtd.lib")
+ set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} /NODEFAULTLIB:libcmt.lib")
+ set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /NODEFAULTLIB:libcmtd.lib")
+else()
+ foreach(flag_var
+ CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+ CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+ CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+ CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+ if(${flag_var} MATCHES "/MT")
+ string(REGEX REPLACE "/MT" "/MD" ${flag_var} "${${flag_var}}")
+ endif()
+ if(${flag_var} MATCHES "/MTd")
+ string(REGEX REPLACE "/MTd" "/MDd" ${flag_var} "${${flag_var}}")
+ endif()
+ endforeach(flag_var)
+endif()
+
+if(NOT ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} LESS 2.8 AND NOT ${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} LESS 8.6)
+ include(ProcessorCount)
+ ProcessorCount(N)
+ if(NOT N EQUAL 0)
+ SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP${N} ")
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP${N} ")
+ endif()
+endif()
diff --git a/CMakeModules/VISPConfig.cmake.in b/CMakeModules/VISPConfig.cmake.in
index bb63a35..15db8bb 100644
--- a/CMakeModules/VISPConfig.cmake.in
+++ b/CMakeModules/VISPConfig.cmake.in
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: VISPConfig.cmake.in 4221 2013-04-17 10:13:34Z fspindle $
+# $Id: VISPConfig.cmake.in 4616 2014-01-24 18:43:25Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -33,34 +33,37 @@
# Description:
# CMake package config file for ViSP.
#
+# ** File generated automatically, do not modify **
+#
# This file will define the following CMake variables:
# VISP_ROOT_DIR : ViSP base directory location
# VISP_INCLUDE_DIRS : ViSP and third-party headers location
-# VISP_LIBRARY_DIRS : ViSP and third-party libraries location
-# VISP_LIBRARY : ViSP library name
-# VISP_LIBRARIES : ViSP and third-party libraries name
-# VISP_DEFINITIONS : Defines required to build ViSP
+# VISP_LIBRARY_DIRS : ViSP and third-party libraries location. Calling LINK_DIRECTORIES
+# with this path is NOT needed under Unix.
+# VISP_LIBNAME_DBG : ViSP library name when build in debug (libvisp.so, libvisp.a, vispd.dll, vispd.lib)
+# VISP_LIBNAME_OPT : ViSP library name when build in release (libvisp.so, libvisp.a, visp.dll, visp.lib)
#
-# VISP_SOURCE_DIR : Location of ViSP source code
+# VISP_LIBRARIES : ViSP and third-party libraries to link against.
+# VISP_DEFINITIONS : Defines used to build ViSP. Calling ADD_DEFINITIONS with this
+# variable is not needed.
#
-# VISP_VERSION_STRING : Full ViSP version, eg 2.6.1
+# VISP_VERSION_STRING : Full ViSP version, eg 2.9.0
# VISP_VERSION_MAJOR : Major version part of VISP_VERSION, eg 2.
-# VISP_VERSION_MINOR : Minor version part of VISP_VERSION, eg 6.
-# VISP_VERSION_PATCH : Patch version part of VISP_VERSION, eg 1.
+# VISP_VERSION_MINOR : Minor version part of VISP_VERSION, eg 9.
+# VISP_VERSION_PATCH : Patch version part of VISP_VERSION, eg 0.
#
# Typical usage in user project:
-# FIND_PACKAGE(VISP)
-# IF (VISP_FOUND)
-# INCLUDE(${VISP_USE_FILE})
-# ENDIF (VISP_FOUND)
+# find_package(VISP)
+# add_definitions(${VISP_DEFINITIONS})
+# link_directories(${VISP_LIBRARY_DIRS})
+# include_directories(${VISP_INCLUDE_DIRS})
+# target_link_libraries(MY_TARGET_NAME ${VISP_LIBRARIES})
#
# Authors:
# Fabien Spindler
#
#############################################################################
-SET(VISP_LIBRARY "@VISP_INTERN_LIBRARY@")
-
# Set VISP_ROOT_DIR
SET(VISP_ROOT_DIR "@VISP_ROOT_DIR_CONFIGCMAKE@")
#MESSAGE("VISP_ROOT_DIR: ${VISP_ROOT_DIR}")
@@ -93,6 +96,7 @@ ENDFOREACH(val ${VISP_EXTERN_INCLUDE_DIRS})
# Tells the user project where to find ViSP library
SET(VISP_LIBRARY_DIRS "${VISP_ROOT_DIR}/@CMAKE_INSTALL_LIBDIR@" CACHE FILEPATH "Location of ViSP library")
+#MESSAGE("VISP_LIBRARY_DIRS: ${VISP_LIBRARY_DIRS}")
# Tells the user project where to find third party libraries used to
# compile ViSP
@@ -103,17 +107,22 @@ FOREACH(val ${VISP_EXTERN_LINK_DIR})
ENDFOREACH(val ${VISP_EXTERN_LINK_DIR})
#MESSAGE("VISP_LIBRARY_DIRS: ${VISP_LIBRARY_DIRS}")
-# export source dir for doxygen eventually
-SET(VISP_SOURCE_DIR "@VISP_SOURCE_DIR@")
+# Set the full library name for debug and release
+set(VISP_LIBNAME_DBG "@VISP_LIBNAME_DBG@")
+set(VISP_LIBNAME_OPT "@VISP_LIBNAME_OPT@")
# Tells the user project ViSP library name
-SET(VISP_LIBRARIES debug "@VISP_INTERN_LIBRARY@@CMAKE_DEBUG_POSTFIX@" optimized "@VISP_INTERN_LIBRARY@")
+if(UNIX)
+ set(VISP_LIBRARIES debug ${VISP_ROOT_DIR}/@CMAKE_INSTALL_LIBDIR@/${VISP_LIBNAME_DBG} optimized ${VISP_ROOT_DIR}/@CMAKE_INSTALL_LIBDIR@/${VISP_LIBNAME_OPT})
+else()
+ set(VISP_LIBRARIES debug "@VISP_INTERN_LIBRARY@@CMAKE_DEBUG_POSTFIX@" optimized "@VISP_INTERN_LIBRARY@")
+endif()
# Tells the user project libraries name used to build ViSP library
SET(VISP_EXTERN_LIBRARIES "@VISP_EXTERN_LIBRARIES@")
FOREACH(val ${VISP_EXTERN_LIBRARIES})
LIST(APPEND VISP_LIBRARIES "${val}")
-ENDFOREACH(val ${VISP_EXTERN_LIBRARIES})
+ENDFOREACH()
#MESSAGE("VISP_LIBRARIES: ${VISP_LIBRARIES}")
# where to find the USE file to be used by user project
@@ -129,10 +138,22 @@ IF(BUILD_TEST_COVERAGE)
ENDIF(BUILD_TEST_COVERAGE)
-#
-# Remember VISP' third party libs configuration:
-#
+#----------------------------------------------------------------------
+# Add CXX flags used in ViSP that should be also used when ViSP is a 3rd party
+#----------------------------------------------------------------------
+set(VISP_OPENMP_FLAGS "@VISP_OPENMP_FLAGS@")
+if(VISP_OPENMP_FLAGS)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${VISP_OPENMP_FLAGS}")
+endif()
+set(VISP_CPP11_FLAGS "@VISP_CPP11_FLAGS@")
+if(VISP_CPP11_FLAGS)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${VISP_CPP11_FLAGS}")
+endif()
+
+#----------------------------------------------------------------------
+# Remember VISP' third party libs configuration:
+#----------------------------------------------------------------------
SET(VISP_HAVE_X11 "@VISP_HAVE_X11@")
SET(VISP_HAVE_PTHREAD "@VISP_HAVE_PTHREAD@")
SET(VISP_HAVE_GTK "@VISP_HAVE_GTK@")
@@ -157,7 +178,6 @@ SET(VISP_HAVE_QT "@VISP_HAVE_QT@")
SET(VISP_HAVE_SOQT "@VISP_HAVE_SOQT@")
SET(VISP_HAVE_SOWIN "@VISP_HAVE_SOWIN@")
SET(VISP_HAVE_SOXT "@VISP_HAVE_SOXT@")
-SET(VISP_HAVE_DC1394_1 "@VISP_HAVE_DC1394_1@")
SET(VISP_HAVE_DC1394_2 "@VISP_HAVE_DC1394_2@")
SET(VISP_HAVE_CMU1394 "@VISP_HAVE_CMU1394@")
SET(VISP_HAVE_V4L2 "@VISP_HAVE_V4L2@")
@@ -168,9 +188,6 @@ SET(VISP_HAVE_BICLOPS "@VISP_HAVE_BICLOPS@")
SET(VISP_HAVE_PTU46 "@VISP_HAVE_PTU46@")
SET(VISP_HAVE_VIPER650 "@VISP_HAVE_VIPER650@")
SET(VISP_HAVE_VIPER850 "@VISP_HAVE_VIPER850@")
-SET(VISP_HAVE_CYCAB "@VISP_HAVE_CYCAB@")
-SET(VISP_HAVE_CYCABTK "@VISP_HAVE_CYCABTK@")
-SET(VISP_HAVE_CYCABTK_OLD "@VISP_HAVE_CYCABTK_OLD@")
SET(VISP_HAVE_PIONEER "@VISP_HAVE_PIONEER@")
SET(VISP_HAVE_PARPORT "@VISP_HAVE_PARPORT@")
SET(VISP_HAVE_XML2 "@VISP_HAVE_XML2@")
@@ -181,3 +198,34 @@ SET(VISP_HAVE_YARP "@VISP_HAVE_YARP@")
SET(VISP_HAVE_OPENMP "@VISP_HAVE_OPENMP@")
SET(VISP_HAVE_ACCESS_TO_NAS "@VISP_HAVE_ACCESS_TO_NAS@")
SET(VISP_HAVE_CPP11_COMPATIBILITY "@VISP_HAVE_CPP11_COMPATIBILITY@")
+
+#----------------------------------------------------------------------
+# Some useful macro to be able to build the tutorials along side ViSP
+#----------------------------------------------------------------------
+# Create a target from the *.cpp file, link against ViSP libraries and add a dependency to ViSP library
+# tu ensure that the library is build before this target.
+macro(visp_add_target file_cpp)
+ get_filename_component(target ${file_cpp} NAME_WE)
+ include_directories(${VISP_INCLUDE_DIRS})
+ if(VISP_LIBRARY_DIRS)
+ # should be called before add_executable()
+ link_directories(${VISP_LIBRARY_DIRS})
+ endif()
+ add_executable(${target} ${file_cpp})
+ target_link_libraries(${target} ${VISP_LIBRARIES})
+ if(VISP_INTERN_LIBRARY)
+ add_dependencies(${target} ${VISP_INTERN_LIBRARY})
+ endif()
+endmacro()
+
+# Copy the data files to the same location than the target associated to the cpp files
+macro(visp_copy_data file_cpp file_data)
+ get_filename_component(target ${file_cpp} NAME_WE)
+ get_target_property(target_location ${target} LOCATION)
+ get_filename_component(target_location "${target_location}" PATH)
+ add_custom_command(
+ TARGET ${target}
+ POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy "${file_data}" "${target_location}"
+ )
+endmacro()
diff --git a/CMakeModules/VISPUse.cmake.in b/CMakeModules/VISPUse.cmake.in
index 0d04dd8..aeeaa40 100644
--- a/CMakeModules/VISPUse.cmake.in
+++ b/CMakeModules/VISPUse.cmake.in
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: VISPUse.cmake.in 4057 2013-01-05 13:10:29Z fspindle $
+# $Id: VISPUse.cmake.in 4616 2014-01-24 18:43:25Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -38,10 +38,6 @@
#
#############################################################################
-# Add extra build flags to be able to consider especially for OpenMP
-list(APPEND CMAKE_CXX_FLAGS "@VISP_OPENMP_FLAGS@")
-list(APPEND CMAKE_CXX_FLAGS "@VISP_CPP11_FLAGS@")
-
# Remove duplicates compilation flags
separate_arguments(CMAKE_CXX_FLAGS)
list(REMOVE_DUPLICATES CMAKE_CXX_FLAGS)
@@ -58,6 +54,5 @@ ADD_DEFINITIONS(${VISP_DEFINITIONS})
# Tell the compiler where to find ViSP's libraries
# and the third party libraries we depend on
LINK_DIRECTORIES(${VISP_LIBRARY_DIRS})
-
LINK_LIBRARIES(${VISP_LIBRARIES})
diff --git a/CMakeModules/checkForItifg8Version.cpp b/CMakeModules/checkForItifg8Version.cpp
deleted file mode 100644
index 8a96303..0000000
--- a/CMakeModules/checkForItifg8Version.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-
-#include <itifgExt.h>
-#include <libitifg.h>
-
-
-int main()
-{
- struct iti_setup_t setup;
- char file_name[FILENAME_MAX];
- int error;
- int version = 0;
-
- strcpy (file_name, ITI_PFS_PREFIX);
- strcat (file_name, ITI_PFS_STRING);
-
- if ((error = iti_parse_info (file_name, &setup)))
- {
- switch (error)
- {
- case -ITI_EARG:
- fprintf (stderr, "read_procfs: Wrong call argument\n"
- "(file_name:%s, setup%p).\n", file_name, &setup);
- exit (-1);
- break;
- case -ITI_EFMT:
- fprintf (stderr, "read_procfs: Wrong data format (%s%s).\n",
- ITI_PFS_PREFIX, ITI_PFS_STRING);
- exit (-1);
- break;
- case -ITI_EENT:
- fprintf (stderr, "read_procfs: File not found (%s%s).\n",
- ITI_PFS_PREFIX, ITI_PFS_STRING);
- exit (-1);
- break;
- case -ITI_ESYS:
- fprintf (stderr, "read_procfs: Error while system call (%s).\n",
- strerror (errno));
- exit (-1);
- break;
- default:
- fprintf (stderr, "read_procfs: Error not specified!\n");
- exit (-1);
- }
- }
-// fprintf (stderr, "Driver version %0x = %d: %d.%d.%d-%d.\n",
-// setup.version, setup.version,
-// (setup.version & 0xFF000000) >> 24,
-// (setup.version & 0x00FF0000) >> 16,
-// (setup.version & 0x0000FF00) >> 8,
-// setup.version & 0x000000FF);
-
- int major = (setup.version & 0xFF000000) >> 24;
- int minor = (setup.version & 0x00FF0000) >> 16;
-
- return (major*10 + minor);
-
-}
diff --git a/CMakeModules/cmake_uninstall.cmake.in b/CMakeModules/cmake_uninstall.cmake.in
index e788ba1..fb9072b 100644
--- a/CMakeModules/cmake_uninstall.cmake.in
+++ b/CMakeModules/cmake_uninstall.cmake.in
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: cmake_uninstall.cmake.in 4057 2013-01-05 13:10:29Z fspindle $
+# $Id: cmake_uninstall.cmake.in 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/CMakeModules/resources.cfg.in b/CMakeModules/resources.cfg.in
index 759b13a..64f2524 100755
--- a/CMakeModules/resources.cfg.in
+++ b/CMakeModules/resources.cfg.in
@@ -1,11 +1,11 @@
# Resources required by the sample browser and most samples.
[Essential]
-Zip=@OGRE_MEDIA_DIR@/packs/SdkTrays.zip
+#Zip=@OGRE_MEDIA_DIR@/packs/SdkTrays.zip
# Resource locations to be added to the default path
[General]
FileSystem=@OGRE_MEDIA_DIR@
-FileSystem=@OGRE_MEDIA_DIR@/materials/programs
+#FileSystem=@OGRE_MEDIA_DIR@/materials/programs
FileSystem=@OGRE_MEDIA_DIR@/materials/scripts
FileSystem=@OGRE_MEDIA_DIR@/materials/textures
FileSystem=@OGRE_MEDIA_DIR@/models
diff --git a/CMakeModules/visp-config.bat.in b/CMakeModules/visp-config.bat.in
index d75e3b1..62209e7 100755
--- a/CMakeModules/visp-config.bat.in
+++ b/CMakeModules/visp-config.bat.in
@@ -1,9 +1,9 @@
@rem #############################################################################
@rem #
- at rem # $Id: visp-config.bat.in 4057 2013-01-05 13:10:29Z fspindle $
+ at rem # $Id: visp-config.bat.in 4574 2014-01-09 08:48:51Z fspindle $
@rem #
@rem # This file is part of the ViSP software.
- at rem # Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ at rem # Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
@rem #
@rem # This software is free software; you can redistribute it and/or
@rem # modify it under the terms of the GNU General Public License
@@ -106,7 +106,7 @@ for %%a in (%*) do (
if "%%a" == "--version" (
echo ViSP %VERSION% Visual Servoing Platform
echo.
- echo Copyright 2005 - 2013 Inria. All rights reserved.
+ echo Copyright 2005 - 2014 Inria. All rights reserved.
goto END
)
if "%%a" == "--dumpversion" (
@@ -118,7 +118,7 @@ for %%a in (%*) do (
:USAGE
echo ViSP %VERSION% (Visual Servoing Platform)
-echo Copyright (C) 2005 - 2013 Inria. All rights reserved.
+echo Copyright (C) 2005 - 2014 Inria. All rights reserved.
echo.
echo Usage: %0 [--prefix] [--def] [--include] [--openmp] [--libpath]
echo [--libs-debug] [--libs-optimized] [--version] [--dumpversion] [--help]
diff --git a/CMakeModules/visp-config.in b/CMakeModules/visp-config.in
index 7d39279..317c434 100755
--- a/CMakeModules/visp-config.in
+++ b/CMakeModules/visp-config.in
@@ -2,10 +2,10 @@
#############################################################################
#
-# $Id: visp-config.in 4203 2013-04-08 16:56:12Z fspindle $
+# $Id: visp-config.in 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -61,7 +61,7 @@ usage()
cat <<EOF
ViSP $VERSION (Visual Servoing Platform)
-Copyright (C) 2005 - 2013 Inria. All rights reserved.
+Copyright (C) 2005 - 2014 Inria. All rights reserved.
Usage: $0 [--prefix] [--cflags] [--libs] [--version] [--dumpversion] [--help]
@@ -91,7 +91,7 @@ for arg in $@; do
--version)
echo "ViSP $VERSION (Visual Servoing Platform)"
echo ""
- echo "Copyright (C) 2005 - 2013 Inria. All rights reserved.";;
+ echo "Copyright (C) 2005 - 2014 Inria. All rights reserved.";;
--dumpversion) echo $NO_NEWLINE_OPTION "$VERSION$NO_NEWLINE_CHARACTER";;
*) usage; exit -1 ;;
esac;
diff --git a/CMakeModules/visp-config.install.in b/CMakeModules/visp-config.install.in
index e797f26..0376f57 100755
--- a/CMakeModules/visp-config.install.in
+++ b/CMakeModules/visp-config.install.in
@@ -5,7 +5,7 @@
# $Id: visp-config.in 4057 2013-01-05 13:10:29Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -48,20 +48,20 @@ relpath=`(cd $relpath/..; pwd)`
PREFIX=$relpath
-CFLAGS="${VISP_CONFIG_CFLAGS_SCRIPT}"
+#CFLAGS="${VISP_CONFIG_CFLAGS_SCRIPT}"
-LIBS="${VISP_CONFIG_LIBS_SCRIPT}"
+#LIBS="${VISP_CONFIG_LIBS_SCRIPT}"
-VERSION="${VISP_VERSION}"
+#VERSION="${VISP_VERSION}"
-#CFLAGS_CMD=`pkg-config --cflags visp`
-#CFLAGS=$CFLAGS_CMD
+CFLAGS_CMD=`pkg-config --cflags visp`
+CFLAGS=$CFLAGS_CMD
-#LIBS_CMD=`pkg-config --libs visp`
-#LIBS=$LIBS_CMD
+LIBS_CMD=`pkg-config --libs visp`
+LIBS=$LIBS_CMD
-#VERSION_CMD=`pkg-config --modversion visp`
-#VERSION=$VERSION_CMD
+VERSION_CMD=`pkg-config --modversion visp`
+VERSION=$VERSION_CMD
NO_NEWLINE_CHARACTER="${VISP_ECHO_NO_NEWLINE_CHARACTER}"
NO_NEWLINE_OPTION="${VISP_ECHO_NO_NEWLINE_OPTION}"
@@ -71,7 +71,7 @@ usage()
cat <<EOF
ViSP $VERSION (Visual Servoing Platform)
-Copyright (C) 2005 - 2013 Inria. All rights reserved.
+Copyright (C) 2005 - 2014 Inria. All rights reserved.
Usage: $0 [--prefix] [--cflags] [--libs] [--version] [--dumpversion] [--help]
@@ -101,7 +101,7 @@ for arg in $@; do
--version)
echo "ViSP $VERSION (Visual Servoing Platform)"
echo ""
- echo "Copyright (C) 2005 - 2013 Inria. All rights reserved.";;
+ echo "Copyright (C) 2005 - 2014 Inria. All rights reserved.";;
--dumpversion) echo $NO_NEWLINE_OPTION "$VERSION$NO_NEWLINE_CHARACTER";;
*) usage; exit -1 ;;
esac;
diff --git a/CMakeModules/visp.pc.in b/CMakeModules/visp.pc.in
index 93ab39c..4594265 100644
--- a/CMakeModules/visp.pc.in
+++ b/CMakeModules/visp.pc.in
@@ -7,7 +7,7 @@ includedir=@includedir@
Name: ViSP
Description: Visual Servoing Platform
-URL: http://www.irisa.fr/lagadic/visp
+URL: http://team.inria.fr/lagadic/visp
Version: ${VISP_VERSION}
Libs: ${VISP_CONFIG_LIBS_PC}
diff --git a/CMakeSourceFileList.cmake b/CMakeSourceFileList.cmake
index b8e8a55..c7734ee 100644
--- a/CMakeSourceFileList.cmake
+++ b/CMakeSourceFileList.cmake
@@ -3,7 +3,7 @@
# $Id: CMakeSourceFileList.cmake,v 1.29 2008-12-17 14:45:01 fspindle Exp $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -81,9 +81,6 @@ SET (SRC_DEVICE_FRAMEGRABBER
device/framegrabber/disk/vpDiskGrabber.cpp
)
-IF(VISP_HAVE_DC1394_1)
- LIST(APPEND SRC_DEVICE_FRAMEGRABBER device/framegrabber/1394/vp1394Grabber.cpp)
-ENDIF()
IF(VISP_HAVE_DC1394_2)
LIST(APPEND SRC_DEVICE_FRAMEGRABBER device/framegrabber/1394/vp1394TwoGrabber.cpp)
ENDIF()
@@ -216,9 +213,6 @@ IF(VISP_HAVE_BICLOPS)
LIST(APPEND SRC_ROBOT robot/real-robot/biclops/vpRobotBiclopsController.cpp)
LIST(APPEND SRC_ROBOT robot/real-robot/biclops/vpRobotBiclops.cpp)
ENDIF()
-IF(VISP_HAVE_CYCAB)
- LIST(APPEND SRC_ROBOT robot/real-robot/cycab/vpRobotCycab.cpp)
-ENDIF()
IF(VISP_HAVE_PTU46)
LIST(APPEND SRC_ROBOT robot/real-robot/ptu46/vpRobotPtu46.cpp)
ENDIF()
@@ -233,7 +227,6 @@ IF(VISP_HAVE_VIPER850)
ENDIF()
SET (SRC_SERVO
- servo/vpAdaptativeGain.cpp
servo/vpAdaptiveGain.cpp
servo/vpServo.cpp
servo/vpServoData.cpp
@@ -343,12 +336,33 @@ SET (SRC_TRACKING
tracking/moments/vpMomentGravityCenter.cpp
tracking/moments/vpMomentGravityCenterNormalized.cpp
tracking/moments/vpMomentObject.cpp
+
+ tracking/template-tracker/vpTemplateTracker.cpp
+ tracking/template-tracker/ssd/vpTemplateTrackerSSD.cpp
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.cpp
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.cpp
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.cpp
+ tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.cpp
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCC.cpp
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.cpp
+ tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.cpp
+ tracking/template-tracker/tools/vpTemplateTrackerBSpline.cpp
+ tracking/template-tracker/tools/vpTemplateTrackerZone.cpp
+ tracking/template-tracker/tools/vpTemplateTrackerTriangle.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarp.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.cpp
+ tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.cpp
)
-IF(VISP_HAVE_XML2)
- LIST(APPEND SRC_TRACKING tracking/mbt/edge/vpMbtXmlParser.cpp)
- LIST(APPEND SRC_TRACKING tracking/mbt/klt/vpMbtKltXmlParser.cpp)
-ENDIF()
+if(VISP_HAVE_XML2)
+ list(APPEND SRC_TRACKING tracking/mbt/vpMbXmlParser.cpp)
+ list(APPEND SRC_TRACKING tracking/mbt/edge/vpMbtXmlParser.cpp)
+ list(APPEND SRC_TRACKING tracking/mbt/klt/vpMbtKltXmlParser.cpp)
+ list(APPEND SRC_TRACKING tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.cpp)
+endif()
IF(VISP_HAVE_OPENCV)
LIST(APPEND SRC_TRACKING tracking/klt/vpKltOpencv.cpp)
diff --git a/CTestConfig.cmake b/CTestConfig.cmake
index 1a01ddb..5496d54 100644
--- a/CTestConfig.cmake
+++ b/CTestConfig.cmake
@@ -3,7 +3,7 @@
# $Id: CTestConfig.cmake,v 1.9 2008-12-11 13:19:44 fspindle Exp $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -72,6 +72,8 @@ elseif(MSVC10)
set(BUILDNAME "${BUILDNAME}-msvc10")
elseif(MSVC11)
set(BUILDNAME "${BUILDNAME}-msvc11")
+elseif(MSVC12)
+ set(BUILDNAME "${BUILDNAME}-msvc12")
elseif(MSVC)
set(BUILDNAME "${BUILDNAME}-msvc")
elseif(BORLAND)
@@ -141,10 +143,6 @@ endif()
IF(VISP_HAVE_DC1394_2)
SET(BUILDNAME "${BUILDNAME}-dc1394.2")
ENDIF(VISP_HAVE_DC1394_2)
-# Firewire dc1394-1.x
-IF(VISP_HAVE_DC1394_1)
- SET(BUILDNAME "${BUILDNAME}-dc1394.1")
-ENDIF(VISP_HAVE_DC1394_1)
# Video 4 linux 2 (V4L2)
IF(VISP_HAVE_V4L2)
SET(BUILDNAME "${BUILDNAME}-v4l2")
diff --git a/ChangeLog b/ChangeLog
index 5a19e42..259376e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -2,10 +2,57 @@
Visual Servoing Platform
Resume of the change log
- Copyright Projet Lagadic / IRISA-INRIA Rennes, 2005-2013
- http://www.irisa.fr/lagadic
+ Copyright Projet Lagadic / IRISA-INRIA Rennes, 2005 - 2014
+ http://team.inria.fr/lagadic
+ViSP 2.9.0 (released February 18th, 2014)
+ - New features
+ . Introduction of a new template tracker using SSD (vpTemplateTrackerSSD
+ classes) or ZNCC (vpTemplateTrackerZNCC classes). These trackers are able
+ to estimate 2D transformations such as translation, SRT (scale, rotation
+ and translation), affine and homography. A video
+ illustrating this tracker capabilities is available on:
+ http://team.inria.fr/lagadic/visp/computer-vision.html
+ . In vpServo introduction of a new controller able to ensure continuous
+ sequencing
+ - Improvements
+ . Add missing const to member functions and arguments passed by reference.
+ . Introduction of a new option BUILD_WITH_STATIC_CRT that allows to set
+ /MT (default) or /MD msvc build option
+ . Compatibility with mingw, msvc11 (2012), msvc12 (2013)
+ and open solaris 11
+ . Trace and debug can now be enabled/disabled using CMake
+ ACTIVATE_DEBUG_TRACE option
+ . Fix errors detected by Covery Scan static code analyser
+ . Fix warnings detected with Gnu g++ -Weffc++ -Wshadow compiler flags
+ . Improve a lot of classes
+ - New examples
+ . New example that shows how to use the template tracker
+ . A lot of new sample code provided in tutorial folder
+ - New tutorials
+ . Installation from source on Linux Fedora
+ . Image filtering
+ . Template tracking
+ . Homography estimation from points
+ . Keypoint matching
+ . How to boost your visual servo control law
+ . Debug and trace printings
+ - Bug fixed
+ . [16263] libopencv_nonfree for Surf not detected by CMake.
+ . [16307] vpVideoReader::setLastFrameIndex() doesn't work.
+ . [16371] No convergence in SVDcmp
+ . [16465] FTBFS on armhf, ppc, s390: Errors while running CTest
+ . [16696] Build with OpenCV fails with msvc (/MT conflicts with /MD)
+ . [16781] Unable to open .pgm saved with Matlab imwrite
+ . [16823] Problems with camera calibration code
+ . [16889] Link error with CMU 1394 on win x64 arch
+ . [16895] undefined reference to `vpGaussRand::gaussianDraw()'
+ . [16919] Unable to link with OpenCV 2.4.8 under Windows
+ . [16924] MinGW: unable to build ViSP as a shared library
+ . [16928] vpVideoReader is unable to find the number of the first image
+ from a generic sequence of images
+----------------------------------------------
ViSP 2.8.0 (released July 24th, 2013)
- New features
. New camera calibration tool: example/camera_calibration.cpp
diff --git a/INSTALL.txt b/INSTALL.txt
index e5d7bb2..f39d4f0 100644
--- a/INSTALL.txt
+++ b/INSTALL.txt
@@ -1,7 +1,7 @@
ViSP-2.7.0
Visual Servoing Platform
- Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
www: http://www.irisa.fr/lagadic
diff --git a/README.txt b/README.txt
index 39ca54d..dbe8a69 100644
--- a/README.txt
+++ b/README.txt
@@ -1,7 +1,7 @@
ViSP-2.7.0
Visual Servoing Platform
- Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
www: http://www.irisa.fr/lagadic
diff --git a/ViSP-third-party.txt.cmake b/ViSP-third-party.txt.cmake
index 7bcfbfb..3b539d6 100644
--- a/ViSP-third-party.txt.cmake
+++ b/ViSP-third-party.txt.cmake
@@ -25,15 +25,13 @@ Robots
Pioneer : ${VISP_HAVE_PIONEER_FOUND}
Viper S650 : ${VISP_HAVE_VIPER650_FOUND}
Viper S850 : ${VISP_HAVE_VIPER850_FOUND}
- Cycab : ${VISP_HAVE_CYCAB_FOUND}
-Video devices (display)
+Video devices (display)
X11 : ${VISP_HAVE_X11_FOUND}
GTK : ${VISP_HAVE_GTK_FOUND}
OpenCV : ${VISP_HAVE_OPENCV_FOUND}
GDI : ${VISP_HAVE_GDI_FOUND}
Direct3D : ${VISP_HAVE_D3D9_FOUND}
Framegrabbers
- Firewire libdc1394-1.x : ${VISP_HAVE_DC1394_1_FOUND}
Firewire libdc1394-2.x : ${VISP_HAVE_DC1394_2_FOUND}
Video For Linux Two : ${VISP_HAVE_V4L2_FOUND}
DirectShow : ${VISP_HAVE_DIRECTSHOW_FOUND}
diff --git a/data/ogre-simulator/media/materials/scripts/Examples.material b/data/ogre-simulator/media/materials/scripts/Examples.material
new file mode 100644
index 0000000..306da3e
--- /dev/null
+++ b/data/ogre-simulator/media/materials/scripts/Examples.material
@@ -0,0 +1,33 @@
+
+
+material Examples/Robot
+{
+ // Software blending technique
+ technique
+ {
+ pass
+ {
+
+ texture_unit
+ {
+ texture r2skin.jpg
+ }
+ }
+ }
+}
+
+material Examples/GrassFloor
+{
+ technique
+ {
+ pass
+ {
+ texture_unit
+ {
+ texture grass_1024.jpg
+ }
+ }
+ }
+}
+
+
diff --git a/data/ogre-simulator/media/materials/textures/grass_1024.jpg b/data/ogre-simulator/media/materials/textures/grass_1024.jpg
new file mode 100644
index 0000000..e65691b
Binary files /dev/null and b/data/ogre-simulator/media/materials/textures/grass_1024.jpg differ
diff --git a/data/ogre-simulator/media/materials/textures/r2skin.jpg b/data/ogre-simulator/media/materials/textures/r2skin.jpg
new file mode 100644
index 0000000..3e83a12
Binary files /dev/null and b/data/ogre-simulator/media/materials/textures/r2skin.jpg differ
diff --git a/data/ogre-simulator/media/models/robot.mesh b/data/ogre-simulator/media/models/robot.mesh
new file mode 100644
index 0000000..a191498
Binary files /dev/null and b/data/ogre-simulator/media/models/robot.mesh differ
diff --git a/data/ogre-simulator/media/models/robot.skeleton b/data/ogre-simulator/media/models/robot.skeleton
new file mode 100644
index 0000000..0aa8bde
Binary files /dev/null and b/data/ogre-simulator/media/models/robot.skeleton differ
diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
index 9793b56..b5531f1 100644
--- a/demo/CMakeLists.txt
+++ b/demo/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/demo/wireframe-simulator/CMakeLists.txt b/demo/wireframe-simulator/CMakeLists.txt
index 2455ade..4fa6ebe 100644
--- a/demo/wireframe-simulator/CMakeLists.txt
+++ b/demo/wireframe-simulator/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/demo/wireframe-simulator/servoSimu4Points.cpp b/demo/wireframe-simulator/servoSimu4Points.cpp
index 7436e7d..cfb2050 100644
--- a/demo/wireframe-simulator/servoSimu4Points.cpp
+++ b/demo/wireframe-simulator/servoSimu4Points.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoSimu4Points.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoSimu4Points.cpp 4659 2014-02-09 14:11:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,6 +71,9 @@
#ifdef VISP_HAVE_DISPLAY
+void usage(const char *name, std::string ipath, const char *badparam);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &display);
+
/*!
Print the program options.
@@ -132,17 +135,17 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'd': display = false; break;
case 'h': usage(argv[0],ipath, NULL); return false; break;
default:
- usage(argv[0],ipath, optarg);
+ usage(argv[0],ipath, optarg_);
return false; break;
}
}
@@ -151,7 +154,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
// standalone param or error
usage(argv[0], ipath, NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -162,36 +165,35 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- std::string opt_ipath;
- std::string env_ipath;
- std::string ipath ;
- std::string filename;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
- exit (-1);
- }
-
- vpImage<vpRGBa> Iint(480,640,255);
- vpImage<vpRGBa> Iext1(480,640,255);
- vpImage<vpRGBa> Iext2(480,640,255);
+ try {
+ bool opt_display = true;
+ std::string opt_ipath;
+ std::string env_ipath;
+ std::string ipath ;
+ std::string filename;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
+ exit (-1);
+ }
+
+ vpImage<vpRGBa> Iint(480,640,255);
+ vpImage<vpRGBa> Iext1(480,640,255);
+ vpImage<vpRGBa> Iext2(480,640,255);
#if defined VISP_HAVE_X11
- vpDisplayX display[3];
+ vpDisplayX display[3];
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display[3];
+ vpDisplayOpenCV display[3];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[3];
+ vpDisplayGDI display[3];
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display[3];
+ vpDisplayD3D display[3];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[3];
+ vpDisplayGTK display[3];
#endif
-
- if (opt_display)
- {
- try
+
+ if (opt_display)
{
// Display size is automatically defined by the image (I) size
display[0].init(Iint, 100, 100,"The internal view") ;
@@ -207,236 +209,146 @@ main(int argc, const char ** argv)
vpDisplay::display(Iext2);
vpDisplay::flush(Iext2);
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpServo task;
- vpSimulatorCamera robot ;
- float sampling_time = 0.040f; // Sampling period in second
- robot.setSamplingTime(sampling_time);
-
- // Since the task gain lambda is very high, we need to increase default max velocities
- robot.setMaxTranslationVelocity(10);
- robot.setMaxRotationVelocity(vpMath::rad(180));
-
- // Set initial position of the object in the camera frame
- vpHomogeneousMatrix cMo(0,0.1,2.0,vpMath::rad(35),vpMath::rad(25),0);
- // Set desired position of the object in the camera frame
- vpHomogeneousMatrix cdMo(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
- // Set initial position of the object in the world frame
- vpHomogeneousMatrix wMo(0.0,0.0,0.2,0,0,0);
- // Position of the camera in the world frame
- vpHomogeneousMatrix wMc, cMw;
- wMc = wMo * cMo.inverse();
- cMw = wMc.inverse();
-
- //The four point used as visual features
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1,0) ;
- point[3].setWorldCoordinates(-0.1,0.1,0) ;
- point[2].setWorldCoordinates(0.1,0.1,0) ;
- point[1].setWorldCoordinates(0.1,-0.1,0) ;
-
- // Projection of the points
- for (int i = 0 ; i < 4 ; i++)
- point[i].track(cMo);
-
- //Set the current visual feature
- vpFeaturePoint p[4];
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i], point[i]);
-
- // Projection of the points
- for (int i = 0 ; i < 4 ; i++)
- point[i].track(cdMo);
-
- vpFeaturePoint pd[4];
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(pd[i], point[i]);
-
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
- task.setInteractionMatrixType(vpServo::DESIRED);
-
- vpHomogeneousMatrix cMe; // Identity
- vpVelocityTwistMatrix cVe(cMe);
- task.set_cVe(cVe);
-
- vpMatrix eJe;
- robot.get_eJe(eJe);
- task.set_eJe(eJe);
-
- for (int i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
-
- task.setLambda(10);
-
- std::list<vpImageSimulator> list;
- vpImageSimulator imsim;
-
- vpColVector X[4];
- for (int i = 0; i < 4; i++) X[i].resize(3);
- X[0][0] = -0.2;
- X[0][1] = -0.2;
- X[0][2] = 0;
-
- X[1][0] = 0.2;
- X[1][1] = -0.2;
- X[1][2] = 0;
-
- X[2][0] = 0.2;
- X[2][1] = 0.2;
- X[2][2] = 0;
-
- X[3][0] = -0.2;
- X[3][1] = 0.2;
- X[3][2] = 0;
-
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.pgm");
-
- try
- {
- imsim.init(filename.c_str(), X);
- }
- catch(...)
- {
- vpTRACE("You need the ViSP data ");
- task.kill();
- return 1;
- }
-
- list.push_back(imsim);
-
- vpWireFrameSimulator sim;
-
- // Set the scene
- sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD,list);
-
- // Initialize simulator frames
- sim.set_fMo( wMo ); // Position of the object in the world reference frame
- sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
- sim.setDesiredCameraPosition(cdMo); // desired position of the camera
-
- // Set the External camera position
- vpHomogeneousMatrix camMf(vpHomogeneousMatrix(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0));
- sim.setExternalCameraPosition(camMf);
-
- //Computes the position of a camera which is fixed in the object frame
- vpHomogeneousMatrix camoMf(0,0.0,1.5,0,vpMath::rad(140),0);
- camoMf = camoMf*(sim.get_fMo().inverse());
-
- //Set the parameters of the cameras (internal and external)
- vpCameraParameters camera(1000,1000,320,240);
- sim.setInternalCameraParameters(camera);
- sim.setExternalCameraParameters(camera);
-
- int stop = 10;
-
- if (opt_display)
- {
- stop = 2500;
-
- //Get the internal and external views
- sim.getInternalImage(Iint);
- sim.getExternalImage(Iext1);
- sim.getExternalImage(Iext2, camoMf);
-
- //Display the object frame (current and desired position)
- vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
-
- //Display the object frame the world reference frame and the camera frame
- vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,camMf,camera,0.2,vpColor::none);
-
- //Display the world reference frame and the object frame
- vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext2,camoMf*sim.get_fMo(),camera,0.05,vpColor::none);
-
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext1);
- vpDisplay::flush(Iext2);
-
- std::cout << "Click on a display" << std::endl;
- while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext1,false) && !vpDisplay::getClick(Iext2,false)){};
- }
+ vpServo task;
+ vpSimulatorCamera robot ;
+ float sampling_time = 0.040f; // Sampling period in second
+ robot.setSamplingTime(sampling_time);
+
+ // Since the task gain lambda is very high, we need to increase default max velocities
+ robot.setMaxTranslationVelocity(10);
+ robot.setMaxRotationVelocity(vpMath::rad(180));
+
+ // Set initial position of the object in the camera frame
+ vpHomogeneousMatrix cMo(0,0.1,2.0,vpMath::rad(35),vpMath::rad(25),0);
+ // Set desired position of the object in the camera frame
+ vpHomogeneousMatrix cdMo(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
+ // Set initial position of the object in the world frame
+ vpHomogeneousMatrix wMo(0.0,0.0,0.2,0,0,0);
+ // Position of the camera in the world frame
+ vpHomogeneousMatrix wMc, cMw;
+ wMc = wMo * cMo.inverse();
+ cMw = wMc.inverse();
+
+ //The four point used as visual features
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1,0) ;
+ point[3].setWorldCoordinates(-0.1,0.1,0) ;
+ point[2].setWorldCoordinates(0.1,0.1,0) ;
+ point[1].setWorldCoordinates(0.1,-0.1,0) ;
+
+ // Projection of the points
+ for (int i = 0 ; i < 4 ; i++)
+ point[i].track(cMo);
- robot.setPosition( wMc );
- //Print the task
- task.print() ;
+ //Set the current visual feature
+ vpFeaturePoint p[4];
+ for (int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(p[i], point[i]);
- int iter = 0;
- vpColVector v ;
+ // Projection of the points
+ for (int i = 0 ; i < 4 ; i++)
+ point[i].track(cdMo);
- while(iter++ < stop)
- {
- if (opt_display)
- {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext1) ;
- vpDisplay::display(Iext2) ;
- }
+ vpFeaturePoint pd[4];
+ for (int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(pd[i], point[i]);
+
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED);
- double t = vpTime::measureTimeMs();
+ vpHomogeneousMatrix cMe; // Identity
+ vpVelocityTwistMatrix cVe(cMe);
+ task.set_cVe(cVe);
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
- robot.getPosition(wMc) ;
- cMo = wMc.inverse() * wMo;
for (int i = 0 ; i < 4 ; i++)
- {
- point[i].track(cMo) ;
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
+ task.addFeature(p[i],pd[i]) ;
+
+ task.setLambda(10);
- v = task.computeControlLaw() ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
-
- //Compute the movement of the object around the world reference frame.
- vpHomogeneousMatrix a(0, 0, 0.2, 0, 0, 0);
- vpHomogeneousMatrix b(0, 0, 0, vpMath::rad(1.5*iter), 0, 0);
- vpHomogeneousMatrix c(0, 0, 0, 0, vpMath::rad(2.5*iter), 0);
+ std::list<vpImageSimulator> list;
+ vpImageSimulator imsim;
- // Move the object in the world frame
- wMo = b*c*a;
+ vpColVector X[4];
+ for (int i = 0; i < 4; i++) X[i].resize(3);
+ X[0][0] = -0.2;
+ X[0][1] = -0.2;
+ X[0][2] = 0;
- sim.set_fMo( wMo ); //Move the object in the simulator
- sim.setCameraPositionRelObj(cMo);
+ X[1][0] = 0.2;
+ X[1][1] = -0.2;
+ X[1][2] = 0;
- //Compute the position of the external view which is fixed in the object frame
- camoMf.buildFrom(0,0.0,1.5,0,vpMath::rad(150),0);
+ X[2][0] = 0.2;
+ X[2][1] = 0.2;
+ X[2][2] = 0;
+
+ X[3][0] = -0.2;
+ X[3][1] = 0.2;
+ X[3][2] = 0;
+
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.pgm");
+
+ imsim.init(filename.c_str(), X);
+
+ list.push_back(imsim);
+
+ vpWireFrameSimulator sim;
+
+ // Set the scene
+ sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD,list);
+
+ // Initialize simulator frames
+ sim.set_fMo( wMo ); // Position of the object in the world reference frame
+ sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
+ sim.setDesiredCameraPosition(cdMo); // desired position of the camera
+
+ // Set the External camera position
+ vpHomogeneousMatrix camMf(vpHomogeneousMatrix(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0));
+ sim.setExternalCameraPosition(camMf);
+
+ //Computes the position of a camera which is fixed in the object frame
+ vpHomogeneousMatrix camoMf(0,0.0,1.5,0,vpMath::rad(140),0);
camoMf = camoMf*(sim.get_fMo().inverse());
+ //Set the parameters of the cameras (internal and external)
+ vpCameraParameters camera(1000,1000,320,240);
+ sim.setInternalCameraParameters(camera);
+ sim.setExternalCameraParameters(camera);
+
+ int stop = 10;
+
if (opt_display)
{
+ stop = 2500;
+
//Get the internal and external views
sim.getInternalImage(Iint);
sim.getExternalImage(Iext1);
- sim.getExternalImage(Iext2,camoMf);
+ sim.getExternalImage(Iext2, camoMf);
//Display the object frame (current and desired position)
vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
- //Display the camera frame, the object frame the world reference frame
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);
+ //Display the object frame the world reference frame and the camera frame
+ vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,camMf,camera,0.2,vpColor::none);
//Display the world reference frame and the object frame
vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
@@ -445,17 +357,97 @@ main(int argc, const char ** argv)
vpDisplay::flush(Iint);
vpDisplay::flush(Iext1);
vpDisplay::flush(Iext2);
+
+ std::cout << "Click on a display" << std::endl;
+ while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext1,false) && !vpDisplay::getClick(Iext2,false)){};
}
- vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+ robot.setPosition( wMc );
+ //Print the task
+ task.print() ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ int iter = 0;
+ vpColVector v ;
- task.print() ;
- task.kill() ;
+ while(iter++ < stop)
+ {
+ if (opt_display)
+ {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext1) ;
+ vpDisplay::display(Iext2) ;
+ }
+
+ double t = vpTime::measureTimeMs();
+
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ robot.getPosition(wMc) ;
+ cMo = wMc.inverse() * wMo;
+ for (int i = 0 ; i < 4 ; i++)
+ {
+ point[i].track(cMo) ;
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+
+ v = task.computeControlLaw() ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ //Compute the movement of the object around the world reference frame.
+ vpHomogeneousMatrix a(0, 0, 0.2, 0, 0, 0);
+ vpHomogeneousMatrix b(0, 0, 0, vpMath::rad(1.5*iter), 0, 0);
+ vpHomogeneousMatrix c(0, 0, 0, 0, vpMath::rad(2.5*iter), 0);
+
+ // Move the object in the world frame
+ wMo = b*c*a;
+
+ sim.set_fMo( wMo ); //Move the object in the simulator
+ sim.setCameraPositionRelObj(cMo);
+
+ //Compute the position of the external view which is fixed in the object frame
+ camoMf.buildFrom(0,0.0,1.5,0,vpMath::rad(150),0);
+ camoMf = camoMf*(sim.get_fMo().inverse());
+
+ if (opt_display)
+ {
+ //Get the internal and external views
+ sim.getInternalImage(Iint);
+ sim.getExternalImage(Iext1);
+ sim.getExternalImage(Iext2,camoMf);
+
+ //Display the object frame (current and desired position)
+ vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
+
+ //Display the camera frame, the object frame the world reference frame
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);
+
+ //Display the world reference frame and the object frame
+ vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext2,camoMf*sim.get_fMo(),camera,0.05,vpColor::none);
+
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext1);
+ vpDisplay::flush(Iext2);
+ }
+
+ vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ task.print() ;
+ task.kill() ;
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/demo/wireframe-simulator/servoSimuCylinder.cpp b/demo/wireframe-simulator/servoSimuCylinder.cpp
index 0dc0fa0..6e3fd35 100644
--- a/demo/wireframe-simulator/servoSimuCylinder.cpp
+++ b/demo/wireframe-simulator/servoSimuCylinder.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoSimuCylinder.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoSimuCylinder.cpp 4659 2014-02-09 14:11:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,6 +71,8 @@
#define GETOPTARGS "dh"
#ifdef VISP_HAVE_DISPLAY
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &display);
/*!
@@ -126,16 +128,16 @@ OPTIONS: \n\
*/
bool getOptions(int argc, const char **argv, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd': display = false; break;
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -144,7 +146,7 @@ bool getOptions(int argc, const char **argv, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -155,31 +157,30 @@ bool getOptions(int argc, const char **argv, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_display) == false) {
- exit (-1);
- }
-
- vpImage<vpRGBa> Iint(480,640,255);
- vpImage<vpRGBa> Iext(480,640,255);
+ try {
+ bool opt_display = true;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display) == false) {
+ exit (-1);
+ }
+
+ vpImage<vpRGBa> Iint(480,640,255);
+ vpImage<vpRGBa> Iext(480,640,255);
#if defined VISP_HAVE_X11
- vpDisplayX display[2];
+ vpDisplayX display[2];
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display[2];
+ vpDisplayOpenCV display[2];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[2];
+ vpDisplayGDI display[2];
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display[2];
+ vpDisplayD3D display[2];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[2];
+ vpDisplayGTK display[2];
#endif
-
- if (opt_display)
- {
- try
+
+ if (opt_display)
{
// Display size is automatically defined by the image (I) size
display[0].init(Iint, 100, 100,"The internal view") ;
@@ -191,197 +192,82 @@ main(int argc, const char ** argv)
vpDisplay::display(Iext);
vpDisplay::flush(Iext);
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpServo task;
- vpRobotCamera robot ;
- float sampling_time = 0.040f; // Sampling period in second
- robot.setSamplingTime(sampling_time);
-
- // Set initial position of the object in the camera frame
- vpHomogeneousMatrix cMo(0,0.1,0.3,vpMath::rad(35),vpMath::rad(25),vpMath::rad(75));
- // Set desired position of the object in the camera frame
- vpHomogeneousMatrix cdMo(0.0,0.0,0.5,vpMath::rad(90),vpMath::rad(0),vpMath::rad(0));
- // Set initial position of the object in the world frame
- vpHomogeneousMatrix wMo(0.0,0.0,0,0,0,0);
- // Position of the camera in the world frame
- vpHomogeneousMatrix wMc, cMw;
- wMc = wMo * cMo.inverse();
- cMw = wMc.inverse();
-
- // Create a cylinder
- vpCylinder cylinder(0,0,1,0,0,0,0.1);
-
- // Projection of the cylinder
- cylinder.track(cMo);
-
- //Set the current visual feature
- vpFeatureLine l[2];
- vpFeatureBuilder::create(l[0], cylinder, vpCylinder::line1);
- vpFeatureBuilder::create(l[1], cylinder, vpCylinder::line2);
-
- // Projection of the cylinder
- cylinder.track(cdMo);
-
- vpFeatureLine ld[2];
- vpFeatureBuilder::create(ld[0], cylinder, vpCylinder::line1);
- vpFeatureBuilder::create(ld[1], cylinder, vpCylinder::line2);
-
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
- task.setInteractionMatrixType(vpServo::DESIRED);
-
- vpHomogeneousMatrix cMe;
- vpVelocityTwistMatrix cVe(cMe);
- task.set_cVe(cVe);
-
- vpMatrix eJe;
- robot.get_eJe(eJe);
- task.set_eJe(eJe);
-
- for (int i = 0 ; i < 2 ; i++)
- task.addFeature(l[i],ld[i]) ;
-
- task.setLambda(1);
-
- vpWireFrameSimulator sim;
-
- // Set the scene
- sim.initScene(vpWireFrameSimulator::CYLINDER, vpWireFrameSimulator::D_STANDARD);
-
- // Initialize simulator frames
- sim.set_fMo( wMo ); // Position of the object in the world reference frame
- sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
- sim.setDesiredCameraPosition(cdMo); // desired position of the camera
-
- // Set the External camera position
- vpHomogeneousMatrix camMf(vpHomogeneousMatrix(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0));
- sim.setExternalCameraPosition(camMf);
-
- // Set the parameters of the cameras (internal and external)
- vpCameraParameters camera(1000,1000,320,240);
- sim.setInternalCameraParameters(camera);
- sim.setExternalCameraParameters(camera);
-
- int stop = 10;
-
- if (opt_display)
- {
- stop = 2500;
+ vpServo task;
+ vpRobotCamera robot ;
+ float sampling_time = 0.040f; // Sampling period in second
+ robot.setSamplingTime(sampling_time);
+
+ // Set initial position of the object in the camera frame
+ vpHomogeneousMatrix cMo(0,0.1,0.3,vpMath::rad(35),vpMath::rad(25),vpMath::rad(75));
+ // Set desired position of the object in the camera frame
+ vpHomogeneousMatrix cdMo(0.0,0.0,0.5,vpMath::rad(90),vpMath::rad(0),vpMath::rad(0));
+ // Set initial position of the object in the world frame
+ vpHomogeneousMatrix wMo(0.0,0.0,0,0,0,0);
+ // Position of the camera in the world frame
+ vpHomogeneousMatrix wMc, cMw;
+ wMc = wMo * cMo.inverse();
+ cMw = wMc.inverse();
+
+ // Create a cylinder
+ vpCylinder cylinder(0,0,1,0,0,0,0.1);
+
+ // Projection of the cylinder
+ cylinder.track(cMo);
+
+ //Set the current visual feature
+ vpFeatureLine l[2];
+ vpFeatureBuilder::create(l[0], cylinder, vpCylinder::line1);
+ vpFeatureBuilder::create(l[1], cylinder, vpCylinder::line2);
- //Get the internal and external views
- sim.getInternalImage(Iint);
- sim.getExternalImage(Iext);
+ // Projection of the cylinder
+ cylinder.track(cdMo);
- //Display the object frame (current and desired position)
- vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
+ vpFeatureLine ld[2];
+ vpFeatureBuilder::create(ld[0], cylinder, vpCylinder::line1);
+ vpFeatureBuilder::create(ld[1], cylinder, vpCylinder::line2);
- //Display the object frame the world reference frame and the camera frame
- vpDisplay::displayFrame(Iext,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext,camMf,camera,0.2,vpColor::none);
-
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
-
- std::cout << "Click on a display" << std::endl;
- while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext,false)){};
- }
-
- robot.setPosition( cMw );
-
- //Print the task
- task.print();
-
- int iter = 0;
- vpColVector v ;
-
- //Set the secondary task parameters
- vpColVector e1(6) ; e1 = 0 ;
- vpColVector e2(6) ; e2 = 0 ;
- vpColVector proj_e1 ;
- vpColVector proj_e2 ;
- iter = 0;
- double rapport = 0;
- double vitesse = 0.3;
- int tempo = 600;
-
- while(iter++ < stop)
- {
- if (opt_display)
- {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- }
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED);
- double t = vpTime::measureTimeMs();
+ vpHomogeneousMatrix cMe;
+ vpVelocityTwistMatrix cVe(cMe);
+ task.set_cVe(cVe);
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
- robot.getPosition(cMw) ;
- cMo = cMw * wMo;
+ for (int i = 0 ; i < 2 ; i++)
+ task.addFeature(l[i],ld[i]) ;
- cylinder.track(cMo) ;
- vpFeatureBuilder::create(l[0], cylinder, vpCylinder::line1);
- vpFeatureBuilder::create(l[1], cylinder, vpCylinder::line2);
+ task.setLambda(1);
- v = task.computeControlLaw() ;
-
- //Compute the velocity with the secondary task
- if ( iter%tempo < 200 && iter%tempo >= 0)
- {
- e2 = 0;
- e1[0] = -fabs(vitesse) ;
- proj_e1 = task.secondaryTask(e1);
- rapport = -vitesse/proj_e1[0];
- proj_e1 *= rapport ;
- v += proj_e1 ;
- }
+ vpWireFrameSimulator sim;
- if ( iter%tempo < 300 && iter%tempo >= 200)
- {
- e1 = 0;
- e2[1] = -fabs(vitesse) ;
- proj_e2 = task.secondaryTask(e2);
- rapport = -vitesse/proj_e2[1];
- proj_e2 *= rapport ;
- v += proj_e2 ;
- }
+ // Set the scene
+ sim.initScene(vpWireFrameSimulator::CYLINDER, vpWireFrameSimulator::D_STANDARD);
- if ( iter%tempo < 500 && iter%tempo >= 300)
- {
- e2 = 0;
- e1[0] = -fabs(vitesse) ;
- proj_e1 = task.secondaryTask(e1);
- rapport = vitesse/proj_e1[0];
- proj_e1 *= rapport ;
- v += proj_e1 ;
- }
+ // Initialize simulator frames
+ sim.set_fMo( wMo ); // Position of the object in the world reference frame
+ sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
+ sim.setDesiredCameraPosition(cdMo); // desired position of the camera
- if ( iter%tempo < 600 && iter%tempo >= 500)
- {
- e1 = 0;
- e2[1] = -fabs(vitesse) ;
- proj_e2 = task.secondaryTask(e2);
- rapport = vitesse/proj_e2[1];
- proj_e2 *= rapport ;
- v += proj_e2 ;
- }
+ // Set the External camera position
+ vpHomogeneousMatrix camMf(vpHomogeneousMatrix(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0));
+ sim.setExternalCameraPosition(camMf);
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Set the parameters of the cameras (internal and external)
+ vpCameraParameters camera(1000,1000,320,240);
+ sim.setInternalCameraParameters(camera);
+ sim.setExternalCameraParameters(camera);
- // Update the simulator frames
- sim.set_fMo( wMo ); // This line is not really requested since the object doesn't move
- sim.setCameraPositionRelObj( cMo );
+ int stop = 10;
if (opt_display)
{
+ stop = 2500;
+
//Get the internal and external views
sim.getInternalImage(Iint);
sim.getExternalImage(Iext);
@@ -391,23 +277,137 @@ main(int argc, const char ** argv)
vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
//Display the object frame the world reference frame and the camera frame
- vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);;
+ vpDisplay::displayFrame(Iext,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext,camMf,camera,0.2,vpColor::none);
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
+
+ std::cout << "Click on a display" << std::endl;
+ while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext,false)){};
}
- vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+ robot.setPosition( cMw );
- std::cout << "|| s - s* || = " << (task.getError() ).sumSquare() <<std::endl ;
- }
+ //Print the task
+ task.print();
+
+ int iter = 0;
+ vpColVector v ;
+
+ //Set the secondary task parameters
+ vpColVector e1(6) ; e1 = 0 ;
+ vpColVector e2(6) ; e2 = 0 ;
+ vpColVector proj_e1 ;
+ vpColVector proj_e2 ;
+ iter = 0;
+ double rapport = 0;
+ double vitesse = 0.3;
+ int tempo = 600;
- task.print() ;
- task.kill() ;
+ while(iter++ < stop)
+ {
+ if (opt_display)
+ {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ }
+
+ double t = vpTime::measureTimeMs();
+
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ robot.getPosition(cMw) ;
+ cMo = cMw * wMo;
+
+ cylinder.track(cMo) ;
+ vpFeatureBuilder::create(l[0], cylinder, vpCylinder::line1);
+ vpFeatureBuilder::create(l[1], cylinder, vpCylinder::line2);
+
+ v = task.computeControlLaw() ;
+
+ //Compute the velocity with the secondary task
+ if ( iter%tempo < 200 && iter%tempo >= 0)
+ {
+ e2 = 0;
+ e1[0] = -fabs(vitesse) ;
+ proj_e1 = task.secondaryTask(e1);
+ rapport = -vitesse/proj_e1[0];
+ proj_e1 *= rapport ;
+ v += proj_e1 ;
+ }
+
+ if ( iter%tempo < 300 && iter%tempo >= 200)
+ {
+ e1 = 0;
+ e2[1] = -fabs(vitesse) ;
+ proj_e2 = task.secondaryTask(e2);
+ rapport = -vitesse/proj_e2[1];
+ proj_e2 *= rapport ;
+ v += proj_e2 ;
+ }
+
+ if ( iter%tempo < 500 && iter%tempo >= 300)
+ {
+ e2 = 0;
+ e1[0] = -fabs(vitesse) ;
+ proj_e1 = task.secondaryTask(e1);
+ rapport = vitesse/proj_e1[0];
+ proj_e1 *= rapport ;
+ v += proj_e1 ;
+ }
+
+ if ( iter%tempo < 600 && iter%tempo >= 500)
+ {
+ e1 = 0;
+ e2[1] = -fabs(vitesse) ;
+ proj_e2 = task.secondaryTask(e2);
+ rapport = vitesse/proj_e2[1];
+ proj_e2 *= rapport ;
+ v += proj_e2 ;
+ }
+
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ // Update the simulator frames
+ sim.set_fMo( wMo ); // This line is not really requested since the object doesn't move
+ sim.setCameraPositionRelObj( cMo );
+
+ if (opt_display)
+ {
+ //Get the internal and external views
+ sim.getInternalImage(Iint);
+ sim.getExternalImage(Iext);
+
+ //Display the object frame (current and desired position)
+ vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
+
+ //Display the object frame the world reference frame and the camera frame
+ vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);;
+
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+ }
+
+ vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+
+ std::cout << "|| s - s* || = " << (task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ task.print() ;
+ task.kill() ;
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/demo/wireframe-simulator/servoSimuSphere.cpp b/demo/wireframe-simulator/servoSimuSphere.cpp
index fce1d04..b26af02 100644
--- a/demo/wireframe-simulator/servoSimuSphere.cpp
+++ b/demo/wireframe-simulator/servoSimuSphere.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoSimuSphere.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoSimuSphere.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,6 +74,11 @@
#ifdef VISP_HAVE_DISPLAY
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &display);
+void computeVisualFeatures(const vpSphere &sphere, vpGenericFeature &s);
+void computeInteractionMatrix(const vpGenericFeature &s,const vpSphere &sphere, vpMatrix &L);
+
/*!
Print the program options.
@@ -119,16 +124,16 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd': display = false; break;
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -137,7 +142,7 @@ bool getOptions(int argc, const char **argv, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -157,7 +162,7 @@ bool getOptions(int argc, const char **argv, bool &display)
with h2 = (gx²+gy²)/(4*n20*gy²+4*n02*gx²-8n11gxgy)
with n20,n02,n11 the second order moments of the sphere
*/
-void computeVisualFeatures(const vpSphere sphere, vpGenericFeature &s)
+void computeVisualFeatures(const vpSphere &sphere, vpGenericFeature &s)
{
double gx = sphere.get_x();
double gy = sphere.get_y();
@@ -185,7 +190,7 @@ void computeVisualFeatures(const vpSphere sphere, vpGenericFeature &s)
with I3 the 3x3 identity matrix
with [s]x the skew matrix related to s
*/
-void computeInteractionMatrix(const vpGenericFeature s,const vpSphere sphere, vpMatrix &L)
+void computeInteractionMatrix(const vpGenericFeature &s,const vpSphere &sphere, vpMatrix &L)
{
L = 0;
L[0][0] = -1/sphere.getR();
@@ -208,32 +213,31 @@ void computeInteractionMatrix(const vpGenericFeature s,const vpSphere sphere, vp
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_display) == false) {
- exit (-1);
- }
-
- vpImage<vpRGBa> Iint(480,640,255);
- vpImage<vpRGBa> Iext1(480,640,255);
- vpImage<vpRGBa> Iext2(480,640,255);
+ try {
+ bool opt_display = true;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display) == false) {
+ exit (-1);
+ }
+
+ vpImage<vpRGBa> Iint(480,640,255);
+ vpImage<vpRGBa> Iext1(480,640,255);
+ vpImage<vpRGBa> Iext2(480,640,255);
#if defined VISP_HAVE_X11
- vpDisplayX display[3];
+ vpDisplayX display[3];
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display[3];
+ vpDisplayOpenCV display[3];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[3];
+ vpDisplayGDI display[3];
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display[3];
+ vpDisplayD3D display[3];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[3];
+ vpDisplayGTK display[3];
#endif
-
- if (opt_display)
- {
- try
+
+ if (opt_display)
{
// Display size is automatically defined by the image (I) size
display[0].init(Iint, 100, 100,"The internal view") ;
@@ -249,162 +253,92 @@ main(int argc, const char ** argv)
vpDisplay::display(Iext2);
vpDisplay::flush(Iext2);
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpServo task;
- vpRobotCamera robot ;
- float sampling_time = 0.040f; // Sampling period in second
- robot.setSamplingTime(sampling_time);
-
- // Since the task gain lambda is very high, we need to increase default max velocities
- robot.setMaxTranslationVelocity(10);
- robot.setMaxRotationVelocity(vpMath::rad(180));
-
- // Set initial position of the object in the camera frame
- vpHomogeneousMatrix cMo(0,0.1,2.0,vpMath::rad(35),vpMath::rad(25),0);
- // Set desired position of the object in the camera frame
- vpHomogeneousMatrix cdMo(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
- // Set initial position of the object in the world frame
- vpHomogeneousMatrix wMo(0.0,0.0,0,0,0,0);
- // Position of the camera in the world frame
- vpHomogeneousMatrix wMc, cMw;
- wMc = wMo * cMo.inverse();
- cMw = wMc.inverse();
-
- robot.setPosition( cMw );
-
- //The sphere
- vpSphere sphere(0,0,0,0.15);
-
- // Projection of the sphere
- sphere.track(cMo);
+ vpServo task;
+ vpRobotCamera robot ;
+ float sampling_time = 0.040f; // Sampling period in second
+ robot.setSamplingTime(sampling_time);
- //Set the current visual feature
- vpGenericFeature s(3);
- computeVisualFeatures(sphere, s);
-
- // Projection of the points
- sphere.track(cdMo);
+ // Since the task gain lambda is very high, we need to increase default max velocities
+ robot.setMaxTranslationVelocity(10);
+ robot.setMaxRotationVelocity(vpMath::rad(180));
- vpGenericFeature sd(3);
- computeVisualFeatures(sphere, sd);
-
- vpMatrix L(3,6);
- computeInteractionMatrix(sd,sphere,L);
- sd.setInteractionMatrix(L);
+ // Set initial position of the object in the camera frame
+ vpHomogeneousMatrix cMo(0,0.1,2.0,vpMath::rad(35),vpMath::rad(25),0);
+ // Set desired position of the object in the camera frame
+ vpHomogeneousMatrix cdMo(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
+ // Set initial position of the object in the world frame
+ vpHomogeneousMatrix wMo(0.0,0.0,0,0,0,0);
+ // Position of the camera in the world frame
+ vpHomogeneousMatrix wMc, cMw;
+ wMc = wMo * cMo.inverse();
+ cMw = wMc.inverse();
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
- task.setInteractionMatrixType(vpServo::DESIRED);
-
- vpHomogeneousMatrix cMe;
- vpVelocityTwistMatrix cVe(cMe);
- task.set_cVe(cVe);
+ robot.setPosition( cMw );
- vpMatrix eJe;
- robot.get_eJe(eJe);
- task.set_eJe(eJe);
+ //The sphere
+ vpSphere sphere(0,0,0,0.15);
- task.addFeature(s,sd) ;
-
- task.setLambda(7);
-
- vpWireFrameSimulator sim;
-
- // Set the scene
- sim.initScene(vpWireFrameSimulator::SPHERE, vpWireFrameSimulator::D_STANDARD);
+ // Projection of the sphere
+ sphere.track(cMo);
- // Initialize simulator frames
- sim.set_fMo( wMo ); // Position of the object in the world reference frame
- sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
- sim.setDesiredCameraPosition(cdMo); // desired position of the camera
-
- // Set the External camera position
- vpHomogeneousMatrix camMf(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0);
- sim.setExternalCameraPosition(camMf);
-
- // Computes the position of a camera which is fixed in the object frame
- vpHomogeneousMatrix camoMf(0,0.0,2.5,0,vpMath::rad(140),0);
- camoMf = camoMf*(sim.get_fMo().inverse());
-
- // Set the parameters of the cameras (internal and external)
- vpCameraParameters camera(1000,1000,320,240);
- sim.setInternalCameraParameters(camera);
- sim.setExternalCameraParameters(camera);
-
- int stop = 10;
-
- if (opt_display)
- {
- stop = 1000;
- //Get the internal and external views
- sim.getInternalImage(Iint);
- sim.getExternalImage(Iext1);
- sim.getExternalImage(Iext2,camoMf);
-
- //Display the object frame (current and desired position)
- vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
-
- //Display the object frame the world reference frame and the camera frame
- vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,camMf,camera,0.2,vpColor::none);
-
- //Display the world reference frame and the object frame
- vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext2,camoMf*sim.get_fMo(),camera,0.05,vpColor::none);
-
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext1);
- vpDisplay::flush(Iext2);
+ //Set the current visual feature
+ vpGenericFeature s(3);
+ computeVisualFeatures(sphere, s);
- std::cout << "Click on a display" << std::endl;
- while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext1,false) && !vpDisplay::getClick(Iext2,false)){};
- }
+ // Projection of the points
+ sphere.track(cdMo);
- //Print the task
- task.print() ;
+ vpGenericFeature sd(3);
+ computeVisualFeatures(sphere, sd);
- int iter = 0;
- vpColVector v ;
+ vpMatrix L(3,6);
+ computeInteractionMatrix(sd,sphere,L);
+ sd.setInteractionMatrix(L);
- while(iter++ < stop)
- {
- if (opt_display)
- {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext1) ;
- vpDisplay::display(Iext2) ;
- }
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED);
- double t = vpTime::measureTimeMs();
+ vpHomogeneousMatrix cMe;
+ vpVelocityTwistMatrix cVe(cMe);
+ task.set_cVe(cVe);
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
- robot.getPosition(cMw) ;
- cMo = cMw * wMo;
+ task.addFeature(s,sd) ;
- sphere.track(cMo);
+ task.setLambda(7);
- //Set the current visual feature
- computeVisualFeatures(sphere, s);
+ vpWireFrameSimulator sim;
+
+ // Set the scene
+ sim.initScene(vpWireFrameSimulator::SPHERE, vpWireFrameSimulator::D_STANDARD);
+
+ // Initialize simulator frames
+ sim.set_fMo( wMo ); // Position of the object in the world reference frame
+ sim.setCameraPositionRelObj(cMo) ; // initial position of the camera
+ sim.setDesiredCameraPosition(cdMo); // desired position of the camera
- v = task.computeControlLaw() ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- sim.setCameraPositionRelObj(cMo);
+ // Set the External camera position
+ vpHomogeneousMatrix camMf(0.0,0,3.5,vpMath::rad(0),vpMath::rad(30),0);
+ sim.setExternalCameraPosition(camMf);
- //Compute the position of the external view which is fixed in the object frame
- camoMf.buildFrom(0,0.0,2.5,0,vpMath::rad(150),0);
+ // Computes the position of a camera which is fixed in the object frame
+ vpHomogeneousMatrix camoMf(0,0.0,2.5,0,vpMath::rad(140),0);
camoMf = camoMf*(sim.get_fMo().inverse());
+ // Set the parameters of the cameras (internal and external)
+ vpCameraParameters camera(1000,1000,320,240);
+ sim.setInternalCameraParameters(camera);
+ sim.setExternalCameraParameters(camera);
+
+ int stop = 10;
+
if (opt_display)
{
+ stop = 1000;
//Get the internal and external views
sim.getInternalImage(Iint);
sim.getExternalImage(Iext1);
@@ -414,10 +348,10 @@ main(int argc, const char ** argv)
vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
- //Display the camera frame, the object frame the world reference frame
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
- vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);
+ //Display the object frame the world reference frame and the camera frame
+ vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,camMf*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,camMf,camera,0.2,vpColor::none);
//Display the world reference frame and the object frame
vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
@@ -426,17 +360,85 @@ main(int argc, const char ** argv)
vpDisplay::flush(Iint);
vpDisplay::flush(Iext1);
vpDisplay::flush(Iext2);
+
+ std::cout << "Click on a display" << std::endl;
+ while (!vpDisplay::getClick(Iint,false) && !vpDisplay::getClick(Iext1,false) && !vpDisplay::getClick(Iext2,false)){};
}
- vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+ //Print the task
+ task.print() ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ int iter = 0;
+ vpColVector v ;
+
+ while(iter++ < stop)
+ {
+ if (opt_display)
+ {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext1) ;
+ vpDisplay::display(Iext2) ;
+ }
+
+ double t = vpTime::measureTimeMs();
- task.print() ;
- task.kill() ;
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
- return 0;
+ robot.getPosition(cMw) ;
+ cMo = cMw * wMo;
+
+ sphere.track(cMo);
+
+ //Set the current visual feature
+ computeVisualFeatures(sphere, s);
+
+ v = task.computeControlLaw() ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ sim.setCameraPositionRelObj(cMo);
+
+ //Compute the position of the external view which is fixed in the object frame
+ camoMf.buildFrom(0,0.0,2.5,0,vpMath::rad(150),0);
+ camoMf = camoMf*(sim.get_fMo().inverse());
+
+ if (opt_display)
+ {
+ //Get the internal and external views
+ sim.getInternalImage(Iint);
+ sim.getExternalImage(Iext1);
+ sim.getExternalImage(Iext2,camoMf);
+
+ //Display the object frame (current and desired position)
+ vpDisplay::displayFrame(Iint,cMo,camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iint,cdMo,camera,0.2,vpColor::none);
+
+ //Display the camera frame, the object frame the world reference frame
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo()*cMo.inverse(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition()*sim.get_fMo(),camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext1,sim.getExternalCameraPosition(),camera,0.2,vpColor::none);
+
+ //Display the world reference frame and the object frame
+ vpDisplay::displayFrame(Iext2,camoMf,camera,0.2,vpColor::none);
+ vpDisplay::displayFrame(Iext2,camoMf*sim.get_fMo(),camera,0.05,vpColor::none);
+
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext1);
+ vpDisplay::flush(Iext2);
+ }
+
+ vpTime::wait(t, sampling_time * 1000); // Wait 40 ms
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ task.print() ;
+ task.kill() ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/distclean.sh b/distclean.sh
index cf5bc40..7e78704 100755
--- a/distclean.sh
+++ b/distclean.sh
@@ -4,7 +4,7 @@
# $Id: distclean.sh,v 1.3 2006-05-29 09:58:22 fspindle Exp $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/doc/biblio/references.bib b/doc/biblio/references.bib
index dbd4e3e..02028de 100644
--- a/doc/biblio/references.bib
+++ b/doc/biblio/references.bib
@@ -1,3 +1,16 @@
+ at Article{Fischler81,
+ author = {Fischler, N. and Bolles, R.C.},
+ title = {Random Sample Consensus: A Paradigm for Model
+ Fitting with Application to Image Analysis and
+ Automated Cartography},
+ journal = {Communication of the ACM},
+ year = 1981,
+ volume = 24,
+ number = 6,
+ pages = {381--395},
+ month = jun
+}
+
@Article{Tsai89a,
author = {Tsai, R. and Lenz, R.},
title = {A New Technique for Fully Autonomous and Efficient
@@ -73,6 +86,14 @@ x-advisor = {Chaumette, F.},
{http://www.irisa.fr/lagadic/pdf/1998_these_malis_transp.pdf}
}
+ at inproceedings{Irani98a,
+ title = {Robust multi-sensor image alignment},
+ author = {Irani, M. and Anandan, P.},
+ booktitle = {IEEE Int. Conf. on Computer Vision, ICCV'98},
+ pages = {959-966},
+ address = {Bombay, India},
+ year = 1998
+}
@article{Malis00b,
author = {Malis, E. and Chaumette, F. and Boudet, S.},
title = {2 1/2 {D} Visual Servoing with Respect to Unknown
@@ -97,6 +118,13 @@ x-advisor = {Chaumette, F.},
keyword = {pose}
}
+ at Book{Hartley01a,
+ author = { Hartley, R. and Zisserman,A.},
+ title = { Multiple View Geometry in Computer Vision },
+ publisher = {Cambridge University Press},
+ year = 2001
+}
+
@InProceedings{Marchand02c,
author = {Marchand, E. and Chaumette, F.},
title = {Virtual Visual Servoing: a framework for real-time
@@ -111,6 +139,16 @@ x-advisor = {Chaumette, F.},
month = sep
}
+ at Article{Baker04a,
+ author = {Baker, S. and Matthews, I.},
+ title = { Lucas-kanade 20 years on: A unifying framework},
+ journal = {Int. Journal of Computer Vision},
+ year = 2004,
+ volume = 56,
+ number = 3,
+ pages = {221-255}
+}
+
@Article{Chaumette04a,
author = {Chaumette, F.},
title = {Image moments: a general and useful set of features
@@ -240,4 +278,83 @@ x-advisor = {Chaumette, F.},
Address = {St Louis, USA},
Month = {October},
Year = {2009}
-}
\ No newline at end of file
+}
+
+ at article{Mansard07e,
+ Author = {Mansard, N. and Chaumette, F.},
+ Title = {Task sequencing for high level sensor-based control},
+ Journal = {IEEE Trans. on Robotics},
+ Volume = { 23},
+ Number = {1},
+ Pages = {60--72},
+ Month = {February},
+ Year = {2007}
+}
+
+ at Article{Ozuysal10,
+ author = {Ozuysal, M. and Calonder, M. and Lepetit, V. and Fua, P.},
+ title = {Fast keypoint recognition using random ferns},
+ journal = {IEEE Trans. on Pattern Analysis and Machine Intelligence},
+ year = 2010,
+ volume = 32,
+ number = 3,
+ pages = {448-461},
+ month = {March}
+}
+
+ at techreport{Lepetit04c,
+ author = {Lepetit, V. and Fua, P.},
+ title = {Towards Recognizing Feature Points using Classification Trees},
+ institution = {EPFL},
+ year = 2004,
+ type = {Technical Report},
+ number = {IC/2004/74}
+}
+
+ at inproceedings{collewet:inria-00261398,
+ hal_id = {inria-00261398},
+ url = {http://hal.inria.fr/inria-00261398},
+ title = {Visual servoing set free from image processing},
+ author = {Collewet, C. and Marchand, E. and Chaumette, F.},
+ abstract = {This paper proposes a new way to achieve robotic tasks by visual servoing. Instead of using geometric features (points, straight lines, pose, homography, etc.) as it is usually done, we use directly the luminance of all pixels in the image. Since most of the classical control laws fail in this case, we turn the visual servoing problem into an optimization problem leading to a new control law. Experimental results validate the proposed approach and show its robustness rega [...]
+ language = {English},
+ affiliation = {LAGADIC - INRIA - IRISA},
+ booktitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'08},
+ address = {Pasadena, United States},
+ organization = {IEEE},
+ audience = {international},
+ year = {2008},
+}
+
+ at InProceedings{Marchand96f,
+ Author = {Marchand, E. and Chaumette, F. and Rizzo, A.},
+ Title = {Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing},
+ BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'96},
+ Volume = {3},
+ Pages = {1083--1090},
+ Address = {Osaka, Japan},
+ Month = {November},
+ Year = {1996}
+}
+
+ at article{Chaumette01c,
+ Author = {Chaumette, F. and Marchand, E.},
+ Title = {A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing},
+ Journal = {IEEE Trans. on Robotics and Automation},
+ Volume = {17},
+ Number = {5},
+ Pages = {719--730},
+ Publisher = {IEEE},
+ Month = {October},
+ Year = {2001}
+}
+
+ at InProceedings{Collewet08c,
+ Author = {Collewet, C. and Marchand, E. and Chaumette, F.},
+ Title = {Visual servoing set free from image processing},
+ BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'08},
+ Pages = {81--86},
+ Address = {Pasadena, California},
+ Month = {May},
+ Year = {2008}
+}
diff --git a/doc/config-doxygen.in b/doc/config-doxygen.in
index fe2037b..92a583b 100644
--- a/doc/config-doxygen.in
+++ b/doc/config-doxygen.in
@@ -1564,7 +1564,6 @@ PREDEFINED = DOXYGEN_SHOULD_SKIP_THIS \
VISP_HAVE_SOQT \
VISP_HAVE_SOWIN \
VISP_HAVE_SOXT \
- VISP_HAVE_DC1394_1 \
VISP_HAVE_DC1394_2 \
VISP_HAVE_CMU1394 \
VISP_HAVE_V4L2 \
@@ -1575,7 +1574,6 @@ PREDEFINED = DOXYGEN_SHOULD_SKIP_THIS \
VISP_HAVE_PTU46 \
VISP_HAVE_VIPER650 \
VISP_HAVE_VIPER850 \
- VISP_HAVE_CYCABTK \
VISP_HAVE_PIONEER \
VISP_HAVE_PARPORT \
VISP_HAVE_XML2 \
@@ -1592,7 +1590,8 @@ PREDEFINED = DOXYGEN_SHOULD_SKIP_THIS \
WIN32 \
APPLE \
UNIX \
- VP_DEBUG
+ VP_DEBUG \
+ VP_TRACE
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
# this tag can be used to specify a list of macro names that should be expanded.
diff --git a/doc/image/img-chessboard-01.png b/doc/image/img-chessboard-01.png
index 721f13b..4e92fd6 100644
Binary files a/doc/image/img-chessboard-01.png and b/doc/image/img-chessboard-01.png differ
diff --git a/doc/image/img-circles-grid-02.png b/doc/image/img-circles-grid-02.png
index 684ef75..44504e3 100644
Binary files a/doc/image/img-circles-grid-02.png and b/doc/image/img-circles-grid-02.png differ
diff --git a/doc/image/img-cmake-debug-trace.jpg b/doc/image/img-cmake-debug-trace.jpg
new file mode 100644
index 0000000..1ef2ed2
Binary files /dev/null and b/doc/image/img-cmake-debug-trace.jpg differ
diff --git a/doc/image/img-ibvs-control-law-adaptive.png b/doc/image/img-ibvs-control-law-adaptive.png
new file mode 100644
index 0000000..4dc71cd
Binary files /dev/null and b/doc/image/img-ibvs-control-law-adaptive.png differ
diff --git a/doc/image/img-ibvs-control-law-continuous-adaptive.png b/doc/image/img-ibvs-control-law-continuous-adaptive.png
new file mode 100644
index 0000000..a6e51e6
Binary files /dev/null and b/doc/image/img-ibvs-control-law-continuous-adaptive.png differ
diff --git a/doc/image/img-ibvs-control-law-exponential.png b/doc/image/img-ibvs-control-law-exponential.png
new file mode 100644
index 0000000..6b430e7
Binary files /dev/null and b/doc/image/img-ibvs-control-law-exponential.png differ
diff --git a/doc/image/img-lena-blured-default.png b/doc/image/img-lena-blured-default.png
new file mode 100644
index 0000000..1f83f88
Binary files /dev/null and b/doc/image/img-lena-blured-default.png differ
diff --git a/doc/image/img-lena-blured-var2.png b/doc/image/img-lena-blured-var2.png
new file mode 100644
index 0000000..7f75fe5
Binary files /dev/null and b/doc/image/img-lena-blured-var2.png differ
diff --git a/doc/image/img-lena-canny.png b/doc/image/img-lena-canny.png
new file mode 100644
index 0000000..2ce75eb
Binary files /dev/null and b/doc/image/img-lena-canny.png differ
diff --git a/doc/image/img-lena-dIxy.png b/doc/image/img-lena-dIxy.png
new file mode 100644
index 0000000..b24bf0b
Binary files /dev/null and b/doc/image/img-lena-dIxy.png differ
diff --git a/doc/image/img-lena-gray.png b/doc/image/img-lena-gray.png
new file mode 100644
index 0000000..696820d
Binary files /dev/null and b/doc/image/img-lena-gray.png differ
diff --git a/doc/image/img-lena-pyr.png b/doc/image/img-lena-pyr.png
new file mode 100644
index 0000000..092de51
Binary files /dev/null and b/doc/image/img-lena-pyr.png differ
diff --git a/doc/image/img-lena-sobel.png b/doc/image/img-lena-sobel.png
new file mode 100644
index 0000000..3672e0b
Binary files /dev/null and b/doc/image/img-lena-sobel.png differ
diff --git a/doc/image/img-template-tracker.jpg b/doc/image/img-template-tracker.jpg
new file mode 100644
index 0000000..0bf3caa
Binary files /dev/null and b/doc/image/img-template-tracker.jpg differ
diff --git a/doc/image/initClickTemplateTracker.png b/doc/image/initClickTemplateTracker.png
new file mode 100644
index 0000000..2c1ee21
Binary files /dev/null and b/doc/image/initClickTemplateTracker.png differ
diff --git a/doc/mainpage.doc.in b/doc/mainpage.doc.in
index e012fb1..66b493c 100644
--- a/doc/mainpage.doc.in
+++ b/doc/mainpage.doc.in
@@ -8,11 +8,11 @@
<p>ViSP \cite Marchand05b is a modular C++ library that allows fast development of visual
servoing applications. ViSP is developed and maintained by the Inria
-<a href="http://www.irisa.fr/lagadic" target="_parent">Lagadic</a> team located at <a
-href="http://www.inria.fr/rennes" target="_parent">Inria Rennes</a>.</p>
+<a href="http://team.inria.fr/lagadic" target="_parent">Lagadic</a> team located at <a
+href="http://www.inria.fr/en/centre/rennes" target="_parent">Inria Rennes</a>.</p>
<p>ViSP official site is <a
-href="http://www.irisa.fr/lagadic/visp/visp.html" target="_parent">http://www.irisa.fr/lagadic/visp/visp.html</a></p>
+href="http://team.inria.fr/lagadic/visp" target="_parent">http://team.inria.fr/lagadic/visp</a></p>
<p>If you have any problems or find any bugs, please report them at
<a href="http://gforge.inria.fr/tracker/?group_id=397" target="_parent">http://gforge.inria.fr/tracker/?group_id=397</a>. If you may need help, please use the available forums <a href="http://gforge.inria.fr/forum/?group_id=397" target="_parent">http://gforge.inria.fr/forum/?group_id=397</a> or mailing lists <a href="http://gforge.inria.fr/mail/?group_id=397" target="_parent">http://gforge.inria.fr/mail/?group_id=397</a>.<p>
@@ -22,7 +22,7 @@ It is also possible to contact ViSP main developers using: <a href="mailto:visp@
\section download_sec Download
<p>From <a
-href="http://www.irisa.fr/lagadic/visp/download.html" target="_parent">http://www.irisa.fr/lagadic/visp/download.html</a>
+href="http://team.inria.fr/lagadic/visp/download.html" target="_parent">http://team.inria.fr/lagadic/visp/download.html</a>
you can either download the latest stable release or the current
development distribution using Subversion.</p>
@@ -35,31 +35,61 @@ href="http://www.cmake.org" target="_parent">http://www.cmake.org</a>. Furthermo
depending on your operation system and the capabilities (framegrabber,
display, simulation, ...) you need, prior to install ViSP you may
install third party libraries <a
-href="http://www.irisa.fr/lagadic/visp/libraries.html" target="_parent">http://www.irisa.fr/lagadic/visp/libraries.html</a>.</p>
+href="http://team.inria.fr/lagadic/visp/libraries.html" target="_parent">http://team.inria.fr/lagadic/visp/libraries.html</a>.</p>
-<p>ViSP full installation procedure using CMake is explained in the getting started documents available from <a
-href="http://www.irisa.fr/lagadic/visp/publication.html" target="_parent">http://www.irisa.fr/lagadic/visp/publication.html</a>.</p>
+<p>ViSP full installation procedure using CMake is detailed in the \ref tuto_intro "introduction tutorials". Getting started documents in pdf are also available from <a
+href="http://team.inria.fr/lagadic/visp/publication.html" target="_parent">http://team.inria.fr/lagadic/visp/publication.html</a>.</p>
\section Tutorial_sec Tutorials
-<p>Here after you will find a list of tutorials that shows the basic use of <a href="classes.html">ViSP classes</a> with a small first code.
+<p>Here after you will find a list of tutorials that show the basic use of <a href="classes.html">ViSP classes</a> with a small first code.
+
+\subsection tuto_intro Introduction
+
- \ref tutorial-install-ubuntu <br>In this first tutorial you will learn how to install ViSP from source on Linux Ubuntu.
+- \ref tutorial-install-fedora <br>In this other tutorial you will learn how to install ViSP from source on Linux Fedora.
- \ref tutorial-install-win <br>In this tutorial you will learn how to install ViSP from source on Windows.
- \ref tutorial-install-iOS <br>In this tutorial you will learn how to install ViSP from source on OSX for iOS project.
- \ref tutorial-getting-started <br>This tutorial shows how to build a project that uses ViSP to read and display an image.
- \ref tutorial-getting-started-iOS <br>This tutorial shows how to build a project that uses ViSP on iOS devices.
+
+\subsection tuto_image Image manipulation
+
- \ref tutorial-grabber <br>This tutorial shows how to acquire images from a camera.
+- \ref tutorial-image-filtering <br>This tutorial shows how to filter an image with ViSP.
+- \ref tutorial-simu-image <br>This tutorial shows how to project the image of a planar scene to a given camera position.
+
+\subsection tuto_calib Camera calibration
+
- \ref tutorial-calibration <br>This tutorial explains how to calibrate a camera.
+
+\subsection tuto_tracking Tracking
+
- \ref tutorial-tracking-blob <br>This tutorial introduces blob tracking and detection.
- \ref tutorial-tracking-keypoint <br>This tutorial focuses on keypoint tracking using Kanade-Lucas-Tomasi feature tracker.
- \ref tutorial-tracking-me <br>This tutorial focuses on line and ellipse tracking using moving-edges.
- \ref tutorial-tracking-mb <br>This tutorial focuses on model-based trackers using either edges, keypoints or and hybrid scheme that uses edges and keypoints.
-- \ref tutorial-simu-image <br>This tutorial shows how to project the image of a planar scene to a given camera position.
+- \ref tutorial-tracking-tt <br>This tutorial focuses on template trackers based on image registration approaches.
+
+\subsection tuto_keypoint Keypoint
+
+- \ref tutorial-matching <br>This tutorial shows how to detect and match SURF keypoints.
+
+\subsection tuto_computer_vision Computer vision
+
- \ref tutorial-pose-estimation <br>This tutorial focuses on pose estimation from planar or non planar points.
+- \ref tutorial-homography <br>Here we explain how to estimate an homography from couples of matched points.
+
+\subsection tuto_vs Visual servoing
+
- \ref tutorial-ibvs <br>This tutorial explains how to simulate an IBVS.
- \ref tutorial-simu-robot-pioneer <br>This tutorial focuses on visual servoing simulation on a unicycle robot. The study case is a Pioneer P3-DX mobile robot equipped with a camera.
-- \ref tutorial-plotter <br>This tutorial explains how to plot curves in real-time during a visual servo.
+- \ref tutorial-boost-vs <br>This tutorial explains how to speed up the time to convergence of a visual servo.
+\subsection tuto_tools Other tools
+
+- \ref tutorial-plotter <br>This tutorial explains how to plot curves in real-time during a visual servo.
+- \ref tutorial-trace <br>This tutorial explains how to introduce trace in the code that could be enabled for debugging or disabled.
\section Examples_sec Using ViSP
@@ -75,7 +105,7 @@ scheme, ...</p>
<p>ViSP library is an open source C++ library which is developed at <a href="http://www.inria.fr/en/centre/rennes">Inria</a> by <a href="http://team.inria.fr/lagadic/welcome-eng.html">Lagadic team</a>. If you enjoy using ViSP, you may contribute to the project in different ways. This will motivate us to continue the efforts.
-- You can help VISP to be more widely known, by displaying a <a href="http://www.irisa.fr/lagadic/visp/documentation/visp-flyers.pdf">ViSP flyer</a> at work, in your lab or school.
+- You can help VISP to be more widely known, by displaying a <a href="http://team.inria.fr/lagadic/visp/documentation/visp-flyers.pdf">ViSP flyer</a> at work, in your lab or school.
- You can submit a <a href="https://gforge.inria.fr/tracker/?atid=1867&group_id=397&func=browse">bug report using the tracker</a>.
- You can submit <a href="https://gforge.inria.fr/tracker/?func=browse&group_id=397&atid=1660">patches or new functionalities here</a>.
- You can write new tutorials, new documentations or simply improve the existing documentation.
@@ -94,23 +124,55 @@ scheme, ...</p>
/*!
\defgroup Tutorial ViSP tutorials
+
Here after you will find a list of tutorials that shows the basic use of <a href="classes.html">ViSP classes</a> with a small first code.
+
+\section tuto_intro Introduction
+
- \ref tutorial-install-ubuntu <br>In this first tutorial you will learn how to install ViSP from source on Linux Ubuntu.
+- \ref tutorial-install-fedora <br>In this other tutorial you will learn how to install ViSP from source on Linux Fedora.
- \ref tutorial-install-win <br>In this tutorial you will learn how to install ViSP from source on Windows.
- \ref tutorial-install-iOS <br>In this tutorial you will learn how to install ViSP from source on OSX for iOS project.
- \ref tutorial-getting-started <br>This tutorial shows how to build a project that uses ViSP to read and display an image.
- \ref tutorial-getting-started-iOS <br>This tutorial shows how to build a project that uses ViSP on iOS devices.
+
+\section tuto_image Image manipulation
+
- \ref tutorial-grabber <br>This tutorial shows how to acquire images from a camera.
+- \ref tutorial-image-filtering <br>This tutorial shows how to filter an image with ViSP.
+- \ref tutorial-simu-image <br>This tutorial shows how to project the image of a planar scene to a given camera position.
+
+\section tuto_calib Camera calibration
+
- \ref tutorial-calibration <br>This tutorial explains how to calibrate a camera.
-- \ref tutorial-tracking-blob <br>This tutorial focuses on blob tracking and detection.
+
+\section tuto_tracking Tracking
+
+- \ref tutorial-tracking-blob <br>This tutorial introduces blob tracking and detection.
- \ref tutorial-tracking-keypoint <br>This tutorial focuses on keypoint tracking using Kanade-Lucas-Tomasi feature tracker.
- \ref tutorial-tracking-me <br>This tutorial focuses on line and ellipse tracking using moving-edges.
- \ref tutorial-tracking-mb <br>This tutorial focuses on model-based trackers using either edges, keypoints or and hybrid scheme that uses edges and keypoints.
-- \ref tutorial-simu-image <br>This tutorial shows how to project the image of a planar scene to a given camera position.
+- \ref tutorial-tracking-tt <br>This tutorial focuses on template trackers based on image registration approaches.
+
+\section tuto_keypoint Keypoint
+
+- \ref tutorial-matching <br>This tutorial shows how to detect and match SURF keypoints.
+
+\section tuto_computer_vision Computer vision
+
- \ref tutorial-pose-estimation <br>This tutorial focuses on pose estimation from planar or non planar points.
+- \ref tutorial-homography <br>Here we explain how to estimate an homography from couples of matched points.
+
+\section tuto_vs Visual servoing
+
- \ref tutorial-ibvs <br>This tutorial explains how to simulate an IBVS.
- \ref tutorial-simu-robot-pioneer <br>This tutorial focuses on visual servoing simulation on a unicycle robot. The study case is a Pioneer P3-DX mobile robot equipped with a camera.
+- \ref tutorial-boost-vs <br>This tutorial explains how to speed up the time to convergence of a visual servo.
+
+\section tuto_tools Other tools
+
- \ref tutorial-plotter <br>This tutorial explains how to plot curves in real-time during a visual servo.
+- \ref tutorial-trace <br>This tutorial explains how to introduce trace in the code that could be enabled for debugging or disabled.
*/
diff --git a/doc/tutorial-boost-vs.doc b/doc/tutorial-boost-vs.doc
new file mode 100644
index 0000000..647e1e9
--- /dev/null
+++ b/doc/tutorial-boost-vs.doc
@@ -0,0 +1,98 @@
+/**
+
+\page tutorial-boost-vs Tutorial: How to boost your visual servo control law
+\tableofcontents
+
+\section intro Introduction
+
+This tutorial gives some hints to boost your visual servo control law in order to speed up the time to convergence.
+
+To illustrate this tutorial let us consider the example tutorial-ibvs-4pts-plotter.cpp introduced in \ref tutorial-ibvs. This example consider an image based visual servoing using four points as visual features.
+
+In the general case, considering \f$ \dot {\bf q} \f$ as the input velocities to the robot controller, the control laws provided in vpServo class lead to the following control law \f$ \dot {\bf q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e}\f$ where the sign is negative for an eye in hand servo and positive for an eye to hand servo, \f$\lambda\f$ is a constant gain, \f$ {\bf \widehat J}_e\f$ is the task Jacobian and \f$\bf e \f$ is the error to regulate to zero. As described in \cite Ch [...]
+
+This behavior is illustrated with the next figure, where we see the exponential decrease of the eight visual features (x and y for each point) and the corresponding six velocities that are applied to the robot controller. As a consequence, velocities are high when the error is important, and very low when the error is small near the convergence. At the beginning, we can also notice velocity discontinuities with velocities varying from zero to high values in one iteration.
+
+\image html img-ibvs-control-law-exponential.png "Convergence in 191 iterations with a constant gain."
+
+This behavior can be reproduced running tutorial-ibvs-4pts-plotter.cpp example. Here after we recall the important lines of code used to compute the control law:
+
+\code
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5); // Set the constant gain value
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ ...
+ task.addFeature(p[i], pd[i]); // Add visual features to the task
+ }
+ while(1) {
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ ...
+ vpFeatureBuilder::create(p[i], point[i]); // Update the visual features used in the task
+ }
+ vpColVector v = task.computeControlLaw(); // Compute the control law
+ }
+\endcode
+
+
+\section adaptive_gain Using an adaptive gain
+
+As implemented in tutorial-ibvs-4pts-plotter-gain-adaptive.cpp it is possible to adapt the gain \f$ \lambda \f$ in order to depend on the infinity norm of the task Jacobian. The usage of an adaptive gain rather than a constant gain allows to reduce the convergence time. In that case the gain becomes:
+
+ \f[ \lambda (x) = a * exp (-b*x) + c \f]
+
+ where \f$ a \f$, \f$ b \f$ and \f$ c \f$ are constant parameters and \f$ x \f$ is the infinity norm of the task Jacobian to consider.
+
+ The parameters \f$a,b,c\f$ are not set directly. They are computed from three other parameters
+ \f$\lambda(0), \lambda(\infty), {\dot \lambda}(0)\f$ that are more intuitive to tune:
+ \f[ a = \lambda(0) - \lambda(\infty) \f]
+ \f[ b = {\dot \lambda}(0) / a \f]
+ \f[ c = \lambda(\infty) \f]
+
+ Here \f$ \lambda(0)\f$ represents the gain when \f$x=0\f$, \f$ \lambda(\infty)\f$ represents the gain when \f$x=\infty\f$
+ and \f$ {\dot \lambda}(0)\f$ represents the slope of \f$\lambda(x)\f$ when \f$x=0\f$.
+
+The impact of the adaptive gain is illustrated in the next figure. During the servo, velocities applied to the controller are higher, especially when the visual error \f${\bf e}\f$ is small. But as in the previous section, using an adaptive gain doesn't insure continuous velocities especially at the first iteration.
+
+\image html img-ibvs-control-law-adaptive.png "Convergence in 91 iterations with an adaptive gain."
+
+This behavior can be reproduced running tutorial-ibvs-4pts-plotter-gain-adaptive.cpp example. Compared to the previous code given in \ref intro and available in tutorial-ibvs-4pts-plotter.cpp, here after we give the new lines of code that were introduced to use an adaptive gain:
+
+\code
+ vpAdaptiveGain lambda(4, 0.4, 30); // lambda(0)=4, lambda(oo)=0.4 and lambda_dot(0)=30
+ task.setLambda(lambda);
+\endcode
+
+
+\section continuous_adaptive_gain Continuous sequencing
+
+As implemented in tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp it is also possible to ensure continuous sequencing to avoid velocity discontinuities. This behavior is achieved by introducing an additional term to the general form of the control law. This additional term comes from the task sequencing approach described in \cite Mansard07e equation (17). It allows to compute continuous velocities by avoiding abrupt changes in the command.
+
+ The form of the control law considered here is the following:
+
+ \f[
+ {\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e} \mp \lambda {{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)} \exp(-\mu t)
+ \f]
+
+ where :
+ - \f${\bf \dot q}\f$ is the resulting continuous velocity command to apply to the robot controller.
+ - the sign of the control law depends on the eye in hand or eye to hand configuration.
+ - \f$\bf J\f$ is the Jacobian of the task.
+ - \f$\bf e = (s-s^*)\f$ is the error to regulate.
+ - \f$t\f$ is the time.
+ - \f$\mu\f$ is a gain. We recommend to set this value to 4.
+ - \f${\bf \widehat J}_{e(0)}^+ {\bf e}(0)\f$ is the value of \f${\bf \widehat J}_e^+ {\bf e}\f$ when \f$t=0\f$.
+
+
+The effect of continuous sequencing is illustrated in the next figure where during the first iterations velocities are starting from zero.
+
+\image html img-ibvs-control-law-continuous-adaptive.png "Convergence in 98 iterations with an adaptive gain and continuous sequencing."
+
+This behavior can be reproduced running tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp example. Compared to the previous code given in \ref adaptive_gain and available in tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, here after we give the new line of code that were introduced to ensure continuous sequencing:
+
+\code
+ vpColVector v = task.computeControlLaw(iter*robot.getSamplingTime());
+\endcode
+
+*/
diff --git a/doc/tutorial-calibration.doc b/doc/tutorial-calibration.doc
index 16c33c6..4df3bee 100644
--- a/doc/tutorial-calibration.doc
+++ b/doc/tutorial-calibration.doc
@@ -48,16 +48,16 @@ The source code of the calibration tool is available in \c camera_calibration.cp
We will not describe in detail the source, but just mention that:
- the image processing is performed using OpenCV;
- the estimation of the parameters is done using a virtual visual servoing scheme;
-- the calibration tool takes as input a configuration file that allows to precise the kind of pattern used in the images (chessboard or circle grid), and the location of the images used as input. If \c libjpeg and \c libpng 3rd party libraries are installed and detected during ViSP configuration, you may consider .pgm, .ppm, .jpg, .png images. Default configuration files are provided in \c example/calibration folder;
+- the calibration tool takes as input a configuration file that allows to precise the kind of pattern used in the images (chessboard or circles grid), and the location of the images used as input. If \c libjpeg and \c libpng 3rd party libraries are installed and detected during ViSP configuration, you may consider .pgm, .ppm, .jpg, .png images. Default configuration files are provided in \c example/calibration folder;
- the resulting parameters are saved in \c camera.xml file.
\section calibration_chessboard Calibration from a chessboard
-In this section we consider the OpenCV chessboard pattern that has a size of 9 by 6. Each square of the chessboard is 0.025 meters large. We took 5 images called \c chessboard-01.png, \c chessboard-02.png, \c chessboard-03.png, \c chessboard-04.png, \c chessboard-05.png. Hereafter we give an example of such an image. These images are located in \c /tmp folder.
+In this section we consider the OpenCV chessboard pattern that has a size of 9 by 6. Each square of the chessboard is 0.025 meters large. We took 5 images called \c chessboard-01.png, \c chessboard-02.png, ..., \c chessboard-05.png. Hereafter we give an example of one of these images.
\image html img-chessboard-01.png Snapshot example of the chessboard used to calibrate the camera.
-Before starting the calibration we need to create a configuration file. We create \c /tmp/chessboard.cfg with the following content:
+Before starting the calibration we need to create a configuration file. We create \c default-chessboard.cfg with the following content:
\code
# Number of inner corners per a item row and column. (square, circle)
BoardSize_Width: 9
@@ -71,12 +71,17 @@ Square_Size: 0.025
Calibrate_Pattern: CHESSBOARD
# The input image sequence to use for calibration
-Input: /tmp/chessboard-%02d.png
+Input: chessboard-%02d.png
+
+# Tempo in seconds between two images. If > 10 wait a click to continue
+Tempo: 1
\endcode
+\note The images and the configuration file used in this tutorial are available in ViSP source code and copied in the same folder than the \c camera_calibration binary.
+
To estimate the camera parameters, just enter in ViSP \c \<binary_dir\>/examples/calibration and run:
\code
-./camera_calibration /tmp/chessboard.cfg
+./camera_calibration default-chessboard.cfg
\endcode
This command will produce the following output:
@@ -85,41 +90,48 @@ grid width : 9
grid height: 6
square size: 0.025
pattern : CHESSBOARD
-input seq : /tmp/chessboard-%02d.png
-frame: 1 status: 1
-frame: 2 status: 1
-frame: 3 status: 1
-frame: 4 status: 1
-frame: 5 status: 1
-
-Calibration without distortion in progress on 5 images...
+input seq : chessboard-%02d.png
+tempo : 1
+frame: 1, status: 1, image used as input data
+frame: 2, status: 1, image used as input data
+frame: 3, status: 1, image used as input data
+frame: 4, status: 1, image used as input data
+frame: 5, status: 1, image used as input data
+
+Calibration without distorsion in progress on 5 images...
Camera parameters for perspective projection without distortion:
- px = 547.3080992 py = 546.9825167
- u0 = 324.6299338 v0 = 229.9072033
+ px = 278.5184659 py = 273.9720502
+ u0 = 162.1161106 v0 = 113.1789595
-Global reprojection error: 2.632851934
+Global reprojection error: 0.2784261067
Camera parameters without distortion successfully saved in "camera.xml"
-Calibration with distortion in progress on 5 images...
+Calibration with distorsion in progress on 5 images...
Camera parameters for perspective projection with distortion:
- px = 582.7521622 py = 580.6586412
- u0 = 326.5736348 v0 = 214.9591392
- kud = -0.3372254753
- kdu = 0.4021511255
+ px = 276.3370556 py = 271.9804892
+ u0 = 162.3656808 v0 = 113.4484506
+ kud = 0.02739893948
+ kdu = -0.02719442967
-Global reprojection error: 0.6350883328
+Global reprojection error: 0.2602153289
Camera parameters without distortion successfully saved in "camera.xml"
+
+Estimated pose on input data 0: 0.1004079988 0.07228624926 0.2759094615 0.1622201484 -0.04594748279 -3.067523182
+Estimated pose on input data 1: 0.1126235389 0.09590025615 0.2967542475 0.5743609549 -0.1960511892 -2.915893698
+Estimated pose on input data 2: 0.09983133876 0.08044014071 0.2920209765 -0.02917708148 -0.6751719307 3.046437745
+Estimated pose on input data 3: 0.07481330068 0.0832284992 0.2825482261 -0.09487329058 -0.220597075 -2.747906623
+Estimated pose on input data 4: 0.08061439562 0.08765353523 0.2837166409 0.1009190234 -0.09325252997 -2.906079819
\endcode
The resulting parameters are also saved in \c ./camera.xml file.
-\section calibration_circle Calibration from a circle grid
+\section calibration_circle Calibration from a circles grid
-In this section we consider the ViSP symmetric circle grid pattern that has a size of 6 by 6. Each circle center of gravity is 0.034 meters distant from it's horizontal or vertical neighbor. We took 6 images called \c circles-02.pgm, \c circles-03.pgm, ..., \c circles-07.pgm. Hereafter we give an example of such an image. These images are located in \c /tmp folder.
+In this section we consider the ViSP symmetric circles grid pattern that has a size of 6 by 6. Each circle center of gravity is 0.034 meters distant from it's horizontal or vertical neighbor. We took 5 images called \c circles-01.pgm, \c circles-02.pgm, ..., \c circles-05.pgm. Hereafter we give an example of such an image.
\image html img-circles-grid-02.png Snapshot example of the symmetric circles grid used to calibrate the camera.
-Before starting the calibration we need to create a configuration file. We create \c /tmp/circles-grid.cfg with the following content:
+Before starting the calibration we need to create a configuration file. We create \c circles-grid.cfg with the following content:
\code
# Number of inner corners per a item row and column. (square, circle)
BoardSize_Width: 6
@@ -133,12 +145,17 @@ Square_Size: 0.034
Calibrate_Pattern: CIRCLES_GRID
# The input image sequence to use for calibration
-Input: /tmp/circles-%02d.pgm
+Input: circles-%02d.pgm
+
+# Tempo in seconds between two images. If > 10 wait a click to continue
+Tempo: 1
\endcode
+\note The images and the configuration file used in this tutorial are available in ViSP source code and copied in the same folder than the \c camera_calibration binary.
+
To estimate the camera parameters, just enter in ViSP \c \<binary_dir\>/examples/calibration and run:
\code
-./camera_calibration /tmp/circles-grid.cfg
+./camera_calibration circles-grid.cfg
\endcode
This command will produce the following output:
@@ -147,39 +164,41 @@ grid width : 6
grid height: 6
square size: 0.034
pattern : CIRCLES_GRID
-input seq : /tmp/circles-%02d.pgm
-frame: 2 status: 1
-frame: 3 status: 1
-frame: 4 status: 1
-frame: 5 status: 0
-frame: 6 status: 1
-frame: 7 status: 1
-
-Calibration without distortion in progress on 6 images...
+input seq : circles-%02d.png
+tempo : 1
+frame: 1, status: 1, image used as input data
+frame: 2, status: 1, image used as input data
+frame: 3, status: 1, image used as input data
+frame: 4, status: 1, image used as input data
+frame: 5, status: 1, image used as input data
+
+Calibration without distorsion in progress on 5 images...
Camera parameters for perspective projection without distortion:
- px = 552.4774691 py = 544.8066862
- u0 = 308.732533 v0 = 245.8146982
+ px = 276.7844987 py = 273.2284128
+ u0 = 164.029061 v0 = 113.2926414
-Global reprojection error: 0.2888553796
+Global reprojection error: 0.3245572722
Camera parameters without distortion successfully saved in "camera.xml"
-Calibration with distortion in progress on 6 images...
+Calibration with distorsion in progress on 5 images...
Camera parameters for perspective projection with distortion:
- px = 550.9009948 py = 543.1425164
- u0 = 309.1726232 v0 = 245.7667949
- kud = 0.01091468479
- kdu = -0.01088523009
+ px = 272.6576029 py = 268.9209423
+ u0 = 163.3267494 v0 = 112.9548567
+ kud = 0.03132515383
+ kdu = -0.03098719022
-Global reprojection error: 0.2763660773
+Global reprojection error: 0.2985458516
Camera parameters without distortion successfully saved in "camera.xml"
+
+Estimated pose on input data 0: -0.08883802146 -0.07573082723 0.254649414 0.009277810667 -0.1162730223 -0.06217958144
+Estimated pose on input data 1: -0.03031929668 -0.07792577124 0.226777101 0.04390110018 -0.474640394 0.09584680839
+Estimated pose on input data 2: 0.02757364367 -0.08075508106 0.2416734821 0.2541005213 -0.469141926 0.5746851856
+Estimated pose on input data 3: -0.08528071 -0.0552184701 0.216359278 0.433944401 -0.01692119727 -0.01151973247
+Estimated pose on input data 4: -0.1104723502 -0.0854285443 0.2684946566 0.4130829919 0.1926077657 0.2736623762
\endcode
The resulting parameters are also saved in \c ./camera.xml file.
-Note here that the following line indicates that the 5th frame corresponding to the image \c circles-05.pgm was not used in the calibration process since the status of the image processing is false.
-\code
-frame: 5 status: 0
-\endcode
\section calibration_undistort Distorsion removal
diff --git a/doc/tutorial-getting-started.doc b/doc/tutorial-getting-started.doc
index 4532c3e..e8bc1c9 100644
--- a/doc/tutorial-getting-started.doc
+++ b/doc/tutorial-getting-started.doc
@@ -86,7 +86,7 @@ The title of the display is then set to \c "My image".
\section image_cmake Create a CMake file
-Now you have to create your CMakeLists.txt file. It should look like this:
+Now you have to create your \c CMakeLists.txt file. It should look like this:
\code
project(tutorial-image)
@@ -95,12 +95,58 @@ cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
if(VISP_FOUND)
+ add_definitions(${VISP_DEFINITIONS})
+ include_directories(${VISP_INCLUDE_DIRS})
+ link_directories(${VISP_LIBRARY_DIRS})
+ link_libraries(${VISP_LIBRARIES})
+endif(VISP_FOUND)
+
+add_executable(tutorial-viewer tutorial-viewer.cpp)
+\endcode
+
+The \c find_package() CMake command searches for a \c VISPConfig.cmake file that will define the corresponding variables:
+- \c VISP_ROOT_DIR : ViSP base directory location
+- \c VISP_INCLUDE_DIRS : ViSP and third-party headers location
+- \c VISP_LIBRARY_DIRS : ViSP and third-party libraries location
+- \c VISP_LIBRARY : ViSP library name
+- \c VISP_LIBRARIES : ViSP and third-party libraries name
+- \c VISP_DEFINITIONS : Defines required to build with ViSP
+
+In the previous \c CMakeLists.txt file, it is also possible to remove the line that started with \c link_libraries() and to specifically link a binary with ViSP using:
+
+\code
+...
+add_executable(tutorial-viewer tutorial-viewer.cpp)
+target_link_libraries(tutorial-viewer ${VISP_LIBRARIES})
+\endcode
+
+Note also that the previous \c CMakeLists.txt file can also be:
+\code
+project(tutorial-image)
+
+cmake_minimum_required(VERSION 2.6)
+
+find_package(VISP REQUIRED)
+if(VISP_FOUND)
include(${VISP_USE_FILE})
endif(VISP_FOUND)
add_executable(tutorial-viewer tutorial-viewer.cpp)
\endcode
+where \c VISP_USE_FILE variable is set to the full path to \c VISPUse.cmake file that contains all the CMake material that allow to build your project with ViSP. In other terms, the line
+\code
+ include(${VISP_USE_FILE})
+\endcode
+will include the following lines to your \c CMakeFile.txt
+\code
+ add_definitions(${VISP_DEFINITIONS})
+ include_directories(${VISP_INCLUDE_DIRS})
+ link_directories(${VISP_LIBRARY_DIRS})
+ link_libraries(${VISP_LIBRARIES})
+\endcode
+
+
\section image_unix On Unix-like systems
\subsection image_unix_config Configure your project
@@ -111,6 +157,31 @@ Proceed as with any other project using CMake:
cmake .
\endcode
+By default \c cmake searches \c VISPConfig.cmake file in folders like \c /usr/share or \c /usr/local/share. If ViSP was not installed in \c /usr or \c /usr/local it is possible that you get the following error:
+\code
+CMake Error at CMakeLists.txt:5 (find_package):
+ Could not find module FindVISP.cmake or a configuration file for package
+ VISP.
+
+ Adjust CMAKE_MODULE_PATH to find FindVISP.cmake or set VISP_DIR to the
+ directory containing a CMake configuration file for VISP. The file will
+ have one of the following names:
+
+ VISPConfig.cmake
+ visp-config.cmake
+\endcode
+
+To help \c cmake to find \c VISPConfig.cmake file, just set \c VISP_DIR environment variable and call \c cmake again:
+\code
+export VISP_DIR=/home/ViSP-install-folder
+cmake .
+\endcode
+or run cmake with the additional VISP_DIR definition
+\code
+cmake -DVISP_DIR=/home/ViSP-install-folder .
+\endcode
+
+
\subsection image_unix_build Generate the executable
Just run:
@@ -180,5 +251,5 @@ We suppose from now, that you have created a folder (let say \c C:/ViSP/ViSP-sta
\image html img-lena-win.jpg
-You are now ready to see the next \ref tutorial-grabber.
+You are now ready to see the \ref tutorial-grabber or \ref tutorial-image-filtering.
*/
diff --git a/doc/tutorial-homography.doc b/doc/tutorial-homography.doc
new file mode 100644
index 0000000..ba3cc60
--- /dev/null
+++ b/doc/tutorial-homography.doc
@@ -0,0 +1,250 @@
+/**
+
+\page tutorial-homography Tutorial: Homography estimation from points
+
+\tableofcontents
+
+\section intro Introduction
+
+This tutorial shows how to estimate an homography from points. Two cases are considered in the next sections:
+- points are matched without possible mismatches. In that case vpHomography::DLT() or vpHomography::HLM() are used to estimate the homography,
+- points are matched with possible mismatches. In that case vpHomography::ransac() or vpHomography::robust() are used.
+
+\section homography Homography estimation
+
+Let us consider the following source code also available in tutorial-homography.cpp. To resume, we do the following:
+- define four 3D points \c oP in an object frame,
+- define an homogeneous transformation \c aMo from frame \c a to to the object frame \c o,
+- define a similar homogeneous transformation \c bMo from frame \c b to to the object frame \c o,
+- compute the coordinates of the four 3D points in the image plane \c a and \c b. These are the matched coordinates \c (xa,ya) and \c (xb,yb) that are then used to estimate the homography using either vpHomography::DLT() or vpHomography::HLM().
+
+\include tutorial-matching-surf-homography.cpp
+
+Now we give a line by line explanation of the code:
+
+First we have to include the header of the vpHomography class.
+\code
+#include <visp/vpHomography.h>
+\endcode
+
+In the main() function we first define the 3D coordinates of 4 points that are localized in the plane Z=0:
+\code
+ double L = 0.1;
+ std::vector<vpPoint> oP(4);
+ oP[0].setWorldCoordinates( -L,-L, 0);
+ oP[1].setWorldCoordinates(2*L,-L, 0);
+ oP[2].setWorldCoordinates( L, 3*L, 0);
+ oP[3].setWorldCoordinates( -L, 4*L, 0);
+\endcode
+
+Then we define the homogeneous transformations between frames \c a, \c b and object frame \c o:
+\code
+ vpHomogeneousMatrix bMo(0.1, 0, 1, 0, vpMath::rad(15), 0);
+ vpHomogeneousMatrix aMb(0.2, -0.1, 0.1, vpMath::rad(-3), vpMath::rad(20), vpMath::rad(5));
+ vpHomogeneousMatrix aMo = aMb*bMo;
+\endcode
+
+From these transformations we compute the homogeneous coordinates of the points in the image plane \c a and \c b. For each point we have its coordinates \c (xa,ya) in frame \c a and \c (xb,yb) in frame \c b:
+\code
+ std::vector<vpPoint> aP(4), bP(4);
+ std::vector<double> xa(4), ya(4), xb(4), yb(4);
+ for(int i=0 ; i < 4; i++)
+ {
+ oP[i].project(aMo);
+ xa[i] = oP[i].get_x();
+ ya[i] = oP[i].get_y();
+ oP[i].project(bMo);
+ xb[i] = oP[i].get_x();
+ yb[i] = oP[i].get_y();
+ }
+\endcode
+
+We have now matched couples of coordinates of four points that are used to estimate an homography between image plane \c a and \c b. Two methods are available, either using the DLT (Direct Linear Transform) algorithm or the HLM algorithm.
+\code
+ vpHomography aHb ;
+
+ // Compute the homography using DLT
+ vpHomography::DLT(xb, yb, xa, ya, aHb, true);
+ std::cout << "Estimated homography using DLT:\n" << aHb/aHb[2][2] << std::endl;
+
+ // Compute the homography using HLM
+ vpHomography::HLM(xb, yb, xa, ya, true, aHb);
+ std::cout << "Estimated homography using HLM:\n" << aHb/aHb[2][2] << std::endl;
+\endcode
+
+\note Note that vpHomography::HLM() allows to consider points that are not coplanar.
+
+Once the homography is estimated, the vpHomography class allows to extract the 3D homogeneous transformation between frames \c a and \c b:
+\code
+ vpRotationMatrix aRb;
+ vpTranslationVector atb;
+ vpColVector n;
+ aHb.computeDisplacement(aRb, atb, n);
+\endcode
+
+Just for fun we print the values to this transformation using:
+\code
+ std::cout << "\nEstimated displacement:" << std::endl;
+ std::cout << " atb: " << atb.t() << std::endl;
+ vpThetaUVector atub;
+ atub.buildFrom(aRb);
+ std::cout << " athetaub: ";
+ for(unsigned int i=0; i<3; i++)
+ std::cout << vpMath::deg(atub[i]) << " ";
+ std::cout << std::endl;
+ std::cout << " n: " << n.t() << std::endl;
+\endcode
+
+This code lead to the following output:
+\code
+Estimated displacement:
+ atb: 0.2016519874 -0.1008259937 0.1008259937
+ athetaub: -3 20 5
+ n: 0.2588190451 -1.124100812e-14 0.9659258263
+\endcode
+where we can see that the values for \c atb and \c athetaub are the one specified at the beginning of the source code during \c aMb initialization.
+
+After we show how to retrieve the coordinates in pixels of a point (here point [3]) in the corresponding images using camera parameters:
+\code
+ vpImagePoint iPa, iPb;
+ vpCameraParameters cam;
+ vpMeterPixelConversion::convertPoint(cam, xb[3], yb[3], iPb);
+ vpMeterPixelConversion::convertPoint(cam, xa[3], ya[3], iPa);
+
+ std::cout << " Ground truth: Point 3 in pixels in frame b: " << iPb << std::endl;
+ std::cout << " Ground truth: Point 3 in pixels in frame a: " << iPa << std::endl;
+\endcode
+
+At the end, we show how to project a point with pixel coordinates from image \c b to image \c a using the homography:
+\code
+ std::cout << "Estimation from homography: Point 3 in pixels in frame a: "
+ << vpHomography::project(cam, aHb, iPb) << std::endl;
+\endcode
+
+This last part of the code produce the following output:
+\code
+Ground truth: Point 3 in pixels in frame b: 377.9450564, 193.9928711
+Ground truth: Point 3 in pixels in frame a: 353.8501593, 486.1851856
+Estimation from homography: Point 3 in pixels in frame a: 353.8501593, 486.1851856
+\endcode
+
+
+\section ransac Ransac or robust homography estimation
+
+This section follows the \ref tutorial-matching. It explains how to exploit couples of matched points obtained using SURF detector in order to estimate an homography that allows to reject mismatched couples of points. The homography is then used to track a postcard from its initial position in the reference image.
+
+
+Let us consider the following source code also available in tutorial-matching-surf-homography.cpp.
+
+\include tutorial-matching-surf-homography.cpp
+
+The command line allows to use either Ransac algorithm of a robust M-estimator approach:
+\code
+% ./tutorial-matching-surf-homography 0 // to run Ransac
+% ./tutorial-matching-surf-homography 1 // to run the robust M-estimator
+\endcode
+
+Here after is the resulting video. The left image represents the reference image. The right images correspond to the successive images of the input video. All the green lines extremities represent the points that are well matched and used in the homography estimation process. All the red lines represent couple of matched points that are rejected by the robust estimator.
+
+\htmlonly
+<iframe width="560" height="315" src="http://www.youtube.com/embed/g-aEH5Chmsg" frameborder="0" allowfullscreen></iframe>
+\endhtmlonly
+
+Now, let us explain the new lines that were introduced to estimate the homography.
+
+First we detect the command line arguments to be able later to user either Ransac or the robust M-estimator:
+\code
+ int method = 0;
+
+ if (argc > 1)
+ method = atoi(argv[1]);
+
+ if (method == 0)
+ std::cout << "Uses Ransac to estimate the homography" << std::endl;
+ else
+ std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
+\endcode
+
+We also initialize the coordinates of the pixels in the reference image that correspond to the postcard corners. These coordinates were obtained after a user initial click. To simplify the code, we set directly the coordinates of the points:
+\code
+ vpImagePoint corner_ref[4];
+ corner_ref[0].set_ij(115, 64);
+ corner_ref[1].set_ij( 83, 253);
+ corner_ref[2].set_ij(282, 307);
+ corner_ref[3].set_ij(330, 72);
+\endcode
+
+Using these coordinates, we display red lines around the postcard:
+\code
+ for (unsigned int i=0; i<4; i++) {
+ vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
+ }
+ vpDisplay::flush(Idisp);
+\endcode
+
+We need also to define roughly the parameters of our camera:
+\code
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+\endcode
+
+For each new image, once points are matched using:
+\code
+ unsigned int nbMatch = surf.matchPoint(I);
+\endcode
+
+We allocate new containers useful for the homography estimation. The coordinates of the points in the reference image will be stored in \c (mPref_x, mPref_y), while the corresponding coordinates in the current image will be stored in \c (mPcur_x, mPcur_y). We also allocate \c inliers a vector of boolean that will indicate if a couple of point is an inlier or an outlier:
+\code
+ std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
+ std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
+ std::vector<bool> inliers(nbMatch);
+\endcode
+
+To estimate the homography we need first to convert the points from pixel to meters:
+\code
+ vpPixelMeterConversion::convertPoint(cam, matched_ref, mPref_x[i], mPref_y[i]);
+ vpPixelMeterConversion::convertPoint(cam, matched_cur, mPcur_x[i], mPcur_y[i]);
+\endcode
+
+We can now estimate the homography using either Ransac or the robust M-estimator approach:
+\code
+ double residual;
+ if (method == 0)
+ vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+ mPref_x.size()/2, 2.0/cam.get_px(), true);
+ else
+ vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+ 0.4, 4, true);
+\endcode
+
+For Ransac we consider that at least 50 percent of the points should be inliers (\c mPref_x.size()/2) to reach a consensus and that a couple of point is stated as an inlier if the reprojection error is lower than 2 pixels (\c 2.0/cam.get_px()).
+
+Then using the homography, we project the coordinates of the postcard corners in the current image:
+\code
+ vpImagePoint corner_ref[4], corner_cur[4];
+ for (int i=0; i< 4; i++) {
+ corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
+ }
+\endcode
+
+We use these coordinates to draw blue lines arround the postcard:
+\code
+ vpImagePoint offset(0, I.getWidth());
+ for (int i=0; i< 4; i++) {
+ vpDisplay::displayLine(Idisp,
+ corner_cur[i] + offset,
+ corner_cur[(i+1)%4] + offset,
+ vpColor::blue, 3);
+ }
+\endcode
+
+Since the homography estimation updates the status of the couples of matched points as inliers or outliers, between the matched points we are able to draw green lines when they are inliers, or red lines when they are outliers.
+\code
+ for (unsigned int i = 0; i < nbMatch; i++) {
+ if(inliers[i] == true)
+ vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
+ else
+ vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
+ }
+\endcode
+
+*/
diff --git a/doc/tutorial-ibvs.doc b/doc/tutorial-ibvs.doc
index 694fd20..be371d3 100644
--- a/doc/tutorial-ibvs.doc
+++ b/doc/tutorial-ibvs.doc
@@ -104,7 +104,7 @@ It is now time to define four visual features as points in the image-plane. To t
Each feature is obtained by computing the position of the 3D points in the corresponding camera frame, and then by applying the perspective projection. Once current and desired features are created, they are added to the visual servo task.
\code
- for (int i = 0 ; i < 4 ; i++) {
+ for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
@@ -141,7 +141,7 @@ Now we can enter in the visual servo loop. When a velocity is applied to our fre
The current visual features are then updated by projecting the 3D points in the image-plane associated to the new camera location \c cMo.
\code
- for (int i = 0 ; i < 4 ; i++) {
+ for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
@@ -232,7 +232,7 @@ We create an instance of the vpProjectionDisplay class. This class is only avail
\code
#if defined(VISP_HAVE_DISPLAY)
vpProjectionDisplay externalview;
- for (int i = 0 ; i < 4 ; i++)
+ for (unsigned int i = 0 ; i < 4 ; i++)
externalview.insert(point[i]) ;
#endif
\endcode
@@ -354,7 +354,7 @@ To retrieve the simulated image that depends on the simulated camera position we
The current visual features are computed using a vpDot2 blob tracker. Once four trackers are instantiated, we are waiting for a mouse click in each blob to initialize the tracker. Then we compute the current visual features \f$(x,y) \f$ from the camera parameters and the cog position of each blob.
\code
- for (int i = 0 ; i < 4 ; i++) {
+ for (unsigned int i = 0 ; i < 4 ; i++) {
...
dot[i].setGraphics(true);
dot[i].initTracking(I);
@@ -372,7 +372,7 @@ In the visual servo loop, at each iteration we get a new image of the target.
We track each blob and update the values of the current visual features as previously.
\code
- for (int i = 0 ; i < 4 ; i++) {
+ for (unsigned int i = 0 ; i < 4 ; i++) {
dot[i].track(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
\endcode
@@ -387,4 +387,5 @@ depends on \f$(x,y)\f$ but also on \f$Z\f$ the depth of the feature, we need to
}
\endcode
+You are now ready to see the \ref tutorial-simu-robot-pioneer and \ref tutorial-boost-vs.
*/
diff --git a/doc/tutorial-image-filtering.doc b/doc/tutorial-image-filtering.doc
new file mode 100644
index 0000000..f7120c0
--- /dev/null
+++ b/doc/tutorial-image-filtering.doc
@@ -0,0 +1,152 @@
+/**
+
+\page tutorial-image-filtering Tutorial: Image filtering
+\tableofcontents
+
+This tutorial supposes that you have followed the \ref tutorial-getting-started.
+
+\section intro Introduction
+
+In this tutorial you will learn how to use ViSP filtering functions implemented in vpImageFilter class.
+
+Let us consider the following source code that comes from tutorial-image-filter.cpp.
+
+\include tutorial-image-filter.cpp
+
+Once build, you should have \c tutorial-image-filter binary. It shows how to apply different filters on an input image. Here we will consider lena.pgm as input image.
+
+\image html img-lena-gray.png
+
+To see the resulting filtered images, just run:
+
+\code
+./tutorial-image-filter lena.pgm
+\endcode
+
+The following sections give a line by line explanation of the source code dedicated to image filtering capabilities.
+
+\section blur Gaussian blur
+
+Lena input image is read from disk and is stored in \c I which is a gray level image declared as
+
+\code
+vpImage<unsigned char> I;
+\endcode
+
+To apply a Gaussian blur to this image we first have to declare a resulting floating-point image \c F. Then the blurred image could be obtained using the default Gaussian filter:
+
+\code
+vpImage<double> F;
+vpImageFilter::gaussianBlur(I, F);
+\endcode
+
+The resulting image is the following:
+
+\image html img-lena-blured-default.png
+
+It is also possible to specify the Gaussian filter kernel size and the Gaussian standard deviation (sigma) using:
+
+\code
+vpImageFilter::gaussianBlur(I, F, 7, 2); // Kernel size: 7, sigma: 2
+\endcode
+
+We thus obtain the following image:
+
+\image html img-lena-blured-var2.png
+
+\section gradient Gradients computation
+
+To compute the gradients or the spatial derivative along X use:
+
+\code
+vpImage<double> dIx;
+vpImageFilter::getGradX(I, dIx);
+\endcode
+
+Gradients along Y could be obtained using:
+
+\code
+vpImage<double> dIy;
+vpImageFilter::getGradY(I, dIy);
+\endcode
+
+The resulting floating-point images \c dIx, \c dIy are the following:
+
+\image html img-lena-dIxy.png
+
+\section canny Canny edge detector
+
+Canny edge detector function is only available if ViSP was build with OpenCV 2.1 or higher.
+
+After the declaration of a new image container \c C, Canny edge detector is applied using:
+\code
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020100)
+ vpImage<unsigned char> C;
+ vpImageFilter::canny(I, C, 5, 15, 3);
+#endif
+\endcode
+
+Where:
+- 5: is the low threshold
+- 15: is the high threshold set in the program as three times the lower threshold (following Canny’s recommendation)
+- 3: is the size of the Sobel kernel used internally.
+
+The resulting image \c C is the following:
+
+\image html img-lena-canny.png
+
+
+\section convolution Convolution
+
+To apply a convolution to an image, we first have to define a kernel.
+For example, let us consider the 3x3 Sobel kernel defined in \c K.
+
+ \f[
+ {\bf K} = \begin{tabular}{|c|c|c|}
+ \hline
+ 1 & 0 & -1 \\
+ \hline
+ 2 & 0 & -2 \\
+ \hline
+ 1 & 0 & -1 \\
+ \hline
+ \end{tabular}
+ \f]
+
+
+\code
+ vpMatrix K(3,3); // Sobel kernel along x
+ K[0][0] = 1; K[0][1] = 0; K[0][2] = -1;
+ K[1][0] = 2; K[1][1] = 0; K[1][2] = -2;
+ K[2][0] = 1; K[2][1] = 0; K[2][2] = -1;
+\endcode
+
+After the declaration of a new floating-point image \c Gx, the convolution is obtained using:
+\code
+ vpImage<double> Gx;
+ vpImageFilter::filter(I, Gx, K);
+\endcode
+
+The content of the filtered image \c Gx is the following.
+
+\image html img-lena-sobel.png
+
+\section pyramid Gaussian image pyramid
+
+To construct a pyramid of Gaussian filtered images as a vector of images implemented in \c pyr[] you may use:
+\code
+ size_t nlevel = 3;
+ std::vector< vpImage<unsigned char> > pyr(nlevel);
+ pyr[0] = I;
+ for (size_t i=1; i < nlevel; i++) {
+ vpImageFilter::getGaussPyramidal(pyr[i-1], pyr[i]);
+ display(pyr[i], "Pyramid");
+ }
+\endcode
+
+The content of \c pyr[0], \c pyr[1], \c pyr[2] is the following:
+\image html img-lena-pyr.png
+
+You are now ready to see the next \ref tutorial-tracking-blob.
+
+*/
diff --git a/doc/tutorial-install-ubuntu.doc b/doc/tutorial-install-fedora.doc
similarity index 78%
copy from doc/tutorial-install-ubuntu.doc
copy to doc/tutorial-install-fedora.doc
index fa0a25e..d61fce6 100644
--- a/doc/tutorial-install-ubuntu.doc
+++ b/doc/tutorial-install-fedora.doc
@@ -1,60 +1,61 @@
/**
-\page tutorial-install-ubuntu Tutorial: Installation from source on Linux Ubuntu
+\page tutorial-install-fedora Tutorial: Installation from source on Linux Fedora
\tableofcontents
-In this tutorial you will learn how to install ViSP from source on Linux Ubuntu. These steps have been tested for Ubuntu 13.04 (64 bit) distribution, but should work with any other distribution as well.
+In this tutorial you will learn how to install ViSP from source on Linux Fedora. These steps have been tested for Fedora 18 (64 bit) distribution, but should work with any other distribution as well.
Concerning ViSP installation, we provide also other tutorials
+- \ref tutorial-install-ubuntu
- \ref tutorial-install-win
- \ref tutorial-install-iOS
-ViSP can also be installed on other platforms including OSX, Fedora, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
+ViSP can also be installed on other platforms including OSX, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
\section install_ubuntu_required Required packages
- gcc 4.4.x or later. This can be installed with:
\code
-sudo apt-get install build-essential
+su -c "yum install gcc-c++"
\endcode
- CMake 2.6 or higher that could be installed with:
\code
-sudo apt-get install cmake-curses-gui
+su -c "yum install cmake"
\endcode
-ViSP is interfaced with several optional <a href="http://www.irisa.fr/lagadic/visp/libraries.html">third-party libraries</a>. The installation of the corresponding packages is described in \ref install_ubuntu_3rdparty section.
+ViSP is interfaced with several optional <a href="http://www.irisa.fr/lagadic/visp/libraries.html">third-party libraries</a>. The installation of the corresponding packages is described in \ref install_fedora_3rdparty section.
-\section install_ubuntu_get_source Getting ViSP source code
+\section install_fedora_get_source Getting ViSP source code
There are different ways to get ViSP source code:
- You can download the <a href="http://www.irisa.fr/lagadic/visp/download.html#latest">latest stable release</a> as a zip or a tarball. Once downloaded, uncompress the file using either
\code
-tar xvzf ViSP-2.7.0.tar.gz
+tar xvzf ViSP-2.9.0.tar.gz
\endcode
or
\code
-unzip ViSP-2.7.0.zip
+unzip ViSP-2.9.0.zip
\endcode
- You can also download a more <a href="http://www.irisa.fr/lagadic/visp/download.html#snapshot">recent snapshot</a>. Once downloaded, uncompress the file using
\code
-unzip ViSP-2.7.1-snapshot-2013.05.02.zip
+unzip ViSP-2.y.z-snapshot-2014.mm.dd.zip
\endcode
- Or you get the cutting-edge ViSP from Subversion repository. To this end you have first to install subversion
\code
-sudo apt-get install subversion
+su -c "yum install subversion"
\endcode
and then use the following command
\code
svn checkout svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP ViSP-trunk
\endcode
-We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.7.0
+We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.9.0
-\section install_ubuntu_config Configuring ViSP from source
+\section install_fedora_config Configuring ViSP from source
- Create first a directory denoted \<binary_dir\> where you want to build ViSP. This directory will contain generated Makefiles, object files, and output libraries and binaries.
\code
@@ -64,20 +65,20 @@ cd $HOME; mkdir ViSP-build-release
- Enter the \<binary_dir\> and to configure the build type:
\code
cmake [<optional parameters>] <source_dir>
-For example:
\endcode
+For example:
\code
cd $HOME/ViSP-build-release
-cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_SHARED_LIBS=ON ../ViSP-2.7.0
+cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_SHARED_LIBS=ON ../ViSP-2.9.0
\endcode
A more versatile way to configure the build is to use \c ccmake, the CMake GUI:
\code
-ccmake ../ViSP-2.7.0
+ccmake ../ViSP-2.9.0
\endcode
The following image shows that this command allows to configure (just by pressing [c] key) the build in a more advanced way where some options could be easily turned On/Off. It allows also to see which are the 3rd party that will be used.
-\image html img-ccmake-ubuntu.png Snapshot of the ccmake \c ../ViSP-2.7.0 command used to configure ViSP.
+\image html img-ccmake-ubuntu.png Snapshot of the ccmake \c ../ViSP-2.9.0 command used to configure ViSP.
-- There is an other way to see which are the 3rd party that are found during the configuration stage and that will be used by ViSP during the build. To this end you can have a look to the text file named ViSP-third-party.txt and located in \<binary_dir\>. We provide hereafter the content of this file:
+- There is an other way to see which are the 3rd party that are found during the configuration stage and that will be used by ViSP during the build. To this end you can have a look to the text file named ViSP-third-party.txt and located in \<binary_dir\>. We provide hereafter an example of a possible content of this file:
\code
ViSP third-party libraries
@@ -141,58 +142,58 @@ ViSP built with C++11 features: no
\endcode
In our case, only \c pthread an OpenMP 3rd party are detected.
-\subsection install_ubuntu_3rdparty Optional 3rd party packages
+\subsection install_fedora_3rdparty Optional 3rd party packages
As mentioned previously, ViSP is interfaced with some 3rd party libraries. The <a href="http://www.irisa.fr/lagadic/visp/libraries.html">complete list is provided here</a>. We recommand to install the following:
- OpenCV
\code
-sudo apt-get install libopencv-dev
+su -c "yum install opencv-devel"
\endcode
- libX11 to be able to open a window to display images
\code
-sudo apt-get install libx11-dev
+su -c "yum install libX11-devel"
\endcode
-- liblapack to benefit from optimized mathematical capabilities
+- lapack and gsl to benefit from optimized mathematical capabilities
\code
-sudo apt-get install liblapack-dev
+su -c "yum install lapack-devel gsl-devel"
\endcode
- libdc1394 to grab images from firewire cameras
\code
-sudo apt-get install libdc1394-22-dev
+su -c "yum install libdc1394-devel"
\endcode
- libv4l to grab images from usb or analogic cameras
\code
-sudo apt-get install libv4l-dev
+su -c "yum install libv4l-devel"
\endcode
- Coin, to be able to support vrml cad model used by the model-based trackers
\code
-sudo apt-get install libCoin60-dev
+su -c "yum install Coin2-devel"
\endcode
- libxml2 to be able to configure the model-based trackers from xml files
\code
-sudo apt-get install libxml2-dev
+su -c "yum install libxml2-devel"
\endcode
- libjpeg, libpng to support jpeg and png images
\code
-sudo apt-get install libjpeg-dev libpng12-dev
+su -c "yum install libjpeg-devel libpng-devel"
\endcode
- ffmpeg, to be able to read or encode compressed video streams
\code
-sudo apt-get install libswscale-dev libavutil-dev libavformat-dev libavcodec-dev libbz2-dev libbz2-1.0
+su -c "yum install ffmpeg-devel"
\endcode
- Ogre 3D if you want to do augmented reality or simulation
\code
-sudo apt-get install libogre-dev libois-dev
+su -c "yum install ogre-devel ogre-samples ois-devel"
\endcode
Once installed, if you want that ViSP exploit the new 3rd party, you have to configure ViSP again.
\code
-ccmake ../ViSP-2.7.0
+ccmake ../ViSP-2.9.0
\endcode
The following image shows now that all the previous optional 3rd party are detected.
-\image html img-ccmake-ubuntu-all.png Snapshot of the ccmake \c ../ViSP-2.7.0 command used to configure ViSP after installation of optional 3rd party libraries.
+\image html img-ccmake-ubuntu-all.png Snapshot of the ccmake \c ../ViSP-2.9.0 command used to configure ViSP after installation of optional 3rd party libraries.
\subsection install_ubuntu_generate Generating Makefiles
@@ -200,7 +201,7 @@ To generate the makefiles, just press [g] key in the ccmake gui.
Now we can build ViSP.
-\section install_ubuntu_build Building ViSP from source
+\section install_fedora_build Building ViSP from source
- To build ViSP proceed with:
\code
@@ -214,7 +215,7 @@ sudo make install
- To build ViSP documentation, you have first to install Doxygen package:
\code
-sudo apt-get install doxygen graphviz texlive-latex-base
+su -c "yum install doxygen graphviz"
\endcode
Then you can proceed with:
\code
diff --git a/doc/tutorial-install-iOS.doc b/doc/tutorial-install-iOS.doc
index e327c6f..628258b 100644
--- a/doc/tutorial-install-iOS.doc
+++ b/doc/tutorial-install-iOS.doc
@@ -6,10 +6,11 @@
In this tutorial you will learn how to install ViSP from source on OSX in order to be able to compile and use it for iOS development. These steps have been tested for OSX 10.8.4 but should work with any other distribution as well.
Concerning ViSP installation, we provide also other tutorials
-- \ref tutorial-install-win
- \ref tutorial-install-ubuntu
+- \ref tutorial-install-fedora
+- \ref tutorial-install-win
-ViSP can also be installed on other platforms including OSX, Fedora, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
+ViSP can also be installed on other platforms including OSX, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
\section install_iOS_required Required software
@@ -25,23 +26,23 @@ There are different ways to get ViSP source code:
- You can download the <a href="http://www.irisa.fr/lagadic/visp/download.html#latest">latest stable release</a> as a zip or a tarball. Once downloaded, uncompress the file using either
\code
-tar xvzf ViSP-2.7.0.tar.gz
+tar xvzf ViSP-2.9.0.tar.gz
\endcode
or
\code
-unzip ViSP-2.7.0.zip
+unzip ViSP-2.9.0.zip
\endcode
- You can also download a more <a href="http://www.irisa.fr/lagadic/visp/download.html#snapshot">recent snapshot</a>. Once downloaded, uncompress the file using
\code
-unzip ViSP-2.7.1-snapshot-2013.05.02.zip
+unzip ViSP-2.y.z-snapshot-2014.mm.dd.zip
\endcode
- Or you get the cutting-edge ViSP from Subversion repository. To this end you have first to install subversion and then use the following command
\code
svn checkout svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP ViSP-trunk
\endcode
-We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.7.0
+We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.9.0
\section install_iOS_config Configuring ViSP from source
diff --git a/doc/tutorial-install-ubuntu.doc b/doc/tutorial-install-ubuntu.doc
index fa0a25e..c022a36 100644
--- a/doc/tutorial-install-ubuntu.doc
+++ b/doc/tutorial-install-ubuntu.doc
@@ -6,10 +6,11 @@
In this tutorial you will learn how to install ViSP from source on Linux Ubuntu. These steps have been tested for Ubuntu 13.04 (64 bit) distribution, but should work with any other distribution as well.
Concerning ViSP installation, we provide also other tutorials
+- \ref tutorial-install-fedora
- \ref tutorial-install-win
- \ref tutorial-install-iOS
-ViSP can also be installed on other platforms including OSX, Fedora, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
+ViSP can also be installed on other platforms including OSX, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
\section install_ubuntu_required Required packages
@@ -32,16 +33,16 @@ There are different ways to get ViSP source code:
- You can download the <a href="http://www.irisa.fr/lagadic/visp/download.html#latest">latest stable release</a> as a zip or a tarball. Once downloaded, uncompress the file using either
\code
-tar xvzf ViSP-2.7.0.tar.gz
+tar xvzf ViSP-2.9.0.tar.gz
\endcode
or
\code
-unzip ViSP-2.7.0.zip
+unzip ViSP-2.9.0.zip
\endcode
- You can also download a more <a href="http://www.irisa.fr/lagadic/visp/download.html#snapshot">recent snapshot</a>. Once downloaded, uncompress the file using
\code
-unzip ViSP-2.7.1-snapshot-2013.05.02.zip
+unzip ViSP-2.y.z-snapshot-2014.mm.dd.zip
\endcode
- Or you get the cutting-edge ViSP from Subversion repository. To this end you have first to install subversion
\code
@@ -52,7 +53,7 @@ and then use the following command
svn checkout svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP ViSP-trunk
\endcode
-We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.7.0
+We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c $HOME/ViSP-2.9.0
\section install_ubuntu_config Configuring ViSP from source
@@ -64,20 +65,20 @@ cd $HOME; mkdir ViSP-build-release
- Enter the \<binary_dir\> and to configure the build type:
\code
cmake [<optional parameters>] <source_dir>
-For example:
\endcode
+For example:
\code
cd $HOME/ViSP-build-release
-cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_SHARED_LIBS=ON ../ViSP-2.7.0
+cmake -D CMAKE_BUILD_TYPE=RELEASE -D BUILD_SHARED_LIBS=ON ../ViSP-2.9.0
\endcode
A more versatile way to configure the build is to use \c ccmake, the CMake GUI:
\code
-ccmake ../ViSP-2.7.0
+ccmake ../ViSP-2.9.0
\endcode
The following image shows that this command allows to configure (just by pressing [c] key) the build in a more advanced way where some options could be easily turned On/Off. It allows also to see which are the 3rd party that will be used.
-\image html img-ccmake-ubuntu.png Snapshot of the ccmake \c ../ViSP-2.7.0 command used to configure ViSP.
+\image html img-ccmake-ubuntu.png Snapshot of the ccmake \c ../ViSP-2.9.0 command used to configure ViSP.
-- There is an other way to see which are the 3rd party that are found during the configuration stage and that will be used by ViSP during the build. To this end you can have a look to the text file named ViSP-third-party.txt and located in \<binary_dir\>. We provide hereafter the content of this file:
+- There is an other way to see which are the 3rd party that are found during the configuration stage and that will be used by ViSP during the build. To this end you can have a look to the text file named ViSP-third-party.txt and located in \<binary_dir\>. We provide hereafter an example of a possible content of this file:
\code
ViSP third-party libraries
@@ -153,9 +154,9 @@ sudo apt-get install libopencv-dev
\code
sudo apt-get install libx11-dev
\endcode
-- liblapack to benefit from optimized mathematical capabilities
+- lapack and GSL to benefit from optimized mathematical capabilities
\code
-sudo apt-get install liblapack-dev
+sudo apt-get install liblapack-dev libgsl0-dev
\endcode
- libdc1394 to grab images from firewire cameras
\code
@@ -189,10 +190,10 @@ sudo apt-get install libogre-dev libois-dev
Once installed, if you want that ViSP exploit the new 3rd party, you have to configure ViSP again.
\code
-ccmake ../ViSP-2.7.0
+ccmake ../ViSP-2.9.0
\endcode
The following image shows now that all the previous optional 3rd party are detected.
-\image html img-ccmake-ubuntu-all.png Snapshot of the ccmake \c ../ViSP-2.7.0 command used to configure ViSP after installation of optional 3rd party libraries.
+\image html img-ccmake-ubuntu-all.png Snapshot of the ccmake \c ../ViSP-2.9.0 command used to configure ViSP after installation of optional 3rd party libraries.
\subsection install_ubuntu_generate Generating Makefiles
diff --git a/doc/tutorial-install-win.doc b/doc/tutorial-install-win.doc
index 95e81bf..7b7ee16 100644
--- a/doc/tutorial-install-win.doc
+++ b/doc/tutorial-install-win.doc
@@ -7,9 +7,10 @@ In this tutorial you will learn how to install ViSP from source on Windows. Thes
Concerning ViSP installation, we provide also other tutorials
- \ref tutorial-install-ubuntu
+- \ref tutorial-install-fedora
- \ref tutorial-install-iOS
-ViSP can also be installed on other platforms OSX, Fedora, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
+ViSP can also be installed on other platforms OSX, CentOS, openSUZE (see <a href="http://www.irisa.fr/lagadic/visp/install.html">Install from source page</a>).
\section install_win_required Required packages
@@ -26,11 +27,11 @@ There are different ways to get ViSP source code:
- You can also download a more <a href="http://www.irisa.fr/lagadic/visp/download.html#snapshot">recent snapshot</a>.
- Or you can get the cutting-edge ViSP from Subversion repository svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP.
-We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c C:\\ViSP\\ViSP-2.7.1
+We suppose now that ViSP source is in a directory denoted \<source_dir\>, for example \c C:\\ViSP\\ViSP-2.9.0
\section install_win_config Configuring ViSP from source
-The goal of the configuration step is now to use CMake to produce a Visual Studio C++ solution that will be located in \<binary_dir\>, for example \c C:\\ViSP\\ViSP-2.7.1-build.
+The goal of the configuration step is now to use CMake to produce a Visual Studio C++ solution that will be located in \<binary_dir\>, for example \c C:\\ViSP\\ViSP-2.9.0-build.
- Launch CMake (cmake-gui) and complete the \<source_dir\> and \<binary_dir\> locations as in the next image.
@@ -40,7 +41,7 @@ The goal of the configuration step is now to use CMake to produce a Visual Studi
\image html img-cmake-win-2.jpg
-- Click on "Yes" to create the \c C:\\ViSP\\ViSP-2.7.1-build folder.
+- Click on "Yes" to create the \c C:\\ViSP\\ViSP-2.9.0-build folder.
- Select then your compiler, for example here Visual Studio 11 Win64, and click on "Finish" button.
\image html img-cmake-win-msvc-version.jpg
@@ -117,13 +118,13 @@ setx OPENCV_DIR C:\OpenCV\opencv\build
\image html img-cmake-win-generate.jpg
-- Once the generation is done, in \c C:/ViSP/ViSP-2.7.1-build folder you have the Visual Studio \c VISP.sln generated solution file.
+- Once the generation is done, in \c C:/ViSP/ViSP-2.9.0-build folder you have the Visual Studio \c VISP.sln generated solution file.
\image html img-cmake-win-solution.jpg
\section install_win_build Building ViSP from source
-- To build ViSP just double click on \c C:/ViSP/ViSP-2.7.1-build/VISP.sln solution file. This action will open ViSP project in Visual Studio C++. As shown in the next image, by default, Visual Studio position the solution configuration to \c Debug.
+- To build ViSP just double click on \c C:/ViSP/ViSP-2.9.0-build/VISP.sln solution file. This action will open ViSP project in Visual Studio C++. As shown in the next image, by default, Visual Studio position the solution configuration to \c Debug.
\image html img-msvc-1.jpg
@@ -170,7 +171,7 @@ C:\ViSP\ViSP-install\bin; C:\OpenCV\opencv\build\x64\vc11\bin
Some ViSP examples and tests require data set (images, models). These data set is provided as a compressed zip files.
-- Download ViSP-images-2.7.0.zip from http://www.irisa.fr/lagadic/visp/download.html#dataDownloadForExample and uncompress it for example in \c C:/ViSP.
+- Download ViSP-images-2.9.0.zip from http://www.irisa.fr/lagadic/visp/download.html#dataDownloadForExample and uncompress it for example in \c C:/ViSP.
\image html img-ViSP-images.jpg
diff --git a/doc/tutorial-matching.doc b/doc/tutorial-matching.doc
new file mode 100644
index 0000000..5becda5
--- /dev/null
+++ b/doc/tutorial-matching.doc
@@ -0,0 +1,94 @@
+/**
+
+\page tutorial-matching Tutorial: Keypoint matching
+\tableofcontents
+
+\section intro Introduction
+
+This tutorial focuses on SURF key points manipulation. You will learn how to detect SURF key points on a reference image considered here as the first image of an mpeg video. Then in the next images of the video, key points that match those detected in the reference image using SURF descriptor are displayed.
+
+\note We assume that you are familiar with video framegrabbing described in \ref tutorial-grabber and with the way to display an image in a window described in \ref tutorial-getting-started.
+
+\section surf SURF key points detection and matching
+
+Let us consider the following source code also available in tutorial-matching-surf.cpp.
+
+\include tutorial-matching-surf.cpp
+
+Here after is the resulting video. The left image represents the reference image. The right images correspond to the successive images of the input video. All the green lines extremities represent the points that are matched.
+
+\htmlonly
+<iframe width="560" height="315" src="http://www.youtube.com/embed/sMbed_oYJgQ" frameborder="0" allowfullscreen></iframe>
+\endhtmlonly
+
+Now, let us explain the lines dedicated to the SURF keypoint usage.
+
+First we have to include the header of the vpKeyPointSurf class that is a wrapper over OpenCV classes.
+\code
+#include <visp/vpKeyPointSurf.h>
+\endcode
+
+Note that this class is only available if ViSP was build with OpenCV non free module. This is ensured by the check of VISP_HAVE_OPENCV_NONFREE macro. To grab the images from the mpeg video stream we need also that ViSP was build with ffmpeg 3rd party. That's why we check VISP_HAVE_FFMPEG macro definition:
+\code
+#if defined(VISP_HAVE_OPENCV_NONFREE) && defined(VISP_HAVE_FFMPEG)
+\endcode
+
+Then we open the mpeg video stream and grab the first image of the video that is stored in \c I container. A Surf keypoint class is instantiated and keypoints are detected on the first image which is considered as the reference image:
+\code
+ vpKeyPointSurf surf;
+ surf.buildReference(I);
+\endcode
+
+The next lines are used to create image \c Idisp to render the matching results; left image for the reference image, right image for the current image that is processed:
+\code
+ vpImage<unsigned char> Idisp;
+ Idisp.resize(I.getHeight(), 2*I.getWidth());
+ Idisp.insert(I, vpImagePoint(0, 0));
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+\endcode
+
+Then a display using OpenCV is created and image \c Idisp is rendered:
+\code
+ vpDisplayOpenCV d(Idisp, 0, 0, "Matching surf keypoints") ;
+ vpDisplay::display(Idisp);
+ vpDisplay::flush(Idisp);
+\endcode
+
+We enter then in the \c while() loop where a new image is acquired from the video stream and inserted in the right part of image \c Idisp dedicated to rendering of the matching results.
+\code
+ reader.acquire(I);
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+\endcode
+
+We start the rendering by displaying the rendered image and by drawing a white vertical line to separate the reference image from the current one:
+\code
+ vpDisplay::display(Idisp);
+ vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()), vpColor::white, 2);
+\endcode
+
+Keypoint matches between the reference image and the current image \c I are detected using:
+\code
+ int nbMatch = surf.matchPoint(I);
+\endcode
+
+Then we parse all the matches to retrieve the coordinates of the points in the reference image (in \c iPref variable) and in the current image (in \c iPcur variable):
+\code
+ vpImagePoint iPref, iPcur;
+ for (int i = 0; i < nbMatch; i++)
+ {
+ surf.getMatchedPoints(i, iPref, iPcur);
+\endcode
+
+Next we draw green lines between the matched points:
+\code
+ vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
+\endcode
+
+At the end of the iteration, we flush all the previous display to the render window:
+\code
+ vpDisplay::flush(Idisp);
+\endcode
+
+You can now follow \ref tutorial-homography to see how to exploit couple of matched points in order to estimate an homography that allows to track the position of an object.
+
+*/
diff --git a/doc/tutorial-simu-robot-pioneer.doc b/doc/tutorial-simu-robot-pioneer.doc
index 2d08a05..2ffcdec 100644
--- a/doc/tutorial-simu-robot-pioneer.doc
+++ b/doc/tutorial-simu-robot-pioneer.doc
@@ -233,4 +233,5 @@ The following control law is used:
\end{array}\right]
= -0.2 \left( {\bf L_{s} {^c}V_e {^e}J_e}\right)^{+} ({\bf s} - {\bf s}^*) \f]
+You are now ready to see the next \ref tutorial-boost-vs.
*/
diff --git a/doc/tutorial-trace.doc b/doc/tutorial-trace.doc
new file mode 100644
index 0000000..0717f7f
--- /dev/null
+++ b/doc/tutorial-trace.doc
@@ -0,0 +1,116 @@
+/**
+
+\page tutorial-trace Tutorial: Debug and trace printings
+\tableofcontents
+
+
+\section intro Introduction
+
+ViSP allows to introduce trace and debug printings that may help debugging. To this end ViSP provides C or C++ macros that allows to print messages to the standard output std::cout or to std::cerr.
+
+~~~
+|----------|-------|-------------------------------------|---------------------------------------|
+| output | type | std::cout | std::cerr |
+|----------|-------|-------------------------------------|---------------------------------------|
+| C-like | trace | vpTRACE, vpTRACE(level) | vpERROR_TRACE, vpERROR_TRACE(level) |
+| | trace | vpIN_FCT, vpOUT_FCT | |
+| | debug | vpDEBUG_TRACE, vpDEBUG_TRACE(level) | vpDERROR_TRACE, vpDERROR_TRACE(level) |
+|----------|-------|-------------------------------------|---------------------------------------|
+| C++-like | trace | vpCTRACE | vpCERROR |
+| | debug | vpCDEBUG(level) | |
+|----------|-------|-------------------------------------|---------------------------------------|
+~~~
+
+\subsection trace Macros for trace
+
+Macro for tracing vpTRACE(), vpTRACE(level), vpERROR_TRACE(), vpERROR_TRACE(level),
+vpIN_FCT() and vpOUT_FCT()
+work like printf with carrier return at the end of the string, while
+vpCTRACE() and vpCERROR() work like the C++ output streams std::cout
+and std::cerr. All these macro print messages only if VP_TRACE macro is defined.
+
+\subsection debug Macros for debug
+
+Macros for debug vpDEBUG_TRACE(level) and vpDERROR_TRACE(level)
+work like printf while vpCDEBUG(level) works like the C++ output stream std::cout.
+These macro print messages only if VP_DEBUG macro is defined and
+if the debug \e level is greater than the one defined in VP_DEBUG_MODE
+macro. Moreover vpDEBUG_ENABLE(level) can be used to check if a given debug level is active; vpDEBUG_ENABLE(level) is
+equal to 1 if the debug \e level is greater than the debug mode
+VP_DEBUG_MODE, 0 else.
+
+\section visp Debug and trace usage in ViSP library
+
+In ViSP, before an exception is thrown, trace macro are widely used to inform the user that an error occur. This is redundant, since the same trace message in generally associated to the exception that is thrown. Since ViSP 2.9.0, during CMake configuration it is possible to disable debug and trace printings by turning \c ACTIVATE_DEBUG_TRACE cmake variable to \c OFF.
+
+- Using cmake command just run:
+\code
+%cmake -DACTIVATE_DEBUG_TRACE=OFF <path to ViSP source code>
+\endcode
+
+- or using ccmake GUI as shown in the next snapshot:
+
+\image html img-cmake-debug-trace.jpg
+
+\note When \c ACTIVATE_DEBUG_TRACE is turned to \c ON (this is the default behavior in ViSP), we simply define VP_TRACE and VP_DEBUG macro using the compiler -D option.
+
+\section example Debug and trace usage in your own project
+
+If you develop a project that uses ViSP library as a 3rd party, there are different ways to benefit from debug and trace macro described previously.
+
+- If ViSP was build with debug and trace enabled using \c cmake \c ACTIVATE_DEBUG_TRACE=ON, debug and trace are also enabled in your development.
+- If debug and trace were disabled in ViSP (\c ACTIVATE_DEBUG_TRACE=OFF), you can enable debug and trace in your own development either by defining \c VP_DEBUG and/or \c VP_TRACE macro in your code using
+\code
+#define VP_TRACE
+#define VP_DEBUG
+
+#include <visp/vpDebug.h>
+\endcode
+either by modifying your \c CMakeLists.txt file by adding an option as in ViSP:
+\code
+option(ACTIVATE_DEBUG_TRACE "Enable debug and trace printings" ON)
+
+if(ACTIVATE_DEBUG_TRACE)
+ add_definitions("-DVP_DEBUG -DVP_TRACE")
+endif()
+\endcode
+
+
+The following example also available in tutorial-trace.cpp shows how to use the previous macro.
+
+\includelineno tutorial-trace.cpp
+
+When ViSP library was built without debug and trace the previous example produces the output:
+\code
+%./tutorial-trace
+Debug level 1 active: 0
+Debug level 2 active: 0
+Debug level 3 active: 0
+\endcode
+
+When ViSP is rather build with debug and trace the previous example produces the output:
+\code
+%./tutorial-trace
+(L0) begin /tmp/tutorial-trace.cpp: main(#9) : main()
+Debug level 1 active: 1
+Debug level 2 active: 1
+Debug level 3 active: 0
+(L0) /tmp/tutorial-trace.cpp: main(#17) : C-like trace
+(L1) /tmp/tutorial-trace.cpp: main(#18) : C-like trace level 1
+(L0) !! /tmp/tutorial-trace.cpp: main(#20) : C-like error trace
+(L1) !! /tmp/tutorial-trace.cpp: main(#21) : C-like error trace level 1
+(L0) /tmp/tutorial-trace.cpp: main(#24) : C-like debug trace
+(L0) !! /tmp/tutorial-trace.cpp: main(#25) : C-like error trace
+(L2) /tmp/tutorial-trace.cpp: main(#27) : C-like debug trace level 2
+(L2) !! /tmp/tutorial-trace.cpp: main(#28) : C-like error trace level 2
+(L0) /tmp/tutorial-trace.cpp: main(#31) : C++-like trace
+(L0) !! /tmp/tutorial-trace.cpp: main(#32) : C++-like error trace
+(L2) /tmp/tutorial-trace.cpp: main(#35) : C++-like debug trace level 2
+(L0) end /tmp/tutorial-trace.cpp: main(#37) : main()
+\endcode
+
+In the previous printings:
+- the number after "L" indicates the debug or trace level; example (L2) is for level 2.
+- the number after "#" indicates the line of the code that produce the printing; example main(#37) means in function main() at line 37.
+- the "!!" indicate that the printing is on std::cerr. Others are on std::cout.
+*/
diff --git a/doc/tutorial-tracking-mb.doc b/doc/tutorial-tracking-mb.doc
index 351cda1..974a6c8 100644
--- a/doc/tutorial-tracking-mb.doc
+++ b/doc/tutorial-tracking-mb.doc
@@ -82,6 +82,13 @@ The content of the xml file is the following:
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
\endcode
@@ -99,40 +106,44 @@ The content of the xml file is the following:
tracker.setMovingEdge(me);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
+ tracker.setAngleAppear( vpMath::rad(70) );
+ tracker.setAngleDisappear( vpMath::rad(80) );
+ tracker.setNearClippingDistance(0.1);
+ tracker.setFarClippingDistance(100.0);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
\endcode
-The display in the image window of additional drawings in overlay such as the moving edges positions, is then enabled by:
+An important setting concerns the visibility test that is used to determine if a face is visible. Note that moving-edges are tracked only on visible faces. Two different visibility tests are implemented; with or without Ogre ray tracing. The default test is the one without Ogre. The function vpMbEdgeTracker::setOgreVisibilityTest() allow to select which test is to use.
+
+Let us now highlight how the visibility test works. As illustrated in the following figure, the angle \f$ \alpha \f$ between the normal of the face and the line going from the camera to the center of gravity of the face is used to determine if the face is visible. If we consider two parameters; the angle to determine if a face is appearing \f$ \alpha_{appear} \f$, and the angle to determine if the face is disappearing \f$ \alpha_{disappear} \f$, a face will be considered as visible if \ [...]
\code
- tracker.setDisplayFeatures(true);
+<conf>
+ ...
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ </face>
\endcode
-
-An important setting concerns the visibility test that is used to determine if a face is visible. Note that moving-edges are tracked only on visible faces. Two different visibility tests are implemented; with or without Ogre ray tracing. With the next line, we disable Ogre visibility test.
-
+or in the code:
\code
- tracker.setOgreVisibilityTest(false);
+ tracker.setAngleAppear( vpMath::rad(70) );
+ tracker.setAngleDisappear( vpMath::rad(80) );
\endcode
-As illustrated in the following figure, the angle \f$ \alpha \f$ between the normal of the face and the line going from the camera to the center of gravity of the face is then used to determine if the face is visible.
+\note When these two angle parameters are not set, their default values set to 89 degrees are used.
\image html img-tracker-mb-visibility.jpg Principle of the visibility test used to determine if a face is visible.
-- When Ogre visibility test is disabled, the algorithm that computes the normal of the face is very simple. It makes the assumption that faces are convex and oriented counter clockwise. Faces are considered as visible if \f$ \alpha < 90\f$ degrees. When only moving-edges are used (nor keypoints) and when the object to track is simple like a single box, we suggest as here to disable Ogre visibility test. It will help the tracker to detect as soon as possible new faces when only one face [...]
-- When Ogre visibility test is enabled, the algorithm used to determine the visibility of a face is the same than previously except that once visible faces are detected thanks to their normal, we add an other test to reject faces that are partially occluded by an other one. This additional test is performed using Ogre ray-tracing capability. Note also that two additional parameters need to be introduced; the angle to determine if a face is appearing, and the angle to determine if the fac [...]
+- When Ogre visibility test is disabled (we recall that this is the default behavior), the algorithm that computes the normal of the face is very simple. It makes the assumption that faces are convex and oriented counter clockwise. Here the face is considered as appearing if \f$ \alpha < 70\f$ degrees, and disappearing if \f$ \alpha > 80\f$ degrees. When only moving-edges are used (nor keypoints) and when the object to track is simple like a single box, we suggest as here to disable Ogre [...]
\code
- tracker.setOgreVisibilityTest(true);
- tracker.setAngleAppear(70);
- tracker.setAngleDisappear(80);
+ tracker.setOgreVisibilityTest(false); // Default behavior
\endcode
-It is also possible to introduce these two parameters in the xml file. It should be modified by adding the following lines:
+
+- When Ogre visibility test is enabled, the algorithm used to determine the visibility of a face is the same than previously except that once visible faces are detected thanks to their normal, we add an other test to reject faces that are partially occluded by an other one. This additional test is performed using Ogre ray-tracing capability.
\code
-<conf>
- ...
- <face>
- <angle_appear>70</angle_appear>
- <angle_disappear>80</angle_disappear>
- </face>
+ tracker.setOgreVisibilityTest(true);
\endcode
-Here the face is considered as appearing if \f$ \alpha < 70\f$ degrees, and disappearing if \f$ \alpha > 80\f$ degrees.
+
Additionally to the visibility test described above, it is also possible to use clipping. Firstly, the algorithm removes the faces that are not visibles, according to the visibility test used, then it will also remove the faces or parts of the faces that are out of the clipping planes. As illustrated in the following figure, different clipping planes can be enabled.
@@ -165,14 +176,14 @@ For the Near and Far clipping it is quite different. Indeed, thoses planes requi
tracker.setClipping(vpMbtPolygon::NEAR_CLIPPING | vpMbtPolygon::FAR_CLIPPING);
\endcode
-Or specify the distances in meters, which will automatically activate the clipping for thoses planes:
+or the user can specify the distances in meters, which will automatically activate the clipping for thoses planes:
\code
tracker.setNearClippingDistance(0.1);
tracker.setFarClippingDistance(100.0);
\endcode
-It is also possible to enable them in the xml file. It should be modified by adding the following lines:
+It is also possible to enable them in the xml file. This is done with the following lines:
\code
<conf>
@@ -187,19 +198,32 @@ It is also possible to enable them in the xml file. It should be modified by add
Here for simplicity, the user just has the possibility to either activate all the FOV clipping planes or none of them (fov_clipping requires a boolean).
-Now we are ready to load the cad model of the object in cao format with:
+\note When clipping parameters are not set in the xml file, nor in the code, clipping is not used. Usually clipping is not helpfull when the oject to track is simple.
+
+Now we are ready to load the cad model of the object. ViSP supports cad model in cao format or in vrml format. The cao format is a particular format only supported by ViSP. It doesn't require an additional 3rd party rather then vrml format that require Coin 3rd party. We load the cad model in cao format with:
\code
tracker.loadModel("teabox.cao");
\endcode
-The file \c teabox.cao describes first the vertexes of the box, then the edges that corresponds to the faces. A more complete description of this file is provided in \ref tracking_mb_cao (\ref tracking_mb_cao_face). The next figure gives the index of the vertices that are defined in \c teabox.cao.
+The file \c teabox.cao describes first the vertices of the box, then the edges that corresponds to the faces. A more complete description of this file is provided in \ref tracking_mb_cao (\ref tracking_mb_cao_face). The next figure gives the index of the vertices that are defined in \c teabox.cao.
+
+To load the cad model in vrml the user has to replace the previous line by the following:
+\code
+ tracker.loadModel("teabox.wrl");
+\endcode
+As for the cao format, \c teabox.wrl describes first the vertices of the box, then the edges that corresponds to the faces. A more complete description of this file is provided in \ref tracking_mb_wrl.
\image html img-teabox-cao.jpg Index of the vertices used to model the tea box in cao format.
-Four vertices with their 3D coordinates are then used to initialize the tracker:
+Once the model of the object to track is loaded, with the next line the display in the image window of additional drawings in overlay such as the moving edges positions, is then enabled by:
+\code
+ tracker.setDisplayFeatures(true);
+\endcode
+
+Now we have to initialize the tracker. With the next line we choose to use a user interaction. As explained later, the user has to match in the image four vertices with their 3D coordinates. Matched 2D and 3D coordinates are then used to compute an initial pose used to initialize the tracker:
\code
tracker.initClick(I, "teabox.init");
\endcode
-The content of \c teabox.init file is provided hereafter:
+The content of \c teabox.init file that defines 3D coordinates of some points of the model used during user intialization is provided hereafter:
\includelineno teabox.init
@@ -267,10 +291,6 @@ The \c teabox.xml file used here contains the following:
\code
<?xml version="1.0"?>
<conf>
- <face>
- <angle_appear>70</angle_appear>
- <angle_disappear>80</angle_disappear>
- </face>
<klt>
<mask_border>5</mask_border>
<max_features>300</max_features>
@@ -287,6 +307,13 @@ The \c teabox.xml file used here contains the following:
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
\endcode
- The second one consists in initializing the parameters directly in the source code:
@@ -311,7 +338,7 @@ Note also that in this example we model the tea box with triangles:
\code
tracker.loadModel("teabox-triangle.cao");
\endcode
-The file \c teabox-triangle.cao describes first the vertexes of the box, then the triangular faces. A more complete description of this file is provided in \ref tracking_mb_cao (\ref tracking_mb_cao_triangle).
+The file \c teabox-triangle.cao describes first the vertices of the box, then the triangular faces. A more complete description of this file is provided in \ref tracking_mb_cao (\ref tracking_mb_cao_triangle).
Note that this is the only tracker for which lines of the model are not necessary edges of the object.
@@ -351,10 +378,6 @@ We provide just hereafter the content of the \c teabox.xml file:
<step>4</step>
<nb_sample>250</nb_sample>
</sample>
- <face>
- <angle_appear>70</angle_appear>
- <angle_disappear>80</angle_disappear>
- </face>
<klt>
<mask_border>5</mask_border>
<max_features>300</max_features>
@@ -371,6 +394,13 @@ We provide just hereafter the content of the \c teabox.xml file:
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
\endcode
@@ -398,7 +428,7 @@ We make the choice to describe the faces of the box from the 3D points that corr
- line 11: Number of single lines of the model. Sometimes, it could be useful to track a single line that doesn't lead to a face.
- line 12: Deprecated parameter that should always be set to 0.
- line 13: The number of faces defined by a set of points. Here our tea box has 6 faces. Thus, next 6 lines describe each face from the 3D points defined previously line 3 to 10.
-- line 14: First face defined by 4 points, respectively vertices 0,1,2,3. The orientation of the face is counter clockwise by going from vertex 0 to vertex 1, than 2 and 3. This fixes the orientation of the normal of the face going outside the object.
+- line 14: First face defined by 4 points, respectively vertices 0,1,2,3. The orientation of the face is counter clockwise by going from vertex 0 to vertex 1, then 2 and 3. This fixes the orientation of the normal of the face going outside the object.
- line 15: Second face also defined by 4 points, respectively vertices 1,6,5,2 to have a counter clockwise orientation.
- line 16 to 19: The four other faces of the box.
- line 20: Number of cylinders describing the model. Since we model a simple box, the number of cylinders is 0.
@@ -416,5 +446,26 @@ This file describes the model of the tea box corresponding to the next image:
Until line 12, the content of this file is similar to the one described in
\ref tracking_mb_cao_face. Line 13 we specify that the model contains 12 faces. Each face is then described as a triangle.
+\section tracking_mb_wrl CAD model in vrml format
+
+ViSP support vrml format only if Coin 3rd party is installed. This format allows to describe the CAD model of an object using a text file with extension \c .wrl.
+
+\subsection tracking_mb_vrml_face teabox.wrl example
+
+The content of the teabox.wrl file used in the \ref tracking_mb_edges is given hereafter. This content is to make into relation with teabox.cao described in \ref tracking_mb_cao_face.
+
+\includelineno teabox.wrl
+
+This file describes the model of the tea box corresponding to the next image:
+
+\image html img-teabox-cao.jpg Index of the vertices used to model the tea box in vrml format.
+
+We provide now a line by line description of the file where the faces of the box are defined from the vertices:
+- line 1 to 10: Header of the \c .wrl file.
+- line 13 to 20: 3D coordinates of the 8 tea box vertices.
+- line 34 to 29: Each line describe a face. In this example, a face is defined by 4 vertices. For example, the first face join vertices 0,1,2,3. The orientation of the face is counter clockwise by going from vertex 0 to vertex 1, then 2 and 3. This fixes the orientation of the normal of the face going outside the object.
+
+You are now ready to see the next \ref tutorial-tracking-tt.
+
*/
diff --git a/doc/tutorial-tracking-me.doc b/doc/tutorial-tracking-me.doc
index cde4ac3..33c35d0 100644
--- a/doc/tutorial-tracking-me.doc
+++ b/doc/tutorial-tracking-me.doc
@@ -72,7 +72,7 @@ We then open the connection with the grabber and acquire an image in \c I.
To be able to display image \c I and the tracking results in overlay in a window, we create a display instance.
\code
-#if defined UNIX
+#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Camera view");
#else
vpDisplayGDI d(I, 0, 0, "Camera view");
diff --git a/doc/tutorial-tracking-tt.doc b/doc/tutorial-tracking-tt.doc
new file mode 100644
index 0000000..c48d6ba
--- /dev/null
+++ b/doc/tutorial-tracking-tt.doc
@@ -0,0 +1,223 @@
+/**
+
+\page tutorial-tracking-tt Tutorial: Template tracking
+\tableofcontents
+
+With ViSP it is possible to track a template using image registration algorithms. Contrary to the common approaches based on visual features, this method allows to be much more robust to scene variations.
+
+In the following sections, we consider the tracking of a pattern. To simplify the source code, the tracking is performed on a single image. The extension to a sequence of images or to images acquired from a camera is easy. To this end see \ref tutorial-grabber.
+
+\section tracking_tt Track the painting
+
+The following example that comes from tutorial-template-tracker.cpp allows to track a template using vpTemplateTrackerSSDInverseCompositional class.
+Let us denote that "SSDInverseCompositional" refers to the similarity function used for the image registration. In ViSP, we have implemented, for now, two different similarity functions: the "Sum of Square Differences" (vpTemplateTrackerSSD classes \cite Baker04a) and the "Zero-mean Normalized Cross Correlation" (vpTemplateTrackerZNCC classes \cite Irani98a). Both methods can be used in different ways: Inverse Compositional, Forward Compositional, Forward Additional, or ESM.
+
+\include tutorial-template-tracker.cpp
+
+The video below shows the result of the template tracking.
+
+\htmlonly
+<iframe width="420" height="315" src="http://www.youtube.com/embed/hniUcaUSVBM" frameborder="0" allowfullscreen></iframe>
+\endhtmlonly
+
+Hereafter is the description of the new lines introduced in this example.
+
+\code
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpTemplateTrackerWarpHomography.h>
+\endcode
+
+Here we include the header of the vpTemplateTrackerSSDInverseCompositional class that allows to track the template. Actually, the tracker estimates the displacement of the template in the current image according to its initial pose. The computed displacement can be represented by multiple transformations, also called warps (vpTemplateTrackerWarp classes). In this example, we include the header vpTemplateTrackerWarpHomography class to define the possible transformation of the template as [...]
+
+\code
+vpTemplateTrackerWarpHomography warp;
+vpTemplateTrackerSSDInverseCompositional tracker(&warp);
+\endcode
+
+Once the tracker is created with the desired warp, parameters can be tuned to be more consistent with the expected behavior.
+
+\code
+tracker.setSampling(2,2); // Will consider only one pixel from two along rows and columns
+ // to create the reference template
+tracker.setLambda(0.001); // Gain used in the optimization loop
+tracker.setIterationMax(200); // Maximum number of iterations for the optimization loop
+tracker.setPyramidal(2, 1); // First and last level of the pyramid
+\endcode
+
+The last step of the initialization is to select the template that will be tracked during the sequence.
+
+\code
+tracker.initClick(I);
+\endcode
+
+The vpTemplateTracker classes proposed in ViSP offer you the possibility to defined your template as multiple planar triangles. When calling vpTemplateTracker::initClick(I), you will have to specify the triangles that define the template.
+
+\image html initClickTemplateTracker.png Initialization of the template without Delaunay triangulation.
+
+Let us denote that those triangles don't have to be spatially tied up. However, if you want to track a simple image as in this example, you should initialize the template as on the figure above. Left clicks on zero, one and two points create the green triangle. Left clicks on three, four and right click on five point create the red triangle and ends the initialization.
+If ViSP is build with OpenCV, we also provide an initialization with automatic triangulation using Delaunay. To use it, you just have to call vpTemplateTracker::initClick(I, true). Then by left clicking on zero, one, two, four and right clicking on five it initializes the tracker as on the image above.
+
+Next, in the infinite while loop, after displaying the next image, we track the object on a new image I.
+
+\code
+tracker.track(I);
+\endcode
+
+If you need to get the parameters of the current transformation of the template, it can be done by calling:
+
+\code
+vpColVector p = tracker.getp();
+\endcode
+
+For further information about the warping parameters, see the following section of \ref warp_tt. Next line is used to display the template using red lines and according to the computed transformation from the last call to track.
+
+\code
+tracker.display(I, vpColor::red);
+\endcode
+
+\subsection warp_tt Warping classes
+
+In the example presented above, we focused on the vpTemplateTrackerWarpHomography warping class which is the most generic transformation available in ViSP for the template trackers. However, if you know that the template you want to track is constrained, other warps might be more suitable.
+
+\b vpTemplateTrackerWarpTranslation
+
+\f$w({\bf x},{\bf p}) = {\bf x} + {\bf t}\f$ with the following estimated parameters \f$ {\bf p} = (t_x, t_y)\f$
+
+This class is the most simple transformation available for the template trackers. It only considers translation on two-axis (x-axis and y-axis).
+
+\b vpTemplateTrackerWarpSRT
+
+\f$w({\bf x},{\bf p}) = (1+s){\bf Rx} + {\bf t}\f$ with \f${\bf p} = (s, \theta, t_x, t_y)\f$
+
+The SRT warp considers a scale factor, a rotation on z-axis and a 2D translation as in vpTemplateTrackerWarpTranslation.
+
+\b vpTemplateTrackerWarpAffine
+
+
+\f$ w({\bf x},{\bf p}) = {\bf Ax} + {\bf t}\f$ with \f${\bf A} = \left( \begin{array}{cc}
+ 1+a_0 & a_2 \\
+ a_1 & 1+a_3
+ \end{array} \right)\f$, \f${\bf t} = \left( \begin{array}{c}
+ t_x \\
+ t_y
+ \end{array} \right)\f$ and the estimated parameters \f${\bf p} = (a_0 ... a_3, t_x, t_y)\f$
+
+The template transformation can also be defined as an affine transformation. This warping function preserves points, straight lines, and planes.
+
+\b vpTemplateTrackerWarpHomography
+
+\f$w({\bf x},{\bf p}) = {\bf Hx}\f$ with \f$ {\bf H}=\left( \begin{array}{ccc}
+ 1 + p_0 & p_3 & p_6 \\
+ p_1 & 1+p_4 & p_7 \\
+ p_2 & p_5 & 1.0
+ \end{array} \right) \f$ and the estimated parameters \f${\bf p} = (p_0 ... p_7)\f$
+
+As remind, the vpTemplateTrackerWarpHomography estimates the eight parameters of the homography matrix \f$ {\bf H}\f$.
+
+\b vpTemplateTrackerWarpHomographySL3
+
+\f$w({\bf x},{\bf p}) = {\bf Hx}\f$ with \f${\bf p} = (p_0 ... p_7)\f$
+
+The vpTemplateTrackerWarpHomographySL3 warp works exactly the same as the vpTemplateTrackerWarpHomography warp. The only difference is that here, the parameters of the homography are estimated in the SL3 reference frame.
+
+\subsection tune_tt How to tune the tracker
+
+When you want to obtain a perfect pose estimation, it is often time-consuming. However, by tuning the tracker, you can find a good compromise between speed and efficiency. Basically, what will make the difference is the size of the reference template. The more pixels it contains, the more time-consuming it will be. Fortunately, the solutions to avoid this problem are multiple. First of all lets come back on the vpTemplateTracker::setSampling() function.
+
+\code
+tracker.setSampling(4,4); // Will consider only one pixel from four along rows and columns
+ // to create the reference template.
+\endcode
+
+In the example above, we decided to consider only one pixel from 16 (4 by 4) to create the reference template. Obviously, by increasing those values it will consider much less pixels, which unfortunately decrease the efficiency, but the tracking phase will be much faster.
+
+The tracking phase relies on an iterative algorithm minimizing a cost function. What does it mean? It means this algorithm has, at some point, to stop! Once again, you have the possibility to reduce the number of iterations of the algorithm by taking the risk to fall in a local minimum.
+
+\code
+tracker.setIterationMax(50); // Maximum number of iterations for the optimization loop.
+\endcode
+
+If this is still not enough for you, let's remember that all of our trackers can be used in a pyramidal way. By reducing the number of levels considered by the algorithm, you will consider, once again, much less pixels and be faster.
+
+\code
+tracker.setPyramidal(3, 2); // First and last level of the pyramid
+\endcode
+Note here that when vpTemplateTracker::setPyramidal() function is not used, the pyramidal approach to speed up the algorithm is not used.
+
+Let us denote that if you're using vpTemplateTrackerSSDInverseCompositional or vpTemplateTrackerZNCCInverseCompositional, you also have another interesting option to speed up your tracking phase.
+
+\code
+tracker.setUseTemplateSelect(true);
+\endcode
+
+This function will force the tracker to only consider, in the reference template, the pixels that have an high gradient value. This is another solution to limit the number of considered pixels.
+
+As well as vpTemplateTrackerSSDInverseCompositional::setUseTemplateSelect() or vpTemplateTrackerZNCCInverseCompositional::setUseTemplateSelect(), another function, only available in vpTemplateTrackerSSDInverseCompositional and vpTemplateTrackerZNCCInverseCompositional is:
+
+\code
+tracker.setThresholdRMS(1e-6);
+\endcode
+
+By increasing this root mean square threshold value, the algorithm will reduce its number of iterations which should also speed up the tracking phase. This function should be used wisely with the vpTemplateTracker::setIterationMax() function.
+
+\subsection points_tt How to get the points of the template
+
+The previous code provided in tutorial-template-tracker.cpp can be modified to get the coordinates of the corners of the triangles that define the zone to track. To this end, as shown in the next lines, before the while loop we first define a reference zone and the corresponding warped zone. Then in the loop, we update the warped zone using the parameters of the warping model that is estimated by the tracker. From the warped zone, we extract all the triangles, and then for each triangles [...]
+
+\code
+ // Instantiate and get the reference zone
+ vpTemplateTrackerZone zone_ref = tracker.getZoneRef();
+ // Instantiate a warped zone
+ vpTemplateTrackerZone zone_warped;
+
+ while(!g.end()){
+ g.acquire(I);
+ vpDisplay::display(I);
+ tracker.track(I);
+
+ tracker.display(I, vpColor::red);
+
+ // Get the estimated parameters
+ vpColVector p = tracker.getp();
+
+ // Update the warped zone given the tracker estimated parameters
+ warp.warpZone(zone_ref, p, zone_warped);
+
+ // Parse all the triangles that describe the zone
+ for (int i=0; i < zone_warped.getNbTriangle(); i++) {
+ vpTemplateTrackerTriangle triangle;
+ // Get a triangle
+ zone_warped.getTriangle(i, triangle);
+ std::vector<vpImagePoint> corners;
+ // Get the 3 triangle corners
+ triangle.getCorners( corners );
+
+ // From here, each corner triangle is available in
+ // corners[0], corners[1] and corners[2]
+
+ // Display a green cross over each corner
+ for(unsigned int j=0; j<corners.size(); j++)
+ vpDisplay::displayCross(I, corners[j], 15, vpColor::green, 2);
+ }
+ vpDisplay::displayRectangle(I, zone_warped.getBoundingBox(), vpColor::orange);
+\endcode
+
+With the last line, we also sho how to get and display an orange rectangle that corresponds to the bounding box of all the triangles that define the zone.
+
+The resulting drawings introduced previously are shown in the next image. Here we initialize the tracker with 2 triangles that are not connex.
+
+\image html img-template-tracker.jpg
+
+
+\section tracking_tt_example More examples
+
+The templateTracker.cpp source code provided in the example/tracking folder allows to test all the template tracker classes that derive from vpTemplateTracker as well as all the warping classes that derive from vpTemplateTrackerWarp.
+
+Once build, in a terminal just run:
+
+\code
+./templateTracker -h
+\endcode
+
+to see which are the command lines options.
+*/
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
index e75ea1a..f8bda59 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -64,7 +64,6 @@ SET (SRC_SUBDIRS
servo-afma4
servo-afma6
servo-biclops
- servo-cycab
servo-pioneer
servo-ptu46
servo-viper650
@@ -72,7 +71,7 @@ SET (SRC_SUBDIRS
tools
tracking
video
- wireframe-simulator
+ wireframe-simulator
)
# Build process propagation in the sub directories
diff --git a/example/calibration/CMakeLists.txt b/example/calibration/CMakeLists.txt
index b634146..95ba217 100644
--- a/example/calibration/CMakeLists.txt
+++ b/example/calibration/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4277 2013-06-25 13:09:01Z fspindle $
+# $Id: CMakeLists.txt 4598 2014-01-20 17:07:30Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -65,3 +65,25 @@ ENDFOREACH(source)
# of acquired images
ADD_TEST(calibrateTsai calibrateTsai)
+# copy the data
+get_target_property(target_location camera_calibration LOCATION)
+get_filename_component(target_location "${target_location}" PATH)
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/default-chessboard.cfg" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/default-circles.cfg" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard-01.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard-02.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard-03.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard-04.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard-05.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/circles-01.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/circles-02.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/circles-03.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/circles-04.png" )
+list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/circles-05.png" )
+foreach(data ${data2copy})
+ add_custom_command(
+ TARGET camera_calibration
+ POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
+ )
+endforeach()
diff --git a/example/calibration/calibrateTsai.cpp b/example/calibration/calibrateTsai.cpp
index 9d05305..77b299d 100644
--- a/example/calibration/calibrateTsai.cpp
+++ b/example/calibration/calibrateTsai.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: calibrateTsai.cpp 4273 2013-06-25 12:33:27Z fspindle $
+ * $Id: calibrateTsai.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,85 +58,86 @@
int main()
{
- // We want to calibrate the hand to eye extrinsic camera parameters from 6 couple of poses: cMo and wMe
- const int N = 6;
- // Input: six couple of poses used as input in the calibration proces
- std::vector<vpHomogeneousMatrix> cMo(N) ; // eye (camera) to object transformation. The object frame is attached to the calibrartion grid
- std::vector<vpHomogeneousMatrix> wMe(N) ; // world to hand (end-effector) transformation
- // Output: Result of the calibration
- vpHomogeneousMatrix eMc; // hand (end-effector) to eye (camera) transformation
+ try {
+ // We want to calibrate the hand to eye extrinsic camera parameters from 6 couple of poses: cMo and wMe
+ const unsigned int N = 6;
+ // Input: six couple of poses used as input in the calibration proces
+ std::vector<vpHomogeneousMatrix> cMo(N) ; // eye (camera) to object transformation. The object frame is attached to the calibrartion grid
+ std::vector<vpHomogeneousMatrix> wMe(N) ; // world to hand (end-effector) transformation
+ // Output: Result of the calibration
+ vpHomogeneousMatrix eMc; // hand (end-effector) to eye (camera) transformation
- // Initialize an eMc transformation used to produce the simulated input transformations cMo and wMe
- vpTranslationVector etc(0.1, 0.2, 0.3);
- vpThetaUVector erc;
- erc[0] = vpMath::rad(10); // 10 deg
- erc[1] = vpMath::rad(-10); // -10 deg
- erc[2] = vpMath::rad(25); // 25 deg
+ // Initialize an eMc transformation used to produce the simulated input transformations cMo and wMe
+ vpTranslationVector etc(0.1, 0.2, 0.3);
+ vpThetaUVector erc;
+ erc[0] = vpMath::rad(10); // 10 deg
+ erc[1] = vpMath::rad(-10); // -10 deg
+ erc[2] = vpMath::rad(25); // 25 deg
- eMc.buildFrom(etc, erc);
- std::cout << "Simulated hand to eye transformation: eMc " << std::endl ;
- std::cout << eMc << std::endl ;
- std::cout << "Theta U rotation: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2]) << std::endl;
+ eMc.buildFrom(etc, erc);
+ std::cout << "Simulated hand to eye transformation: eMc " << std::endl ;
+ std::cout << eMc << std::endl ;
+ std::cout << "Theta U rotation: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2]) << std::endl;
- vpColVector v_c(6) ; // camera velocity used to produce 6 simulated poses
- for (int i=0 ; i < N ; i++)
- {
- v_c = 0 ;
- if (i==0) {
- // Initialize first poses
- cMo[0].buildFrom(0, 0, 0.5, 0, 0, 0); // z=0.5 m
- wMe[0].buildFrom(0, 0, 0, 0, 0, 0); // Id
- }
- else if (i==1)
- v_c[3] = M_PI/8 ;
- else if (i==2)
- v_c[4] = M_PI/8 ;
- else if (i==3)
- v_c[5] = M_PI/10 ;
- else if (i==4)
- v_c[0] = 0.5 ;
- else if (i==5)
- v_c[1] = 0.8 ;
+ vpColVector v_c(6) ; // camera velocity used to produce 6 simulated poses
+ for (unsigned int i=0 ; i < N ; i++)
+ {
+ v_c = 0 ;
+ if (i==0) {
+ // Initialize first poses
+ cMo[0].buildFrom(0, 0, 0.5, 0, 0, 0); // z=0.5 m
+ wMe[0].buildFrom(0, 0, 0, 0, 0, 0); // Id
+ }
+ else if (i==1)
+ v_c[3] = M_PI/8 ;
+ else if (i==2)
+ v_c[4] = M_PI/8 ;
+ else if (i==3)
+ v_c[5] = M_PI/10 ;
+ else if (i==4)
+ v_c[0] = 0.5 ;
+ else if (i==5)
+ v_c[1] = 0.8 ;
- vpHomogeneousMatrix cMc; // camera displacement
- cMc = vpExponentialMap::direct(v_c) ; // Compute the camera displacement due to the velocity applied to the camera
- if (i > 0) {
- // From the camera displacement cMc, compute the wMe and cMo matrices
- cMo[i] = cMc.inverse() * cMo[i-1];
- wMe[i] = wMe[i-1] * eMc * cMc * eMc.inverse();
+ vpHomogeneousMatrix cMc; // camera displacement
+ cMc = vpExponentialMap::direct(v_c) ; // Compute the camera displacement due to the velocity applied to the camera
+ if (i > 0) {
+ // From the camera displacement cMc, compute the wMe and cMo matrices
+ cMo[i] = cMc.inverse() * cMo[i-1];
+ wMe[i] = wMe[i-1] * eMc * cMc * eMc.inverse();
+ }
}
- }
- if (0) {
- for (int i=0 ; i < N ; i++) {
- vpHomogeneousMatrix wMo;
- wMo = wMe[i] * eMc * cMo[i];
- std::cout << std::endl << "wMo[" << i << "] " << std::endl ;
- std::cout << wMo << std::endl ;
- std::cout << "cMo[" << i << "] " << std::endl ;
- std::cout << cMo[i] << std::endl ;
- std::cout << "wMe[" << i << "] " << std::endl ;
- std::cout << wMe[i] << std::endl ;
+ if (0) {
+ for (unsigned int i=0 ; i < N ; i++) {
+ vpHomogeneousMatrix wMo;
+ wMo = wMe[i] * eMc * cMo[i];
+ std::cout << std::endl << "wMo[" << i << "] " << std::endl ;
+ std::cout << wMo << std::endl ;
+ std::cout << "cMo[" << i << "] " << std::endl ;
+ std::cout << cMo[i] << std::endl ;
+ std::cout << "wMe[" << i << "] " << std::endl ;
+ std::cout << wMe[i] << std::endl ;
+ }
}
- }
- // Reset the eMc matrix to eye
- eMc.eye();
+ // Reset the eMc matrix to eye
+ eMc.eye();
- // Compute the eMc hand to eye transformation from six poses
- // - cMo[6]: camera to object poses as six homogeneous transformations
- // - wMe[6]: world to hand (end-effector) poses as six homogeneous transformations
- vpCalibration::calibrationTsai(cMo, wMe, eMc) ;
+ // Compute the eMc hand to eye transformation from six poses
+ // - cMo[6]: camera to object poses as six homogeneous transformations
+ // - wMe[6]: world to hand (end-effector) poses as six homogeneous transformations
+ vpCalibration::calibrationTsai(cMo, wMe, eMc) ;
- std::cout << std::endl << "Output: hand to eye calibration result: eMc estimated " << std::endl ;
- std::cout << eMc << std::endl ;
- eMc.extract(erc);
- std::cout << "Theta U rotation: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2]) << std::endl;
- return 0 ;
+ std::cout << std::endl << "Output: hand to eye calibration result: eMc estimated " << std::endl ;
+ std::cout << eMc << std::endl ;
+ eMc.extract(erc);
+ std::cout << "Theta U rotation: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2]) << std::endl;
+ return 0 ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1 ;
+ }
}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/example/calibration/camera_calibration.cpp b/example/calibration/camera_calibration.cpp
index 701a77e..dff8863 100644
--- a/example/calibration/camera_calibration.cpp
+++ b/example/calibration/camera_calibration.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: camera_calibration.cpp 4286 2013-06-26 20:28:16Z fspindle $
+ * $Id: camera_calibration.cpp 4663 2014-02-14 10:32:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,10 +61,19 @@
#include <visp/vpVideoReader.h>
#include <visp/vpXmlParserCamera.h>
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
class Settings
{
public:
- Settings() : goodInput(false) {}
+ Settings() {
+ boardSize = cv::Size(0, 0);
+ calibrationPattern = UNDEFINED;
+ squareSize = 0.025f;
+ goodInput = false;
+ tempo = 1.f;
+
+ }
enum Pattern { UNDEFINED, CHESSBOARD, CIRCLES_GRID};
bool read(const std::string &filename) // Read the parameters
@@ -77,12 +86,14 @@ public:
vpIoTools::readConfigVar("Square_Size:", squareSize);
vpIoTools::readConfigVar("Calibrate_Pattern:", patternToUse);
vpIoTools::readConfigVar("Input:", input);
+ vpIoTools::readConfigVar("Tempo:", tempo);
std::cout << "grid width : " << boardSize.width << std::endl;
std::cout << "grid height: " << boardSize.height << std::endl;
std::cout << "square size: " << squareSize << std::endl;
std::cout << "pattern : " << patternToUse << std::endl;
std::cout << "input seq : " << input << std::endl;
+ std::cout << "tempo : " << tempo << std::endl;
interprate();
return true;
}
@@ -102,8 +113,8 @@ public:
goodInput = false;
calibrationPattern = UNDEFINED;
- if (!patternToUse.compare("CHESSBOARD")) calibrationPattern = CHESSBOARD;
- if (!patternToUse.compare("CIRCLES_GRID")) calibrationPattern = CIRCLES_GRID;
+ if (patternToUse.compare("CHESSBOARD") == 0) calibrationPattern = CHESSBOARD;
+ else if (patternToUse.compare("CIRCLES_GRID") == 0) calibrationPattern = CIRCLES_GRID;
if (calibrationPattern == UNDEFINED) {
std::cerr << " Inexistent camera calibration mode: " << patternToUse << std::endl;
goodInput = false;
@@ -115,172 +126,206 @@ public:
Pattern calibrationPattern;// One of the Chessboard, circles, or asymmetric circle pattern
float squareSize; // The size of a square in your defined unit (point, millimeter,etc).
std::string input; // The input image sequence
+ float tempo; // Tempo in seconds between two images. If > 10 wait a click to continue
bool goodInput;
private:
std::string patternToUse;
};
+#endif
int main(int argc, const char ** argv)
{
- std::string outputFileName = "camera.xml";
-
- Settings s;
- const std::string inputSettingsFile = argc > 1 ? argv[1] : "default.cfg";
- if (! s.read(inputSettingsFile) ) {
- std::cout << "Could not open the configuration file: \"" << inputSettingsFile << "\"" << std::endl;
- std::cout << std::endl << "Usage: " << argv[0] << " <configuration file>.cfg" << std::endl;
- return -1;
- }
+ try {
+ std::string outputFileName = "camera.xml";
+
+ Settings s;
+ const std::string inputSettingsFile = argc > 1 ? argv[1] : "default.cfg";
+ if (! s.read(inputSettingsFile) ) {
+ std::cout << "Could not open the configuration file: \"" << inputSettingsFile << "\"" << std::endl;
+ std::cout << std::endl << "Usage: " << argv[0] << " <configuration file>.cfg" << std::endl;
+ return -1;
+ }
- if (! s.goodInput)
- {
- std::cout << "Invalid input detected. Application stopping. " << std::endl;
- return -1;
- }
+ if (! s.goodInput)
+ {
+ std::cout << "Invalid input detected. Application stopping. " << std::endl;
+ return -1;
+ }
- // Start the calibration code
- vpImage<unsigned char> I;
- vpVideoReader reader;
- reader.setFileName(s.input);
- reader.open(I);
+ // Start the calibration code
+ vpImage<unsigned char> I;
+ vpVideoReader reader;
+ reader.setFileName(s.input);
+ reader.open(I);
#ifdef VISP_HAVE_X11
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined VISP_HAVE_GDI
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#elif defined VISP_HAVE_GTK
- vpDisplayGTK d(I);
+ vpDisplayGTK d(I);
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV d(I);
+ vpDisplayOpenCV d(I);
#endif
- std::vector<vpPoint> model;
- std::vector<vpCalibration> calibrator;
-
- for (int i=0; i< s.boardSize.height; i++) {
- for (int j=0; j< s.boardSize.width; j++) {
- vpPoint P;
- P.setWorldCoordinates(j*s.squareSize, i*s.squareSize, 0);
- model.push_back(P);
- }
- }
-
- long frame_index;
- while(! reader.end()) {
- frame_index = reader.getFrameIndex();
- reader.acquire(I);
- vpDisplay::display(I);
+ std::vector<vpPoint> model;
+ std::vector<vpCalibration> calibrator;
- cv::Mat cvI;
- std::vector<cv::Point2f> pointBuf;
- vpImageConvert::convert(I, cvI);
-
- bool found;
- switch( s.calibrationPattern ) // Find feature points on the input format
- {
- case Settings::CHESSBOARD:
- found = findChessboardCorners( cvI, s.boardSize, pointBuf,
- CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
- break;
- case Settings::CIRCLES_GRID:
- found = findCirclesGrid( cvI, s.boardSize, pointBuf, cv::CALIB_CB_SYMMETRIC_GRID );
- break;
- default:
- break;
+ for (int i=0; i< s.boardSize.height; i++) {
+ for (int j=0; j< s.boardSize.width; j++) {
+ vpPoint P;
+ P.setWorldCoordinates(j*s.squareSize, i*s.squareSize, 0);
+ model.push_back(P);
+ }
}
- std::cout << "frame: " << frame_index << " status: " << found << std::endl;
-
- if ( found) // If done with success,
- {
- std::vector<vpImagePoint> data;
-
- if (s.calibrationPattern == Settings::CHESSBOARD) {
- // improve the found corners' coordinate accuracy for chessboard
- cornerSubPix( cvI, pointBuf, cv::Size(11,11),
- cv::Size(-1,-1), cv::TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
+ long frame_index;
+ while(! reader.end()) {
+ frame_index = reader.getFrameIndex();
+ reader.acquire(I);
+ vpDisplay::display(I);
+
+ cv::Mat cvI;
+ std::vector<cv::Point2f> pointBuf;
+ vpImageConvert::convert(I, cvI);
+
+ bool found = false;
+ switch( s.calibrationPattern ) // Find feature points on the input format
+ {
+ case Settings::CHESSBOARD:
+ //std::cout << "Use chessboard " << std::endl;
+ found = findChessboardCorners( cvI, s.boardSize, pointBuf,
+ CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
+ break;
+ case Settings::CIRCLES_GRID:
+ //std::cout << "Use circle grid " << std::endl;
+ found = findCirclesGrid( cvI, s.boardSize, pointBuf, cv::CALIB_CB_SYMMETRIC_GRID );
+ break;
+ case Settings::UNDEFINED:
+ default:
+ std::cout << "Unkown calibration grid " << std::endl;
+ break;
}
- char title[20]; sprintf(title, "image %ld", frame_index);
- vpDisplay::setTitle(I, title);
- for (unsigned int i=0; i < pointBuf.size(); i++) {
- vpImagePoint ip(pointBuf[i].y, pointBuf[i].x);
- data.push_back(ip);
- vpDisplay::displayCross(I, ip, 10, vpColor::red);
+ std::cout << "frame: " << frame_index << ", status: " << found;
+ if (!found)
+ std::cout << ", image rejected" << std::endl;
+ else
+ std::cout << ", image used as input data" << std::endl;
+
+ if ( found) // If done with success,
+ {
+ std::vector<vpImagePoint> data;
+
+ if (s.calibrationPattern == Settings::CHESSBOARD) {
+ // improve the found corners' coordinate accuracy for chessboard
+ cornerSubPix( cvI, pointBuf, cv::Size(11,11),
+ cv::Size(-1,-1), cv::TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
+ }
+ char title[20]; sprintf(title, "image %ld", frame_index);
+ vpDisplay::setTitle(I, title);
+ for (unsigned int i=0; i < pointBuf.size(); i++) {
+ vpImagePoint ip(pointBuf[i].y, pointBuf[i].x);
+ data.push_back(ip);
+ vpDisplay::displayCross(I, ip, 10, vpColor::red);
+ }
+
+ // Calibration on a single mono image
+ vpCalibration calib;
+ calib.setLambda(0.5);
+ calib.clearPoint();
+ for (unsigned int i=0; i<model.size(); i++) {
+ calib.addPoint(model[i].get_oX(), model[i].get_oY(), model[i].get_oZ(), data[i]);
+ }
+ vpHomogeneousMatrix cMo;
+ vpCameraParameters cam;
+
+ // Set (u0,v0) in the middle of the image
+ double px = cam.get_px();
+ double py = cam.get_px();
+ double u0 = I.getWidth()/2;
+ double v0 = I.getHeight()/2;
+ cam.initPersProjWithoutDistortion(px, py, u0, v0);
+
+ if (calib.computeCalibration(vpCalibration::CALIB_VIRTUAL_VS, cMo, cam, false) == 0) {
+ //std::cout << "camera parameters: " << cam << std::endl;
+ calibrator.push_back(calib);
+ }
}
- // Calibration on a single mono image
- vpCalibration calib;
- calib.setLambda(0.5);
- calib.clearPoint();
- for (unsigned int i=0; i<model.size(); i++) {
- calib.addPoint(model[i].get_oX(), model[i].get_oY(), model[i].get_oZ(), data[i]);
+ if (found)
+ vpDisplay::displayCharString(I, 15, 15, "Image processing succeed", vpColor::green);
+ else
+ vpDisplay::displayCharString(I, 15, 15, "Image processing fails", vpColor::green);
+
+ if (s.tempo > 10.f) {
+ vpDisplay::displayCharString(I, 35, 15, "A click to process the next image", vpColor::green);
+ vpDisplay::flush(I);
+ vpDisplay::getClick(I);
}
- vpHomogeneousMatrix cMo;
- vpCameraParameters cam;
-
- // Set (u0,v0) in the middle of the image
- double px = cam.get_px();
- double py = cam.get_px();
- double u0 = I.getWidth()/2;
- double v0 = I.getHeight()/2;
- cam.initPersProjWithoutDistortion(px, py, u0, v0);
-
- if (calib.computeCalibration(vpCalibration::CALIB_VIRTUAL_VS, cMo, cam, false) == 0) {
- //std::cout << "camera parameters: " << cam << std::endl;
- calibrator.push_back(calib);
+ else {
+ vpDisplay::flush(I);
+ vpTime::wait(s.tempo*1000);
}
}
- vpDisplay::flush(I);
- //vpDisplay::getClick(I);
- }
-
- // Now we consider the multi image calibration
- // Calibrate by a non linear method based on virtual visual servoing
- if (calibrator.empty()) {
- std::cerr << "Unable to calibrate. Image processing failed !" << std::endl;
- return 0;
- }
+ // Now we consider the multi image calibration
+ // Calibrate by a non linear method based on virtual visual servoing
+ if (calibrator.empty()) {
+ std::cerr << "Unable to calibrate. Image processing failed !" << std::endl;
+ return 0;
+ }
- std::cout << "\nCalibration without distorsion in progress on " << calibrator.size() << " images..." << std::endl;
- vpCameraParameters cam;
- double error;
- if (vpCalibration::computeCalibrationMulti(vpCalibration::CALIB_VIRTUAL_VS, calibrator, cam, error, false) == 0) {
- std::cout << cam << std::endl;
- std::cout << "Global reprojection error: " << error << std::endl;
+ std::cout << "\nCalibration without distorsion in progress on " << calibrator.size() << " images..." << std::endl;
+ vpCameraParameters cam;
+ double error;
+ if (vpCalibration::computeCalibrationMulti(vpCalibration::CALIB_VIRTUAL_VS, calibrator, cam, error, false) == 0) {
+ std::cout << cam << std::endl;
+ std::cout << "Global reprojection error: " << error << std::endl;
#ifdef VISP_HAVE_XML2
- vpXmlParserCamera xml;
+ vpXmlParserCamera xml;
- if(xml.save(cam, outputFileName.c_str(), "Camera", I.getWidth(), I.getHeight()) == vpXmlParserCamera::SEQUENCE_OK)
- std::cout << "Camera parameters without distortion successfully saved in \"" << outputFileName << "\"" << std::endl;
- else {
- std::cout << "Failed to save the camera parameters without distortion in \"" << outputFileName << "\"" << std::endl;
- std::cout << "A file with the same name exists. Remove it to be able to save the parameters..." << std::endl;
- }
+ if(xml.save(cam, outputFileName.c_str(), "Camera", I.getWidth(), I.getHeight()) == vpXmlParserCamera::SEQUENCE_OK)
+ std::cout << "Camera parameters without distortion successfully saved in \"" << outputFileName << "\"" << std::endl;
+ else {
+ std::cout << "Failed to save the camera parameters without distortion in \"" << outputFileName << "\"" << std::endl;
+ std::cout << "A file with the same name exists. Remove it to be able to save the parameters..." << std::endl;
+ }
#endif
- }
- else
- std::cout << "Calibration without distortion failed." << std::endl;
+ }
+ else
+ std::cout << "Calibration without distortion failed." << std::endl;
+
+ std::cout << "\nCalibration with distorsion in progress on " << calibrator.size() << " images..." << std::endl;
+ if (vpCalibration::computeCalibrationMulti(vpCalibration::CALIB_VIRTUAL_VS_DIST, calibrator, cam, error, false) == 0) {
+ std::cout << cam << std::endl;
+ std::cout << "Global reprojection error: " << error << std::endl;
- std::cout << "\nCalibration with distorsion in progress on " << calibrator.size() << " images..." << std::endl;
- if (vpCalibration::computeCalibrationMulti(vpCalibration::CALIB_VIRTUAL_VS_DIST, calibrator, cam, error, false) == 0) {
- std::cout << cam << std::endl;
- std::cout << "Global reprojection error: " << error << std::endl;
#ifdef VISP_HAVE_XML2
- vpXmlParserCamera xml;
+ vpXmlParserCamera xml;
- if(xml.save(cam, outputFileName.c_str(), "Camera", I.getWidth(), I.getHeight()) == vpXmlParserCamera::SEQUENCE_OK)
- std::cout << "Camera parameters without distortion successfully saved in \"" << outputFileName << "\"" << std::endl;
- else {
- std::cout << "Failed to save the camera parameters without distortion in \"" << outputFileName << "\"" << std::endl;
- std::cout << "A file with the same name exists. Remove it to be able to save the parameters..." << std::endl;
- }
+ if(xml.save(cam, outputFileName.c_str(), "Camera", I.getWidth(), I.getHeight()) == vpXmlParserCamera::SEQUENCE_OK)
+ std::cout << "Camera parameters without distortion successfully saved in \"" << outputFileName << "\"" << std::endl;
+ else {
+ std::cout << "Failed to save the camera parameters without distortion in \"" << outputFileName << "\"" << std::endl;
+ std::cout << "A file with the same name exists. Remove it to be able to save the parameters..." << std::endl;
+ }
#endif
+ std::cout << std::endl;
+ for (unsigned int i=0; i<calibrator.size(); i++)
+ std::cout << "Estimated pose on input data " << i << ": " << vpPoseVector(calibrator[i].cMo_dist).t() << std::endl;
+
+ }
+ else
+ std::cout << "Calibration with distortion failed." << std::endl;
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- else
- std::cout << "Calibration with distortion failed." << std::endl;
}
#else
int main()
diff --git a/example/calibration/chessboard-01.png b/example/calibration/chessboard-01.png
new file mode 100644
index 0000000..4e92fd6
Binary files /dev/null and b/example/calibration/chessboard-01.png differ
diff --git a/example/calibration/chessboard-02.png b/example/calibration/chessboard-02.png
new file mode 100644
index 0000000..ab56b8e
Binary files /dev/null and b/example/calibration/chessboard-02.png differ
diff --git a/example/calibration/chessboard-03.png b/example/calibration/chessboard-03.png
new file mode 100644
index 0000000..089bc32
Binary files /dev/null and b/example/calibration/chessboard-03.png differ
diff --git a/example/calibration/chessboard-04.png b/example/calibration/chessboard-04.png
new file mode 100644
index 0000000..0485159
Binary files /dev/null and b/example/calibration/chessboard-04.png differ
diff --git a/example/calibration/chessboard-05.png b/example/calibration/chessboard-05.png
new file mode 100644
index 0000000..efaa34a
Binary files /dev/null and b/example/calibration/chessboard-05.png differ
diff --git a/example/calibration/circles-01.png b/example/calibration/circles-01.png
new file mode 100644
index 0000000..a0340a0
Binary files /dev/null and b/example/calibration/circles-01.png differ
diff --git a/example/calibration/circles-02.png b/example/calibration/circles-02.png
new file mode 100644
index 0000000..44504e3
Binary files /dev/null and b/example/calibration/circles-02.png differ
diff --git a/example/calibration/circles-03.png b/example/calibration/circles-03.png
new file mode 100644
index 0000000..3a01fad
Binary files /dev/null and b/example/calibration/circles-03.png differ
diff --git a/example/calibration/circles-04.png b/example/calibration/circles-04.png
new file mode 100644
index 0000000..48d0993
Binary files /dev/null and b/example/calibration/circles-04.png differ
diff --git a/example/calibration/circles-05.png b/example/calibration/circles-05.png
new file mode 100644
index 0000000..05fb8dc
Binary files /dev/null and b/example/calibration/circles-05.png differ
diff --git a/example/calibration/default-chessboard.cfg b/example/calibration/default-chessboard.cfg
index 4b040be..9de6af0 100644
--- a/example/calibration/default-chessboard.cfg
+++ b/example/calibration/default-chessboard.cfg
@@ -11,3 +11,6 @@ Calibrate_Pattern: CHESSBOARD
# The input image sequence to use for calibration
Input: chessboard-%02d.png
+
+# Tempo in seconds between two images. If > 10 wait a click to continue
+Tempo: 1
diff --git a/example/calibration/default-circles.cfg b/example/calibration/default-circles.cfg
index 2c540ba..bb68c64 100644
--- a/example/calibration/default-circles.cfg
+++ b/example/calibration/default-circles.cfg
@@ -10,4 +10,7 @@ Square_Size: 0.034
Calibrate_Pattern: CIRCLES_GRID
# The input image sequence to use for calibration
-Input: circle-grid-%02d.pgm
+Input: circles-%02d.png
+
+# Tempo in seconds between two images. If > 10 wait a click to continue
+Tempo: 1
diff --git a/example/coin-simulator/CMakeLists.txt b/example/coin-simulator/CMakeLists.txt
index 3e619cc..1b5d93d 100644
--- a/example/coin-simulator/CMakeLists.txt
+++ b/example/coin-simulator/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/coin-simulator/simulateCircle2DCamVelocity.cpp b/example/coin-simulator/simulateCircle2DCamVelocity.cpp
index 728c2e9..f56f203 100644
--- a/example/coin-simulator/simulateCircle2DCamVelocity.cpp
+++ b/example/coin-simulator/simulateCircle2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: simulateCircle2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: simulateCircle2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -189,8 +189,6 @@ void *mainLoop (void *_simu)
unsigned int pos = 2 ;
while (pos!=0)
{
-
-
vpServo task ;
vpRobotCamera robot ;
@@ -321,77 +319,84 @@ void *mainLoop (void *_simu)
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string filename;
- std::string username;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string filename;
+ std::string username;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_INPUT_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_INPUT_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- vpCameraParameters cam ;
- vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
+ vpCameraParameters cam ;
+ vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
- if (opt_display) {
+ if (opt_display) {
- vpSimulator simu ;
- simu.initInternalViewer(300, 300) ;
- simu.initExternalViewer(300, 300) ;
+ vpSimulator simu ;
+ simu.initInternalViewer(300, 300) ;
+ simu.initExternalViewer(300, 300) ;
- vpTime::wait(1000) ;
- simu.setZoomFactor(1.0f) ;
- simu.addAbsoluteFrame() ;
+ vpTime::wait(1000) ;
+ simu.setZoomFactor(1.0f) ;
+ simu.addAbsoluteFrame() ;
- // Load the cad model
- filename = ipath + vpIoTools::path("/ViSP-images/iv/circle.iv");
- simu.load(filename.c_str(),fMo) ;
+ // Load the cad model
+ filename = ipath + vpIoTools::path("/ViSP-images/iv/circle.iv");
+ simu.load(filename.c_str(),fMo) ;
- simu.setInternalCameraParameters(cam) ;
+ simu.setInternalCameraParameters(cam) ;
- simu.initApplication(&mainLoop) ;
- simu.mainLoop() ;
+ simu.initApplication(&mainLoop) ;
+ simu.mainLoop() ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/coin-simulator/simulateFourPoints2DCartesianCamVelocity.cpp b/example/coin-simulator/simulateFourPoints2DCartesianCamVelocity.cpp
index 729a184..9ececb2 100644
--- a/example/coin-simulator/simulateFourPoints2DCartesianCamVelocity.cpp
+++ b/example/coin-simulator/simulateFourPoints2DCartesianCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: simulateFourPoints2DCartesianCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: simulateFourPoints2DCartesianCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -318,76 +318,83 @@ void *mainLoop (void *_simu)
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string filename;
- std::string username;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string filename;
+ std::string username;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- vpCameraParameters cam ;
- vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
+ vpCameraParameters cam ;
+ vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
- if (opt_display) {
- vpSimulator simu ;
- simu.initInternalViewer(300, 300) ;
- simu.initExternalViewer(300, 300) ;
+ if (opt_display) {
+ vpSimulator simu ;
+ simu.initInternalViewer(300, 300) ;
+ simu.initExternalViewer(300, 300) ;
- vpTime::wait(1000) ;
- simu.setZoomFactor(1.0f) ;
+ vpTime::wait(1000) ;
+ simu.setZoomFactor(1.0f) ;
- // Load the cad model
- filename = ipath + vpIoTools::path("/ViSP-images/iv/4points.iv");
- simu.load(filename.c_str()) ;
+ // Load the cad model
+ filename = ipath + vpIoTools::path("/ViSP-images/iv/4points.iv");
+ simu.load(filename.c_str()) ;
- simu.setInternalCameraParameters(cam) ;
- simu.setExternalCameraParameters(cam) ;
- simu.initApplication(&mainLoop) ;
+ simu.setInternalCameraParameters(cam) ;
+ simu.setExternalCameraParameters(cam) ;
+ simu.initApplication(&mainLoop) ;
- simu.mainLoop() ;
+ simu.mainLoop() ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/coin-simulator/simulateFourPoints2DPolarCamVelocity.cpp b/example/coin-simulator/simulateFourPoints2DPolarCamVelocity.cpp
index b891e70..8a5033a 100644
--- a/example/coin-simulator/simulateFourPoints2DPolarCamVelocity.cpp
+++ b/example/coin-simulator/simulateFourPoints2DPolarCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: simulateFourPoints2DPolarCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: simulateFourPoints2DPolarCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -345,76 +345,83 @@ void *mainLoop (void *_simu)
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string filename;
- std::string username;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string filename;
+ std::string username;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- vpCameraParameters cam ;
- vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
+ vpCameraParameters cam ;
+ vpHomogeneousMatrix fMo ; fMo[2][3] = 0 ;
- if (opt_display) {
- vpSimulator simu ;
- simu.initInternalViewer(300, 300) ;
- simu.initExternalViewer(300, 300) ;
+ if (opt_display) {
+ vpSimulator simu ;
+ simu.initInternalViewer(300, 300) ;
+ simu.initExternalViewer(300, 300) ;
- vpTime::wait(1000) ;
- simu.setZoomFactor(1.0f) ;
+ vpTime::wait(1000) ;
+ simu.setZoomFactor(1.0f) ;
- // Load the cad model
- filename = ipath + vpIoTools::path("/ViSP-images/iv/4points.iv");
- simu.load(filename.c_str()) ;
+ // Load the cad model
+ filename = ipath + vpIoTools::path("/ViSP-images/iv/4points.iv");
+ simu.load(filename.c_str()) ;
- simu.setInternalCameraParameters(cam) ;
- simu.setExternalCameraParameters(cam) ;
- simu.initApplication(&mainLoop) ;
+ simu.setInternalCameraParameters(cam) ;
+ simu.setExternalCameraParameters(cam) ;
+ simu.initApplication(&mainLoop) ;
- simu.mainLoop() ;
+ simu.mainLoop() ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/device/CMakeLists.txt b/example/device/CMakeLists.txt
index 7a3d65c..f4114f8 100644
--- a/example/device/CMakeLists.txt
+++ b/example/device/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/display/CMakeLists.txt b/example/device/display/CMakeLists.txt
index 6c30fe5..9c609bf 100644
--- a/example/device/display/CMakeLists.txt
+++ b/example/device/display/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/display/displayD3D.cpp b/example/device/display/displayD3D.cpp
index 375340a..a6e9577 100755
--- a/example/device/display/displayD3D.cpp
+++ b/example/device/display/displayD3D.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayD3D.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: displayD3D.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -180,255 +180,251 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
- opt_opath = "C:\\temp";
-
-
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+ opt_opath = "C:\\temp";
+
+
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+ vpImagePoint ip, ip1, ip2;
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I, filename) ;
- // Create a grey level image
- vpImage<unsigned char> I ;
- vpImagePoint ip, ip1, ip2;
+ // For this grey level image, open a D3D display at position 100,100
+ // in the screen, and with title "D3D display"
+ vpDisplayD3D display;
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
- vpImageIo::read(I, filename) ;
- }
- catch (...) {
- return -1;
- }
+ if (opt_display) {
+ // We open a window using D3D.
+ // Its size is automatically defined by the image (I) size
+ display.init(I, 100, 100, "D3D display") ;
- // For this grey level image, open a D3D display at position 100,100
- // in the screen, and with title "D3D display"
- vpDisplayD3D display;
+ // Display the image
+ vpDisplay::display(I) ;
- if (opt_display) {
- // We open a window using D3D.
- // Its size is automatically defined by the image (I) size
- display.init(I, 100, 100, "D3D display") ;
+ // Display in overlay a red cross at position 10,10 in the
+ // image. The lines are 10 pixels long
+ ip.set_i( 100 );
+ ip.set_j( 10 );
- // Display the image
- vpDisplay::display(I) ;
+ vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
- // Display in overlay a red cross at position 10,10 in the
- // image. The lines are 10 pixels long
- ip.set_i( 100 );
- ip.set_j( 10 );
-
- vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
+ // Display in overlay horizontal red lines
+ for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ }
- // Display in overlay horizontal red lines
- for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- }
+ // Display a ligne in the diagonal
+ ip1.set_i( -10 );
+ ip1.set_j( -10 );
+ ip2.set_i( I.getHeight() + 10 );
+ ip2.set_j( I.getWidth() + 10 );
- // Display a ligne in the diagonal
- ip1.set_i( -10 );
- ip1.set_j( -10 );
- ip2.set_i( I.getHeight() + 10 );
- ip2.set_j( I.getWidth() + 10 );
-
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- // Display in overlay vertical green dot lines
- for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ // Display in overlay vertical green dot lines
+ for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
+ }
+
+ // Display a rectangle
+ ip.set_i( I.getHeight() - 45 );
+ ip.set_j( -10 );
+ vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
+
+ // Display in overlay a blue arrow
ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
- }
-
- // Display a rectangle
- ip.set_i( I.getHeight() - 45 );
- ip.set_j( -10 );
- vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
-
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 80 );
- ip.set_j( 80 );
- vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 80 );
+ ip.set_j( 80 );
+ vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ }
+
+ ip.set_i( -10 );
+ ip.set_j( 300 );
+ vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 85 );
+ ip.set_j( 100 );
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::yellow) ;
+ //Flush the display
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ // Close the display
+ vpDisplay::close(I);
}
- ip.set_i( -10 );
- ip.set_j( 300 );
- vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
-
- // Display in overlay a yellow string
- ip.set_i( 85 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::yellow) ;
- //Flush the display
- vpDisplay::flush(I);
-
// Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
- }
-
- // Close the display
- vpDisplay::close(I);
- }
+ vpImage<vpRGBa> Irgba ;
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a grey image from the disk and convert it to a color image
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
+ // Load a grey image from the disk and convert it to a color image
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
vpImageIo::read(Irgba, filename) ;
- }
- catch (...) {
- return -1;
- }
- // For this color image, open a D3D display at position 100,100
- // in the screen, and with title "D3D color display"
- vpDisplayD3D displayRGBa;
-
- if (opt_display) {
- // We open a window using D3D.
- // Its size is automatically defined by the image (Irgba) size
- displayRGBa.init(Irgba, 100, 100, "D3D color display");
-
- // Display the color image
- vpDisplay::display(Irgba) ;
- vpDisplay::flush(Irgba) ;
-
- // If click is allowed, wait for a blocking mouse click to display a cross
- // at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click to display a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(Irgba, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
- }
- else {
- ip.set_i( 10 );
- ip.set_j( 20 );
- // Display a red cross at position i, j (i correspond to the row
- // and j to the column coordinates in the image)
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
-
- }
- // Flush the display. Sometimes the display content is
- // bufferized. Force to display the content that has been bufferized.
- vpDisplay::flush(Irgba);
-
- // If click is allowed, wait for a blocking mouse click to exit.
- if (opt_click_allowed) {
- std::cout << "\nA click to exit the program..." << std::endl;
- vpDisplay::getClick(Irgba) ;
- std::cout << "Bye" << std::endl;
+ // For this color image, open a D3D display at position 100,100
+ // in the screen, and with title "D3D color display"
+ vpDisplayD3D displayRGBa;
+
+ if (opt_display) {
+ // We open a window using D3D.
+ // Its size is automatically defined by the image (Irgba) size
+ displayRGBa.init(Irgba, 100, 100, "D3D color display");
+
+ // Display the color image
+ vpDisplay::display(Irgba) ;
+ vpDisplay::flush(Irgba) ;
+
+ // If click is allowed, wait for a blocking mouse click to display a cross
+ // at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click to display a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(Irgba, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+ }
+ else {
+ ip.set_i( 10 );
+ ip.set_j( 20 );
+ // Display a red cross at position i, j (i correspond to the row
+ // and j to the column coordinates in the image)
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+
+ }
+ // Flush the display. Sometimes the display content is
+ // bufferized. Force to display the content that has been bufferized.
+ vpDisplay::flush(Irgba);
+
+ // If click is allowed, wait for a blocking mouse click to exit.
+ if (opt_click_allowed) {
+ std::cout << "\nA click to exit the program..." << std::endl;
+ vpDisplay::getClick(Irgba) ;
+ std::cout << "Bye" << std::endl;
+ }
}
}
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/example/device/display/displayGDI.cpp b/example/device/display/displayGDI.cpp
index 3176cf0..aa104ab 100755
--- a/example/device/display/displayGDI.cpp
+++ b/example/device/display/displayGDI.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayGDI.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: displayGDI.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,7 +50,7 @@
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
-#if ( defined(WIN32) && defined(VISP_HAVE_GDI) )
+#if ( defined(_WIN32) && defined(VISP_HAVE_GDI) )
#include <visp/vpDisplayGDI.h>
@@ -179,255 +179,250 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
- opt_opath = "C:\\temp";
-
-
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+ opt_opath = "C:\\temp";
+
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+ vpImagePoint ip, ip1, ip2;
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I, filename) ;
- // Create a grey level image
- vpImage<unsigned char> I ;
- vpImagePoint ip, ip1, ip2;
+ // For this grey level image, open a GDI display at position 100,100
+ // in the screen, and with title "GDI display"
+ vpDisplayGDI display;
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
- vpImageIo::read(I, filename) ;
- }
- catch (...) {
- return -1;
- }
+ if (opt_display) {
+ // We open a window using GDI.
+ // Its size is automatically defined by the image (I) size
+ display.init(I, 100, 100, "GDI display") ;
- // For this grey level image, open a GDI display at position 100,100
- // in the screen, and with title "GDI display"
- vpDisplayGDI display;
+ // Display the image
+ vpDisplay::display(I) ;
- if (opt_display) {
- // We open a window using GDI.
- // Its size is automatically defined by the image (I) size
- display.init(I, 100, 100, "GDI display") ;
+ // Display in overlay a red cross at position 10,10 in the
+ // image. The lines are 10 pixels long
+ ip.set_i( 100 );
+ ip.set_j( 10 );
- // Display the image
- vpDisplay::display(I) ;
+ vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
- // Display in overlay a red cross at position 10,10 in the
- // image. The lines are 10 pixels long
- ip.set_i( 100 );
- ip.set_j( 10 );
-
- vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
+ // Display in overlay horizontal red lines
+ for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ }
- // Display in overlay horizontal red lines
- for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- }
+ // Display a ligne in the diagonal
+ ip1.set_i( -10 );
+ ip1.set_j( -10 );
+ ip2.set_i( I.getHeight() + 10 );
+ ip2.set_j( I.getWidth() + 10 );
- // Display a ligne in the diagonal
- ip1.set_i( -10 );
- ip1.set_j( -10 );
- ip2.set_i( I.getHeight() + 10 );
- ip2.set_j( I.getWidth() + 10 );
-
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- // Display in overlay vertical green dot lines
- for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ // Display in overlay vertical green dot lines
+ for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
+ }
+
+ // Display a rectangle
+ ip.set_i( I.getHeight() - 45 );
+ ip.set_j( -10 );
+ vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
+
+ // Display in overlay a blue arrow
ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
- }
-
- // Display a rectangle
- ip.set_i( I.getHeight() - 45 );
- ip.set_j( -10 );
- vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
-
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 80 );
- ip.set_j( 80 );
- vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 80 );
+ ip.set_j( 80 );
+ vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ }
+
+ ip.set_i( -10 );
+ ip.set_j( 300 );
+ vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 85 );
+ ip.set_j( 100 );
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::yellow) ;
+ //Flush the display
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ // Close the display
+ vpDisplay::close(I);
}
- ip.set_i( -10 );
- ip.set_j( 300 );
- vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
-
- // Display in overlay a yellow string
- ip.set_i( 85 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::yellow) ;
- //Flush the display
- vpDisplay::flush(I);
-
// Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
- }
-
- // Close the display
- vpDisplay::close(I);
- }
+ vpImage<vpRGBa> Irgba ;
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a grey image from the disk and convert it to a color image
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
+ // Load a grey image from the disk and convert it to a color image
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
vpImageIo::read(Irgba, filename) ;
- }
- catch (...) {
- return -1;
- }
- // For this color image, open a GDI display at position 100,100
- // in the screen, and with title "GDI color display"
- vpDisplayGDI displayRGBa;
-
- if (opt_display) {
- // We open a window using GDI.
- // Its size is automatically defined by the image (Irgba) size
- displayRGBa.init(Irgba, 100, 100, "GDI color display");
-
- // Display the color image
- vpDisplay::display(Irgba) ;
- vpDisplay::flush(Irgba) ;
-
- // If click is allowed, wait for a blocking mouse click to display a cross
- // at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click to display a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(Irgba, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
- }
- else {
- ip.set_i( 10 );
- ip.set_j( 20 );
- // Display a red cross at position i, j (i correspond to the row
- // and j to the column coordinates in the image)
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
-
- }
- // Flush the display. Sometimes the display content is
- // bufferized. Force to display the content that has been bufferized.
- vpDisplay::flush(Irgba);
-
- // If click is allowed, wait for a blocking mouse click to exit.
- if (opt_click_allowed) {
- std::cout << "\nA click to exit the program..." << std::endl;
- vpDisplay::getClick(Irgba) ;
- std::cout << "Bye" << std::endl;
+ // For this color image, open a GDI display at position 100,100
+ // in the screen, and with title "GDI color display"
+ vpDisplayGDI displayRGBa;
+
+ if (opt_display) {
+ // We open a window using GDI.
+ // Its size is automatically defined by the image (Irgba) size
+ displayRGBa.init(Irgba, 100, 100, "GDI color display");
+
+ // Display the color image
+ vpDisplay::display(Irgba) ;
+ vpDisplay::flush(Irgba) ;
+
+ // If click is allowed, wait for a blocking mouse click to display a cross
+ // at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click to display a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(Irgba, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+ }
+ else {
+ ip.set_i( 10 );
+ ip.set_j( 20 );
+ // Display a red cross at position i, j (i correspond to the row
+ // and j to the column coordinates in the image)
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+
+ }
+ // Flush the display. Sometimes the display content is
+ // bufferized. Force to display the content that has been bufferized.
+ vpDisplay::flush(Irgba);
+
+ // If click is allowed, wait for a blocking mouse click to exit.
+ if (opt_click_allowed) {
+ std::cout << "\nA click to exit the program..." << std::endl;
+ vpDisplay::getClick(Irgba) ;
+ std::cout << "Bye" << std::endl;
+ }
}
}
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/example/device/display/displayGTK.cpp b/example/device/display/displayGTK.cpp
index 83a13af..db2208b 100644
--- a/example/device/display/displayGTK.cpp
+++ b/example/device/display/displayGTK.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayGTK.cpp 4294 2013-07-01 16:05:49Z fspindle $
+ * $Id: displayGTK.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -183,250 +183,252 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+ vpImagePoint ip, ip1, ip2;
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
+ vpImageIo::read(I, filename) ;
- // Create a grey level image
- vpImage<unsigned char> I ;
- vpImagePoint ip, ip1, ip2;
+ // Create a display using GTK
+ vpDisplayGTK display;
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
- try {
- vpImageIo::read(I, filename) ;
- }
- catch (...) {
- return -1;
- }
+ if (opt_display) {
+ // For this grey level image, open a GTK display at position 100,100
+ // in the screen, and with title "GTK display"
+ display.init(I, 100, 100, "GTK display") ;
- // Create a display using GTK
- vpDisplayGTK display;
+ // Display the image
+ vpDisplay::display(I) ;
- if (opt_display) {
- // For this grey level image, open a GTK display at position 100,100
- // in the screen, and with title "GTK display"
- display.init(I, 100, 100, "GTK display") ;
+ // Display in overlay a red cross at position 10,10 in the
+ // image. The lines are 10 pixels long
+ ip.set_i( 100 );
+ ip.set_j( 10 );
- // Display the image
- vpDisplay::display(I) ;
+ vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
- // Display in overlay a red cross at position 10,10 in the
- // image. The lines are 10 pixels long
- ip.set_i( 100 );
- ip.set_j( 10 );
-
- vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
+ // Display in overlay horizontal red lines
+ for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ }
- // Display in overlay horizontal red lines
- for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- }
+ // Display a ligne in the diagonal
+ ip1.set_i( -10 );
+ ip1.set_j( -10 );
+ ip2.set_i( I.getHeight() + 10 );
+ ip2.set_j( I.getWidth() + 10 );
- // Display a ligne in the diagonal
- ip1.set_i( -10 );
- ip1.set_j( -10 );
- ip2.set_i( I.getHeight() + 10 );
- ip2.set_j( I.getWidth() + 10 );
-
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- // Display in overlay vertical green dot lines
- for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ // Display in overlay vertical green dot lines
+ for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
+ }
+
+ // Display a rectangle
+ ip.set_i( I.getHeight() - 45 );
+ ip.set_j( -10 );
+ vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
+
+ // Display in overlay a blue arrow
ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
- }
-
- // Display a rectangle
- ip.set_i( I.getHeight() - 45 );
- ip.set_j( -10 );
- vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
-
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 80 );
- ip.set_j( 80 );
- vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 80 );
+ ip.set_j( 80 );
+ vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ }
+
+ ip.set_i( -10 );
+ ip.set_j( 300 );
+ vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 85 );
+ ip.set_j( 100 );
+ //vpDisplay::setFont(I, "-*-courier 10 pitch-medium-r-normal-*-16-*-*-*-*-*-*-*");
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::yellow) ;
+ //Flush the display
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ // Close the display
+ vpDisplay::close(I);
}
- ip.set_i( -10 );
- ip.set_j( 300 );
- vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
-
- // Display in overlay a yellow string
- ip.set_i( 85 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::yellow) ;
- //Flush the display
- vpDisplay::flush(I);
-
// Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
+ vpImage<vpRGBa> Irgba ;
+
+ // Load a grey image from the disk and convert it to a color image
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(Irgba, filename) ;
+
+ // Create a new GTK display
+ vpDisplayGTK displayRGBa;
+
+ if (opt_display) {
+ // For this color image, open a GTK display at position 100,100
+ // in the screen, and with title "GTK color display"
+ displayRGBa.init(Irgba, 100, 100, "GTK color display");
+
+ // Display the color image
+ vpDisplay::display(Irgba) ;
+ vpDisplay::flush(Irgba) ;
+
+ // If click is allowed, wait for a blocking mouse click to display a cross
+ // at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click to display a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(Irgba, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+ }
+ else {
+ ip.set_i( 10 );
+ ip.set_j( 20 );
+ // Display a red cross at position i, j (i correspond to the row
+ // and j to the column coordinates in the image)
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+
+ }
+ // Flush the display. Sometimes the display content is
+ // bufferized. Force to display the content that has been bufferized.
+ vpDisplay::flush(Irgba);
+
+ // If click is allowed, wait for a blocking mouse click to exit.
+ if (opt_click_allowed) {
+ std::cout << "\nA click to exit the program..." << std::endl;
+ vpDisplay::getClick(Irgba) ;
+ std::cout << "Bye" << std::endl;
+ }
}
-
- // Close the display
- vpDisplay::close(I);
}
-
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a grey image from the disk and convert it to a color image
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(Irgba, filename) ;
-
- // Create a new GTK display
- vpDisplayGTK displayRGBa;
-
- if (opt_display) {
- // For this color image, open a GTK display at position 100,100
- // in the screen, and with title "GTK color display"
- displayRGBa.init(Irgba, 100, 100, "GTK color display");
-
- // Display the color image
- vpDisplay::display(Irgba) ;
- vpDisplay::flush(Irgba) ;
-
- // If click is allowed, wait for a blocking mouse click to display a cross
- // at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click to display a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(Irgba, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
- }
- else {
- ip.set_i( 10 );
- ip.set_j( 20 );
- // Display a red cross at position i, j (i correspond to the row
- // and j to the column coordinates in the image)
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
-
- }
- // Flush the display. Sometimes the display content is
- // bufferized. Force to display the content that has been bufferized.
- vpDisplay::flush(Irgba);
-
- // If click is allowed, wait for a blocking mouse click to exit.
- if (opt_click_allowed) {
- std::cout << "\nA click to exit the program..." << std::endl;
- vpDisplay::getClick(Irgba) ;
- std::cout << "Bye" << std::endl;
- }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
@@ -437,4 +439,3 @@ main()
}
#endif
-
diff --git a/example/device/display/displayOpenCV.cpp b/example/device/display/displayOpenCV.cpp
index 4512285..fcc27e3 100644
--- a/example/device/display/displayOpenCV.cpp
+++ b/example/device/display/displayOpenCV.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayOpenCV.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: displayOpenCV.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -72,6 +72,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:o:p:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath,
+ bool &click_allowed, std::string user, bool &display);
+
/*!
Print the program options.
@@ -83,8 +87,7 @@
\param user : Username.
*/
-void usage(const char *name, const char *badparam, std::string ipath,
- std::string opath, std::string user)
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Read an image on the disk, display it using OpenCV, display some\n\
@@ -150,23 +153,22 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, bool &click_allowed,
- std::string user, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath,
+ bool &click_allowed, std::string user, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -174,7 +176,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -184,257 +186,253 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // std::cout << "env_ipath: " << env_ipath << std::endl;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+ // std::cout << "env_ipath: " << env_ipath << std::endl;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+ vpImagePoint ip, ip1, ip2;
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I, filename) ;
- // Create a grey level image
- vpImage<unsigned char> I ;
- vpImagePoint ip, ip1, ip2;
+ // Create a display using OpenCV
+ vpDisplayOpenCV display;
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
- vpImageIo::read(I, filename) ;
- }
- catch (...) {
- return -1;
- }
+ if (opt_display) {
+ // For this grey level image, open a X11 display at position 100,100
+ // in the screen, and with title "X11 display"
+ display.init(I, 100, 100, "OpenCV display") ;
- // Create a display using OpenCV
- vpDisplayOpenCV display;
+ // Display the image
+ vpDisplay::display(I) ;
- if (opt_display) {
- // For this grey level image, open a X11 display at position 100,100
- // in the screen, and with title "X11 display"
- display.init(I, 100, 100, "OpenCV display") ;
+ // Display in overlay a red cross at position 10,10 in the
+ // image. The lines are 10 pixels long
+ ip.set_i( 100 );
+ ip.set_j( 10 );
- // Display the image
- vpDisplay::display(I) ;
+ vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
- // Display in overlay a red cross at position 10,10 in the
- // image. The lines are 10 pixels long
- ip.set_i( 100 );
- ip.set_j( 10 );
-
- vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
+ // Display in overlay horizontal red lines
+ for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ }
- // Display in overlay horizontal red lines
- for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- }
+ // Display a ligne in the diagonal
+ ip1.set_i( -10 );
+ ip1.set_j( -10 );
+ ip2.set_i( I.getHeight() + 10 );
+ ip2.set_j( I.getWidth() + 10 );
- // Display a ligne in the diagonal
- ip1.set_i( -10 );
- ip1.set_j( -10 );
- ip2.set_i( I.getHeight() + 10 );
- ip2.set_j( I.getWidth() + 10 );
-
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- // Display in overlay vertical green dot lines
- for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ // Display in overlay vertical green dot lines
+ for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
+ }
+
+ // Display a rectangle
+ ip.set_i( I.getHeight() - 45 );
+ ip.set_j( -10 );
+ vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
+
+ // Display in overlay a blue arrow
ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
- }
-
- // Display a rectangle
- ip.set_i( I.getHeight() - 45 );
- ip.set_j( -10 );
- vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
-
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 80 );
- ip.set_j( 80 );
- vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 80 );
+ ip.set_j( 80 );
+ vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ }
+
+ ip.set_i( -10 );
+ ip.set_j( 300 );
+ vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 85 );
+ ip.set_j( 100 );
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::yellow) ;
+ //Flush the display
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ // Close the display
+ vpDisplay::close(I);
}
- ip.set_i( -10 );
- ip.set_j( 300 );
- vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
-
- // Display in overlay a yellow string
- ip.set_i( 85 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::yellow) ;
- //Flush the display
- vpDisplay::flush(I);
-
// Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
- }
-
- // Close the display
- vpDisplay::close(I);
- }
+ vpImage<vpRGBa> Irgba ;
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a grey image from the disk and convert it to a color image
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
+ // Load a grey image from the disk and convert it to a color image
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
vpImageIo::read(Irgba, filename) ;
- }
- catch (...) {
- return -1;
- }
- // Create a new display
- vpDisplayOpenCV displayRGBa;
-
- if (opt_display) {
- // For this color image, open a display at position 100,100
- // in the screen, and with title "OpenCV color display"
- displayRGBa.init(Irgba, 100, 100, "OpenCV color display");
-
- // Display the color image
- vpDisplay::display(Irgba) ;
- vpDisplay::flush(Irgba) ;
-
- // If click is allowed, wait for a blocking mouse click to display a cross
- // at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click to display a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(Irgba, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
- }
- else {
- ip.set_i( 10 );
- ip.set_j( 20 );
- // Display a red cross at position i, j (i correspond to the row
- // and j to the column coordinates in the image)
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
-
- }
- // Flush the display. Sometimes the display content is
- // bufferized. Force to display the content that has been bufferized.
- vpDisplay::flush(Irgba);
-
- // If click is allowed, wait for a blocking mouse click to exit.
- if (opt_click_allowed) {
- std::cout << "\nA click to exit the program..." << std::endl;
- vpDisplay::getClick(Irgba) ;
- std::cout << "Bye" << std::endl;
+ // Create a new display
+ vpDisplayOpenCV displayRGBa;
+
+ if (opt_display) {
+ // For this color image, open a display at position 100,100
+ // in the screen, and with title "OpenCV color display"
+ displayRGBa.init(Irgba, 100, 100, "OpenCV color display");
+
+ // Display the color image
+ vpDisplay::display(Irgba) ;
+ vpDisplay::flush(Irgba) ;
+
+ // If click is allowed, wait for a blocking mouse click to display a cross
+ // at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click to display a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(Irgba, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+ }
+ else {
+ ip.set_i( 10 );
+ ip.set_j( 20 );
+ // Display a red cross at position i, j (i correspond to the row
+ // and j to the column coordinates in the image)
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+
+ }
+ // Flush the display. Sometimes the display content is
+ // bufferized. Force to display the content that has been bufferized.
+ vpDisplay::flush(Irgba);
+
+ // If click is allowed, wait for a blocking mouse click to exit.
+ if (opt_click_allowed) {
+ std::cout << "\nA click to exit the program..." << std::endl;
+ vpDisplay::getClick(Irgba) ;
+ std::cout << "Bye" << std::endl;
+ }
}
}
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/example/device/display/displaySequence.cpp b/example/device/display/displaySequence.cpp
index 9a5057a..525332e 100644
--- a/example/device/display/displaySequence.cpp
+++ b/example/device/display/displaySequence.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displaySequence.cpp 4294 2013-07-01 16:05:49Z fspindle $
+ * $Id: displaySequence.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -84,6 +84,11 @@
// List of allowed command line options
#define GETOPTARGS "di:p:hf:n:s:w"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
+ unsigned &first, unsigned &nimages, unsigned &step, bool &display, bool &wait);
+
/*!
Print the program options.
@@ -98,7 +103,7 @@
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
- unsigned first, unsigned nimages, unsigned step)
+ unsigned first, unsigned nimages, unsigned step)
{
fprintf(stdout, "\n\
Read an image sequence from the disk and display it.\n\
@@ -180,26 +185,25 @@ SYNOPSIS\n\
*/
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
- unsigned &first, unsigned &nimages, unsigned &step,
- bool &display, bool &wait)
+ unsigned &first, unsigned &nimages, unsigned &step, bool &display, bool &wait)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'w': wait = true; break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false; break;
}
}
@@ -208,7 +212,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -218,140 +222,141 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 0;
- unsigned opt_nimages = 80;
- unsigned opt_step = 1;
- bool opt_display = true;
- bool opt_wait = false;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
- opt_step, opt_display, opt_wait) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 0;
+ unsigned opt_nimages = 80;
+ unsigned opt_step = 1;
+ bool opt_display = true;
+ bool opt_wait = false;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
+ opt_step, opt_display, opt_wait) == false) {
+ exit (-1);
+ }
- if ( ! opt_display )
- opt_wait = false; // turn off the waiting
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ if ( ! opt_display )
+ opt_wait = false; // turn off the waiting
+
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ exit(-1);
+ }
- unsigned iter = opt_first;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- if (opt_ppath.empty()){
+ unsigned iter = opt_first;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
- // ViSP-images/cube/image.0001.pgm
- // !! vpDotExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images.tar.gz"
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
+ // ViSP-images/cube/image.0001.pgm
+ // !! vpDotExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images.tar.gz"
- // Build the name of the image file
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ // Build the name of the image file
- sprintf(cfilename,opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option, " << std::endl
- << " or your -p " << opt_ppath << " option " <<std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable"
- << std::endl;
- exit(-1);
- }
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
+
+ sprintf(cfilename,opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option, " << std::endl
+ << " or your -p " << opt_ppath << " option " <<std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable"
+ << std::endl;
+ exit(-1);
+ }
#if defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try {
+ if (opt_display) {
+
// We open a window using either X11 or GTK or GDI.
// Its size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
@@ -364,17 +369,11 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...) {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- // double tms_1 = vpTime::measureTimeMs() ;
- unsigned niter=0 ;
- // this is the loop over the image sequence
- while (iter < opt_first + opt_nimages*opt_step) {
- try {
+ // double tms_1 = vpTime::measureTimeMs() ;
+ unsigned niter=0 ;
+ // this is the loop over the image sequence
+ while (iter < opt_first + opt_nimages*opt_step) {
double tms = vpTime::measureTimeMs() ;
// set the new image name
@@ -409,16 +408,18 @@ main(int argc, const char ** argv)
vpTime::wait(tms, 40) ;
}
niter++ ;
+
+ iter += opt_step ;
}
- catch(...) {
- exit(-1) ;
- }
- iter += opt_step ;
+ // double tms_2 = vpTime::measureTimeMs() ;
+ // double tms_total = tms_2 - tms_1 ;
+ // std::cout << "Total Time : "<< tms_total<<std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- // double tms_2 = vpTime::measureTimeMs() ;
- // double tms_total = tms_2 - tms_1 ;
- // std::cout << "Total Time : "<< tms_total<<std::endl;
-
}
#else
int
diff --git a/example/device/display/displayX.cpp b/example/device/display/displayX.cpp
index 2188a5d..c35e5c3 100644
--- a/example/device/display/displayX.cpp
+++ b/example/device/display/displayX.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayX.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: displayX.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:o:p:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
+ std::string user, bool &display);
+
/*!
Print the program options.
@@ -84,8 +88,7 @@
\param user : Username.
*/
-void usage(const char *name, const char *badparam, std::string ipath,
- std::string opath, std::string user)
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Read an image on the disk, display it using X11, display some\n\
@@ -151,23 +154,22 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, bool &click_allowed,
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
std::string user, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -175,7 +177,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -185,256 +187,253 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // std::cout << "env_ipath: " << env_ipath << std::endl;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+ // std::cout << "env_ipath: " << env_ipath << std::endl;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+ vpImagePoint ip, ip1, ip2;
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I, filename) ;
- // Create a grey level image
- vpImage<unsigned char> I ;
- vpImagePoint ip, ip1, ip2;
+ // Create a display using X11
+ vpDisplayX display;
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
- vpImageIo::read(I, filename) ;
- }
- catch (...) {
- return -1;
- }
+ if (opt_display) {
+ // For this grey level image, open a X11 display at position 100,100
+ // in the screen, and with title "X11 display"
+ display.init(I, 100, 100, "X11 display") ;
- // Create a display using X11
- vpDisplayX display;
+ // Display the image
+ vpDisplay::display(I) ;
- if (opt_display) {
- // For this grey level image, open a X11 display at position 100,100
- // in the screen, and with title "X11 display"
- display.init(I, 100, 100, "X11 display") ;
+ // Display in overlay a red cross at position 10,10 in the
+ // image. The lines are 10 pixels long
+ ip.set_i( 100 );
+ ip.set_j( 10 );
- // Display the image
- vpDisplay::display(I) ;
+ vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
- // Display in overlay a red cross at position 10,10 in the
- // image. The lines are 10 pixels long
- ip.set_i( 100 );
- ip.set_j( 10 );
-
- vpDisplay::displayCross(I, ip, 20, vpColor::red) ;
+ // Display in overlay horizontal red lines
+ for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ }
- // Display in overlay horizontal red lines
- for (unsigned i=0 ; i < I.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- }
+ // Display a ligne in the diagonal
+ ip1.set_i( -10 );
+ ip1.set_j( -10 );
+ ip2.set_i( I.getHeight() + 10 );
+ ip2.set_j( I.getWidth() + 10 );
- // Display a ligne in the diagonal
- ip1.set_i( -10 );
- ip1.set_j( -10 );
- ip2.set_i( I.getHeight() + 10 );
- ip2.set_j( I.getWidth() + 10 );
-
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red) ;
- // Display in overlay vertical green dot lines
- for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ // Display in overlay vertical green dot lines
+ for (unsigned i=0 ; i < I.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
+ }
+
+ // Display a rectangle
+ ip.set_i( I.getHeight() - 45 );
+ ip.set_j( -10 );
+ vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
+
+ // Display in overlay a blue arrow
ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green) ;
- }
-
- // Display a rectangle
- ip.set_i( I.getHeight() - 45 );
- ip.set_j( -10 );
- vpDisplay::displayRectangle(I, ip, 60, 80, vpColor::orange) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
-
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 80 );
- ip.set_j( 80 );
- vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 80 );
+ ip.set_j( 80 );
+ vpDisplay::displayCircle(I, ip, 20+i, vpColor::yellow) ;
+ }
+
+ ip.set_i( -10 );
+ ip.set_j( 300 );
+ vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 85 );
+ ip.set_j( 100 );
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::yellow) ;
+ //Flush the display
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ // Close the display
+ vpDisplay::close(I);
}
- ip.set_i( -10 );
- ip.set_j( 300 );
- vpDisplay::displayCircle(I, ip, 100,vpColor::yellow) ;
-
- // Display in overlay a yellow string
- ip.set_i( 85 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::yellow) ;
- //Flush the display
- vpDisplay::flush(I);
-
// Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
- }
-
- // Close the display
- vpDisplay::close(I);
- }
+ vpImage<vpRGBa> Irgba ;
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a grey image from the disk and convert it to a color image
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- try {
+ // Load a grey image from the disk and convert it to a color image
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
vpImageIo::read(Irgba, filename) ;
- }
- catch (...) {
- return -1;
- }
- // Create a new display
- vpDisplayX displayRGBa;
-
- if (opt_display) {
- // For this color image, open a X11 display at position 100,100
- // in the screen, and with title "X11 color display"
- displayRGBa.init(Irgba, 100, 100, "X11 color display");
-
- // Display the color image
- vpDisplay::display(Irgba) ;
- vpDisplay::flush(Irgba) ;
-
- // If click is allowed, wait for a blocking mouse click to display a cross
- // at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click to display a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(Irgba, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
- }
- else {
- ip.set_i( 10 );
- ip.set_j( 20 );
- // Display a red cross at position i, j (i correspond to the row
- // and j to the column coordinates in the image)
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
-
- }
- // Flush the display. Sometimes the display content is
- // bufferized. Force to display the content that has been bufferized.
- vpDisplay::flush(Irgba);
-
- // If click is allowed, wait for a blocking mouse click to exit.
- if (opt_click_allowed) {
- std::cout << "\nA click to exit the program..." << std::endl;
- vpDisplay::getClick(Irgba) ;
- std::cout << "Bye" << std::endl;
+ // Create a new display
+ vpDisplayX displayRGBa;
+
+ if (opt_display) {
+ // For this color image, open a X11 display at position 100,100
+ // in the screen, and with title "X11 color display"
+ displayRGBa.init(Irgba, 100, 100, "X11 color display");
+
+ // Display the color image
+ vpDisplay::display(Irgba) ;
+ vpDisplay::flush(Irgba) ;
+
+ // If click is allowed, wait for a blocking mouse click to display a cross
+ // at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click to display a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(Irgba, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+ }
+ else {
+ ip.set_i( 10 );
+ ip.set_j( 20 );
+ // Display a red cross at position i, j (i correspond to the row
+ // and j to the column coordinates in the image)
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(Irgba, ip, 15, vpColor::red);
+
+ }
+ // Flush the display. Sometimes the display content is
+ // bufferized. Force to display the content that has been bufferized.
+ vpDisplay::flush(Irgba);
+
+ // If click is allowed, wait for a blocking mouse click to exit.
+ if (opt_click_allowed) {
+ std::cout << "\nA click to exit the program..." << std::endl;
+ vpDisplay::getClick(Irgba) ;
+ std::cout << "Bye" << std::endl;
+ }
}
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/device/display/displayXMulti.cpp b/example/device/display/displayXMulti.cpp
index b624901..b34340c 100644
--- a/example/device/display/displayXMulti.cpp
+++ b/example/device/display/displayXMulti.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: displayXMulti.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: displayXMulti.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -76,6 +76,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
+ std::string user, bool &display);
+
/*!
Print the program options.
@@ -151,23 +155,22 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, bool &click_allowed,
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, bool &click_allowed,
std::string user, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -175,7 +178,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -185,221 +188,228 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // std::cout << "env_ipath: " << env_ipath << std::endl;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+ // std::cout << "env_ipath: " << env_ipath << std::endl;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath,
- opt_click_allowed, username, opt_display) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath,
+ opt_click_allowed, username, opt_display) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string odirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string odirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(odirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(odirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << odirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(odirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(odirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << odirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
- // Create two color images
- vpImage<vpRGBa> I1, I2 ;
- vpImagePoint ip, ip1, ip2;
+ // Create two color images
+ vpImage<vpRGBa> I1, I2 ;
+ vpImagePoint ip, ip1, ip2;
- try {
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(I1, filename) ;
- }
- catch(...)
- {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
- try {
- // Load a color image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpImageIo::read(I2, filename) ;
- }
- catch(...)
- {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
-
- // For each image, open a X11 display
- vpDisplayX display1;
- vpDisplayX display2;
-
- if (opt_display) {
- // Attach image 1 to display 1
- display1.init(I1, 0, 0,"X11 Display 1...") ;
- // Attach image 2 to display 2
- display2.init(I2, 200, 200,"X11 Display 2...") ;
- // Display the images
- vpDisplay::display(I1) ;
- vpDisplay::display(I2) ;
-
- // In the first display, display in overlay horizontal red lines
- for (unsigned int i=0 ; i < I1.getHeight() ; i+=20) {
- ip1.set_i( i );
- ip1.set_j( 0 );
- ip2.set_i( i );
- ip2.set_j( I1.getWidth() );
- vpDisplay::displayLine(I1, ip1, ip2, vpColor::red) ;
- }
-
- // In the first display, display in overlay vertical green dot lines
- for (unsigned int i=0 ; i < I1.getWidth() ; i+=20) {
- ip1.set_i( 0 );
- ip1.set_j( i );
- ip2.set_i( I1.getWidth() );
- ip2.set_j( i );
- vpDisplay::displayDotLine(I1, ip1, ip2, vpColor::green) ;
+ try {
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I1, filename) ;
}
-
- // In the first display, display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I1, ip1, ip2, vpColor::blue) ;
-
- // In the first display, display in overlay some circles. The
- // position of the center is 200, 200 the radius is increased by 20
- // pixels for each circle
- for (unsigned int i=0 ; i < 100 ; i+=20) {
- ip.set_i( 200 );
- ip.set_j( 200 );
- vpDisplay::displayCircle(I1, ip, 20+i,vpColor::yellow) ;
+ catch(...)
+ {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
}
-
- // In the first display, display in overlay a yellow string
- ip.set_i( 100 );
- ip.set_j( 100 );
- vpDisplay::displayCharString(I1, ip,
- "ViSP is a marvelous software",
- vpColor::blue) ;
-
- //Flush displays. The displays must be flushed to show the overlay.
- //without this line, nothing will be displayed.
- vpDisplay::flush(I1);
- vpDisplay::flush(I2);
-
- // If click is allowed, wait for a blocking mouse click in the first
- // display, to display a cross at the clicked pixel position
- if (opt_click_allowed) {
- std::cout << "\nA click in the first display to draw a cross..." << std::endl;
- // Blocking wait for a click. Get the position of the selected pixel
- // (i correspond to the row and j to the column coordinates in the image)
- vpDisplay::getClick(I1, ip);
- // Display a red cross on the click pixel position
- std::cout << "Cross position: " << ip << std::endl;
- vpDisplay::displayCross(I1, ip, 15,vpColor::red);
- vpDisplay::flush(I1);
+ try {
+ // Load a color image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpImageIo::read(I2, filename) ;
}
- else {
- ip.set_i( 50 );
- ip.set_j( 50 );
- // Display a red cross at position ip in the first display
- std::cout << "Cross position: " << ip<< std::endl;
- vpDisplay::displayCross(I1, ip, 15, vpColor::red);
- vpDisplay::flush(I1);
+ catch(...)
+ {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
}
- // Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image 1 and the overlay
- vpDisplay::getImage(I1, Ioverlay) ;
-
- // Write the color image on the disk
- filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- if (opt_click_allowed) {
- std::cout << "\nA click in the second display to close the windows and exit..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I2) ;
+ // For each image, open a X11 display
+ vpDisplayX display1;
+ vpDisplayX display2;
+
+ if (opt_display) {
+ // Attach image 1 to display 1
+ display1.init(I1, 0, 0,"X11 Display 1...") ;
+ // Attach image 2 to display 2
+ display2.init(I2, 200, 200,"X11 Display 2...") ;
+ // Display the images
+ vpDisplay::display(I1) ;
+ vpDisplay::display(I2) ;
+
+ // In the first display, display in overlay horizontal red lines
+ for (unsigned int i=0 ; i < I1.getHeight() ; i+=20) {
+ ip1.set_i( i );
+ ip1.set_j( 0 );
+ ip2.set_i( i );
+ ip2.set_j( I1.getWidth() );
+ vpDisplay::displayLine(I1, ip1, ip2, vpColor::red) ;
+ }
+
+ // In the first display, display in overlay vertical green dot lines
+ for (unsigned int i=0 ; i < I1.getWidth() ; i+=20) {
+ ip1.set_i( 0 );
+ ip1.set_j( i );
+ ip2.set_i( I1.getWidth() );
+ ip2.set_j( i );
+ vpDisplay::displayDotLine(I1, ip1, ip2, vpColor::green) ;
+ }
+
+ // In the first display, display in overlay a blue arrow
+ ip1.set_i( 0 );
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I1, ip1, ip2, vpColor::blue) ;
+
+ // In the first display, display in overlay some circles. The
+ // position of the center is 200, 200 the radius is increased by 20
+ // pixels for each circle
+ for (unsigned int i=0 ; i < 100 ; i+=20) {
+ ip.set_i( 200 );
+ ip.set_j( 200 );
+ vpDisplay::displayCircle(I1, ip, 20+i,vpColor::yellow) ;
+ }
+
+ // In the first display, display in overlay a yellow string
+ ip.set_i( 100 );
+ ip.set_j( 100 );
+ vpDisplay::displayCharString(I1, ip,
+ "ViSP is a marvelous software",
+ vpColor::blue) ;
+
+ //Flush displays. The displays must be flushed to show the overlay.
+ //without this line, nothing will be displayed.
+ vpDisplay::flush(I1);
+ vpDisplay::flush(I2);
+
+ // If click is allowed, wait for a blocking mouse click in the first
+ // display, to display a cross at the clicked pixel position
+ if (opt_click_allowed) {
+ std::cout << "\nA click in the first display to draw a cross..." << std::endl;
+ // Blocking wait for a click. Get the position of the selected pixel
+ // (i correspond to the row and j to the column coordinates in the image)
+ vpDisplay::getClick(I1, ip);
+ // Display a red cross on the click pixel position
+ std::cout << "Cross position: " << ip << std::endl;
+ vpDisplay::displayCross(I1, ip, 15,vpColor::red);
+ vpDisplay::flush(I1);
+ }
+ else {
+ ip.set_i( 50 );
+ ip.set_j( 50 );
+ // Display a red cross at position ip in the first display
+ std::cout << "Cross position: " << ip<< std::endl;
+ vpDisplay::displayCross(I1, ip, 15, vpColor::red);
+ vpDisplay::flush(I1);
+ }
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image 1 and the overlay
+ vpDisplay::getImage(I1, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = odirname + vpIoTools::path("/Klimt_grey.overlay.ppm");
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ if (opt_click_allowed) {
+ std::cout << "\nA click in the second display to close the windows and exit..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I2) ;
+ }
}
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/device/framegrabber/CMakeLists.txt b/example/device/framegrabber/CMakeLists.txt
index 53c1872..48e78d6 100644
--- a/example/device/framegrabber/CMakeLists.txt
+++ b/example/device/framegrabber/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/framegrabber/grab1394CMU.cpp b/example/device/framegrabber/grab1394CMU.cpp
index 2f538ef..fdca9c3 100644
--- a/example/device/framegrabber/grab1394CMU.cpp
+++ b/example/device/framegrabber/grab1394CMU.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grab1394CMU.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: grab1394CMU.cpp 4659 2014-02-09 14:11:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,6 +64,10 @@
// List of allowed command line options
#define GETOPTARGS "dhn:o:"
+void usage(const char *name, const char *badparam, unsigned &nframes, std::string &opath);
+bool getOptions(int argc, const char **argv, bool &display,
+ unsigned int &nframes, bool &save, std::string &opath);
+
/*!
Print the program options.
@@ -123,21 +127,21 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv, bool &display,
unsigned int &nframes, bool &save, std::string &opath)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd': display = false; break;
case 'n':
- nframes = (unsigned int)atoi(optarg); break;
+ nframes = (unsigned int)atoi(optarg_); break;
case 'o':
save = true;
- opath = optarg; break;
+ opath = optarg_; break;
case 'h': usage(argv[0], NULL, nframes, opath); return false; break;
default:
- usage(argv[0], optarg, nframes, opath);
+ usage(argv[0], optarg_, nframes, opath);
return false; break;
}
}
@@ -146,7 +150,7 @@ bool getOptions(int argc, const char **argv, bool &display,
// standalone param or error
usage(argv[0], NULL, nframes, opath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -255,10 +259,9 @@ main(int argc, const char ** argv)
std::cout << "Mean loop time: " << ttotal / nframes << " ms" << std::endl;
std::cout << "Mean frequency: " << 1000./(ttotal / nframes) << " fps" << std::endl;
}
- catch(...)
- {
- std::cout << "Failure: exit" << std::endl;
- return(-1);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/device/framegrabber/grab1394Two.cpp b/example/device/framegrabber/grab1394Two.cpp
index 6b1e28a..401e31d 100644
--- a/example/device/framegrabber/grab1394Two.cpp
+++ b/example/device/framegrabber/grab1394Two.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grab1394Two.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: grab1394Two.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -78,10 +78,29 @@
// List of allowed command line options
#define GETOPTARGS "b:c:df:g:hH:L:mn:io:p:rsT:v:W:"
-
-
#define DUAL_ACQ
+void usage(const char *name, const char *badparam, unsigned int camera,
+ const unsigned int &nframes, const std::string &opath,
+ const unsigned int &roi_left, const unsigned int &roi_top,
+ const unsigned int &roi_width, const unsigned int &roi_height,
+ const unsigned int &ringbuffersize, const unsigned int &panControl);
+void read_options(int argc, const char **argv, bool &multi, unsigned int &camera,
+ unsigned int &nframes, bool &verbose_info,
+ bool &verbose_settings,
+ bool &videomode_is_set,
+ vp1394TwoGrabber::vp1394TwoVideoModeType &videomode,
+ bool &framerate_is_set,
+ vp1394TwoGrabber::vp1394TwoFramerateType &framerate,
+ bool &colorcoding_is_set,
+ vp1394TwoGrabber::vp1394TwoColorCodingType &colorcoding,
+ bool &ringbuffersize_is_set,
+ unsigned int &ringbuffersize,
+ bool &display, bool &save, std::string &opath,
+ unsigned int &roi_left, unsigned int &roi_top,
+ unsigned int &roi_width, unsigned int &roi_height,
+ bool &reset,
+ unsigned int &panControl, bool & panControl_is_set);
/*!
@@ -277,41 +296,41 @@ void read_options(int argc, const char **argv, bool &multi, unsigned int &camera
/*
* Lecture des options.
*/
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
- camera = (unsigned int)atoi(optarg); break;
+ camera = (unsigned int)atoi(optarg_); break;
case 'd':
display = false; break;
case 'f':
framerate_is_set = true;
- framerate = (vp1394TwoGrabber::vp1394TwoFramerateType) atoi(optarg);
+ framerate = (vp1394TwoGrabber::vp1394TwoFramerateType) atoi(optarg_);
break;
case 'g':
colorcoding_is_set = true;
- colorcoding = (vp1394TwoGrabber::vp1394TwoColorCodingType) atoi(optarg);
+ colorcoding = (vp1394TwoGrabber::vp1394TwoColorCodingType) atoi(optarg_);
break;
case 'H':
- roi_height = (unsigned int) atoi(optarg); break;
+ roi_height = (unsigned int) atoi(optarg_); break;
case 'i':
verbose_info = true; break;
case 'L':
- roi_left = (unsigned int) atoi(optarg); break;
+ roi_left = (unsigned int) atoi(optarg_); break;
case 'm':
multi = true; break;
case 'n':
- nframes = (unsigned int)atoi(optarg); break;
+ nframes = (unsigned int)atoi(optarg_); break;
case 'o':
save = true;
- opath = optarg; break;
+ opath = optarg_; break;
case 'b':
ringbuffersize_is_set = true;
- ringbuffersize = (unsigned int) atoi(optarg); break;
+ ringbuffersize = (unsigned int) atoi(optarg_); break;
case 'p':
- panControl = (unsigned int) atoi(optarg);
+ panControl = (unsigned int) atoi(optarg_);
panControl_is_set = true;
break;
case 'r':
@@ -319,13 +338,13 @@ void read_options(int argc, const char **argv, bool &multi, unsigned int &camera
case 's':
verbose_settings = true; break;
case 'T':
- roi_top = (unsigned int) atoi(optarg); break;
+ roi_top = (unsigned int) atoi(optarg_); break;
case 'v':
videomode_is_set = true;
- videomode = (vp1394TwoGrabber::vp1394TwoVideoModeType) atoi(optarg);
+ videomode = (vp1394TwoGrabber::vp1394TwoVideoModeType) atoi(optarg_);
break;
case 'W':
- roi_width = (unsigned int) atoi(optarg); break;
+ roi_width = (unsigned int) atoi(optarg_); break;
case 'h':
case '?':
usage(argv[0], NULL, camera, nframes, opath,
@@ -341,7 +360,7 @@ void read_options(int argc, const char **argv, bool &multi, unsigned int &camera
usage(argv[0], NULL, camera, nframes, opath,
roi_left, roi_top, roi_width, roi_height, ringbuffersize, panControl);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
exit(-1);
}
}
@@ -488,10 +507,10 @@ main(int argc, const char ** argv)
vp1394TwoGrabber::vp1394TwoVideoModeType supmode = *it_lmode;
if (curmode == supmode)
std::cout << " * " << vp1394TwoGrabber::videoMode2string(supmode)
- << " (-v " << supmode << ")" << std::endl;
+ << " (-v " << (int)supmode << ")" << std::endl;
else
std::cout << " " << vp1394TwoGrabber::videoMode2string(supmode)
- << " (-v " << supmode << ")" << std::endl;
+ << " (-v " << (int)supmode << ")" << std::endl;
if (g.isVideoModeFormat7(supmode)){
// Format 7 video mode; no framerate setting, but color
@@ -503,11 +522,11 @@ main(int argc, const char ** argv)
if ( (curmode == supmode) && (supcoding == curcoding) )
std::cout << " * "
<< vp1394TwoGrabber::colorCoding2string(supcoding)
- << " (-g " << supcoding << ")" << std::endl;
+ << " (-g " << (int)supcoding << ")" << std::endl;
else
std::cout << " "
<< vp1394TwoGrabber::colorCoding2string(supcoding)
- << " (-g " << supcoding << ")" << std::endl;
+ << " (-g " << (int)supcoding << ")" << std::endl;
}
}
else {
@@ -519,11 +538,11 @@ main(int argc, const char ** argv)
if ( (curmode == supmode) && (supfps == curfps) )
std::cout << " * "
<< vp1394TwoGrabber::framerate2string(supfps)
- << " (-f " << supfps << ")" << std::endl;
+ << " (-f " << (int)supfps << ")" << std::endl;
else
std::cout << " "
<< vp1394TwoGrabber::framerate2string(supfps)
- << " (-f " << supfps << ")" << std::endl;
+ << " (-f " << (int)supfps << ")" << std::endl;
}
}
}
@@ -695,12 +714,12 @@ main(int argc, const char ** argv)
if (display)
delete [] d;
#endif
+ return 0;
}
- catch (...) {
- vpCERROR << "Failure: exit" << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- std::cout << " the end" << std::endl;
}
#else
int
diff --git a/example/device/framegrabber/grabDirectShow.cpp b/example/device/framegrabber/grabDirectShow.cpp
index 225e357..cea7264 100644
--- a/example/device/framegrabber/grabDirectShow.cpp
+++ b/example/device/framegrabber/grabDirectShow.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabDirectShow.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: grabDirectShow.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -167,35 +167,34 @@ bool getOptions(int argc, const char **argv, bool &display,
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- unsigned nframes = 50;
- bool save = false;
+ try {
+ bool opt_display = true;
+ unsigned nframes = 50;
+ bool save = false;
- // Declare an image. It size is not defined yet. It will be defined when the
- // image will acquired the first time.
+ // Declare an image. It size is not defined yet. It will be defined when the
+ // image will acquired the first time.
#ifdef GRAB_COLOR
- vpImage<vpRGBa> I; // This is a color image (in RGBa format)
+ vpImage<vpRGBa> I; // This is a color image (in RGBa format)
#else
- vpImage<unsigned char> I; // This is a B&W image
+ vpImage<unsigned char> I; // This is a B&W image
#endif
- // Set default output image name for saving
+ // Set default output image name for saving
#ifdef GRAB_COLOR
- // Color images will be saved in PGM P6 format
- std::string opath = "C:/temp/I%04d.ppm";
+ // Color images will be saved in PGM P6 format
+ std::string opath = "C:/temp/I%04d.ppm";
#else
- // B&W images will be saved in PGM P5 format
- std::string opath = "C:/temp/I%04d.pgm";
+ // B&W images will be saved in PGM P5 format
+ std::string opath = "C:/temp/I%04d.pgm";
#endif
- // Read the command line options
- if (getOptions(argc, argv, opt_display, nframes, save, opath) == false) {
- exit (-1);
- }
- vpDirectShowGrabber* grabber = NULL;
- try {
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display, nframes, save, opath) == false) {
+ exit (-1);
+ }
// Create the grabber
- grabber = new vpDirectShowGrabber();
+ vpDirectShowGrabber* grabber = new vpDirectShowGrabber();
//test if a camera is connected
if(grabber->getDeviceNumber() == 0)
@@ -209,29 +208,22 @@ main(int argc, const char ** argv)
// Acquire an image
grabber->acquire(I);
- }
- catch(...)
- {
- if (grabber !=NULL) delete grabber;
- vpCTRACE << "Cannot acquire an image... " << std::endl ;
- exit(-1);
- }
- std::cout << "Image size: width : " << I.getWidth() << " height: "
- << I.getHeight() << std::endl;
- // Creates a display
+ std::cout << "Image size: width : " << I.getWidth() << " height: "
+ << I.getHeight() << std::endl;
+
+ // Creates a display
#if defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- display.init(I,100,100,"DirectShow Framegrabber");
- }
+ if (opt_display) {
+ display.init(I,100,100,"DirectShow Framegrabber");
+ }
- try {
double tbegin=0, tend=0, tloop=0, ttotal=0;
ttotal = 0;
@@ -242,8 +234,8 @@ main(int argc, const char ** argv)
grabber->acquire(I);
if (opt_display) {
- //Displays the grabbed rgba image
- vpDisplay::display(I);
+ //Displays the grabbed rgba image
+ vpDisplay::display(I);
vpDisplay::flush(I);
}
@@ -264,14 +256,12 @@ main(int argc, const char ** argv)
std::cout << "Mean frequency: " << 1000./(ttotal / nframes) << " fps" << std::endl;
// Release the framegrabber
- if (grabber !=NULL) delete grabber;
-
+ delete grabber;
+ return 0;
}
- catch(...)
- {
- vpCERROR << "Failure: exit" << std::endl;
- if (grabber !=NULL) delete grabber;
- return(-1);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else // (defined (VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
diff --git a/example/device/framegrabber/grabDirectShowMulti.cpp b/example/device/framegrabber/grabDirectShowMulti.cpp
index dcebf89..312c80a 100644
--- a/example/device/framegrabber/grabDirectShowMulti.cpp
+++ b/example/device/framegrabber/grabDirectShowMulti.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabDirectShowMulti.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: grabDirectShowMulti.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -455,12 +455,12 @@ main(int argc, const char ** argv)
if (display)
delete [] d;
- }
- catch (...) {
- vpCERROR << "Failure: exit" << std::endl;
- }
-
- std::cout << " the end" << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else // (defined (VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
diff --git a/example/device/framegrabber/grabDisk.cpp b/example/device/framegrabber/grabDisk.cpp
index 1ef12c9..f70181d 100644
--- a/example/device/framegrabber/grabDisk.cpp
+++ b/example/device/framegrabber/grabDisk.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabDisk.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: grabDisk.cpp 4659 2014-02-09 14:11:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,13 +44,13 @@
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
#include <stdlib.h>
-#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK))
+#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp/vpDiskGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
-#include <visp/vpDisplayGTK.h>
+#include <visp/vpDisplayGDI.h>
#include <visp/vpTime.h>
#include <visp/vpParseArgv.h>
@@ -66,6 +66,12 @@
// List of allowed command line options
#define GETOPTARGS "b:de:f:i:hn:s:z:"
+void usage(const char *name, const char *badparam, std::string ipath, std::string basename,
+ std::string ext, int first, unsigned int nimages, int step, unsigned int nzero);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &basename,
+ std::string &ext, int &first, unsigned int &nimages,
+ int &step, unsigned int &nzero, bool &display);
+
/*
Print the program options.
@@ -82,8 +88,7 @@
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string basename,
- std::string ext, int first, unsigned int nimages, int step,
- unsigned int nzero)
+ std::string ext, int first, unsigned int nimages, int step, unsigned int nzero)
{
fprintf(stdout, "\n\
Read an image sequence from the disk. Display it using X11 or GTK.\n\
@@ -163,25 +168,24 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ba
std::string &ext, int &first, unsigned int &nimages,
int &step, unsigned int &nzero, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'b': basename = optarg; break;
+ case 'b': basename = optarg_; break;
case 'd': display = false; break;
- case 'e': ext = optarg; break;
- case 'f': first = atoi(optarg); break;
- case 'i': ipath = optarg; break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = atoi(optarg); break;
- case 'z': nzero = (unsigned) atoi(optarg); break;
+ case 'e': ext = optarg_; break;
+ case 'f': first = atoi(optarg_); break;
+ case 'i': ipath = optarg_; break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = atoi(optarg_); break;
+ case 'z': nzero = (unsigned) atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, basename, ext, first, nimages,
step, nzero); return false; break;
default:
- usage(argv[0], optarg, ipath, basename, ext, first, nimages,
- step, nzero);
+ usage(argv[0], optarg_, ipath, basename, ext, first, nimages, step, nzero);
return false; break;
}
}
@@ -190,7 +194,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ba
// standalone param or error
usage(argv[0], NULL, ipath, basename, ext, first, nimages, step, nzero);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -207,112 +211,107 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ba
images. Each image corresponds to a PGM file. Display these images using X11
or GTK.
*/
-int
-main(int argc, const char ** argv)
+int main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_basename = "ViSP-images/cube/image.";
- std::string opt_ext = "pgm";
- bool opt_display = true;
-
- int opt_first = 5;
- unsigned int opt_nimages = 70;
- int opt_step = 1;
- unsigned int opt_nzero = 4;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_basename, opt_ext, opt_first,
- opt_nimages, opt_step, opt_nzero, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_basename = "ViSP-images/cube/image.";
+ std::string opt_ext = "pgm";
+ bool opt_display = true;
+
+ int opt_first = 5;
+ unsigned int opt_nimages = 70;
+ int opt_step = 1;
+ unsigned int opt_nzero = 4;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_basename, opt_ext, opt_first,
+ opt_nimages, opt_step, opt_nzero, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_basename, opt_ext, opt_first,
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath, opt_basename, opt_ext, opt_first,
opt_nimages, opt_step, opt_nzero);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- // Declare a framegrabber able to read a sequence of successive
- // images from the disk
- vpDiskGrabber g;
+ // Declare a framegrabber able to read a sequence of successive
+ // images from the disk
+ vpDiskGrabber g;
- // Set the path to the directory containing the sequence
- g.setDirectory(ipath.c_str());
- // Set the image base name. The directory and the base name constitute
- // the constant part of the full filename
- g.setBaseName(opt_basename.c_str());
- // Set the step between two images of the sequence
- g.setStep(opt_step);
- // Set the number of digits to build the image number
- g.setNumberOfZero(opt_nzero);
- // Set the first frame number of the sequence
- g.setImageNumber(opt_first);
- // Set the image extension
- g.setExtension(opt_ext.c_str());
+ // Set the path to the directory containing the sequence
+ g.setDirectory(ipath.c_str());
+ // Set the image base name. The directory and the base name constitute
+ // the constant part of the full filename
+ g.setBaseName(opt_basename.c_str());
+ // Set the step between two images of the sequence
+ g.setStep(opt_step);
+ // Set the number of digits to build the image number
+ g.setNumberOfZero(opt_nzero);
+ // Set the first frame number of the sequence
+ g.setImageNumber(opt_first);
+ // Set the image extension
+ g.setExtension(opt_ext.c_str());
- // Open the framegrabber by loading the first image of the sequence
- try {
+ // Open the framegrabber by loading the first image of the sequence
g.open(I) ;
- }
- catch (...) {
- vpERROR_TRACE("Cannot open the first image of the sequence... ") ;
- exit(-1);
- }
- std::cout << "Image size: width : " << I.getWidth() << " height: "
- << I.getHeight() << std::endl;
+ std::cout << "Image size: width : " << I.getWidth() << " height: "
+ << I.getHeight() << std::endl;
- // We open a window using either X11 or GTK.
- // Its size is automatically defined by the image (I) size
-#if defined VISP_HAVE_X11
- vpDisplayX display;
-#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ // We open a window using either X11 or GDI.
+ // Its size is automatically defined by the image (I) size
+#if defined(VISP_HAVE_X11)
+ vpDisplayX display(I);
+#elif defined(VISP_HAVE_GDI)
+ vpDisplayGDI display(I);
+#else
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- if (opt_display) {
- try {
+ if (opt_display) {
display.init(I,100,100,"Disk Framegrabber");
// display the image
@@ -323,16 +322,10 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Cannot display the image ") ;
- exit(-1);
- }
- }
- unsigned cpt = 1;
- // this is the loop over the image sequence
- try {
+ unsigned cpt = 1;
+ // this is the loop over the image sequence
+
while(cpt ++ < opt_nimages)
{
double tms = vpTime::measureTimeMs();
@@ -347,11 +340,12 @@ main(int argc, const char ** argv)
}
// Synchronise the loop to 40 ms
vpTime::wait(tms, 40) ;
-
}
+ return 0;
}
- catch(...) {
- vpERROR_TRACE("Error during the framegrabbing...");
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/device/framegrabber/grabOpenCV-2.cpp b/example/device/framegrabber/grabOpenCV-2.cpp
index c7d7e1e..e6fca74 100644
--- a/example/device/framegrabber/grabOpenCV-2.cpp
+++ b/example/device/framegrabber/grabOpenCV-2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabOpenCV-2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: grabOpenCV-2.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,41 +65,47 @@
// 1 to dial with a second camera attached to the computer
int main(int argc, char** argv)
{
- int device = 0;
- if (argc > 1)
- device = atoi(argv[1]);
-
- std::cout << "Use device: " << device << std::endl;
- cv::VideoCapture cap(device); // open the default camera
- cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
- cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
- if(!cap.isOpened()) // check if we succeeded
- return -1;
- cv::Mat frame;
- cap >> frame; // get a new frame from camera
-
- IplImage iplimage = frame;
- std::cout << "Image size: " << iplimage.width << " "
- << iplimage.height << std::endl;
-
- //vpImage<vpRGBa> I; // for color images
- vpImage<unsigned char> I; // for gray images
- vpImageConvert::convert(&iplimage, I);
- vpDisplayOpenCV d(I);
-
- for(;;) {
+ try {
+ int device = 0;
+ if (argc > 1)
+ device = atoi(argv[1]);
+
+ std::cout << "Use device: " << device << std::endl;
+ cv::VideoCapture cap(device); // open the default camera
+ cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
+ cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
+ if(!cap.isOpened()) // check if we succeeded
+ return -1;
+ cv::Mat frame;
cap >> frame; // get a new frame from camera
- iplimage = frame;
- // Convert the image in ViSP format and display it
+ IplImage iplimage = frame;
+ std::cout << "Image size: " << iplimage.width << " "
+ << iplimage.height << std::endl;
+
+ //vpImage<vpRGBa> I; // for color images
+ vpImage<unsigned char> I; // for gray images
vpImageConvert::convert(&iplimage, I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false)) // a click to exit
- break;
+ vpDisplayOpenCV d(I);
+
+ for(;;) {
+ cap >> frame; // get a new frame from camera
+ iplimage = frame;
+
+ // Convert the image in ViSP format and display it
+ vpImageConvert::convert(&iplimage, I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false)) // a click to exit
+ break;
+ }
+ // the camera will be deinitialized automatically in VideoCapture destructor
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- // the camera will be deinitialized automatically in VideoCapture destructor
- return 0;
}
#else
diff --git a/example/device/framegrabber/grabOpenCV.cpp b/example/device/framegrabber/grabOpenCV.cpp
index 012d5d4..2ca991e 100644
--- a/example/device/framegrabber/grabOpenCV.cpp
+++ b/example/device/framegrabber/grabOpenCV.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabOpenCV.cpp 4088 2013-02-04 07:59:35Z fspindle $
+ * $Id: grabOpenCV.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,6 +63,10 @@
// List of allowed command line options
#define GETOPTARGS "dhn:o:D:"
+void usage(const char *name, const char *badparam, unsigned int &nframes, std::string &opath);
+bool getOptions(int argc, const char **argv, bool &display,
+ unsigned int &nframes, bool &save, std::string &opath, int &deviceType);
+
/*!
Print the program options.
@@ -126,33 +130,33 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv, bool &display,
unsigned int &nframes, bool &save, std::string &opath, int &deviceType)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd': display = false; break;
case 'D':
- if (strcmp( optarg ,"ANY") == 0 ) {deviceType = CV_CAP_ANY;}
- else if ( strcmp( optarg ,"MIL") == 0) {deviceType = CV_CAP_MIL;}
- else if ( strcmp( optarg ,"VFW") == 0) {deviceType = CV_CAP_VFW;}
- else if ( strcmp( optarg ,"V4L") == 0) {deviceType = CV_CAP_V4L;}
- else if ( strcmp( optarg ,"V4L2") == 0) {deviceType = CV_CAP_V4L2;}
- else if ( strcmp( optarg ,"DC1394") == 0) {deviceType = CV_CAP_DC1394;}
- else if ( strcmp( optarg ,"CMU1394") == 0) {deviceType = CV_CAP_CMU1394;}
- else if ( strcmp( optarg ,"DSHOW") == 0) {deviceType = CV_CAP_DSHOW;}
+ if (strcmp( optarg_ ,"ANY") == 0 ) {deviceType = CV_CAP_ANY;}
+ else if ( strcmp( optarg_ ,"MIL") == 0) {deviceType = CV_CAP_MIL;}
+ else if ( strcmp( optarg_ ,"VFW") == 0) {deviceType = CV_CAP_VFW;}
+ else if ( strcmp( optarg_ ,"V4L") == 0) {deviceType = CV_CAP_V4L;}
+ else if ( strcmp( optarg_ ,"V4L2") == 0) {deviceType = CV_CAP_V4L2;}
+ else if ( strcmp( optarg_ ,"DC1394") == 0) {deviceType = CV_CAP_DC1394;}
+ else if ( strcmp( optarg_ ,"CMU1394") == 0) {deviceType = CV_CAP_CMU1394;}
+ else if ( strcmp( optarg_ ,"DSHOW") == 0) {deviceType = CV_CAP_DSHOW;}
else {std::cout << "Unknown type of device" << std::endl;
deviceType = 0;}
break;
case 'n':
- nframes = (unsigned int)atoi(optarg); break;
+ nframes = (unsigned int)atoi(optarg_); break;
case 'o':
save = true;
- opath = optarg; break;
+ opath = optarg_; break;
case 'h': usage(argv[0], NULL, nframes, opath); return false; break;
default:
- usage(argv[0], optarg, nframes, opath);
+ usage(argv[0], optarg_, nframes, opath);
return false; break;
}
}
@@ -161,7 +165,7 @@ bool getOptions(int argc, const char **argv, bool &display,
// standalone param or error
usage(argv[0], NULL, nframes, opath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -179,71 +183,71 @@ bool getOptions(int argc, const char **argv, bool &display,
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- unsigned nframes = 50;
- bool save = false;
- int deviceType = CV_CAP_ANY;
+ try {
+ bool opt_display = true;
+ unsigned nframes = 50;
+ bool save = false;
+ int deviceType = CV_CAP_ANY;
- // Declare an image. It size is not defined yet. It will be defined when the
- // image will acquired the first time.
+ // Declare an image. It size is not defined yet. It will be defined when the
+ // image will acquired the first time.
#ifdef GRAB_COLOR
- vpImage<vpRGBa> I; // This is a color image (in RGBa format)
+ vpImage<vpRGBa> I; // This is a color image (in RGBa format)
#else
- vpImage<unsigned char> I; // This is a B&W image
+ vpImage<unsigned char> I; // This is a B&W image
#endif
- // Set default output image name for saving
+ // Set default output image name for saving
#ifdef GRAB_COLOR
- // Color images will be saved in PGM P6 format
-# if defined(UNIX)
- std::string opath = "/tmp/I%04d.ppm";
-# elif defined(WIN32)
- std::string opath = "C:/temp/I%04d.ppm";
+ // Color images will be saved in PGM P6 format
+# if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ std::string opath = "/tmp/I%04d.ppm";
+# elif defined(_WIN32)
+ std::string opath = "C:/temp/I%04d.ppm";
# endif
#else
- // B&W images will be saved in PGM P5 format
-# if defined(UNIX)
- std::string opath = "/tmp/I%04d.pgm";
-# elif defined(WIN32)
- std::string opath = "C:/temp/I%04d.pgm";
+ // B&W images will be saved in PGM P5 format
+# if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ std::string opath = "/tmp/I%04d.pgm";
+# elif defined(_WIN32)
+ std::string opath = "C:/temp/I%04d.pgm";
# endif
#endif
- // Read the command line options
- if (getOptions(argc, argv, opt_display, nframes, save, opath, deviceType) == false) {
- exit (-1);
- }
- // Create the grabber
- vpOpenCVGrabber grabber ;
- try {
- // Set the type of device to detect. Here for example we expect to find a firewire camera.
- grabber.setDeviceType(deviceType);
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display, nframes, save, opath, deviceType) == false) {
+ exit (-1);
+ }
+ // Create the grabber
+ vpOpenCVGrabber grabber ;
+ try {
+ // Set the type of device to detect. Here for example we expect to find a firewire camera.
+ grabber.setDeviceType(deviceType);
- // Initialize the grabber
- grabber.open(I);
+ // Initialize the grabber
+ grabber.open(I);
- // Acquire an image
- grabber.acquire(I);
- }
- catch(...)
- {
- vpCTRACE << "Cannot acquire an image... "
- << "Check if a camera is connected to your computer."
- << std::endl ;
- return 0;
- }
+ // Acquire an image
+ grabber.acquire(I);
+ }
+ catch(...)
+ {
+ vpCTRACE << "Cannot acquire an image... "
+ << "Check if a camera is connected to your computer."
+ << std::endl ;
+ return 0;
+ }
- std::cout << "Image size: width : " << I.getWidth() << " height: "
- << I.getHeight() << std::endl;
+ std::cout << "Image size: width : " << I.getWidth() << " height: "
+ << I.getHeight() << std::endl;
- // Creates a display
- vpDisplayOpenCV display;
+ // Creates a display
+ vpDisplayOpenCV display;
- if (opt_display) {
- display.init(I,100,100,"OpenCV framegrabber");
- }
+ if (opt_display) {
+ display.init(I,100,100,"OpenCV framegrabber");
+ }
- try {
double tbegin=0, tend=0, tloop=0, ttotal=0;
ttotal = 0;
@@ -275,11 +279,11 @@ main(int argc, const char ** argv)
std::cout << "Mean loop time: " << ttotal / nframes << " ms" << std::endl;
std::cout << "Mean frequency: " << 1000./(ttotal / nframes) << " fps" << std::endl;
+ return 0;
}
- catch(...)
- {
- vpCERROR << "Failure: exit" << std::endl;
- return(-1);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else // defined (VISP_HAVE_OPENCV)
diff --git a/example/device/framegrabber/grabV4l2.cpp b/example/device/framegrabber/grabV4l2.cpp
index 3ed234a..51bbf5e 100644
--- a/example/device/framegrabber/grabV4l2.cpp
+++ b/example/device/framegrabber/grabV4l2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: grabV4l2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: grabV4l2.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -235,39 +235,39 @@ bool getOptions(int argc, const char **argv, unsigned &fps, unsigned &input,
int
main(int argc, const char ** argv)
{
- unsigned int opt_fps = 25;
- unsigned int opt_input = 0;
- unsigned int opt_scale = 1;
- vpV4l2Grabber::vpV4l2PixelFormatType opt_pixelformat = vpV4l2Grabber::V4L2_YUYV_FORMAT;
- long opt_iter = 100;
- bool opt_verbose = false;
- bool opt_display = true;
- char opt_device[20];
- bool opt_save = false;
- sprintf(opt_device, "/dev/video0");
- // Default output path for image saving
- std::string opt_opath = "/tmp/I%04d.ppm";
-
- vpImage_type opt_image_type = color_image;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_fps, opt_input, opt_scale, opt_display,
- opt_verbose, opt_iter, opt_device,
- opt_pixelformat, opt_image_type, opt_save, opt_opath) == false) {
- exit (-1);
- }
+ try {
+ unsigned int opt_fps = 25;
+ unsigned int opt_input = 0;
+ unsigned int opt_scale = 1;
+ vpV4l2Grabber::vpV4l2PixelFormatType opt_pixelformat = vpV4l2Grabber::V4L2_YUYV_FORMAT;
+ long opt_iter = 100;
+ bool opt_verbose = false;
+ bool opt_display = true;
+ char opt_device[20];
+ bool opt_save = false;
+ sprintf(opt_device, "/dev/video0");
+ // Default output path for image saving
+ std::string opt_opath = "/tmp/I%04d.ppm";
+
+ vpImage_type opt_image_type = color_image;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_fps, opt_input, opt_scale, opt_display,
+ opt_verbose, opt_iter, opt_device,
+ opt_pixelformat, opt_image_type, opt_save, opt_opath) == false) {
+ exit (-1);
+ }
- // Declare an image, this is a gray level image (unsigned char) and
- // an other one that is a color image. There size is not defined
- // yet. It will be defined when the image will acquired the first
- // time.
- vpImage<unsigned char> Ig ; // grey level image
- vpImage<vpRGBa> Ic ; // color image
+ // Declare an image, this is a gray level image (unsigned char) and
+ // an other one that is a color image. There size is not defined
+ // yet. It will be defined when the image will acquired the first
+ // time.
+ vpImage<unsigned char> Ig ; // grey level image
+ vpImage<vpRGBa> Ic ; // color image
- // Creates the grabber
- vpV4l2Grabber g;
+ // Creates the grabber
+ vpV4l2Grabber g;
- try{
// Initialize the grabber
g.setVerboseMode(opt_verbose);
g.setDevice(opt_device);
@@ -294,28 +294,17 @@ main(int argc, const char ** argv)
std::cout << "Color image size: width : " << Ic.getWidth() << " height: "
<< Ic.getHeight() << std::endl;
}
- }
- catch (vpException e) {
- std::cout << "Catched exception: " << e.getMessage() << std::endl;
- return 0;
- }
- catch(...)
- {
- vpERROR_TRACE("Cannot acquire an image...") ;
- return 0;
- }
- // We open a window using either X11 or GTK.
- // Its size is automatically defined by the image (I) size
+ // We open a window using either X11 or GTK.
+ // Its size is automatically defined by the image (I) size
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
@@ -331,18 +320,7 @@ main(int argc, const char ** argv)
vpDisplay::display(Ic) ;
vpDisplay::flush(Ic) ;
}
-
}
- catch (vpException e) {
- std::cout << "Exception: " << e.getMessage() << std::endl;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- try {
// Acquisition loop
long cpt = 1;
while(cpt ++ < opt_iter)
@@ -387,12 +365,12 @@ main(int argc, const char ** argv)
}
g.close();
+ return 0;
}
- catch (vpException e) {
- std::cout << "Exception: " << e.getMessage() << std::endl;
- g.close();
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
}
#else
int
diff --git a/example/device/kinect/CMakeLists.txt b/example/device/kinect/CMakeLists.txt
index 82b7684..3df4064 100644
--- a/example/device/kinect/CMakeLists.txt
+++ b/example/device/kinect/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/kinect/kinectAcquisition.cpp b/example/device/kinect/kinectAcquisition.cpp
index 391bda7..695fdbf 100644
--- a/example/device/kinect/kinectAcquisition.cpp
+++ b/example/device/kinect/kinectAcquisition.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: kinectAcquisition.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: kinectAcquisition.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,62 +64,63 @@
#include <visp/vpTime.h>
int main() {
- // Init Kinect
+ try {
+ // Init Kinect
#ifdef VISP_HAVE_LIBFREENECT_OLD
- // This is the way to initialize Freenect with an old version of libfreenect packages under ubuntu lucid 10.04
- Freenect::Freenect<vpKinect> freenect;
- vpKinect & kinect = freenect.createDevice(0);
+ // This is the way to initialize Freenect with an old version of libfreenect packages under ubuntu lucid 10.04
+ Freenect::Freenect<vpKinect> freenect;
+ vpKinect & kinect = freenect.createDevice(0);
#else
- Freenect::Freenect freenect;
- vpKinect & kinect = freenect.createDevice<vpKinect>(0);
+ Freenect::Freenect freenect;
+ vpKinect & kinect = freenect.createDevice<vpKinect>(0);
#endif
- // Set tilt angle in degrees
- if (0) {
- float angle = -3;
- kinect.setTiltDegrees(angle);
- }
+ // Set tilt angle in degrees
+ if (0) {
+ float angle = -3;
+ kinect.setTiltDegrees(angle);
+ }
- // Init display
+ // Init display
#if 1
- kinect.start(vpKinect::DMAP_MEDIUM_RES); // Start acquisition thread with a depth map resolution of 480x640
- vpImage<unsigned char> Idmap(480,640);//for medium resolution
- vpImage<float> dmap(480,640);//for medium resolution
+ kinect.start(vpKinect::DMAP_MEDIUM_RES); // Start acquisition thread with a depth map resolution of 480x640
+ vpImage<unsigned char> Idmap(480,640);//for medium resolution
+ vpImage<float> dmap(480,640);//for medium resolution
#else
- kinect.start(vpKinect::DMAP_LOW_RES); // Start acquisition thread with a depth map resolution of 240x320 (default resolution)
- vpImage<unsigned char> Idmap(240,320);//for low resolution
- vpImage<float> dmap(240,320);//for low resolution
+ kinect.start(vpKinect::DMAP_LOW_RES); // Start acquisition thread with a depth map resolution of 240x320 (default resolution)
+ vpImage<unsigned char> Idmap(240,320);//for low resolution
+ vpImage<float> dmap(240,320);//for low resolution
#endif
- vpImage<vpRGBa> Irgb(480,640),Iwarped(480,640);
+ vpImage<vpRGBa> Irgb(480,640),Iwarped(480,640);
#if defined VISP_HAVE_X11
- vpDisplayX display, displayRgb, displayRgbWarped;
+ vpDisplayX display, displayRgb, displayRgbWarped;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
- vpDisplayGTK displayRgb;
- vpDisplayGTK displayRgbWarped;
+ vpDisplayGTK display;
+ vpDisplayGTK displayRgb;
+ vpDisplayGTK displayRgbWarped;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
- vpDisplayOpenCV displayRgb;
- vpDisplayOpenCV displayRgbWarped;
+ vpDisplayOpenCV display;
+ vpDisplayOpenCV displayRgb;
+ vpDisplayOpenCV displayRgbWarped;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
- vpDisplayGDI displayRgb;
- vpDisplayGDI displayRgbWarped;
+ vpDisplayGDI display;
+ vpDisplayGDI displayRgb;
+ vpDisplayGDI displayRgbWarped;
#endif
- display.init(Idmap, 100, 200,"Depth map");
- displayRgb.init(Irgb, 900, 200,"Color Image");
- displayRgbWarped.init(Iwarped,900,700,"Warped Color Image");
+ display.init(Idmap, 100, 200,"Depth map");
+ displayRgb.init(Irgb, 900, 200,"Color Image");
+ displayRgbWarped.init(Iwarped,900,700,"Warped Color Image");
- // A click to stop acquisition
- std::cout << "Click in one image to stop acquisition" << std::endl;
+ // A click to stop acquisition
+ std::cout << "Click in one image to stop acquisition" << std::endl;
- while(!vpDisplay::getClick(Idmap,false) && !vpDisplay::getClick(Irgb,false))
- {
- kinect.getDepthMap(dmap);
- kinect.getDepthMap(dmap, Idmap);
- kinect.getRGB(Irgb);
+ while(!vpDisplay::getClick(Idmap,false) && !vpDisplay::getClick(Irgb,false))
+ {
+ kinect.getDepthMap(dmap);
+ kinect.getDepthMap(dmap, Idmap);
+ kinect.getRGB(Irgb);
vpDisplay::display(Idmap);
vpDisplay::flush(Idmap);
@@ -128,12 +129,21 @@ int main() {
//Warped RGB image:
kinect.warpRGBFrame(Irgb,dmap, Iwarped);
- vpDisplay::display(Iwarped);
- vpDisplay::flush(Iwarped);
- }
- std::cout << "Stop acquisition" << std::endl;
- kinect.stop(); // Stop acquisition thread
- return 0;
+ vpDisplay::display(Iwarped);
+ vpDisplay::flush(Iwarped);
+ }
+ std::cout << "Stop acquisition" << std::endl;
+ kinect.stop(); // Stop acquisition thread
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/device/laserscanner/CMakeLists.txt b/example/device/laserscanner/CMakeLists.txt
index 192ea37..4f8e78d 100644
--- a/example/device/laserscanner/CMakeLists.txt
+++ b/example/device/laserscanner/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/laserscanner/SickLDMRS-Acq.cpp b/example/device/laserscanner/SickLDMRS-Acq.cpp
index bf81bbb..940a7ac 100644
--- a/example/device/laserscanner/SickLDMRS-Acq.cpp
+++ b/example/device/laserscanner/SickLDMRS-Acq.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: SickLDMRS-Acq.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: SickLDMRS-Acq.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,28 +55,34 @@
#include <visp/vpParseArgv.h>
-#if ( defined(UNIX) && ( ! defined(WIN32) ) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
int main()
{
- vpSickLDMRS laser;
- std::string ip = "131.254.12.119";
-
- laser.setIpAddress(ip);
- laser.setup();
- unsigned long int iter = 0;
+ try {
+ vpSickLDMRS laser;
+ std::string ip = "131.254.12.119";
- for ( ; ; ) {
- double t1 = vpTime::measureTimeMs();
- vpLaserScan laserscan[4];
- if (laser.measure(laserscan) == false)
- continue;
-
- iter ++;
- std::cout << "iter: " << iter << " time: "
- << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
+ laser.setIpAddress(ip);
+ laser.setup();
+ unsigned long int iter = 0;
+
+ for ( ; ; ) {
+ double t1 = vpTime::measureTimeMs();
+ vpLaserScan laserscan[4];
+ if (laser.measure(laserscan) == false)
+ continue;
+
+ iter ++;
+ std::cout << "iter: " << iter << " time: "
+ << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- return 0;
}
#else // #ifdef UNIX
diff --git a/example/device/laserscanner/SickLDMRS-Process.cpp b/example/device/laserscanner/SickLDMRS-Process.cpp
index c4f43b9..9a2ad7b 100644
--- a/example/device/laserscanner/SickLDMRS-Process.cpp
+++ b/example/device/laserscanner/SickLDMRS-Process.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: SickLDMRS-Process.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: SickLDMRS-Process.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,7 +74,7 @@
#include <visp/vp1394TwoGrabber.h>
#include <visp/vpIoTools.h>
-#if ( defined(UNIX) && ( ! defined(WIN32) ) ) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK))
+#if ( !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) ) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK))
static int save = 0;
static int layerToDisplay = 0xF; // 0xF = 1111 => all the layers are selected
@@ -85,6 +85,9 @@ pthread_mutex_t shm_mutex;
#endif
std::string output_path;
+void *laser_display_and_save_loop(void *);
+void *laser_acq_loop(void *);
+void *camera_acq_and_display_loop(void *);
void *laser_display_and_save_loop(void *)
{
@@ -307,60 +310,66 @@ void *camera_acq_and_display_loop(void *)
int main(int argc, const char ** argv)
{
- output_path = "data";
- // Test if the output path directory exist. If no try to create it
- if (vpIoTools::checkDirectory(output_path) == false) {
- try {
- // Create a directory with name "username"
- vpIoTools::makeDirectory(output_path);
+ try {
+ output_path = "data";
+ // Test if the output path directory exist. If no try to create it
+ if (vpIoTools::checkDirectory(output_path) == false) {
+ try {
+ // Create a directory with name "username"
+ vpIoTools::makeDirectory(output_path);
+ }
+ catch (...) {
+ std::cout << "Cannot create " << output_path << " directory" << std::endl;
+ return false;
+ }
}
- catch (...) {
- std::cout << "Cannot create " << output_path << " directory" << std::endl;
- return false;
+
+ // Parse the command line to set the variables
+ vpParseArgv::vpArgvInfo argTable[] =
+ {
+ {"-layer", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &layerToDisplay,
+ "The layer to display:\n"
+ "\t\t. 0x1 for layer 1.\n"
+ "\t\t. 0x2 for layer 2.\n"
+ "\t\t. 0x4 for layer 3.\n"
+ "\t\t. 0x8 for layer 4.\n"
+ "\t\tTo display all the layers you should set 0xF value."
+ },
+ {"-save", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &save,
+ "Turn to 1 in order to save data."
+ },
+ {"-h", vpParseArgv::ARGV_HELP, (char*) NULL, (char *) NULL,
+ "Display one or more measured layers form a Sick LD-MRS laser scanner."},
+ {(char*) NULL, vpParseArgv::ARGV_END, (char*) NULL, (char*) NULL, (char*) NULL}
+ } ;
+
+ // Read the command line options
+ if(vpParseArgv::parse(&argc, argv, argTable,
+ vpParseArgv::ARGV_NO_LEFTOVERS |
+ vpParseArgv::ARGV_NO_ABBREV |
+ vpParseArgv::ARGV_NO_DEFAULTS)) {
+ return (false);
}
- }
- // Parse the command line to set the variables
- vpParseArgv::vpArgvInfo argTable[] =
- {
- {"-layer", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &layerToDisplay,
- "The layer to display:\n"
- "\t\t. 0x1 for layer 1.\n"
- "\t\t. 0x2 for layer 2.\n"
- "\t\t. 0x4 for layer 3.\n"
- "\t\t. 0x8 for layer 4.\n"
- "\t\tTo display all the layers you should set 0xF value."
- },
- {"-save", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &save,
- "Turn to 1 in order to save data."
- },
- {"-h", vpParseArgv::ARGV_HELP, (char*) NULL, (char *) NULL,
- "Display one or more measured layers form a Sick LD-MRS laser scanner."},
- {(char*) NULL, vpParseArgv::ARGV_END, (char*) NULL, (char*) NULL, (char*) NULL}
- } ;
-
- // Read the command line options
- if(vpParseArgv::parse(&argc, argv, argTable,
- vpParseArgv::ARGV_NO_LEFTOVERS |
- vpParseArgv::ARGV_NO_ABBREV |
- vpParseArgv::ARGV_NO_DEFAULTS)) {
- return (false);
- }
-
- time_offset = vpTime::measureTimeSecond();
+ time_offset = vpTime::measureTimeSecond();
#ifdef VISP_HAVE_PTHREAD
- pthread_t thread_camera_acq;
- pthread_t thread_laser_acq;
- pthread_t thread_laser_display;
- pthread_create(&thread_camera_acq, NULL, &camera_acq_and_display_loop, NULL);
- pthread_create(&thread_laser_acq, NULL, &laser_acq_loop, NULL);
- pthread_create(&thread_laser_display, NULL, &laser_display_and_save_loop, NULL);
- pthread_join(thread_camera_acq, 0);
- pthread_join(thread_laser_acq, 0);
- pthread_join(thread_laser_display, 0);
+ pthread_t thread_camera_acq;
+ pthread_t thread_laser_acq;
+ pthread_t thread_laser_display;
+ pthread_create(&thread_camera_acq, NULL, &camera_acq_and_display_loop, NULL);
+ pthread_create(&thread_laser_acq, NULL, &laser_acq_loop, NULL);
+ pthread_create(&thread_laser_display, NULL, &laser_display_and_save_loop, NULL);
+ pthread_join(thread_camera_acq, 0);
+ pthread_join(thread_laser_acq, 0);
+ pthread_join(thread_laser_display, 0);
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else // #ifdef UNIX and display
diff --git a/example/device/light/CMakeLists.txt b/example/device/light/CMakeLists.txt
index 52bbd0d..ca12b77 100644
--- a/example/device/light/CMakeLists.txt
+++ b/example/device/light/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/device/light/ringLight.cpp b/example/device/light/ringLight.cpp
index f9307a2..324ea03 100644
--- a/example/device/light/ringLight.cpp
+++ b/example/device/light/ringLight.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: ringLight.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: ringLight.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -166,15 +166,15 @@ bool getOptions(int argc, const char **argv, bool &on, int &nsec, double &nmsec)
int
main(int argc, const char **argv)
{
- bool on = false;
- int nsec = 5; // Time while the ring light is turned on
- double nmsec = 0; // Pulse duration
-
- // Read the command line options
- if (getOptions(argc, argv, on, nsec, nmsec) == false) {
- exit (-1);
- }
try {
+ bool on = false;
+ int nsec = 5; // Time while the ring light is turned on
+ double nmsec = 0; // Pulse duration
+
+ // Read the command line options
+ if (getOptions(argc, argv, on, nsec, nmsec) == false) {
+ exit (-1);
+ }
vpRingLight light;
diff --git a/example/direct-visual-servoing/CMakeLists.txt b/example/direct-visual-servoing/CMakeLists.txt
index 1df6f76..f70cd77 100644
--- a/example/direct-visual-servoing/CMakeLists.txt
+++ b/example/direct-visual-servoing/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/direct-visual-servoing/photometricVisualServoing.cpp b/example/direct-visual-servoing/photometricVisualServoing.cpp
index 2027f64..1686d88 100755
--- a/example/direct-visual-servoing/photometricVisualServoing.cpp
+++ b/example/direct-visual-servoing/photometricVisualServoing.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: photometricVisualServoing.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: photometricVisualServoing.cpp 4664 2014-02-16 16:17:54Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -41,10 +41,7 @@
/*!
\example photometricVisualServoing.cpp
- Implemented from C. Collewet, E. Marchand, F. Chaumette. Visual
- servoing set free from image processing. In IEEE Int. Conf. on
- Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
- Mai 2008.
+ Implemented from \cite Collewet08c.
*/
@@ -79,6 +76,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:n:h"
+void usage(const char *name, const char *badparam, std::string ipath, int niter);
+bool getOptions(int argc, const char **argv, std::string &ipath,
+ bool &click_allowed, bool &display, int &niter);
+
/*!
Print the program options.
@@ -141,19 +142,19 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv, std::string &ipath,
bool &click_allowed, bool &display, int &niter)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'n': niter = atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'n': niter = atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, niter); return false; break;
default:
- usage(argv[0], optarg, ipath, niter);
+ usage(argv[0], optarg_, ipath, niter);
return false; break;
}
}
@@ -162,7 +163,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath, niter);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -174,321 +175,328 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
- int opt_niter = 400;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
- opt_display, opt_niter) == false) {
- return (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ int opt_niter = 400;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
+ opt_display, opt_niter) == false) {
+ return (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_niter);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath, opt_niter);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
+
+ vpImage<unsigned char> Itexture ;
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(Itexture,filename) ;
+
+ vpColVector X[4];
+ for (int i = 0; i < 4; i++) X[i].resize(3);
+ // Top left corner
+ X[0][0] = -0.3;
+ X[0][1] = -0.215;
+ X[0][2] = 0;
+
+ // Top right corner
+ X[1][0] = 0.3;
+ X[1][1] = -0.215;
+ X[1][2] = 0;
+
+ // Bottom right corner
+ X[2][0] = 0.3;
+ X[2][1] = 0.215;
+ X[2][2] = 0;
+
+ //Bottom left corner
+ X[3][0] = -0.3;
+ X[3][1] = 0.215;
+ X[3][2] = 0;
+
+ vpImageSimulator sim;
+
+ sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION) ;
+ sim.init(Itexture, X);
+
+
+
- vpImage<unsigned char> Itexture ;
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(Itexture,filename) ;
-
- vpColVector X[4];
- for (int i = 0; i < 4; i++) X[i].resize(3);
- // Top left corner
- X[0][0] = -0.3;
- X[0][1] = -0.215;
- X[0][2] = 0;
-
- // Top right corner
- X[1][0] = 0.3;
- X[1][1] = -0.215;
- X[1][2] = 0;
-
- // Bottom right corner
- X[2][0] = 0.3;
- X[2][1] = 0.215;
- X[2][2] = 0;
-
- //Bottom left corner
- X[3][0] = -0.3;
- X[3][1] = 0.215;
- X[3][2] = 0;
-
- vpImageSimulator sim;
-
- sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION) ;
- sim.init(Itexture, X);
-
-
-
-
- vpCameraParameters cam(870, 870, 160, 120);
-
- // ----------------------------------------------------------
- // Create the framegraber (here a simulated image)
- vpImage<unsigned char> I(240,320,0) ;
- vpImage<unsigned char> Id ;
-
- //camera desired position
- vpHomogeneousMatrix cdMo ;
- cdMo[2][3] = 1 ;
-
- //set the robot at the desired position
- sim.setCameraPosition(cdMo) ;
- sim.getImage(I,cam); // and aquire the image Id
- Id = I ;
-
-
- // display the image
+ vpCameraParameters cam(870, 870, 160, 120);
+
+ // ----------------------------------------------------------
+ // Create the framegraber (here a simulated image)
+ vpImage<unsigned char> I(240,320,0) ;
+ vpImage<unsigned char> Id ;
+
+ //camera desired position
+ vpHomogeneousMatrix cdMo ;
+ cdMo[2][3] = 1 ;
+
+ //set the robot at the desired position
+ sim.setCameraPosition(cdMo) ;
+ sim.getImage(I,cam); // and aquire the image Id
+ Id = I ;
+
+
+ // display the image
#if defined VISP_HAVE_X11
- vpDisplayX d;
+ vpDisplayX d;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI d;
+ vpDisplayGDI d;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK d;
+ vpDisplayGTK d;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
- if (opt_display) {
- d.init(I, 20, 10, "Photometric visual servoing : s") ;
- vpDisplay::display(I);
- vpDisplay::flush(I);
- }
- if (opt_display && opt_click_allowed) {
- std::cout << "Click in the image to continue..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ if (opt_display) {
+ d.init(I, 20, 10, "Photometric visual servoing : s") ;
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "Click in the image to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
#endif
- // ----------------------------------------------------------
- // position the robot at the initial position
- // ----------------------------------------------------------
+ // ----------------------------------------------------------
+ // position the robot at the initial position
+ // ----------------------------------------------------------
+
+ //camera desired position
+ vpHomogeneousMatrix cMo ;
+ cMo.buildFrom(0,0,1.2,vpMath::rad(15),vpMath::rad(-5),vpMath::rad(20));
+
+ //set the robot at the desired position
+ sim.setCameraPosition(cMo) ;
+ I =0 ;
+ sim.getImage(I,cam); // and aquire the image Id
- //camera desired position
- vpHomogeneousMatrix cMo ;
- cMo.buildFrom(0,0,1.2,vpMath::rad(15),vpMath::rad(-5),vpMath::rad(20));
-
- //set the robot at the desired position
- sim.setCameraPosition(cMo) ;
- I =0 ;
- sim.getImage(I,cam); // and aquire the image Id
-
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
- if (opt_display) {
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
- if (opt_display && opt_click_allowed) {
- std::cout << "Click in the image to continue..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "Click in the image to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
#endif
- vpImage<unsigned char> Idiff ;
- Idiff = I ;
+ vpImage<unsigned char> Idiff ;
+ Idiff = I ;
- vpImageTools::imageDifference(I,Id,Idiff) ;
+ vpImageTools::imageDifference(I,Id,Idiff) ;
- // Affiche de l'image de difference
+ // Affiche de l'image de difference
#if defined VISP_HAVE_X11
- vpDisplayX d1;
+ vpDisplayX d1;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI d1;
+ vpDisplayGDI d1;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK d1;
+ vpDisplayGTK d1;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
- if (opt_display) {
- d1.init(Idiff, 40+(int)I.getWidth(), 10, "photometric visual servoing : s-s* ") ;
- vpDisplay::display(Idiff) ;
- vpDisplay::flush(Idiff) ;
- }
+ if (opt_display) {
+ d1.init(Idiff, 40+(int)I.getWidth(), 10, "photometric visual servoing : s-s* ") ;
+ vpDisplay::display(Idiff) ;
+ vpDisplay::flush(Idiff) ;
+ }
#endif
- // create the robot (here a simulated free flying camera)
- vpRobotCamera robot ;
- robot.setSamplingTime(0.04);
- robot.setPosition(cMo) ;
+ // create the robot (here a simulated free flying camera)
+ vpRobotCamera robot ;
+ robot.setSamplingTime(0.04);
+ robot.setPosition(cMo) ;
+
+ // ------------------------------------------------------
+ // Visual feature, interaction matrix, error
+ // s, Ls, Lsd, Lt, Lp, etc
+ // ------------------------------------------------------
+
+ // current visual feature built from the image
+ // (actually, this is the image...)
+ vpFeatureLuminance sI ;
+ sI.init( I.getHeight(), I.getWidth(), Z) ;
+ sI.setCameraParameters(cam) ;
+ sI.buildFrom(I) ;
+
- // ------------------------------------------------------
- // Visual feature, interaction matrix, error
- // s, Ls, Lsd, Lt, Lp, etc
- // ------------------------------------------------------
+ // desired visual feature built from the image
+ vpFeatureLuminance sId ;
+ sId.init(I.getHeight(), I.getWidth(), Z) ;
+ sId.setCameraParameters(cam) ;
+ sId.buildFrom(Id) ;
- // current visual feature built from the image
- // (actually, this is the image...)
- vpFeatureLuminance sI ;
- sI.init( I.getHeight(), I.getWidth(), Z) ;
- sI.setCameraParameters(cam) ;
- sI.buildFrom(I) ;
-
- // desired visual feature built from the image
- vpFeatureLuminance sId ;
- sId.init(I.getHeight(), I.getWidth(), Z) ;
- sId.setCameraParameters(cam) ;
- sId.buildFrom(Id) ;
+ // Matrice d'interaction, Hessien, erreur,...
+ vpMatrix Lsd; // matrice d'interaction a la position desiree
+ vpMatrix Hsd; // hessien a la position desiree
+ vpMatrix H ; // Hessien utilise pour le levenberg-Marquartd
+ vpColVector error ; // Erreur I-I*
-
- // Matrice d'interaction, Hessien, erreur,...
- vpMatrix Lsd; // matrice d'interaction a la position desiree
- vpMatrix Hsd; // hessien a la position desiree
- vpMatrix H ; // Hessien utilise pour le levenberg-Marquartd
- vpColVector error ; // Erreur I-I*
+ // Compute the interaction matrix
+ // link the variation of image intensity to camera motion
- // Compute the interaction matrix
- // link the variation of image intensity to camera motion
+ // here it is computed at the desired position
+ sId.interaction(Lsd) ;
- // here it is computed at the desired position
- sId.interaction(Lsd) ;
-
- // Compute the Hessian H = L^TL
- Hsd = Lsd.AtA() ;
+ // Compute the Hessian H = L^TL
+ Hsd = Lsd.AtA() ;
- // Compute the Hessian diagonal for the Levenberg-Marquartd
- // optimization process
- unsigned int n = 6 ;
- vpMatrix diagHsd(n,n) ;
- diagHsd.eye(n);
- for(unsigned int i = 0 ; i < n ; i++) diagHsd[i][i] = Hsd[i][i];
+ // Compute the Hessian diagonal for the Levenberg-Marquartd
+ // optimization process
+ unsigned int n = 6 ;
+ vpMatrix diagHsd(n,n) ;
+ diagHsd.eye(n);
+ for(unsigned int i = 0 ; i < n ; i++) diagHsd[i][i] = Hsd[i][i];
- // ------------------------------------------------------
- // Control law
- double lambda ; //gain
- vpColVector e ;
- vpColVector v ; // camera velocity send to the robot
+ // ------------------------------------------------------
+ // Control law
+ double lambda ; //gain
+ vpColVector e ;
+ vpColVector v ; // camera velocity send to the robot
- // ----------------------------------------------------------
- // Minimisation
+ // ----------------------------------------------------------
+ // Minimisation
- double mu ; // mu = 0 : Gauss Newton ; mu != 0 : LM
- double lambdaGN;
+ double mu ; // mu = 0 : Gauss Newton ; mu != 0 : LM
+ double lambdaGN;
- mu = 0.01;
- lambda = 30 ;
- lambdaGN = 30;
+ mu = 0.01;
+ lambda = 30 ;
+ lambdaGN = 30;
- // set a velocity control mode
- robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
+ // set a velocity control mode
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
- // ----------------------------------------------------------
- int iter = 1;
- int iterGN = 90 ; // swicth to Gauss Newton after iterGN iterations
-
- double normeError = 0;
- do
- {
+ // ----------------------------------------------------------
+ int iter = 1;
+ int iterGN = 90 ; // swicth to Gauss Newton after iterGN iterations
- std::cout << "--------------------------------------------" << iter++ << std::endl ;
+ double normeError = 0;
+ do
+ {
+ std::cout << "--------------------------------------------" << iter++ << std::endl ;
- // Acquire the new image
- sim.setCameraPosition(cMo) ;
- sim.getImage(I,cam) ;
+
+ // Acquire the new image
+ sim.setCameraPosition(cMo) ;
+ sim.getImage(I,cam) ;
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
- if (opt_display) {
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
#endif
- vpImageTools::imageDifference(I,Id,Idiff) ;
+ vpImageTools::imageDifference(I,Id,Idiff) ;
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)
- if (opt_display) {
- vpDisplay::display(Idiff) ;
- vpDisplay::flush(Idiff) ;
- }
+ if (opt_display) {
+ vpDisplay::display(Idiff) ;
+ vpDisplay::flush(Idiff) ;
+ }
#endif
- // Compute current visual feature
- sI.buildFrom(I) ;
+ // Compute current visual feature
+ sI.buildFrom(I) ;
- // compute current error
- sI.error(sId,error) ;
+ // compute current error
+ sI.error(sId,error) ;
- normeError = (error.sumSquare());
- std::cout << "|e| "<<normeError <<std::endl ;
+ normeError = (error.sumSquare());
+ std::cout << "|e| "<<normeError <<std::endl ;
- // double t = vpTime::measureTimeMs() ;
+ // double t = vpTime::measureTimeMs() ;
- // ---------- Levenberg Marquardt method --------------
- {
- if (iter > iterGN)
+ // ---------- Levenberg Marquardt method --------------
{
- mu = 0.0001 ;
- lambda = lambdaGN;
+ if (iter > iterGN)
+ {
+ mu = 0.0001 ;
+ lambda = lambdaGN;
+ }
+
+ // Compute the levenberg Marquartd term
+ {
+ H = ((mu * diagHsd) + Hsd).inverseByLU();
+ }
+ // compute the control law
+ e = H * Lsd.t() *error ;
+
+ v = - lambda*e;
}
- // Compute the levenberg Marquartd term
- {
- H = ((mu * diagHsd) + Hsd).inverseByLU();
- }
- // compute the control law
- e = H * Lsd.t() *error ;
+ std::cout << "lambda = " << lambda << " mu = " << mu ;
+ std::cout << " |Tc| = " << sqrt(v.sumSquare()) << std::endl;
- v = - lambda*e;
- }
+ // send the robot velocity
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ robot.getPosition(cMo) ;
- std::cout << "lambda = " << lambda << " mu = " << mu ;
- std::cout << " |Tc| = " << sqrt(v.sumSquare()) << std::endl;
+ }
+ while(normeError > 10000 && iter < opt_niter);
- // send the robot velocity
+ v = 0 ;
robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- robot.getPosition(cMo) ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- while(normeError > 10000 && iter < opt_niter);
-
- v = 0 ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
-
}
diff --git a/example/homography/CMakeLists.txt b/example/homography/CMakeLists.txt
index 39967e8..06e81b3 100644
--- a/example/homography/CMakeLists.txt
+++ b/example/homography/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/homography/homographyHLM2DObject.cpp b/example/homography/homographyHLM2DObject.cpp
index 34e62d4..3966301 100644
--- a/example/homography/homographyHLM2DObject.cpp
+++ b/example/homography/homographyHLM2DObject.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: homographyHLM2DObject.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: homographyHLM2DObject.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,9 @@
#define L 0.1
#define nbpt 5
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -112,15 +115,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -129,7 +132,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -140,124 +143,79 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- int i ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpPoint P[nbpt] ; // Point to be tracked
- double xa[nbpt], ya[nbpt] ;
- double xb[nbpt], yb[nbpt] ;
+ vpPoint P[nbpt] ; // Point to be tracked
+ std::vector<double> xa(nbpt), ya(nbpt) ;
+ std::vector<double> xb(nbpt), yb(nbpt) ;
- vpPoint aP[nbpt] ; // Point to be tracked
- vpPoint bP[nbpt] ; // Point to be tracked
+ vpPoint aP[nbpt] ; // Point to be tracked
+ vpPoint bP[nbpt] ; // Point to be tracked
- P[0].setWorldCoordinates(-L,-L, 0 ) ;
- P[1].setWorldCoordinates(2*L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-L,3*L, 0 ) ;
- P[4].setWorldCoordinates(0,0, 0 ) ;
- /*
+ P[0].setWorldCoordinates(-L,-L, 0 ) ;
+ P[1].setWorldCoordinates(2*L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-L,3*L, 0 ) ;
+ P[4].setWorldCoordinates(0,0, 0 ) ;
+ /*
P[5].setWorldCoordinates(10,20, 0 ) ;
P[6].setWorldCoordinates(-10,12, 0 ) ;
*/
- vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
- vpHomogeneousMatrix aMb(1,0,0.0,vpMath::rad(10),0,vpMath::rad(40)) ;
- vpHomogeneousMatrix aMo =aMb*bMo ;
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(aMo) ;
- aP[i] = P[i] ;
- xa[i] = P[i].get_x() ;
- ya[i] = P[i].get_y() ;
- }
+ vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
+ vpHomogeneousMatrix aMb(1,0,0.0,vpMath::rad(10),0,vpMath::rad(40)) ;
+ vpHomogeneousMatrix aMo =aMb*bMo ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(aMo) ;
+ aP[i] = P[i] ;
+ xa[i] = P[i].get_x() ;
+ ya[i] = P[i].get_y() ;
+ }
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(bMo) ;
- bP[i] = P[i] ;
- xb[i] = P[i].get_x() ;
- yb[i] = P[i].get_y() ;
- }
- std::cout << "-------------------------------" <<std::endl ;
- std::cout << "aMb "<<std::endl <<aMb << std::endl ;
- std::cout << "-------------------------------" <<std::endl ;
- vpHomography aHb ;
-
- vpHomography::HLM(nbpt,xb,yb,xa,ya,true, aHb) ;
-
- vpTRACE("aHb computed using the Malis paralax algorithm") ;
- aHb /= aHb[2][2] ;
- std::cout << std::endl << aHb<< std::endl ;
-
- vpRotationMatrix aRb ;
- vpTranslationVector aTb ;
- vpColVector n ;
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("extract R, T and n ") ;
- aHb.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("Compare with built homography H = R + t/d ") ;
- vpPlane bp(0,0,1,1) ;
- vpHomography aHb_built(aMb,bp) ;
- vpTRACE( "aHb built from the displacement ") ;
- std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
-
- aHb_built.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("test if ap = aHb bp") ;
-
- for(i=0 ; i < nbpt ; i++)
- {
- std::cout << "Point "<< i<< std::endl ;
- vpPoint p ;
- std::cout << "(" ;
- std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
- std::cout <<") = (" ;
- p = aHb*bP[i] ;
- std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
- }
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(bMo) ;
+ bP[i] = P[i] ;
+ xb[i] = P[i].get_x() ;
+ yb[i] = P[i].get_y() ;
+ }
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "aMb "<<std::endl <<aMb << std::endl ;
+ std::cout << "-------------------------------" <<std::endl ;
+ vpHomography aHb ;
+
+ vpHomography::HLM(xb, yb, xa, ya, true, aHb) ;
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("test displacement") ;
+ aHb /= aHb[2][2] ;
+ std::cout << "aHb computed using the Malis paralax algorithm: \n" << aHb<< std::endl ;
- std::list<vpRotationMatrix> laRb ;
- std::list<vpTranslationVector> laTb ;
- std::list<vpColVector> lnb ;
+ vpRotationMatrix aRb ;
+ vpTranslationVector aTb ;
+ vpColVector n ;
- vpHomography::computeDisplacement(aHb,bP[0].get_x(),bP[0].get_y(),
- laRb, laTb, lnb) ;
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "extract R, T and n " << std::endl;
+ aHb.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
- std::list<vpRotationMatrix>::const_iterator it_laRb = laRb.begin();
- std::list<vpTranslationVector>::const_iterator it_laTb = laTb.begin();
- std::list<vpColVector>::const_iterator it_lnb = lnb.begin();
- int k =1 ;
- while (it_lnb != lnb.end())
- {
- std::cout << "Solution " << k++ << std::endl ;
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "Compare with built homography H = R + t/d " << std::endl ;
+ vpPlane bp(0,0,1,1) ;
+ vpHomography aHb_built(aMb,bp) ;
+ std::cout << "aHb built from the displacement " << std::endl ;
+ std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
- aRb = *it_laRb;
- aTb = *it_laTb;
- n = *it_lnb;
+ aHb_built.computeDisplacement(aRb, aTb, n) ;
std::cout << "Rotation: aRb" <<std::endl ;
std::cout << aRb << std::endl ;
std::cout << "Translation: aTb" <<std::endl;
@@ -265,9 +223,57 @@ main(int argc, const char ** argv)
std::cout << "Normal to the plane: n" <<std::endl;
std::cout << (n).t() <<std::endl ;
- ++ it_laRb;
- ++ it_laTb;
- ++ it_lnb;
- }
+ std::cout << "-------------------------------" << std::endl ;
+ std::cout << "test if ap = aHb bp" << std::endl ;
+
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ std::cout << "Point "<< i<< std::endl ;
+ vpPoint p ;
+ std::cout << "(" ;
+ std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
+ std::cout <<") = (" ;
+ p = aHb*bP[i] ;
+ std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
+ }
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "test displacement" << std::endl ;
+
+ std::list<vpRotationMatrix> laRb ;
+ std::list<vpTranslationVector> laTb ;
+ std::list<vpColVector> lnb ;
+
+ vpHomography::computeDisplacement(aHb,bP[0].get_x(),bP[0].get_y(),
+ laRb, laTb, lnb) ;
+
+ std::list<vpRotationMatrix>::const_iterator it_laRb = laRb.begin();
+ std::list<vpTranslationVector>::const_iterator it_laTb = laTb.begin();
+ std::list<vpColVector>::const_iterator it_lnb = lnb.begin();
+
+ int k =1 ;
+ while (it_lnb != lnb.end())
+ {
+ std::cout << "Solution " << k++ << std::endl ;
+
+ aRb = *it_laRb;
+ aTb = *it_laTb;
+ n = *it_lnb;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ ++ it_laRb;
+ ++ it_laTb;
+ ++ it_lnb;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/homography/homographyHLM3DObject.cpp b/example/homography/homographyHLM3DObject.cpp
index 03fd41b..ffe94ae 100644
--- a/example/homography/homographyHLM3DObject.cpp
+++ b/example/homography/homographyHLM3DObject.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: homographyHLM3DObject.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: homographyHLM3DObject.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -72,6 +72,9 @@
#define L 0.1
#define nbpt 11
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -111,15 +114,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -128,7 +131,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -139,106 +142,105 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- int i ;
-
- vpPoint P[nbpt] ; // Point to be tracked
- double xa[nbpt], ya[nbpt] ;
- double xb[nbpt], yb[nbpt] ;
-
- vpPoint aP[nbpt] ; // Point to be tracked
- vpPoint bP[nbpt] ; // Point to be tracked
-
- P[0].setWorldCoordinates(-L,-L, 0 ) ;
- P[1].setWorldCoordinates(2*L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-L,3*L, 0 ) ;
- P[4].setWorldCoordinates(0,0, L ) ;
- P[5].setWorldCoordinates(L,-2*L, L ) ;
- P[6].setWorldCoordinates(L,-4*L, 2*L ) ;
- P[7].setWorldCoordinates(-2*L,-L, -L ) ;
- P[8].setWorldCoordinates(-5*L,-5*L, L ) ;
- P[9].setWorldCoordinates(-2*L,+3*L, 2*L ) ;
- P[10].setWorldCoordinates(-2*L,-0.5*L, 2*L ) ;
- /*
- P[5].setWorldCoordinates(10,20, 0 ) ;
- P[6].setWorldCoordinates(-10,12, 0 ) ;
- */
- vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
- vpHomogeneousMatrix aMb(0.1,0.1,0.1,vpMath::rad(10),0,vpMath::rad(40)) ;
- vpHomogeneousMatrix aMo =aMb*bMo ;
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(aMo) ;
- aP[i] = P[i] ;
- xa[i] = P[i].get_x() ;
- ya[i] = P[i].get_y() ;
- }
+ vpPoint P[nbpt] ; // Point to be tracked
+ std::vector<double> xa(nbpt), ya(nbpt) ;
+ std::vector<double> xb(nbpt), yb(nbpt) ;
+
+ vpPoint aP[nbpt] ; // Point to be tracked
+ vpPoint bP[nbpt] ; // Point to be tracked
+
+ P[0].setWorldCoordinates(-L,-L, 0 ) ;
+ P[1].setWorldCoordinates(2*L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-L,3*L, 0 ) ;
+ P[4].setWorldCoordinates(0,0, L ) ;
+ P[5].setWorldCoordinates(L,-2*L, L ) ;
+ P[6].setWorldCoordinates(L,-4*L, 2*L ) ;
+ P[7].setWorldCoordinates(-2*L,-L, -L ) ;
+ P[8].setWorldCoordinates(-5*L,-5*L, L ) ;
+ P[9].setWorldCoordinates(-2*L,+3*L, 2*L ) ;
+ P[10].setWorldCoordinates(-2*L,-0.5*L, 2*L ) ;
+
+ vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
+ vpHomogeneousMatrix aMb(0.1,0.1,0.1,vpMath::rad(10),0,vpMath::rad(40)) ;
+ vpHomogeneousMatrix aMo =aMb*bMo ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(aMo) ;
+ aP[i] = P[i] ;
+ xa[i] = P[i].get_x() ;
+ ya[i] = P[i].get_y() ;
+ }
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(bMo) ;
- bP[i] = P[i] ;
- xb[i] = P[i].get_x() ;
- yb[i] = P[i].get_y() ;
- }
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(bMo) ;
+ bP[i] = P[i] ;
+ xb[i] = P[i].get_x() ;
+ yb[i] = P[i].get_y() ;
+ }
- vpRotationMatrix aRb ;
- vpTranslationVector aTb ;
- vpColVector n ;
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("Compare with built homography H = R + t/d n ") ;
- vpPlane bp(0,0,1,1) ;
- vpHomography aHb_built(aMb,bp) ;
- vpTRACE( "aHb built from the displacement ") ;
- std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
-
- aHb_built.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
- std::cout << "-------------------------------" <<std::endl ;
- std::cout << "aMb "<<std::endl <<aMb << std::endl ;
- std::cout << "-------------------------------" <<std::endl ;
- vpHomography aHb ;
-
- vpHomography::HLM(nbpt,xb,yb,xa,ya,false, aHb) ;
-
- vpTRACE("aHb computed using the Malis paralax algorithm") ;
- aHb /= aHb[2][2] ;
- std::cout << std::endl << aHb<< std::endl ;
-
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("extract R, T and n ") ;
- aHb.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("test if ap = aHb bp") ;
-
- for(i=0 ; i < nbpt ; i++)
- {
- std::cout << "Point "<< i<< std::endl ;
- vpPoint p ;
- std::cout << "(" ;
- std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
- std::cout <<") = (" ;
- p = aHb*bP[i] ;
- std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
- }
+ vpRotationMatrix aRb ;
+ vpTranslationVector aTb ;
+ vpColVector n ;
+ std::cout << "-------------------------------" << std::endl ;
+ std::cout << "Compare with built homography H = R + t/d n " << std::endl ;
+ vpPlane bp(0,0,1,1) ;
+ vpHomography aHb_built(aMb,bp) ;
+ std::cout << "aHb built from the displacement: \n" << aHb_built/aHb_built[2][2] << std::endl ;
+
+ aHb_built.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "aMb "<<std::endl <<aMb << std::endl ;
+ std::cout << "-------------------------------" <<std::endl ;
+ vpHomography aHb ;
+
+ vpHomography::HLM(xb, yb, xa, ya, false, aHb) ;
+
+ std::cout << "aHb computed using the Malis paralax algorithm" << std::endl ;
+ aHb /= aHb[2][2] ;
+ std::cout << std::endl << aHb<< std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "extract R, T and n " << std::endl ;
+ aHb.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "test if ap = aHb bp" << std::endl ;
+
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ std::cout << "Point "<< i<< std::endl ;
+ vpPoint p ;
+ std::cout << "(" ;
+ std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
+ std::cout <<") = (" ;
+ p = aHb*bP[i] ;
+ std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/homography/homographyHartleyDLT2DObject.cpp b/example/homography/homographyHartleyDLT2DObject.cpp
index 9ddd229..86561fd 100644
--- a/example/homography/homographyHartleyDLT2DObject.cpp
+++ b/example/homography/homographyHartleyDLT2DObject.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: homographyHartleyDLT2DObject.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: homographyHartleyDLT2DObject.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,9 @@
#define L 0.1
#define nbpt 5
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -113,15 +116,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -130,7 +133,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -141,99 +144,102 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- int i ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpPoint P[nbpt] ; // Point to be tracked
- double xa[nbpt], ya[nbpt] ;
- double xb[nbpt], yb[nbpt] ;
+ vpPoint P[nbpt] ; // Point to be tracked
+ std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
- vpPoint aP[nbpt] ; // Point to be tracked
- vpPoint bP[nbpt] ; // Point to be tracked
+ vpPoint aP[nbpt] ; // Point to be tracked
+ vpPoint bP[nbpt] ; // Point to be tracked
- P[0].setWorldCoordinates(-L,-L, 0 ) ;
- P[1].setWorldCoordinates(2*L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-L,3*L, 0 ) ;
- P[4].setWorldCoordinates(0,0, 0 ) ;
- /*
+ P[0].setWorldCoordinates(-L,-L, 0 ) ;
+ P[1].setWorldCoordinates(2*L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-L,3*L, 0 ) ;
+ P[4].setWorldCoordinates(0,0, 0 ) ;
+ /*
P[5].setWorldCoordinates(10,20, 0 ) ;
P[6].setWorldCoordinates(-10,12, 0 ) ;
*/
- vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
- vpHomogeneousMatrix aMb(1,0,0.0,vpMath::rad(10),0,vpMath::rad(40)) ;
- vpHomogeneousMatrix aMo =aMb*bMo ;
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(aMo) ;
- aP[i] = P[i] ;
- xa[i] = P[i].get_x() ;
- ya[i] = P[i].get_y() ;
- }
+ vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
+ vpHomogeneousMatrix aMb(1,0,0.0,vpMath::rad(10),0,vpMath::rad(40)) ;
+ vpHomogeneousMatrix aMo =aMb*bMo ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(aMo) ;
+ aP[i] = P[i] ;
+ xa[i] = P[i].get_x() ;
+ ya[i] = P[i].get_y() ;
+ }
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(bMo) ;
- bP[i] = P[i] ;
- xb[i] = P[i].get_x() ;
- yb[i] = P[i].get_y() ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(bMo) ;
+ bP[i] = P[i] ;
+ xb[i] = P[i].get_x() ;
+ yb[i] = P[i].get_y() ;
+ }
+ std::cout << "-------------------------------" <<std::endl ;
+ std::cout << "aMb "<<std::endl <<aMb << std::endl ;
+ std::cout << "-------------------------------" <<std::endl ;
+ vpHomography aHb ;
+
+ vpHomography::DLT(xb, yb, xa, ya, aHb, true) ;
+
+ vpTRACE("aHb computed using the DLT algorithm") ;
+ aHb /= aHb[2][2] ;
+ std::cout << std::endl << aHb<< std::endl ;
+
+ vpRotationMatrix aRb ;
+ vpTranslationVector aTb ;
+ vpColVector n ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ vpTRACE("extract R, T and n ") ;
+ aHb.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ vpTRACE("Compare with built homoraphy H = R + t/d ") ;
+ vpPlane bp(0,0,1,1) ;
+ vpHomography aHb_built(aMb,bp) ;
+ vpTRACE( "aHb built from the displacement ") ;
+ std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
+
+ aHb_built.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation: aRb" <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ vpTRACE("test if ap = aHb bp") ;
+
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ std::cout << "Point "<< i<< std::endl ;
+ vpPoint p ;
+ std::cout << "(" ;
+ std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
+ std::cout <<") = (" ;
+ p = aHb*bP[i] ;
+ std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- std::cout << "-------------------------------" <<std::endl ;
- std::cout << "aMb "<<std::endl <<aMb << std::endl ;
- std::cout << "-------------------------------" <<std::endl ;
- vpHomography aHb ;
-
- vpHomography::HartleyDLT(nbpt,xb,yb,xa,ya,aHb) ;
-
- vpTRACE("aHb computed using the DLT algorithm") ;
- aHb /= aHb[2][2] ;
- std::cout << std::endl << aHb<< std::endl ;
-
- vpRotationMatrix aRb ;
- vpTranslationVector aTb ;
- vpColVector n ;
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("extract R, T and n ") ;
- aHb.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("Compare with built homoraphy H = R + t/d ") ;
- vpPlane bp(0,0,1,1) ;
- vpHomography aHb_built(aMb,bp) ;
- vpTRACE( "aHb built from the displacement ") ;
- std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
-
- aHb_built.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation: aRb" <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE("test if ap = aHb bp") ;
-
- for(i=0 ; i < nbpt ; i++)
- {
- std::cout << "Point "<< i<< std::endl ;
- vpPoint p ;
- std::cout << "(" ;
- std::cout << aP[i].get_x()/aP[i].get_w()<<", "<< aP[i].get_y()/aP[i].get_w() ;
- std::cout <<") = (" ;
- p = aHb*bP[i] ;
- std::cout << p.get_x() /p.get_w()<<", "<< p.get_y()/ p.get_w() <<")"<<std::endl ;
- }
}
diff --git a/example/homography/homographyRansac2DObject.cpp b/example/homography/homographyRansac2DObject.cpp
index 2fdb479..7e092a2 100644
--- a/example/homography/homographyRansac2DObject.cpp
+++ b/example/homography/homographyRansac2DObject.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: homographyRansac2DObject.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: homographyRansac2DObject.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,8 +74,8 @@
// List of allowed command line options
#define GETOPTARGS "h"
-#define L 0.1
-#define nbpt 11
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
/*!
@@ -115,15 +115,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -132,7 +132,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -143,76 +143,102 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- int i ;
-
- vpPoint P[nbpt] ; // Point to be tracked
- double xa[nbpt], ya[nbpt] ;
- double xb[nbpt], yb[nbpt] ;
-
- vpPoint aP[nbpt] ; // Point to be tracked
- vpPoint bP[nbpt] ; // Point to be tracked
-
- P[0].setWorldCoordinates(-L,-L, 0 ) ; // inlier
- P[1].setWorldCoordinates(2*L,-L, 0 ) ; // inlier
- P[2].setWorldCoordinates(L,L, 0 ) ; // inlier
- P[3].setWorldCoordinates(-L,3*L, 0 ) ; // inlier
- P[4].setWorldCoordinates(0,0, L ) ;
- P[5].setWorldCoordinates(L,-2*L, L ) ;
- P[6].setWorldCoordinates(L,-4*L, 2*L ) ;
- P[7].setWorldCoordinates(-2*L,-L, -3*L ) ;
- P[8].setWorldCoordinates(-5*L,-5*L, 0 ) ; // inlier
- P[9].setWorldCoordinates(-2*L,+3*L, 4*L ) ;
- P[10].setWorldCoordinates(-2*L,-0.5*L, 0 ) ;
- /*
- P[5].setWorldCoordinates(10,20, 0 ) ;
- P[6].setWorldCoordinates(-10,12, 0 ) ;
- */
- vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
- vpHomogeneousMatrix aMb(0.1,0.1,0.1,vpMath::rad(10),0,vpMath::rad(40)) ;
- vpHomogeneousMatrix aMo =aMb*bMo ;
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(aMo) ;
- aP[i] = P[i] ;
- xa[i] = P[i].get_x() ;
- ya[i] = P[i].get_y() ;
- }
+ double L=0.1;
+ unsigned int nbpt = 11;
+
+ std::vector<vpPoint> P(nbpt); // Point to be tracked
+ std::vector<double> xa(nbpt), ya(nbpt), xb(nbpt), yb(nbpt);
+
+ std::vector<vpPoint> aP(nbpt); // Point to be tracked
+ std::vector<vpPoint> bP(nbpt); // Point to be tracked
+
+ P[0].setWorldCoordinates(-L,-L, 0 ) ; // inlier
+ P[1].setWorldCoordinates(2*L,-L, 0 ) ; // inlier
+ P[2].setWorldCoordinates(L,L, 0 ) ; // inlier
+ P[3].setWorldCoordinates(-L,3*L, 0 ) ; // inlier
+ P[4].setWorldCoordinates(0,0, L ) ;
+ P[5].setWorldCoordinates(L,-2*L, L ) ;
+ P[6].setWorldCoordinates(L,-4*L, 2*L ) ;
+ P[7].setWorldCoordinates(-2*L,-L, -3*L ) ;
+ P[8].setWorldCoordinates(-5*L,-5*L, 0 ) ; // inlier
+ P[9].setWorldCoordinates(-2*L,+3*L, 4*L ) ;
+ P[10].setWorldCoordinates(-2*L,-0.5*L, 0 ) ; // inlier
+
+ std::vector<bool> inliers_ground_truth(nbpt, false);
+ inliers_ground_truth[0] = true;
+ inliers_ground_truth[1] = true;
+ inliers_ground_truth[2] = true;
+ inliers_ground_truth[3] = true;
+ inliers_ground_truth[8] = true;
+ inliers_ground_truth[10] = true;
+
+ vpHomogeneousMatrix bMo(0,0,1, 0,0,0) ;
+ vpHomogeneousMatrix aMb(0.1,0.1,0.1,vpMath::rad(10),0,vpMath::rad(40)) ;
+ vpHomogeneousMatrix aMo =aMb*bMo ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(aMo) ;
+ aP[i] = P[i] ;
+ xa[i] = P[i].get_x() ;
+ ya[i] = P[i].get_y() ;
+ }
- for(i=0 ; i < nbpt ; i++)
- {
- P[i].project(bMo) ;
- bP[i] = P[i] ;
- xb[i] = P[i].get_x() ;
- yb[i] = P[i].get_y() ;
+ for(unsigned int i=0 ; i < nbpt ; i++)
+ {
+ P[i].project(bMo) ;
+ bP[i] = P[i] ;
+ xb[i] = P[i].get_x() ;
+ yb[i] = P[i].get_y() ;
+ }
+ std::cout << "-------------------------------" <<std::endl ;
+
+ vpRotationMatrix aRb ;
+ vpTranslationVector aTb ;
+ vpColVector n ;
+ std::cout << "Compare with built homography H = R + t/d n " << std::endl;
+ vpPlane bp(0,0,1,1) ;
+ vpHomography aHb_built(aMb,bp) ;
+ std::cout << "aHb built from the displacement: \n" << aHb_built/aHb_built[2][2] << std::endl ;
+
+ aHb_built.computeDisplacement(aRb, aTb, n) ;
+ std::cout << "Rotation aRb: " <<std::endl ;
+ std::cout << aRb << std::endl ;
+ std::cout << "Translation: aTb" <<std::endl;
+ std::cout << (aTb).t() <<std::endl ;
+ std::cout << "Normal to the plane: n" <<std::endl;
+ std::cout << (n).t() <<std::endl ;
+
+ std::cout << "-------------------------------" <<std::endl ;
+ vpHomography aHb;
+ std::vector<bool> inliers;
+ double residual;
+ // Suppose px=1000. Set the threshold to 2 pixels => 2/1000
+ // In the data we have 6 inliers. We request that at least 6 are retrieved
+ vpHomography::ransac(xb, yb, xa, ya, aHb, inliers, residual, 6, 2./1000) ;
+
+ std::cout << "aHb estimated using ransac:\n" << aHb << std::endl ;
+ std::cout << "Inliers indexes (should be 0,1,2,3,8,10): ";
+ for (unsigned int i=0; i< inliers.size(); i++)
+ if (inliers[i]) std::cout << i << ",";
+ std::cout << std::endl;
+
+ if (inliers == inliers_ground_truth) {
+ std::cout << "Ransac estimation succeed" << std::endl;
+ return 0;
+ }
+ else {
+ std::cout << "Ransac estimation fails" << std::endl;
+ return 1;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- std::cout << "-------------------------------" <<std::endl ;
-
- vpRotationMatrix aRb ;
- vpTranslationVector aTb ;
- vpColVector n ;
- vpTRACE("Compare with built homography H = R + t/d n ") ;
- vpPlane bp(0,0,1,1) ;
- vpHomography aHb_built(aMb,bp) ;
- vpTRACE( "aHb built from the displacement ") ;
- std::cout << std::endl <<aHb_built/aHb_built[2][2] << std::endl ;
-
- aHb_built.computeDisplacement(aRb, aTb, n) ;
- std::cout << "Rotation aRb: " <<std::endl ;
- std::cout << aRb << std::endl ;
- std::cout << "Translation: aTb" <<std::endl;
- std::cout << (aTb).t() <<std::endl ;
- std::cout << "Normal to the plane: n" <<std::endl;
- std::cout << (n).t() <<std::endl ;
-
- std::cout << "-------------------------------" <<std::endl ;
- vpTRACE(" ") ;
- vpHomography aHb ;
- vpHomography::ransac(nbpt,xb,yb,xa,ya, aHb) ;
-
- std::cout << aHb << std::endl ;
}
diff --git a/example/image/CMakeLists.txt b/example/image/CMakeLists.txt
index 59e38c6..fd85035 100644
--- a/example/image/CMakeLists.txt
+++ b/example/image/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/image/imageDiskRW.cpp b/example/image/imageDiskRW.cpp
index f153c6b..5d94c68 100644
--- a/example/image/imageDiskRW.cpp
+++ b/example/image/imageDiskRW.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: imageDiskRW.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: imageDiskRW.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
+
/*!
Print the program options.
@@ -127,20 +130,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -148,7 +150,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -160,183 +162,179 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
-
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " imageDiskRW.cpp" <<std::endl << std::endl ;
-
- std::cout << " reading and writting of PPM image" << std::endl ;
- std::cout << " read an image that does not exist" << std::endl ;
- std::cout << " write in a directory that does no exist" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#if defined(UNIX) && !defined(WIN32)
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " imageDiskRW.cpp" <<std::endl << std::endl ;
+
+ std::cout << " reading and writting of PPM image" << std::endl ;
+ std::cout << " read an image that does not exist" << std::endl ;
+ std::cout << " write in a directory that does no exist" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string dirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string dirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(dirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(dirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << dirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(dirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(dirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << dirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ /////////////////////////////////////////////////////////////////////
- /////////////////////////////////////////////////////////////////////
+ // First we wanted to have gray level image (8bits)
+ // vpImage is a template class you can declare vpImage of ... everything...
+ vpImage<unsigned char> I ;
+ // Although I is a gray level image you can read and write
+ // color image. Obviously the color will be translated as a gray level
- // First we wanted to have gray level image (8bits)
- // vpImage is a template class you can declare vpImage of ... everything...
- vpImage<unsigned char> I ;
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpImageIo::read(I, filename);
- // Although I is a gray level image you can read and write
- // color image. Obviously the color will be translated as a gray level
+ filename = dirname + vpIoTools::path("/IoPPM.Klimt_char.ppm");
+ vpImageIo::write(I, filename) ;
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpImageIo::read(I, filename);
- filename = dirname + vpIoTools::path("/IoPPM.Klimt_char.ppm");
- vpImageIo::write(I, filename) ;
+ // test io error
+ // if the image you want to read on the disk does not exist
+ // an exception is thrown
+ //Try to load a non existing image
+ try {
+ filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ vpImageIo::read(I,filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
- // test io error
- // if the image you want to read on the disk does not exist
- // an exception is thrown
- try
- {
- //Try to load a non existing image
- filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ // same thing if you to write in a directory that does not exist
+ // or where you are not allowd to write.
+ try {
+ filename = dirname + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ vpImageIo::write(I,filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
- vpImageIo::read(I,filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
- // same thing if you to write in a directory that does not exist
- // or where you are not allowd to write.
- try
- {
- filename = dirname + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
- vpImageIo::write(I,filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
+ std::cout << "----------------------------------------------------" << std::endl ;
- std::cout << "----------------------------------------------------" << std::endl ;
+ // Let's consider that the image is now a color image (32 bits RGBa)
+ vpImage<vpRGBa> Irgba ;
- // Let's consider that the image is now a color image (32 bits RGBa)
- vpImage<vpRGBa> Irgba ;
+ // read write unsigned char ppm image.
- // read write unsigned char ppm image.
+ // Load a color image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpImageIo::read(Irgba, filename);
- // Load a color image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpImageIo::read(Irgba, filename);
+ // Write the content of the color image on the disk
+ filename = dirname + vpIoTools::path("/IoPGM.Klimt_rgba.ppm");
+ vpImageIo::write(Irgba, filename) ;
- // Write the content of the color image on the disk
- filename = dirname + vpIoTools::path("/IoPGM.Klimt_rgba.ppm");
- vpImageIo::write(Irgba, filename) ;
+ // test io error
+ try {
+ filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ vpImageIo::read(Irgba,filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
- // test io error
- try
- {
- filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
- vpImageIo::read(Irgba,filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
+ // test io error
+ try {
+ filename = dirname + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ vpImageIo::write(Irgba,filename) ;
+ }
- // test io error
- try
- {
- filename = dirname + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
- vpImageIo::write(Irgba,filename) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+ return 0;
}
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/key-point/CMakeLists.txt b/example/key-point/CMakeLists.txt
index 45f66f3..cbf8457 100644
--- a/example/key-point/CMakeLists.txt
+++ b/example/key-point/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/key-point/fernClassifier.cpp b/example/key-point/fernClassifier.cpp
index 7d22251..2f38f4b 100644
--- a/example/key-point/fernClassifier.cpp
+++ b/example/key-point/fernClassifier.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: fernClassifier.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: fernClassifier.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,10 @@
#define GETOPTARGS "hlcdb:i:sp"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &isLearning, std::string& dataFile, bool& click_allowed,
+ bool& display, bool& displayPoints, bool& useSequence, std::string& ipath);
+
/*!
Print the program options.
@@ -145,24 +149,24 @@ OPTIONS: \n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- bool &isLearning, std::string& dataFile, bool& click_allowed, bool& display, bool& displayPoints, bool& useSequence, std::string& ipath)
+bool getOptions(int argc, const char **argv, bool &isLearning, std::string& dataFile, bool& click_allowed,
+ bool& display, bool& displayPoints, bool& useSequence, std::string& ipath)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
case 'l': isLearning = true; break;
case 'h': usage(argv[0], NULL); return false; break;
- case 'b': dataFile = optarg; break;
+ case 'b': dataFile = optarg_; break;
case 'p': displayPoints = true; break;
case 's': useSequence = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -171,7 +175,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -183,284 +187,289 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char** argv)
{
- bool isLearning = false;
- std::string dataFile("./dataFern");
- bool opt_click_allowed = true;
- bool opt_display = true;
- std::string objectName("object");
- bool displayPoints = false;
- bool useSequence = true;
- std::string opt_ipath;
- std::string ipath;
- std::string env_ipath;
- std::string dirname;
- std::string filename;
-
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL){
- env_ipath = ptenv;
- }
-
- // Set the default input path
- if (! env_ipath.empty()){
- ipath = env_ipath;
- }
+ try {
+ bool isLearning = false;
+ std::string dataFile("./dataFern");
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ std::string objectName("object");
+ bool displayPoints = false;
+ bool useSequence = true;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string env_ipath;
+ std::string dirname;
+ std::string filename;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL){
+ env_ipath = ptenv;
+ }
- // Read the command line options
- if (getOptions(argc, argv,
- isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, useSequence, opt_ipath) == false) {
- exit (-1);
- }
+ // Set the default input path
+ if (! env_ipath.empty()){
+ ipath = env_ipath;
+ }
- // Get the option values
- if (useSequence && !opt_ipath.empty()){
- ipath = opt_ipath;
- }
+ // Read the command line options
+ if (getOptions(argc, argv,
+ isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, useSequence, opt_ipath) == false) {
+ exit (-1);
+ }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (useSequence && !opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (useSequence && !opt_ipath.empty()){
+ ipath = opt_ipath;
}
- }
- // Test if an input path is set
- if (useSequence && opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (useSequence && !opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
-
- // Declare two images, these are gray level images (unsigned char)
- vpImage <unsigned char> I;
- vpImage <unsigned char> Iref;
-
-
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
-
- // Build the name of the image file
- unsigned iter = 0; // Image number
- std::ostringstream s;
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- if(useSequence){
- vpCTRACE << "Load: " << filename << std::endl;
- vpImageIo::read(Iref, filename) ;
- I = Iref;
+ // Test if an input path is set
+ if (useSequence && opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
}
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
-
- // Declare a framegrabber
- vpOpenCVGrabber g;
- if(!useSequence){
+
+ // Declare two images, these are gray level images (unsigned char)
+ vpImage <unsigned char> I;
+ vpImage <unsigned char> Iref;
+
+
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
+
+ // Build the name of the image file
+ unsigned iter = 0; // Image number
+ std::ostringstream s;
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
try{
- g.open(I);
+ if(useSequence){
+ vpCTRACE << "Load: " << filename << std::endl;
+ vpImageIo::read(Iref, filename) ;
+ I = Iref;
+ }
}
- catch(...){
- std::cout << "problem to initialise the framegrabber" << std::endl;
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
exit(-1);
}
- g.acquire(I);
- // initialise the reference image
- g.acquire(Iref);
- }
+
+
+ // Declare a framegrabber
+ vpOpenCVGrabber g;
+ if(!useSequence){
+ try{
+ g.open(I);
+ }
+ catch(...){
+ std::cout << "problem to initialise the framegrabber" << std::endl;
+ exit(-1);
+ }
+ g.acquire(I);
+ // initialise the reference image
+ g.acquire(Iref);
+ }
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
-
+
#if defined VISP_HAVE_X11
- vpDisplayX displayRef;
+ vpDisplayX displayRef;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK displayRef;
+ vpDisplayGTK displayRef;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayRef;
+ vpDisplayGDI displayRef;
#endif
- // declare a planar object detector
- vpFernClassifier fern;
+ // declare a planar object detector
+ vpFernClassifier fern;
- if(isLearning){
- if(opt_display){
- displayRef.init(Iref, 100, 100, "Reference image") ;
- vpDisplay::display(Iref);
- vpDisplay::flush(Iref);
- }
- vpImagePoint corners[2];
- if (opt_display && opt_click_allowed){
- std::cout << "Click on the top left and the bottom right corners to define the reference plane" << std::endl;
- for (int i=0 ; i < 2 ; i++){
- vpDisplay::getClick(Iref, corners[i]);
- std::cout << corners[i] << std::endl;
+ if(isLearning){
+ if(opt_display){
+ displayRef.init(Iref, 100, 100, "Reference image") ;
+ vpDisplay::display(Iref);
+ vpDisplay::flush(Iref);
+ }
+ vpImagePoint corners[2];
+ if (opt_display && opt_click_allowed){
+ std::cout << "Click on the top left and the bottom right corners to define the reference plane" << std::endl;
+ for (int i=0 ; i < 2 ; i++){
+ vpDisplay::getClick(Iref, corners[i]);
+ std::cout << corners[i] << std::endl;
+ }
+ }
+ else{
+ corners[0].set_ij(1,1);
+ corners[1].set_ij(I.getHeight()-2,I.getWidth()-2);
}
- }
- else{
- corners[0].set_ij(1,1);
- corners[1].set_ij(I.getHeight()-2,I.getWidth()-2);
- }
- if (opt_display) {
- //Display the rectangle which defines the part of the image where the reference points are computed.
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
- vpDisplay::flush(Iref);
- }
+ if (opt_display) {
+ //Display the rectangle which defines the part of the image where the reference points are computed.
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
+ vpDisplay::flush(Iref);
+ }
- if (opt_click_allowed){
- std::cout << "Click on the image to continue" << std::endl;
- vpDisplay::getClick(Iref);
- }
+ if (opt_click_allowed){
+ std::cout << "Click on the image to continue" << std::endl;
+ vpDisplay::getClick(Iref);
+ }
- vpRect roi(corners[0], corners[1]);
+ vpRect roi(corners[0], corners[1]);
- std::cout << "> train the classifier on the selected plane. (may take up to several minutes)." << std::endl;
- if(opt_display) {
- vpDisplay::display(Iref);
- vpDisplay::flush(Iref);
- }
-
- try{
- fern.buildReference(Iref, roi);
- }
- catch(vpException e){
- std::cout << e.getMessage() << std::endl;
- }
- catch(...){
- std::cout << "unknown error, line " << __LINE__ << std::endl;
- }
- try{
- fern.record(objectName, dataFile);
- }
- catch(vpException e){
- std::cout << e.getMessage() << std::endl;
- }
- catch(...){
- std::cout << "unknown error, line " << __LINE__ << std::endl;
- }
- std::cout << __LINE__ << std::endl;
- }
- else{
- if(!vpIoTools::checkFilename(dataFile)){
- vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
- exit(-1);
- }
- try{
- // load a previously recorded file
- fern.load(dataFile, objectName);
- }
- catch(...){
- vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
- exit(-1);
- }
- }
-
-
- if(opt_display){
- display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image") ;
- vpDisplay::display(I);
- vpDisplay::flush(I);
- }
+ std::cout << "> train the classifier on the selected plane. (may take up to several minutes)." << std::endl;
+ if(opt_display) {
+ vpDisplay::display(Iref);
+ vpDisplay::flush(Iref);
+ }
- if (opt_display && opt_click_allowed){
- std::cout << "Click on the current image to continue" << std::endl;
- vpDisplay::displayCharString (I, vpImagePoint(15,15),
- (char*)"Click on the current image to continue", vpColor::red);
- vpDisplay::flush(I);
- vpDisplay::getClick(I);
- }
-
- for ( ; ; ) {
- // acquire a new image
- if(useSequence){
- iter++;
- if(iter >= 80){
- break;
- }
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- // read the image
- vpImageIo::read(I, filename);
+ try{
+ fern.buildReference(Iref, roi);
+ }
+ catch(vpException e){
+ std::cout << e.getMessage() << std::endl;
+ }
+ catch(...){
+ std::cout << "unknown error, line " << __LINE__ << std::endl;
+ }
+ try{
+ fern.record(objectName, dataFile);
+ }
+ catch(vpException e){
+ std::cout << e.getMessage() << std::endl;
+ }
+ catch(...){
+ std::cout << "unknown error, line " << __LINE__ << std::endl;
+ }
+ std::cout << __LINE__ << std::endl;
}
else{
- g.acquire(I);
+ if(!vpIoTools::checkFilename(dataFile)){
+ vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
+ exit(-1);
+ }
+ try{
+ // load a previously recorded file
+ fern.load(dataFile, objectName);
+ }
+ catch(...){
+ vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
+ exit(-1);
+ }
}
-
+
+
if(opt_display){
+ display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image") ;
vpDisplay::display(I);
- if(isLearning)
- vpDisplay::display(Iref);
- }
-
- double t0 = vpTime::measureTimeMs ();
- // detection of the reference image
- unsigned int nbpts;
- try{
- nbpts = fern.matchPoint(I);
- }
- catch(vpException e){
- std::cout << e.getMessage() << std::endl;
- return -1;
- }
- catch(...){
- std::cout << "unknown error line " << __LINE__ << std::endl;
- return -1;
+ vpDisplay::flush(I);
}
- std::cout << "matching " << nbpts << " points : " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
-
- if(opt_display){
- fern.display(Iref, I, 7);
+
+ if (opt_display && opt_click_allowed){
+ std::cout << "Click on the current image to continue" << std::endl;
+ vpDisplay::displayCharString (I, vpImagePoint(15,15),
+ (char*)"Click on the current image to continue", vpColor::red);
vpDisplay::flush(I);
- if(isLearning)
- vpDisplay::flush(Iref);
- if(vpDisplay::getClick(I, false)){
- break;
+ vpDisplay::getClick(I);
+ }
+
+ for ( ; ; ) {
+ // acquire a new image
+ if(useSequence){
+ iter++;
+ if(iter >= 80){
+ break;
+ }
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ // read the image
+ vpImageIo::read(I, filename);
+ }
+ else{
+ g.acquire(I);
+ }
+
+ if(opt_display){
+ vpDisplay::display(I);
+ if(isLearning)
+ vpDisplay::display(Iref);
+ }
+
+ double t0 = vpTime::measureTimeMs ();
+ // detection of the reference image
+ unsigned int nbpts;
+ try{
+ nbpts = fern.matchPoint(I);
+ }
+ catch(vpException e){
+ std::cout << e.getMessage() << std::endl;
+ return -1;
+ }
+ catch(...){
+ std::cout << "unknown error line " << __LINE__ << std::endl;
+ return -1;
+ }
+ std::cout << "matching " << nbpts << " points : " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
+
+ if(opt_display){
+ fern.display(Iref, I, 7);
+ vpDisplay::flush(I);
+ if(isLearning)
+ vpDisplay::flush(Iref);
+ if(vpDisplay::getClick(I, false)){
+ break;
+ }
}
}
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
#else
diff --git a/example/key-point/keyPointSurf.cpp b/example/key-point/keyPointSurf.cpp
index b40a5c7..590c088 100644
--- a/example/key-point/keyPointSurf.cpp
+++ b/example/key-point/keyPointSurf.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: keyPointSurf.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: keyPointSurf.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -76,6 +76,9 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -130,21 +133,20 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -153,7 +155,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -164,205 +166,211 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> Iref ;
- vpImage<unsigned char> Icur ;
-
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
-
- // Build the name of the image file
- unsigned iter = 0; // Image number
- std::ostringstream s;
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
-
- vpImageIo::read(Iref, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> Iref ;
+ vpImage<unsigned char> Icur ;
- // We open a window using either X11, GTK or GDI.
-#if defined VISP_HAVE_X11
- vpDisplayX display[2];
-#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[2];
-#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[2];
-#endif
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
- if (opt_display) {
+ // Build the name of the image file
+ unsigned int iter = 0; // Image number
+ std::ostringstream s;
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
try{
- // Display size is automatically defined by the image (I) size
- display[0].init(Iref, 100, 100,"Display reference image") ;
- vpDisplay::display(Iref) ;
- vpDisplay::flush(Iref) ;
+ vpCTRACE << "Load: " << filename << std::endl;
+
+ vpImageIo::read(Iref, filename) ;
}
catch(...)
{
- vpERROR_TRACE("Error while displaying the image") ;
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
exit(-1);
}
- }
- vpImagePoint corners[2];
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click on the top left and the bottom right corners to define the part of the image where the reference points will be computed" << std::endl;
- for (unsigned int i=0 ; i < 2 ; i++)
- {
- vpDisplay::getClick(Iref, corners[i]);
- std::cout << corners[i] << std::endl;
- }
- }
- else
- {
- corners[0].set_ij(156,209);
- corners[1].set_ij(272,378);
- }
+ // We open a window using either X11, GTK or GDI.
+#if defined VISP_HAVE_X11
+ vpDisplayX display[2];
+#elif defined VISP_HAVE_GTK
+ vpDisplayGTK display[2];
+#elif defined VISP_HAVE_GDI
+ vpDisplayGDI display[2];
+#endif
- if (opt_display)
- {
- //Display the rectangle which defines the part of the image where the reference points are computed.
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
- vpDisplay::flush(Iref);
- }
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display[0].init(Iref, 100, 100,"Display reference image") ;
+ vpDisplay::display(Iref) ;
+ vpDisplay::flush(Iref) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
+ }
- if (opt_click_allowed)
- {
- std::cout << "Click on the image to continue" << std::endl;
- vpDisplay::getClick(Iref);
- }
+ vpImagePoint corners[2];
+ if (opt_display && opt_click_allowed)
+ {
+ std::cout << "Click on the top left and the bottom right corners to define the part of the image where the reference points will be computed" << std::endl;
+ for (unsigned int i=0 ; i < 2 ; i++)
+ {
+ vpDisplay::getClick(Iref, corners[i]);
+ std::cout << corners[i] << std::endl;
+ }
+ }
+ else
+ {
+ corners[0].set_ij(156,209);
+ corners[1].set_ij(272,378);
+ }
- vpKeyPointSurf surf;
- // unsigned int nbrRef;
- unsigned int height, width;
- height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
- width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
+ if (opt_display)
+ {
+ //Display the rectangle which defines the part of the image where the reference points are computed.
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
+ vpDisplay::flush(Iref);
+ }
- //Computes the reference points
- /* nbrRef = */ surf.buildReference(Iref, corners[0], height, width);
+ if (opt_click_allowed)
+ {
+ std::cout << "Click on the image to continue" << std::endl;
+ vpDisplay::getClick(Iref);
+ }
- unsigned int nbrPair = 0;
+ vpKeyPointSurf surf;
+ // unsigned int nbrRef;
+ unsigned int height, width;
+ height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
+ width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
- vpImageIo::read(Icur, filename);
+ //Computes the reference points
+ /* nbrRef = */ surf.buildReference(Iref, corners[0], height, width);
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display[1].init(Icur, (int)(100+Iref.getWidth()), 100,"Display current image") ;
- vpDisplay::display(Icur) ;
- vpDisplay::flush(Icur) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
+ unsigned int nbrPair = 0;
- for (int iter = 1 ; iter < 30 ; iter++)
- {
- std::cout <<"----------------------------------------------------------"<<std::endl;
- // set the new image name
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- // read the image
vpImageIo::read(Icur, filename);
+
if (opt_display) {
- // Display the image
- vpDisplay::display(Iref) ;
- vpDisplay::display(Icur) ;
+ try{
+ // Display size is automatically defined by the image (I) size
+ display[1].init(Icur, (int)(100+Iref.getWidth()), 100,"Display current image") ;
+ vpDisplay::display(Icur) ;
+ vpDisplay::flush(Icur) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- nbrPair = surf.matchPoint(Icur);
- std::cout << "Number of matched point : " << nbrPair <<std::endl;
-
- if (opt_display)
+ for (iter = 1 ; iter < 30 ; iter++)
{
- // Display the matched features
- surf.display(Iref, Icur, 7);
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
- vpDisplay::flush(Iref) ;
- vpDisplay::flush(Icur) ;
+ std::cout <<"----------------------------------------------------------"<<std::endl;
+ // set the new image name
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ // read the image
+ vpImageIo::read(Icur, filename);
+ if (opt_display) {
+ // Display the image
+ vpDisplay::display(Iref) ;
+ vpDisplay::display(Icur) ;
+ }
+
+ nbrPair = surf.matchPoint(Icur);
+ std::cout << "Number of matched point : " << nbrPair <<std::endl;
+
+ if (opt_display)
+ {
+ // Display the matched features
+ surf.display(Iref, Icur, 7);
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
+ vpDisplay::flush(Iref) ;
+ vpDisplay::flush(Icur) ;
+ }
}
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/key-point/planarObjectDetector.cpp b/example/key-point/planarObjectDetector.cpp
index b6415a6..0fe4499 100644
--- a/example/key-point/planarObjectDetector.cpp
+++ b/example/key-point/planarObjectDetector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: planarObjectDetector.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: planarObjectDetector.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -75,6 +75,10 @@
#define GETOPTARGS "hlcdb:i:sp"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &isLearning, std::string& dataFile, bool& click_allowed,
+ bool& display, bool& displayPoints, bool& useSequence, std::string& ipath);
+
/*!
Print the program options.
@@ -147,24 +151,24 @@ OPTIONS: \n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- bool &isLearning, std::string& dataFile, bool& click_allowed, bool& display, bool& displayPoints, bool& useSequence, std::string& ipath)
+bool getOptions(int argc, const char **argv, bool &isLearning, std::string& dataFile, bool& click_allowed,
+ bool& display, bool& displayPoints, bool& useSequence, std::string& ipath)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
case 'l': isLearning = true; break;
case 'h': usage(argv[0], NULL); return false; break;
- case 'b': dataFile = optarg; break;
+ case 'b': dataFile = optarg_; break;
case 'p': displayPoints = true; break;
case 's': useSequence = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -173,7 +177,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -185,273 +189,279 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char** argv)
{
- bool isLearning = false;
- std::string dataFile("./dataPlanar");
- bool opt_click_allowed = true;
- bool opt_display = true;
- std::string objectName("object");
- bool displayPoints = false;
- bool useSequence = true;
- std::string opt_ipath;
- std::string ipath;
- std::string env_ipath;
- std::string dirname;
- std::string filename;
-
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL){
- env_ipath = ptenv;
- }
-
- // Set the default input path
- if (! env_ipath.empty()){
- ipath = env_ipath;
- }
+ try {
+ bool isLearning = false;
+ std::string dataFile("./dataPlanar");
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ std::string objectName("object");
+ bool displayPoints = false;
+ bool useSequence = true;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string env_ipath;
+ std::string dirname;
+ std::string filename;
+
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL){
+ env_ipath = ptenv;
+ }
- // Read the command line options
- if (getOptions(argc, argv,
- isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, useSequence, opt_ipath) == false) {
- exit (-1);
- }
+ // Set the default input path
+ if (! env_ipath.empty()){
+ ipath = env_ipath;
+ }
- // Get the option values
- if (useSequence && !opt_ipath.empty()){
- ipath = opt_ipath;
- }
+ // Read the command line options
+ if (getOptions(argc, argv,
+ isLearning, dataFile, opt_click_allowed, opt_display, displayPoints, useSequence, opt_ipath) == false) {
+ exit (-1);
+ }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (useSequence && !opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (useSequence && !opt_ipath.empty()){
+ ipath = opt_ipath;
}
- }
- // Test if an input path is set
- if (useSequence && opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (useSequence && !opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
-
- // Declare two images, these are gray level images (unsigned char)
- vpImage <unsigned char> I;
- vpImage <unsigned char> Iref;
-
-
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
-
- // Build the name of the image file
- unsigned iter = 0; // Image number
- std::ostringstream s;
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- if(useSequence){
- vpCTRACE << "Load: " << filename << std::endl;
- vpImageIo::read(Iref, filename) ;
- I = Iref;
+ // Test if an input path is set
+ if (useSequence && opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
}
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
-
- // Declare a framegrabber
- vpOpenCVGrabber g;
- if(!useSequence){
+
+ // Declare two images, these are gray level images (unsigned char)
+ vpImage <unsigned char> I;
+ vpImage <unsigned char> Iref;
+
+
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
+
+ // Build the name of the image file
+ unsigned iter = 0; // Image number
+ std::ostringstream s;
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
try{
- g.open(I);
+ if(useSequence){
+ vpCTRACE << "Load: " << filename << std::endl;
+ vpImageIo::read(Iref, filename) ;
+ I = Iref;
+ }
}
- catch(...){
- std::cout << "problem to initialise the framegrabber" << std::endl;
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
exit(-1);
}
-
-
- g.acquire(I);
- // initialise the reference image
- g.acquire(Iref);
- }
+
+
+ // Declare a framegrabber
+ vpOpenCVGrabber g;
+ if(!useSequence){
+ try{
+ g.open(I);
+ }
+ catch(...){
+ std::cout << "problem to initialise the framegrabber" << std::endl;
+ exit(-1);
+ }
+
+
+ g.acquire(I);
+ // initialise the reference image
+ g.acquire(Iref);
+ }
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
-
+
#if defined VISP_HAVE_X11
- vpDisplayX displayRef;
+ vpDisplayX displayRef;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK displayRef;
+ vpDisplayGTK displayRef;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayRef;
+ vpDisplayGDI displayRef;
#endif
- // declare a planar object detector
- vpPlanarObjectDetector planar;
+ // declare a planar object detector
+ vpPlanarObjectDetector planar;
- vpImagePoint corners[2];
- if(isLearning){
- if(opt_display){
- displayRef.init(Iref, 100, 100, "Reference image") ;
- vpDisplay::display(Iref);
- vpDisplay::flush(Iref);
- }
- if (opt_display && opt_click_allowed){
- std::cout << "Click on the top left and the bottom right corners to define the reference plane" << std::endl;
- for (int i=0 ; i < 2 ; i++){
- vpDisplay::getClick(Iref, corners[i]);
- std::cout << corners[i] << std::endl;
+ vpImagePoint corners[2];
+ if(isLearning){
+ if(opt_display){
+ displayRef.init(Iref, 100, 100, "Reference image") ;
+ vpDisplay::display(Iref);
+ vpDisplay::flush(Iref);
+ }
+ if (opt_display && opt_click_allowed){
+ std::cout << "Click on the top left and the bottom right corners to define the reference plane" << std::endl;
+ for (int i=0 ; i < 2 ; i++){
+ vpDisplay::getClick(Iref, corners[i]);
+ std::cout << corners[i] << std::endl;
+ }
+ }
+ else{
+ corners[0].set_ij(50, I.getWidth()-100);// small ROI for the automated test
+ corners[1].set_ij(I.getHeight()-100, I.getWidth()-2);
}
- }
- else{
- corners[0].set_ij(50, I.getWidth()-100);// small ROI for the automated test
- corners[1].set_ij(I.getHeight()-100, I.getWidth()-2);
- }
-
- if (opt_display) {
- //Display the rectangle which defines the part of the image where the reference points are computed.
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
- vpDisplay::flush(Iref);
- }
-
- if (opt_click_allowed){
- std::cout << "Click on the image to continue" << std::endl;
- vpDisplay::getClick(Iref);
- }
- vpRect roi(corners[0], corners[1]);
+ if (opt_display) {
+ //Display the rectangle which defines the part of the image where the reference points are computed.
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
+ vpDisplay::flush(Iref);
+ }
- std::cout << "> train the classifier on the selected plane (may take up to several minutes)." << std::endl;
- if(opt_display) {
- vpDisplay::display(Iref);
- vpDisplay::flush(Iref);
- }
- double t0 = vpTime::measureTimeMs ();
- planar.buildReference(Iref, roi);
- std::cout << "build reference in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
- t0 = vpTime::measureTimeMs ();
- planar.recordDetector(objectName, dataFile);
- std::cout << "record detector in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
- }
- else{
- if(!vpIoTools::checkFilename(dataFile)){
- vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
- exit(-1);
- }
- try{
- // load a previously recorded file
- planar.load(dataFile, objectName);
- }
- catch(...){
- vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
- exit(-1);
- }
- }
+ if (opt_click_allowed){
+ std::cout << "Click on the image to continue" << std::endl;
+ vpDisplay::getClick(Iref);
+ }
- if(opt_display){
- display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image") ;
- vpDisplay::display(I);
- vpDisplay::flush(I);
- }
+ vpRect roi(corners[0], corners[1]);
- if (opt_display && opt_click_allowed){
- std::cout << "Click on the reference image to continue" << std::endl;
- vpDisplay::displayCharString (Iref, vpImagePoint(15,15),
- (char*)"Click on the reference image to continue", vpColor::red);
- vpDisplay::flush(Iref);
- vpDisplay::getClick(Iref);
- }
-
- for ( ; ; ) {
- // acquire a new image
- if(useSequence){
- iter++;
- if(iter >= 80){
- break;
- }
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- // read the image
- vpImageIo::read(I, filename);
+ std::cout << "> train the classifier on the selected plane (may take up to several minutes)." << std::endl;
+ if(opt_display) {
+ vpDisplay::display(Iref);
+ vpDisplay::flush(Iref);
+ }
+ double t0 = vpTime::measureTimeMs ();
+ planar.buildReference(Iref, roi);
+ std::cout << "build reference in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
+ t0 = vpTime::measureTimeMs ();
+ planar.recordDetector(objectName, dataFile);
+ std::cout << "record detector in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
}
else{
- g.acquire(I);
+ if(!vpIoTools::checkFilename(dataFile)){
+ vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
+ exit(-1);
+ }
+ try{
+ // load a previously recorded file
+ planar.load(dataFile, objectName);
+ }
+ catch(...){
+ vpERROR_TRACE("cannot load the database with the specified name. Has the object been learned with the -l option? ");
+ exit(-1);
+ }
}
-
+
if(opt_display){
+ display.init(I, 110 + (int)Iref.getWidth(), 100, "Current image") ;
vpDisplay::display(I);
+ vpDisplay::flush(I);
}
-
- double t0 = vpTime::measureTimeMs ();
- // detection of the reference planar surface
- bool isDetected = planar.matchPoint(I);
- std::cout << "matching in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
-
- if(isDetected){
- vpHomography H;
- planar.getHomography(H);
- std::cout << " > computed homography:" << std::endl << H << std::endl;
+
+ if (opt_display && opt_click_allowed){
+ std::cout << "Click on the reference image to continue" << std::endl;
+ vpDisplay::displayCharString (Iref, vpImagePoint(15,15),
+ (char*)"Click on the reference image to continue", vpColor::red);
+ vpDisplay::flush(Iref);
+ vpDisplay::getClick(Iref);
+ }
+
+ for ( ; ; ) {
+ // acquire a new image
+ if(useSequence){
+ iter++;
+ if(iter >= 80){
+ break;
+ }
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ // read the image
+ vpImageIo::read(I, filename);
+ }
+ else{
+ g.acquire(I);
+ }
+
if(opt_display){
- if(isLearning){
- vpDisplay::display(Iref);
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
- planar.display(Iref, I, displayPoints);
- vpDisplay::flush(Iref);
- }else{
- planar.display(I, displayPoints);
+ vpDisplay::display(I);
+ }
+
+ double t0 = vpTime::measureTimeMs ();
+ // detection of the reference planar surface
+ bool isDetected = planar.matchPoint(I);
+ std::cout << "matching in " << vpTime::measureTimeMs () - t0 << " ms" << std::endl;
+
+ if(isDetected){
+ vpHomography H;
+ planar.getHomography(H);
+ std::cout << " > computed homography:" << std::endl << H << std::endl;
+ if(opt_display){
+ if(isLearning){
+ vpDisplay::display(Iref);
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::green);
+ planar.display(Iref, I, displayPoints);
+ vpDisplay::flush(Iref);
+ }else{
+ planar.display(I, displayPoints);
+ }
}
}
- }
- else{
- std::cout << " > reference is not detected in the image" << std::endl;
- }
- if(opt_display){
- vpDisplay::flush(I);
- if(vpDisplay::getClick(I, false)){
- break;
+ else{
+ std::cout << " > reference is not detected in the image" << std::endl;
+ }
+ if(opt_display){
+ vpDisplay::flush(I);
+ if(vpDisplay::getClick(I, false)){
+ break;
+ }
}
}
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
#else
diff --git a/example/manual/CMakeLists.txt b/example/manual/CMakeLists.txt
index 2849277..d0a3042 100644
--- a/example/manual/CMakeLists.txt
+++ b/example/manual/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -47,7 +47,6 @@ SET (SOURCE
geometric-features/manGeometricFeatures.cpp
hello-world/CMake/HelloWorld.cpp
image-manipulation/manDisplay.cpp
- image-manipulation/manGrab1394-1.cpp
image-manipulation/manGrab1394-2.cpp
image-manipulation/manGrabDirectShow.cpp
image-manipulation/manGrabDisk.cpp
diff --git a/example/manual/geometric-features/manGeometricFeatures.cpp b/example/manual/geometric-features/manGeometricFeatures.cpp
index 3a116f0..c3b11bd 100644
--- a/example/manual/geometric-features/manGeometricFeatures.cpp
+++ b/example/manual/geometric-features/manGeometricFeatures.cpp
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: manGeometricFeatures.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: manGeometricFeatures.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,7 +26,7 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
@@ -77,65 +77,70 @@
int main()
{
#ifdef VISP_HAVE_GTK
-
- std::cout << "ViSP geometric features display example" <<std::endl;
- unsigned int height = 288;
- unsigned int width = 384;
- vpImage<unsigned char> I(height,width);
- I = 255; // I is a white image
-
- // create a display window
- vpDisplayGTK display;
- // initialize a display attached to image I
- display.init(I,100,100,"ViSP geometric features display");
- // camera parameters to digitalize the image plane
- vpCameraParameters cam(600,600,width/2,height/2); // px,py,u0,v0
-
- // pose of the camera with reference to the scene
- vpTranslationVector t(0,0,1);
- vpRxyzVector rxyz(-M_PI/4,0,0);
- vpRotationMatrix R(rxyz);
- vpHomogeneousMatrix cMo(t, R);
-
- // scene building, geometric features definition
- vpPoint point;
- point.setWorldCoordinates(0,0,0);// (X0=0,Y0=0,Z0=0)
- vpLine line;
- line.setWorldCoordinates(1,1,0,0,0,0,1,0); // planes:(X+Y=0)&(Z=0)
- vpCylinder cylinder;
- cylinder.setWorldCoordinates(1,-1,0,0,0,0,0.1); // alpha=1,beta=-1,gamma=0,
- // X0=0,Y0=0,Z0=0,R=0.1
- vpCircle circle;
- circle.setWorldCoordinates(0,0,1,0,0,0,0.1); // plane:(Z=0),X0=0,Y0=0,Z=0,R=0.1
- vpSphere sphere;
- sphere.setWorldCoordinates(0,0,0,0.1); // X0=0,Y0=0,Z0=0,R=0.1
-
- // change frame to be the camera frame and project features in the image plane
- point.project(cMo);
- line.project(cMo);
- cylinder.project(cMo);
- circle.project(cMo);
- sphere.project(cMo);
-
- // display the scene
- vpDisplay::display(I); // display I
- // draw the projections of the 3D geometric features in the image plane.
- point.display(I,cam,vpColor::black); // draw a black cross over I
- line.display(I,cam,vpColor::blue); // draw a blue line over I
- cylinder.display(I,cam,vpColor::red); // draw two red lines over I
- circle.display(I,cam,vpColor::orange); // draw an orange ellipse over I
- sphere.display(I,cam,vpColor::black); // draw a black ellipse over I
-
- vpDisplay::flush(I); // flush the display buffer
- std::cout << "A click in the display to exit" << std::endl;
- vpDisplay::getClick(I); // wait for a click in the display to exit
-
- // save the drawing
- vpImage<vpRGBa> Ic;
- vpDisplay::getImage(I,Ic);
- std::cout << "ViSP creates \"./geometricFeatures.ppm\" B&W image "<< std::endl;
- vpImageIo::write(Ic, "./geometricFeatures.ppm");
+ try {
+ std::cout << "ViSP geometric features display example" <<std::endl;
+ unsigned int height = 288;
+ unsigned int width = 384;
+ vpImage<unsigned char> I(height,width);
+ I = 255; // I is a white image
+
+ // create a display window
+ vpDisplayGTK display;
+ // initialize a display attached to image I
+ display.init(I,100,100,"ViSP geometric features display");
+ // camera parameters to digitalize the image plane
+ vpCameraParameters cam(600,600,width/2,height/2); // px,py,u0,v0
+
+ // pose of the camera with reference to the scene
+ vpTranslationVector t(0,0,1);
+ vpRxyzVector rxyz(-M_PI/4,0,0);
+ vpRotationMatrix R(rxyz);
+ vpHomogeneousMatrix cMo(t, R);
+
+ // scene building, geometric features definition
+ vpPoint point;
+ point.setWorldCoordinates(0,0,0);// (X0=0,Y0=0,Z0=0)
+ vpLine line;
+ line.setWorldCoordinates(1,1,0,0,0,0,1,0); // planes:(X+Y=0)&(Z=0)
+ vpCylinder cylinder;
+ cylinder.setWorldCoordinates(1,-1,0,0,0,0,0.1); // alpha=1,beta=-1,gamma=0,
+ // X0=0,Y0=0,Z0=0,R=0.1
+ vpCircle circle;
+ circle.setWorldCoordinates(0,0,1,0,0,0,0.1); // plane:(Z=0),X0=0,Y0=0,Z=0,R=0.1
+ vpSphere sphere;
+ sphere.setWorldCoordinates(0,0,0,0.1); // X0=0,Y0=0,Z0=0,R=0.1
+
+ // change frame to be the camera frame and project features in the image plane
+ point.project(cMo);
+ line.project(cMo);
+ cylinder.project(cMo);
+ circle.project(cMo);
+ sphere.project(cMo);
+
+ // display the scene
+ vpDisplay::display(I); // display I
+ // draw the projections of the 3D geometric features in the image plane.
+ point.display(I,cam,vpColor::black); // draw a black cross over I
+ line.display(I,cam,vpColor::blue); // draw a blue line over I
+ cylinder.display(I,cam,vpColor::red); // draw two red lines over I
+ circle.display(I,cam,vpColor::orange); // draw an orange ellipse over I
+ sphere.display(I,cam,vpColor::black); // draw a black ellipse over I
+
+ vpDisplay::flush(I); // flush the display buffer
+ std::cout << "A click in the display to exit" << std::endl;
+ vpDisplay::getClick(I); // wait for a click in the display to exit
+
+ // save the drawing
+ vpImage<vpRGBa> Ic;
+ vpDisplay::getImage(I,Ic);
+ std::cout << "ViSP creates \"./geometricFeatures.ppm\" B&W image "<< std::endl;
+ vpImageIo::write(Ic, "./geometricFeatures.ppm");
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
#endif
- return 0;
}
diff --git a/example/manual/hello-world/Autotools/have_visp.m4 b/example/manual/hello-world/Autotools/have_visp.m4
index 3d99b63..951eb3d 100644
--- a/example/manual/hello-world/Autotools/have_visp.m4
+++ b/example/manual/hello-world/Autotools/have_visp.m4
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: have_visp.m4 4057 2013-01-05 13:10:29Z fspindle $
+# $Id: have_visp.m4 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/manual/hello-world/CMake/HelloWorld.cpp b/example/manual/hello-world/CMake/HelloWorld.cpp
index 552bcb5..86acb03 100644
--- a/example/manual/hello-world/CMake/HelloWorld.cpp
+++ b/example/manual/hello-world/CMake/HelloWorld.cpp
@@ -6,18 +6,25 @@
int main()
{
- vpThetaUVector tu;
+ try {
+ vpThetaUVector tu;
- // Construct a rotation matrix from the theta U angles
- vpRotationMatrix R(vpMath::rad(0.),vpMath::rad(180)+100*std::numeric_limits<double>::epsilon(),0.);
+ // Construct a rotation matrix from the theta U angles
+ vpRotationMatrix R(vpMath::rad(0.),vpMath::rad(180)+100*std::numeric_limits<double>::epsilon(),0.);
- // Extract the theta U angles from a rotation matrix
- tu.buildFrom(R);
+ // Extract the theta U angles from a rotation matrix
+ tu.buildFrom(R);
- // Since the rotation vector is 3 values column vector, the
- // transpose operation produce a row vector.
- vpRowVector tu_t = tu.t();
-
- // Print the transpose row vector
- std::cout << tu_t << std::endl;
+ // Since the rotation vector is 3 values column vector, the
+ // transpose operation produce a row vector.
+ vpRowVector tu_t = tu.t();
+
+ // Print the transpose row vector
+ std::cout << tu_t << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/image-manipulation/manDisplay.cpp b/example/manual/image-manipulation/manDisplay.cpp
index 25fba95..5261d74 100644
--- a/example/manual/image-manipulation/manDisplay.cpp
+++ b/example/manual/image-manipulation/manDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manDisplay.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manDisplay.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,96 +55,102 @@
int main()
{
- // Create a grey level image
- vpImage<vpRGBa> I ;
+ try {
+ // Create a grey level image
+ vpImage<vpRGBa> I ;
- // Create image points for pixel coordinates
- vpImagePoint ip, ip1, ip2;
+ // Create image points for pixel coordinates
+ vpImagePoint ip, ip1, ip2;
- // Load a grey image from the disk. Klimt.ppm image is part of the ViSP
- // image data set available from http://www.irisa.fr/lagadic/visp/download.html
- std::string filename = "./Klimt.ppm";
- vpImageIo::read(I, filename) ;
+ // Load a grey image from the disk. Klimt.ppm image is part of the ViSP
+ // image data set available from http://www.irisa.fr/lagadic/visp/download.html
+ std::string filename = "./Klimt.ppm";
+ vpImageIo::read(I, filename) ;
#ifdef VISP_HAVE_GTK
- // Create a display using GTK
- vpDisplayGTK display;
-
- // For this grey level image, open a GTK display at position 100,100
- // in the screen, and with title "GTK display"
- display.init(I, 100, 100, "GTK display") ;
-
- // Display the image
- vpDisplay::display(I) ;
-
- // Display in overlay a red cross at position 100,10 in the
- // image. The lines are 20 pixels long
- ip.set_i( 200 );
- ip.set_j( 200 );
- vpDisplay::displayCross(I, ip, 20, vpColor::red, 3) ;
-
- // Display in overlay a horizontal red line
- ip1.set_i( 10 );
- ip1.set_j( 0 );
- ip2.set_i( 10 );
- ip2.set_j( I.getWidth() );
- vpDisplay::displayLine(I, ip1, ip2, vpColor::red, 3) ;
-
- // Display in overlay a vertical green dot line
- ip1.set_i( 0 );
- ip1.set_j( 20 );
- ip2.set_i( I.getWidth() );
- ip2.set_j( 20 );
- vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green, 3) ;
-
- // Display in overlay a blue arrow
- ip1.set_i( 0 );
- ip1.set_j( 0 );
- ip2.set_i( 100 );
- ip2.set_j( 100 );
- vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue, 8, 4, 3) ;
-
- // Display in overlay some circles. The position of the center is 200, 200
- // the radius is increased by 20 pixels for each circle
- for (unsigned i=0 ; i < 5 ; i++) {
+ // Create a display using GTK
+ vpDisplayGTK display;
+
+ // For this grey level image, open a GTK display at position 100,100
+ // in the screen, and with title "GTK display"
+ display.init(I, 100, 100, "GTK display") ;
+
+ // Display the image
+ vpDisplay::display(I) ;
+
+ // Display in overlay a red cross at position 100,10 in the
+ // image. The lines are 20 pixels long
ip.set_i( 200 );
ip.set_j( 200 );
- vpDisplay::displayCircle(I, ip, 20*i, vpColor::white, false, 3) ;
- }
-
- // Display in overlay a rectangle.
- // The position of the top left corner is 300, 200.
- // The width is 200. The height is 100.
- ip.set_i( 280 );
- ip.set_j( 150 );
- vpDisplay::displayRectangle(I, ip, 270, 30,vpColor::purple, false, 3) ;
-
- // Display in overlay a yellow string
- ip.set_i( 300 );
- ip.set_j( 160 );
- vpDisplay::displayCharString(I, ip,
- "ViSP is a marvelous software",
- vpColor::black) ;
- //Flush the display : without this line nothing will appear on the screen
- vpDisplay::flush(I);
-
- // Create a color image
- vpImage<vpRGBa> Ioverlay ;
- // Updates the color image with the original loaded image and the overlay
- vpDisplay::getImage(I, Ioverlay) ;
-
- // Write the color image on the disk
- filename = "./Klimt.overlay.ppm";
- vpImageIo::write(Ioverlay, filename) ;
-
- // If click is allowed, wait for a mouse click to close the display
- std::cout << "\nA click to close the windows..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
-
- // Close the display
- vpDisplay::close(I);
+ vpDisplay::displayCross(I, ip, 20, vpColor::red, 3) ;
+
+ // Display in overlay a horizontal red line
+ ip1.set_i( 10 );
+ ip1.set_j( 0 );
+ ip2.set_i( 10 );
+ ip2.set_j( I.getWidth() );
+ vpDisplay::displayLine(I, ip1, ip2, vpColor::red, 3) ;
+
+ // Display in overlay a vertical green dot line
+ ip1.set_i( 0 );
+ ip1.set_j( 20 );
+ ip2.set_i( I.getWidth() );
+ ip2.set_j( 20 );
+ vpDisplay::displayDotLine(I, ip1, ip2, vpColor::green, 3) ;
+
+ // Display in overlay a blue arrow
+ ip1.set_i( 0 );
+ ip1.set_j( 0 );
+ ip2.set_i( 100 );
+ ip2.set_j( 100 );
+ vpDisplay::displayArrow(I, ip1, ip2, vpColor::blue, 8, 4, 3) ;
+
+ // Display in overlay some circles. The position of the center is 200, 200
+ // the radius is increased by 20 pixels for each circle
+ for (unsigned i=0 ; i < 5 ; i++) {
+ ip.set_i( 200 );
+ ip.set_j( 200 );
+ vpDisplay::displayCircle(I, ip, 20*i, vpColor::white, false, 3) ;
+ }
+
+ // Display in overlay a rectangle.
+ // The position of the top left corner is 300, 200.
+ // The width is 200. The height is 100.
+ ip.set_i( 280 );
+ ip.set_j( 150 );
+ vpDisplay::displayRectangle(I, ip, 270, 30,vpColor::purple, false, 3) ;
+
+ // Display in overlay a yellow string
+ ip.set_i( 300 );
+ ip.set_j( 160 );
+ vpDisplay::displayCharString(I, ip,
+ "ViSP is a marvelous software",
+ vpColor::black) ;
+ //Flush the display : without this line nothing will appear on the screen
+ vpDisplay::flush(I);
+
+ // Create a color image
+ vpImage<vpRGBa> Ioverlay ;
+ // Updates the color image with the original loaded image and the overlay
+ vpDisplay::getImage(I, Ioverlay) ;
+
+ // Write the color image on the disk
+ filename = "./Klimt.overlay.ppm";
+ vpImageIo::write(Ioverlay, filename) ;
+
+ // If click is allowed, wait for a mouse click to close the display
+ std::cout << "\nA click to close the windows..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+
+ // Close the display
+ vpDisplay::close(I);
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/image-manipulation/manGrab1394-1.cpp b/example/manual/image-manipulation/manGrab1394-1.cpp
deleted file mode 100644
index ae0f261..0000000
--- a/example/manual/image-manipulation/manGrab1394-1.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/****************************************************************************
- *
- * $Id: manGrab1394-1.cpp 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Images grabbing example.
- *
- * Authors:
- * Anthony Saunier
- * Fabien Spindler
- *
- *****************************************************************************/
-/*!
- \file manGrab1394-1.cpp
-
- \brief Images grabbing example with the vp1394Grabber class.
-
- */
-/*!
- \example manGrab1394-1.cpp
-
- \brief Images grabbing example with the vp1394Grabber class.
-
- */
-
-#include <visp/vpConfig.h>
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <visp/vpImage.h>
-#include <visp/vp1394Grabber.h>
-
-int main()
-{
-#ifdef VISP_HAVE_DC1394_1
- unsigned int ncameras; // Number of cameras on the bus
- vp1394Grabber g;
- g.getNumCameras(ncameras);
- vpImage<unsigned char> *I = new vpImage<unsigned char> [ncameras];
-
- // If the first camera supports MODE_640x480_YUV422 video mode
- g.setCamera(0);
- g.setFormat(FORMAT_VGA_NONCOMPRESSED);
- g.setMode(MODE_640x480_YUV422);
-
- // If all cameras support 30 fps acquisition
- for (unsigned int camera=0; camera < ncameras; camera ++) {
- g.setCamera(camera);
- g.setFramerate(FRAMERATE_30);
- }
-
- for ( ; ; ) {
- for (unsigned int camera=0; camera < ncameras; camera ++) {
- // Acquire successively images from the different cameras
- g.setCamera(camera);
- g.acquire(I[camera]);
- }
- }
- delete [] I;
-#endif
-
- return 0;
-}
diff --git a/example/manual/image-manipulation/manGrab1394-2.cpp b/example/manual/image-manipulation/manGrab1394-2.cpp
index 7d4e449..81d2ce5 100644
--- a/example/manual/image-manipulation/manGrab1394-2.cpp
+++ b/example/manual/image-manipulation/manGrab1394-2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manGrab1394-2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manGrab1394-2.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,32 +62,37 @@
int main()
{
#ifdef VISP_HAVE_DC1394_2
+ try {
+ unsigned int ncameras; // Number of cameras on the bus
+ vp1394TwoGrabber g;
+ g.getNumCameras(ncameras);
+ vpImage<unsigned char> *I = new vpImage<unsigned char> [ncameras];
- unsigned int ncameras; // Number of cameras on the bus
- vp1394TwoGrabber g;
- g.getNumCameras(ncameras);
- vpImage<unsigned char> *I = new vpImage<unsigned char> [ncameras];
-
- // If the first camera supports vpVIDEO_MODE_640x480_YUV422 video mode
- g.setCamera(0);
- g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_YUV422);
-
- // If all cameras support 30 fps acquisition
- for (unsigned int camera=0; camera < ncameras; camera ++) {
- g.setCamera(camera);
- g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
- }
-
- for ( ; ; ) {
+ // If the first camera supports vpVIDEO_MODE_640x480_YUV422 video mode
+ g.setCamera(0);
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_YUV422);
+
+ // If all cameras support 30 fps acquisition
for (unsigned int camera=0; camera < ncameras; camera ++) {
- // Acquire successively images from the different cameras
g.setCamera(camera);
- g.acquire(I[camera]);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
}
+
+ for ( ; ; ) {
+ for (unsigned int camera=0; camera < ncameras; camera ++) {
+ // Acquire successively images from the different cameras
+ g.setCamera(camera);
+ g.acquire(I[camera]);
+ }
+ }
+ delete [] I;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- delete [] I;
#endif
- return 0;
}
diff --git a/example/manual/image-manipulation/manGrabDirectShow.cpp b/example/manual/image-manipulation/manGrabDirectShow.cpp
index e524cd2..43f925c 100644
--- a/example/manual/image-manipulation/manGrabDirectShow.cpp
+++ b/example/manual/image-manipulation/manGrabDirectShow.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manGrabDirectShow.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manGrabDirectShow.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,24 +59,31 @@
int main()
{
- vpImage<unsigned char> I; // Grey level image
-
+ try {
+ vpImage<unsigned char> I; // Grey level image
+
#ifdef VISP_HAVE_DIRECTSHOW
- vpDirectShowGrabber g; // Create the grabber
- if(g.getDeviceNumber() == 0) //test if a camera is connected
- {
- g.close();
- return -1;
- }
-
- g.open(); // Initialize the grabber
-
- g.setImageSize(640,480); // If the camera supports 640x480 image size
- g.setFramerate(30); // If the camera supports 30fps framerate
-
- for ( ; ; )
- g.acquire(I); // Acquire an image
+ vpDirectShowGrabber g; // Create the grabber
+ if(g.getDeviceNumber() == 0) //test if a camera is connected
+ {
+ g.close();
+ return -1;
+ }
+
+ g.open(); // Initialize the grabber
+
+ g.setImageSize(640,480); // If the camera supports 640x480 image size
+ g.setFramerate(30); // If the camera supports 30fps framerate
+
+ for ( ; ; )
+ g.acquire(I); // Acquire an image
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
+
}
diff --git a/example/manual/image-manipulation/manGrabDisk.cpp b/example/manual/image-manipulation/manGrabDisk.cpp
index c5ab19c..6bafc46 100644
--- a/example/manual/image-manipulation/manGrabDisk.cpp
+++ b/example/manual/image-manipulation/manGrabDisk.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manGrabDisk.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manGrabDisk.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,36 +59,43 @@
int main()
{
- vpImage<unsigned char> I; // Grey level image
+ try {
+ vpImage<unsigned char> I; // Grey level image
- // Declare a framegrabber able to read a sequence of successive
- // images from the disk
- vpDiskGrabber g;
+ // Declare a framegrabber able to read a sequence of successive
+ // images from the disk
+ vpDiskGrabber g;
- // Set the path to the directory containing the sequence
- g.setDirectory("/tmp");
- // Set the image base name. The directory and the base name constitute
- // the constant part of the full filename
- g.setBaseName("image");
- // Set the step between two images of the sequence
- g.setStep(3);
- // Set the number of digits to build the image number
- g.setNumberOfZero(4);
- // Set the first frame number of the sequence
- g.setImageNumber(1);
- // Set the file extension of the images of the sequence
- g.setExtension("pgm");
+ // Set the path to the directory containing the sequence
+ g.setDirectory("/tmp");
+ // Set the image base name. The directory and the base name constitute
+ // the constant part of the full filename
+ g.setBaseName("image");
+ // Set the step between two images of the sequence
+ g.setStep(3);
+ // Set the number of digits to build the image number
+ g.setNumberOfZero(4);
+ // Set the first frame number of the sequence
+ g.setImageNumber(1);
+ // Set the file extension of the images of the sequence
+ g.setExtension("pgm");
- // Open the framegrabber by loading the first image of the sequence
- g.open(I) ;
+ // Open the framegrabber by loading the first image of the sequence
+ g.open(I) ;
- // this is the loop over the image sequence
- for(int cpt = 0; cpt < 100; cpt++)
- {
- // read the image and then increment the image counter so that the next
- // call to acquire(I) will get the next image
- g.acquire(I) ;
- }
+ // this is the loop over the image sequence
+ for(int cpt = 0; cpt < 100; cpt++)
+ {
+ // read the image and then increment the image counter so that the next
+ // call to acquire(I) will get the next image
+ g.acquire(I) ;
+ }
- return 0;
+ return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/image-manipulation/manGrabOpenCV.cpp b/example/manual/image-manipulation/manGrabOpenCV.cpp
index 1bb26dd..c2928ac 100644
--- a/example/manual/image-manipulation/manGrabOpenCV.cpp
+++ b/example/manual/image-manipulation/manGrabOpenCV.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manGrabOpenCV.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manGrabOpenCV.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/manual/image-manipulation/manGrabV4l2.cpp b/example/manual/image-manipulation/manGrabV4l2.cpp
index de32fd5..21910d5 100644
--- a/example/manual/image-manipulation/manGrabV4l2.cpp
+++ b/example/manual/image-manipulation/manGrabV4l2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manGrabV4l2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manGrabV4l2.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,19 +57,24 @@
int main()
{
+ try {
+ vpImage<unsigned char> I; // Grey level image
- vpImage<unsigned char> I; // Grey level image
-
#ifdef VISP_HAVE_V4L2
- vpV4l2Grabber g;
- g.setInput(2); // Input 2 on the board
- g.setWidth(768); // Acquired images are 768 width
- g.setHeight(576); // Acquired images are 576 height
- g.setNBuffers(3); // 3 ring buffers to ensure real-time acquisition
- g.open(I); // Open the grabber
- for ( ; ; )
- g.acquire(I); // Acquire a 768x576 grey image
+ vpV4l2Grabber g;
+ g.setInput(2); // Input 2 on the board
+ g.setWidth(768); // Acquired images are 768 width
+ g.setHeight(576); // Acquired images are 576 height
+ g.setNBuffers(3); // 3 ring buffers to ensure real-time acquisition
+ g.open(I); // Open the grabber
+ for ( ; ; )
+ g.acquire(I); // Acquire a 768x576 grey image
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/moments/manServoMomentsSimple.cpp b/example/manual/moments/manServoMomentsSimple.cpp
index 7e684fb..6cebf41 100644
--- a/example/manual/moments/manServoMomentsSimple.cpp
+++ b/example/manual/moments/manServoMomentsSimple.cpp
@@ -3,7 +3,7 @@
* $Id: servoMomentPolygon.cpp 3323 2011-09-13 15:23:56Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,7 +58,11 @@
#include <limits>
#include <iostream> //some console output
//this function converts the plane defined by the cMo to 1/Z=Ax+By+C plane form
-void cMoToABC(vpHomogeneousMatrix& cMo, double& A,double& B, double& C){
+
+void cMoToABC(vpHomogeneousMatrix& cMo, double& A,double& B, double& C);
+
+void cMoToABC(vpHomogeneousMatrix& cMo, double& A,double& B, double& C)
+{
vpPlane pl;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
@@ -76,98 +80,102 @@ void cMoToABC(vpHomogeneousMatrix& cMo, double& A,double& B, double& C){
int main()
{
- double x[8] = { 1,3, 4,-1 ,-3,-2,-1,1};
- double y[8] = { 0,1, 4, 4, -2,-2, 1,0};
- double A,B,C,Ad,Bd,Cd;
-
- int nbpoints = 8;
- std::vector<vpPoint> vec_p,vec_p_d; // vectors that contain the vertices of the contour polygon
-
- vpHomogeneousMatrix cMo(0.1,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
-
- cMoToABC(cMo,A,B,C);
- cMoToABC(cdMo,Ad,Bd,Cd);
- // Define source and destination polygons
- for (int i = 0 ; i < nbpoints ; i++){
- vpPoint p;
- p.setWorldCoordinates(x[i],y[i],0.0);
- p.track(cMo) ;
- vec_p.push_back(p);
- p.track(cdMo) ;
- vec_p_d.push_back(p);
+ try {
+ double x[8] = { 1,3, 4,-1 ,-3,-2,-1,1};
+ double y[8] = { 0,1, 4, 4, -2,-2, 1,0};
+ double A,B,C,Ad,Bd,Cd;
+
+ int nbpoints = 8;
+ std::vector<vpPoint> vec_p,vec_p_d; // vectors that contain the vertices of the contour polygon
+
+ vpHomogeneousMatrix cMo(0.1,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0));
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
+
+ cMoToABC(cMo,A,B,C);
+ cMoToABC(cdMo,Ad,Bd,Cd);
+ // Define source and destination polygons
+ for (int i = 0 ; i < nbpoints ; i++){
+ vpPoint p;
+ p.setWorldCoordinates(x[i],y[i],0.0);
+ p.track(cMo) ;
+ vec_p.push_back(p);
+ p.track(cdMo) ;
+ vec_p_d.push_back(p);
+ }
+
+ vpMomentObject cur(6); // Create a source moment object with 6 as maximum order
+ cur.setType(vpMomentObject::DENSE_POLYGON); // The object is defined by a countour polygon
+ cur.fromVector(vec_p); // Init the dense object with the source polygon
+
+ vpMomentObject dst(6); // Create a destination moment object with 6 as maximum order
+ dst.setType(vpMomentObject::DENSE_POLYGON); // The object is defined by a countour polygon
+ dst.fromVector(vec_p_d); // Init the dense object with the destination polygon
+
+ //init classic moment primitives (for source)
+ vpMomentCommon mdb_cur(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst)); //Init classic features
+ vpFeatureMomentCommon fmdb_cur(mdb_cur);
+
+ ////init classic moment primitives (for destination)
+ vpMomentCommon mdb_dst(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst)); //Init classic features
+ vpFeatureMomentCommon fmdb_dst(mdb_dst);
+
+ //update+compute moment primitives from object (for destination)
+ mdb_dst.updateAll(dst);
+ //update+compute features (+interaction matrixes) from plane
+ fmdb_dst.updateAll(Ad,Bd,Cd);
+
+ //define visual servoing task
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(1) ;
+
+ task.addFeature(fmdb_cur.getFeatureGravityNormalized(),fmdb_dst.getFeatureGravityNormalized());
+ task.addFeature(fmdb_cur.getFeatureAn(),fmdb_dst.getFeatureAn());
+ //the object is NOT symmetric
+ //select C4 and C6
+ task.addFeature(fmdb_cur.getFeatureCInvariant(),fmdb_dst.getFeatureCInvariant(),
+ vpFeatureMomentCInvariant::selectC4() | vpFeatureMomentCInvariant::selectC6());
+ task.addFeature(fmdb_cur.getFeatureAlpha(),fmdb_dst.getFeatureAlpha());
+
+ vpBasicFeature *al = new vpFeatureMomentAlpha(mdb_dst,0,0,1.);
+ al->init();
+ al->error(*al);
+ //param robot
+ vpRobotCamera robot ;
+ float sampling_time = 0.010f; // Sampling period in seconds
+ robot.setSamplingTime(sampling_time);
+ robot.setPosition(cMo);
+
+ do{
+ robot.getPosition(cMo);
+ vec_p.clear();
+
+ for (int i = 0 ; i < nbpoints ; i++){
+ vpPoint p;
+ p.setWorldCoordinates(x[i],y[i],0.0);
+ p.track(cMo) ;
+ vec_p.push_back(p);
+ }
+ cMoToABC(cMo,A,B,C);
+
+ cur.fromVector(vec_p);
+ //update+compute moment primitives from object (for source)
+ mdb_cur.updateAll(cur);
+ //update+compute features (+interaction matrixes) from plane
+ fmdb_cur.updateAll(A,B,C);
+
+ vpColVector v = task.computeControlLaw();
+ task.print();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ double t = vpTime::measureTimeMs();
+ vpTime::wait(t, sampling_time * 1000); // Wait 10 ms
+ } while(( task.getError() ).sumSquare()>0.005);
+ std::cout << "final error=" << ( task.getError() ).sumSquare() << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- vpMomentObject cur(6); // Create a source moment object with 6 as maximum order
- cur.setType(vpMomentObject::DENSE_POLYGON); // The object is defined by a countour polygon
- cur.fromVector(vec_p); // Init the dense object with the source polygon
-
- vpMomentObject dst(6); // Create a destination moment object with 6 as maximum order
- dst.setType(vpMomentObject::DENSE_POLYGON); // The object is defined by a countour polygon
- dst.fromVector(vec_p_d); // Init the dense object with the destination polygon
-
- //init classic moment primitives (for source)
- vpMomentCommon mdb_cur(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst)); //Init classic features
- vpFeatureMomentCommon fmdb_cur(mdb_cur);
-
- ////init classic moment primitives (for destination)
- vpMomentCommon mdb_dst(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst)); //Init classic features
- vpFeatureMomentCommon fmdb_dst(mdb_dst);
-
-
- //update+compute moment primitives from object (for destination)
- mdb_dst.updateAll(dst);
- //update+compute features (+interaction matrixes) from plane
- fmdb_dst.updateAll(Ad,Bd,Cd);
-
- //define visual servoing task
- vpServo task;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(1) ;
-
- task.addFeature(fmdb_cur.getFeatureGravityNormalized(),fmdb_dst.getFeatureGravityNormalized());
- task.addFeature(fmdb_cur.getFeatureAn(),fmdb_dst.getFeatureAn());
- //the object is NOT symmetric
- //select C4 and C6
- task.addFeature(fmdb_cur.getFeatureCInvariant(),fmdb_dst.getFeatureCInvariant(),
- vpFeatureMomentCInvariant::selectC4() | vpFeatureMomentCInvariant::selectC6());
- task.addFeature(fmdb_cur.getFeatureAlpha(),fmdb_dst.getFeatureAlpha());
-
- vpBasicFeature *al = new vpFeatureMomentAlpha(mdb_dst,0,0,1.);
- al->init();
- al->error(*al);
- //param robot
- vpRobotCamera robot ;
- float sampling_time = 0.010f; // Sampling period in seconds
- robot.setSamplingTime(sampling_time);
- robot.setPosition(cMo);
-
- do{
- robot.getPosition(cMo);
- vec_p.clear();
-
- for (int i = 0 ; i < nbpoints ; i++){
- vpPoint p;
- p.setWorldCoordinates(x[i],y[i],0.0);
- p.track(cMo) ;
- vec_p.push_back(p);
- }
- cMoToABC(cMo,A,B,C);
-
- cur.fromVector(vec_p);
- //update+compute moment primitives from object (for source)
- mdb_cur.updateAll(cur);
- //update+compute features (+interaction matrixes) from plane
- fmdb_cur.updateAll(A,B,C);
-
- vpColVector v = task.computeControlLaw();
- task.print();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- double t = vpTime::measureTimeMs();
- vpTime::wait(t, sampling_time * 1000); // Wait 10 ms
- }while(( task.getError() ).sumSquare()>0.005);
- std::cout << "final error=" << ( task.getError() ).sumSquare() << std::endl;
-
- return 0;
}
diff --git a/example/manual/ogre/HelloWorldOgre.cpp b/example/manual/ogre/HelloWorldOgre.cpp
index 5b58452..bb07474 100644
--- a/example/manual/ogre/HelloWorldOgre.cpp
+++ b/example/manual/ogre/HelloWorldOgre.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: HelloWorldOgre.cpp 4111 2013-02-06 17:27:14Z fspindle $
+ * $Id: HelloWorldOgre.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,89 +57,104 @@
int main()
{
+ try {
#if defined(VISP_HAVE_OGRE)
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_DIRECTSHOW) || defined(VISP_HAVE_OPENCV)
- // Now we try to find an available framegrabber
+ // Now we try to find an available framegrabber
#if defined(VISP_HAVE_V4L2)
- // Video for linux 2 grabber
- vpV4l2Grabber grabber;
+ // Video for linux 2 grabber
+ vpV4l2Grabber grabber;
#elif defined(VISP_HAVE_DC1394_2)
- // libdc1394-2
- vp1394TwoGrabber grabber;
+ // libdc1394-2
+ vp1394TwoGrabber grabber;
#elif defined(VISP_HAVE_DIRECTSHOW)
- // OpenCV to gather images
- vpOpenCVGrabber grabber;
+ // OpenCV to gather images
+ vpDirectShowGrabber grabber;
#elif defined(VISP_HAVE_OPENCV)
- // OpenCV to gather images
- vpOpenCVGrabber grabber;
+ // OpenCV to gather images
+ vpOpenCVGrabber grabber;
#endif
- // Image to stock gathered data
- // Here we acquire a color image. The consequence will be that
- // the background texture used in Ogre renderer will be also in color.
- vpImage<vpRGBa> I;
- // Open frame grabber
- // Here we acquire an image from an available framegrabber to update
- // the image size
- grabber.open(I);
+ // Image to stock gathered data
+ // Here we acquire a color image. The consequence will be that
+ // the background texture used in Ogre renderer will be also in color.
+ vpImage<vpRGBa> I;
+ // Open frame grabber
+ // Here we acquire an image from an available framegrabber to update
+ // the image size
+ grabber.open(I);
+ grabber.acquire(I);
- // Parameters of our camera
- double px = 565;
- double py = 565;
- double u0 = grabber.getWidth() / 2;
- double v0 = grabber.getHeight() / 2;
- vpCameraParameters cam(px,py,u0,v0);
- // The matrix with our pose
- // Defines the pose of the object in the camera frame
- vpHomogeneousMatrix cMo;
+ // Parameters of our camera
+ double px = 565;
+ double py = 565;
+ double u0 = grabber.getWidth() / 2;
+ double v0 = grabber.getHeight() / 2;
+ vpCameraParameters cam(px,py,u0,v0);
+ // The matrix with our pose
+ // Defines the pose of the object in the camera frame
+ vpHomogeneousMatrix cMo;
- // Our object
- // A simulator with the camera parameters defined above,
- // a grey level background image and of the good size
- vpAROgre ogre(cam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
- // Initialisation
- // Here we load the requested plugins specified in the "plugins.cfg" file
- // and the resources specified in the "resources.cfg" file
- // These two files can be found respectively in ViSP_HAVE_OGRE_PLUGINS_PATH
- // and ViSP_HAVE_OGRE_RESOURCES_PATH folders
- ogre.init(I);
+ // Our object
+ // A simulator with the camera parameters defined above,
+ // a grey level background image and of the good size
+ vpAROgre ogre(cam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
+ // Initialisation
+ // Here we load the requested plugins specified in the "plugins.cfg" file
+ // and the resources specified in the "resources.cfg" file
+ // These two files can be found respectively in ViSP_HAVE_OGRE_PLUGINS_PATH
+ // and ViSP_HAVE_OGRE_RESOURCES_PATH folders
+ ogre.init(I);
- // Create a basic scene
- // -----------------------------------
- // Loading things
- // -----------------------------------
- // As you will see in section 5, our
- // application knows locations where
- // it can search for medias.
- // Here we use a mesh included in
- // the installation files : a robot.
- // -----------------------------------
- // Here we load the "robot.mesh" model that is found thanks to the resources locations
- // specified in the "resources.cfg" file
- ogre.load("Robot", "robot.mesh");
- ogre.setPosition("Robot", vpTranslationVector(0, 0.05, 0.5));
- ogre.setScale("Robot", 0.001f,0.001f,0.001f);
- ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI, -M_PI/4, 0)));
+ // Create a basic scene
+ // -----------------------------------
+ // Loading things
+ // -----------------------------------
+ // As you will see in section 5, our
+ // application knows locations where
+ // it can search for medias.
+ // Here we use a mesh included in
+ // the installation files : a robot.
+ // -----------------------------------
+ // Here we load the "robot.mesh" model that is found thanks to the resources locations
+ // specified in the "resources.cfg" file
+ ogre.load("Robot", "robot.mesh");
+ ogre.setPosition("Robot", vpTranslationVector(-0.3, 0.2, 0));
+ ogre.setScale("Robot", 0.001f,0.001f,0.001f);
+ ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI, 0, 0)));
+ cMo[2][3] = 1.; // Z = 1 meter
- // Rendering loop, ended with on escape
- while(ogre.continueRendering()){
- // Image Acquisition
- // Acquire a new image
- grabber.acquire(I);
- //Pose computation
- // ...
- // cMo updated
- // Display the robot at the position specified by cMo with vpAROgre
- ogre.display(I,cMo);
- }
- // Release video device
- grabber.close();
+ std::cout << "cMo:\n" << cMo << std::endl;
+
+ // Rendering loop, ended with on escape
+ while(ogre.continueRendering()){
+ // Image Acquisition
+ // Acquire a new image
+ grabber.acquire(I);
+ //Pose computation
+ // ...
+ // cMo updated
+ // Display the robot at the position specified by cMo with vpAROgre
+ ogre.display(I,cMo);
+ }
+ // Release video device
+ grabber.close();
#else
- std::cout << "You need an available framegrabber to run this example" << std::endl;
+ std::cout << "You need an available framegrabber to run this example" << std::endl;
#endif
#else
- std::cout << "You Ogre3D to run this example" << std::endl;
+ std::cout << "You need Ogre3D to run this example" << std::endl;
#endif
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/ogre/HelloWorldOgreAdvanced.cpp b/example/manual/ogre/HelloWorldOgreAdvanced.cpp
index 3ed4bc6..7bb57a4 100644
--- a/example/manual/ogre/HelloWorldOgreAdvanced.cpp
+++ b/example/manual/ogre/HelloWorldOgreAdvanced.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: HelloWorldOgreAdvanced.cpp 4111 2013-02-06 17:27:14Z fspindle $
+ * $Id: HelloWorldOgreAdvanced.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,6 +70,7 @@ public:
unsigned int width = 640, unsigned int height = 480)
: vpAROgre(cam, width, height)
{
+ mAnimationState = NULL;
}
protected:
@@ -79,9 +80,9 @@ protected:
Ogre::Entity* robot = mSceneMgr->createEntity("Robot", "robot.mesh");
// Attach robot to scene graph
Ogre::SceneNode* RobotNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("Robot");
- RobotNode->setPosition(0.0, 0.05f, 0.5);
+ RobotNode->setPosition((Ogre::Real)-0.3, (Ogre::Real)0.2, (Ogre::Real)0);
RobotNode->attachObject(robot);
- RobotNode->scale(0.001f,0.001f,0.001f);
+ RobotNode->scale((Ogre::Real)0.001,(Ogre::Real)0.001,(Ogre::Real)0.001);
RobotNode->pitch(Ogre::Degree(180));
RobotNode->yaw(Ogre::Degree(-90));
@@ -108,63 +109,76 @@ protected:
int main()
{
+ try {
#if defined(VISP_HAVE_OGRE)
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_DIRECTSHOW) || defined(VISP_HAVE_OPENCV)
- // Now we try to find an available framegrabber
+ // Now we try to find an available framegrabber
#if defined(VISP_HAVE_V4L2)
- // Video for linux 2 grabber
- vpV4l2Grabber grabber;
+ // Video for linux 2 grabber
+ vpV4l2Grabber grabber;
#elif defined(VISP_HAVE_DC1394_2)
- // libdc1394-2
- vp1394TwoGrabber grabber;
+ // libdc1394-2
+ vp1394TwoGrabber grabber;
#elif defined(VISP_HAVE_DIRECTSHOW)
- // OpenCV to gather images
- vpOpenCVGrabber grabber;
+ // OpenCV to gather images
+ vpOpenCVGrabber grabber;
#elif defined(VISP_HAVE_OPENCV)
- // OpenCV to gather images
- vpOpenCVGrabber grabber;
+ // OpenCV to gather images
+ vpOpenCVGrabber grabber;
#endif
- // Image to store gathered data
- // Here we acquire a grey level image. The consequence will be that
- // the background texture used in Ogre renderer will be also in grey
- // level.
- vpImage<unsigned char> I;
- // Open frame grabber
- // Here we acquire an image from an available framegrabber to update
- // the image size
- grabber.open(I);
- // Parameters of our camera
- double px = 565;
- double py = 565;
- double u0 = grabber.getWidth() / 2;
- double v0 = grabber.getHeight() / 2;
- vpCameraParameters cam(px,py,u0,v0);
- // The matrix with our pose
- vpHomogeneousMatrix cMo;
-
- // Our object
- vpAROgreAdvanced ogre(cam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
- // Initialisation
- ogre.init(I);
-
- // Rendering loop
- while(ogre.continueRendering()){
- // Image Acquisition
+ // Image to store gathered data
+ // Here we acquire a grey level image. The consequence will be that
+ // the background texture used in Ogre renderer will be also in grey
+ // level.
+ vpImage<unsigned char> I;
+ // Open frame grabber
+ // Here we acquire an image from an available framegrabber to update
+ // the image size
+ grabber.open(I);
grabber.acquire(I);
- // Pose computation
- // ...
- // cMo updated
- // Display with vpAROgre
- ogre.display(I, cMo);
- }
- // Release video device
- grabber.close();
+ // Parameters of our camera
+ double px = 565;
+ double py = 565;
+ double u0 = grabber.getWidth() / 2;
+ double v0 = grabber.getHeight() / 2;
+ vpCameraParameters cam(px,py,u0,v0);
+ // The matrix with our pose
+ vpHomogeneousMatrix cMo;
+ cMo[2][3] = 1.; // Z = 1 meter
+
+ // Our object
+ vpAROgreAdvanced ogre(cam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
+ // Initialisation
+ ogre.init(I);
+
+ // Rendering loop
+ while(ogre.continueRendering()){
+ // Image Acquisition
+ grabber.acquire(I);
+ // Pose computation
+ // ...
+ // cMo updated
+ // Display with vpAROgre
+ ogre.display(I, cMo);
+ }
+ // Release video device
+ grabber.close();
#else
- std::cout << "You need an available framegrabber to run this example" << std::endl;
+ std::cout << "You need an available framegrabber to run this example" << std::endl;
#endif
#else
- std::cout << "You Ogre3D to run this example" << std::endl;
+ std::cout << "You need Ogre3D to run this example" << std::endl;
#endif
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
+ return 1;
+ }
}
diff --git a/example/manual/simulation/manServo4PointsDisplay.cpp b/example/manual/simulation/manServo4PointsDisplay.cpp
index fdd213e..9028c79 100755
--- a/example/manual/simulation/manServo4PointsDisplay.cpp
+++ b/example/manual/simulation/manServo4PointsDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manServo4PointsDisplay.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manServo4PointsDisplay.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,129 +73,135 @@
int main()
{
- //////////////////////////////////////////
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0.3,0.2,3,
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(40)) ;
-
- ///////////////////////////////////
- // initialize the robot
- vpRobotCamera robot ;
- robot.setSamplingTime(0.04); // 40ms
- robot.setPosition(cMo) ;
-
- //initialize the camera parameters
- vpCameraParameters cam(800,800,240,180);
-
- //Image definition
- unsigned int height = 360 ;
- unsigned int width = 480 ;
- vpImage<unsigned char> I(height,width);
-
- //Display initialization
- vpDisplayGTK disp;
- disp.init(I,100,100,"Simulation display");
-
- ////////////////////////////////////////
- // Desired visual features initialization
-
- // sets the points coordinates in the object frame (in meter)
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1,0) ;
- point[1].setWorldCoordinates(0.1,-0.1,0) ;
- point[2].setWorldCoordinates(0.1,0.1,0) ;
- point[3].setWorldCoordinates(-0.1,0.1,0) ;
-
- // sets the desired camera location
- vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;
-
- // computes the 3D point coordinates in the camera frame and its 2D coordinates
- for (int i = 0 ; i < 4 ; i++)
- point[i].project(cMo_d) ;
-
- // creates the associated features
- vpFeaturePoint pd[4] ;
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(pd[i],point[i]) ;
-
-
- ///////////////////////////////////////
- // Current visual features initialization
-
- // computes the 3D point coordinates in the camera frame and its 2D coordinates
- for (int i = 0 ; i < 4 ; i++)
- point[i].project(cMo) ;
-
- // creates the associated features
- vpFeaturePoint p[4] ;
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i],point[i]) ;
-
-
- /////////////////////////////////
- // Task defintion
- vpServo task ;
- // we want an eye-in-hand control law ;
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
-
- // Set the position of the camera in the end-effector frame
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
-
- // we want to see a point on a point
- for (int i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
- // Set the gain
- task.setLambda(1.0) ;
- // Print the current information about the task
- task.print();
-
-
- ////////////////////////////////////////////////
- // The control loop
- int k = 0;
- while(k++ < 200){
- double t = vpTime::measureTimeMs();
-
- // Display the image background
- vpDisplay::display(I);
-
- // Update the current features
+ try {
+ //////////////////////////////////////////
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0.3,0.2,3,
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(40)) ;
+
+ ///////////////////////////////////
+ // initialize the robot
+ vpRobotCamera robot ;
+ robot.setSamplingTime(0.04); // 40ms
+ robot.setPosition(cMo) ;
+
+ //initialize the camera parameters
+ vpCameraParameters cam(800,800,240,180);
+
+ //Image definition
+ unsigned int height = 360 ;
+ unsigned int width = 480 ;
+ vpImage<unsigned char> I(height,width);
+
+ //Display initialization
+ vpDisplayGTK disp;
+ disp.init(I,100,100,"Simulation display");
+
+ ////////////////////////////////////////
+ // Desired visual features initialization
+
+ // sets the points coordinates in the object frame (in meter)
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1,0) ;
+ point[1].setWorldCoordinates(0.1,-0.1,0) ;
+ point[2].setWorldCoordinates(0.1,0.1,0) ;
+ point[3].setWorldCoordinates(-0.1,0.1,0) ;
+
+ // sets the desired camera location
+ vpHomogeneousMatrix cMo_d(0,0,1,0,0,0) ;
+
+ // computes the 3D point coordinates in the camera frame and its 2D coordinates
+ for (int i = 0 ; i < 4 ; i++)
+ point[i].project(cMo_d) ;
+
+ // creates the associated features
+ vpFeaturePoint pd[4] ;
+ for (int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(pd[i],point[i]) ;
+
+
+ ///////////////////////////////////////
+ // Current visual features initialization
+
+ // computes the 3D point coordinates in the camera frame and its 2D coordinates
for (int i = 0 ; i < 4 ; i++)
- {
point[i].project(cMo) ;
+
+ // creates the associated features
+ vpFeaturePoint p[4] ;
+ for (int i = 0 ; i < 4 ; i++)
vpFeatureBuilder::create(p[i],point[i]) ;
- }
-
- // Display the task features (current and desired)
- vpServoDisplay::display(task,cam,I);
- vpDisplay::flush(I);
-
- // Update the robot Jacobian
+
+
+ /////////////////////////////////
+ // Task defintion
+ vpServo task ;
+ // we want an eye-in-hand control law ;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
+
+ // Set the position of the camera in the end-effector frame
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
+ // Set the Jacobian (expressed in the end-effector frame)
+ vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
-
- // Compute the control law
- vpColVector v = task.computeControlLaw() ;
-
- // Send the computed velocity to the robot and compute the new robot position
- robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;
- robot.getPosition(cMo) ;
-
+
+ // we want to see a point on a point
+ for (int i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
+ // Set the gain
+ task.setLambda(1.0) ;
// Print the current information about the task
task.print();
-
- // Wait 40 ms
- vpTime::wait(t,40);
- }
- task.kill();
- return 0;
+
+
+ ////////////////////////////////////////////////
+ // The control loop
+ int k = 0;
+ while(k++ < 200){
+ double t = vpTime::measureTimeMs();
+
+ // Display the image background
+ vpDisplay::display(I);
+
+ // Update the current features
+ for (int i = 0 ; i < 4 ; i++)
+ {
+ point[i].project(cMo) ;
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+
+ // Display the task features (current and desired)
+ vpServoDisplay::display(task,cam,I);
+ vpDisplay::flush(I);
+
+ // Update the robot Jacobian
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // Compute the control law
+ vpColVector v = task.computeControlLaw() ;
+
+ // Send the computed velocity to the robot and compute the new robot position
+ robot.setVelocity(vpRobot::ARTICULAR_FRAME, v) ;
+ robot.getPosition(cMo) ;
+
+ // Print the current information about the task
+ task.print();
+
+ // Wait 40 ms
+ vpTime::wait(t,40);
+ }
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/manual/simulation/manSimu4Dots.cpp b/example/manual/simulation/manSimu4Dots.cpp
index c2df04d..e915971 100755
--- a/example/manual/simulation/manSimu4Dots.cpp
+++ b/example/manual/simulation/manSimu4Dots.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manSimu4Dots.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manSimu4Dots.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -255,28 +255,35 @@ void *mainLoop (void *_simu)
int
main()
{
- vpSimulator simu ;
-
- // Internal view initialization : view from the robot camera
- simu.initInternalViewer(480, 360) ;
- // External view initialization : view from an external camera
- simu.initExternalViewer(300, 300) ;
-
- // Inernal camera paramters initialization
- vpCameraParameters cam(800,800,240,180) ;
- simu.setInternalCameraParameters(cam) ;
-
- vpTime::wait(500) ;
- // Load the scene
- std::cout << "Load : ./4Points.iv" << std::endl
- << "This file should be in the working directory" << std::endl;
-
- simu.load("./4points.iv") ;
-
- // Run the main loop
- simu.initApplication(&mainLoop) ;
- // Run the simulator
- simu.mainLoop() ;
+ try {
+ vpSimulator simu ;
+
+ // Internal view initialization : view from the robot camera
+ simu.initInternalViewer(480, 360) ;
+ // External view initialization : view from an external camera
+ simu.initExternalViewer(300, 300) ;
+
+ // Inernal camera paramters initialization
+ vpCameraParameters cam(800,800,240,180) ;
+ simu.setInternalCameraParameters(cam) ;
+
+ vpTime::wait(500) ;
+ // Load the scene
+ std::cout << "Load : ./4Points.iv" << std::endl
+ << "This file should be in the working directory" << std::endl;
+
+ simu.load("./4points.iv") ;
+
+ // Run the main loop
+ simu.initApplication(&mainLoop) ;
+ // Run the simulator
+ simu.mainLoop() ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/manual/simulation/manSimu4Points.cpp b/example/manual/simulation/manSimu4Points.cpp
index 9a31ea4..4335ef8 100755
--- a/example/manual/simulation/manSimu4Points.cpp
+++ b/example/manual/simulation/manSimu4Points.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: manSimu4Points.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: manSimu4Points.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -207,27 +207,34 @@ void *mainLoop (void *_simu)
int
main()
{
- vpSimulator simu ;
-
- // Internal view initialization : view from the robot camera
- simu.initInternalViewer(480, 360) ;
- // External view initialization : view from an external camera
- simu.initExternalViewer(300, 300) ;
-
- // Inernal camera paramters initialization
- vpCameraParameters cam(800,800,240,180) ;
- simu.setInternalCameraParameters(cam) ;
-
- vpTime::wait(1000) ;
- // Load the scene
- std::cout << "Load : ./4Points.iv" << std::endl
- << "This file should be in the working directory" << std::endl;
- simu.load("./4points.iv") ;
-
- // Run the main loop
- simu.initApplication(&mainLoop) ;
- // Run the simulator
- simu.mainLoop() ;
+ try {
+ vpSimulator simu ;
+
+ // Internal view initialization : view from the robot camera
+ simu.initInternalViewer(480, 360) ;
+ // External view initialization : view from an external camera
+ simu.initExternalViewer(300, 300) ;
+
+ // Inernal camera paramters initialization
+ vpCameraParameters cam(800,800,240,180) ;
+ simu.setInternalCameraParameters(cam) ;
+
+ vpTime::wait(1000) ;
+ // Load the scene
+ std::cout << "Load : ./4Points.iv" << std::endl
+ << "This file should be in the working directory" << std::endl;
+ simu.load("./4points.iv") ;
+
+ // Run the main loop
+ simu.initApplication(&mainLoop) ;
+ // Run the simulator
+ simu.mainLoop() ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/math/BSpline.cpp b/example/math/BSpline.cpp
index 1012904..00379d2 100644
--- a/example/math/BSpline.cpp
+++ b/example/math/BSpline.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: BSpline.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: BSpline.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -75,6 +75,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -122,9 +125,9 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -132,7 +135,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -141,7 +144,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -152,147 +155,145 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ try {
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I(540,480);
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I(540,480);
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display;
+ vpDisplayD3D display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display image") ;
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+
+ vpBSpline bSpline;
+ std::list<double> knots;
+ knots.push_back(0);
+ knots.push_back(0);
+ knots.push_back(0);
+ knots.push_back(1);
+ knots.push_back(2);
+ knots.push_back(3);
+ knots.push_back(4);
+ knots.push_back(4);
+ knots.push_back(5);
+ knots.push_back(5);
+ knots.push_back(5);
+
+ std::list<vpImagePoint> controlPoints;
+ vpImagePoint pt;
+ pt.set_ij(50,300);
+ controlPoints.push_back(pt);
+ pt.set_ij(100,130);
+ controlPoints.push_back(pt);
+ pt.set_ij(150,400);
+ controlPoints.push_back(pt);
+ pt.set_ij(200,370);
+ controlPoints.push_back(pt);
+ pt.set_ij(250,120);
+ controlPoints.push_back(pt);
+ pt.set_ij(300,250);
+ controlPoints.push_back(pt);
+ pt.set_ij(350,200);
+ controlPoints.push_back(pt);
+ pt.set_ij(400,300);
+ controlPoints.push_back(pt);
+
+ bSpline.set_p(2);
+ bSpline.set_knots(knots);
+ bSpline.set_controlPoints(controlPoints);
+
+ std::cout << "The parameters are :" <<std::endl;
+ std::cout << "p : " << bSpline.get_p() <<std::endl;
+ std::cout << "" <<std::endl;
+ std::cout << "The knot vector :" <<std::endl;
+ std::list<double> knots_cur;
+ bSpline.get_knots(knots_cur);
+ unsigned int i_display=0;
+ for(std::list<double>::const_iterator it=knots_cur.begin(); it!=knots_cur.end(); ++it, ++i_display){
+ std::cout << i_display << " ---> " << *it << std::endl;
+ }
+ std::cout << "The control points are :" <<std::endl;
+ std::list<vpImagePoint> controlPoints_cur;
+ bSpline.get_controlPoints(controlPoints_cur);
+ i_display=0;
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints_cur.begin(); it!=controlPoints_cur.end(); ++it, ++i_display){
+ std::cout << i_display << " ---> " << *it << std::endl;
}
- }
- vpBSpline bSpline;
- std::list<double> knots;
- knots.push_back(0);
- knots.push_back(0);
- knots.push_back(0);
- knots.push_back(1);
- knots.push_back(2);
- knots.push_back(3);
- knots.push_back(4);
- knots.push_back(4);
- knots.push_back(5);
- knots.push_back(5);
- knots.push_back(5);
-
- std::list<vpImagePoint> controlPoints;
- vpImagePoint pt;
- pt.set_ij(50,300);
- controlPoints.push_back(pt);
- pt.set_ij(100,130);
- controlPoints.push_back(pt);
- pt.set_ij(150,400);
- controlPoints.push_back(pt);
- pt.set_ij(200,370);
- controlPoints.push_back(pt);
- pt.set_ij(250,120);
- controlPoints.push_back(pt);
- pt.set_ij(300,250);
- controlPoints.push_back(pt);
- pt.set_ij(350,200);
- controlPoints.push_back(pt);
- pt.set_ij(400,300);
- controlPoints.push_back(pt);
-
- bSpline.set_p(2);
- bSpline.set_knots(knots);
- bSpline.set_controlPoints(controlPoints);
-
- std::cout << "The parameters are :" <<std::endl;
- std::cout << "p : " << bSpline.get_p() <<std::endl;
- std::cout << "" <<std::endl;
- std::cout << "The knot vector :" <<std::endl;
- std::list<double> knots_cur;
- bSpline.get_knots(knots_cur);
- unsigned int i_display=0;
- for(std::list<double>::const_iterator it=knots_cur.begin(); it!=knots_cur.end(); ++it, ++i_display){
- std::cout << i_display << " ---> " << *it << std::endl;
- }
- std::cout << "The control points are :" <<std::endl;
- std::list<vpImagePoint> controlPoints_cur;
- bSpline.get_controlPoints(controlPoints_cur);
- i_display=0;
- for(std::list<vpImagePoint>::const_iterator it=controlPoints_cur.begin(); it!=controlPoints_cur.end(); ++it, ++i_display){
- std::cout << i_display << " ---> " << *it << std::endl;
- }
+ unsigned int i = bSpline.findSpan(5/2.0);
+ std::cout << "The knot interval number for the value u = 5/2 is : " << i <<std::endl;
- unsigned int i = bSpline.findSpan(5/2.0);
- std::cout << "The knot interval number for the value u = 5/2 is : " << i <<std::endl;
-
- vpBasisFunction *N = NULL;
- N = bSpline.computeBasisFuns(5/2.0);
- std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
- std::cout << N[j].value << std::endl;
-
- vpBasisFunction **N2 = NULL;
- N2 = bSpline.computeDersBasisFuns(5/2.0, 2);
- std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
- std::cout << N2[1][j].value << std::endl;
-
- std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
- std::cout << N2[2][j].value << std::endl;
-
- if (opt_display && opt_click_allowed)
- {
- double u = 0.0;
- vpImagePoint pt;
- while (u <= 5)
+ vpBasisFunction *N = NULL;
+ N = bSpline.computeBasisFuns(5/2.0);
+ std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
+ std::cout << N[j].value << std::endl;
+
+ vpBasisFunction **N2 = NULL;
+ N2 = bSpline.computeDersBasisFuns(5/2.0, 2);
+ std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
+ std::cout << N2[1][j].value << std::endl;
+
+ std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
+ std::cout << N2[2][j].value << std::endl;
+
+ if (opt_display && opt_click_allowed)
{
- pt = bSpline.computeCurvePoint(u);
- vpDisplay::displayCross(I,pt,4,vpColor::red);
- u+=0.01;
+ double u = 0.0;
+ while (u <= 5)
+ {
+ pt = bSpline.computeCurvePoint(u);
+ vpDisplay::displayCross(I,pt,4,vpColor::red);
+ u+=0.01;
+ }
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!= controlPoints.end(); ++it){
+ vpDisplay::displayCross(I, *it, 4, vpColor::green);
+ }
+ vpDisplay::flush(I) ;
+ vpDisplay::getClick(I);
}
- for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!= controlPoints.end(); ++it){
- vpDisplay::displayCross(I, *it, 4, vpColor::green);
+
+ if (N != NULL) delete[] N;
+ if (N2 != NULL)
+ {
+ for (unsigned int j = 0; j <= 2; j++)
+ delete[] N2[j];
+ delete[] N2;
}
- vpDisplay::flush(I) ;
- vpDisplay::getClick(I);
+
+ return 0;
}
-
- if (N != NULL) delete[] N;
- if (N2 != NULL)
- {
- for (unsigned int j = 0; j <= 2; j++)
- delete[] N2[j];
- delete[] N2;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
#else
diff --git a/example/math/CMakeLists.txt b/example/math/CMakeLists.txt
index 5e08c60..5c06366 100644
--- a/example/math/CMakeLists.txt
+++ b/example/math/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/math/Nurbs.cpp b/example/math/Nurbs.cpp
index 1423f43..1bd00c5 100644
--- a/example/math/Nurbs.cpp
+++ b/example/math/Nurbs.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: Nurbs.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: Nurbs.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,8 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
/*!
@@ -121,9 +123,9 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -131,7 +133,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -140,7 +142,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -151,242 +153,238 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ try {
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I(540,480);
- vpImage<unsigned char> I2(540,480);
- vpImage<unsigned char> I3(540,480);
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I(540,480);
+ vpImage<unsigned char> I2(540,480);
+ vpImage<unsigned char> I3(540,480);
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display[3];
+ vpDisplayX display[3];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[3];
+ vpDisplayGDI display[3];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[3];
+ vpDisplayGTK display[3];
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display[3];
+ vpDisplayOpenCV display[3];
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display[0].init(I, 100, 100,"Points as control points") ;
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
+ }
+ vpNurbs Nurbs;
+ std::list<double> knots;
+ knots.push_back(0);
+ knots.push_back(0);
+ knots.push_back(0);
+ knots.push_back(1);
+ knots.push_back(2);
+ knots.push_back(3);
+ knots.push_back(4);
+ knots.push_back(4);
+ knots.push_back(5);
+ knots.push_back(5);
+ knots.push_back(5);
+
+ std::list<vpImagePoint> controlPoints;
+ std::list<double> weights;
+ vpImagePoint pt;
+ pt.set_ij(50,300);
+ controlPoints.push_back(pt);
+ weights.push_back(1);
+ pt.set_ij(100,130);
+ controlPoints.push_back(pt);
+ weights.push_back(5);
+ pt.set_ij(150,400);
+ controlPoints.push_back(pt);
+ weights.push_back(0.2);
+ pt.set_ij(200,370);
+ controlPoints.push_back(pt);
+ weights.push_back(10);
+ pt.set_ij(250,120);
+ controlPoints.push_back(pt);
+ weights.push_back(1);
+ pt.set_ij(300,250);
+ controlPoints.push_back(pt);
+ weights.push_back(2);
+ pt.set_ij(350,200);
+ controlPoints.push_back(pt);
+ weights.push_back(3);
+ pt.set_ij(400,300);
+ controlPoints.push_back(pt);
+ weights.push_back(1);
+
+ Nurbs.set_p(2);
+ Nurbs.set_knots(knots);
+ Nurbs.set_controlPoints(controlPoints);
+ Nurbs.set_weights(weights);
+
+ std::cout << "The parameters are :" <<std::endl;
+ std::cout << "p : " << Nurbs.get_p() <<std::endl;
+ std::cout << "" <<std::endl;
+ std::cout << "The knot vector :" <<std::endl;
+ std::list<double> knots_cur;
+ Nurbs.get_knots(knots_cur);
+ unsigned int i_display=0;
+ for(std::list<double>::const_iterator it=knots_cur.begin(); it!=knots_cur.end(); ++it, ++i_display){
+ std::cout << i_display << " ---> " << *it << std::endl;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ std::cout << "The control points are :" <<std::endl;
+ std::list<vpImagePoint> controlPoints_cur;
+ Nurbs.get_controlPoints(controlPoints_cur);
+ i_display=0;
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints_cur.begin(); it!=controlPoints_cur.end(); ++it, ++i_display){
+ std::cout << i_display << " ---> " << *it << std::endl;
+ }
+ std::cout << "The associated weights are :" <<std::endl;
+ std::list<double> weights_cur;
+ Nurbs.get_weights(weights_cur);
+ i_display=0;
+ for(std::list<double>::const_iterator it=weights_cur.begin(); it!=weights_cur.end(); ++it, ++i_display){
+ std::cout << i_display << " ---> " << *it << std::endl;
}
- }
- vpNurbs Nurbs;
- std::list<double> knots;
- knots.push_back(0);
- knots.push_back(0);
- knots.push_back(0);
- knots.push_back(1);
- knots.push_back(2);
- knots.push_back(3);
- knots.push_back(4);
- knots.push_back(4);
- knots.push_back(5);
- knots.push_back(5);
- knots.push_back(5);
-
- std::list<vpImagePoint> controlPoints;
- std::list<double> weights;
- vpImagePoint pt;
- pt.set_ij(50,300);
- controlPoints.push_back(pt);
- weights.push_back(1);
- pt.set_ij(100,130);
- controlPoints.push_back(pt);
- weights.push_back(5);
- pt.set_ij(150,400);
- controlPoints.push_back(pt);
- weights.push_back(0.2);
- pt.set_ij(200,370);
- controlPoints.push_back(pt);
- weights.push_back(10);
- pt.set_ij(250,120);
- controlPoints.push_back(pt);
- weights.push_back(1);
- pt.set_ij(300,250);
- controlPoints.push_back(pt);
- weights.push_back(2);
- pt.set_ij(350,200);
- controlPoints.push_back(pt);
- weights.push_back(3);
- pt.set_ij(400,300);
- controlPoints.push_back(pt);
- weights.push_back(1);
-
- Nurbs.set_p(2);
- Nurbs.set_knots(knots);
- Nurbs.set_controlPoints(controlPoints);
- Nurbs.set_weights(weights);
-
- std::cout << "The parameters are :" <<std::endl;
- std::cout << "p : " << Nurbs.get_p() <<std::endl;
- std::cout << "" <<std::endl;
- std::cout << "The knot vector :" <<std::endl;
- std::list<double> knots_cur;
- Nurbs.get_knots(knots_cur);
- unsigned int i_display=0;
- for(std::list<double>::const_iterator it=knots_cur.begin(); it!=knots_cur.end(); ++it, ++i_display){
- std::cout << i_display << " ---> " << *it << std::endl;
- }
- std::cout << "The control points are :" <<std::endl;
- std::list<vpImagePoint> controlPoints_cur;
- Nurbs.get_controlPoints(controlPoints_cur);
- i_display=0;
- for(std::list<vpImagePoint>::const_iterator it=controlPoints_cur.begin(); it!=controlPoints_cur.end(); ++it, ++i_display){
- std::cout << i_display << " ---> " << *it << std::endl;
- }
- std::cout << "The associated weights are :" <<std::endl;
- std::list<double> weights_cur;
- Nurbs.get_weights(weights_cur);
- i_display=0;
- for(std::list<double>::const_iterator it=weights_cur.begin(); it!=weights_cur.end(); ++it, ++i_display){
- std::cout << i_display << " ---> " << *it << std::endl;
- }
+ unsigned int i = Nurbs.findSpan(5/2.0);
+ std::cout << "The knot interval number for the value u = 5/2 is : " << i <<std::endl;
- unsigned int i = Nurbs.findSpan(5/2.0);
- std::cout << "The knot interval number for the value u = 5/2 is : " << i <<std::endl;
-
- vpBasisFunction *N = NULL;
- N = Nurbs.computeBasisFuns(5/2.0);
- std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
- std::cout << N[j].value << std::endl;
-
- vpBasisFunction **N2 = NULL;
- N2 = Nurbs.computeDersBasisFuns(5/2.0, 2);
- std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
- std::cout << N2[1][j].value << std::endl;
-
- std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
- for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
- std::cout << N2[2][j].value << std::endl;
-
- if (opt_display && opt_click_allowed)
- {
- double u = 0.0;
- vpImagePoint pt;
- while (u <= 5)
+ vpBasisFunction *N = NULL;
+ N = Nurbs.computeBasisFuns(5/2.0);
+ std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
+ std::cout << N[j].value << std::endl;
+
+ vpBasisFunction **N2 = NULL;
+ N2 = Nurbs.computeDersBasisFuns(5/2.0, 2);
+ std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
+ std::cout << N2[1][j].value << std::endl;
+
+ std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
+ for (unsigned int j = 0; j < Nurbs.get_p()+1; j++)
+ std::cout << N2[2][j].value << std::endl;
+
+ if (opt_display && opt_click_allowed)
{
- pt = Nurbs.computeCurvePoint(u);
- vpDisplay::displayCross(I,pt,4,vpColor::red);
- u+=0.01;
+ double u = 0.0;
+ while (u <= 5)
+ {
+ pt = Nurbs.computeCurvePoint(u);
+ vpDisplay::displayCross(I,pt,4,vpColor::red);
+ u+=0.01;
+ }
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
+ vpDisplay::displayCross(I, *it, 4, vpColor::green);
+ }
+
+ vpDisplay::flush(I) ;
+ vpDisplay::getClick(I);
}
- for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
- vpDisplay::displayCross(I, *it, 4, vpColor::green);
+
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display[1].init(I2, 100, 100,"Points interpolation") ;
+ vpDisplay::display(I2) ;
+ vpDisplay::flush(I2) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- vpDisplay::flush(I) ;
- vpDisplay::getClick(I);
- }
-
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display[1].init(I2, 100, 100,"Points interpolation") ;
- vpDisplay::display(I2) ;
+ Nurbs.globalCurveInterp(controlPoints);
+
+ if (opt_display && opt_click_allowed)
+ {
+ double u = 0.0;
+ while (u <= 1)
+ {
+ pt = Nurbs.computeCurvePoint(u);
+ vpDisplay::displayCross(I2,pt,4,vpColor::red);
+ u+=0.01;
+ }
+
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
+ vpDisplay::displayCross(I2, *it, 4, vpColor::green);
+ }
vpDisplay::flush(I2) ;
+ vpDisplay::getClick(I2);
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+
+
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display[2].init(I3, 100, 100,"Points approximation") ;
+ vpDisplay::display(I3) ;
+ vpDisplay::flush(I3) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
-
- Nurbs.globalCurveInterp(controlPoints);
-
- if (opt_display && opt_click_allowed)
- {
- double u = 0.0;
- vpImagePoint pt;
- while (u <= 1)
+
+ Nurbs.globalCurveApprox(controlPoints,5);
+
+ if (opt_display && opt_click_allowed)
{
- pt = Nurbs.computeCurvePoint(u);
- vpDisplay::displayCross(I2,pt,4,vpColor::red);
- u+=0.01;
- }
+ double u = 0.0;
+ while (u <= 1)
+ {
+ pt = Nurbs.computeCurvePoint(u);
+ vpDisplay::displayCross(I3,pt,4,vpColor::red);
+ u+=0.01;
+ }
+
+ for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
+ vpDisplay::displayCross(I3, *it, 4, vpColor::green);
+ }
- for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
- vpDisplay::displayCross(I2, *it, 4, vpColor::green);
- }
- vpDisplay::flush(I2) ;
- vpDisplay::getClick(I2);
- }
-
-
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display[2].init(I3, 100, 100,"Points approximation") ;
- vpDisplay::display(I3) ;
vpDisplay::flush(I3) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
-
- Nurbs.globalCurveApprox(controlPoints,5);
-
- if (opt_display && opt_click_allowed)
- {
- double u = 0.0;
- vpImagePoint pt;
- while (u <= 1)
- {
- pt = Nurbs.computeCurvePoint(u);
- vpDisplay::displayCross(I3,pt,4,vpColor::red);
- u+=0.01;
+ vpDisplay::getClick(I3);
}
- for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!=controlPoints.end(); ++it){
- vpDisplay::displayCross(I3, *it, 4, vpColor::green);
+ if (N != NULL) delete[] N;
+ if (N2 != NULL)
+ {
+ for (int j = 0; j <= 2; j++)
+ delete[] N2[j];
+ delete[] N2;
}
- vpDisplay::flush(I3) ;
- vpDisplay::getClick(I3);
+ return 0;
+ return 0;
}
-
- if (N != NULL) delete[] N;
- if (N2 != NULL)
- {
- for (int j = 0; j <= 2; j++)
- delete[] N2[j];
- delete[] N2;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
#else
int main()
{
- std::cout << "This example requires a video device. "
+ std::cout << "This example requires a video device. "
<< std::endl
<< "You should install X11, GTK, OpenCV, GDI or Direct3D"
<< std::endl
diff --git a/example/math/exponentialMap.cpp b/example/math/exponentialMap.cpp
index 5fe8cac..2e627bc 100644
--- a/example/math/exponentialMap.cpp
+++ b/example/math/exponentialMap.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: exponentialMap.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: exponentialMap.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,72 +58,77 @@
int
main()
{
-
- vpTranslationVector t;
- t[0] = 0.1; // t_x in m/s
- t[1] = 0.2f; // t_y in m/s
- t[2] = 0.f; // t_z in m/s
-
- vpRxyzVector rxyz;
- rxyz[0] = vpMath::rad(0.f); // r_x in rad/s
- rxyz[1] = vpMath::rad(0.f); // r_y in rad/s
- rxyz[2] = vpMath::rad(90.f); // r_z in rad/s
-
- // Build a ThetaU rotation vector from a Rxyz vector
- vpThetaUVector tu;
- tu.buildFrom(rxyz);
-
- vpColVector v(6); // Velocity vector [t, thetaU]^t
-
- v[0] = t[0]; // t_x
- v[1] = t[1]; // t_y
- v[2] = t[2]; // t_z
- v[3] = tu[0]; // ThetaU_x
- v[4] = tu[1]; // ThetaU_y
- v[5] = tu[2]; // ThetaU_z
-
- std::cout << "Considered velocity : \n" << v << std::endl;
-
- vpHomogeneousMatrix M;
-
- // Compute the displacement from the velocity applied during 1 second
- M = vpExponentialMap::direct(v);
-
- {
- // Extract translation from homogenous matrix
- vpTranslationVector dt; // translation displacement
- M.extract(dt);
-
- // Extract rotation from homogenous matrix
- vpRotationMatrix R;
- M.extract(R);
- vpRxyzVector drxyz(R); // rotational displacement
-
- std::cout << "Displacement if velocity is applied during 1 s : \n"
- << dt << " " << drxyz << std::endl;
+ try {
+ vpTranslationVector t;
+ t[0] = 0.1; // t_x in m/s
+ t[1] = 0.2f; // t_y in m/s
+ t[2] = 0.f; // t_z in m/s
+
+ vpRxyzVector rxyz;
+ rxyz[0] = vpMath::rad(0.f); // r_x in rad/s
+ rxyz[1] = vpMath::rad(0.f); // r_y in rad/s
+ rxyz[2] = vpMath::rad(90.f); // r_z in rad/s
+
+ // Build a ThetaU rotation vector from a Rxyz vector
+ vpThetaUVector tu;
+ tu.buildFrom(rxyz);
+
+ vpColVector v(6); // Velocity vector [t, thetaU]^t
+
+ v[0] = t[0]; // t_x
+ v[1] = t[1]; // t_y
+ v[2] = t[2]; // t_z
+ v[3] = tu[0]; // ThetaU_x
+ v[4] = tu[1]; // ThetaU_y
+ v[5] = tu[2]; // ThetaU_z
+
+ std::cout << "Considered velocity : \n" << v << std::endl;
+
+ vpHomogeneousMatrix M;
+
+ // Compute the displacement from the velocity applied during 1 second
+ M = vpExponentialMap::direct(v);
+
+ {
+ // Extract translation from homogenous matrix
+ vpTranslationVector dt; // translation displacement
+ M.extract(dt);
+
+ // Extract rotation from homogenous matrix
+ vpRotationMatrix R;
+ M.extract(R);
+ vpRxyzVector drxyz(R); // rotational displacement
+
+ std::cout << "Displacement if velocity is applied during 1 s : \n"
+ << dt << " " << drxyz << std::endl;
+ }
+
+ // Compute the displacement from the velocity applied during 2 seconds
+ M = vpExponentialMap::direct(v, 2.f);
+
+ {
+ // Extract translation from homogenous matrix
+ vpTranslationVector dt; // translation displacement
+ M.extract(dt);
+
+ // Extract rotation from homogenous matrix
+ vpRotationMatrix R;
+ M.extract(R);
+ vpRxyzVector drxyz(R); // rotational displacement
+
+ std::cout << "Displacement if velocity is applied during 2 s : \n"
+ << dt << " " << drxyz << std::endl;
+ }
+
+ // Compute the velocity from the displacement observed during 2 seconds
+ v = vpExponentialMap::inverse(M, 2.f);
+
+ std::cout << "Velocity from displacement observed during 2 s: \n"
+ << v << std::endl;
+ return 0;
}
-
- // Compute the displacement from the velocity applied during 2 seconds
- M = vpExponentialMap::direct(v, 2.f);
-
- {
- // Extract translation from homogenous matrix
- vpTranslationVector dt; // translation displacement
- M.extract(dt);
-
- // Extract rotation from homogenous matrix
- vpRotationMatrix R;
- M.extract(R);
- vpRxyzVector drxyz(R); // rotational displacement
-
- std::cout << "Displacement if velocity is applied during 2 s : \n"
- << dt << " " << drxyz << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- // Compute the velocity from the displacement observed during 2 seconds
- v = vpExponentialMap::inverse(M, 2.f);
-
- std::cout << "Velocity from displacement observed during 2 s: \n"
- << v << std::endl;
-
}
diff --git a/example/moments/image/CMakeLists.txt b/example/moments/image/CMakeLists.txt
index 4cce0c6..85a366b 100644
--- a/example/moments/image/CMakeLists.txt
+++ b/example/moments/image/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/moments/image/servoMomentImage.cpp b/example/moments/image/servoMomentImage.cpp
index 099c887..e6577d6 100644
--- a/example/moments/image/servoMomentImage.cpp
+++ b/example/moments/image/servoMomentImage.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoMomentImage.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoMomentImage.cpp 4670 2014-02-17 08:59:05Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,22 @@
#include <visp/vpPoseVector.h>
#include <visp/vpPlot.h>
+#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
+// Robot simulator used in this example is not available
+int main()
+{
+ std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
+ std::cout << "You should install pthread third-party library." << std::endl;
+}
+// No display available
+#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
+int main()
+{
+ std::cout << "Can't run this example since no display capability is available." << std::endl;
+ std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
+}
+#else
+
//setup robot parameters
void paramRobot();
@@ -87,38 +103,29 @@ void init(vpHomogeneousMatrix& cMo, vpHomogeneousMatrix& cdMo);
void execute(unsigned int nbIter); //launch the simulation
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type);
double error();
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C);
+void planeToABC(vpPlane& pl, double& A,double& B, double& C);
void paramRobot();
-#if !defined(WIN32) && !defined(VISP_HAVE_PTHREAD)
-// Robot simulator used in this example is not available
-int main()
-{
- std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
- std::cout << "You should install pthread third-party library." << std::endl;
-}
-// No display available
-#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
-int main()
-{
- std::cout << "Can't run this example since no display capability is available." << std::endl;
- std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
-}
-#else
void init_visp_plot(vpPlot& );
int main()
{
- //intial pose
- vpHomogeneousMatrix cMo(-0.1,-0.1,1.5,-vpMath::rad(20),-vpMath::rad(20),-vpMath::rad(30));
- //Desired pose
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,-0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
+ try {
+ //intial pose
+ vpHomogeneousMatrix cMo(-0.1,-0.1,1.5,-vpMath::rad(20),-vpMath::rad(20),-vpMath::rad(30));
+ //Desired pose
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,-0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
- //init the simulation
- init(cMo,cdMo);
+ //init the simulation
+ init(cMo,cdMo);
- execute(1500);
- return 0;
+ execute(1500);
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
@@ -243,11 +250,11 @@ void initFeatures(){
vpPlane pl;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cdMo);
- _planeToABC(pl,Ad,Bd,Cd);
+ planeToABC(pl,Ad,Bd,Cd);
//extracting initial position (actually we only care about Zdst)
vpTranslationVector vec;
@@ -255,8 +262,8 @@ void initFeatures(){
///////////////////////////// initializing moments and features /////////////////////////////////
//don't need to be specific, vpMomentCommon automatically loads Xg,Yg,An,Ci,Cj,Alpha moments
- moments = new vpMomentCommon(vpMomentCommon ::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst), vec[2]);
- momentsDes = new vpMomentCommon(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst),vec[2]);
+ moments = new vpMomentCommon(vpMomentCommon ::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst), vec[2], true);
+ momentsDes = new vpMomentCommon(vpMomentCommon::getSurface(dst),vpMomentCommon::getMu3(dst),vpMomentCommon::getAlpha(dst),vec[2], true);
//same thing with common features
featureMoments = new vpFeatureMomentCommon(*moments);
featureMomentsDes = new vpFeatureMomentCommon(*momentsDes);
@@ -316,8 +323,8 @@ void execute(unsigned int nbIter){
vpPlane pl;
double A,B,C;
pl.setABCD(0,0,1.0,0);
- pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ pl.changeFrame(cMo);
+ planeToABC(pl,A,B,C);
//track points, draw points and add refresh our object
refreshScene(obj);
@@ -383,7 +390,7 @@ double error(){return _error;}
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C){
+void planeToABC(vpPlane& pl, double& A,double& B, double& C){
if(fabs(pl.getD())<std::numeric_limits<double>::epsilon()){
std::cout << "Invalid position:" << std::endl;
std::cout << cMo << std::endl;
diff --git a/example/moments/points/CMakeLists.txt b/example/moments/points/CMakeLists.txt
index 4d19346..93b80d4 100644
--- a/example/moments/points/CMakeLists.txt
+++ b/example/moments/points/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/moments/points/servoMomentPoints.cpp b/example/moments/points/servoMomentPoints.cpp
index 015a674..b5e2bed 100644
--- a/example/moments/points/servoMomentPoints.cpp
+++ b/example/moments/points/servoMomentPoints.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoMomentPoints.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoMomentPoints.cpp 4673 2014-02-17 09:06:49Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -67,6 +67,23 @@
#include <visp/vpSimulatorAfma6.h>
#include <visp/vpPlane.h>
+
+#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
+// Robot simulator used in this example is not available
+int main()
+{
+ std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
+ std::cout << "You should install pthread third-party library." << std::endl;
+}
+// No display available
+#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
+int main()
+{
+ std::cout << "Can't run this example since no display capability is available." << std::endl;
+ std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
+}
+#else
+
//setup robot parameters
void paramRobot();
@@ -81,34 +98,26 @@ void init(vpHomogeneousMatrix& cMo, vpHomogeneousMatrix& cdMo);
void execute(unsigned int nbIter); //launch the simulation
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type);
double error();
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C);
+void planeToABC(vpPlane& pl, double& A,double& B, double& C);
void paramRobot();
+void removeJointLimits(vpSimulatorAfma6& robot);
-#if !defined(WIN32) && !defined(VISP_HAVE_PTHREAD)
-// Robot simulator used in this example is not available
-int main()
-{
- std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
- std::cout << "You should install pthread third-party library." << std::endl;
-}
-// No display available
-#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
int main()
{
- std::cout << "Can't run this example since no display capability is available." << std::endl;
- std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
-}
-#else
-int main(){
- //intial pose
- vpHomogeneousMatrix cMo(0.05,0.1,1.5,vpMath::rad(30),vpMath::rad(20),-vpMath::rad(15));
- //Desired pose
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
-
- //init and run the simulation
- init(cMo,cdMo);
- execute(1500);
- return 0;
+ try { //intial pose
+ vpHomogeneousMatrix cMo(0.05,0.1,1.5,vpMath::rad(30),vpMath::rad(20),-vpMath::rad(15));
+ //Desired pose
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
+
+ //init and run the simulation
+ init(cMo,cdMo);
+ execute(1500);
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
//init the right display
@@ -146,12 +155,10 @@ vpFeatureMomentCommon *featureMomentsDes;
vpMomentObject src(6);
vpMomentObject dst(6);
-using namespace std;
-
void initScene(){
- vector<vpPoint> src_pts;
- vector<vpPoint> dst_pts;
+ std::vector<vpPoint> src_pts;
+ std::vector<vpPoint> dst_pts;
double x[8] = { 1,3, 4,-1 ,-3,-2,-1,1};
double y[8] = { 0,1, 4, 4, -2,-2, 1,0};
@@ -187,11 +194,11 @@ void initFeatures(){
vpPlane pl;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cdMo);
- _planeToABC(pl,Ad,Bd,Cd);
+ planeToABC(pl,Ad,Bd,Cd);
//extracting initial position (actually we only care about Zdst)
vpTranslationVector vec;
@@ -229,7 +236,7 @@ void refreshScene(vpMomentObject &obj){
double x[8] = { 1,3, 4,-1 ,-3,-2,-1,1};
double y[8] = { 0,1, 4, 4, -2,-2, 1,0};
int nbpoints = 8;
- vector<vpPoint> cur_pts;
+ std::vector<vpPoint> cur_pts;
for (int i = 0 ; i < nbpoints ; i++){
vpPoint p;
@@ -280,7 +287,7 @@ void execute(unsigned int nbIter){
double A,B,C;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
//track points, draw points and add refresh our object
refreshScene(obj);
@@ -316,7 +323,8 @@ void execute(unsigned int nbIter){
delete featureMomentsDes;
}
-void removeJointLimits(vpSimulatorAfma6& robot){
+void removeJointLimits(vpSimulatorAfma6& robot_)
+{
vpColVector limMin(6);
vpColVector limMax(6);
limMin[0] = vpMath::rad(-3600);
@@ -333,12 +341,12 @@ void removeJointLimits(vpSimulatorAfma6& robot){
limMax[4] = vpMath::rad(3600);
limMax[5] = vpMath::rad(3600);
- robot.setJointLimit(limMin,limMax);
- robot.setMaxRotationVelocity(99999);
- robot.setMaxTranslationVelocity(999999);
+ robot_.setJointLimit(limMin,limMax);
+ robot_.setMaxRotationVelocity(99999);
+ robot_.setMaxTranslationVelocity(999999);
}
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C){
+void planeToABC(vpPlane& pl, double& A,double& B, double& C){
if(fabs(pl.getD())<std::numeric_limits<double>::epsilon()){
std::cout << "Invalid position:" << std::endl;
std::cout << cMo << std::endl;
diff --git a/example/moments/polygon/CMakeLists.txt b/example/moments/polygon/CMakeLists.txt
index 904ebb5..25661a2 100644
--- a/example/moments/polygon/CMakeLists.txt
+++ b/example/moments/polygon/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/moments/polygon/servoMomentPolygon.cpp b/example/moments/polygon/servoMomentPolygon.cpp
index 1b6654d..87cdede 100644
--- a/example/moments/polygon/servoMomentPolygon.cpp
+++ b/example/moments/polygon/servoMomentPolygon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoMomentPolygon.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoMomentPolygon.cpp 4670 2014-02-17 08:59:05Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,22 @@
#include <visp/vpSimulatorAfma6.h>
#include <visp/vpPlane.h>
+#if !defined(_WIN32) && !defined(VISP_HAVE_PTHREAD)
+// Robot simulator used in this example is not available
+int main()
+{
+ std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
+ std::cout << "You should install pthread third-party library." << std::endl;
+}
+// No display available
+#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
+int main()
+{
+ std::cout << "Can't run this example since no display capability is available." << std::endl;
+ std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
+}
+#else
+
//setup robot parameters
void paramRobot();
@@ -80,34 +96,26 @@ void init(vpHomogeneousMatrix& cMo, vpHomogeneousMatrix& cdMo);
void execute(unsigned int nbIter); //launch the simulation
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type);
double error();
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C);
+void planeToABC(vpPlane& pl, double& A,double& B, double& C);
void paramRobot();
+void removeJointLimits(vpSimulatorAfma6& robot);
-#if !defined(WIN32) && !defined(VISP_HAVE_PTHREAD)
-// Robot simulator used in this example is not available
-int main()
-{
- std::cout << "Can't run this example since vpSimulatorAfma6 capability is not available." << std::endl;
- std::cout << "You should install pthread third-party library." << std::endl;
-}
-// No display available
-#elif !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_OPENCV) && !defined(VISP_HAVE_GDI) && !defined(VISP_HAVE_D3D9) && !defined(VISP_HAVE_GTK)
int main()
{
- std::cout << "Can't run this example since no display capability is available." << std::endl;
- std::cout << "You should install one of the following third-party library: X11, OpenCV, GDI, GTK." << std::endl;
-}
-#else
-int main(){
- //intial pose
- vpHomogeneousMatrix cMo(-0.1,-0.1,1.5,-vpMath::rad(20),-vpMath::rad(20),-vpMath::rad(30));
- //Desired pose
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
-
- //init and run the simulation
- init(cMo,cdMo);
- execute(1500);
- return 0;
+ try { //intial pose
+ vpHomogeneousMatrix cMo(-0.1,-0.1,1.5,-vpMath::rad(20),-vpMath::rad(20),-vpMath::rad(30));
+ //Desired pose
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
+
+ //init and run the simulation
+ init(cMo,cdMo);
+ execute(1500);
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
//init the right display
@@ -214,11 +222,11 @@ void initFeatures(){
vpPlane pl;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cdMo);
- _planeToABC(pl,Ad,Bd,Cd);
+ planeToABC(pl,Ad,Bd,Cd);
//extracting initial position (actually we only care about Zdst)
vpTranslationVector vec;
@@ -275,7 +283,7 @@ void execute(unsigned int nbIter){
double A,B,C;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
//track points, draw points and add refresh our object
refreshScene(obj);
@@ -313,7 +321,8 @@ void execute(unsigned int nbIter){
void setInteractionMatrixType(vpServo::vpServoIteractionMatrixType type){interaction_type=type;}
double error(){return _error;}
-void removeJointLimits(vpSimulatorAfma6& robot){
+void removeJointLimits(vpSimulatorAfma6& robot_)
+{
vpColVector limMin(6);
vpColVector limMax(6);
limMin[0] = vpMath::rad(-3600);
@@ -330,10 +339,10 @@ void removeJointLimits(vpSimulatorAfma6& robot){
limMax[4] = vpMath::rad(3600);
limMax[5] = vpMath::rad(3600);
- robot.setJointLimit(limMin,limMax);
+ robot_.setJointLimit(limMin,limMax);
}
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C){
+void planeToABC(vpPlane& pl, double& A,double& B, double& C){
if(fabs(pl.getD())<std::numeric_limits<double>::epsilon()){
std::cout << "Invalid position:" << std::endl;
std::cout << cMo << std::endl;
diff --git a/example/ogre-simulator/AROgre.cpp b/example/ogre-simulator/AROgre.cpp
index a0f4668..7476a4e 100644
--- a/example/ogre-simulator/AROgre.cpp
+++ b/example/ogre-simulator/AROgre.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: AROgre.cpp 4305 2013-07-05 13:23:47Z fspindle $
+ * $Id: AROgre.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,10 +50,11 @@
#include <visp/vpConfig.h>
#include <iostream>
-//#if defined(VISP_HAVE_OGRE) && defined(VISP_HAVE_DISPLAY)
-#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK))
+//#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || (defined(VISP_HAVE_X11) && ! defined(APPLE)))
+#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || (defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))))
-#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+//#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+#if defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))
// produce an error on OSX: ‘typedef int Cursor’
// /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
// declaration as ‘typedef XID Cursor’. That's why it should not be
@@ -190,6 +191,8 @@ public:
if (resourcePath) mResourcePath = resourcePath;
std::cout << "mResourcePath: " << mResourcePath<< std::endl;
vecDevant = Ogre::Vector3(0,-1,0);
+ robot = NULL;
+ mAnimationState = NULL;
}
protected :
@@ -312,7 +315,7 @@ protected :
*/
void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
vpPose * mPose, vpDot2 *md, vpImagePoint *mcog,
- vpHomogeneousMatrix *cmo, vpPoint *mP,
+ vpHomogeneousMatrix *cMo, vpPoint *mP,
const bool &opt_click_allowed)
{
// ---------------------------------------------------
@@ -320,7 +323,8 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
// ----------------------------------------------------
bool opt_display = true;
-#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+//#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+#if defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))
// produce an error on OSX: ‘typedef int Cursor’
// /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
// declaration as ‘typedef XID Cursor’. That's why it should not be
@@ -335,7 +339,6 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
#elif defined VISP_HAVE_D3D9
vpDisplayD3D display;
#endif
-
for (unsigned int i=0 ; i < 4 ; i++)
{
if (opt_display) {
@@ -493,16 +496,16 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
// minimisation method
// Pose by Lagrange it provides an initialization of the pose
- mPose->computePose(vpPose::LAGRANGE, *cmo) ;
+ mPose->computePose(vpPose::LAGRANGE, *cMo) ;
// the pose is now refined using the virtual visual servoing approach
// Warning: cMo needs to be initialized otherwise it may diverge
- mPose->computePose(vpPose::VIRTUAL_VS, *cmo) ;
+ mPose->computePose(vpPose::VIRTUAL_VS, *cMo) ;
// Display breifly just to have a glimpse a the ViSP pose
// while(cpt<500){
if( opt_display ){
// Display the computed pose
- mPose->display(I,*cmo,*mcam, 0.05, vpColor::red) ;
+ mPose->display(I,*cMo,*mcam, 0.05, vpColor::red) ;
vpDisplay::flush(I) ;
vpTime::wait(800);
}
@@ -512,189 +515,181 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
int main(int argc, const char **argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
+ exit (-1);
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
- std::ostringstream s;
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
+
+ exit(-1);
+ }
- if (opt_ppath.empty()){
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ std::ostringstream s;
- // Build the name of the image file
+ if (opt_ppath.empty()){
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image.%04d.pgm";
- filename = dirname + s.str();
- }
- else {
- filename = opt_ppath;
- }
+ // Build the name of the image file
- //We will read a sequence of images
- vpVideoReader grabber;
- grabber.setFirstFrameIndex(1);
- grabber.setFileName(filename.c_str());
- // Grey level image associated to a display in the initial pose computation
- vpImage<unsigned char> Idisplay;
- // Grey level image to track points
- vpImage<unsigned char> I;
- // RGBa image to get background
- vpImage<vpRGBa> IC;
- // Matrix representing camera parameters
- vpHomogeneousMatrix cmo;
-
- // Variables used for pose computation purposes
- vpPose mPose;
- vpDot2 md[4];
- vpImagePoint mcog[4];
- vpPoint mP[4];
-
- // CameraParameters we got from calibration
- // Keep u0 and v0 as center of the screen
- vpCameraParameters mcam;
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
- grabber.open(Idisplay);
- grabber.acquire(Idisplay);
- vpCameraParameters mcamTmp(592,570,grabber.getWidth()/2,grabber.getHeight()/2);
- // Compute the initial pose of the camera
- computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cmo, mP,
- opt_click_allowed);
- // Close the framegrabber
- grabber.close();
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image.%04d.pgm";
+ filename = dirname + s.str();
+ }
+ else {
+ filename = opt_ppath;
+ }
- // Associate the grabber to the RGBa image
- grabber.open(IC);
- mcam.init(mcamTmp);
- }
- catch(...)
- {
- // an exception is thrown if an exception from readPGM has been caught
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ //We will read a sequence of images
+ vpVideoReader grabber;
+ grabber.setFirstFrameIndex(1);
+ grabber.setFileName(filename.c_str());
+ // Grey level image associated to a display in the initial pose computation
+ vpImage<unsigned char> Idisplay;
+ // Grey level image to track points
+ vpImage<unsigned char> I;
+ // RGBa image to get background
+ vpImage<vpRGBa> IC;
+ // Matrix representing camera parameters
+ vpHomogeneousMatrix cMo;
+
+ // Variables used for pose computation purposes
+ vpPose mPose;
+ vpDot2 md[4];
+ vpImagePoint mcog[4];
+ vpPoint mP[4];
+
+ // CameraParameters we got from calibration
+ // Keep u0 and v0 as center of the screen
+ vpCameraParameters mcam;
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+ grabber.open(Idisplay);
+ grabber.acquire(Idisplay);
+ vpCameraParameters mcamTmp(592,570,grabber.getWidth()/2,grabber.getHeight()/2);
+ // Compute the initial pose of the camera
+ computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP,
+ opt_click_allowed);
+ // Close the framegrabber
+ grabber.close();
+
+ // Associate the grabber to the RGBa image
+ grabber.open(IC);
+ mcam.init(mcamTmp);
+ }
+ catch(...)
+ {
+ // an exception is thrown if an exception from readPGM has been caught
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // Create a vpRAOgre object with color background
- vpAROgreExample ogre(mcam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
- // Initialize it
- ogre.init(IC);
+ // Create a vpRAOgre object with color background
+ vpAROgreExample ogre(mcam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
+ // Initialize it
+ ogre.init(IC);
- try
- {
- double t0 = vpTime::measureTimeMs();
+ double t0 = vpTime::measureTimeMs();
// Rendering loop
- while(ogre.continueRendering() && !grabber.end()){
- // Acquire a frame
+ while(ogre.continueRendering() && !grabber.end()) {
+ // Acquire a frame
grabber.acquire(IC);
// Convert it to a grey level image for tracking purpose
vpImageConvert::convert(IC,I);
-
- // Update pose calculation
- try{
- // kill the point list
- mPose.clearPoint() ;
-
- // track the dot
- for (int i=0 ; i < 4 ; i++)
+
+ // kill the point list
+ mPose.clearPoint() ;
+
+ // track the dot
+ for (int i=0 ; i < 4 ; i++)
+ {
+ // track the point
+ md[i].track(I, mcog[i]) ;
+ md[i].setGrayLevelPrecision(0.90);
+ // pixel->meter conversion
{
- // track the point
- md[i].track(I, mcog[i]) ;
- md[i].setGrayLevelPrecision(0.90);
- // pixel->meter conversion
- {
- double x=0, y=0;
- vpPixelMeterConversion::convertPoint(mcam, mcog[i], x, y) ;
- mP[i].set_x(x) ;
- mP[i].set_y(y) ;
- }
-
- // and added to the pose computation point list
- mPose.addPoint(mP[i]) ;
+ double x=0, y=0;
+ vpPixelMeterConversion::convertPoint(mcam, mcog[i], x, y) ;
+ mP[i].set_x(x) ;
+ mP[i].set_y(y) ;
}
- // the pose structure has been updated
- // the pose is now updated using the virtual visual servoing approach
- // Dementhon or lagrange is no longuer necessary, pose at the
- // previous iteration is sufficient
- mPose.computePose(vpPose::VIRTUAL_VS, cmo);
- }
- catch(...){
- vpERROR_TRACE("Error in tracking loop") ;
- return false;
+ // and added to the pose computation point list
+ mPose.addPoint(mP[i]) ;
}
+ // the pose structure has been updated
+
+ // the pose is now updated using the virtual visual servoing approach
+ // Dementhon or lagrange is no longuer necessary, pose at the
+ // previous iteration is sufficient
+ mPose.computePose(vpPose::VIRTUAL_VS, cMo);
// Display with ogre
- ogre.display(IC,cmo);
+ ogre.display(IC,cMo);
// Wait so that the video does not go too fast
double t1 = vpTime::measureTimeMs();
@@ -703,25 +698,22 @@ int main(int argc, const char **argv)
}
// Close the grabber
grabber.close();
+
+ return 0;
}
- catch (Ogre::Exception& e)
- {
- std::cerr << "Exception:\n";
- std::cerr << e.getFullDescription().c_str() << "\n";
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
return 1;
}
- catch (...)
- {
- std::cerr << "Exception: " << "\n";
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
return 1;
}
-
- return EXIT_SUCCESS;
}
#else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
int
main()
{
- std::cout << "You should install Ogre3D to run this example..." << std::endl;
+ std::cout << "You should install Ogre3D or a display (GTK or OpenCV...) to run this example..." << std::endl;
}
#endif
diff --git a/example/ogre-simulator/AROgreBasic.cpp b/example/ogre-simulator/AROgreBasic.cpp
index d006bcd..4c05426 100644
--- a/example/ogre-simulator/AROgreBasic.cpp
+++ b/example/ogre-simulator/AROgreBasic.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: AROgreBasic.cpp 4305 2013-07-05 13:23:47Z fspindle $
+ * $Id: AROgreBasic.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -49,10 +49,12 @@
#include <visp/vpConfig.h>
#include <iostream>
-//#if defined(VISP_HAVE_OGRE) && defined(VISP_HAVE_DISPLAY)
-#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK))
-#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+//#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || (defined(VISP_HAVE_X11) && ! defined(APPLE)))
+#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || (defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))))
+
+//#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+#if defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))
// produce an error on OSX: ‘typedef int Cursor’
// /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
// declaration as ‘typedef XID Cursor’. That's why it should not be
@@ -179,7 +181,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
*/
void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
vpPose * mPose, vpDot2 *md, vpImagePoint *mcog,
- vpHomogeneousMatrix *cmo, vpPoint *mP,
+ vpHomogeneousMatrix *cMo, vpPoint *mP,
const bool &opt_click_allowed)
{
// ---------------------------------------------------
@@ -187,7 +189,8 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
// ----------------------------------------------------
bool opt_display = true;
-#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+//#if defined(VISP_HAVE_X11) && ! defined(APPLE)
+#if defined(VISP_HAVE_X11) && ! (defined(__APPLE__) && defined(__MACH__))
// produce an error on OSX: ‘typedef int Cursor’
// /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
// declaration as ‘typedef XID Cursor’. That's why it should not be
@@ -364,16 +367,16 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
// minimisation method
// Pose by Lagrange it provides an initialization of the pose
- mPose->computePose(vpPose::LAGRANGE, *cmo) ;
+ mPose->computePose(vpPose::LAGRANGE, *cMo) ;
// the pose is now refined using the virtual visual servoing approach
// Warning: cMo needs to be initialized otherwise it may diverge
- mPose->computePose(vpPose::VIRTUAL_VS, *cmo) ;
+ mPose->computePose(vpPose::VIRTUAL_VS, *cMo) ;
// Display breifly just to have a glimpse a the ViSP pose
// while(cpt<500){
if( opt_display ){
// Display the computed pose
- mPose->display(I,*cmo,*mcam, 0.05, vpColor::red) ;
+ mPose->display(I,*cMo,*mcam, 0.05, vpColor::red) ;
vpDisplay::flush(I) ;
vpTime::wait(1000);
}
@@ -382,222 +385,216 @@ void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I,
int main(int argc, const char **argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
+
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- // vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ // vpImage<unsigned char> I ;
- // unsigned iter = 0;
- std::ostringstream s;
- // char cfilename[FILENAME_MAX];
+ // unsigned iter = 0;
+ std::ostringstream s;
+ // char cfilename[FILENAME_MAX];
- if (opt_ppath.empty()){
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ if (opt_ppath.empty()){
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- // Build the name of the image file
+ // Build the name of the image file
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image.%04d.pgm";
- filename = dirname + s.str();
- }
- else {
- filename = opt_ppath;
- }
-
- //We will read a sequence of images
- vpVideoReader grabber;
- grabber.setFirstFrameIndex(1);
- grabber.setFileName(filename.c_str());
- // Grey level image associated to a display in the initial pose computation
- vpImage<unsigned char> Idisplay;
- // Grey level image to track points
- vpImage<unsigned char> I;
- // RGBa image to get background
- vpImage<vpRGBa> IC;
- // Matrix representing camera parameters
- vpHomogeneousMatrix cmo;
-
- // Variables used for pose computation purposes
- vpPose mPose;
- vpDot2 md[4];
- vpImagePoint mcog[4];
- vpPoint mP[4];
-
- // CameraParameters we got from calibration
- // Keep u0 and v0 as center of the screen
- vpCameraParameters mcam;
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
- grabber.open(Idisplay);
- grabber.acquire(Idisplay);
- vpCameraParameters mcamTmp(592,570,grabber.getWidth()/2,grabber.getHeight()/2);
- // Compute the initial pose of the camera
- computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cmo, mP,
- opt_click_allowed);
- // Close the framegrabber
- grabber.close();
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image.%04d.pgm";
+ filename = dirname + s.str();
+ }
+ else {
+ filename = opt_ppath;
+ }
- // Associate the grabber to the RGBa image
- grabber.open(IC);
- mcam.init(mcamTmp);
- }
- catch(...)
- {
- // an exception is thrown if an exception from readPGM has been caught
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ //We will read a sequence of images
+ vpVideoReader grabber;
+ grabber.setFirstFrameIndex(1);
+ grabber.setFileName(filename.c_str());
+ // Grey level image associated to a display in the initial pose computation
+ vpImage<unsigned char> Idisplay;
+ // Grey level image to track points
+ vpImage<unsigned char> I;
+ // RGBa image to get background
+ vpImage<vpRGBa> IC;
+ // Matrix representing camera parameters
+ vpHomogeneousMatrix cMo;
+
+ // Variables used for pose computation purposes
+ vpPose mPose;
+ vpDot2 md[4];
+ vpImagePoint mcog[4];
+ vpPoint mP[4];
+
+ // CameraParameters we got from calibration
+ // Keep u0 and v0 as center of the screen
+ vpCameraParameters mcam;
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+ grabber.open(Idisplay);
+ grabber.acquire(Idisplay);
+ vpCameraParameters mcamTmp(592,570,grabber.getWidth()/2,grabber.getHeight()/2);
+ // Compute the initial pose of the camera
+ computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP,
+ opt_click_allowed);
+ // Close the framegrabber
+ grabber.close();
+
+ // Associate the grabber to the RGBa image
+ grabber.open(IC);
+ mcam.init(mcamTmp);
+ }
+ catch(...)
+ {
+ // an exception is thrown if an exception from readPGM has been caught
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // Create a vpRAOgre object with color background
- vpAROgre ogre(mcam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
- // Initialize it
- ogre.init(IC);
- ogre.load("Robot", "robot.mesh");
- ogre.setScale("Robot", 0.001f,0.001f,0.001f);
- ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI/2, -M_PI/2, 0)));
+ // Create a vpRAOgre object with color background
+ vpAROgre ogre(mcam, grabber.getWidth(), grabber.getHeight());
+ // Initialize it
+ ogre.init(IC);
+ ogre.load("Robot", "robot.mesh");
+ ogre.setScale("Robot", 0.001f,0.001f,0.001f);
+ ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI/2, -M_PI/2, 0)));
+
+ // Add an optional point light source
+ Ogre::Light * light = ogre.getSceneManager()->createLight();
+ light->setDiffuseColour(1, 1, 1); // scaled RGB values
+ light->setSpecularColour(1, 1, 1); // scaled RGB values
+ light->setPosition(-5, -5, 10);
+ light->setType(Ogre::Light::LT_POINT);
- try
- {
// Rendering loop
- while(ogre.continueRendering() && !grabber.end()){
+ while(ogre.continueRendering() && !grabber.end()) {
// Acquire a frame
grabber.acquire(IC);
// Convert it to a grey level image for tracking purpose
vpImageConvert::convert(IC,I);
-
- // Update pose calculation
- try{
- // kill the point list
- mPose.clearPoint() ;
-
- // track the dot
- for (int i=0 ; i < 4 ; i++)
+
+ // kill the point list
+ mPose.clearPoint() ;
+
+ // track the dot
+ for (int i=0 ; i < 4 ; i++) {
+ // track the point
+ md[i].track(I, mcog[i]) ;
+ md[i].setGrayLevelPrecision(0.90);
+ // pixel->meter conversion
{
- // track the point
- md[i].track(I, mcog[i]) ;
- md[i].setGrayLevelPrecision(0.90);
- // pixel->meter conversion
- {
- double x=0, y=0;
- vpPixelMeterConversion::convertPoint(mcam, mcog[i], x, y) ;
- mP[i].set_x(x) ;
- mP[i].set_y(y) ;
- }
-
- // and added to the pose computation point list
- mPose.addPoint(mP[i]) ;
+ double x=0, y=0;
+ vpPixelMeterConversion::convertPoint(mcam, mcog[i], x, y) ;
+ mP[i].set_x(x) ;
+ mP[i].set_y(y) ;
}
- // the pose structure has been updated
- // the pose is now updated using the virtual visual servoing approach
- // Dementhon or lagrange is no longuer necessary, pose at the
- // previous iteration is sufficient
- mPose.computePose(vpPose::VIRTUAL_VS, cmo);
- }
- catch(...){
- vpERROR_TRACE("Error in tracking loop") ;
- return false;
+ // and added to the pose computation point list
+ mPose.addPoint(mP[i]) ;
}
+ // the pose structure has been updated
+
+ // the pose is now updated using the virtual visual servoing approach
+ // Dementhon or lagrange is no longuer necessary, pose at the
+ // previous iteration is sufficient
+ mPose.computePose(vpPose::VIRTUAL_VS, cMo);
// Display with ogre
- ogre.display(IC,cmo);
+ ogre.display(IC,cMo);
// Wait so that the video does not go too fast
vpTime::wait(15);
}
// Close the grabber
grabber.close();
+ return 0;
}
- catch (Ogre::Exception& e)
- {
- std::cerr << "Exception:\n";
- std::cerr << e.getFullDescription().c_str() << "\n";
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
return 1;
}
- catch (...)
- {
- std::cerr << "Exception: " << "\n";
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
return 1;
}
-
- return EXIT_SUCCESS;
}
#else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
int
main()
{
- std::cout << "You should install Ogre3D to run this example..." << std::endl;
+ std::cout << "You should install Ogre3D or a display (GTK or OpenCV...) to run this example..." << std::endl;
}
#endif
diff --git a/example/ogre-simulator/CMakeLists.txt b/example/ogre-simulator/CMakeLists.txt
index 518c265..039f8bc 100644
--- a/example/ogre-simulator/CMakeLists.txt
+++ b/example/ogre-simulator/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/parse-argv/CMakeLists.txt b/example/parse-argv/CMakeLists.txt
index 2dfe661..ce4c259 100644
--- a/example/parse-argv/CMakeLists.txt
+++ b/example/parse-argv/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/parse-argv/parse-argv1.cpp b/example/parse-argv/parse-argv1.cpp
index 7953412..2634975 100644
--- a/example/parse-argv/parse-argv1.cpp
+++ b/example/parse-argv/parse-argv1.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: parse-argv1.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: parse-argv1.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,6 +63,9 @@
// List of allowed command line options
#define GETOPTARGS "d:f:i:h"
+void usage(const char *name, const char *badparam, int i_val, float f_val, double d_val);
+bool getOptions(int argc, const char **argv, int &i_val, float &f_val, double &d_val);
+
/*!
Print the program options.
@@ -118,18 +121,18 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, int &i_val, float &f_val, double &d_val)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'd': d_val = atof(optarg); break;
- case 'f': f_val = (float) atof(optarg); break;
- case 'i': i_val = atoi(optarg); break;
+ case 'd': d_val = atof(optarg_); break;
+ case 'f': f_val = (float) atof(optarg_); break;
+ case 'i': i_val = atoi(optarg_); break;
case 'h': usage(argv[0], NULL, i_val, f_val, d_val); return false; break;
default:
- usage(argv[0], optarg, i_val, f_val, d_val); return false; break;
+ usage(argv[0], optarg_, i_val, f_val, d_val); return false; break;
}
}
@@ -137,7 +140,7 @@ bool getOptions(int argc, const char **argv, int &i_val, float &f_val, double &d
// standalone param or error
usage(argv[0], NULL, i_val, f_val, d_val);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -147,32 +150,30 @@ bool getOptions(int argc, const char **argv, int &i_val, float &f_val, double &d
int
main(int argc, const char ** argv)
{
- using ::std::cout;
- using ::std::endl;
+ try {
+ using ::std::cout;
+ using ::std::endl;
- int i_val = 3;
- float f_val = 3.14f;
- double d_val = 3.1415;
+ int i_val = 3;
+ float f_val = 3.14f;
+ double d_val = 3.1415;
- // Read the command line options
- if (getOptions(argc, argv, i_val, f_val, d_val) == false) {
- return (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, i_val, f_val, d_val) == false) {
+ return (-1);
+ }
- cout << "Your parameters: " << endl;
- cout << " Integer value: " << i_val << endl;
- cout << " Float value: " << f_val << endl;
- cout << " Double value: " << d_val << endl << endl;
- cout << "Call " << argv[0]
- << " -h to see how to change these parameters." << endl;
+ cout << "Your parameters: " << endl;
+ cout << " Integer value: " << i_val << endl;
+ cout << " Float value: " << f_val << endl;
+ cout << " Double value: " << d_val << endl << endl;
+ cout << "Call " << argv[0]
+ << " -h to see how to change these parameters." << endl;
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/example/parse-argv/parse-argv2.cpp b/example/parse-argv/parse-argv2.cpp
index 9d25532..a81c2fe 100644
--- a/example/parse-argv/parse-argv2.cpp
+++ b/example/parse-argv/parse-argv2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: parse-argv2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: parse-argv2.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,37 +63,43 @@
int
main(int argc, const char ** argv)
{
- using ::std::cout;
- using ::std::endl;
-
- int i_val = 3;
- float f_val = 3.14f;
- double d_val = 3.1415;
-
- vpParseArgv::vpArgvInfo argTable[] =
- {
- {"-integer", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &i_val,
- "An integer value."},
- {"-float", vpParseArgv::ARGV_FLOAT, (char*) NULL, (char *) &f_val,
- "A float value."},
- {"-double", vpParseArgv::ARGV_DOUBLE, (char*) NULL, (char *) &d_val,
- "A double value."},
- {(char*) NULL, vpParseArgv::ARGV_END, (char*) NULL, (char*) NULL, (char*) NULL}
- } ;
-
- // Read the command line options
- if(vpParseArgv::parse(&argc, argv, argTable, 0)) {
- return (-1);
+ try {
+ using ::std::cout;
+ using ::std::endl;
+
+ int i_val = 3;
+ float f_val = 3.14f;
+ double d_val = 3.1415;
+
+ vpParseArgv::vpArgvInfo argTable[] =
+ {
+ {"-integer", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &i_val,
+ "An integer value."},
+ {"-float", vpParseArgv::ARGV_FLOAT, (char*) NULL, (char *) &f_val,
+ "A float value."},
+ {"-double", vpParseArgv::ARGV_DOUBLE, (char*) NULL, (char *) &d_val,
+ "A double value."},
+ {(char*) NULL, vpParseArgv::ARGV_END, (char*) NULL, (char*) NULL, (char*) NULL}
+ } ;
+
+ // Read the command line options
+ if(vpParseArgv::parse(&argc, argv, argTable, 0)) {
+ return (-1);
+ }
+
+ cout << "Your parameters: " << endl;
+ cout << " Integer value: " << i_val << endl;
+ cout << " Float value: " << f_val << endl;
+ cout << " Double value: " << d_val << endl << endl;
+ cout << "Call " << argv[0]
+ << " -h to see how to change these parameters." << endl;
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- cout << "Your parameters: " << endl;
- cout << " Integer value: " << i_val << endl;
- cout << " Float value: " << f_val << endl;
- cout << " Double value: " << d_val << endl << endl;
- cout << "Call " << argv[0]
- << " -h to see how to change these parameters." << endl;
-
- return 0;
}
diff --git a/example/pose-estimation/CMakeLists.txt b/example/pose-estimation/CMakeLists.txt
index d8ac104..0433c10 100644
--- a/example/pose-estimation/CMakeLists.txt
+++ b/example/pose-estimation/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/pose-estimation/poseVirtualVS.cpp b/example/pose-estimation/poseVirtualVS.cpp
index 5226561..69d2ee7 100644
--- a/example/pose-estimation/poseVirtualVS.cpp
+++ b/example/pose-estimation/poseVirtualVS.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: poseVirtualVS.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: poseVirtualVS.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -89,6 +89,12 @@
// List of allowed command line options
#define GETOPTARGS "cdi:p:hf:n:s:"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
+ unsigned &first, unsigned &nimages, unsigned &step,
+ bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -179,22 +185,22 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
unsigned &first, unsigned &nimages, unsigned &step,
bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step); return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false; break;
}
}
@@ -203,7 +209,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -216,177 +222,177 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int
main(int argc, const char** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 0;
- unsigned opt_nimages = 80;
- unsigned opt_step = 1;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
-
- int i ;
-
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " poseVirtualVS.cpp" <<std::endl << std::endl ;
-
- std::cout << " Example of dots tracking in an image sequence and pose computation" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_nimages, opt_step, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 0;
+ unsigned opt_nimages = 80;
+ unsigned opt_step = 1;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+
+ int i ;
+
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " poseVirtualVS.cpp" <<std::endl << std::endl ;
+
+ std::cout << " Example of dots tracking in an image sequence and pose computation" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_nimages, opt_step, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (opt_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (opt_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<< std::endl
+ << " use personal images" <<std::endl << std::endl;
+ exit(-1);
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<< std::endl
- << " use personal images" <<std::endl << std::endl;
- exit(-1);
- }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- unsigned iter = opt_first ;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
+ unsigned iter = opt_first ;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
- if (opt_ppath.empty()){
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file /ViSP-images/cube/image.0001.pgm
- // !! poseExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images-x.y.z.tar.gz"
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file /ViSP-images/cube/image.0001.pgm
+ // !! poseExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images-x.y.z.tar.gz"
- // directory name
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
+ // directory name
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
- // Build the name of the image file
+ // Build the name of the image file
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
- sprintf(cfilename, opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
+ sprintf(cfilename, opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
- // define the vpDot structure, here 4 dots will tracked
- vpDot d[4] ;
+ // define the vpDot structure, here 4 dots will tracked
+ vpDot d[4] ;
- for (i=0 ; i < 4 ; i++)
- {
- // by using setGraphics, we request to see the all the pixel of the dot
- // in green on the screen.
- // It uses the overlay image plane.
- // The default of this setting is that it is time consumming
+ for (i=0 ; i < 4 ; i++)
+ {
+ // by using setGraphics, we request to see the all the pixel of the dot
+ // in green on the screen.
+ // It uses the overlay image plane.
+ // The default of this setting is that it is time consumming
- if (opt_display) {
- d[i].setGraphics(true) ;
- }
- else {
- d[i].setGraphics(false) ;
+ if (opt_display) {
+ d[i].setGraphics(true) ;
+ }
+ else {
+ d[i].setGraphics(false) ;
+ }
}
- }
- // Read the PGM image named "s" on the disk, and put the bitmap into the
- // image structure I.
- // I is initialized to the correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpImageIo::read(I,filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- if (opt_ppath.empty()) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option, " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable"
- << std::endl;
- }
- else {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " or your -p " << opt_ppath << " option " <<std::endl
- << std::endl;
+ // Read the PGM image named "s" on the disk, and put the bitmap into the
+ // image structure I.
+ // I is initialized to the correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpImageIo::read(I,filename) ;
}
- exit(-1);
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ if (opt_ppath.empty()) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option, " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable"
+ << std::endl;
+ }
+ else {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " or your -p " << opt_ppath << " option " <<std::endl
+ << std::endl;
+ }
+ exit(-1);
- }
+ }
- // We open a window using either the X11 or GTK or GDI window manager
- // it will be located in 100,100 and titled "tracking using vpDot"
- // its size is automatically defined by the image (I) size
+ // We open a window using either the X11 or GTK or GDI window manager
+ // it will be located in 100,100 and titled "tracking using vpDot"
+ // its size is automatically defined by the image (I) size
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I,100,100,"tracking using vpDot");
// display the image
@@ -397,20 +403,12 @@ main(int argc, const char** argv)
vpDisplay::display(I) ;
//Flush the display
vpDisplay::flush(I) ;
-
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- return(-1) ;
}
- }
- vpImagePoint cog[4]; // Center of gravity of the dot
- try{
+ vpImagePoint cog[4]; // Center of gravity of the dot
if (opt_display && opt_click_allowed) {
// dot coordinates (u,v) = (column,row)
- std::cout << "Click the four white dots on the object corner clockwise"
+ std::cout << "Click the four white dots on the object corner clockwise"
<< std::endl ;
for (i=0 ; i < 4 ; i++)
{
@@ -460,116 +458,109 @@ main(int argc, const char** argv)
d[3].track(I, cog[3]);
vpDisplay::flush(I) ;
}
- }
- catch(...)
- {
- vpERROR_TRACE("Error in tracking initialization ") ;
- return(-1) ;
- }
- if (opt_display)
- {
+ if (opt_display)
+ {
+
+ // display a red cross (size 10) in the image at the dot center
+ // of gravity location
+ //
+ // WARNING
+ // in the vpDisplay class member's when pixel coordinates
+ // are considered the first element is the row index and the second
+ // is the column index:
+ // vpDisplay::displayCross(Image, row index, column index, size, color)
+ // therefore u and v are inverted wrt to the vpDot specification
+ // Alternatively, to avoid this problem another set of member have
+ // been defined in the vpDisplay class.
+ // If the method name is postfixe with _uv the specification is :
+ // vpDisplay::displayCross_uv(Image, column index, row index, size, color)
- // display a red cross (size 10) in the image at the dot center
- // of gravity location
+ for (i=0 ; i < 4 ; i++)
+ vpDisplay::displayCross(I, cog[i], 10, vpColor::red) ;
+
+ // flush the X11 buffer
+ vpDisplay::flush(I) ;
+ }
+
+ // --------------------------------------------------------
+ // Now wil compute the pose
//
- // WARNING
- // in the vpDisplay class member's when pixel coordinates
- // are considered the first element is the row index and the second
- // is the column index:
- // vpDisplay::displayCross(Image, row index, column index, size, color)
- // therefore u and v are inverted wrt to the vpDot specification
- // Alternatively, to avoid this problem another set of member have
- // been defined in the vpDisplay class.
- // If the method name is postfixe with _uv the specification is :
- // vpDisplay::displayCross_uv(Image, column index, row index, size, color)
+ // The pose will be contained in an homogeneous matrix cMo
+ vpHomogeneousMatrix cMo ;
+
+
+ // We need a structure that content both the 3D coordinates of the point
+ // in the object frame and the 2D coordinates of the point expressed in meter
+ // the vpPoint class is ok for that
+ vpPoint P[4] ;
+
+ // The vpPose class mainly contents a list of vpPoint (that is (X,Y,Z, x, y) )
+ vpPose pose ;
+ // the list of point is cleared (if that's not done before)
+ pose.clearPoint() ;
+
+ // we set the 3D points coordinates (in meter !) in the object/world frame
+ double L=0.04 ;
+ P[0].setWorldCoordinates(-L,-L, 0 ) ; // (X,Y,Z)
+ P[1].setWorldCoordinates(L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-L,L, 0 ) ;
+
+
+ // set the camera intrinsic parameters
+ // see more details about the model in vpCameraParameters
+ double px = 600 ;
+ double py = 600 ;
+ double u0 = 192 ;
+ double v0 = 144 ;
+ vpCameraParameters cam(px,py,u0,v0) ;
+
+ // pixel-> meter conversion
for (i=0 ; i < 4 ; i++)
- vpDisplay::displayCross(I, cog[i], 10, vpColor::red) ;
+ {
+ // u[i]. v[i] are expressed in pixel
+ // conversion in meter is achieved using
+ // x = (u-u0)/px
+ // y = (v-v0)/py
+ // where px, py, u0, v0 are the intrinsic camera parameters
+ double x=0, y=0;
+ vpPixelMeterConversion::convertPoint(cam, cog[i], x,y) ;
+ P[i].set_x(x) ;
+ P[i].set_y(y) ;
+ }
- // flush the X11 buffer
- vpDisplay::flush(I) ;
- }
- // --------------------------------------------------------
- // Now wil compute the pose
- //
-
- // The pose will be contained in an homogeneous matrix cMo
- vpHomogeneousMatrix cMo ;
-
-
- // We need a structure that content both the 3D coordinates of the point
- // in the object frame and the 2D coordinates of the point expressed in meter
- // the vpPoint class is ok for that
- vpPoint P[4] ;
-
- // The vpPose class mainly contents a list of vpPoint (that is (X,Y,Z, x, y) )
- vpPose pose ;
- // the list of point is cleared (if that's not done before)
- pose.clearPoint() ;
-
- // we set the 3D points coordinates (in meter !) in the object/world frame
- double L=0.04 ;
- P[0].setWorldCoordinates(-L,-L, 0 ) ; // (X,Y,Z)
- P[1].setWorldCoordinates(L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-L,L, 0 ) ;
-
-
- // set the camera intrinsic parameters
- // see more details about the model in vpCameraParameters
- double px = 600 ;
- double py = 600 ;
- double u0 = 192 ;
- double v0 = 144 ;
- vpCameraParameters cam(px,py,u0,v0) ;
-
- // pixel-> meter conversion
- for (i=0 ; i < 4 ; i++)
- {
- // u[i]. v[i] are expressed in pixel
- // conversion in meter is achieved using
- // x = (u-u0)/px
- // y = (v-v0)/py
- // where px, py, u0, v0 are the intrinsic camera parameters
- double x=0, y=0;
- vpPixelMeterConversion::convertPoint(cam, cog[i], x,y) ;
- P[i].set_x(x) ;
- P[i].set_y(y) ;
- }
+ // The pose structure is build, we put in the point list the set of point
+ // here both 2D and 3D world coordinates are known
+ for (i=0 ; i < 4 ; i++)
+ {
+ pose.addPoint(P[i]) ; // and added to the pose computation point list
+ }
+ // compute the initial pose using Dementhon method followed by a non linear
+ // minimisation method
+
+ // Pose by Lagrange it provides an initialization of the pose
+ pose.computePose(vpPose::LAGRANGE, cMo) ;
+ // the pose is now refined using the virtual visual servoing approach
+ // Warning: cMo needs to be initialized otherwise it may diverge
+ pose.computePose(vpPose::VIRTUAL_VS, cMo) ;
+ if( opt_display ){
+ // display the compute pose
+ pose.display(I,cMo,cam, 0.05, vpColor::red) ;
+ vpDisplay::flush(I) ;
+ }
- // The pose structure is build, we put in the point list the set of point
- // here both 2D and 3D world coordinates are known
- for (i=0 ; i < 4 ; i++)
- {
- pose.addPoint(P[i]) ; // and added to the pose computation point list
- }
+ // Covariance Matrix Computation
+ // Uncomment if you want to compute the covariance matrix.
+ // pose.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
- // compute the initial pose using Dementhon method followed by a non linear
- // minimisation method
-
- // Pose by Lagrange it provides an initialization of the pose
- pose.computePose(vpPose::LAGRANGE, cMo) ;
- // the pose is now refined using the virtual visual servoing approach
- // Warning: cMo needs to be initialized otherwise it may diverge
- pose.computePose(vpPose::VIRTUAL_VS, cMo) ;
- if( opt_display ){
- // display the compute pose
- pose.display(I,cMo,cam, 0.05, vpColor::red) ;
- vpDisplay::flush(I) ;
- }
-
- // Covariance Matrix Computation
- // Uncomment if you want to compute the covariance matrix.
- // pose.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
-
- unsigned niter = 0;
- // this is the loop over the image sequence
- while (iter < opt_nimages)
- {
- try {
+ unsigned niter = 0;
+ // this is the loop over the image sequence
+ while (iter < opt_nimages)
+ {
// set the new image name
if (opt_ppath.empty()){
@@ -627,19 +618,21 @@ main(int argc, const char** argv)
vpDisplay::flush(I) ;
}
-
+
// Covariance Matrix Display
- // Uncomment if you want to print the covariance matrix.
+ // Uncomment if you want to print the covariance matrix.
// Make sure pose.setCovarianceComputation(true) has been called (uncomment below).
// std::cout << pose.getCovarianceMatrix() << std::endl << std::endl;
-
+
niter++ ;
+
+ iter += opt_step ;
}
- catch(...){
- vpERROR_TRACE("Error in tracking loop") ;
- return(-1) ;
- }
- iter += opt_step ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/robot-simulator/afma6/CMakeLists.txt b/example/robot-simulator/afma6/CMakeLists.txt
index 0141249..78d4613 100644
--- a/example/robot-simulator/afma6/CMakeLists.txt
+++ b/example/robot-simulator/afma6/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 2457 2010-01-07 10:41:18Z nmelchio $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/robot-simulator/afma6/servoSimuAfma6FourPoints2DCamVelocity.cpp b/example/robot-simulator/afma6/servoSimuAfma6FourPoints2DCamVelocity.cpp
index 3845b4d..f4544d1 100644
--- a/example/robot-simulator/afma6/servoSimuAfma6FourPoints2DCamVelocity.cpp
+++ b/example/robot-simulator/afma6/servoSimuAfma6FourPoints2DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,7 +60,7 @@
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
-#if (defined(WIN32) || defined(VISP_HAVE_PTHREAD)) && (defined (VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
+#if (defined(_WIN32) || defined(VISP_HAVE_PTHREAD)) && (defined (VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
// We need to use threading capabilities. Thus on Unix-like
// platforms, the libpthread third-party library need to be
@@ -88,6 +88,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -137,9 +140,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -147,7 +150,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -156,7 +159,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -166,192 +169,192 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_click_allowed = true;
- bool opt_display = true;
+ try {
+ bool opt_click_allowed = true;
+ bool opt_display = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // We open two displays, one for the internal camera view, the other one for
- // the external view, using either X11, GTK or GDI.
+ // We open two displays, one for the internal camera view, the other one for
+ // the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX displayInt;
+ vpDisplayX displayInt;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt;
+ vpDisplayGDI displayInt;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV displayInt;
+ vpDisplayOpenCV displayInt;
#endif
- vpImage<unsigned char> Iint(480, 640, 255);
+ vpImage<unsigned char> Iint(480, 640, 255);
- if (opt_display) {
- // open a display for the visualization
- displayInt.init(Iint,700,0, "Internal view") ;
- }
+ if (opt_display) {
+ // open a display for the visualization
+ displayInt.init(Iint,700,0, "Internal view") ;
+ }
- int i;
- vpServo task;
-
- std::cout << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed"
- << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo 4 points " << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.05,-0.05,0.7,
- vpMath::rad(10), vpMath::rad(10), vpMath::rad(-30));
-
- // sets the point coordinates in the object frame
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.045,-0.045,0) ;
- point[3].setWorldCoordinates(-0.045,0.045,0) ;
- point[2].setWorldCoordinates(0.045,0.045,0) ;
- point[1].setWorldCoordinates(0.045,-0.045,0) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- for (i = 0 ; i < 4 ; i++)
- point[i].track(cMo) ;
-
- // sets the desired position of the point
- vpFeaturePoint p[4] ;
- for (i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the feature point s*
- vpFeaturePoint pd[4] ;
-
- // Desired pose
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
-
- // Projection of the points
- for (int i = 0 ; i < 4 ; i++)
- point[i].track(cdMo);
-
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(pd[i], point[i]);
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::DESIRED) ;
-
- // we want to see a point on a point
- for (i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
-
- // set the gain
- task.setLambda(0.8) ;
-
- // Declaration of the robot
- vpSimulatorAfma6 robot(opt_display);
-
- // Initialise the robot and especially the camera
- robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
- robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
-
- // Initialise the object for the display part*/
- robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
-
- // Initialise the position of the object relative to the pose of the robot's camera
- robot.initialiseObjectRelativeToCamera(cMo);
-
- // Set the desired position (for the displaypart)
- robot.setDesiredCameraPosition(cdMo);
-
- // Get the internal robot's camera parameters
- vpCameraParameters cam;
- robot.getCameraParameters(cam,Iint);
-
- if (opt_display)
- {
- //Get the internal view
- vpDisplay::display(Iint);
- robot.getInternalView(Iint);
- vpDisplay::flush(Iint);
- }
+ vpServo task;
+
+ std::cout << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed"
+ << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo 4 points " << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.05,-0.05,0.7,
+ vpMath::rad(10), vpMath::rad(10), vpMath::rad(-30));
+
+ // sets the point coordinates in the object frame
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.045,-0.045,0) ;
+ point[3].setWorldCoordinates(-0.045,0.045,0) ;
+ point[2].setWorldCoordinates(0.045,0.045,0) ;
+ point[1].setWorldCoordinates(0.045,-0.045,0) ;
+
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ point[i].track(cMo) ;
- // Display task information
- task.print() ;
+ // sets the desired position of the point
+ vpFeaturePoint p[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
- unsigned int iter=0 ;
- vpTRACE("\t loop") ;
- while(iter++<500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ // sets the desired position of the feature point s*
+ vpFeaturePoint pd[4] ;
- // Get the Time at the beginning of the loop
- double t = vpTime::measureTimeMs();
+ // Desired pose
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
- // Get the current pose of the camera
- cMo = robot.get_cMo();
+ // Projection of the points
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ point[i].track(cdMo);
- if (iter==1) {
- std::cout <<"Initial robot position with respect to the object frame:\n";
- cMo.print();
- }
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(pd[i], point[i]);
- // new point position
- for (i = 0 ; i < 4 ; i++)
- {
- point[i].track(cMo) ;
- // retrieve x,y and Z of the vpPoint structure
- try {
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
- catch(...)
- {
- break;
- }
- }
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::DESIRED) ;
+
+ // we want to see a point on a point
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
+
+ // set the gain
+ task.setLambda(0.8) ;
+
+ // Declaration of the robot
+ vpSimulatorAfma6 robot(opt_display);
+
+ // Initialise the robot and especially the camera
+ robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
+
+ // Initialise the object for the display part*/
+ robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
+
+ // Initialise the position of the object relative to the pose of the robot's camera
+ robot.initialiseObjectRelativeToCamera(cMo);
+
+ // Set the desired position (for the displaypart)
+ robot.setDesiredCameraPosition(cdMo);
+
+ // Get the internal robot's camera parameters
+ vpCameraParameters cam;
+ robot.getCameraParameters(cam,Iint);
if (opt_display)
{
- // Get the internal view and display it
- vpDisplay::display(Iint) ;
+ //Get the internal view
+ vpDisplay::display(Iint);
robot.getInternalView(Iint);
vpDisplay::flush(Iint);
}
- if (opt_display && opt_click_allowed && iter == 1)
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ vpTRACE("\t loop") ;
+ while(iter++<500)
{
- // suppressed for automate test
- std::cout << "Click in the internal view window to continue..." << std::endl;
- vpDisplay::getClick(Iint) ;
- }
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // Get the Time at the beginning of the loop
+ double t = vpTime::measureTimeMs();
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Get the current pose of the camera
+ cMo = robot.get_cMo();
- std::cout << "|| s - s* || " << ( task.getError() ).sumSquare() <<std::endl ;
+ if (iter==1) {
+ std::cout <<"Initial robot position with respect to the object frame:\n";
+ cMo.print();
+ }
- // The main loop has a duration of 10 ms at minimum
- vpTime::wait(t,10);
- }
+ // new point position
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ {
+ point[i].track(cMo) ;
+ // retrieve x,y and Z of the vpPoint structure
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+
+ if (opt_display)
+ {
+ // Get the internal view and display it
+ vpDisplay::display(Iint) ;
+ robot.getInternalView(Iint);
+ vpDisplay::flush(Iint);
+ }
+
+ if (opt_display && opt_click_allowed && iter == 1)
+ {
+ // suppressed for automate test
+ std::cout << "Click in the internal view window to continue..." << std::endl;
+ vpDisplay::getClick(Iint) ;
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || " << ( task.getError() ).sumSquare() <<std::endl ;
+
+ // The main loop has a duration of 10 ms at minimum
+ vpTime::wait(t,10);
+ }
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information
+ task.print() ;
+ task.kill();
- std::cout <<"Final robot position with respect to the object frame:\n";
- cMo.print();
+ std::cout <<"Final robot position with respect to the object frame:\n";
+ cMo.print();
- if (opt_display && opt_click_allowed)
- {
- // suppressed for automate test
- std::cout << "Click in the internal view window to end..." << std::endl;
- vpDisplay::getClick(Iint) ;
+ if (opt_display && opt_click_allowed)
+ {
+ // suppressed for automate test
+ std::cout << "Click in the internal view window to end..." << std::endl;
+ vpDisplay::getClick(Iint) ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/robot-simulator/camera/CMakeLists.txt b/example/robot-simulator/camera/CMakeLists.txt
index 04b7afb..5f94a55 100644
--- a/example/robot-simulator/camera/CMakeLists.txt
+++ b/example/robot-simulator/camera/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 2457 2010-01-07 10:41:18Z nmelchio $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocity.cpp b/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocity.cpp
index 5057531..2ee501a 100644
--- a/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimu3D_cMcd_CamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -113,15 +116,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -130,7 +133,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -140,155 +143,162 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
- // - the 6 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
-#ifdef WIN32
- logdirname ="C:/temp/" + username;
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
+ // - the 6 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+#if defined(_WIN32)
+ logdirname ="C:/temp/" + username;
#else
- logdirname ="/tmp/" + username;
+ logdirname ="/tmp/" + username;
#endif
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
-
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : 3D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // Sets the initial camera location
- vpPoseVector c_r_o(// Translation tx,ty,tz
- 0.1, 0.2, 2,
- // ThetaU rotation
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
-
- // From the camera pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // Set the robot initial position
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- // Sets the desired camera location
- vpPoseVector cd_r_o(// Translation tx,ty,tz
- 0, 0, 1,
- // ThetaU rotation
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
-
- // From the camera desired pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- // Compute the transformation from the initial camera position to the desired one
- vpHomogeneousMatrix cMcd ;
- cMcd = cMo*cdMo.inverse() ;
-
- // Build the 3D translation feature: ctc*
- vpFeatureTranslation t(vpFeatureTranslation::cMcd) ;
- t.buildFrom(cMcd) ;
-
- // Build the 3D rotation feature: thetaU_cRc*
- vpFeatureThetaU tu(vpFeatureThetaU::cRcd); // current feature
- tu.buildFrom(cMcd) ;
-
- // Sets the desired rotation (always zero !) since s is the
- // rotation that the camera has to achieve. Here s* = (0, 0)^T
- vpFeatureTranslation td(vpFeatureTranslation::cMcd) ;
- vpFeatureThetaU tud(vpFeatureThetaU::cRcd); // desired feature
-
- // Define the task
- // - we want an eye-in-hand control law
- // - the robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // - we use here the interaction matrix computed with the current
- // features
- task.setInteractionMatrixType(vpServo::CURRENT);
-
- // Add the current and desired visual features
- task.addFeature(t,td) ; // 3D translation
- task.addFeature(tu,tud) ; // 3D rotation theta u
-
- // - set the constant gain to 1.0
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
+
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
+
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : 3D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // Sets the initial camera location
+ vpPoseVector c_r_o(// Translation tx,ty,tz
+ 0.1, 0.2, 2,
+ // ThetaU rotation
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
+
+ // From the camera pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // Set the robot initial position
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
- unsigned int iter=0 ;
- // Start the visual servoing loop. We stop the servo after 200 iterations
- while(iter++ < 200) {
- std::cout << "------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ // Sets the desired camera location
+ vpPoseVector cd_r_o(// Translation tx,ty,tz
+ 0, 0, 1,
+ // ThetaU rotation
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // From the camera desired pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
- // new displacement to achieve
+ // Compute the transformation from the initial camera position to the desired one
+ vpHomogeneousMatrix cMcd ;
cMcd = cMo*cdMo.inverse() ;
- // Update the current visual features
+ // Build the 3D translation feature: ctc*
+ vpFeatureTranslation t(vpFeatureTranslation::cMcd) ;
t.buildFrom(cMcd) ;
+
+ // Build the 3D rotation feature: thetaU_cRc*
+ vpFeatureThetaU tu(vpFeatureThetaU::cRcd); // current feature
tu.buildFrom(cMcd) ;
- // Compute the control law
- v = task.computeControlLaw() ;
+ // Sets the desired rotation (always zero !) since s is the
+ // rotation that the camera has to achieve. Here s* = (0, 0)^T
+ vpFeatureTranslation td(vpFeatureTranslation::cMcd) ;
+ vpFeatureThetaU tud(vpFeatureThetaU::cRcd); // desired feature
+
+ // Define the task
+ // - we want an eye-in-hand control law
+ // - the robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // - we use here the interaction matrix computed with the current
+ // features
+ task.setInteractionMatrixType(vpServo::CURRENT);
+
+ // Add the current and desired visual features
+ task.addFeature(t,td) ; // 3D translation
+ task.addFeature(tu,tud) ; // 3D rotation theta u
+
+ // - set the constant gain to 1.0
+ task.setLambda(1) ;
// Display task information
- if (iter==1) task.print() ;
+ task.print() ;
- // Send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ unsigned int iter=0 ;
+ // Start the visual servoing loop. We stop the servo after 200 iterations
+ while(iter++ < 200) {
+ std::cout << "------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // Retrieve the error
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- // Save log
- flog << v.t() << " " << ( task.getError() ).t() << std::endl;
- }
- // Display task information
- task.print() ;
+ // new displacement to achieve
+ cMcd = cMo*cdMo.inverse() ;
+
+ // Update the current visual features
+ t.buildFrom(cMcd) ;
+ tu.buildFrom(cMcd) ;
+
+ // Compute the control law
+ v = task.computeControlLaw() ;
+
+ // Display task information
+ if (iter==1) task.print() ;
+
+ // Send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- // Kill the task
- task.kill();
+ // Retrieve the error
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- // Close the log file
- flog.close();
+ // Save log
+ flog << v.t() << " " << ( task.getError() ).t() << std::endl;
+ }
+ // Display task information
+ task.print() ;
+
+ // Kill the task
+ task.kill();
+
+ // Close the log file
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp b/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp
index 69518b9..8b50449 100644
--- a/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp
+++ b/example/robot-simulator/camera/servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -97,6 +97,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -137,15 +140,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -154,7 +157,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -164,134 +167,141 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
- // - the 6 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
-#ifdef WIN32
- logdirname ="C:/temp/" + username;
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
+ // - the 6 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+#if defined(_WIN32)
+ logdirname ="C:/temp/" + username;
#else
- logdirname ="/tmp/" + username;
+ logdirname ="/tmp/" + username;
#endif
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
- }
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
-
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
-
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : 3D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // Sets the initial camera location
- vpPoseVector c_r_o(// Translation tx,ty,tz
- 0.1, 0.2, 2,
- // ThetaU rotation
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
-
- // From the camera pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // Set the robot initial position
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- // Sets the desired camera location
- vpPoseVector cd_r_o(// Translation tx,ty,tz
- 0, 0, 1,
- // ThetaU rotation
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
-
- // From the camera desired pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- vpHomogeneousMatrix cMcd; // Transformation between current and desired camera frame
- vpRotationMatrix cRcd; // Rotation between current and desired camera frame
-
- // Set the constant gain of the servo
- double lambda = 1;
-
- unsigned int iter=0 ;
- // Start the visual servoing loop. We stop the servo after 200 iterations
- while(iter++ < 200) {
- std::cout << "------------------------------------" << iter <<std::endl ;
-
- // get the robot position
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
+
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
+
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : 3D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // Sets the initial camera location
+ vpPoseVector c_r_o(// Translation tx,ty,tz
+ 0.1, 0.2, 2,
+ // ThetaU rotation
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
+
+ // From the camera pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // Set the robot initial position
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
-
- // new displacement to achieve
- cMcd = cMo*cdMo.inverse() ;
-
- // Extract the translation vector ctc* which is the current
- // translational visual feature.
- vpTranslationVector ctcd;
- cMcd.extract(ctcd);
- // Compute the current theta U visual feature
- vpThetaUVector tu_cRcd(cMcd);
-
- // Create the identity matrix
- vpMatrix I(3,3);
- I.setIdentity();
-
- // Compute the camera translational velocity
- vpColVector v(3);
- v = lambda * ( I - vpColVector::skew(tu_cRcd) ) * ctcd;
- // Compute the camera rotational velocity
- vpColVector w(3);
- w = lambda * tu_cRcd;
-
- // Update the complete camera velocity vector
- vpColVector velocity(6);
- for (unsigned int i=0; i<3; i++) {
- velocity[i] = v[i]; // Translational velocity
- velocity[i+3] = w[i]; // Rotational velocity
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
+
+ // Sets the desired camera location
+ vpPoseVector cd_r_o(// Translation tx,ty,tz
+ 0, 0, 1,
+ // ThetaU rotation
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+
+ // From the camera desired pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
+
+ vpHomogeneousMatrix cMcd; // Transformation between current and desired camera frame
+ vpRotationMatrix cRcd; // Rotation between current and desired camera frame
+
+ // Set the constant gain of the servo
+ double lambda = 1;
+
+ unsigned int iter=0 ;
+ // Start the visual servoing loop. We stop the servo after 200 iterations
+ while(iter++ < 200) {
+ std::cout << "------------------------------------" << iter <<std::endl ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new displacement to achieve
+ cMcd = cMo*cdMo.inverse() ;
+
+ // Extract the translation vector ctc* which is the current
+ // translational visual feature.
+ vpTranslationVector ctcd;
+ cMcd.extract(ctcd);
+ // Compute the current theta U visual feature
+ vpThetaUVector tu_cRcd(cMcd);
+
+ // Create the identity matrix
+ vpMatrix I(3,3);
+ I.setIdentity();
+
+ // Compute the camera translational velocity
+ vpColVector v(3);
+ v = lambda * ( I - vpColVector::skew(tu_cRcd) ) * ctcd;
+ // Compute the camera rotational velocity
+ vpColVector w(3);
+ w = lambda * tu_cRcd;
+
+ // Update the complete camera velocity vector
+ vpColVector velocity(6);
+ for (unsigned int i=0; i<3; i++) {
+ velocity[i] = v[i]; // Translational velocity
+ velocity[i+3] = w[i]; // Rotational velocity
+ }
+
+ // Send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, velocity) ;
+
+ // Retrieve the error (s-s*)
+ std::cout << "|| s - s* || = " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
+
+ // Save log
+ flog << velocity.t() << " " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
}
- // Send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, velocity) ;
-
- // Retrieve the error (s-s*)
- std::cout << "|| s - s* || = " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
-
- // Save log
- flog << velocity.t() << " " << ctcd.t() << " " << tu_cRcd.t() << std::endl;
+ // Close the log file
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Close the log file
- flog.close();
}
diff --git a/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocity.cpp b/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocity.cpp
index e5ad3cc..0d2cd25 100644
--- a/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimu3D_cdMc_CamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,6 +74,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -114,15 +117,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -131,7 +134,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -141,153 +144,160 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
- // - the 6 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
-#ifdef WIN32
- logdirname ="C:/temp/" + username;
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
+ // - the 6 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+#if defined(_WIN32)
+ logdirname ="C:/temp/" + username;
#else
- logdirname ="/tmp/" + username;
+ logdirname ="/tmp/" + username;
#endif
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
-
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : 3D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
-
- // Sets the initial camera location
- vpPoseVector c_r_o(// Translation tx,ty,tz
- 0.1, 0.2, 2,
- // ThetaU rotation
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
-
- // From the camera pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // Set the robot initial position
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- // Sets the desired camera location
- vpPoseVector cd_r_o(// Translation tx,ty,tz
- 0, 0, 1,
- // ThetaU rotation
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- // From the camera desired pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- // Compute the homogeneous transformation from the desired camera position to the initial one
- vpHomogeneousMatrix cdMc ;
- cdMc = cdMo*cMo.inverse() ;
-
- // Build the current visual features s = (c*tc, thetaU_c*Rc)^T
- vpFeatureTranslation t(vpFeatureTranslation::cdMc) ;
- vpFeatureThetaU tu(vpFeatureThetaU::cdRc); // current feature
- t.buildFrom(cdMc) ;
- tu.buildFrom(cdMc) ;
-
- // Sets the desired rotation (always zero !) since s is the
- // rotation that the camera has to achieve. Here s* = (0, 0)^T
- vpFeatureTranslation td(vpFeatureTranslation::cdMc) ;
- vpFeatureThetaU tud(vpFeatureThetaU::cdRc); // desired feature
-
- // Define the task
- // - we want an eye-in-hand control law
- // - the robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // - we use here the interaction matrix computed with the
- // current features
- task.setInteractionMatrixType(vpServo::CURRENT);
-
- // Add the current and desired visual features
- task.addFeature(t,td) ; // 3D translation
- task.addFeature(tu,tud) ; // 3D rotation
-
- // - set the constant gain to 1.0
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // Start the visual servoing loop. We stop the servo after 200 iterations
- while(iter++ < 200) {
- std::cout << "-----------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
+
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
- // new displacement to achieve
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : 3D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+
+ // Sets the initial camera location
+ vpPoseVector c_r_o(// Translation tx,ty,tz
+ 0.1, 0.2, 2,
+ // ThetaU rotation
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
+
+ // From the camera pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // Set the robot initial position
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
+
+ // Sets the desired camera location
+ vpPoseVector cd_r_o(// Translation tx,ty,tz
+ 0, 0, 1,
+ // ThetaU rotation
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ // From the camera desired pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
+
+ // Compute the homogeneous transformation from the desired camera position to the initial one
+ vpHomogeneousMatrix cdMc ;
cdMc = cdMo*cMo.inverse() ;
- // Update the current visual features
+ // Build the current visual features s = (c*tc, thetaU_c*Rc)^T
+ vpFeatureTranslation t(vpFeatureTranslation::cdMc) ;
+ vpFeatureThetaU tu(vpFeatureThetaU::cdRc); // current feature
t.buildFrom(cdMc) ;
tu.buildFrom(cdMc) ;
- // Compute the control law
- v = task.computeControlLaw() ;
+ // Sets the desired rotation (always zero !) since s is the
+ // rotation that the camera has to achieve. Here s* = (0, 0)^T
+ vpFeatureTranslation td(vpFeatureTranslation::cdMc) ;
+ vpFeatureThetaU tud(vpFeatureThetaU::cdRc); // desired feature
+
+ // Define the task
+ // - we want an eye-in-hand control law
+ // - the robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // - we use here the interaction matrix computed with the
+ // current features
+ task.setInteractionMatrixType(vpServo::CURRENT);
+
+ // Add the current and desired visual features
+ task.addFeature(t,td) ; // 3D translation
+ task.addFeature(tu,tud) ; // 3D rotation
+
+ // - set the constant gain to 1.0
+ task.setLambda(1) ;
// Display task information
- if (iter==1) task.print() ;
+ task.print() ;
- // Send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ unsigned int iter=0 ;
+ // Start the visual servoing loop. We stop the servo after 200 iterations
+ while(iter++ < 200) {
+ std::cout << "-----------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // Retrieve the error
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- // Save log
- flog << v.t() << " " << ( task.getError() ).t() << std::endl;
- }
- // Display task information
- task.print() ;
+ // new displacement to achieve
+ cdMc = cdMo*cMo.inverse() ;
+
+ // Update the current visual features
+ t.buildFrom(cdMc) ;
+ tu.buildFrom(cdMc) ;
+
+ // Compute the control law
+ v = task.computeControlLaw() ;
+
+ // Display task information
+ if (iter==1) task.print() ;
+
+ // Send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- // Kill the task
- task.kill();
+ // Retrieve the error
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- // Close the log file
- flog.close();
+ // Save log
+ flog << v.t() << " " << ( task.getError() ).t() << std::endl;
+ }
+ // Display task information
+ task.print() ;
+
+ // Kill the task
+ task.kill();
+
+ // Close the log file
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp b/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp
index f2ad913..0348c75 100644
--- a/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp
+++ b/example/robot-simulator/camera/servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,6 +91,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -131,15 +134,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -148,7 +151,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -158,133 +161,140 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
- // - the 6 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
-#ifdef WIN32
- logdirname ="C:/temp/" + username;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
+ // - the 6 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+#if defined(_WIN32)
+ logdirname ="C:/temp/" + username;
#else
- logdirname ="/tmp/" + username;
+ logdirname ="/tmp/" + username;
#endif
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
- }
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
-
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
-
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program without vpServo and vpFeature classes " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : 3D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
-
- // Sets the initial camera location
- vpPoseVector c_r_o(// Translation tx,ty,tz
- 0.1, 0.2, 2,
- // ThetaU rotation
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
-
- // From the camera pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // Set the robot initial position
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- // Sets the desired camera location
- vpPoseVector cd_r_o(// Translation tx,ty,tz
- 0, 0, 1,
- // ThetaU rotation
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- // From the camera desired pose build the corresponding homogeneous matrix
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- vpHomogeneousMatrix cdMc; // Transformation between desired and current camera frame
- vpRotationMatrix cdRc; // Rotation between desired and current camera frame
- vpRotationMatrix cRcd; // Rotation between current and desired camera frame
-
- // Set the constant gain of the servo
- double lambda = 1;
-
- unsigned int iter=0 ;
- // Start the visual servoing loop. We stop the servo after 200 iterations
- while(iter++ < 200) {
- std::cout << "-----------------------------------" << iter <<std::endl ;
-
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
-
- // new displacement to achieve
- cdMc = cdMo*cMo.inverse() ;
-
- // Extract the translation vector c*tc which is the current
- // translational visual feature.
- vpTranslationVector cdtc;
- cdMc.extract(cdtc);
- // Extract the rotation matrix c*Rc
- cdMc.extract(cdRc);
- // Compute the inverse rotation cRc* (in fact the transpose of c*Rc)
- cRcd = cdRc.inverse();
- // Compute the current theta U visual feature
- vpThetaUVector tu_cdRc(cdMc);
- // Compute the camera translational velocity
- vpColVector v(3);
- v = -lambda * cRcd * cdtc;
- // Compute the camera rotational velocity
- vpColVector w(3);
- w = -lambda * tu_cdRc;
-
- // Update the complete camera velocity vector
- vpColVector velocity(6);
- for (unsigned int i=0; i<3; i++) {
- velocity[i] = v[i]; // Translational velocity
- velocity[i+3] = w[i]; // Rotational velocity
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
- // Send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, velocity) ;
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
- // Retrieve the error (s-s*)
- std::cout << "|| s - s* || = " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
+ vpSimulatorCamera robot ;
- // Save log
- flog << velocity.t() << " " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program without vpServo and vpFeature classes " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : 3D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+
+ // Sets the initial camera location
+ vpPoseVector c_r_o(// Translation tx,ty,tz
+ 0.1, 0.2, 2,
+ // ThetaU rotation
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50) ) ;
+
+ // From the camera pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // Set the robot initial position
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
+
+ // Sets the desired camera location
+ vpPoseVector cd_r_o(// Translation tx,ty,tz
+ 0, 0, 1,
+ // ThetaU rotation
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ // From the camera desired pose build the corresponding homogeneous matrix
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
+
+ vpHomogeneousMatrix cdMc; // Transformation between desired and current camera frame
+ vpRotationMatrix cdRc; // Rotation between desired and current camera frame
+ vpRotationMatrix cRcd; // Rotation between current and desired camera frame
+
+ // Set the constant gain of the servo
+ double lambda = 1;
+
+ unsigned int iter=0 ;
+ // Start the visual servoing loop. We stop the servo after 200 iterations
+ while(iter++ < 200) {
+ std::cout << "-----------------------------------" << iter <<std::endl ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new displacement to achieve
+ cdMc = cdMo*cMo.inverse() ;
+
+ // Extract the translation vector c*tc which is the current
+ // translational visual feature.
+ vpTranslationVector cdtc;
+ cdMc.extract(cdtc);
+ // Extract the rotation matrix c*Rc
+ cdMc.extract(cdRc);
+ // Compute the inverse rotation cRc* (in fact the transpose of c*Rc)
+ cRcd = cdRc.inverse();
+ // Compute the current theta U visual feature
+ vpThetaUVector tu_cdRc(cdMc);
+ // Compute the camera translational velocity
+ vpColVector v(3);
+ v = -lambda * cRcd * cdtc;
+ // Compute the camera rotational velocity
+ vpColVector w(3);
+ w = -lambda * tu_cdRc;
+
+ // Update the complete camera velocity vector
+ vpColVector velocity(6);
+ for (unsigned int i=0; i<3; i++) {
+ velocity[i] = v[i]; // Translational velocity
+ velocity[i+3] = w[i]; // Rotational velocity
+ }
+
+ // Send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, velocity) ;
+
+ // Retrieve the error (s-s*)
+ std::cout << "|| s - s* || = " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
+
+ // Save log
+ flog << velocity.t() << " " << cdtc.t() << " " << tu_cdRc.t() << std::endl;
+ }
+ // Close the log file
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
- // Close the log file
- flog.close();
}
diff --git a/example/robot-simulator/camera/servoSimuCircle2DCamVelocity.cpp b/example/robot-simulator/camera/servoSimuCircle2DCamVelocity.cpp
index 9944fde..4b4b9c0 100644
--- a/example/robot-simulator/camera/servoSimuCircle2DCamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimuCircle2DCamVelocity.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuCircle2DCamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,6 +73,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -113,15 +116,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -130,7 +133,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -140,96 +143,103 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a circle " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
-
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- vpHomogeneousMatrix cMod ;
- cMod[0][3] = 0 ;
- cMod[1][3] = 0 ;
- cMod[2][3] = 1 ;
-
- // sets the circle coordinates in the world frame
- vpCircle circle ;
- circle.setWorldCoordinates(0,0,1,0,0,0,0.1) ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // sets the desired position of the visual feature
- vpFeatureEllipse pd ;
- circle.track(cMod) ;
- vpFeatureBuilder::create(pd,circle) ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // project : computes the circle coordinates in the camera frame and its 2D coordinates
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a circle " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
- // sets the current position of the visual feature
- vpFeatureEllipse p ;
- circle.track(cMo) ;
- vpFeatureBuilder::create(p,circle) ;
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
- // - we want to see a circle on a circle
- std::cout << std::endl ;
- task.addFeature(p,pd) ;
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
- // - set the gain
- task.setLambda(1) ;
+ vpHomogeneousMatrix cMod ;
+ cMod[0][3] = 0 ;
+ cMod[1][3] = 0 ;
+ cMod[2][3] = 1 ;
- // Display task information
- task.print() ;
+ // sets the circle coordinates in the world frame
+ vpCircle circle ;
+ circle.setWorldCoordinates(0,0,1,0,0,0,0.1) ;
- unsigned int iter=0 ;
- // loop
- while(iter++ < 500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ // sets the desired position of the visual feature
+ vpFeatureEllipse pd ;
+ circle.track(cMod) ;
+ vpFeatureBuilder::create(pd,circle) ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // project : computes the circle coordinates in the camera frame and its 2D coordinates
- // new circle position: retrieve x,y and Z of the vpCircle structure
+ // sets the current position of the visual feature
+ vpFeatureEllipse p ;
circle.track(cMo) ;
- vpFeatureBuilder::create(p,circle);
-
- // compute the control law
- v = task.computeControlLaw() ;
- std::cout << "task rank: " << task.getTaskRank() <<std::endl ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ vpFeatureBuilder::create(p,circle) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+
+ // - we want to see a circle on a circle
+ std::cout << std::endl ;
+ task.addFeature(p,pd) ;
+
+ // - set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 500)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new circle position: retrieve x,y and Z of the vpCircle structure
+ circle.track(cMo) ;
+ vpFeatureBuilder::create(p,circle);
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+ std::cout << "task rank: " << task.getTaskRank() <<std::endl ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl ;
+ }
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
}
diff --git a/example/robot-simulator/camera/servoSimuCircle2DCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuCircle2DCamVelocityDisplay.cpp
index 4c70e19..4b8711f 100644
--- a/example/robot-simulator/camera/servoSimuCircle2DCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuCircle2DCamVelocityDisplay.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuCircle2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -78,6 +78,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -130,9 +133,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -140,7 +143,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -149,7 +152,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -160,135 +163,141 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click_allowed = true;
+ try {
+ bool opt_display = true;
+ bool opt_click_allowed = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- vpImage<unsigned char> I(512,512,0) ;
+ vpImage<unsigned char> I(512,512,0) ;
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display.init(I, 100, 100,"Camera view...") ;
- // Display the image
- // The image class has a member that specify a pointer toward
- // the display that has been initialized in the display declaration
- // therefore is is no longuer necessary to make a reference to the
- // display variable.
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display.init(I, 100, 100,"Camera view...") ;
+ // Display the image
+ // The image class has a member that specify a pointer toward
+ // the display that has been initialized in the display declaration
+ // therefore is is no longuer necessary to make a reference to the
+ // display variable.
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
- double px, py ; px = py = 600 ;
- double u0, v0 ; u0 = v0 = 256 ;
-
- vpCameraParameters cam(px,py,u0,v0);
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0,0,1,
- vpMath::rad(0), vpMath::rad(80), vpMath::rad(30)) ;
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- vpHomogeneousMatrix cMod(-0.1,-0.1,0.7,
- vpMath::rad(40), vpMath::rad(10), vpMath::rad(30)) ;
-
- // sets the circle coordinates in the world frame
- vpCircle circle ;
- circle.setWorldCoordinates(0,0,1,
- 0,0,0,
- 0.1) ;
-
- // sets the desired position of the visual feature
- vpFeatureEllipse pd ;
- circle.track(cMod) ;
- vpFeatureBuilder::create(pd,circle) ;
-
- // project : computes the circle coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- vpFeatureEllipse p ;
- circle.track(cMo) ;
- vpFeatureBuilder::create(p,circle) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- task.setInteractionMatrixType(vpServo::DESIRED) ;
- // - we want to see a circle on a circle
- task.addFeature(p,pd) ;
- // - set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++ < 200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ double px, py ; px = py = 600 ;
+ double u0, v0 ; u0 = v0 = 256 ;
+
+ vpCameraParameters cam(px,py,u0,v0);
+
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0,0,1,
+ vpMath::rad(0), vpMath::rad(80), vpMath::rad(30)) ;
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
- // new circle position
- // retrieve x,y and Z of the vpCircle structure
- circle.track(cMo) ;
- vpFeatureBuilder::create(p,circle);
- circle.print() ;
- p.print() ;
+ vpHomogeneousMatrix cMod(-0.1,-0.1,0.7,
+ vpMath::rad(40), vpMath::rad(10), vpMath::rad(30)) ;
- if (opt_display) {
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
- }
+ // sets the circle coordinates in the world frame
+ vpCircle circle ;
+ circle.setWorldCoordinates(0,0,1,
+ 0,0,0,
+ 0.1) ;
- // compute the control law
- v = task.computeControlLaw() ;
- std::cout << "task rank: " << task.getTaskRank() <<std::endl ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // sets the desired position of the visual feature
+ vpFeatureEllipse pd ;
+ circle.track(cMod) ;
+ vpFeatureBuilder::create(pd,circle) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // project : computes the circle coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
+ vpFeatureEllipse p ;
+ circle.track(cMo) ;
+ vpFeatureBuilder::create(p,circle) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ task.setInteractionMatrixType(vpServo::DESIRED) ;
+ // - we want to see a circle on a circle
+ task.addFeature(p,pd) ;
+ // - set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new circle position
+ // retrieve x,y and Z of the vpCircle structure
+ circle.track(cMo) ;
+ vpFeatureBuilder::create(p,circle);
+ circle.print() ;
+ p.print() ;
+
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+ std::cout << "task rank: " << task.getTaskRank() <<std::endl ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information
+ task.print() ;
+ task.kill();
- if (opt_display && opt_click_allowed) {
- std::cout << "Click in the camera view window to end..." << std::endl;
- vpDisplay::getClick(I) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "Click in the camera view window to end..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
}
#else
int
diff --git a/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplay.cpp
index 2b3f4de..c954a04 100644
--- a/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplay.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuCylinder2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,6 +77,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -126,9 +129,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -136,7 +139,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -145,7 +148,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -156,170 +159,177 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click_allowed = true;
+ try {
+ bool opt_display = true;
+ bool opt_click_allowed = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- vpImage<unsigned char> I(512,512,255) ;
+ vpImage<unsigned char> I(512,512,255) ;
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display.init(I, 100, 100,"Camera view...") ;
- // Display the image
- // The image class has a member that specify a pointer toward
- // the display that has been initialized in the display declaration
- // therefore is is no longuer necessary to make a reference to the
- // display variable.
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display.init(I, 100, 100,"Camera view...") ;
+ // Display the image
+ // The image class has a member that specify a pointer toward
+ // the display that has been initialized in the display declaration
+ // therefore is is no longuer necessary to make a reference to the
+ // display variable.
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
- double px, py ; px = py = 600 ;
- double u0, v0 ; u0 = v0 = 256 ;
+ double px, py ; px = py = 600 ;
+ double u0, v0 ; u0 = v0 = 256 ;
- vpCameraParameters cam(px,py,u0,v0);
+ vpCameraParameters cam(px,py,u0,v0);
- vpServo task ;
- vpSimulatorCamera robot ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.2,0.1,2,
- vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.2,0.1,2,
+ vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
-
- // sets the final camera location (for simulation purpose)
- vpHomogeneousMatrix cMod(0,0,1,
- vpMath::rad(-60), vpMath::rad(0), vpMath::rad(0));
-
- // sets the cylinder coordinates in the world frame
- vpCylinder cylinder(0,1,0, // direction
- 0,0,0, // point of the axis
- 0.1) ; // radius
-
- // sets the desired position of the visual feature
- cylinder.track(cMod) ;
- cylinder.print() ;
-
- vpFeatureLine ld[2] ;
- int i ;
- for(i=0 ; i < 2 ; i++)
- vpFeatureBuilder::create(ld[i],cylinder,i) ;
-
- // computes the cylinder coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- cylinder.track(cMo) ;
- cylinder.print() ;
-
- vpFeatureLine l[2] ;
- for(i=0 ; i < 2 ; i++)
- {
- vpFeatureBuilder::create(l[i],cylinder,i) ;
- l[i].print() ;
- }
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;
- // it can also be interesting to test these possibilities
- // task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE) ;
- task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
- //task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
- // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
-
- // - we want to see 2 lines on 2 lines
- task.addFeature(l[0],ld[0]) ;
- task.addFeature(l[1],ld[1]) ;
-
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
-
- // Display task information
- task.print() ;
-
- if (opt_display && opt_click_allowed) {
- std::cout << "\n\nClick in the camera view window to start..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
- // - set the gain
- task.setLambda(1) ;
+ // sets the final camera location (for simulation purpose)
+ vpHomogeneousMatrix cMod(0,0,1,
+ vpMath::rad(-60), vpMath::rad(0), vpMath::rad(0));
- // Display task information
- task.print() ;
+ // sets the cylinder coordinates in the world frame
+ vpCylinder cylinder(0,1,0, // direction
+ 0,0,0, // point of the axis
+ 0.1) ; // radius
- unsigned int iter=0 ;
- // loop
- do
- {
- std::cout << "---------------------------------------------" << iter++ <<std::endl ;
- vpColVector v ;
+ // sets the desired position of the visual feature
+ cylinder.track(cMod) ;
+ cylinder.print() ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ vpFeatureLine ld[2] ;
+ int i ;
+ for(i=0 ; i < 2 ; i++)
+ vpFeatureBuilder::create(ld[i],cylinder,i) ;
- // new line position
- // retrieve x,y and Z of the vpLine structure
+ // computes the cylinder coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
cylinder.track(cMo) ;
- // cylinder.print() ;
+ cylinder.print() ;
+
+ vpFeatureLine l[2] ;
for(i=0 ; i < 2 ; i++)
{
vpFeatureBuilder::create(l[i],cylinder,i) ;
- // l[i].print() ;
+ l[i].print() ;
}
- if (opt_display) {
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;
+ // it can also be interesting to test these possibilities
+ // task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE) ;
+ task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
+ //task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
+ // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
+
+ // - we want to see 2 lines on 2 lines
+ task.addFeature(l[0],ld[0]) ;
+ task.addFeature(l[1],ld[1]) ;
+
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+
+ // Display task information
+ task.print() ;
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\n\nClick in the camera view window to start..." << std::endl;
+ vpDisplay::getClick(I) ;
}
- // compute the control law
- v = task.computeControlLaw() ;
+ // - set the gain
+ task.setLambda(1) ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Display task information
+ task.print() ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
+ unsigned int iter=0 ;
+ // loop
+ do
+ {
+ std::cout << "---------------------------------------------" << iter++ <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new line position
+ // retrieve x,y and Z of the vpLine structure
+ cylinder.track(cMo) ;
+ // cylinder.print() ;
+ for(i=0 ; i < 2 ; i++)
+ {
+ vpFeatureBuilder::create(l[i],cylinder,i) ;
+ // l[i].print() ;
+ }
+
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
+
+ // vpDisplay::getClick(I) ;
+ }
+ while(( task.getError() ).sumSquare() > 1e-9) ;
- // vpDisplay::getClick(I) ;
- }
- while(( task.getError() ).sumSquare() > 1e-9) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nClick in the camera view window to end..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
- if (opt_display && opt_click_allowed) {
- std::cout << "\nClick in the camera view window to end..." << std::endl;
- vpDisplay::getClick(I) ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
}
#else
diff --git a/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp b/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp
index d98db77..4efd20a 100644
--- a/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp
+++ b/example/robot-simulator/camera/servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,6 +80,8 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
/*!
@@ -130,9 +132,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -140,7 +142,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -149,7 +151,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -160,286 +162,293 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click_allowed = true;
+ try {
+ bool opt_display = true;
+ bool opt_click_allowed = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- vpImage<unsigned char> Iint(512,512,0) ;
- vpImage<unsigned char> Iext(512,512,0) ;
+ vpImage<unsigned char> Iint(512,512,0) ;
+ vpImage<unsigned char> Iext(512,512,0) ;
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX displayInt;
- vpDisplayX displayExt;
+ vpDisplayX displayInt;
+ vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK displayInt;
- vpDisplayGTK displayExt;
+ vpDisplayGTK displayInt;
+ vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt;
- vpDisplayGDI displayExt;
+ vpDisplayGDI displayInt;
+ vpDisplayGDI displayExt;
#endif
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (Iint) and (Iext) size
- displayInt.init(Iint, 100, 100,"Internal view") ;
- displayExt.init(Iext, (int)(130+Iint.getWidth()), 100, "External view") ;
- // Display the image
- // The image class has a member that specify a pointer toward
- // the display that has been initialized in the display declaration
- // therefore is is no longuer necessary to make a reference to the
- // display variable.
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- vpDisplay::flush(Iint) ;
- vpDisplay::flush(Iext) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (Iint) and (Iext) size
+ displayInt.init(Iint, 100, 100,"Internal view") ;
+ displayExt.init(Iext, (int)(130+Iint.getWidth()), 100, "External view") ;
+ // Display the image
+ // The image class has a member that specify a pointer toward
+ // the display that has been initialized in the display declaration
+ // therefore is is no longuer necessary to make a reference to the
+ // display variable.
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ vpDisplay::flush(Iint) ;
+ vpDisplay::flush(Iext) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
-
- vpProjectionDisplay externalview ;
-
- //Set the camera parameters
- double px, py ; px = py = 600 ;
- double u0, v0 ; u0 = v0 = 256 ;
-
- vpCameraParameters cam(px,py,u0,v0);
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.2,0.1,2,
- vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo; // Compute the position of the object in the world frame
+ vpProjectionDisplay externalview ;
- // sets the final camera location (for simulation purpose)
- vpHomogeneousMatrix cMod(0,0,1,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ //Set the camera parameters
+ double px, py ; px = py = 600 ;
+ double u0, v0 ; u0 = v0 = 256 ;
- // sets the cylinder coordinates in the world frame
- vpCylinder cylinder(0,1,0, // direction
- 0,0,0, // point of the axis
- 0.1) ; // radius
+ vpCameraParameters cam(px,py,u0,v0);
- externalview.insert(cylinder) ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // sets the desired position of the visual feature
- cylinder.track(cMod) ;
- cylinder.print() ;
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.2,0.1,2,
+ vpMath::rad(5), vpMath::rad(5), vpMath::rad(20));
- //Build the desired line features thanks to the cylinder and especially its paramaters in the image frame
- vpFeatureLine ld[2] ;
- int i ;
- for(i=0 ; i < 2 ; i++)
- vpFeatureBuilder::create(ld[i],cylinder,i) ;
-
- // computes the cylinder coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- cylinder.track(cMo) ;
- cylinder.print() ;
-
- //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
- vpFeatureLine l[2] ;
- for(i=0 ; i < 2 ; i++)
- {
- vpFeatureBuilder::create(l[i],cylinder,i) ;
- l[i].print() ;
- }
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
- // it can also be interesting to test these possibilities
- // task.setInteractionMatrixType(vpServo::CURRENT,vpServo::PSEUDO_INVERSE) ;
- // task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE) ;
- // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;
- // task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
- // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
-
- // we want to see 2 lines on 2 lines
- task.addFeature(l[0],ld[0]) ;
- task.addFeature(l[1],ld[1]) ;
-
- // Set the point of view of the external view
- vpHomogeneousMatrix cextMo(0,0,6,
- vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
-
- // Display the initial scene
- vpServoDisplay::display(task,cam,Iint) ;
- externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
- vpDisplay::flush(Iint) ;
- vpDisplay::flush(Iext) ;
-
- // Display task information
- task.print() ;
-
- if (opt_display && opt_click_allowed) {
- std::cout << "\n\nClick in the internal camera view window to start..." << std::endl;
- vpDisplay::getClick(Iint) ;
- }
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // The first loop is needed to reach the desired position
- do
- {
- std::cout << "---------------------------------------------" << iter++ <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo; // Compute the position of the object in the world frame
- // new line position
- // retrieve x,y and Z of the vpLine structure
- // Compute the parameters of the cylinder in the camera frame and in the image frame
- cylinder.track(cMo) ;
+ // sets the final camera location (for simulation purpose)
+ vpHomogeneousMatrix cMod(0,0,1,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
- for(i=0 ; i < 2 ; i++)
- {
- vpFeatureBuilder::create(l[i],cylinder,i) ;
- }
+ // sets the cylinder coordinates in the world frame
+ vpCylinder cylinder(0,1,0, // direction
+ 0,0,0, // point of the axis
+ 0.1) ; // radius
- // Display the current scene
- if (opt_display) {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- vpServoDisplay::display(task,cam,Iint) ;
- externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
- }
+ externalview.insert(cylinder) ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // sets the desired position of the visual feature
+ cylinder.track(cMod) ;
+ cylinder.print() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
-
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
- while(( task.getError() ).sumSquare() > 1e-9) ;
-
-
- // Second loop is to compute the control law while taking into account the secondary task.
- // In this example the secondary task is cut in four steps.
- // The first one consists in impose a movement of the robot along the x axis of the object frame with a velocity of 0.5.
- // The second one consists in impose a movement of the robot along the y axis of the object frame with a velocity of 0.5.
- // The third one consists in impose a movement of the robot along the x axis of the object frame with a velocity of -0.5.
- // The last one consists in impose a movement of the robot along the y axis of the object frame with a velocity of -0.5.
- // Each steps is made during 200 iterations.
- vpColVector e1(6) ; e1 = 0 ;
- vpColVector e2(6) ; e2 = 0 ;
- vpColVector proj_e1 ;
- vpColVector proj_e2 ;
- iter = 0;
- double rapport = 0;
- double vitesse = 0.5;
- unsigned int tempo = 800;
-
- while(iter < tempo)
- {
- vpColVector v ;
-
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ //Build the desired line features thanks to the cylinder and especially its paramaters in the image frame
+ vpFeatureLine ld[2] ;
+ int i ;
+ for(i=0 ; i < 2 ; i++)
+ vpFeatureBuilder::create(ld[i],cylinder,i) ;
+ // computes the cylinder coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
cylinder.track(cMo) ;
+ cylinder.print() ;
+ //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
+ vpFeatureLine l[2] ;
for(i=0 ; i < 2 ; i++)
{
vpFeatureBuilder::create(l[i],cylinder,i) ;
+ l[i].print() ;
}
- if (opt_display)
- {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- vpServoDisplay::display(task,cam,Iint) ;
- externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ task.setInteractionMatrixType(vpServo::DESIRED,vpServo::PSEUDO_INVERSE) ;
+ // it can also be interesting to test these possibilities
+ // task.setInteractionMatrixType(vpServo::CURRENT,vpServo::PSEUDO_INVERSE) ;
+ // task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE) ;
+ // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) ;
+ // task.setInteractionMatrixType(vpServo::DESIRED, vpServo::TRANSPOSE) ;
+ // task.setInteractionMatrixType(vpServo::CURRENT, vpServo::TRANSPOSE) ;
+
+ // we want to see 2 lines on 2 lines
+ task.addFeature(l[0],ld[0]) ;
+ task.addFeature(l[1],ld[1]) ;
+
+ // Set the point of view of the external view
+ vpHomogeneousMatrix cextMo(0,0,6,
+ vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
+
+ // Display the initial scene
+ vpServoDisplay::display(task,cam,Iint) ;
+ externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
+ vpDisplay::flush(Iint) ;
+ vpDisplay::flush(Iext) ;
+
+ // Display task information
+ task.print() ;
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\n\nClick in the internal camera view window to start..." << std::endl;
+ vpDisplay::getClick(Iint) ;
}
- v = task.computeControlLaw() ;
+ // set the gain
+ task.setLambda(1) ;
- if ( iter%tempo < 200 /*&& iter%tempo >= 0*/)
- {
- e2 = 0;
- e1[0] = fabs(vitesse) ;
- proj_e1 = task.secondaryTask(e1);
- rapport = vitesse/proj_e1[0];
- proj_e1 *= rapport ;
- v += proj_e1 ;
- }
+ // Display task information
+ task.print() ;
- if ( iter%tempo < 400 && iter%tempo >= 200)
+ unsigned int iter=0 ;
+ // The first loop is needed to reach the desired position
+ do
{
- e1 = 0;
- e2[1] = fabs(vitesse) ;
- proj_e2 = task.secondaryTask(e2);
- rapport = vitesse/proj_e2[1];
- proj_e2 *= rapport ;
- v += proj_e2 ;
+ std::cout << "---------------------------------------------" << iter++ <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new line position
+ // retrieve x,y and Z of the vpLine structure
+ // Compute the parameters of the cylinder in the camera frame and in the image frame
+ cylinder.track(cMo) ;
+
+ //Build the current line features thanks to the cylinder and especially its paramaters in the image frame
+ for(i=0 ; i < 2 ; i++)
+ {
+ vpFeatureBuilder::create(l[i],cylinder,i) ;
+ }
+
+ // Display the current scene
+ if (opt_display) {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ vpServoDisplay::display(task,cam,Iint) ;
+ externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
}
-
- if ( iter%tempo < 600 && iter%tempo >= 400)
+ while(( task.getError() ).sumSquare() > 1e-9) ;
+
+
+ // Second loop is to compute the control law while taking into account the secondary task.
+ // In this example the secondary task is cut in four steps.
+ // The first one consists in impose a movement of the robot along the x axis of the object frame with a velocity of 0.5.
+ // The second one consists in impose a movement of the robot along the y axis of the object frame with a velocity of 0.5.
+ // The third one consists in impose a movement of the robot along the x axis of the object frame with a velocity of -0.5.
+ // The last one consists in impose a movement of the robot along the y axis of the object frame with a velocity of -0.5.
+ // Each steps is made during 200 iterations.
+ vpColVector e1(6) ; e1 = 0 ;
+ vpColVector e2(6) ; e2 = 0 ;
+ vpColVector proj_e1 ;
+ vpColVector proj_e2 ;
+ iter = 0;
+ double rapport = 0;
+ double vitesse = 0.5;
+ unsigned int tempo = 800;
+
+ while(iter < tempo)
{
- e2 = 0;
- e1[0] = -fabs(vitesse) ;
- proj_e1 = task.secondaryTask(e1);
- rapport = -vitesse/proj_e1[0];
- proj_e1 *= rapport ;
- v += proj_e1 ;
+ vpColVector v ;
+
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ cylinder.track(cMo) ;
+
+ for(i=0 ; i < 2 ; i++)
+ {
+ vpFeatureBuilder::create(l[i],cylinder,i) ;
+ }
+
+ if (opt_display)
+ {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ vpServoDisplay::display(task,cam,Iint) ;
+ externalview.display(Iext,cextMo, cMo, cam, vpColor::red);
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+ }
+
+ v = task.computeControlLaw() ;
+
+ if ( iter%tempo < 200 /*&& iter%tempo >= 0*/)
+ {
+ e2 = 0;
+ e1[0] = fabs(vitesse) ;
+ proj_e1 = task.secondaryTask(e1);
+ rapport = vitesse/proj_e1[0];
+ proj_e1 *= rapport ;
+ v += proj_e1 ;
+ }
+
+ if ( iter%tempo < 400 && iter%tempo >= 200)
+ {
+ e1 = 0;
+ e2[1] = fabs(vitesse) ;
+ proj_e2 = task.secondaryTask(e2);
+ rapport = vitesse/proj_e2[1];
+ proj_e2 *= rapport ;
+ v += proj_e2 ;
+ }
+
+ if ( iter%tempo < 600 && iter%tempo >= 400)
+ {
+ e2 = 0;
+ e1[0] = -fabs(vitesse) ;
+ proj_e1 = task.secondaryTask(e1);
+ rapport = -vitesse/proj_e1[0];
+ proj_e1 *= rapport ;
+ v += proj_e1 ;
+ }
+
+ if ( iter%tempo < 800 && iter%tempo >= 600)
+ {
+ e1 = 0;
+ e2[1] = -fabs(vitesse) ;
+ proj_e2 = task.secondaryTask(e2);
+ rapport = -vitesse/proj_e2[1];
+ proj_e2 *= rapport ;
+ v += proj_e2 ;
+ }
+
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+
+ iter++;
}
- if ( iter%tempo < 800 && iter%tempo >= 600)
- {
- e1 = 0;
- e2[1] = -fabs(vitesse) ;
- proj_e2 = task.secondaryTask(e2);
- rapport = -vitesse/proj_e2[1];
- proj_e2 *= rapport ;
- v += proj_e2 ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nClick in the internal camera view window to end..." << std::endl;
+ vpDisplay::getClick(Iint) ;
}
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
-
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
-
- iter++;
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
}
-
- if (opt_display && opt_click_allowed) {
- std::cout << "\nClick in the internal camera view window to end..." << std::endl;
- vpDisplay::getClick(Iint) ;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
}
#else
diff --git a/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocity.cpp b/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocity.cpp
index ae20ae2..7d750d9 100644
--- a/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuFourPoints2DCamVelocity.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -113,15 +116,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -130,7 +133,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -140,127 +143,134 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- int i ;
- vpServo task ;
- vpSimulatorCamera robot ;
-
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo 4 points " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location with respect to the object
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
-
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the point coordinates in the object frame
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-1,-1,0) ;
- point[1].setWorldCoordinates(1,-1,0) ;
- point[2].setWorldCoordinates(1,1,0) ;
- point[3].setWorldCoordinates(-1,1,0) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- for (i = 0 ; i < 4 ; i++)
- point[i].track(cMo) ;
-
- // sets the desired position of the point
- vpFeaturePoint p[4] ;
- for (i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i], point[i]) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the point
- vpFeaturePoint pd[4] ;
-
- pd[0].buildFrom(-0.1,-0.1, 1) ;
- pd[1].buildFrom( 0.1,-0.1, 1) ;
- pd[2].buildFrom( 0.1, 0.1, 1) ;
- pd[3].buildFrom(-0.1, 0.1, 1) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::MEAN) ;
-
- // Set the position of the camera in the end-effector frame
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
-
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
-
- // we want to see a point on a point
- for (i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++<1500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ int i ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // Set the Jacobian (expressed in the end-effector frame)
- // since q is modified eJe is modified
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
- // get the robot position
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo 4 points " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location with respect to the object
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
+
+ // sets the point coordinates in the object frame
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-1,-1,0) ;
+ point[1].setWorldCoordinates(1,-1,0) ;
+ point[2].setWorldCoordinates(1,1,0) ;
+ point[3].setWorldCoordinates(-1,1,0) ;
- // update new point position and corresponding features
+ // computes the point coordinates in the camera frame and its 2D coordinates
for (i = 0 ; i < 4 ; i++)
- {
point[i].track(cMo) ;
- //retrieve x,y and Z of the vpPoint structure
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
- // since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
+
+ // sets the desired position of the point
+ vpFeaturePoint p[4] ;
+ for (i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(p[i], point[i]) ; //retrieve x,y and Z of the vpPoint structure
+
+ // sets the desired position of the point
+ vpFeaturePoint pd[4] ;
+
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
- // compute the control law ") ;
- v = task.computeControlLaw() ;
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::MEAN) ;
- // send the camera velocity to the controller ") ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Set the position of the camera in the end-effector frame
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl;
- }
+ // Set the Jacobian (expressed in the end-effector frame)
+ vpMatrix eJe ;
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // we want to see a point on a point
+ for (i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
- // Display task information
- task.print() ;
- task.kill();
+ // set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<1500)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // Set the Jacobian (expressed in the end-effector frame)
+ // since q is modified eJe is modified
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // update new point position and corresponding features
+ for (i = 0 ; i < 4 ; i++)
+ {
+ point[i].track(cMo) ;
+ //retrieve x,y and Z of the vpPoint structure
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+ // since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
+ pd[0].buildFrom(-0.1,-0.1, 1) ;
+ pd[1].buildFrom( 0.1,-0.1, 1) ;
+ pd[2].buildFrom( 0.1, 0.1, 1) ;
+ pd[3].buildFrom(-0.1, 0.1, 1) ;
+
+ // compute the control law ") ;
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller ") ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() << std::endl;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocityDisplay.cpp
index 1c63a68..fd2272a 100644
--- a/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuFourPoints2DCamVelocityDisplay.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuFourPoints2DCamVelocityDisplay.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,6 +81,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -130,9 +133,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -140,7 +143,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -149,7 +152,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -159,183 +162,189 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
+ try {
+ bool opt_click_allowed = true;
+ bool opt_display = true;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // We open two displays, one for the internal camera view, the other one for
- // the external view, using either X11, GTK or GDI.
+ // We open two displays, one for the internal camera view, the other one for
+ // the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX displayInt;
- vpDisplayX displayExt;
+ vpDisplayX displayInt;
+ vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK displayInt;
- vpDisplayGTK displayExt;
+ vpDisplayGTK displayInt;
+ vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt;
- vpDisplayGDI displayExt;
+ vpDisplayGDI displayInt;
+ vpDisplayGDI displayExt;
#endif
- // open a display for the visualization
+ // open a display for the visualization
- vpImage<unsigned char> Iint(300, 300, 0) ;
- vpImage<unsigned char> Iext(300, 300, 0) ;
+ vpImage<unsigned char> Iint(300, 300, 0) ;
+ vpImage<unsigned char> Iext(300, 300, 0) ;
- if (opt_display) {
- displayInt.init(Iint,0,0, "Internal view") ;
- displayExt.init(Iext,330,000, "External view") ;
+ if (opt_display) {
+ displayInt.init(Iint,0,0, "Internal view") ;
+ displayExt.init(Iext,330,000, "External view") ;
- }
- vpProjectionDisplay externalview ;
-
- double px, py ; px = py = 500 ;
- double u0, v0 ; u0 = 150, v0 = 160 ;
-
- vpCameraParameters cam(px,py,u0,v0);
-
- int i ;
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed"
- << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo 4 points " << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.1,-0.1,1,
- vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
-
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- vpHomogeneousMatrix cextMo(0,0,2,
- 0,0,0) ;//vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
-
- // sets the point coordinates in the object frame
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1,0) ;
- point[1].setWorldCoordinates(0.1,-0.1,0) ;
- point[2].setWorldCoordinates(0.1,0.1,0) ;
- point[3].setWorldCoordinates(-0.1,0.1,0) ;
-
- for (i = 0 ; i < 4 ; i++)
- externalview.insert(point[i]) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- for (i = 0 ; i < 4 ; i++)
- point[i].track(cMo) ;
-
- // sets the desired position of the point
- vpFeaturePoint p[4] ;
- for (i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the feature point s*
- vpFeaturePoint pd[4] ;
-
- pd[0].buildFrom(-0.1,-0.1, 1) ;
- pd[1].buildFrom( 0.1,-0.1, 1) ;
- pd[2].buildFrom( 0.1, 0.1, 1) ;
- pd[3].buildFrom(-0.1, 0.1, 1) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::MEAN) ;
-
- // Set the position of the camera in the end-effector frame ") ;
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
-
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
-
- // we want to see a point on a point
- for (i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information " ) ;
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ }
+ vpProjectionDisplay externalview ;
- // Set the Jacobian (expressed in the end-effector frame)
- // since q is modified eJe is modified
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
+ double px, py ; px = py = 500 ;
+ double u0, v0 ; u0 = 150, v0 = 160 ;
- // get the robot position
+ vpCameraParameters cam(px,py,u0,v0);
+
+ int i ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed"
+ << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo 4 points " << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.1,-0.1,1,
+ vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
+
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
+
+ vpHomogeneousMatrix cextMo(0,0,2,
+ 0,0,0) ;//vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
+
+ // sets the point coordinates in the object frame
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1,0) ;
+ point[1].setWorldCoordinates(0.1,-0.1,0) ;
+ point[2].setWorldCoordinates(0.1,0.1,0) ;
+ point[3].setWorldCoordinates(-0.1,0.1,0) ;
- // update new point position and corresponding features
for (i = 0 ; i < 4 ; i++)
- {
+ externalview.insert(point[i]) ;
+
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ for (i = 0 ; i < 4 ; i++)
point[i].track(cMo) ;
- //retrieve x,y and Z of the vpPoint structure
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
- // since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
+
+ // sets the desired position of the point
+ vpFeaturePoint p[4] ;
+ for (i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
+
+ // sets the desired position of the feature point s*
+ vpFeaturePoint pd[4] ;
+
pd[0].buildFrom(-0.1,-0.1, 1) ;
pd[1].buildFrom( 0.1,-0.1, 1) ;
pd[2].buildFrom( 0.1, 0.1, 1) ;
pd[3].buildFrom(-0.1, 0.1, 1) ;
- if (opt_display) {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- vpServoDisplay::display(task,cam,Iint) ;
- externalview.display(Iext,cextMo, cMo, cam, vpColor::green) ;
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
- }
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::MEAN) ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // Set the position of the camera in the end-effector frame ") ;
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Set the Jacobian (expressed in the end-effector frame)
+ vpMatrix eJe ;
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // we want to see a point on a point
+ for (i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
+
+ // set the gain
+ task.setLambda(1) ;
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information " ) ;
+ task.print() ;
- std::cout <<"Final robot position with respect to the object frame:\n";
- cMo.print();
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // Set the Jacobian (expressed in the end-effector frame)
+ // since q is modified eJe is modified
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // update new point position and corresponding features
+ for (i = 0 ; i < 4 ; i++)
+ {
+ point[i].track(cMo) ;
+ //retrieve x,y and Z of the vpPoint structure
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+ // since vpServo::MEAN interaction matrix is used, we need also to update the desired features at each iteration
+ pd[0].buildFrom(-0.1,-0.1, 1) ;
+ pd[1].buildFrom( 0.1,-0.1, 1) ;
+ pd[2].buildFrom( 0.1, 0.1, 1) ;
+ pd[3].buildFrom(-0.1, 0.1, 1) ;
+
+ if (opt_display) {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ vpServoDisplay::display(task,cam,Iint) ;
+ externalview.display(Iext,cextMo, cMo, cam, vpColor::green) ;
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- if (opt_display && opt_click_allowed) {
- // suppressed for automate test
- std::cout << "\n\nClick in the internal view window to end..." << std::endl;
- vpDisplay::getClick(Iint) ;
+ // Display task information
+ task.print() ;
+ task.kill();
+
+ std::cout <<"Final robot position with respect to the object frame:\n";
+ cMo.print();
+
+ if (opt_display && opt_click_allowed) {
+ // suppressed for automate test
+ std::cout << "\n\nClick in the internal view window to end..." << std::endl;
+ vpDisplay::getClick(Iint) ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/robot-simulator/camera/servoSimuFourPoints2DPolarCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuFourPoints2DPolarCamVelocityDisplay.cpp
index a9858be..5ab53ca 100644
--- a/example/robot-simulator/camera/servoSimuFourPoints2DPolarCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuFourPoints2DPolarCamVelocityDisplay.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -86,6 +86,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -135,9 +138,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -145,7 +148,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -154,7 +157,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -164,334 +167,340 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
-
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
- // - the 6 mesured camera velocities (m/s, rad/s)
- // - the 6 mesured joint positions (m, rad)
- // - the 8 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
-#ifdef WIN32
- logdirname ="C:/temp/" + username;
+ try {
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed camera velocities (m/s, rad/s) to achieve the task
+ // - the 6 mesured camera velocities (m/s, rad/s)
+ // - the 6 mesured joint positions (m, rad)
+ // - the 8 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+#if defined(_WIN32)
+ logdirname ="C:/temp/" + username;
#else
- logdirname ="/tmp/" + username;
+ logdirname ="/tmp/" + username;
#endif
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
- bool opt_click_allowed = true;
- bool opt_display = true;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // We open two displays, one for the internal camera view, the other one for
- // the external view, using either X11, GTK or GDI.
+ // We open two displays, one for the internal camera view, the other one for
+ // the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX displayInt;
- vpDisplayX displayExt;
+ vpDisplayX displayInt;
+ vpDisplayX displayExt;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK displayInt;
- vpDisplayGTK displayExt;
+ vpDisplayGTK displayInt;
+ vpDisplayGTK displayExt;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt;
- vpDisplayGDI displayExt;
+ vpDisplayGDI displayInt;
+ vpDisplayGDI displayExt;
#endif
- // open a display for the visualization
+ // open a display for the visualization
- vpImage<unsigned char> Iint(300, 300, 0) ;
- vpImage<unsigned char> Iext(300, 300, 0) ;
+ vpImage<unsigned char> Iint(300, 300, 0) ;
+ vpImage<unsigned char> Iext(300, 300, 0) ;
- if (opt_display) {
- displayInt.init(Iint,0,0, "Internal view") ;
- displayExt.init(Iext,330,000, "External view") ;
+ if (opt_display) {
+ displayInt.init(Iint,0,0, "Internal view") ;
+ displayExt.init(Iext,330,000, "External view") ;
- }
- vpProjectionDisplay externalview ;
+ }
+ vpProjectionDisplay externalview ;
- double px, py ; px = py = 500 ;
- double u0, v0 ; u0 = 150, v0 = 160 ;
+ double px, py ; px = py = 500 ;
+ double u0, v0 ; u0 = 150, v0 = 160 ;
- vpCameraParameters cam(px,py,u0,v0);
+ vpCameraParameters cam(px,py,u0,v0);
- int i ;
- vpServo task ;
- vpSimulatorCamera robot ;
+ int i ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- std::cout << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed"
- << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo 4 points " << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << std::endl ;
+ std::cout << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed"
+ << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo 4 points " << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
- // #define TRANS_Z_PURE
- // #define TRANS_X_PURE
- // #define ROT_Z_PURE
- // #define ROT_X_PURE
+ // #define TRANS_Z_PURE
+ // #define TRANS_X_PURE
+ // #define ROT_Z_PURE
+ // #define ROT_X_PURE
#define COMPLEX
- //#define PROBLEM
+ //#define PROBLEM
#if defined(TRANS_Z_PURE)
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0, 0, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0, 0, 2,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0, 0, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0, 0, 2,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
#elif defined(TRANS_X_PURE)
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0.3, 0.3, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0.5, 0.3, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0.3, 0.3, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0.5, 0.3, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
#elif defined(ROT_Z_PURE)
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0, 0, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0, 0, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(180));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0, 0, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0, 0, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(180));
#elif defined(ROT_X_PURE)
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0, 0, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0, 0, 3,
- vpMath::rad(45), vpMath::rad(0), vpMath::rad(0));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0, 0, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0, 0, 3,
+ vpMath::rad(45), vpMath::rad(0), vpMath::rad(0));
#elif defined(COMPLEX)
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0.2, 0.2, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0, 0, 2.5,
- vpMath::rad(45), vpMath::rad(10), vpMath::rad(30));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0.2, 0.2, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0, 0, 2.5,
+ vpMath::rad(45), vpMath::rad(10), vpMath::rad(30));
#elif defined(PROBLEM)
- // Bad behavior with an interaction matrix computed from the desired features
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0.2, 0.2, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- // sets the desired camera location
- vpHomogeneousMatrix cMod(0.4, 0.2, 3,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // Bad behavior with an interaction matrix computed from the desired features
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0.2, 0.2, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the desired camera location
+ vpHomogeneousMatrix cMod(0.4, 0.2, 3,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
#endif
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- vpHomogeneousMatrix cextMo(0,0,6,
- vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
-
-
- // sets the point coordinates in the object frame
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.25,-0.25,0) ;
- point[1].setWorldCoordinates(0.25,-0.25,0) ;
- point[2].setWorldCoordinates(0.25,0.25,0) ;
- point[3].setWorldCoordinates(-0.25,0.25,0) ;
-
-
- for (i = 0 ; i < 4 ; i++)
- externalview.insert(point[i]) ;
-
- // sets the desired position of the feature point s*"
- vpFeaturePointPolar pd[4] ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
- // computes the point coordinates in the desired camera frame and
- // its 2D coordinates
- for (i = 0 ; i < 4 ; i++) {
- point[i].track(cMod);
- // Computes the polar coordinates from the image point
- // cartesian coordinates
- vpFeatureBuilder::create(pd[i],point[i]);
- }
+ vpHomogeneousMatrix cextMo(0,0,6,
+ vpMath::rad(40), vpMath::rad(10), vpMath::rad(60)) ;
- // computes the point coordinates in the camera frame and its 2D
- // coordinates
- for (i = 0 ; i < 4 ; i++)
- point[i].track(cMo) ;
+ // sets the point coordinates in the object frame
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.25,-0.25,0) ;
+ point[1].setWorldCoordinates(0.25,-0.25,0) ;
+ point[2].setWorldCoordinates(0.25,0.25,0) ;
+ point[3].setWorldCoordinates(-0.25,0.25,0) ;
- // sets the desired position of the point
- vpFeaturePointPolar p[4] ;
- for (i = 0 ; i < 4 ; i++) {
- // retrieve x,y and Z of the vpPoint structure to initialize the
- // visual feature
- vpFeatureBuilder::create(p[i], point[i]);
- }
- // Define the task;
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- // task.setInteractionMatrixType(vpServo::MEAN) ;
- // task.setInteractionMatrixType(vpServo::DESIRED) ;
- task.setInteractionMatrixType(vpServo::CURRENT) ;
+ for (i = 0 ; i < 4 ; i++)
+ externalview.insert(point[i]) ;
+ // sets the desired position of the feature point s*"
+ vpFeaturePointPolar pd[4] ;
- // Set the position of the camera in the end-effector frame
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
-
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
+ // computes the point coordinates in the desired camera frame and
+ // its 2D coordinates
+ for (i = 0 ; i < 4 ; i++) {
+ point[i].track(cMod);
+ // Computes the polar coordinates from the image point
+ // cartesian coordinates
+ vpFeatureBuilder::create(pd[i],point[i]);
+ }
- // we want to see a point on a point
- for (i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
- // set the gain
- task.setLambda(1) ;
+ // computes the point coordinates in the camera frame and its 2D
+ // coordinates
+ for (i = 0 ; i < 4 ; i++)
+ point[i].track(cMo) ;
+ // sets the desired position of the point
+ vpFeaturePointPolar p[4] ;
+ for (i = 0 ; i < 4 ; i++) {
+ // retrieve x,y and Z of the vpPoint structure to initialize the
+ // visual feature
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
- std::cout << "\nDisplay task information: " << std::endl;
- task.print() ;
+ // Define the task;
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ // task.setInteractionMatrixType(vpServo::MEAN) ;
+ // task.setInteractionMatrixType(vpServo::DESIRED) ;
+ task.setInteractionMatrixType(vpServo::CURRENT) ;
- unsigned int iter=0 ;
- // loop
- while(iter++ < 200) {
- std::cout << "---------------------------------------------"
- << iter <<std::endl ;
- vpColVector v ;
+ // Set the position of the camera in the end-effector frame
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
- // Since q is modified eJe is modified
+ vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
-
- // Compute new point position
- for (i = 0 ; i < 4 ; i++) {
- point[i].track(cMo) ;
- // retrieve x,y and Z of the vpPoint structure to compute the feature
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
-
- if (opt_display) {
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
+ // we want to see a point on a point
+ for (i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
+
+ // set the gain
+ task.setLambda(1) ;
+
+
+ std::cout << "\nDisplay task information: " << std::endl;
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 200) {
+ std::cout << "---------------------------------------------"
+ << iter <<std::endl ;
+ vpColVector v ;
+
+
+ // Set the Jacobian (expressed in the end-effector frame)
+ // Since q is modified eJe is modified
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // Compute new point position
+ for (i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo) ;
+ // retrieve x,y and Z of the vpPoint structure to compute the feature
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+
+ if (opt_display) {
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+
+ vpServoDisplay::display(task,cam,Iint) ;
+ externalview.display(Iext,cextMo, cMo, cam, vpColor::green);
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+ }
+
+ // Compute the control law
+ v = task.computeControlLaw() ;
+
+ if (iter==1) {
+ std::cout << "Display task information: " << std::endl;
+ task.print() ;
+ }
+
+ task.print(vpServo::FEATURE_CURRENT);
+ task.print(vpServo::FEATURE_DESIRED);
+
+ // Send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ // Save velocities applied to the robot in the log file
+ // v[0], v[1], v[2] correspond to camera translation velocities in m/s
+ // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
+ flog << v[0] << " " << v[1] << " " << v[2] << " "
+ << v[3] << " " << v[4] << " " << v[5] << " ";
+
+ std::cout << "v: " << v.t() << std::endl;
+
+ std::cout << "|| s - s* || = "<< ( task.getError() ).sumSquare() << std::endl;
+
+ // Save feature error (s-s*) for the 4 feature points. For each feature
+ // point, we have 2 errors (along x and y axis). This error is expressed
+ // in meters in the camera frame
+ flog << ( task.getError() ).t() << " ";// s-s* for point 4
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+
+ // Save current visual feature s = (rho,theta)
+ for (i = 0 ; i < 4 ; i++) {
+ flog << p[i].get_rho() << " " << p[i].get_theta() << " ";
+ }
+ // Save current position of the points
+ for (i = 0 ; i < 4 ; i++) {
+ flog << point[i].get_x() << " " << point[i].get_y() << " ";
+ }
+ flog << std::endl;
+
+ if (iter == 1) {
+ vpImagePoint ip;
+ ip.set_i( 10 );
+ ip.set_j( 10 );
+
+ std::cout << "\nClick in the internal camera view to continue..." << std::endl;
+ vpDisplay::displayCharString(Iint, ip,
+ "A click to continue...",vpColor::red);
+ vpDisplay::flush(Iint);
+ vpDisplay::getClick(Iint);
+ }
- vpServoDisplay::display(task,cam,Iint) ;
- externalview.display(Iext,cextMo, cMo, cam, vpColor::green);
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
}
- // Compute the control law
- v = task.computeControlLaw() ;
-
- if (iter==1) {
- std::cout << "Display task information: " << std::endl;
- task.print() ;
- }
- task.print(vpServo::FEATURE_CURRENT);
- task.print(vpServo::FEATURE_DESIRED);
+ flog.close() ; // Close the log file
- // Send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- // Save velocities applied to the robot in the log file
- // v[0], v[1], v[2] correspond to camera translation velocities in m/s
- // v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
- flog << v[0] << " " << v[1] << " " << v[2] << " "
- << v[3] << " " << v[4] << " " << v[5] << " ";
+ // Display task information
+ task.print() ;
- std::cout << "v: " << v.t() << std::endl;
+ // Kill the task
+ task.kill();
- std::cout << "|| s - s* || = "<< ( task.getError() ).sumSquare() << std::endl;
+ std::cout <<"Final robot position with respect to the object frame:\n";
+ cMo.print();
- // Save feature error (s-s*) for the 4 feature points. For each feature
- // point, we have 2 errors (along x and y axis). This error is expressed
- // in meters in the camera frame
- flog << ( task.getError() ).t() << " ";// s-s* for point 4
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
-
- // Save current visual feature s = (rho,theta)
- for (i = 0 ; i < 4 ; i++) {
- flog << p[i].get_rho() << " " << p[i].get_theta() << " ";
+ if (opt_display && opt_click_allowed) {
+ // suppressed for automate test
+ std::cout << "\n\nClick in the internal view to end..." << std::endl;
+ vpDisplay::getClick(Iint) ;
}
- // Save current position of the points
- for (i = 0 ; i < 4 ; i++) {
- flog << point[i].get_x() << " " << point[i].get_y() << " ";
- }
- flog << std::endl;
-
- if (iter == 1) {
- vpImagePoint ip;
- ip.set_i( 10 );
- ip.set_j( 10 );
-
- std::cout << "\nClick in the internal camera view to continue..." << std::endl;
- vpDisplay::displayCharString(Iint, ip,
- "A click to continue...",vpColor::red);
- vpDisplay::flush(Iint);
- vpDisplay::getClick(Iint);
- }
-
+ return 0;
}
-
-
- flog.close() ; // Close the log file
-
- // Display task information
- task.print() ;
-
- // Kill the task
- task.kill();
-
- std::cout <<"Final robot position with respect to the object frame:\n";
- cMo.print();
-
- if (opt_display && opt_click_allowed) {
- // suppressed for automate test
- std::cout << "\n\nClick in the internal view to end..." << std::endl;
- vpDisplay::getClick(Iint) ;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/robot-simulator/camera/servoSimuLine2DCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuLine2DCamVelocityDisplay.cpp
index 888ca65..0064910 100644
--- a/example/robot-simulator/camera/servoSimuLine2DCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuLine2DCamVelocityDisplay.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuLine2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -76,6 +76,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -126,9 +129,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -136,7 +139,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -145,7 +148,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -156,158 +159,165 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click_allowed = true;
+ try {
+ bool opt_display = true;
+ bool opt_click_allowed = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- vpImage<unsigned char> I(512,512,0) ;
+ vpImage<unsigned char> I(512,512,0) ;
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display.init(I, 100, 100,"Camera view...") ;
- // Display the image
- // The image class has a member that specify a pointer toward
- // the display that has been initialized in the display declaration
- // therefore is is no longuer necessary to make a reference to the
- // display variable.
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display.init(I, 100, 100,"Camera view...") ;
+ // Display the image
+ // The image class has a member that specify a pointer toward
+ // the display that has been initialized in the display declaration
+ // therefore is is no longuer necessary to make a reference to the
+ // display variable.
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
- double px, py ; px = py = 600 ;
- double u0, v0 ; u0 = v0 = 256 ;
-
- vpCameraParameters cam(px,py,u0,v0);
-
- vpServo task ;
- vpSimulatorCamera robot ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.2,0.1,1,
- vpMath::rad(5), vpMath::rad(5), vpMath::rad(90));
-
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the final camera location (for simulation purpose)
- vpHomogeneousMatrix cMod(0,0,1,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
-
- // sets the line coordinates (2 planes) in the world frame
- vpColVector plane1(4) ;
- vpColVector plane2(4) ;
- plane1[0] = 0; // z = 0
- plane1[1] = 0;
- plane1[2] = 1;
- plane1[3] = 0;
- plane2[0] = 0; // y =0
- plane2[1] = 1;
- plane2[2] = 0;
- plane2[3] = 0;
-
- vpLine line ;
- line.setWorldCoordinates(plane1, plane2) ;
-
- // sets the desired position of the visual feature
- line.track(cMod) ;
- line.print() ;
-
- vpFeatureLine ld ;
- vpFeatureBuilder::create(ld,line) ;
-
- // computes the line coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- line.track(cMo) ;
- line.print() ;
-
- vpFeatureLine l ;
- vpFeatureBuilder::create(l,line) ;
- l.print() ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
-
- // we want to see a line on a line
-
- task.addFeature(l,ld) ;
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
-
- // set the gain
- task.setLambda(1) ;
- // Display task information " ) ;
- task.print() ;
-
- if (opt_display && opt_click_allowed) {
- std::cout << "\n\nClick in the camera view window to start..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ double px, py ; px = py = 600 ;
+ double u0, v0 ; u0 = v0 = 256 ;
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ vpCameraParameters cam(px,py,u0,v0);
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // new line position
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.2,0.1,1,
+ vpMath::rad(5), vpMath::rad(5), vpMath::rad(90));
+
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
+
+ // sets the final camera location (for simulation purpose)
+ vpHomogeneousMatrix cMod(0,0,1,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+
+ // sets the line coordinates (2 planes) in the world frame
+ vpColVector plane1(4) ;
+ vpColVector plane2(4) ;
+ plane1[0] = 0; // z = 0
+ plane1[1] = 0;
+ plane1[2] = 1;
+ plane1[3] = 0;
+ plane2[0] = 0; // y =0
+ plane2[1] = 1;
+ plane2[2] = 0;
+ plane2[3] = 0;
+
+ vpLine line ;
+ line.setWorldCoordinates(plane1, plane2) ;
+
+ // sets the desired position of the visual feature
+ line.track(cMod) ;
+ line.print() ;
+
+ vpFeatureLine ld ;
+ vpFeatureBuilder::create(ld,line) ;
+
+ // computes the line coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
line.track(cMo) ;
- // retrieve x,y and Z of the vpLine structure
- vpFeatureBuilder::create(l,line);
+ line.print() ;
- if (opt_display) {
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
+ vpFeatureLine l ;
+ vpFeatureBuilder::create(l,line) ;
+ l.print() ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+
+ // we want to see a line on a line
+
+ task.addFeature(l,ld) ;
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+
+ // set the gain
+ task.setLambda(1) ;
+ // Display task information " ) ;
+ task.print() ;
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\n\nClick in the camera view window to start..." << std::endl;
+ vpDisplay::getClick(I) ;
}
- // compute the control law
- v = task.computeControlLaw() ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // new line position
+ line.track(cMo) ;
+ // retrieve x,y and Z of the vpLine structure
+ vpFeatureBuilder::create(l,line);
- if (opt_display && opt_click_allowed) {
- std::cout << "\nClick in the camera view window to end..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
- // Display task information
- task.print() ;
- task.kill();
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nClick in the camera view window to end..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity1.cpp b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity1.cpp
index d28e601..d1066f2 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity1.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity1.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuPoint2DCamVelocity1.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,6 +62,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -103,15 +106,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -120,7 +123,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -130,83 +133,90 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpServo task ;
- vpSimulatorCamera robot ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
- // sets the point coordinates in the world frame
- vpPoint point ;
- point.setWorldCoordinates(0,0,0) ;
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ point.setWorldCoordinates(0,0,0) ;
- // computes the point coordinates in the camera frame and its 2D coordinates
- point.track(cMo) ;
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ point.track(cMo) ;
- // sets the current position of the visual feature
- vpFeaturePoint p ;
- vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
+ // sets the current position of the visual feature
+ vpFeaturePoint p ;
+ vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
- // sets the desired position of the visual feature
- vpFeaturePoint pd ;
- pd.buildFrom(0,0,1) ; // buildFrom(x,y,Z) ;
+ // sets the desired position of the visual feature
+ vpFeaturePoint pd ;
+ pd.buildFrom(0,0,1) ; // buildFrom(x,y,Z) ;
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // we want to see a point on a point
- std::cout << std::endl ;
- task.addFeature(p,pd) ;
+ // we want to see a point on a point
+ std::cout << std::endl ;
+ task.addFeature(p,pd) ;
- // set the gain
- task.setLambda(1) ;
+ // set the gain
+ task.setLambda(1) ;
- // Display task information
- task.print() ;
+ // Display task information
+ task.print() ;
- unsigned int iter=0 ;
- // loop
- while(iter++<100)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<100)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- // new point position
- point.track(cMo) ;
- //retrieve x,y and Z of the vpPoint structure
- vpFeatureBuilder::create(p,point);
+ // new point position
+ point.track(cMo) ;
+ //retrieve x,y and Z of the vpPoint structure
+ vpFeatureBuilder::create(p,point);
- // compute the control law
- v = task.computeControlLaw() ;
+ // compute the control law
+ v = task.computeControlLaw() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity2.cpp b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity2.cpp
index b483fd9..1524bb6 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity2.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity2.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuPoint2DCamVelocity2.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,6 +70,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -111,15 +114,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -128,7 +131,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -138,106 +141,113 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a point " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
+
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ point.setWorldCoordinates(0,0,0) ;
+
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ point.track(cMo) ;
+
+ // sets the current position of the visual feature
+ vpFeaturePoint p ;
+ vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
+
+ // sets the desired position of the visual feature
+ vpFeaturePoint pd ;
+ pd.buildFrom(0,0,1) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::MEAN) ;
- vpServo task ;
- vpSimulatorCamera robot ;
-
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a point " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the point coordinates in the world frame
- vpPoint point ;
- point.setWorldCoordinates(0,0,0) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- point.track(cMo) ;
-
- // sets the current position of the visual feature
- vpFeaturePoint p ;
- vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the visual feature
- vpFeaturePoint pd ;
- pd.buildFrom(0,0,1) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::MEAN) ;
-
- // Set the position of the camera in the end-effector frame
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
-
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
-
- // we want to see a point on a point
- task.addFeature(p,pd) ;
-
- // set the gain
- task.setLambda(1) ;
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++<100)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ // Set the position of the camera in the end-effector frame
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
- // since q is modified eJe is modified
+ vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // we want to see a point on a point
+ task.addFeature(p,pd) ;
- // new point position
- point.track(cMo) ;
- vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
- pd.buildFrom(0,0,1) ; // Since vpServo::MEAN interaction matrix is used, we need to update the desired feature at each iteration
+ // set the gain
+ task.setLambda(1) ;
+ // Display task information
+ task.print() ;
- // compute the control law
- v = task.computeControlLaw() ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<100)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // Set the Jacobian (expressed in the end-effector frame)
+ // since q is modified eJe is modified
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new point position
+ point.track(cMo) ;
+ vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
+ pd.buildFrom(0,0,1) ; // Since vpServo::MEAN interaction matrix is used, we need to update the desired feature at each iteration
+
+ // compute the control law
+ v = task.computeControlLaw() ;
- // Display task information
- task.print() ;
- task.kill();
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity3.cpp b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity3.cpp
index 9808dfd..5806ace 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DCamVelocity3.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DCamVelocity3.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuPoint2DCamVelocity3.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -111,15 +114,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -128,7 +131,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -138,104 +141,111 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a point " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
+
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ point.setWorldCoordinates(0,0,0) ;
+
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ point.track(cMo) ;
+
+ // sets the current position of the visual feature
+ vpFeaturePoint p ;
+ vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
+
+ // sets the desired position of the visual feature
+ vpFeaturePoint pd ;
+ pd.buildFrom(0,0,1) ; // buildFrom(x,y,Z) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a point " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the point coordinates in the world frame
- vpPoint point ;
- point.setWorldCoordinates(0,0,0) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- point.track(cMo) ;
-
- // sets the current position of the visual feature
- vpFeaturePoint p ;
- vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the visual feature
- vpFeaturePoint pd ;
- pd.buildFrom(0,0,1) ; // buildFrom(x,y,Z) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
-
- // Set the position of the camera in the end-effector frame
- vpHomogeneousMatrix cMe ;
- vpVelocityTwistMatrix cVe(cMe) ;
- task.set_cVe(cVe) ;
-
- // Set the Jacobian (expressed in the end-effector frame)
- vpMatrix eJe ;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
-
- // we want to see a point on a point
- task.addFeature(p,pd, vpFeaturePoint::selectX()) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++ < 100)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ // Set the position of the camera in the end-effector frame
+ vpHomogeneousMatrix cMe ;
+ vpVelocityTwistMatrix cVe(cMe) ;
+ task.set_cVe(cVe) ;
// Set the Jacobian (expressed in the end-effector frame)
- // since q is modified eJe is modified
+ vpMatrix eJe ;
robot.get_eJe(eJe) ;
task.set_eJe(eJe) ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // we want to see a point on a point
+ task.addFeature(p,pd, vpFeaturePoint::selectX()) ;
- // new point position
- point.track(cMo) ;
- vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
+ // set the gain
+ task.setLambda(1) ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // Display task information
+ task.print() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 100)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // Set the Jacobian (expressed in the end-effector frame)
+ // since q is modified eJe is modified
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new point position
+ point.track(cMo) ;
+ vpFeatureBuilder::create(p,point) ; //retrieve x,y and Z of the vpPoint structure
- // Display task information
- task.print() ;
- task.kill();
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity1.cpp b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity1.cpp
index 3bb573e..2788691 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity1.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity1.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuPoint2DhalfCamVelocity1.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -112,15 +115,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -129,7 +132,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -139,124 +142,131 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+
+ vpServo task ;
+ vpSimulatorCamera robot ;
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " task : 2 1/2 D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpPoseVector c_r_o(0.1,0.2,2,
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
- ) ;
-
- vpHomogeneousMatrix cMo(c_r_o) ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the desired camera location
- vpPoseVector cd_r_o(0,0,1,
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- // sets the point coordinates in the world frame
- vpPoint point ;
- point.setWorldCoordinates(0,0,0) ;
- // computes the point coordinates in the camera frame and its 2D coordinates
- point.track(cMo) ;
-
- vpPoint pointd ;
- pointd.setWorldCoordinates(0,0,0) ;
- pointd.track(cdMo) ;
- //------------------------------------------------------------------
- // 1st feature (x,y)
- // want to it at (0,0)
- vpFeaturePoint p ;
- vpFeatureBuilder::create(p,point) ;
-
- vpFeaturePoint pd ;
- vpFeatureBuilder::create(pd,pointd) ;
-
- //------------------------------------------------------------------
- // 2nd feature (Z)
- // not necessary to project twice (reuse p)
- vpFeaturePoint3D Z ;
- vpFeatureBuilder::create(Z,point) ; //retrieve x,y and Z of the vpPoint structure
-
- // want to see it one meter away (here again use pd)
- vpFeaturePoint3D Zd ;
- vpFeatureBuilder::create(Zd,pointd) ; //retrieve x,y and Z of the vpPoint structure
-
- //------------------------------------------------------------------
- // 3rd feature ThetaU
- // compute the rotation that the camera has to achieve
- vpHomogeneousMatrix cdMc ;
- cdMc = cdMo*cMo.inverse() ;
-
- vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
- tu.buildFrom(cdMc) ;
-
- // sets the desired rotation (always zero !)
- // since s is the rotation that the camera has to achieve
-
- //------------------------------------------------------------------
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
-
- task.addFeature(p,pd) ;
- task.addFeature(Z,Zd,vpFeaturePoint3D::selectZ()) ;
- task.addFeature(tu) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " task : 2 1/2 D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpPoseVector c_r_o(0.1,0.2,2,
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
+ ) ;
+
+ vpHomogeneousMatrix cMo(c_r_o) ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
+
+ // sets the desired camera location
+ vpPoseVector cd_r_o(0,0,1,
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
- // update the feature
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ point.setWorldCoordinates(0,0,0) ;
+ // computes the point coordinates in the camera frame and its 2D coordinates
point.track(cMo) ;
+
+ vpPoint pointd ;
+ pointd.setWorldCoordinates(0,0,0) ;
+ pointd.track(cdMo) ;
+ //------------------------------------------------------------------
+ // 1st feature (x,y)
+ // want to it at (0,0)
+ vpFeaturePoint p ;
vpFeatureBuilder::create(p,point) ;
- vpFeatureBuilder::create(Z,point) ;
+ vpFeaturePoint pd ;
+ vpFeatureBuilder::create(pd,pointd) ;
+
+ //------------------------------------------------------------------
+ // 2nd feature (Z)
+ // not necessary to project twice (reuse p)
+ vpFeaturePoint3D Z ;
+ vpFeatureBuilder::create(Z,point) ; //retrieve x,y and Z of the vpPoint structure
+
+ // want to see it one meter away (here again use pd)
+ vpFeaturePoint3D Zd ;
+ vpFeatureBuilder::create(Zd,pointd) ; //retrieve x,y and Z of the vpPoint structure
+
+ //------------------------------------------------------------------
+ // 3rd feature ThetaU
+ // compute the rotation that the camera has to achieve
+ vpHomogeneousMatrix cdMc ;
cdMc = cdMo*cMo.inverse() ;
+
+ vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
tu.buildFrom(cdMc) ;
- // compute the control law
- v = task.computeControlLaw() ;
- // send the camera velocity to the controller ") ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // sets the desired rotation (always zero !)
+ // since s is the rotation that the camera has to achieve
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ //------------------------------------------------------------------
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // Display task information
- task.print() ;
- task.kill();
- std::cout << "Final camera location:\n " << cMo << std::endl ;
+ task.addFeature(p,pd) ;
+ task.addFeature(Z,Zd,vpFeaturePoint3D::selectZ()) ;
+ task.addFeature(tu) ;
+
+ // set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // update the feature
+ point.track(cMo) ;
+ vpFeatureBuilder::create(p,point) ;
+ vpFeatureBuilder::create(Z,point) ;
+
+ cdMc = cdMo*cMo.inverse() ;
+ tu.buildFrom(cdMc) ;
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+ // send the camera velocity to the controller ") ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ std::cout << "Final camera location:\n " << cMo << std::endl ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity2.cpp b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity2.cpp
index e8308cc..5e98f98 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity2.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity2.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuPoint2DhalfCamVelocity2.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -109,15 +112,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -126,7 +129,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -136,221 +139,228 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " simulation of a 2 1/2 D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // In this example we will simulate a visual servoing task.
- // In simulation, we have to define the scene frane Ro and the
- // camera frame Rc.
- // The camera location is given by an homogenous matrix cMo that
- // describes the position of the camera in the scene frame.
-
- vpServo task ;
-
- // sets the initial camera location
- // we give the camera location as a size 6 vector (3 translations in meter
- // and 3 rotation (theta U representation)
- vpPoseVector c_r_o(0.1,0.2,2,
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
- ) ;
-
- // this pose vector is then transformed in a 4x4 homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // We define a robot
- // The vpSimulatorCamera implements a simple moving that is juste defined
- // by its location cMo
- vpSimulatorCamera robot ;
-
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // Now that the current camera position has been defined,
- // let us defined the defined camera location.
- // It is defined by cdMo
- // sets the desired camera location
- vpPoseVector cd_r_o(0,0,1,
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
-
- //----------------------------------------------------------------------
- // A 2 1/2 D visual servoing can be defined by
- // - the position of a point x,y
- // - the difference between this point depth and a desire depth
- // modeled by log Z/Zd to be regulated to 0
- // - the rotation that the camera has to realized cdMc
-
- // Let us now defined the current value of these features
-
-
- // since we simulate we have to define a 3D point that will
- // forward-projected to define the current position x,y of the
- // reference point
-
- //------------------------------------------------------------------
- // First feature (x,y)
- //------------------------------------------------------------------
- // Let oP be this ... point,
- // a vpPoint class has three main member
- // .oP : 3D coordinates in scene frame
- // .cP : 3D coordinates in camera frame
- // .p : 2D
-
- //------------------------------------------------------------------
- // sets the point coordinates in the world frame
- vpPoint point ;
- // defined point coordinates in the scene frame : oP
- point.setWorldCoordinates(0,0,0) ;
- // computes the point coordinates in the camera frame and its
- // 2D coordinates cP and then p
- // computes the point coordinates in the camera frame and its 2D coordinates" ) ;
- point.track(cMo) ;
-
- // We also defined (again by forward projection) the desired position
- // of this point according to the desired camera position
- vpPoint pointd ;
- pointd.setWorldCoordinates(0,0,0) ;
- pointd.track(cdMo) ;
-
- // Nevertheless, a vpPoint is not a feature, this is just a "tracker"
- // from which the feature are built
- // a feature is juste defined by a vector s, a way to compute the
- // interaction matrix and the error, and if required a (or a vector of)
- // 3D information
-
- // for a point (x,y) Visp implements the vpFeaturePoint class.
- // we no defined a feature for x,y (and for (x*,y*))
- vpFeaturePoint p,pd ;
-
- // and we initialized the vector s=(x,y) of p from the tracker P
- // Z coordinates in p is also initialized, it will be used to compute
- // the interaction matrix
- vpFeatureBuilder::create(p,point) ;
- vpFeatureBuilder::create(pd,pointd) ;
-
- //------------------------------------------------------------------
- // Second feature log (Z/Zd)
- // not necessary to project twice (reuse p)
-
- // This case in intersting since this visual feature has not
- // been predefined in VisP
- // In such case we have a generic feature class vpGenericFeature
- // We will have to defined
- // the vector s : .set_s(...)
- // the interaction matrix Ls : .setInteractionMatrix(...)
-
- // log(Z/Zd) is then a size 1 vector logZ
- vpGenericFeature logZ(1) ;
- // initialized to s = log(Z/Zd)
- // Let us note that here we use the point P and Pd, it's not necessary
- // to forward project twice (it's already done)
- logZ.set_s(log(point.get_Z()/pointd.get_Z())) ;
-
- // This visual has to be regulated to zero
-
- //------------------------------------------------------------------
- // 3rd feature ThetaU
- // The thetaU feature is defined, tu represents the rotation that the camera
- // has to realized.
- // the complete displacement is then defined by:
- //------------------------------------------------------------------
- vpHomogeneousMatrix cdMc ;
- // compute the rotation that the camera has to achieve
- cdMc = cdMo*cMo.inverse() ;
-
- // from this displacement, we extract the rotation cdRc represented by
- // the angle theta and the rotation axis u
- vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
- tu.buildFrom(cdMc) ;
- // This visual has to be regulated to zero
-
- // sets the desired rotation (always zero !)
- // since s is the rotation that the camera has to realize
-
- //------------------------------------------------------------------
- // Let us now the task itself
- //------------------------------------------------------------------
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- // we choose to control the robot in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // Interaction matrix is computed with the current value of s
- task.setInteractionMatrixType(vpServo::CURRENT) ;
-
- // we build the task by "stacking" the visual feature
- // previously defined
- task.addFeature(p,pd) ;
- task.addFeature(logZ) ;
- task.addFeature(tu) ;
- // addFeature(X,Xd) means X should be regulated to Xd
- // addFeature(X) means that X should be regulated to 0
- // some features such as vpFeatureThetaU MUST be regulated to zero
- // (otherwise, it will results in an error at exectution level)
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
- //------------------------------------------------------------------
- // An now the closed loop
-
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // update the feature
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " simulation of a 2 1/2 D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // In this example we will simulate a visual servoing task.
+ // In simulation, we have to define the scene frane Ro and the
+ // camera frame Rc.
+ // The camera location is given by an homogenous matrix cMo that
+ // describes the position of the camera in the scene frame.
+
+ vpServo task ;
+
+ // sets the initial camera location
+ // we give the camera location as a size 6 vector (3 translations in meter
+ // and 3 rotation (theta U representation)
+ vpPoseVector c_r_o(0.1,0.2,2,
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
+ ) ;
+
+ // this pose vector is then transformed in a 4x4 homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // We define a robot
+ // The vpSimulatorCamera implements a simple moving that is juste defined
+ // by its location cMo
+ vpSimulatorCamera robot ;
+
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
+
+ // Now that the current camera position has been defined,
+ // let us defined the defined camera location.
+ // It is defined by cdMo
+ // sets the desired camera location
+ vpPoseVector cd_r_o(0,0,1,
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
+
+
+ //----------------------------------------------------------------------
+ // A 2 1/2 D visual servoing can be defined by
+ // - the position of a point x,y
+ // - the difference between this point depth and a desire depth
+ // modeled by log Z/Zd to be regulated to 0
+ // - the rotation that the camera has to realized cdMc
+
+ // Let us now defined the current value of these features
+
+
+ // since we simulate we have to define a 3D point that will
+ // forward-projected to define the current position x,y of the
+ // reference point
+
+ //------------------------------------------------------------------
+ // First feature (x,y)
+ //------------------------------------------------------------------
+ // Let oP be this ... point,
+ // a vpPoint class has three main member
+ // .oP : 3D coordinates in scene frame
+ // .cP : 3D coordinates in camera frame
+ // .p : 2D
+
+ //------------------------------------------------------------------
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ // defined point coordinates in the scene frame : oP
+ point.setWorldCoordinates(0,0,0) ;
+ // computes the point coordinates in the camera frame and its
+ // 2D coordinates cP and then p
+ // computes the point coordinates in the camera frame and its 2D coordinates" ) ;
point.track(cMo) ;
- vpFeatureBuilder::create(p,point) ;
- cdMc = cdMo*cMo.inverse() ;
- tu.buildFrom(cdMc) ;
-
- // there is no feature for logZ, we explicitely build
- // the related interaction matrix") ;
+ // We also defined (again by forward projection) the desired position
+ // of this point according to the desired camera position
+ vpPoint pointd ;
+ pointd.setWorldCoordinates(0,0,0) ;
+ pointd.track(cdMo) ;
+
+ // Nevertheless, a vpPoint is not a feature, this is just a "tracker"
+ // from which the feature are built
+ // a feature is juste defined by a vector s, a way to compute the
+ // interaction matrix and the error, and if required a (or a vector of)
+ // 3D information
+
+ // for a point (x,y) Visp implements the vpFeaturePoint class.
+ // we no defined a feature for x,y (and for (x*,y*))
+ vpFeaturePoint p,pd ;
+
+ // and we initialized the vector s=(x,y) of p from the tracker P
+ // Z coordinates in p is also initialized, it will be used to compute
+ // the interaction matrix
+ vpFeatureBuilder::create(p,point) ;
+ vpFeatureBuilder::create(pd,pointd) ;
+
+ //------------------------------------------------------------------
+ // Second feature log (Z/Zd)
+ // not necessary to project twice (reuse p)
+
+ // This case in intersting since this visual feature has not
+ // been predefined in VisP
+ // In such case we have a generic feature class vpGenericFeature
+ // We will have to defined
+ // the vector s : .set_s(...)
+ // the interaction matrix Ls : .setInteractionMatrix(...)
+
+ // log(Z/Zd) is then a size 1 vector logZ
+ vpGenericFeature logZ(1) ;
+ // initialized to s = log(Z/Zd)
+ // Let us note that here we use the point P and Pd, it's not necessary
+ // to forward project twice (it's already done)
logZ.set_s(log(point.get_Z()/pointd.get_Z())) ;
- vpMatrix LlogZ(1,6) ;
- LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0 ;
- LlogZ[0][2] = -1/p.get_Z() ;
- LlogZ[0][3] = -p.get_y() ;
- LlogZ[0][4] = p.get_x() ;
- logZ.setInteractionMatrix(LlogZ) ;
+ // This visual has to be regulated to zero
- // compute the control law
- v = task.computeControlLaw() ;
+ //------------------------------------------------------------------
+ // 3rd feature ThetaU
+ // The thetaU feature is defined, tu represents the rotation that the camera
+ // has to realized.
+ // the complete displacement is then defined by:
+ //------------------------------------------------------------------
+ vpHomogeneousMatrix cdMc ;
+ // compute the rotation that the camera has to achieve
+ cdMc = cdMo*cMo.inverse() ;
- // send the camera velocity to the controller ") ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // from this displacement, we extract the rotation cdRc represented by
+ // the angle theta and the rotation axis u
+ vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
+ tu.buildFrom(cdMc) ;
+ // This visual has to be regulated to zero
+
+ // sets the desired rotation (always zero !)
+ // since s is the rotation that the camera has to realize
+
+ //------------------------------------------------------------------
+ // Let us now the task itself
+ //------------------------------------------------------------------
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ // we choose to control the robot in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // Interaction matrix is computed with the current value of s
+ task.setInteractionMatrixType(vpServo::CURRENT) ;
+
+ // we build the task by "stacking" the visual feature
+ // previously defined
+ task.addFeature(p,pd) ;
+ task.addFeature(logZ) ;
+ task.addFeature(tu) ;
+ // addFeature(X,Xd) means X should be regulated to Xd
+ // addFeature(X) means that X should be regulated to 0
+ // some features such as vpFeatureThetaU MUST be regulated to zero
+ // (otherwise, it will results in an error at exectution level)
+
+ // set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+ //------------------------------------------------------------------
+ // An now the closed loop
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // update the feature
+ point.track(cMo) ;
+ vpFeatureBuilder::create(p,point) ;
+
+ cdMc = cdMo*cMo.inverse() ;
+ tu.buildFrom(cdMc) ;
+
+ // there is no feature for logZ, we explicitely build
+ // the related interaction matrix") ;
+ logZ.set_s(log(point.get_Z()/pointd.get_Z())) ;
+ vpMatrix LlogZ(1,6) ;
+ LlogZ[0][0] = LlogZ[0][1] = LlogZ[0][5] = 0 ;
+ LlogZ[0][2] = -1/p.get_Z() ;
+ LlogZ[0][3] = -p.get_y() ;
+ LlogZ[0][4] = p.get_x() ;
+
+ logZ.setInteractionMatrix(LlogZ) ;
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller ") ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ // Final camera location
+ std::cout << cMo << std::endl ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
- // Final camera location
- std::cout << cMo << std::endl ;
}
diff --git a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity3.cpp b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity3.cpp
index 7616153..d42e493 100644
--- a/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity3.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint2DhalfCamVelocity3.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuPoint2DhalfCamVelocity3.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -109,15 +112,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -126,7 +129,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -136,197 +139,204 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " simulation of a 2 1/2 D visual servoing " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // In this example we will simulate a visual servoing task.
- // In simulation, we have to define the scene frane Ro and the
- // camera frame Rc.
- // The camera location is given by an homogenous matrix cMo that
- // describes the position of the camera in the scene frame.
-
- vpServo task ;
-
- // sets the initial camera location
- // we give the camera location as a size 6 vector (3 translations in meter
- // and 3 rotation (theta U representation)
- vpPoseVector c_r_o(0.1,0.2,2,
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
- ) ;
-
- // this pose vector is then transformed in a 4x4 homogeneous matrix
- vpHomogeneousMatrix cMo(c_r_o) ;
-
- // We define a robot
- // The vpSimulatorCamera implements a simple moving that is juste defined
- // by its location cMo
- vpSimulatorCamera robot ;
-
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // Now that the current camera position has been defined,
- // let us defined the defined camera location.
- // It is defined by cdMo
- // sets the desired camera location " ) ;
- vpPoseVector cd_r_o(0,0,1,
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- vpHomogeneousMatrix cdMo(cd_r_o) ;
-
- //----------------------------------------------------------------------
- // A 2 1/2 D visual servoing can be defined by
- // - the position of a point x,y
- // - the difference between this point depth and a desire depth
- // modeled by log Z/Zd to be regulated to 0
- // - the rotation that the camera has to realized cdMc
-
- // Let us now defined the current value of these features
-
-
- // since we simulate we have to define a 3D point that will
- // forward-projected to define the current position x,y of the
- // reference point
-
- //------------------------------------------------------------------
- // First feature (x,y)
- //------------------------------------------------------------------
- // Let oP be this ... point,
- // a vpPoint class has three main member
- // .oP : 3D coordinates in scene frame
- // .cP : 3D coordinates in camera frame
- // .p : 2D
-
- //------------------------------------------------------------------
- // sets the point coordinates in the world frame
- vpPoint P ;
- // defined point coordinates in the scene frame : oP
- P.setWorldCoordinates(0,0,0) ;
- // computes the P coordinates in the camera frame and its
- // 2D coordinates cP and then p
- // computes the point coordinates in the camera frame and its 2D coordinates
- P.track(cMo) ;
-
- // We also defined (again by forward projection) the desired position
- // of this point according to the desired camera position
- vpPoint Pd ;
- Pd.setWorldCoordinates(0,0,0) ;
- Pd.track(cdMo) ;
-
- // Nevertheless, a vpPoint is not a feature, this is just a "tracker"
- // from which the feature are built
- // a feature is juste defined by a vector s, a way to compute the
- // interaction matrix and the error, and if required a (or a vector of)
- // 3D information
-
- // for a point (x,y) Visp implements the vpFeaturePoint class.
- // we no defined a feature for x,y (and for (x*,y*))
- vpFeaturePoint p,pd ;
-
- // and we initialized the vector s=(x,y) of p from the tracker P
- // Z coordinates in p is also initialized, it will be used to compute
- // the interaction matrix
- vpFeatureBuilder::create(p,P) ;
- vpFeatureBuilder::create(pd,Pd) ;
-
- // This visual has to be regulated to zero
-
- //------------------------------------------------------------------
- // 2nd feature ThetaUz and 3rd feature t
- // The thetaU feature is defined, tu represents the rotation that the camera
- // has to realized. t the translation.
- // the complete displacement is then defined by:
- //------------------------------------------------------------------
- vpHomogeneousMatrix cdMc ;
- // compute the rotation that the camera has to achieve
- cdMc = cdMo*cMo.inverse() ;
-
- // from this displacement, we extract the rotation cdRc represented by
- // the angle theta and the rotation axis u
- vpFeatureThetaU tuz(vpFeatureThetaU::cdRc) ;
- tuz.buildFrom(cdMc) ;
- // And the translations
- vpFeatureTranslation t(vpFeatureTranslation::cdMc) ;
- t.buildFrom(cdMc) ;
-
- // This visual has to be regulated to zero
-
- // sets the desired rotation (always zero !)
- // since s is the rotation that the camera has to achieve
-
- //------------------------------------------------------------------
- // Let us now the task itself
- //------------------------------------------------------------------
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- // we choose to control the robot in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- // Interaction matrix is computed with the current value of s
- task.setInteractionMatrixType(vpServo::CURRENT) ;
-
- // we build the task by "stacking" the visual feature
- // previously defined
- task.addFeature(t) ;
- task.addFeature(p,pd) ;
- task.addFeature(tuz,vpFeatureThetaU::TUz) ; //selection of TUz
-
- // addFeature(X,Xd) means X should be regulated to Xd
- // addFeature(X) means that X should be regulated to 0
- // some features such as vpFeatureThetaU MUST be regulated to zero
- // (otherwise, it will results in an error at exectution level)
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information " ) ;
- task.print() ;
- //------------------------------------------------------------------
- // An now the closed loop
-
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // update the feature
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " simulation of a 2 1/2 D visual servoing " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // In this example we will simulate a visual servoing task.
+ // In simulation, we have to define the scene frane Ro and the
+ // camera frame Rc.
+ // The camera location is given by an homogenous matrix cMo that
+ // describes the position of the camera in the scene frame.
+
+ vpServo task ;
+
+ // sets the initial camera location
+ // we give the camera location as a size 6 vector (3 translations in meter
+ // and 3 rotation (theta U representation)
+ vpPoseVector c_r_o(0.1,0.2,2,
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
+ ) ;
+
+ // this pose vector is then transformed in a 4x4 homogeneous matrix
+ vpHomogeneousMatrix cMo(c_r_o) ;
+
+ // We define a robot
+ // The vpSimulatorCamera implements a simple moving that is juste defined
+ // by its location cMo
+ vpSimulatorCamera robot ;
+
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
+
+ // Now that the current camera position has been defined,
+ // let us defined the defined camera location.
+ // It is defined by cdMo
+ // sets the desired camera location " ) ;
+ vpPoseVector cd_r_o(0,0,1,
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
+
+ //----------------------------------------------------------------------
+ // A 2 1/2 D visual servoing can be defined by
+ // - the position of a point x,y
+ // - the difference between this point depth and a desire depth
+ // modeled by log Z/Zd to be regulated to 0
+ // - the rotation that the camera has to realized cdMc
+
+ // Let us now defined the current value of these features
+
+
+ // since we simulate we have to define a 3D point that will
+ // forward-projected to define the current position x,y of the
+ // reference point
+
+ //------------------------------------------------------------------
+ // First feature (x,y)
+ //------------------------------------------------------------------
+ // Let oP be this ... point,
+ // a vpPoint class has three main member
+ // .oP : 3D coordinates in scene frame
+ // .cP : 3D coordinates in camera frame
+ // .p : 2D
+
+ //------------------------------------------------------------------
+ // sets the point coordinates in the world frame
+ vpPoint P ;
+ // defined point coordinates in the scene frame : oP
+ P.setWorldCoordinates(0,0,0) ;
+ // computes the P coordinates in the camera frame and its
+ // 2D coordinates cP and then p
+ // computes the point coordinates in the camera frame and its 2D coordinates
P.track(cMo) ;
- vpFeatureBuilder::create(p,P) ;
+ // We also defined (again by forward projection) the desired position
+ // of this point according to the desired camera position
+ vpPoint Pd ;
+ Pd.setWorldCoordinates(0,0,0) ;
+ Pd.track(cdMo) ;
+
+ // Nevertheless, a vpPoint is not a feature, this is just a "tracker"
+ // from which the feature are built
+ // a feature is juste defined by a vector s, a way to compute the
+ // interaction matrix and the error, and if required a (or a vector of)
+ // 3D information
+
+ // for a point (x,y) Visp implements the vpFeaturePoint class.
+ // we no defined a feature for x,y (and for (x*,y*))
+ vpFeaturePoint p,pd ;
+
+ // and we initialized the vector s=(x,y) of p from the tracker P
+ // Z coordinates in p is also initialized, it will be used to compute
+ // the interaction matrix
+ vpFeatureBuilder::create(p,P) ;
+ vpFeatureBuilder::create(pd,Pd) ;
+
+ // This visual has to be regulated to zero
+
+ //------------------------------------------------------------------
+ // 2nd feature ThetaUz and 3rd feature t
+ // The thetaU feature is defined, tu represents the rotation that the camera
+ // has to realized. t the translation.
+ // the complete displacement is then defined by:
+ //------------------------------------------------------------------
+ vpHomogeneousMatrix cdMc ;
+ // compute the rotation that the camera has to achieve
cdMc = cdMo*cMo.inverse() ;
+
+ // from this displacement, we extract the rotation cdRc represented by
+ // the angle theta and the rotation axis u
+ vpFeatureThetaU tuz(vpFeatureThetaU::cdRc) ;
tuz.buildFrom(cdMc) ;
+ // And the translations
+ vpFeatureTranslation t(vpFeatureTranslation::cdMc) ;
t.buildFrom(cdMc) ;
- // compute the control law: v = -lambda L^+(s-sd)
- v = task.computeControlLaw() ;
-
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // This visual has to be regulated to zero
+
+ // sets the desired rotation (always zero !)
+ // since s is the rotation that the camera has to achieve
+
+ //------------------------------------------------------------------
+ // Let us now the task itself
+ //------------------------------------------------------------------
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ // we choose to control the robot in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ // Interaction matrix is computed with the current value of s
+ task.setInteractionMatrixType(vpServo::CURRENT) ;
+
+ // we build the task by "stacking" the visual feature
+ // previously defined
+ task.addFeature(t) ;
+ task.addFeature(p,pd) ;
+ task.addFeature(tuz,vpFeatureThetaU::TUz) ; //selection of TUz
+
+ // addFeature(X,Xd) means X should be regulated to Xd
+ // addFeature(X) means that X should be regulated to 0
+ // some features such as vpFeatureThetaU MUST be regulated to zero
+ // (otherwise, it will results in an error at exectution level)
+
+ // set the gain
+ task.setLambda(1) ;
+
+ // Display task information " ) ;
+ task.print() ;
+ //------------------------------------------------------------------
+ // An now the closed loop
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // update the feature
+ P.track(cMo) ;
+ vpFeatureBuilder::create(p,P) ;
+
+ cdMc = cdMo*cMo.inverse() ;
+ tuz.buildFrom(cdMc) ;
+ t.buildFrom(cdMc) ;
+
+ // compute the control law: v = -lambda L^+(s-sd)
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ // Final camera location
+ std::cout << "Final camera location: \n" << cMo << std::endl ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
- // Final camera location
- std::cout << "Final camera location: \n" << cMo << std::endl ;
}
diff --git a/example/robot-simulator/camera/servoSimuPoint3DCamVelocity.cpp b/example/robot-simulator/camera/servoSimuPoint3DCamVelocity.cpp
index 9032832..b2361f4 100644
--- a/example/robot-simulator/camera/servoSimuPoint3DCamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimuPoint3DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuPoint3DCamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -107,15 +110,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -124,7 +127,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -134,92 +137,99 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a 3D point " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- // sets the point coordinates in the world frame
- vpPoint point ;
- point.setWorldCoordinates(0,0,0) ;
-
- // computes the point coordinates in the camera frame
- point.track(cMo) ;
-
- std::cout << "Point coordinates in the camera frame: " << point.cP.t() ;
-
- vpFeaturePoint3D p ;
- p.buildFrom(point) ;
-
- // sets the desired position of the point
- vpFeaturePoint3D pd ;
- pd.set_XYZ(0,0,1) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
-
- // we want to see a point on a point
- std::cout << std::endl ;
- task.addFeature(p,pd) ;
-
- // set the gain") ;
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a 3D point " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
- // new point position
+ // sets the point coordinates in the world frame
+ vpPoint point ;
+ point.setWorldCoordinates(0,0,0) ;
+
+ // computes the point coordinates in the camera frame
point.track(cMo) ;
+
+ std::cout << "Point coordinates in the camera frame: " << point.cP.t() ;
+
+ vpFeaturePoint3D p ;
p.buildFrom(point) ;
- // std::cout << p.cP.t() ;
- // std::cout << (p.get_s()).t() ;
- // compute the control law
- v = task.computeControlLaw() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // sets the desired position of the point
+ vpFeaturePoint3D pd ;
+ pd.set_XYZ(0,0,1) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+
+ // we want to see a point on a point
+ std::cout << std::endl ;
+ task.addFeature(p,pd) ;
+
+ // set the gain") ;
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new point position
+ point.track(cMo) ;
+ p.buildFrom(point) ;
+ // std::cout << p.cP.t() ;
+ // std::cout << (p.get_s()).t() ;
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
}
diff --git a/example/robot-simulator/camera/servoSimuSphere2DCamVelocity.cpp b/example/robot-simulator/camera/servoSimuSphere2DCamVelocity.cpp
index 0840404..9c39af7 100644
--- a/example/robot-simulator/camera/servoSimuSphere2DCamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimuSphere2DCamVelocity.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuSphere2DCamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -107,15 +110,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -124,7 +127,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -134,94 +137,100 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a sphere " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- vpHomogeneousMatrix cMod ;
- cMod[0][3] = 0 ;
- cMod[1][3] = 0 ;
- cMod[2][3] = 1 ;
-
- // sets the sphere coordinates in the world frame
- vpSphere sphere ;
- sphere.setWorldCoordinates(0,0,0,0.1) ;
-
- // sets the desired position of the visual feature
- vpFeatureEllipse pd ;
- sphere.track(cMod) ;
- vpFeatureBuilder::create(pd,sphere) ;
-
- // computes the sphere coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- vpFeatureEllipse p ;
- sphere.track(cMo) ;
- vpFeatureBuilder::create(p,sphere) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
-
- // we want to see a sphere on a sphere
- task.addFeature(p,pd) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
-
- unsigned int iter=0 ;
- // loop
- while(iter++ < 500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a sphere " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
+
+ vpHomogeneousMatrix cMod ;
+ cMod[0][3] = 0 ;
+ cMod[1][3] = 0 ;
+ cMod[2][3] = 1 ;
+
+ // sets the sphere coordinates in the world frame
+ vpSphere sphere ;
+ sphere.setWorldCoordinates(0,0,0,0.1) ;
- // new sphere position: retrieve x,y and Z of the vpSphere structure
+ // sets the desired position of the visual feature
+ vpFeatureEllipse pd ;
+ sphere.track(cMod) ;
+ vpFeatureBuilder::create(pd,sphere) ;
+
+ // computes the sphere coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
+ vpFeatureEllipse p ;
sphere.track(cMo) ;
- vpFeatureBuilder::create(p,sphere);
+ vpFeatureBuilder::create(p,sphere) ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
- std::cout << "Task rank: " << task.getTaskRank() << std::endl ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // we want to see a sphere on a sphere
+ task.addFeature(p,pd) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
- }
+ // set the gain
+ task.setLambda(1) ;
- // Display task information
- task.print() ;
- task.kill();
-}
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 500)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new sphere position: retrieve x,y and Z of the vpSphere structure
+ sphere.track(cMo) ;
+ vpFeatureBuilder::create(p,sphere);
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ std::cout << "Task rank: " << task.getTaskRank() << std::endl ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
+
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
+}
diff --git a/example/robot-simulator/camera/servoSimuSphere2DCamVelocitySecondaryTask.cpp b/example/robot-simulator/camera/servoSimuSphere2DCamVelocitySecondaryTask.cpp
index 76dd019..340f2dc 100644
--- a/example/robot-simulator/camera/servoSimuSphere2DCamVelocitySecondaryTask.cpp
+++ b/example/robot-simulator/camera/servoSimuSphere2DCamVelocitySecondaryTask.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuSphere2DCamVelocitySecondaryTask.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -67,6 +67,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -109,15 +112,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -126,7 +129,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -136,107 +139,114 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpServo task ;
- vpSimulatorCamera robot ;
-
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo a sphere with a secondary task" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
-
- vpHomogeneousMatrix cMod ;
- cMod[0][3] = 0 ;
- cMod[1][3] = 0 ;
- cMod[2][3] = 1 ;
-
- // sets the sphere coordinates in the world frame
- vpSphere sphere ;
- sphere.setWorldCoordinates(0,0,0,0.1) ;
-
- // sets the desired position of the visual feature
- vpFeatureEllipse pd ;
- sphere.track(cMod) ;
- vpFeatureBuilder::create(pd,sphere) ;
-
- // computes the sphere coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- vpFeatureEllipse p ;
- sphere.track(cMo) ;
- vpFeatureBuilder::create(p,sphere) ;
-
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
-
- // we want to see a sphere on a sphere
- std::cout << std::endl ;
- task.addFeature(p,pd) ;
-
- // set the gain
- task.setLambda(1) ;
-
- // Display task information
- task.print() ;
- // exit(1) ;
- unsigned int iter=0 ;
- // loop
- while(iter++ < 500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
-
- // get the robot position
+ vpServo task ;
+ vpSimulatorCamera robot ;
+
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo a sphere with a secondary task" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
-
- // new sphere position: retrieve x,y and Z of the vpSphere structure
- sphere.track(cMo) ;
- vpFeatureBuilder::create(p,sphere);
+ wMo = wMc * cMo;
- vpColVector de2dt(6) ;
- de2dt[2] = 1 ; // should be zero in (I-WpW)de2dt
- de2dt[5] = 0.01 ; // should be ok
- de2dt[0] = 0.01 ; // should generate a motion on (I-WpW)de2dt[4]
+ vpHomogeneousMatrix cMod ;
+ cMod[0][3] = 0 ;
+ cMod[1][3] = 0 ;
+ cMod[2][3] = 1 ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // sets the sphere coordinates in the world frame
+ vpSphere sphere ;
+ sphere.setWorldCoordinates(0,0,0,0.1) ;
- std::cout << "de2dt :"<< de2dt.t() << std::endl;
- vpColVector sec ;
- sec = task.secondaryTask(de2dt) ;
- std::cout << "(I-WpW)de2dt :"<< sec.t() << std::endl;
+ // sets the desired position of the visual feature
+ vpFeatureEllipse pd ;
+ sphere.track(cMod) ;
+ vpFeatureBuilder::create(pd,sphere) ;
- if (iter>20) v += sec ;
-
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // computes the sphere coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
+ vpFeatureEllipse p ;
+ sphere.track(cMo) ;
+ vpFeatureBuilder::create(p,sphere) ;
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+
+ // we want to see a sphere on a sphere
+ std::cout << std::endl ;
+ task.addFeature(p,pd) ;
+
+ // set the gain
+ task.setLambda(1) ;
+
+ // Display task information
+ task.print() ;
+ // exit(1) ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 500)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
+
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
+
+ // new sphere position: retrieve x,y and Z of the vpSphere structure
+ sphere.track(cMo) ;
+ vpFeatureBuilder::create(p,sphere);
+
+ vpColVector de2dt(6) ;
+ de2dt[2] = 1 ; // should be zero in (I-WpW)de2dt
+ de2dt[5] = 0.01 ; // should be ok
+ de2dt[0] = 0.01 ; // should generate a motion on (I-WpW)de2dt[4]
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ std::cout << "de2dt :"<< de2dt.t() << std::endl;
+ vpColVector sec ;
+ sec = task.secondaryTask(de2dt) ;
+ std::cout << "(I-WpW)de2dt :"<< sec.t() << std::endl;
+
+ if (iter>20) v += sec ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ }
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ;
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
-
- // Display task information
- task.print() ;
- task.kill();
}
diff --git a/example/robot-simulator/camera/servoSimuSquareLine2DCamVelocityDisplay.cpp b/example/robot-simulator/camera/servoSimuSquareLine2DCamVelocityDisplay.cpp
index 487b66f..dc5da97 100644
--- a/example/robot-simulator/camera/servoSimuSquareLine2DCamVelocityDisplay.cpp
+++ b/example/robot-simulator/camera/servoSimuSquareLine2DCamVelocityDisplay.cpp
@@ -4,7 +4,7 @@
* $Id: servoSimuSquareLine2DCamVelocityDisplay.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,6 +77,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -127,9 +130,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -137,7 +140,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -146,7 +149,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -157,170 +160,177 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click_allowed = true;
+ try {
+ bool opt_display = true;
+ bool opt_click_allowed = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- vpImage<unsigned char> I(512,512,0) ;
+ vpImage<unsigned char> I(512,512,0) ;
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
- // Display size is automatically defined by the image (I) size
- display.init(I, 100, 100,"Camera view...") ;
- // Display the image
- // The image class has a member that specify a pointer toward
- // the display that has been initialized in the display declaration
- // therefore is is no longuer necessary to make a reference to the
- // display variable.
- vpDisplay::display(I) ;
- vpDisplay::flush(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ if (opt_display) {
+ try{
+ // Display size is automatically defined by the image (I) size
+ display.init(I, 100, 100,"Camera view...") ;
+ // Display the image
+ // The image class has a member that specify a pointer toward
+ // the display that has been initialized in the display declaration
+ // therefore is is no longuer necessary to make a reference to the
+ // display variable.
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I) ;
+ }
+ catch(...)
+ {
+ vpERROR_TRACE("Error while displaying the image") ;
+ exit(-1);
+ }
}
- }
- // Set the camera parameters
- double px, py ; px = py = 600 ;
- double u0, v0 ; u0 = v0 = 256 ;
+ // Set the camera parameters
+ double px, py ; px = py = 600 ;
+ double u0, v0 ; u0 = v0 = 256 ;
- vpCameraParameters cam(px,py,u0,v0);
+ vpCameraParameters cam(px,py,u0,v0);
- vpServo task ;
- vpSimulatorCamera robot ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- // sets the initial camera location
- vpHomogeneousMatrix cMo(0.2,0.2,1,
- vpMath::rad(45), vpMath::rad(45), vpMath::rad(125));
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(0.2,0.2,1,
+ vpMath::rad(45), vpMath::rad(45), vpMath::rad(125));
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
- // sets the final camera location (for simulation purpose)
- vpHomogeneousMatrix cMod(0,0,1,
- vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ // sets the final camera location (for simulation purpose)
+ vpHomogeneousMatrix cMod(0,0,1,
+ vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- int nbline = 4;
+ int nbline = 4;
- // sets the line coordinates (2 planes) in the world frame
- vpLine line[4] ;
- line[0].setWorldCoordinates(1,0,0,0.05,0,0,1,0);
- line[1].setWorldCoordinates(0,1,0,0.05,0,0,1,0);
- line[2].setWorldCoordinates(1,0,0,-0.05,0,0,1,0);
- line[3].setWorldCoordinates(0,1,0,-0.05,0,0,1,0);
+ // sets the line coordinates (2 planes) in the world frame
+ vpLine line[4] ;
+ line[0].setWorldCoordinates(1,0,0,0.05,0,0,1,0);
+ line[1].setWorldCoordinates(0,1,0,0.05,0,0,1,0);
+ line[2].setWorldCoordinates(1,0,0,-0.05,0,0,1,0);
+ line[3].setWorldCoordinates(0,1,0,-0.05,0,0,1,0);
- vpFeatureLine ld[4] ;
- vpFeatureLine l[4] ;
+ vpFeatureLine ld[4] ;
+ vpFeatureLine l[4] ;
- // sets the desired position of the visual feature
- for(int i = 0; i < nbline; i++)
- {
- line[i].track(cMod) ;
- line[i].print() ;
+ // sets the desired position of the visual feature
+ for(int i = 0; i < nbline; i++)
+ {
+ line[i].track(cMod) ;
+ line[i].print() ;
- vpFeatureBuilder::create(ld[i],line[i]) ;
- }
+ vpFeatureBuilder::create(ld[i],line[i]) ;
+ }
- // computes the line coordinates in the camera frame and its 2D coordinates
- // sets the current position of the visual feature
- for(int i = 0; i < nbline; i++)
- {
- line[i].track(cMo) ;
- line[i].print() ;
+ // computes the line coordinates in the camera frame and its 2D coordinates
+ // sets the current position of the visual feature
+ for(int i = 0; i < nbline; i++)
+ {
+ line[i].track(cMo) ;
+ line[i].print() ;
- vpFeatureBuilder::create(l[i],line[i]) ;
- l[i].print() ;
- }
+ vpFeatureBuilder::create(l[i],line[i]) ;
+ l[i].print() ;
+ }
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
- //It could be also interesting to test the following tasks
- //task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
- //task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE);
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
+ //It could be also interesting to test the following tasks
+ //task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
+ //task.setInteractionMatrixType(vpServo::MEAN, vpServo::PSEUDO_INVERSE);
- // we want to see a four lines on four lines
- for(int i = 0; i < nbline; i++)
- task.addFeature(l[i],ld[i]) ;
+ // we want to see a four lines on four lines
+ for(int i = 0; i < nbline; i++)
+ task.addFeature(l[i],ld[i]) ;
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
- // set the gain
- task.setLambda(1) ;
+ // set the gain
+ task.setLambda(1) ;
- // Display task information
- task.print() ;
+ // Display task information
+ task.print() ;
- if (opt_display && opt_click_allowed) {
- std::cout << "\n\nClick in the camera view window to start..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\n\nClick in the camera view window to start..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
- unsigned int iter=0 ;
- // loop
- while(iter++<200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- // new line position: retrieve x,y and Z of the vpLine structure
- for(int i = 0; i < nbline; i++)
- {
- line[i].track(cMo) ;
- vpFeatureBuilder::create(l[i],line[i]);
- }
+ // new line position: retrieve x,y and Z of the vpLine structure
+ for(int i = 0; i < nbline; i++)
+ {
+ line[i].track(cMo) ;
+ vpFeatureBuilder::create(l[i],line[i]);
+ }
- if (opt_display) {
- vpDisplay::display(I) ;
- vpServoDisplay::display(task,cam,I) ;
- vpDisplay::flush(I) ;
- }
+ if (opt_display) {
+ vpDisplay::display(I) ;
+ vpServoDisplay::display(task,cam,I) ;
+ vpDisplay::flush(I) ;
+ }
- // compute the control law
- v = task.computeControlLaw() ;
+ // compute the control law
+ v = task.computeControlLaw() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
- }
+ }
- if (opt_display && opt_click_allowed) {
- std::cout << "\nClick in the camera view window to end..." << std::endl;
- vpDisplay::getClick(I) ;
- }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nClick in the camera view window to end..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/robot-simulator/camera/servoSimuThetaUCamVelocity.cpp b/example/robot-simulator/camera/servoSimuThetaUCamVelocity.cpp
index fe54722..b28ab52 100644
--- a/example/robot-simulator/camera/servoSimuThetaUCamVelocity.cpp
+++ b/example/robot-simulator/camera/servoSimuThetaUCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuThetaUCamVelocity.cpp 2457 2010-01-07 10:41:18Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,7 +66,8 @@
// List of allowed command line options
#define GETOPTARGS "h"
-
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
/*!
Print the program options.
@@ -108,15 +109,15 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -125,7 +126,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -135,88 +136,95 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpServo task ;
- vpSimulatorCamera robot ;
+ vpServo task ;
+ vpSimulatorCamera robot ;
- std::cout << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo using theta U visual feature " << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
+ std::cout << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo using theta U visual feature " << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
- // sets the initial camera location
- vpPoseVector c_r_o(0.1,0.2,2,
- vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
- ) ;
+ // sets the initial camera location
+ vpPoseVector c_r_o(0.1,0.2,2,
+ vpMath::rad(20), vpMath::rad(10), vpMath::rad(50)
+ ) ;
- vpHomogeneousMatrix cMo(c_r_o) ;
- // Compute the position of the object in the world frame
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc) ;
- wMo = wMc * cMo;
+ vpHomogeneousMatrix cMo(c_r_o) ;
+ // Compute the position of the object in the world frame
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc) ;
+ wMo = wMc * cMo;
- // sets the desired camera location
- vpPoseVector cd_r_o(0,0,1,
- vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
- vpHomogeneousMatrix cdMo(cd_r_o) ;
+ // sets the desired camera location
+ vpPoseVector cd_r_o(0,0,1,
+ vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)) ;
+ vpHomogeneousMatrix cdMo(cd_r_o) ;
- // compute the rotation that the camera has to realize
- vpHomogeneousMatrix cdMc ;
- cdMc = cdMo*cMo.inverse() ;
- vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
- tu.buildFrom(cdMc) ;
+ // compute the rotation that the camera has to realize
+ vpHomogeneousMatrix cdMc ;
+ cdMc = cdMo*cMo.inverse() ;
+ vpFeatureThetaU tu(vpFeatureThetaU::cdRc) ;
+ tu.buildFrom(cdMc) ;
- // define the task
- // - we want an eye-in-hand control law
- // - robot is controlled in the camera frame
- task.setServo(vpServo::EYEINHAND_CAMERA) ;
- task.setInteractionMatrixType(vpServo::DESIRED) ;
+ // define the task
+ // - we want an eye-in-hand control law
+ // - robot is controlled in the camera frame
+ task.setServo(vpServo::EYEINHAND_CAMERA) ;
+ task.setInteractionMatrixType(vpServo::DESIRED) ;
- task.addFeature(tu) ;
+ task.addFeature(tu) ;
- // - set the gain
- task.setLambda(1) ;
+ // - set the gain
+ task.setLambda(1) ;
- // Display task information
- task.print() ;
+ // Display task information
+ task.print() ;
- unsigned int iter=0 ;
- // loop
- while(iter++ < 200)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ unsigned int iter=0 ;
+ // loop
+ while(iter++ < 200)
+ {
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // get the robot position
- robot.getPosition(wMc) ;
- // Compute the position of the camera wrt the object frame
- cMo = wMc.inverse() * wMo;
+ // get the robot position
+ robot.getPosition(wMc) ;
+ // Compute the position of the camera wrt the object frame
+ cMo = wMc.inverse() * wMo;
- // new rotation to achieve
- cdMc = cdMo*cMo.inverse() ;
- tu.buildFrom(cdMc) ;
+ // new rotation to achieve
+ cdMc = cdMo*cMo.inverse() ;
+ tu.buildFrom(cdMc) ;
- // compute the control law
- v = task.computeControlLaw() ;
+ // compute the control law
+ v = task.computeControlLaw() ;
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
- std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
- }
+ std::cout << "|| s - s* || = " << ( task.getError() ).sumSquare() <<std::endl ; ;
+ }
- // Display task information
- task.print() ;
- task.kill();
+ // Display task information
+ task.print() ;
+ task.kill();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/example/robot-simulator/viper850/CMakeLists.txt b/example/robot-simulator/viper850/CMakeLists.txt
index c3ea7c6..e33e6c9 100644
--- a/example/robot-simulator/viper850/CMakeLists.txt
+++ b/example/robot-simulator/viper850/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 2457 2010-01-07 10:41:18Z nmelchio $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/robot-simulator/viper850/servoSimuViper850FourPoints2DCamVelocity.cpp b/example/robot-simulator/viper850/servoSimuViper850FourPoints2DCamVelocity.cpp
index 089be39..f00a476 100644
--- a/example/robot-simulator/viper850/servoSimuViper850FourPoints2DCamVelocity.cpp
+++ b/example/robot-simulator/viper850/servoSimuViper850FourPoints2DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoSimuFourPoints2DPolarCamVelocityDisplay.cpp 2503 2010-02-16 18:55:01Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,7 +60,7 @@
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
-#if (defined(WIN32) || defined(VISP_HAVE_PTHREAD)) && (defined (VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
+#if (defined(_WIN32) || defined(VISP_HAVE_PTHREAD)) && (defined (VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
// We need to use threading capabilities. Thus on Unix-like
// platforms, the libpthread third-party library need to be
@@ -88,6 +88,9 @@
// List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -137,9 +140,9 @@ Set the program options.
*/
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
@@ -147,7 +150,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -156,7 +159,7 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -166,194 +169,194 @@ bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
int
main(int argc, const char ** argv)
{
- bool opt_click_allowed = true;
- bool opt_display = true;
+ try {
+ bool opt_click_allowed = true;
+ bool opt_display = true;
- // Read the command line options
- if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // We open two displays, one for the internal camera view, the other one for
- // the external view, using either X11, GTK or GDI.
+ // We open two displays, one for the internal camera view, the other one for
+ // the external view, using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX displayInt;
+ vpDisplayX displayInt;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt;
+ vpDisplayGDI displayInt;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV displayInt;
+ vpDisplayOpenCV displayInt;
#endif
- // open a display for the visualization
+ // open a display for the visualization
- vpImage<unsigned char> Iint(480, 640, 255);
+ vpImage<unsigned char> Iint(480, 640, 255);
- if (opt_display) {
- displayInt.init(Iint,700,0, "Internal view") ;
- }
-
- int i;
- vpServo task;
-
- std::cout << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << " Test program for vpServo " <<std::endl ;
- std::cout << " Eye-in-hand task control, articular velocity are computed"
- << std::endl ;
- std::cout << " Simulation " << std::endl ;
- std::cout << " task : servo 4 points " << std::endl ;
- std::cout << "----------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // sets the initial camera location
- vpHomogeneousMatrix cMo(-0.05,-0.05,0.7,
- vpMath::rad(10), vpMath::rad(10), vpMath::rad(-30));
-
-
- // sets the point coordinates in the object frame
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.045,-0.045,0) ;
- point[3].setWorldCoordinates(-0.045,0.045,0) ;
- point[2].setWorldCoordinates(0.045,0.045,0) ;
- point[1].setWorldCoordinates(0.045,-0.045,0) ;
-
- // computes the point coordinates in the camera frame and its 2D coordinates
- for (i = 0 ; i < 4 ; i++)
- point[i].track(cMo) ;
-
- // sets the desired position of the point
- vpFeaturePoint p[4] ;
- for (i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
-
- // sets the desired position of the feature point s*
- vpFeaturePoint pd[4] ;
-
- //Desired pose
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
-
- // Projection of the points
- for (int i = 0 ; i < 4 ; i++)
- point[i].track(cdMo);
-
- for (int i = 0 ; i < 4 ; i++)
- vpFeatureBuilder::create(pd[i], point[i]);
-
- // define the task
- // - we want an eye-in-hand control law
- // - articular velocity are computed
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::DESIRED) ;
-
- // - we want to see a point on a point
- for (i = 0 ; i < 4 ; i++)
- task.addFeature(p[i],pd[i]) ;
-
- // set the gain
- task.setLambda(0.8) ;
-
- // Declaration of the robot
- vpSimulatorViper850 robot(opt_display);
-
- // Initialise the robot and especially the camera
- robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA,vpCameraParameters::perspectiveProjWithoutDistortion);
- robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
-
- // Initialise the object for the display part
- robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
-
- // Initialise the position of the object relative to the pose of the robot's camera
- robot.initialiseObjectRelativeToCamera(cMo);
-
- // Set the desired position (for the display part)
- robot.setDesiredCameraPosition(cdMo);
-
- // Get the internal robot's camera parameters
- vpCameraParameters cam;
- robot.getCameraParameters(cam,Iint);
-
- if (opt_display)
- {
- //Get the internal view
- vpDisplay::display(Iint);
- robot.getInternalView(Iint);
- vpDisplay::flush(Iint);
- }
+ if (opt_display) {
+ displayInt.init(Iint,700,0, "Internal view") ;
+ }
- // Display task information
- task.print() ;
+ vpServo task;
- unsigned int iter=0 ;
- // loop
- while(iter++<500)
- {
- std::cout << "---------------------------------------------" << iter <<std::endl ;
- vpColVector v ;
+ std::cout << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << " Test program for vpServo " <<std::endl ;
+ std::cout << " Eye-in-hand task control, articular velocity are computed"
+ << std::endl ;
+ std::cout << " Simulation " << std::endl ;
+ std::cout << " task : servo 4 points " << std::endl ;
+ std::cout << "----------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
- //Get the Time at the beginning of the loop
- double t = vpTime::measureTimeMs();
+ // sets the initial camera location
+ vpHomogeneousMatrix cMo(-0.05,-0.05,0.7,
+ vpMath::rad(10), vpMath::rad(10), vpMath::rad(-30));
- //Get the current pose of the camera
- cMo = robot.get_cMo();
- if (iter==1) {
- std::cout <<"Initial robot position with respect to the object frame:\n";
- cMo.print();
- }
+ // sets the point coordinates in the object frame
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.045,-0.045,0) ;
+ point[3].setWorldCoordinates(-0.045,0.045,0) ;
+ point[2].setWorldCoordinates(0.045,0.045,0) ;
+ point[1].setWorldCoordinates(0.045,-0.045,0) ;
- // new point position
- for (i = 0 ; i < 4 ; i++)
- {
+ // computes the point coordinates in the camera frame and its 2D coordinates
+ for (unsigned int i = 0 ; i < 4 ; i++)
point[i].track(cMo) ;
- //retrieve x,y and Z of the vpPoint structure
- try {
- vpFeatureBuilder::create(p[i],point[i]) ;
- }
- catch(...)
- {
- break;
- }
- }
+
+ // sets the desired position of the point
+ vpFeaturePoint p[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(p[i],point[i]) ; //retrieve x,y and Z of the vpPoint structure
+
+ // sets the desired position of the feature point s*
+ vpFeaturePoint pd[4] ;
+
+ //Desired pose
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,0.8,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
+
+ // Projection of the points
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ point[i].track(cdMo);
+
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ vpFeatureBuilder::create(pd[i], point[i]);
+
+ // define the task
+ // - we want an eye-in-hand control law
+ // - articular velocity are computed
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::DESIRED) ;
+
+ // - we want to see a point on a point
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ task.addFeature(p[i],pd[i]) ;
+
+ // set the gain
+ task.setLambda(0.8) ;
+
+ // Declaration of the robot
+ vpSimulatorViper850 robot(opt_display);
+
+ // Initialise the robot and especially the camera
+ robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA,vpCameraParameters::perspectiveProjWithoutDistortion);
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
+
+ // Initialise the object for the display part
+ robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
+
+ // Initialise the position of the object relative to the pose of the robot's camera
+ robot.initialiseObjectRelativeToCamera(cMo);
+
+ // Set the desired position (for the display part)
+ robot.setDesiredCameraPosition(cdMo);
+
+ // Get the internal robot's camera parameters
+ vpCameraParameters cam;
+ robot.getCameraParameters(cam,Iint);
if (opt_display)
{
- // Get the internal view and display it
- vpDisplay::display(Iint) ;
+ //Get the internal view
+ vpDisplay::display(Iint);
robot.getInternalView(Iint);
vpDisplay::flush(Iint);
}
- if (opt_display && opt_click_allowed && iter == 1)
+ // Display task information
+ task.print() ;
+
+ unsigned int iter=0 ;
+ // loop
+ while(iter++<500)
{
- // suppressed for automate test
- std::cout << "Click in the internal view window to continue..." << std::endl;
- vpDisplay::getClick(Iint) ;
- }
+ std::cout << "---------------------------------------------" << iter <<std::endl ;
+ vpColVector v ;
- // compute the control law
- v = task.computeControlLaw() ;
+ //Get the Time at the beginning of the loop
+ double t = vpTime::measureTimeMs();
- // send the camera velocity to the controller
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+ //Get the current pose of the camera
+ cMo = robot.get_cMo();
- std::cout << "|| s - s* || " << ( task.getError() ).sumSquare() <<std::endl ;
+ if (iter==1) {
+ std::cout <<"Initial robot position with respect to the object frame:\n";
+ cMo.print();
+ }
- // The main loop has a duration of 10 ms at minimum
- vpTime::wait(t,10);
- }
+ // new point position
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ {
+ point[i].track(cMo) ;
+ //retrieve x,y and Z of the vpPoint structure
+ vpFeatureBuilder::create(p[i],point[i]) ;
+ }
+
+ if (opt_display)
+ {
+ // Get the internal view and display it
+ vpDisplay::display(Iint) ;
+ robot.getInternalView(Iint);
+ vpDisplay::flush(Iint);
+ }
- // Display task information
- task.print() ;
- task.kill();
+ if (opt_display && opt_click_allowed && iter == 1)
+ {
+ // suppressed for automate test
+ std::cout << "Click in the internal view window to continue..." << std::endl;
+ vpDisplay::getClick(Iint) ;
+ }
+
+ // compute the control law
+ v = task.computeControlLaw() ;
+
+ // send the camera velocity to the controller
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+ std::cout << "|| s - s* || " << ( task.getError() ).sumSquare() <<std::endl ;
+
+ // The main loop has a duration of 10 ms at minimum
+ vpTime::wait(t,10);
+ }
- std::cout <<"Final robot position with respect to the object frame:\n";
- cMo.print();
+ // Display task information
+ task.print() ;
+ task.kill();
- if (opt_display && opt_click_allowed)
- {
- // suppressed for automate test
- std::cout << "Click in the internal view window to end..." << std::endl;
- vpDisplay::getClick(Iint) ;
+ std::cout <<"Final robot position with respect to the object frame:\n";
+ cMo.print();
+
+ if (opt_display && opt_click_allowed)
+ {
+ // suppressed for automate test
+ std::cout << "Click in the internal view window to end..." << std::endl;
+ vpDisplay::getClick(Iint) ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/servo-afma4/CMakeLists.txt b/example/servo-afma4/CMakeLists.txt
index 33f25e0..d7be99e 100644
--- a/example/servo-afma4/CMakeLists.txt
+++ b/example/servo-afma4/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma4/moveAfma4.cpp b/example/servo-afma4/moveAfma4.cpp
index 3cb1cae..f889ed7 100644
--- a/example/servo-afma4/moveAfma4.cpp
+++ b/example/servo-afma4/moveAfma4.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: moveAfma4.cpp 4086 2013-02-02 07:26:19Z fspindle $
+ * $Id: moveAfma4.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -241,11 +241,12 @@ main(int argc, const char ** argv)
sleep(5) ;
std::cout << "The end" << std::endl;
+ return 0;
}
- catch (...) {
- vpERROR_TRACE(" Test failed") ;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
- return 0;
}
#else
int
diff --git a/example/servo-afma4/servoAfma4Point2DArtVelocity.cpp b/example/servo-afma4/servoAfma4Point2DArtVelocity.cpp
index 01f8f42..53763b0 100644
--- a/example/servo-afma4/servoAfma4Point2DArtVelocity.cpp
+++ b/example/servo-afma4/servoAfma4Point2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma4Point2DArtVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma4Point2DArtVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -101,40 +101,40 @@
int
main()
{
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
- // - the 6 mesured joint velocities (m/s, rad/s)
- // - the 6 mesured joint positions (m, rad)
- // - the 2 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
- logdirname ="/tmp/" + username;
-
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
+ try {
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed joint velocities (m/s, rad/s) to achieve the task
+ // - the 6 mesured joint velocities (m/s, rad/s)
+ // - the 6 mesured joint positions (m, rad)
+ // - the 2 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+ logdirname ="/tmp/" + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
- try {
// vpRobotAfma4 robot ;
vpRobotAfma4 robot ;
@@ -273,7 +273,7 @@ main()
// v[0], v[1], v[2] correspond to joint translation velocities in m/s
// v[3], v[4], v[5] correspond to joint rotation velocities in rad/s
flog << v[0] << " " << v[1] << " " << v[2] << " "
- << v[3] << " " << v[4] << " " << v[5] << " ";
+ << v[3] << " " << v[4] << " " << v[5] << " ";
// Get the measured joint velocities of the robot
vpColVector qvel;
@@ -284,7 +284,7 @@ main()
// - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
// velocities in rad/s
flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
- << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
+ << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
// Get the measured joint positions of the robot
vpColVector q;
@@ -295,7 +295,7 @@ main()
// - q[3], q[4], q[5] correspond to measured joint rotation
// positions in rad
flog << q[0] << " " << q[1] << " " << q[2] << " "
- << q[3] << " " << q[4] << " " << q[5] << " ";
+ << q[3] << " " << q[4] << " " << q[5] << " ";
// Save feature error (s-s*) for the feature point. For this feature
// point, we have 2 errors (along x and y axis). This error is expressed
@@ -313,11 +313,9 @@ main()
task.kill();
return 0;
}
- catch (...)
- {
- flog.close() ; // Close the log file
- vpERROR_TRACE(" Test failed") ;
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/servo-afma4/servoAfma4Point2DCamVelocity.cpp b/example/servo-afma4/servoAfma4Point2DCamVelocity.cpp
index 5a3499f..5549e73 100644
--- a/example/servo-afma4/servoAfma4Point2DCamVelocity.cpp
+++ b/example/servo-afma4/servoAfma4Point2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma4Point2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma4Point2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -98,41 +98,40 @@
int
main()
{
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
- // - the 6 mesured joint velocities (m/s, rad/s)
- // - the 6 mesured joint positions (m, rad)
- // - the 2 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
- logdirname ="/tmp/" + username;
-
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
+ try {
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
+ // - the 6 mesured joint velocities (m/s, rad/s)
+ // - the 6 mesured joint positions (m, rad)
+ // - the 2 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+ logdirname ="/tmp/" + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
- }
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
- try
- {
vpRobotAfma4 robot ;
vpServo task ;
@@ -170,7 +169,7 @@ main()
std::cout << "Click on a dot..." << std::endl;
dot.initTracking(I) ;
-
+
// Get the cog of the dot
vpImagePoint cog = dot.getCog();
@@ -241,7 +240,7 @@ main()
// v[0], v[1], v[2] correspond to camera translation velocities in m/s
// v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
flog << v[0] << " " << v[1] << " " << v[2] << " "
- << v[3] << " " << v[4] << " " << v[5] << " ";
+ << v[3] << " " << v[4] << " " << v[5] << " ";
// Get the measured joint velocities of the robot
vpColVector qvel;
@@ -252,7 +251,7 @@ main()
// - qvel[3], qvel[4], qvel[5] correspond to measured joint rotation
// velocities in rad/s
flog << qvel[0] << " " << qvel[1] << " " << qvel[2] << " "
- << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
+ << qvel[3] << " " << qvel[4] << " " << qvel[5] << " ";
// Get the measured joint positions of the robot
vpColVector q;
@@ -263,7 +262,7 @@ main()
// - q[3], q[4], q[5] correspond to measured joint rotation
// positions in rad
flog << q[0] << " " << q[1] << " " << q[2] << " "
- << q[3] << " " << q[4] << " " << q[5] << " ";
+ << q[3] << " " << q[4] << " " << q[5] << " ";
// Save feature error (s-s*) for the feature point. For this feature
// point, we have 2 errors (along x and y axis). This error is expressed
@@ -285,11 +284,9 @@ main()
return 0;
}
- catch (...)
- {
- flog.close() ; // Close the log file
- vpERROR_TRACE(" Test failed") ;
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/servo-afma4/servoAfma4Point2DCamVelocityKalman.cpp b/example/servo-afma4/servoAfma4Point2DCamVelocityKalman.cpp
index 17b8610..05a8ec8 100644
--- a/example/servo-afma4/servoAfma4Point2DCamVelocityKalman.cpp
+++ b/example/servo-afma4/servoAfma4Point2DCamVelocityKalman.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma4Point2DCamVelocityKalman.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma4Point2DCamVelocityKalman.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -194,53 +194,53 @@ bool getOptions(int argc, const char **argv, KalmanType &kalman,
int
main(int argc, const char ** argv)
{
- KalmanType opt_kalman = K_NONE;
- vpAdaptiveGain lambda; // Gain de la commande
- bool doAdaptativeGain = true; // Compute adaptative gain
- lambda.initStandard(4, 0.2, 40);
- int opt_cam_frequency = 60; // 60 Hz
-
- // Read the command line options
- if (getOptions(argc, argv, opt_kalman, doAdaptativeGain, lambda) == false) {
- return (-1);
- }
-
- // Log file creation in /tmp/$USERNAME/log.dat
- // This file contains by line:
- // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
- // - the 6 mesured joint velocities (m/s, rad/s)
- // - the 6 mesured joint positions (m, rad)
- // - the 2 values of s - s*
- std::string username;
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Create a log filename to save velocities...
- std::string logdirname;
- logdirname ="/tmp/" + username;
-
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(logdirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(logdirname);
+ try {
+ KalmanType opt_kalman = K_NONE;
+ vpAdaptiveGain lambda; // Gain de la commande
+ bool doAdaptativeGain = true; // Compute adaptative gain
+ lambda.initStandard(4, 0.2, 40);
+ int opt_cam_frequency = 60; // 60 Hz
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_kalman, doAdaptativeGain, lambda) == false) {
+ return (-1);
}
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << logdirname << std::endl;
- exit(-1);
+
+ // Log file creation in /tmp/$USERNAME/log.dat
+ // This file contains by line:
+ // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
+ // - the 6 mesured joint velocities (m/s, rad/s)
+ // - the 6 mesured joint positions (m, rad)
+ // - the 2 values of s - s*
+ std::string username;
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Create a log filename to save velocities...
+ std::string logdirname;
+ logdirname ="/tmp/" + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(logdirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(logdirname);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << logdirname << std::endl;
+ exit(-1);
+ }
}
- }
- std::string logfilename;
- logfilename = logdirname + "/log.dat";
+ std::string logfilename;
+ logfilename = logdirname + "/log.dat";
- // Open the log file name
- std::ofstream flog(logfilename.c_str());
+ // Open the log file name
+ std::ofstream flog(logfilename.c_str());
+
+ vpServo task ;
- vpServo task ;
-
- try {
vpImage<unsigned char> I ;
vp1394TwoGrabber g(false);
g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
@@ -271,16 +271,16 @@ main(int argc, const char ** argv)
std::cout << "Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
std::cout << "Task : servo a point \n" << std::endl ;
- // Kalman filtering
+ // Kalman filtering
switch(opt_kalman) {
- case K_NONE:
+ case K_NONE:
std::cout << "Servo with no target motion compensation (see -K option)\n";
break;
case K_VELOCITY:
std::cout << "Servo with target motion compensation using a Kalman filter\n"
<< "with constant velocity modelization (see -K option)\n";
break;
- case K_ACCELERATION:
+ case K_ACCELERATION:
std::cout << "Servo with target motion compensation using a Kalman filter\n"
<< "with constant acceleration modelization (see -K option)\n";
break;
@@ -309,7 +309,7 @@ main(int argc, const char ** argv)
// Sets the current position of the visual feature
vpFeaturePoint p ;
- vpFeatureBuilder::create(p, cam, dot) ;
+ vpFeatureBuilder::create(p, cam, dot) ;
// Sets the desired position of the visual feature
vpFeaturePoint pd ;
@@ -336,7 +336,7 @@ main(int argc, const char ** argv)
//!Initialize filter
vpLinearKalmanFilterInstantiation kalman;
-
+
// Initialize the kalman filter
unsigned int nsignal = 2; // The two values of dedt
double rho = 0.3;
@@ -350,9 +350,9 @@ main(int argc, const char ** argv)
kalman.setStateModel(vpLinearKalmanFilterInstantiation::stateConstVelWithColoredNoise_MeasureVel);
state_size = kalman.getStateSize();
sigma_state.resize(state_size*nsignal);
- sigma_state = 0.00001; // Same state variance for all signals
+ sigma_state = 0.00001; // Same state variance for all signals
sigma_measure = 0.05; // Same measure variance for all the signals
- double dummy = 0; // non used parameter dt for the velocity state model
+ double dummy = 0; // non used parameter dt for the velocity state model
kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
break;
@@ -381,15 +381,15 @@ main(int argc, const char ** argv)
vpColVector v(6), v1(6), v2(6); // robot velocities
//task error
vpColVector err(2), err_0(2), err_1(2);
- vpColVector dedt_filt(2), dedt_mes(2);
+ vpColVector dedt_filt(2), dedt_mes(2);
- t_1 = vpTime::measureTimeMs(); // t_1: time at previous iter
+ t_1 = vpTime::measureTimeMs(); // t_1: time at previous iter
Tv_0 = 0;
//
- // Warning: In all varaible names,
+ // Warning: In all varaible names,
// _0 means the value for the current iteration (t=0)
// _1 means the value for the previous iteration (t=-1)
// _2 means the value for the previous previous iteration (t=-2)
@@ -426,7 +426,7 @@ main(int argc, const char ** argv)
//!-------------------- Update displacements and time ------------------
//----------------------------------------------------------------------
vm_0 = vm;
-
+
// Update current loop time and previous one
Tv_1 = Tv_0;
Tv_0 = Tv;
@@ -437,13 +437,13 @@ main(int argc, const char ** argv)
err = task.error;
//!terme correctif : de/dt = Delta s / Delta t - L*vc
- if (iter==0){
+ if (iter==0){
err_0 = 0;
err_1 = 0;
dedt_mes = 0;
dedt_filt = 0;
}
- else{
+ else{
err_1 = err_0;
err_0 = err;
@@ -457,13 +457,13 @@ main(int argc, const char ** argv)
//----------------------------------------------------------------------
//----------------------- Kalman Filter Equations ----------------------
//----------------------------------------------------------------------
- // Kalman filtering
+ // Kalman filtering
switch(opt_kalman) {
- case K_NONE:
+ case K_NONE:
dedt_filt = 0;
break;
case K_VELOCITY:
- case K_ACCELERATION:
+ case K_ACCELERATION:
kalman.filter(dedt_mes);
for (unsigned int i=0; i < nsignal; i++) {
dedt_filt[i] = kalman.Xest[i*state_size];
@@ -477,15 +477,15 @@ main(int argc, const char ** argv)
// std::cout << "task J1p: " << J1p.t() << std::endl ;
// std::cout << "dedt_filt: " << dedt_filt.t() << std::endl ;
- v = v1 + v2;
-
+ v = v1 + v2;
+
// Display the current and desired feature points in the image display
vpServoDisplay::display(task, cam, I) ;
// std::cout << "v2 : " << v2.t() << std::endl ;
// std::cout << "v1 : " << v1.t() << std::endl ;
-
+
// std::cout << "v : " << v.t();
// Apply the camera velocities to the robot
@@ -498,15 +498,15 @@ main(int argc, const char ** argv)
// v[0], v[1], v[2] correspond to camera translation velocities in m/s
// v[3], v[4], v[5] correspond to camera rotation velocities in rad/s
flog << v[0] << " " << v[1] << " " << v[2] << " "
- << v[3] << " " << v[4] << " " << v[5] << " ";
+ << v[3] << " " << v[4] << " " << v[5] << " ";
// Save feature error (s-s*) for the feature point. For this feature
// point, we have 2 errors (along x and y axis). This error is expressed
// in meters in the camera frame
- flog << task.error[0] << " " << task.error[1] << " ";
+ flog << task.error[0] << " " << task.error[1] << " ";
// Save feature error (s-s*) in pixels in the image.
- flog << cog.get_u()-cam.get_u0() << " "
+ flog << cog.get_u()-cam.get_u0() << " "
<< cog.get_v()-cam.get_v0() << " ";
// Save de/dt
@@ -534,15 +534,11 @@ main(int argc, const char ** argv)
return 0;
}
- catch (...) {
- flog.close() ; // Close the log file
-
- // Kill the task
- task.kill();
-
- vpERROR_TRACE(" Test failed") ;
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ return 1;
}
+
}
diff --git a/example/servo-afma6/CMakeLists.txt b/example/servo-afma6/CMakeLists.txt
index e32c378..f010c4a 100644
--- a/example/servo-afma6/CMakeLists.txt
+++ b/example/servo-afma6/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma62DhalfCamVelocity.cpp b/example/servo-afma6/servoAfma62DhalfCamVelocity.cpp
index d7a0f24..9180438 100644
--- a/example/servo-afma6/servoAfma62DhalfCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma62DhalfCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma62DhalfCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma62DhalfCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Cylinder2DCamVelocity.cpp b/example/servo-afma6/servoAfma6Cylinder2DCamVelocity.cpp
index fcfecf9..a45fed9 100644
--- a/example/servo-afma6/servoAfma6Cylinder2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Cylinder2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Cylinder2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6Cylinder2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp b/example/servo-afma6/servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp
index 77436b2..4442911 100644
--- a/example/servo-afma6/servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp
+++ b/example/servo-afma6/servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp 4107 2013-02-06 10:04:49Z fspindle $
+ * $Id: servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Ellipse2DCamVelocity.cpp b/example/servo-afma6/servoAfma6Ellipse2DCamVelocity.cpp
index 8452d4b..1accd1a 100644
--- a/example/servo-afma6/servoAfma6Ellipse2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Ellipse2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Ellipse2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6Ellipse2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6FourPoints2DArtVelocity.cpp b/example/servo-afma6/servoAfma6FourPoints2DArtVelocity.cpp
index 42d959e..5e1c2cd 100644
--- a/example/servo-afma6/servoAfma6FourPoints2DArtVelocity.cpp
+++ b/example/servo-afma6/servoAfma6FourPoints2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6FourPoints2DArtVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6FourPoints2DArtVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp b/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp
index 952c098..debf5dd 100644
--- a/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp
+++ b/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp b/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp
index 0fa9f32..d59457f 100644
--- a/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp
+++ b/example/servo-afma6/servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Line2DCamVelocity.cpp b/example/servo-afma6/servoAfma6Line2DCamVelocity.cpp
index 1ea5139..3acfdff 100644
--- a/example/servo-afma6/servoAfma6Line2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Line2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Line2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6Line2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Point2DArtVelocity.cpp b/example/servo-afma6/servoAfma6Point2DArtVelocity.cpp
index 43f0aa4..7f0e31d 100644
--- a/example/servo-afma6/servoAfma6Point2DArtVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Point2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Point2DArtVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6Point2DArtVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Point2DCamVelocity.cpp b/example/servo-afma6/servoAfma6Point2DCamVelocity.cpp
index 695a3dd..6ed0b84 100644
--- a/example/servo-afma6/servoAfma6Point2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Point2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Point2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6Point2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Points2DCamVelocityEyeToHand.cpp b/example/servo-afma6/servoAfma6Points2DCamVelocityEyeToHand.cpp
index 1858d2f..f42ea73 100644
--- a/example/servo-afma6/servoAfma6Points2DCamVelocityEyeToHand.cpp
+++ b/example/servo-afma6/servoAfma6Points2DCamVelocityEyeToHand.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6Points2DCamVelocityEyeToHand.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: servoAfma6Points2DCamVelocityEyeToHand.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6Segment2DCamVelocity.cpp b/example/servo-afma6/servoAfma6Segment2DCamVelocity.cpp
index 867f09f..c151bde 100644
--- a/example/servo-afma6/servoAfma6Segment2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6Segment2DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoAfma6Point2DCamVelocity.cpp 3616 2012-03-09 14:31:52Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6SquareLines2DCamVelocity.cpp b/example/servo-afma6/servoAfma6SquareLines2DCamVelocity.cpp
index 10fae34..663fa0f 100644
--- a/example/servo-afma6/servoAfma6SquareLines2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6SquareLines2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6SquareLines2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6SquareLines2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-afma6/servoAfma6TwoLines2DCamVelocity.cpp b/example/servo-afma6/servoAfma6TwoLines2DCamVelocity.cpp
index 7bb5006..45f8bd8 100644
--- a/example/servo-afma6/servoAfma6TwoLines2DCamVelocity.cpp
+++ b/example/servo-afma6/servoAfma6TwoLines2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoAfma6TwoLines2DCamVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoAfma6TwoLines2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-biclops/CMakeLists.txt b/example/servo-biclops/CMakeLists.txt
index 62e38ba..0c420c6 100644
--- a/example/servo-biclops/CMakeLists.txt
+++ b/example/servo-biclops/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-biclops/moveBiclops.cpp b/example/servo-biclops/moveBiclops.cpp
index a0bc6c6..c02ed03 100644
--- a/example/servo-biclops/moveBiclops.cpp
+++ b/example/servo-biclops/moveBiclops.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: moveBiclops.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: moveBiclops.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp b/example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp
index bc30fe2..8450bd3 100644
--- a/example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp
+++ b/example/servo-biclops/servoBiclopsPoint2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoBiclopsPoint2DArtVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoBiclopsPoint2DArtVelocity.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,14 +69,13 @@
#include <visp/vpDebug.h> // Debug trace
#include <signal.h>
#include <stdlib.h>
-#if ( defined (VISP_HAVE_BICLOPS) && (defined (VISP_HAVE_DC1394_2) /*|| defined (VISP_HAVE_DC1394_1)*/ || defined(VISP_HAVE_DIRECTSHOW)) )
+#if ( defined (VISP_HAVE_BICLOPS) && (defined (VISP_HAVE_DC1394_2) || defined(VISP_HAVE_DIRECTSHOW)) )
#ifdef VISP_HAVE_PTHREAD
# include <pthread.h>
#endif
#include <visp/vp1394TwoGrabber.h>
-//#include <visp/vp1394Grabber.h>
#include <visp/vpDirectShowGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
@@ -224,9 +223,9 @@ main(int argc, const char ** argv)
std::string opt_debugdir;
// Set the default output path
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
opt_debugdir = "/tmp";
-#elif WIN32
+#elif defined(_WIN32)
opt_debugdir = "C:/temp";
#endif
@@ -279,8 +278,6 @@ main(int argc, const char ** argv)
#if defined VISP_HAVE_DC1394_2
vp1394TwoGrabber g;
- // #elif defined VISP_HAVE_DC1394_1
- // vp1394Grabber g;
#elif defined VISP_HAVE_DIRECTSHOW
vpDirectShowGrabber g;
#endif
@@ -302,11 +299,10 @@ main(int argc, const char ** argv)
vpDisplayX display(I, 100, 100,"Display X...") ;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display(I, 100, 100,"Display GTK...") ;
-#elif defined WIN32
+#elif defined(_WIN32)
vpDisplayGDI display(I, 100, 100,"Display GDI...") ;
#endif
-
try{
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
diff --git a/example/servo-cycab/CMakeLists.txt b/example/servo-cycab/CMakeLists.txt
deleted file mode 100644
index 184a92a..0000000
--- a/example/servo-cycab/CMakeLists.txt
+++ /dev/null
@@ -1,60 +0,0 @@
-#############################################################################
-#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
-#
-# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
-#
-# This software is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# ("GPL") version 2 as published by the Free Software Foundation.
-# See the file LICENSE.txt at the root directory of this source
-# distribution for additional information about the GNU GPL.
-#
-# For using ViSP with software that can not be combined with the GNU
-# GPL, please contact INRIA about acquiring a ViSP Professional
-# Edition License.
-#
-# See http://www.irisa.fr/lagadic/visp/visp.html for more information.
-#
-# This software was developed at:
-# INRIA Rennes - Bretagne Atlantique
-# Campus Universitaire de Beaulieu
-# 35042 Rennes Cedex
-# France
-# http://www.irisa.fr/lagadic
-#
-# If you have questions regarding the use of this file, please contact
-# INRIA at visp at inria.fr
-#
-# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
-# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
-#
-# Description:
-# ViSP configuration file.
-#
-# Authors:
-# Fabien Spindler
-#
-#############################################################################
-
-# SOURCE variable corresponds to the list of all the sources to build binaries.
-# The generate binary comes by removing the .cpp extension to
-# the source name.
-#
-# If you want to add/remove a source, modify here
-SET (SOURCE
- servoCycab.cpp
- servoCycabBasic.cpp
-)
-
-# rule for binary build
-FOREACH(source ${SOURCE})
- # Compute the name of the binary to create
- GET_FILENAME_COMPONENT(binary ${source} NAME_WE)
-
- # From source compile the binary and add link rules
- ADD_EXECUTABLE(${binary} ${source})
- TARGET_LINK_LIBRARIES(${binary} ${VISP_INTERN_LIBRARY} ${VISP_EXTERN_LIBRARIES})
-ENDFOREACH(source)
-
diff --git a/example/servo-cycab/servoCycab.cpp b/example/servo-cycab/servoCycab.cpp
deleted file mode 100644
index 4d62126..0000000
--- a/example/servo-cycab/servoCycab.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- * $Id: servoCycab.cpp 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Send a command to the car-like Cycab mobile robot.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-/*!
- \example servoCycab.cpp
-
- Send a command to the car-like Cycab mobile robot.
-
-*/
-
-
-
-#include <visp/vpConfig.h>
-#include <iostream>
-#include <cmath> // std::fabs
-#include <limits> // numeric_limits
-
-#include <signal.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-using namespace std;
-
-#ifdef VISP_HAVE_CYCAB
-#include <visp/vpRobotCycab.h>
-#include <visp/vpMath.h>
-#include <visp/vpTime.h>
-
-
-vpRobotCycab *cycab = NULL;
-bool bFinish = false;
-
-bool end = false;
-
-// The first CTRL-C stop properly the car by decreasing the velocity
-// and the steering angle, the second CTRL-C ends the execution
-void sighdl(int n)
-{
- printf("Received signal %d\n",n);
- bFinish=true;
- end = true;
-}
-
-#define MAXV 1.5 // velocity in m/S
-#define MAXPHI 20.0 // front steering angle in deg
-#define MAX_ACC_V 6 // m/s^2
-#define MAX_VEL_PHI 4 // rad/s
-
-int main()
-{
- double v, phi; // Command to send
- double vm, phim; // Measures
- int kv,kphi;
-
- cycab = new vpRobotCycab();
-
- kv = kphi = 1;
- v = 0.0;
- phi = 0.0;
- signal(SIGINT,sighdl);
- signal(SIGTERM,sighdl);
- signal(SIGPIPE,sighdl);
-
- double t0 = vpTime::measureTimeMs();
- double t1 = vpTime::measureTimeMs();
- double tprev;
- bool ctrc = false;
- double timestamp;
-
-
- while (!end) {
- tprev = t1;
- t1 = vpTime::measureTimeMs();
- // Measures the velocity and the front steering angle from odometry
- cycab->getOdometry(vm, phim, timestamp); // measured values from odometry
-
- printf("State: t=%.1f s v=%f m/s and phi=%f deg\n\t",
- (timestamp-t0)/1000, vm, vpMath::deg(phim));
-
- // Compute the command to apply to the car
- if (1) {
- v+=kv*0.002;if (fabs(v)>=MAXV) kv = -1 * kv;
- phi+=kphi*0.002;if (fabs(phi)>= vpMath::rad(MAXPHI)) kphi = -1 * kphi;
- }
- else {
- v=0.1;phi=0;
- }
-
- // Check is CTRL-C is requested
- if (bFinish) {
- // we stop the Cycab by decreasing the velocity and the steering
- // angle to zero
- std::cout << "Cycab stop requested" << std::endl;
- // Velocity decrease to zero
- double sign_v = 0;
- //if (vm != 0.)
- if (std::fabs(vm) > std::numeric_limits<double>::epsilon())
- sign_v = fabs(vm)/vm;
- v = vm - MAX_ACC_V*(t1-tprev)/1000*sign_v;
- if (fabs(v) < 0.1) v = 0;
-
- // Steering decrease to zero
- double sign_phi = 0;
- //if (phim != 0.)
- if (std::fabs(phim) > std::numeric_limits<double>::epsilon())
- sign_phi = fabs(phim)/phim;
- phi = phim - MAX_VEL_PHI*(t1-tprev)/1000*sign_phi;
- if (fabs(phi) < vpMath::rad(5)) phi = 0;
-
- // printf("stop requested: vm %f v %f phim %f phi %f sign_phi %f\n",
- // vm, v, phim, phi, sign_phi);
- //v = 0;
- //phi = 0;
- }
-
- // Send the command
- printf("Send : v %f m/s and phi %f deg\n", v, vpMath::deg(phi));
- cycab->setCommand(v, phi);
-
- vpTime::wait(10);
-
- if (end && (!ctrc)) { end = false; ctrc=true;}
- }
- std::cout << "The end" << std::endl;
- return 0;
-}
-
-#else // VISP_HAVE_CYCAB
-int main()
-{
- cout << "Sorry no acces to the cycab" << endl;
-}
-#endif //VISP_HAVE_CYCAB
-
diff --git a/example/servo-cycab/servoCycabBasic.cpp b/example/servo-cycab/servoCycabBasic.cpp
deleted file mode 100644
index 2abfd9d..0000000
--- a/example/servo-cycab/servoCycabBasic.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- * $Id: servoCycabBasic.cpp 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Send a command to the car-like Cycab mobile robot.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-/*!
- \example servoCycabBasic.cpp
-
- Send a command to the car-like Cycab mobile robot.
-
-*/
-
-
-
-#include "visp/vpConfig.h"
-#include "visp/vpRobotCycab.h"
-#include "visp/vpMath.h"
-#include <iostream>
-#ifdef VISP_HAVE_CYCAB
-
-int main()
-{
- try {
- double v = 0.1, phi = vpMath::rad(0);
- double x, y;
- double x_min=2000, x_max=0, y_min=2000, y_max=0;
-
- vpRobotCycab robot;
-
- std::cout << "Send the command v: " << v << " m/s and phi: "
- << vpMath::deg(phi) << " deg" << std::endl;
- while (true) {
-
- robot.setCommand(v, phi);
- robot.getJoystickPosition(x, y);
- //std::cout << "x: " << x << " y: " << y << std::endl;
- if (x < x_min) x_min = x;
- if (y < y_min) y_min = y;
- if (x > x_max) x_max = x;
- if (y > y_max) y_max = y;
- std::cout << "x_min: " << x_min << " x_max: " << x_max
- << " y_min: " << y_min << " y_max: " << y_max
- << std::endl;
-
- usleep(10000);
- }
- }
- catch(...) {
- std::cerr << "An exception was catched" << std::endl;
-
- return 1;
- }
-
- return 0;
-}
-
-#else // VISP_HAVE_CYCAB
-int main()
-{
- std::cout << "Sorry, you don't have access to the Cycab car-like mobile robot."
- << std::endl;
-}
-#endif // VISP_HAVE_CYCAB
-
diff --git a/example/servo-pioneer/CMakeLists.txt b/example/servo-pioneer/CMakeLists.txt
index c7e4908..cbdfedf 100644
--- a/example/servo-pioneer/CMakeLists.txt
+++ b/example/servo-pioneer/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-pioneer/movePioneer.cpp b/example/servo-pioneer/movePioneer.cpp
index 8a80def..31bb006 100644
--- a/example/servo-pioneer/movePioneer.cpp
+++ b/example/servo-pioneer/movePioneer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: movePioneer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: movePioneer.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,43 +69,44 @@ int main()
*/
int main(int argc, char **argv)
{
- std::cout << "\nWARNING: this program does no sensing or avoiding of obstacles, \n"
- "the robot WILL collide with any objects in the way! Make sure the \n"
- "robot has approximately 3 meters of free space on all sides.\n"
- << std::endl;
+ try {
+ std::cout << "\nWARNING: this program does no sensing or avoiding of obstacles, \n"
+ "the robot WILL collide with any objects in the way! Make sure the \n"
+ "robot has approximately 3 meters of free space on all sides.\n"
+ << std::endl;
- vpRobotPioneer robot;
+ vpRobotPioneer robot;
- ArArgumentParser parser(&argc, argv);
- parser.loadDefaultArguments();
+ ArArgumentParser parser(&argc, argv);
+ parser.loadDefaultArguments();
- // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
- // and then loads parameter files for this robot.
- ArRobotConnector robotConnector(&parser, &robot);
- if(!robotConnector.connectRobot())
- {
- ArLog::log(ArLog::Terse, "Could not connect to the robot.");
- if(parser.checkHelpAndWarnUnparsed())
+ // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
+ // and then loads parameter files for this robot.
+ ArRobotConnector robotConnector(&parser, &robot);
+ if(!robotConnector.connectRobot())
+ {
+ ArLog::log(ArLog::Terse, "Could not connect to the robot.");
+ if(parser.checkHelpAndWarnUnparsed())
+ {
+ Aria::logOptions();
+ Aria::exit(1);
+ }
+ }
+ if (!Aria::parseArgs())
{
Aria::logOptions();
- Aria::exit(1);
+ Aria::shutdown();
+ return false;
}
- }
- if (!Aria::parseArgs())
- {
- Aria::logOptions();
- Aria::shutdown();
- return false;
- }
-
- std::cout << "Robot connected" << std::endl;
- robot.useSonar(false); // disable the sonar device usage
- // Robot velocities
- vpColVector v(2), v_mes(2);
+ std::cout << "Robot connected" << std::endl;
+ robot.useSonar(false); // disable the sonar device usage
+
+ // Robot velocities
+ vpColVector v(2), v_mes(2);
- for (int i=0; i < 100; i++)
- {
+ for (int i=0; i < 100; i++)
+ {
double t = vpTime::measureTimeMs();
v = 0;
@@ -120,28 +121,33 @@ int main(int argc, char **argv)
std::cout << "Battery=" << robot.getBatteryVoltage() << std::endl;
vpTime::wait(t, 40);
- }
+ }
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
- robot.lock();
- robot.stop();
- robot.unlock();
- ArUtil::sleep(1000);
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
+ robot.lock();
+ robot.stop();
+ robot.unlock();
+ ArUtil::sleep(1000);
- robot.lock();
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
- robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
- robot.unlock();
+ robot.lock();
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
+ robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getRotVel(), robot.getBatteryVoltage());
+ robot.unlock();
- std::cout << "Ending robot thread..." << std::endl;
- robot.stopRunning();
+ std::cout << "Ending robot thread..." << std::endl;
+ robot.stopRunning();
- // wait for the thread to stop
- robot.waitForRunExit();
+ // wait for the thread to stop
+ robot.waitForRunExit();
- // exit
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
- return 0;
+ // exit
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#endif
diff --git a/example/servo-pioneer/servoPioneerPanSegment3D.cpp b/example/servo-pioneer/servoPioneerPanSegment3D.cpp
index 4b508ec..8b3296e 100644
--- a/example/servo-pioneer/servoPioneerPanSegment3D.cpp
+++ b/example/servo-pioneer/servoPioneerPanSegment3D.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoPioneerPanSegment3D.cpp 4258 2013-05-15 15:54:05Z fspindle $
+ * $Id: servoPioneerPanSegment3D.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -86,326 +86,331 @@ int main(int argc, char **argv)
{
#if defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
- vpImage<unsigned char> I; // Create a gray level image container
- double lambda = 0.1;
- // Scale parameter used to estimate the depth Z of the blob from its surface
- //double coef = 0.9/14.85; // At 0.9m, the blob has a surface of 14.85 (Logitec sphere)
- double coef = 1.2/13.0; // At 1m, the blob has a surface of 11.3 (AVT Pike 032C)
- double L = 0.21; // 3D horizontal segment length
- double Z_d = 0.8; // Desired distance along Z between camera and segment
- bool normalized = true; // segment normilized features are used
-
- // Warning: To have a non singular task of rank 3, Y_d should be different from 0 so that
- // the optical axis doesn't intersect the horizontal segment
- double Y_d = -.11; // Desired distance along Y between camera and segment.
- vpColVector qm(2); // Measured head position
- qm = 0;
- double qm_pan = 0; // Measured pan position (tilt is not handled in that example)
+ try {
+ vpImage<unsigned char> I; // Create a gray level image container
+ double lambda = 0.1;
+ // Scale parameter used to estimate the depth Z of the blob from its surface
+ //double coef = 0.9/14.85; // At 0.9m, the blob has a surface of 14.85 (Logitec sphere)
+ double coef = 1.2/13.0; // At 1m, the blob has a surface of 11.3 (AVT Pike 032C)
+ double L = 0.21; // 3D horizontal segment length
+ double Z_d = 0.8; // Desired distance along Z between camera and segment
+ bool normalized = true; // segment normilized features are used
+
+ // Warning: To have a non singular task of rank 3, Y_d should be different from 0 so that
+ // the optical axis doesn't intersect the horizontal segment
+ double Y_d = -.11; // Desired distance along Y between camera and segment.
+ vpColVector qm(2); // Measured head position
+ qm = 0;
+ double qm_pan = 0; // Measured pan position (tilt is not handled in that example)
#ifdef USE_REAL_ROBOT
- // Initialize the biclops head
-
- vpRobotBiclops biclops("/usr/share/BiclopsDefault.cfg");
- biclops.setDenavitHartenbergModel(vpBiclops::DH1);
-
- // Move to the initial position
- vpColVector q(2);
-
- q=0;
-// q[0] = vpMath::rad(63);
-// q[1] = vpMath::rad(12); // introduce a tilt angle to compensate camera sphere tilt so that the camera is parallel to the plane
-
- biclops.setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
- biclops.setPosition( vpRobot::ARTICULAR_FRAME, q );
- //biclops.setPositioningVelocity(50);
- biclops.getPosition(vpRobot::ARTICULAR_FRAME, qm);
- qm_pan = qm[0];
-
- // Now the head will be controlled in velocity
- biclops.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
-
- // Initialize the pioneer robot
- vpRobotPioneer pioneer;
- ArArgumentParser parser(&argc, argv);
- parser.loadDefaultArguments();
-
- // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
- // and then loads parameter files for this robot.
- ArRobotConnector robotConnector(&parser, &pioneer);
- if(!robotConnector.connectRobot())
- {
- ArLog::log(ArLog::Terse, "Could not connect to the pioneer robot.");
- if(parser.checkHelpAndWarnUnparsed())
+ // Initialize the biclops head
+
+ vpRobotBiclops biclops("/usr/share/BiclopsDefault.cfg");
+ biclops.setDenavitHartenbergModel(vpBiclops::DH1);
+
+ // Move to the initial position
+ vpColVector q(2);
+
+ q=0;
+ // q[0] = vpMath::rad(63);
+ // q[1] = vpMath::rad(12); // introduce a tilt angle to compensate camera sphere tilt so that the camera is parallel to the plane
+
+ biclops.setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
+ biclops.setPosition( vpRobot::ARTICULAR_FRAME, q );
+ //biclops.setPositioningVelocity(50);
+ biclops.getPosition(vpRobot::ARTICULAR_FRAME, qm);
+ qm_pan = qm[0];
+
+ // Now the head will be controlled in velocity
+ biclops.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;
+
+ // Initialize the pioneer robot
+ vpRobotPioneer pioneer;
+ ArArgumentParser parser(&argc, argv);
+ parser.loadDefaultArguments();
+
+ // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
+ // and then loads parameter files for this robot.
+ ArRobotConnector robotConnector(&parser, &pioneer);
+ if(!robotConnector.connectRobot())
+ {
+ ArLog::log(ArLog::Terse, "Could not connect to the pioneer robot.");
+ if(parser.checkHelpAndWarnUnparsed())
+ {
+ Aria::logOptions();
+ Aria::exit(1);
+ }
+ }
+ if (!Aria::parseArgs())
{
Aria::logOptions();
- Aria::exit(1);
+ Aria::shutdown();
+ return false;
}
- }
- if (!Aria::parseArgs())
- {
- Aria::logOptions();
- Aria::shutdown();
- return false;
- }
- pioneer.useSonar(false); // disable the sonar device usage
+ pioneer.useSonar(false); // disable the sonar device usage
- // Wait 3 sec to be sure that the low level Aria thread used to control
- // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
- // between the velocity send to the robot and the velocity that is really applied
- // to the wheels.
- sleep(3);
+ // Wait 3 sec to be sure that the low level Aria thread used to control
+ // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
+ // between the velocity send to the robot and the velocity that is really applied
+ // to the wheels.
+ sleep(3);
- std::cout << "Pioneer robot connected" << std::endl;
+ std::cout << "Pioneer robot connected" << std::endl;
#endif
- vpPioneerPan robot_pan; // Generic robot that computes the velocities for the pioneer and the biclops head
+ vpPioneerPan robot_pan; // Generic robot that computes the velocities for the pioneer and the biclops head
- // Camera parameters. In this experiment we don't need a precise calibration of the camera
- vpCameraParameters cam;
+ // Camera parameters. In this experiment we don't need a precise calibration of the camera
+ vpCameraParameters cam;
- // Create the camera framegrabber
+ // Create the camera framegrabber
#if defined(VISP_HAVE_V4L2)
- // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
- vpV4l2Grabber g;
- g.setScale(1);
- g.setInput(0);
- g.setDevice("/dev/video1");
- g.open(I);
- // Logitec sphere parameters
- cam.initPersProjWithoutDistortion(558, 555, 312, 210);
+ // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
+ vpV4l2Grabber g;
+ g.setScale(1);
+ g.setInput(0);
+ g.setDevice("/dev/video1");
+ g.open(I);
+ // Logitec sphere parameters
+ cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_DC1394_2)
- // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
- vp1394TwoGrabber g(false);
- g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
- g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
+ vp1394TwoGrabber g(false);
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#elif defined(VISP_HAVE_CMU1394)
- // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
- vp1394CMUGrabber g;
- g.setVideoMode(0, 5); // 640x480 MONO8
- g.setFramerate(4); // 30 Hz
- g.open(I);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
+ vp1394CMUGrabber g;
+ g.setVideoMode(0, 5); // 640x480 MONO8
+ g.setFramerate(4); // 30 Hz
+ g.open(I);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#endif
- // Acquire an image from the grabber
- g.acquire(I);
+ // Acquire an image from the grabber
+ g.acquire(I);
- // Create an image viewer
+ // Create an image viewer
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 10, 10, "Current frame");
+ vpDisplayX d(I, 10, 10, "Current frame");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 10, 10, "Current frame");
+ vpDisplayGDI d(I, 10, 10, "Current frame");
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- // The 3D segment consists in two horizontal dots
- vpDot2 dot[2];
- for (int i=0; i <2; i++)
- {
- dot[i].setGraphics(true);
- dot[i].setComputeMoments(true);
- dot[i].setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
- dot[i].setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
- dot[i].setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
- dot[i].initTracking(I);
+ vpDisplay::display(I);
vpDisplay::flush(I);
- }
- vpServo task;
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
- task.setLambda(lambda) ;
- vpVelocityTwistMatrix cVe ; // keep to identity
- cVe = robot_pan.get_cVe() ;
- task.set_cVe(cVe) ;
-
- std::cout << "cVe: \n" << cVe << std::endl;
-
- vpMatrix eJe;
-
- // Update the robot jacobian that depends on the pan position
- robot_pan.set_eJe(qm_pan);
- // Get the robot jacobian
- eJe = robot_pan.get_eJe() ;
- task.set_eJe(eJe) ;
- std::cout << "eJe: \n" << eJe << std::endl;
-
- // Define a 3D horizontal segment an its cordinates in the image plane
- vpPoint P[2];
- P[0].setWorldCoordinates(-L/2, 0, 0);
- P[1].setWorldCoordinates( L/2, 0, 0);
- // Define the desired camera position
- vpHomogeneousMatrix cMo(0, Y_d, Z_d, 0, 0, 0); // Here we are in front of the segment
- for (int i=0; i <2; i++)
- {
- P[i].changeFrame(cMo);
- P[i].project(); // Here the x,y parameters obtained by perspective projection are computed
- }
+ // The 3D segment consists in two horizontal dots
+ vpDot2 dot[2];
+ for (int i=0; i <2; i++)
+ {
+ dot[i].setGraphics(true);
+ dot[i].setComputeMoments(true);
+ dot[i].setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
+ dot[i].setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
+ dot[i].setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
+ dot[i].initTracking(I);
+ vpDisplay::flush(I);
+ }
- // Estimate the depth of the segment extremity points
- double surface[2];
- double Z[2]; // Depth of the segment points
- for (int i=0; i<2; i++)
- {
- // Surface of the blob estimated from the image moment m00 and converted in meters
- surface[i] = 1./sqrt(dot[i].m00/(cam.get_px()*cam.get_py()));
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
+ task.setLambda(lambda) ;
+ vpVelocityTwistMatrix cVe ; // keep to identity
+ cVe = robot_pan.get_cVe() ;
+ task.set_cVe(cVe) ;
+
+ std::cout << "cVe: \n" << cVe << std::endl;
+
+ vpMatrix eJe;
+
+ // Update the robot jacobian that depends on the pan position
+ robot_pan.set_eJe(qm_pan);
+ // Get the robot jacobian
+ eJe = robot_pan.get_eJe() ;
+ task.set_eJe(eJe) ;
+ std::cout << "eJe: \n" << eJe << std::endl;
+
+ // Define a 3D horizontal segment an its cordinates in the image plane
+ vpPoint P[2];
+ P[0].setWorldCoordinates(-L/2, 0, 0);
+ P[1].setWorldCoordinates( L/2, 0, 0);
+ // Define the desired camera position
+ vpHomogeneousMatrix cMo(0, Y_d, Z_d, 0, 0, 0); // Here we are in front of the segment
+ for (int i=0; i <2; i++)
+ {
+ P[i].changeFrame(cMo);
+ P[i].project(); // Here the x,y parameters obtained by perspective projection are computed
+ }
- // Initial depth of the blob
- Z[i] = coef * surface[i] ;
- }
+ // Estimate the depth of the segment extremity points
+ double surface[2];
+ double Z[2]; // Depth of the segment points
+ for (int i=0; i<2; i++)
+ {
+ // Surface of the blob estimated from the image moment m00 and converted in meters
+ surface[i] = 1./sqrt(dot[i].m00/(cam.get_px()*cam.get_py()));
+
+ // Initial depth of the blob
+ Z[i] = coef * surface[i] ;
+ }
- // Use here a feature segment builder
- vpFeatureSegment s_segment(normalized), s_segment_d(normalized); // From the segment feature we use only alpha
- vpFeatureBuilder::create(s_segment, cam, dot[0], dot[1]);
- s_segment.setZ1(Z[0]);
- s_segment.setZ2(Z[1]);
- // Set the desired feature
- vpFeatureBuilder::create(s_segment_d, P[0], P[1]);
- s_segment.setZ1( P[0].get_Z() ); // Desired depth
- s_segment.setZ2( P[1].get_Z() );
-
- task.addFeature(s_segment, s_segment_d,
- vpFeatureSegment::selectXc() |
- vpFeatureSegment::selectL() |
- vpFeatureSegment::selectAlpha());
+ // Use here a feature segment builder
+ vpFeatureSegment s_segment(normalized), s_segment_d(normalized); // From the segment feature we use only alpha
+ vpFeatureBuilder::create(s_segment, cam, dot[0], dot[1]);
+ s_segment.setZ1(Z[0]);
+ s_segment.setZ2(Z[1]);
+ // Set the desired feature
+ vpFeatureBuilder::create(s_segment_d, P[0], P[1]);
+ s_segment.setZ1( P[0].get_Z() ); // Desired depth
+ s_segment.setZ2( P[1].get_Z() );
+
+ task.addFeature(s_segment, s_segment_d,
+ vpFeatureSegment::selectXc() |
+ vpFeatureSegment::selectL() |
+ vpFeatureSegment::selectAlpha());
#ifdef USE_PLOTTER
- //Create a window (500 by 500) at position (700, 10) with two graphics
- vpPlot graph(2, 500, 500, 700, 10, "Curves...");
-
- //The first graphic contains 3 curve and the second graphic contains 3 curves
- graph.initGraph(0,3);
- graph.initGraph(1,3);
- graph.setTitle(0, "Velocities");
- graph.setTitle(1, "Error s-s*");
- graph.setLegend(0, 0, "vx");
- graph.setLegend(0, 1, "wz");
- graph.setLegend(0, 2, "w_pan");
- graph.setLegend(1, 0, "xm/l");
- graph.setLegend(1, 1, "1/l");
- graph.setLegend(1, 2, "alpha");
+ //Create a window (500 by 500) at position (700, 10) with two graphics
+ vpPlot graph(2, 500, 500, 700, 10, "Curves...");
+
+ //The first graphic contains 3 curve and the second graphic contains 3 curves
+ graph.initGraph(0,3);
+ graph.initGraph(1,3);
+ graph.setTitle(0, "Velocities");
+ graph.setTitle(1, "Error s-s*");
+ graph.setLegend(0, 0, "vx");
+ graph.setLegend(0, 1, "wz");
+ graph.setLegend(0, 2, "w_pan");
+ graph.setLegend(1, 0, "xm/l");
+ graph.setLegend(1, 1, "1/l");
+ graph.setLegend(1, 2, "alpha");
#endif
- vpColVector v; // vz, wx
- unsigned int iter = 0;
- try
- {
- while(1)
+ vpColVector v; // vz, wx
+ unsigned int iter = 0;
+ try
{
+ while(1)
+ {
#ifdef USE_REAL_ROBOT
- // Get the new pan position
- biclops.getPosition(vpRobot::ARTICULAR_FRAME, qm);
+ // Get the new pan position
+ biclops.getPosition(vpRobot::ARTICULAR_FRAME, qm);
#endif
- qm_pan = qm[0];
-
- // Acquire a new image
- g.acquire(I);
- // Set the image as background of the viewer
- vpDisplay::display(I);
-
- // Display the desired position of the segment
- for (int i=0; i<2; i++)
- P[i].display(I, cam, vpColor::red, 3);
-
- // Does the blob tracking
- for (int i=0; i<2; i++)
- dot[i].track(I);
-
- for (int i=0; i<2; i++)
- {
- // Surface of the blob estimated from the image moment m00 and converted in meters
- surface[i] = 1./sqrt(dot[i].m00/(cam.get_px()*cam.get_py()));
-
- // Initial depth of the blob
- Z[i] = coef * surface[i] ;
- }
-
- // Update the features
- vpFeatureBuilder::create(s_segment, cam, dot[0], dot[1]);
- // Update the depth of the point. Useful only if current interaction matrix is used
- // when task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) is set
- s_segment.setZ1(Z[0]);
- s_segment.setZ2(Z[1]);
-
- robot_pan.get_cVe(cVe);
- task.set_cVe(cVe);
-
- // Update the robot jacobian that depends on the pan position
- robot_pan.set_eJe(qm_pan);
- // Get the robot jacobian
- eJe = robot_pan.get_eJe();
- // Update the jacobian that will be used to compute the control law
- task.set_eJe(eJe);
-
- // Compute the control law. Velocities are computed in the mobile robot reference frame
- v = task.computeControlLaw();
-
-// std::cout << "-----" << std::endl;
-// std::cout << "v: " << v.t() << std::endl;
-// std::cout << "error: " << task.getError().t() << std::endl;
-// std::cout << "L:\n " << task.getInteractionMatrix() << std::endl;
-// std::cout << "eJe:\n " << task.get_eJe() << std::endl;
-// std::cout << "cVe:\n " << task.get_cVe() << std::endl;
-// std::cout << "L_cVe_eJe:\n" << task.getInteractionMatrix() * task.get_cVe() * task.get_eJe() << std::endl;
-// task.print() ;
- if (task.getTaskRank() != 3)
- std::cout << "Warning: task is of rank " << task.getTaskRank() << std::endl;
+ qm_pan = qm[0];
+
+ // Acquire a new image
+ g.acquire(I);
+ // Set the image as background of the viewer
+ vpDisplay::display(I);
+
+ // Display the desired position of the segment
+ for (int i=0; i<2; i++)
+ P[i].display(I, cam, vpColor::red, 3);
+
+ // Does the blob tracking
+ for (int i=0; i<2; i++)
+ dot[i].track(I);
+
+ for (int i=0; i<2; i++)
+ {
+ // Surface of the blob estimated from the image moment m00 and converted in meters
+ surface[i] = 1./sqrt(dot[i].m00/(cam.get_px()*cam.get_py()));
+
+ // Initial depth of the blob
+ Z[i] = coef * surface[i] ;
+ }
+
+ // Update the features
+ vpFeatureBuilder::create(s_segment, cam, dot[0], dot[1]);
+ // Update the depth of the point. Useful only if current interaction matrix is used
+ // when task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE) is set
+ s_segment.setZ1(Z[0]);
+ s_segment.setZ2(Z[1]);
+
+ robot_pan.get_cVe(cVe);
+ task.set_cVe(cVe);
+
+ // Update the robot jacobian that depends on the pan position
+ robot_pan.set_eJe(qm_pan);
+ // Get the robot jacobian
+ eJe = robot_pan.get_eJe();
+ // Update the jacobian that will be used to compute the control law
+ task.set_eJe(eJe);
+
+ // Compute the control law. Velocities are computed in the mobile robot reference frame
+ v = task.computeControlLaw();
+
+ // std::cout << "-----" << std::endl;
+ // std::cout << "v: " << v.t() << std::endl;
+ // std::cout << "error: " << task.getError().t() << std::endl;
+ // std::cout << "L:\n " << task.getInteractionMatrix() << std::endl;
+ // std::cout << "eJe:\n " << task.get_eJe() << std::endl;
+ // std::cout << "cVe:\n " << task.get_cVe() << std::endl;
+ // std::cout << "L_cVe_eJe:\n" << task.getInteractionMatrix() * task.get_cVe() * task.get_eJe() << std::endl;
+ // task.print() ;
+ if (task.getTaskRank() != 3)
+ std::cout << "Warning: task is of rank " << task.getTaskRank() << std::endl;
#ifdef USE_PLOTTER
- graph.plot(0, iter, v); // plot velocities applied to the robot
- graph.plot(1, iter, task.getError()); // plot error vector
+ graph.plot(0, iter, v); // plot velocities applied to the robot
+ graph.plot(1, iter, task.getError()); // plot error vector
#endif
#ifdef USE_REAL_ROBOT
- // Send the velocity to the robot
- vpColVector v_pioneer(2); // vx, wz
- v_pioneer[0] = v[0];
- v_pioneer[1] = v[1];
- vpColVector v_biclops(2); // qdot pan and tilt
- v_biclops[0] = v[2];
- v_biclops[1] = 0;
-
- std::cout << "Send velocity to the pionner: " << v_pioneer[0] << " m/s "
- << vpMath::deg(v_pioneer[1]) << " deg/s" << std::endl;
- std::cout << "Send velocity to the biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
-
- pioneer.setVelocity(vpRobot::REFERENCE_FRAME, v_pioneer);
- biclops.setVelocity(vpRobot::ARTICULAR_FRAME, v_biclops) ;
+ // Send the velocity to the robot
+ vpColVector v_pioneer(2); // vx, wz
+ v_pioneer[0] = v[0];
+ v_pioneer[1] = v[1];
+ vpColVector v_biclops(2); // qdot pan and tilt
+ v_biclops[0] = v[2];
+ v_biclops[1] = 0;
+
+ std::cout << "Send velocity to the pionner: " << v_pioneer[0] << " m/s "
+ << vpMath::deg(v_pioneer[1]) << " deg/s" << std::endl;
+ std::cout << "Send velocity to the biclops head: " << vpMath::deg(v_biclops[0]) << " deg/s" << std::endl;
+
+ pioneer.setVelocity(vpRobot::REFERENCE_FRAME, v_pioneer);
+ biclops.setVelocity(vpRobot::ARTICULAR_FRAME, v_biclops) ;
#endif
- // Draw a vertical line which corresponds to the desired x coordinate of the dot cog
- vpDisplay::displayLine(I, 0, cam.get_u0(), 479, cam.get_u0(), vpColor::red);
- vpDisplay::flush(I);
+ // Draw a vertical line which corresponds to the desired x coordinate of the dot cog
+ vpDisplay::displayLine(I, 0, cam.get_u0(), 479, cam.get_u0(), vpColor::red);
+ vpDisplay::flush(I);
- // A click in the viewer to exit
- if ( vpDisplay::getClick(I, false) )
- break;
+ // A click in the viewer to exit
+ if ( vpDisplay::getClick(I, false) )
+ break;
- iter ++;
- //break;
+ iter ++;
+ //break;
+ }
+ }
+ catch(...)
+ {
}
- }
- catch(...)
- {
- }
#ifdef USE_REAL_ROBOT
- std::cout << "Ending robot thread..." << std::endl;
- pioneer.stopRunning();
+ std::cout << "Ending robot thread..." << std::endl;
+ pioneer.stopRunning();
- // wait for the thread to stop
- pioneer.waitForRunExit();
+ // wait for the thread to stop
+ pioneer.waitForRunExit();
#endif
- // Kill the servo task
- task.print() ;
- task.kill();
-
+ // Kill the servo task
+ task.print() ;
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
#endif
#endif
}
diff --git a/example/servo-pioneer/servoPioneerPoint2DDepth.cpp b/example/servo-pioneer/servoPioneerPoint2DDepth.cpp
index b2f57cf..39ebfbf 100644
--- a/example/servo-pioneer/servoPioneerPoint2DDepth.cpp
+++ b/example/servo-pioneer/servoPioneerPoint2DDepth.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoPioneerPoint2DDepth.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoPioneerPoint2DDepth.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -93,169 +93,168 @@
#ifdef TEST_COULD_BE_ACHIEVED
int main(int argc, char **argv)
{
- vpImage<unsigned char> I; // Create a gray level image container
- double depth = 1.;
- double lambda = 0.6;
- double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface
-
- vpRobotPioneer robot;
- ArArgumentParser parser(&argc, argv);
- parser.loadDefaultArguments();
-
- // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
- // and then loads parameter files for this robot.
- ArRobotConnector robotConnector(&parser, &robot);
- if(!robotConnector.connectRobot())
- {
- ArLog::log(ArLog::Terse, "Could not connect to the robot.");
- if(parser.checkHelpAndWarnUnparsed())
+ try {
+ vpImage<unsigned char> I; // Create a gray level image container
+ double depth = 1.;
+ double lambda = 0.6;
+ double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface
+
+ vpRobotPioneer robot;
+ ArArgumentParser parser(&argc, argv);
+ parser.loadDefaultArguments();
+
+ // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
+ // and then loads parameter files for this robot.
+ ArRobotConnector robotConnector(&parser, &robot);
+ if(!robotConnector.connectRobot())
+ {
+ ArLog::log(ArLog::Terse, "Could not connect to the robot.");
+ if(parser.checkHelpAndWarnUnparsed())
+ {
+ Aria::logOptions();
+ Aria::exit(1);
+ }
+ }
+ if (!Aria::parseArgs())
{
Aria::logOptions();
- Aria::exit(1);
+ Aria::shutdown();
+ return false;
}
- }
- if (!Aria::parseArgs())
- {
- Aria::logOptions();
- Aria::shutdown();
- return false;
- }
- // Wait 3 sec to be sure that the low level Aria thread used to control
- // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
- // between the velocity send to the robot and the velocity that is really applied
- // to the wheels.
- vpTime::sleepMs(3000);
+ // Wait 3 sec to be sure that the low level Aria thread used to control
+ // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
+ // between the velocity send to the robot and the velocity that is really applied
+ // to the wheels.
+ vpTime::sleepMs(3000);
- std::cout << "Robot connected" << std::endl;
+ std::cout << "Robot connected" << std::endl;
- // Camera parameters. In this experiment we don't need a precise calibration of the camera
- vpCameraParameters cam;
+ // Camera parameters. In this experiment we don't need a precise calibration of the camera
+ vpCameraParameters cam;
- // Create the camera framegrabber
+ // Create the camera framegrabber
#if defined(VISP_HAVE_OPENCV)
- int device = 1;
- std::cout << "Use device: " << device << std::endl;
- cv::VideoCapture g(device); // open the default camera
- g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
- g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
- if(!g.isOpened()) // check if we succeeded
- return -1;
- cv::Mat frame;
- g >> frame; // get a new frame from camera
- vpImageConvert::convert(frame, I);
-
- // Logitec sphere parameters
- cam.initPersProjWithoutDistortion(558, 555, 312, 210);
+ int device = 1;
+ std::cout << "Use device: " << device << std::endl;
+ cv::VideoCapture g(device); // open the default camera
+ g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
+ g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
+ if(!g.isOpened()) // check if we succeeded
+ return -1;
+ cv::Mat frame;
+ g >> frame; // get a new frame from camera
+ vpImageConvert::convert(frame, I);
+
+ // Logitec sphere parameters
+ cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_V4L2)
- // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
- vpV4l2Grabber g;
- g.setScale(1);
- g.setInput(0);
- g.setDevice("/dev/video1");
- g.open(I);
- // Logitec sphere parameters
- cam.initPersProjWithoutDistortion(558, 555, 312, 210);
+ // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
+ vpV4l2Grabber g;
+ g.setScale(1);
+ g.setInput(0);
+ g.setDevice("/dev/video1");
+ g.open(I);
+ // Logitec sphere parameters
+ cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_DC1394_2)
- // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
- vp1394TwoGrabber g(false);
- g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
- g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
+ vp1394TwoGrabber g(false);
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#elif defined(VISP_HAVE_CMU1394)
- // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
- vp1394CMUGrabber g;
- g.setVideoMode(0, 5); // 640x480 MONO8
- g.setFramerate(4); // 30 Hz
- g.open(I);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
+ vp1394CMUGrabber g;
+ g.setVideoMode(0, 5); // 640x480 MONO8
+ g.setFramerate(4); // 30 Hz
+ g.open(I);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#endif
- // Acquire an image from the grabber
+ // Acquire an image from the grabber
#if defined(VISP_HAVE_OPENCV)
- g >> frame; // get a new frame from camera
- vpImageConvert::convert(frame, I);
+ g >> frame; // get a new frame from camera
+ vpImageConvert::convert(frame, I);
#else
- g.acquire(I);
+ g.acquire(I);
#endif
- // Create an image viewer
+ // Create an image viewer
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 10, 10, "Current frame");
+ vpDisplayX d(I, 10, 10, "Current frame");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 10, 10, "Current frame");
+ vpDisplayGDI d(I, 10, 10, "Current frame");
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- // Create a blob tracker
- vpDot2 dot;
- dot.setGraphics(true);
- dot.setComputeMoments(true);
- dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
- dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
- dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
- dot.initTracking(I);
- vpDisplay::flush(I);
-
- vpServo task;
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
- task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
- task.setLambda(lambda) ;
- vpVelocityTwistMatrix cVe ;
- cVe = robot.get_cVe() ;
- task.set_cVe(cVe) ;
-
- std::cout << "cVe: \n" << cVe << std::endl;
-
- vpMatrix eJe;
- robot.get_eJe(eJe) ;
- task.set_eJe(eJe) ;
- std::cout << "eJe: \n" << eJe << std::endl;
-
- // Current and desired visual feature associated to the x coordinate of the point
- vpFeaturePoint s_x, s_xd;
-
- // Create the current x visual feature
- vpFeatureBuilder::create(s_x, cam, dot);
-
- // Create the desired x* visual feature
- s_xd.buildFrom(0, 0, depth);
-
- // Add the feature
- task.addFeature(s_x, s_xd) ;
-
- // Create the current log(Z/Z*) visual feature
- vpFeatureDepth s_Z, s_Zd;
- // Surface of the blob estimated from the image moment m00 and converted in meters
- double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
- double Z, Zd;
- // Initial depth of the blob in from of the camera
- Z = coef * surface ;
- // Desired depth Z* of the blob. This depth is learned and equal to the initial depth
- Zd = Z;
-
- std::cout << "Z " << Z << std::endl;
- s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
- s_Zd.buildFrom(s_x.get_x(), s_x.get_y(), Zd , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
-
- // Add the feature
- task.addFeature(s_Z, s_Zd) ;
-
- vpColVector v; // vz, wx
-
- try
- {
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+
+ // Create a blob tracker
+ vpDot2 dot;
+ dot.setGraphics(true);
+ dot.setComputeMoments(true);
+ dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
+ dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
+ dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
+ dot.initTracking(I);
+ vpDisplay::flush(I);
+
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE) ;
+ task.setLambda(lambda) ;
+ vpVelocityTwistMatrix cVe ;
+ cVe = robot.get_cVe() ;
+ task.set_cVe(cVe) ;
+
+ std::cout << "cVe: \n" << cVe << std::endl;
+
+ vpMatrix eJe;
+ robot.get_eJe(eJe) ;
+ task.set_eJe(eJe) ;
+ std::cout << "eJe: \n" << eJe << std::endl;
+
+ // Current and desired visual feature associated to the x coordinate of the point
+ vpFeaturePoint s_x, s_xd;
+
+ // Create the current x visual feature
+ vpFeatureBuilder::create(s_x, cam, dot);
+
+ // Create the desired x* visual feature
+ s_xd.buildFrom(0, 0, depth);
+
+ // Add the feature
+ task.addFeature(s_x, s_xd) ;
+
+ // Create the current log(Z/Z*) visual feature
+ vpFeatureDepth s_Z, s_Zd;
+ // Surface of the blob estimated from the image moment m00 and converted in meters
+ double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
+ double Z, Zd;
+ // Initial depth of the blob in from of the camera
+ Z = coef * surface ;
+ // Desired depth Z* of the blob. This depth is learned and equal to the initial depth
+ Zd = Z;
+
+ std::cout << "Z " << Z << std::endl;
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
+ s_Zd.buildFrom(s_x.get_x(), s_x.get_y(), Zd , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
+
+ // Add the feature
+ task.addFeature(s_Z, s_Zd) ;
+
+ vpColVector v; // vz, wx
+
while(1)
{
// Acquire a new image
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
- g >> frame; // get a new frame from camera
- vpImageConvert::convert(frame, I);
+ g >> frame; // get a new frame from camera
+ vpImageConvert::convert(frame, I);
#else
- g.acquire(I);
+ g.acquire(I);
#endif
// Set the image as background of the viewer
vpDisplay::display(I);
@@ -293,20 +292,21 @@ int main(int argc, char **argv)
if ( vpDisplay::getClick(I, false) )
break;
}
- }
- catch(...)
- {
- }
- std::cout << "Ending robot thread..." << std::endl;
- robot.stopRunning();
+ std::cout << "Ending robot thread..." << std::endl;
+ robot.stopRunning();
- // wait for the thread to stop
- robot.waitForRunExit();
+ // wait for the thread to stop
+ robot.waitForRunExit();
- // Kill the servo task
- task.print() ;
- task.kill();
+ // Kill the servo task
+ task.print() ;
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int main()
diff --git a/example/servo-pioneer/servoPioneerPoint2DDepthWithoutVpServo.cpp b/example/servo-pioneer/servoPioneerPoint2DDepthWithoutVpServo.cpp
index 3e7f043..610da20 100644
--- a/example/servo-pioneer/servoPioneerPoint2DDepthWithoutVpServo.cpp
+++ b/example/servo-pioneer/servoPioneerPoint2DDepthWithoutVpServo.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoPioneerPoint2DDepthWithoutVpServo.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoPioneerPoint2DDepthWithoutVpServo.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,150 +91,149 @@
#ifdef TEST_COULD_BE_ACHIEVED
int main(int argc, char **argv)
{
- vpImage<unsigned char> I; // Create a gray level image container
- double depth = 1.;
- double lambda = 0.6;
- double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface
-
- vpRobotPioneer robot;
- ArArgumentParser parser(&argc, argv);
- parser.loadDefaultArguments();
-
- // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
- // and then loads parameter files for this robot.
- ArRobotConnector robotConnector(&parser, &robot);
- if(!robotConnector.connectRobot())
- {
- ArLog::log(ArLog::Terse, "Could not connect to the robot.");
- if(parser.checkHelpAndWarnUnparsed())
+ try {
+ vpImage<unsigned char> I; // Create a gray level image container
+ double depth = 1.;
+ double lambda = 0.6;
+ double coef = 1./6.77; // Scale parameter used to estimate the depth Z of the blob from its surface
+
+ vpRobotPioneer robot;
+ ArArgumentParser parser(&argc, argv);
+ parser.loadDefaultArguments();
+
+ // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
+ // and then loads parameter files for this robot.
+ ArRobotConnector robotConnector(&parser, &robot);
+ if(!robotConnector.connectRobot())
+ {
+ ArLog::log(ArLog::Terse, "Could not connect to the robot.");
+ if(parser.checkHelpAndWarnUnparsed())
+ {
+ Aria::logOptions();
+ Aria::exit(1);
+ }
+ }
+ if (!Aria::parseArgs())
{
Aria::logOptions();
- Aria::exit(1);
+ Aria::shutdown();
+ return false;
}
- }
- if (!Aria::parseArgs())
- {
- Aria::logOptions();
- Aria::shutdown();
- return false;
- }
- // Wait 3 sec to be sure that the low level Aria thread used to control
- // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
- // between the velocity send to the robot and the velocity that is really applied
- // to the wheels.
- vpTime::sleepMs(3000);
+ // Wait 3 sec to be sure that the low level Aria thread used to control
+ // the robot is started. Without this delay we experienced a delay (arround 2.2 sec)
+ // between the velocity send to the robot and the velocity that is really applied
+ // to the wheels.
+ vpTime::sleepMs(3000);
- std::cout << "Robot connected" << std::endl;
+ std::cout << "Robot connected" << std::endl;
- // Camera parameters. In this experiment we don't need a precise calibration of the camera
- vpCameraParameters cam;
+ // Camera parameters. In this experiment we don't need a precise calibration of the camera
+ vpCameraParameters cam;
- // Create the camera framegrabber
+ // Create the camera framegrabber
#if defined(VISP_HAVE_OPENCV)
- int device = 1;
- std::cout << "Use device: " << device << std::endl;
- cv::VideoCapture g(device); // open the default camera
- g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
- g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
- if(!g.isOpened()) // check if we succeeded
- return -1;
- cv::Mat frame;
- g >> frame; // get a new frame from camera
- vpImageConvert::convert(frame, I);
-
- // Logitec sphere parameters
- cam.initPersProjWithoutDistortion(558, 555, 312, 210);
+ int device = 1;
+ std::cout << "Use device: " << device << std::endl;
+ cv::VideoCapture g(device); // open the default camera
+ g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
+ g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
+ if(!g.isOpened()) // check if we succeeded
+ return -1;
+ cv::Mat frame;
+ g >> frame; // get a new frame from camera
+ vpImageConvert::convert(frame, I);
+
+ // Logitec sphere parameters
+ cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_V4L2)
- // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
- vpV4l2Grabber g;
- g.setScale(1);
- g.setInput(0);
- g.setDevice("/dev/video1");
- g.open(I);
- // Logitec sphere parameters
- cam.initPersProjWithoutDistortion(558, 555, 312, 210);
+ // Create a grabber based on v4l2 third party lib (for usb cameras under Linux)
+ vpV4l2Grabber g;
+ g.setScale(1);
+ g.setInput(0);
+ g.setDevice("/dev/video1");
+ g.open(I);
+ // Logitec sphere parameters
+ cam.initPersProjWithoutDistortion(558, 555, 312, 210);
#elif defined(VISP_HAVE_DC1394_2)
- // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
- vp1394TwoGrabber g(false);
- g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
- g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on libdc1394-2.x third party lib (for firewire cameras under Linux)
+ vp1394TwoGrabber g(false);
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_30);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#elif defined(VISP_HAVE_CMU1394)
- // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
- vp1394CMUGrabber g;
- g.setVideoMode(0, 5); // 640x480 MONO8
- g.setFramerate(4); // 30 Hz
- g.open(I);
- // AVT Pike 032C parameters
- cam.initPersProjWithoutDistortion(800, 795, 320, 216);
+ // Create a grabber based on CMU 1394 third party lib (for firewire cameras under windows)
+ vp1394CMUGrabber g;
+ g.setVideoMode(0, 5); // 640x480 MONO8
+ g.setFramerate(4); // 30 Hz
+ g.open(I);
+ // AVT Pike 032C parameters
+ cam.initPersProjWithoutDistortion(800, 795, 320, 216);
#endif
- // Acquire an image from the grabber
+ // Acquire an image from the grabber
#if defined(VISP_HAVE_OPENCV)
- g >> frame; // get a new frame from camera
- vpImageConvert::convert(frame, I);
+ g >> frame; // get a new frame from camera
+ vpImageConvert::convert(frame, I);
#else
- g.acquire(I);
+ g.acquire(I);
#endif
- // Create an image viewer
+ // Create an image viewer
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 10, 10, "Current frame");
+ vpDisplayX d(I, 10, 10, "Current frame");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 10, 10, "Current frame");
+ vpDisplayGDI d(I, 10, 10, "Current frame");
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- // Create a blob tracker
- vpDot2 dot;
- dot.setGraphics(true);
- dot.setComputeMoments(true);
- dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
- dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
- dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
- dot.initTracking(I);
- vpDisplay::flush(I);
-
- // Current and desired visual feature associated to the x coordinate of the point
- vpFeaturePoint s_x, s_xd;
-
- // Create the current x visual feature
- vpFeatureBuilder::create(s_x, cam, dot);
-
- // Create the desired x* visual feature
- s_xd.buildFrom(0, 0, depth);
- vpMatrix L_x = s_xd.interaction(vpFeaturePoint::selectX());
-
- // Create the current log(Z/Z*) visual feature
- vpFeatureDepth s_Z;
- // Surface of the blob estimated from the image moment m00 and converted in meters
- double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
- double Z, Zd;
- // Initial depth of the blob in from of the camera
- Z = coef * surface ;
- // Desired depth Z* of the blob. This depth is learned and equal to the initial depth
- Zd = Z;
- s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
- vpMatrix L_Z = s_Z.interaction();
-
- vpVelocityTwistMatrix cVe = robot.get_cVe();
- vpMatrix eJe; // pioneer jacobian
- robot.get_eJe(eJe);
-
- vpMatrix L; // Interaction matrix
- L.stackMatrices(L_x); // constant since build with the desired feature
- L.stackMatrices(L_Z); // not constant since it corresponds to log(Z/Z*) that evolves at each iteration
-
- vpColVector v; // vz, wx
-
- vpFeatureDepth s_Zd;
- s_Zd.buildFrom(0, 0, 1, 0); // The value of s* is 0 with Z=1 meter.
-
- try
- {
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+
+ // Create a blob tracker
+ vpDot2 dot;
+ dot.setGraphics(true);
+ dot.setComputeMoments(true);
+ dot.setEllipsoidShapePrecision(0.); // to track a blob without any constraint on the shape
+ dot.setGrayLevelPrecision(0.9); // to set the blob gray level bounds for binarisation
+ dot.setEllipsoidBadPointsPercentage(0.5); // to be accept 50% of bad inner and outside points with bad gray level
+ dot.initTracking(I);
+ vpDisplay::flush(I);
+
+ // Current and desired visual feature associated to the x coordinate of the point
+ vpFeaturePoint s_x, s_xd;
+
+ // Create the current x visual feature
+ vpFeatureBuilder::create(s_x, cam, dot);
+
+ // Create the desired x* visual feature
+ s_xd.buildFrom(0, 0, depth);
+ vpMatrix L_x = s_xd.interaction(vpFeaturePoint::selectX());
+
+ // Create the current log(Z/Z*) visual feature
+ vpFeatureDepth s_Z;
+ // Surface of the blob estimated from the image moment m00 and converted in meters
+ double surface = 1./sqrt(dot.m00/(cam.get_px()*cam.get_py()));
+ double Z, Zd;
+ // Initial depth of the blob in from of the camera
+ Z = coef * surface ;
+ // Desired depth Z* of the blob. This depth is learned and equal to the initial depth
+ Zd = Z;
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
+ vpMatrix L_Z = s_Z.interaction();
+
+ vpVelocityTwistMatrix cVe = robot.get_cVe();
+ vpMatrix eJe; // pioneer jacobian
+ robot.get_eJe(eJe);
+
+ vpMatrix L; // Interaction matrix
+ L.stackMatrices(L_x); // constant since build with the desired feature
+ L.stackMatrices(L_Z); // not constant since it corresponds to log(Z/Z*) that evolves at each iteration
+
+ vpColVector v; // vz, wx
+
+ vpFeatureDepth s_Zd;
+ s_Zd.buildFrom(0, 0, 1, 0); // The value of s* is 0 with Z=1 meter.
+
while(1)
{
// Acquire a new image
@@ -285,16 +284,17 @@ int main(int argc, char **argv)
if ( vpDisplay::getClick(I, false) )
break;
}
- }
- catch(...)
- {
- }
- std::cout << "Ending robot thread..." << std::endl;
- robot.stopRunning();
+ std::cout << "Ending robot thread..." << std::endl;
+ robot.stopRunning();
- // wait for the thread to stop
- robot.waitForRunExit();
+ // wait for the thread to stop
+ robot.waitForRunExit();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int main()
diff --git a/example/servo-pioneer/sonarPioneerReader.cpp b/example/servo-pioneer/sonarPioneerReader.cpp
index 9c8cf4f..531fb8b 100644
--- a/example/servo-pioneer/sonarPioneerReader.cpp
+++ b/example/servo-pioneer/sonarPioneerReader.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: sonarPioneerReader.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: sonarPioneerReader.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -207,142 +207,148 @@ void sonarPrinter(void)
*/
int main(int argc, char **argv)
{
- ArArgumentParser parser(&argc, argv);
- parser.loadDefaultArguments();
+ try {
+ ArArgumentParser parser(&argc, argv);
+ parser.loadDefaultArguments();
- robot = new vpRobotPioneer;
+ robot = new vpRobotPioneer;
- // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
- // and then loads parameter files for this robot.
- ArRobotConnector robotConnector(&parser, robot);
- if(!robotConnector.connectRobot())
- {
- ArLog::log(ArLog::Terse, "Could not connect to the robot");
- if(parser.checkHelpAndWarnUnparsed())
+ // ArRobotConnector connects to the robot, get some initial data from it such as type and name,
+ // and then loads parameter files for this robot.
+ ArRobotConnector robotConnector(&parser, robot);
+ if(!robotConnector.connectRobot())
+ {
+ ArLog::log(ArLog::Terse, "Could not connect to the robot");
+ if(parser.checkHelpAndWarnUnparsed())
+ {
+ Aria::logOptions();
+ Aria::exit(1);
+ }
+ }
+ if (!Aria::parseArgs())
{
Aria::logOptions();
- Aria::exit(1);
+ Aria::shutdown();
+ return false;
}
- }
- if (!Aria::parseArgs())
- {
- Aria::logOptions();
- Aria::shutdown();
- return false;
- }
-
- std::cout << "Robot connected" << std::endl;
+
+ std::cout << "Robot connected" << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
- // Create a display to show sensor data
- if (isInitialized == false)
- {
- I.resize(half_size*2, half_size*2);
- I = 255;
+ // Create a display to show sensor data
+ if (isInitialized == false)
+ {
+ I.resize(half_size*2, half_size*2);
+ I = 255;
#if defined(VISP_HAVE_X11)
- d = new vpDisplayX;
+ d = new vpDisplayX;
#elif defined (VISP_HAVE_GDI)
- d = new vpDisplayGDI;
+ d = new vpDisplayGDI;
#endif
- d->init(I, -1, -1, "Sonar range data");
- isInitialized = true;
- }
+ d->init(I, -1, -1, "Sonar range data");
+ isInitialized = true;
+ }
#endif
- // Activates the sonar
- ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
- robot->addRangeDevice(&sonar);
- robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
+ // Activates the sonar
+ ArGlobalFunctor sonarPrinterCB(&sonarPrinter);
+ robot->addRangeDevice(&sonar);
+ robot->addUserTask("Sonar printer", 50, &sonarPrinterCB);
- robot->useSonar(true); // activates the sonar device usage
+ robot->useSonar(true); // activates the sonar device usage
- // Robot velocities
- vpColVector v_mes(2);
+ // Robot velocities
+ vpColVector v_mes(2);
- for (int i=0; i < 1000; i++)
- {
- double t = vpTime::measureTimeMs();
+ for (int i=0; i < 1000; i++)
+ {
+ double t = vpTime::measureTimeMs();
- v_mes = robot->getVelocity(vpRobot::REFERENCE_FRAME);
- std::cout << "Trans. vel= " << v_mes[0] << " m/s, Rot. vel=" << vpMath::deg(v_mes[1]) << " deg/s" << std::endl;
- v_mes = robot->getVelocity(vpRobot::ARTICULAR_FRAME);
- std::cout << "Left wheel vel= " << v_mes[0] << " m/s, Right wheel vel=" << v_mes[1] << " m/s" << std::endl;
- std::cout << "Battery=" << robot->getBatteryVoltage() << std::endl;
+ v_mes = robot->getVelocity(vpRobot::REFERENCE_FRAME);
+ std::cout << "Trans. vel= " << v_mes[0] << " m/s, Rot. vel=" << vpMath::deg(v_mes[1]) << " deg/s" << std::endl;
+ v_mes = robot->getVelocity(vpRobot::ARTICULAR_FRAME);
+ std::cout << "Left wheel vel= " << v_mes[0] << " m/s, Right wheel vel=" << v_mes[1] << " m/s" << std::endl;
+ std::cout << "Battery=" << robot->getBatteryVoltage() << std::endl;
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
- if (isInitialized) {
- // A mouse click to exit
- // Before exiting save the last sonar image
- if (vpDisplay::getClick(I, false) == true) {
- {
- // Set the default output path
- std::string opath;
-#ifdef UNIX
- opath = "/tmp";
-#elif WIN32
- opath = "C:\\temp";
+ if (isInitialized) {
+ // A mouse click to exit
+ // Before exiting save the last sonar image
+ if (vpDisplay::getClick(I, false) == true) {
+ {
+ // Set the default output path
+ std::string opath;
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opath = "/tmp";
+#elif defined(_WIN32)
+ opath = "C:\\temp";
#endif
- std::string username = vpIoTools::getUserName();
-
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
-
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
- }
- catch (...) {
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- exit(-1);
+ std::string username = vpIoTools::getUserName();
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ exit(-1);
+ }
}
+ std::string filename = opath + "/sonar.png";
+ vpImage<vpRGBa> C;
+ vpDisplay::getImage(I, C);
+ vpImageIo::write(C, filename);
}
- std::string filename = opath + "/sonar.png";
- vpImage<vpRGBa> C;
- vpDisplay::getImage(I, C);
- vpImageIo::write(C, filename);
+ break;
}
- break;
}
- }
#endif
- vpTime::wait(t, 40);
- }
+ vpTime::wait(t, 40);
+ }
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
- robot->lock();
- robot->stop();
- robot->unlock();
- ArUtil::sleep(1000);
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Stopping.");
+ robot->lock();
+ robot->stop();
+ robot->unlock();
+ ArUtil::sleep(1000);
- robot->lock();
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
- robot->getX(), robot->getY(), robot->getTh(), robot->getVel(), robot->getRotVel(), robot->getBatteryVoltage());
- robot->unlock();
+ robot->lock();
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Pose=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Rot. Vel=%.2f, Battery=%.2fV",
+ robot->getX(), robot->getY(), robot->getTh(), robot->getVel(), robot->getRotVel(), robot->getBatteryVoltage());
+ robot->unlock();
- std::cout << "Ending robot thread..." << std::endl;
- robot->stopRunning();
+ std::cout << "Ending robot thread..." << std::endl;
+ robot->stopRunning();
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
- if (isInitialized) {
- if (d != NULL)
- delete d;
- }
+ if (isInitialized) {
+ if (d != NULL)
+ delete d;
+ }
#endif
- // wait for the thread to stop
- robot->waitForRunExit();
+ // wait for the thread to stop
+ robot->waitForRunExit();
- delete robot;
+ delete robot;
- // exit
- ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
- return 0;
+ // exit
+ ArLog::log(ArLog::Normal, "simpleMotionCommands: Exiting.");
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#endif
diff --git a/example/servo-ptu46/CMakeLists.txt b/example/servo-ptu46/CMakeLists.txt
index c8ec1bb..5cab544 100644
--- a/example/servo-ptu46/CMakeLists.txt
+++ b/example/servo-ptu46/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-ptu46/movePtu46.cpp b/example/servo-ptu46/movePtu46.cpp
index d4b9b30..920aed4 100644
--- a/example/servo-ptu46/movePtu46.cpp
+++ b/example/servo-ptu46/movePtu46.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: movePtu46.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: movePtu46.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,7 +56,7 @@
*/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
#endif
diff --git a/example/servo-ptu46/servoPtu46Point2DArtVelocity.cpp b/example/servo-ptu46/servoPtu46Point2DArtVelocity.cpp
index 2c93093..3a2a365 100644
--- a/example/servo-ptu46/servoPtu46Point2DArtVelocity.cpp
+++ b/example/servo-ptu46/servoPtu46Point2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoPtu46Point2DArtVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoPtu46Point2DArtVelocity.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,20 +63,20 @@
*/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
#endif
#include <signal.h>
-#if (defined(VISP_HAVE_PTU46) & defined (VISP_HAVE_DC1394) )
+#if (defined(VISP_HAVE_PTU46) & defined (VISP_HAVE_DC1394_2) )
#ifdef VISP_HAVE_PTHREAD
# include <pthread.h>
#endif
-#include <visp/vp1394Grabber.h>
+#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
@@ -139,7 +139,7 @@ main()
vpImage<unsigned char> I ;
- vp1394Grabber g;
+ vp1394TwoGrabber g;
g.open(I) ;
diff --git a/example/servo-viper650/CMakeLists.txt b/example/servo-viper650/CMakeLists.txt
index 5122830..f1dc241 100644
--- a/example/servo-viper650/CMakeLists.txt
+++ b/example/servo-viper650/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 3750 2012-06-01 09:39:38Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper650/servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp b/example/servo-viper650/servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp
index 5ee16cc..2f0ad87 100644
--- a/example/servo-viper650/servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp
+++ b/example/servo-viper650/servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp
@@ -3,7 +3,7 @@
* $Id: servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp 3870 2012-09-05 17:03:43Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper650/servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp b/example/servo-viper650/servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp
index ac5c06d..facd496 100644
--- a/example/servo-viper650/servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp
+++ b/example/servo-viper650/servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp
@@ -3,7 +3,7 @@
* $Id: servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp 3870 2012-09-05 17:03:43Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper650/servoViper650Point2DCamVelocity.cpp b/example/servo-viper650/servoViper650Point2DCamVelocity.cpp
index bb7f49f..fba34b3 100644
--- a/example/servo-viper650/servoViper650Point2DCamVelocity.cpp
+++ b/example/servo-viper650/servoViper650Point2DCamVelocity.cpp
@@ -3,7 +3,7 @@
* $Id: servoViper650Point2DCamVelocity.cpp 3616 2012-03-09 14:31:52Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/CMakeLists.txt b/example/servo-viper850/CMakeLists.txt
index 167d3ac..641b230 100644
--- a/example/servo-viper850/CMakeLists.txt
+++ b/example/servo-viper850/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp b/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp
index 6a004a1..0a894bf 100644
--- a/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp
+++ b/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp 4065 2013-01-11 13:32:47Z fspindle $
+ * $Id: servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionDesired.cpp b/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionDesired.cpp
index 526900e..0a9e968 100644
--- a/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionDesired.cpp
+++ b/example/servo-viper850/servoViper850FourPoints2DArtVelocityInteractionDesired.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850FourPoints2DArtVelocityInteractionDesired.cpp 4065 2013-01-11 13:32:47Z fspindle $
+ * $Id: servoViper850FourPoints2DArtVelocityInteractionDesired.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp b/example/servo-viper850/servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp
index 6a6a343..a10613a 100644
--- a/example/servo-viper850/servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp
+++ b/example/servo-viper850/servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp 4065 2013-01-11 13:32:47Z fspindle $
+ * $Id: servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850FourPointsKinect.cpp b/example/servo-viper850/servoViper850FourPointsKinect.cpp
index eefc36e..4fc9b64 100644
--- a/example/servo-viper850/servoViper850FourPointsKinect.cpp
+++ b/example/servo-viper850/servoViper850FourPointsKinect.cpp
@@ -4,7 +4,7 @@
* $Id: servoViper850FourPoints2DCamVelocityKinect.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp b/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp
index 5d0957d..bf3aaa8 100644
--- a/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp
+++ b/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp 4664 2014-02-16 16:17:54Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,10 +47,8 @@
Joint limits avoidance by stopping the motion on axis near the joint limits.
- Implemented from section III.B in F. Chaumette, E. Marchand. A
- redundancy-based iterative approach for avoiding joint limits: Application
- to visual servoing. IEEE Trans. on Robotics and Automation, 17(5):719-730,
- October 2001.
+ Implemented from section III.B in \cite Chaumette01c.
+
*/
#include <visp/vpConfig.h>
diff --git a/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp b/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp
index 427ecc9..4e5b56c 100644
--- a/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp
+++ b/example/servo-viper850/servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp 4664 2014-02-16 16:17:54Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,16 +47,7 @@
Joint limits avoidance using a gradient projection approach.
- Implemented from :
-
- - E. Marchand, F. Chaumette, A. Rizzo. Using the task function approach to
- avoid robot joint limits and kinematic singularities in visual servoing. In
- IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'96, Volume 3,
- Pages 1083-1090, Osaka, Japan, November 1996. details.
-
- - and section II.B in F. Chaumette, E. Marchand. A redundancy-based iterative
- approach for avoiding joint limits: Application to visual servoing. IEEE
- Trans. on Robotics and Automation, 17(5):719-730, October 2001.
+ Implemented from \cite Marchand96f and section II.B in \cite Chaumette01c.
*/
#include <visp/vpConfig.h>
diff --git a/example/servo-viper850/servoViper850Point2DArtVelocity.cpp b/example/servo-viper850/servoViper850Point2DArtVelocity.cpp
index f85015a..a790b56 100644
--- a/example/servo-viper850/servoViper850Point2DArtVelocity.cpp
+++ b/example/servo-viper850/servoViper850Point2DArtVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850Point2DArtVelocity.cpp 4065 2013-01-11 13:32:47Z fspindle $
+ * $Id: servoViper850Point2DArtVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850Point2DCamVelocity.cpp b/example/servo-viper850/servoViper850Point2DCamVelocity.cpp
index abfce20..7b72b9c 100644
--- a/example/servo-viper850/servoViper850Point2DCamVelocity.cpp
+++ b/example/servo-viper850/servoViper850Point2DCamVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850Point2DCamVelocity.cpp 4065 2013-01-11 13:32:47Z fspindle $
+ * $Id: servoViper850Point2DCamVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/servo-viper850/servoViper850Point2DCamVelocityKalman.cpp b/example/servo-viper850/servoViper850Point2DCamVelocityKalman.cpp
index 8586586..e2926ad 100644
--- a/example/servo-viper850/servoViper850Point2DCamVelocityKalman.cpp
+++ b/example/servo-viper850/servoViper850Point2DCamVelocityKalman.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: servoViper850Point2DCamVelocityKalman.cpp 4300 2013-07-04 09:21:07Z fspindle $
+ * $Id: servoViper850Point2DCamVelocityKalman.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/tools/CMakeLists.txt b/example/tools/CMakeLists.txt
index 2e83d62..b1bab01 100644
--- a/example/tools/CMakeLists.txt
+++ b/example/tools/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/tools/histogram.cpp b/example/tools/histogram.cpp
index 09bf7d0..23f7347 100644
--- a/example/tools/histogram.cpp
+++ b/example/tools/histogram.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: histogram.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: histogram.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,6 +63,9 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
+
/*!
\example histogram.cpp
@@ -81,8 +84,7 @@
\param user : Username.
*/
-void usage(const char *name, const char *badparam, std::string ipath,
- std::string opath, std::string user)
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Read an image on the disk, display it using X11, display some\n\
@@ -132,21 +134,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath,
- std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -154,7 +154,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -164,236 +164,233 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // std::cout << "env_ipath: " << env_ipath << std::endl;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef WIN32
- opt_opath = "C:/temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+ // std::cout << "env_ipath: " << env_ipath << std::endl;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if defined(_WIN32)
+ opt_opath = "C:/temp";
#else
- opt_opath = "/tmp";
+ opt_opath = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- std::string dirname = opath + vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string dirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(dirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(dirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << dirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(dirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(dirname);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (opt_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << dirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (opt_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Create a grey level image
+ vpImage<unsigned char> I ;
+
+ // Load a grey image from the disk
+ filename = ipath;
+ if (opt_ipath.empty())
+ filename += vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+
+ std::cout << "Read: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
+
+ unsigned char distance = 60;
+ vpHistogram h;
+
+ // Computes the histogram from the image
+ h.calculate(I);
+
+ // Save the histogram
+ filename = dirname + vpIoTools::path("/histogram.txt");
+ std::cout << "Save the histogram in: " << filename << std::endl;
+ h.write(filename);
+
+ // Smooth the histogram
+ h.smooth();
+ // Save the histogram
+ filename = dirname + vpIoTools::path("/histogram_smoothed.txt");
+ std::cout << "Save the smoothed histogram in: " << filename << std::endl;
+ h.write(filename);
+
+ std::list<vpHistogramPeak> peaks;
+ unsigned int nbpeaks = 0;
+
+ // get all the histogram peaks
+ nbpeaks = h.getPeaks(peaks);
+
+ vpTRACE("List of peaks");
+ vpTRACE("Nb peaks: %d", nbpeaks);
+ if (nbpeaks) {
+ for(std::list<vpHistogramPeak>::const_iterator it = peaks.begin(); it != peaks.end(); ++it)
+ {
+ vpHistogramPeak p = *it;
+ vpTRACE("Peak: gray level: %d value: %d", p.getLevel(), p.getValue());
+ }
}
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
-
- // Create a grey level image
- vpImage<unsigned char> I ;
-
- // Load a grey image from the disk
- filename = ipath;
- if (opt_ipath.empty())
- filename += vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
-
- std::cout << "Read: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- unsigned char distance = 60;
- vpHistogram h;
-
- // Computes the histogram from the image
- h.calculate(I);
-
- // Save the histogram
- filename = dirname + vpIoTools::path("/histogram.txt");
- std::cout << "Save the histogram in: " << filename << std::endl;
- h.write(filename);
+ // sort all the histogram peaks list to have the highest peak at the
+ // beginning of the list, the smallest at the end.
+ nbpeaks = h.sort(peaks);
+
+ vpTRACE("Sorted list of peaks");
+ vpTRACE("Nb peaks: %d", nbpeaks);
+ if (nbpeaks) {
+ for(std::list<vpHistogramPeak>::const_iterator it = peaks.begin(); it != peaks.end(); ++it)
+ {
+ vpHistogramPeak p = *it;
+ vpTRACE("Peak: gray level: %d value: %d", p.getLevel(), p.getValue());
+ }
+ }
- // Smooth the histogram
- h.smooth();
- // Save the histogram
- filename = dirname + vpIoTools::path("/histogram_smoothed.txt");
- std::cout << "Save the smoothed histogram in: " << filename << std::endl;
- h.write(filename);
+ // Get the two highest histogram peaks. peak1 is the highest
+ vpHistogramPeak peak1, peak2;
+ nbpeaks = h.getPeaks(distance, peak1, peak2);
+ if (nbpeaks != 2) {
+ std::cout << "Not a bimodal histogram..." << std::endl;
+ }
+ else {
+ vpTRACE("Bimodal histogram: main peak1: %d-%d second peak2: %d-%d",
+ peak1.getLevel(), peak1.getValue(),
+ peak2.getLevel(), peak2.getValue());
+ }
- std::list<vpHistogramPeak> peaks;
- unsigned int nbpeaks = 0;
+ // Get the valey between the two highest peaks
+ vpHistogramValey valey;
+ if (h.getValey(peak1, peak2, valey) == false) {
+ vpTRACE("No valey found...");
+ }
+ else {
+ vpTRACE("Valey: %d-%d", valey.getLevel(), valey.getValue());
+ }
- // get all the histogram peaks
- nbpeaks = h.getPeaks(peaks);
+ vpHistogramValey valeyl, valeyr;
- vpTRACE("List of peaks");
- vpTRACE("Nb peaks: %d", nbpeaks);
- if (nbpeaks) {
- for(std::list<vpHistogramPeak>::const_iterator it = peaks.begin(); it != peaks.end(); ++it)
{
- vpHistogramPeak p = *it;
- vpTRACE("Peak: gray level: %d value: %d", p.getLevel(), p.getValue());
+ // Search the two valeys around peak1
+ unsigned ret = h.getValey(distance, peak1, valeyl, valeyr);
+ if (ret == 0x00) {
+ vpTRACE("No left and right valey for peak %d-%d...",
+ peak1.getLevel(), peak1.getValue());
+ }
+ else if (ret == 0x10) {
+ vpTRACE("No right valey for peak %d-%d...",
+ peak1.getLevel(), peak1.getValue());
+ vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
+ }
+ else if (ret == 0x01) {
+ vpTRACE("No left valey for peak %d-%d...",
+ peak1.getLevel(), peak1.getValue());
+ vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ }
+ else if (ret == 0x11) {
+ vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
+ vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ }
}
- }
-
- // sort all the histogram peaks list to have the highest peak at the
- // beginning of the list, the smallest at the end.
- nbpeaks = h.sort(peaks);
-
- vpTRACE("Sorted list of peaks");
- vpTRACE("Nb peaks: %d", nbpeaks);
- if (nbpeaks) {
- for(std::list<vpHistogramPeak>::const_iterator it = peaks.begin(); it != peaks.end(); ++it)
{
- vpHistogramPeak p = *it;
- vpTRACE("Peak: gray level: %d value: %d", p.getLevel(), p.getValue());
+ // Search the two valeys around peak2
+ unsigned ret = h.getValey(distance, peak2, valeyl, valeyr);
+ if (ret == 0x00) {
+ vpTRACE("No left and right valey for peak %d-%d...",
+ peak2.getLevel(), peak2.getValue());
+ }
+ else if (ret == 0x10) {
+ vpTRACE("No right valey for peak %d-%d...",
+ peak2.getLevel(), peak2.getValue());
+ vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
+ }
+ else if (ret == 0x01) {
+ vpTRACE("No left valey for peak %d-%d...",
+ peak2.getLevel(), peak2.getValue());
+ vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ }
+ else if (ret == 0x11) {
+ vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
+ vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ }
}
- }
- // Get the two highest histogram peaks. peak1 is the highest
- vpHistogramPeak peak1, peak2;
- nbpeaks = h.getPeaks(distance, peak1, peak2);
- if (nbpeaks != 2) {
- std::cout << "Not a bimodal histogram..." << std::endl;
- }
- else {
- vpTRACE("Bimodal histogram: main peak1: %d-%d second peak2: %d-%d",
- peak1.getLevel(), peak1.getValue(),
- peak2.getLevel(), peak2.getValue());
- }
-
- // Get the valey between the two highest peaks
- vpHistogramValey valey;
- if (h.getValey(peak1, peak2, valey) == false) {
- vpTRACE("No valey found...");
- }
- else {
- vpTRACE("Valey: %d-%d", valey.getLevel(), valey.getValue());
- }
-
-
- vpHistogramValey valeyl, valeyr;
-
- {
- // Search the two valeys around peak1
- unsigned ret = h.getValey(distance, peak1, valeyl, valeyr);
- if (ret == 0x00) {
- vpTRACE("No left and right valey for peak %d-%d...",
- peak1.getLevel(), peak1.getValue());
- }
- else if (ret == 0x10) {
- vpTRACE("No right valey for peak %d-%d...",
- peak1.getLevel(), peak1.getValue());
- vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
- }
- else if (ret == 0x01) {
- vpTRACE("No left valey for peak %d-%d...",
- peak1.getLevel(), peak1.getValue());
- vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ ////////////////////////////////////////////////////////////
+ // get the valey between the two highest peaks. Here we don't know
+ // which of peakl or peakr is the highest.
+ vpHistogramPeak peakl, peakr;
+ if (h.getPeaks(distance, peakl, peakr, valey) == false) {
+ std::cout << "Not a bimodal histogram..." << std::endl;
}
- else if (ret == 0x11) {
- vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
- vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
+ else {
+ vpTRACE("Bimodal histogram: valey %d-%d for peakl: %d-%d peakr: %d-%d",
+ valey.getLevel(), valey.getValue(),
+ peakl.getLevel(), peakl.getValue(),
+ peakr.getLevel(), peakr.getValue());
}
+ return 0;
}
- {
- // Search the two valeys around peak2
- unsigned ret = h.getValey(distance, peak2, valeyl, valeyr);
- if (ret == 0x00) {
- vpTRACE("No left and right valey for peak %d-%d...",
- peak2.getLevel(), peak2.getValue());
- }
- else if (ret == 0x10) {
- vpTRACE("No right valey for peak %d-%d...",
- peak2.getLevel(), peak2.getValue());
- vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
- }
- else if (ret == 0x01) {
- vpTRACE("No left valey for peak %d-%d...",
- peak2.getLevel(), peak2.getValue());
- vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
- }
- else if (ret == 0x11) {
- vpTRACE("Left valey: %d-%d", valeyl.getLevel(), valeyl.getValue());
- vpTRACE("Right valey: %d-%d", valeyr.getLevel(), valeyr.getValue());
- }
- }
-
- ////////////////////////////////////////////////////////////
- // get the valey between the two highest peaks. Here we don't know
- // which of peakl or peakr is the highest.
- vpHistogramPeak peakl, peakr;
- if (h.getPeaks(distance, peakl, peakr, valey) == false) {
- std::cout << "Not a bimodal histogram..." << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- else {
- vpTRACE("Bimodal histogram: valey %d-%d for peakl: %d-%d peakr: %d-%d",
- valey.getLevel(), valey.getValue(),
- peakl.getLevel(), peakl.getValue(),
- peakr.getLevel(), peakr.getValue());
- }
-
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/example/tools/keyboard.cpp b/example/tools/keyboard.cpp
index d12a13b..ef97dd0 100644
--- a/example/tools/keyboard.cpp
+++ b/example/tools/keyboard.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: keyboard.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: keyboard.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -48,7 +48,7 @@
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
-#if ( defined(UNIX) && ( ! defined(WIN32) ) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
#include <stdio.h>
#include <iostream>
#include <signal.h>
diff --git a/example/tools/parallelPort.cpp b/example/tools/parallelPort.cpp
index f257333..789f522 100644
--- a/example/tools/parallelPort.cpp
+++ b/example/tools/parallelPort.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: parallelPort.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: parallelPort.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/example/tools/plot2d.cpp b/example/tools/plot2d.cpp
index cbf86f5..5c487c3 100644
--- a/example/tools/plot2d.cpp
+++ b/example/tools/plot2d.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: plot2d.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: plot2d.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,65 +55,72 @@
int main ()
{
#if defined(VISP_HAVE_DISPLAY)
- vpPlot plot(2, 700, 700, 100, 200, "Curves...");
-
- // Change the default font
- // plot.setFont("-misc-fixed-bold-r-semicondensed--0-0-75-75-c-0-iso8859-10");
-
- //Initialize the number of curve for each graphic
- plot.initGraph(0,1);
- plot.initGraph(1,1);
-
- //Set the color of the curves
- plot.setColor(0,0,vpColor::green);
- plot.setColor(1,0,vpColor::red);
-
- //Set the titles of the graphic
- char title[40];
- strncpy( title, "cos function", 40 );
- plot.setTitle(0,title);
- strncpy( title, "sin function", 40 );
- plot.setTitle(1, title);
-
- //Set the legend of each curves
- char legend[40];
- strncpy( legend, "cos x", 40 );
- plot.setLegend(0,0,legend);
- strncpy( legend, "sin x", 40 );
- plot.setLegend(1,0, legend);
-
- //Set the x axis legend of each curves
- char unit[40];
- strncpy( unit, "x", 40 );
- plot.setUnitX(0,unit);
- strncpy( unit, "x", 40 );
- plot.setUnitX(1,unit);
-
- //Set the y axis legend of each curves
- strncpy( unit, "y", 40 );
- plot.setUnitY(0,unit);
- strncpy( unit, "y", 40 );
- plot.setUnitY(1,unit);
-
- //Plot the cosinus and sinus functions
- double i = 0;
- while(i <= 20*2*M_PI)
- {
- double co = cos(i);
- double si = sin(i);
- plot.plot(0,0,i,co);
- plot.plot(1,0,i,si);
- i+=0.1;
+ try {
+ vpPlot plot(2, 700, 700, 100, 200, "Curves...");
+
+ // Change the default font
+ // plot.setFont("-misc-fixed-bold-r-semicondensed--0-0-75-75-c-0-iso8859-10");
+
+ //Initialize the number of curve for each graphic
+ plot.initGraph(0,1);
+ plot.initGraph(1,1);
+
+ //Set the color of the curves
+ plot.setColor(0,0,vpColor::green);
+ plot.setColor(1,0,vpColor::red);
+
+ //Set the titles of the graphic
+ char title[40];
+ strncpy( title, "cos function", 40 );
+ plot.setTitle(0,title);
+ strncpy( title, "sin function", 40 );
+ plot.setTitle(1, title);
+
+ //Set the legend of each curves
+ char legend[40];
+ strncpy( legend, "cos x", 40 );
+ plot.setLegend(0,0,legend);
+ strncpy( legend, "sin x", 40 );
+ plot.setLegend(1,0, legend);
+
+ //Set the x axis legend of each curves
+ char unit[40];
+ strncpy( unit, "x", 40 );
+ plot.setUnitX(0,unit);
+ strncpy( unit, "x", 40 );
+ plot.setUnitX(1,unit);
+
+ //Set the y axis legend of each curves
+ strncpy( unit, "y", 40 );
+ plot.setUnitY(0,unit);
+ strncpy( unit, "y", 40 );
+ plot.setUnitY(1,unit);
+
+ //Plot the cosinus and sinus functions
+ double i = 0;
+ while(i <= 20*2*M_PI)
+ {
+ double co = cos(i);
+ double si = sin(i);
+ plot.plot(0,0,i,co);
+ plot.plot(1,0,i,si);
+ i+=0.1;
+ }
+
+ vpDisplay::getClick(plot.I);
+
+ //Save the datas as text files
+ plot.saveData(0, "dataCos.txt");
+ plot.saveData(0, "dataSin.txt");
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- vpDisplay::getClick(plot.I);
-
- //Save the datas as text files
- plot.saveData(0, "dataCos.txt");
- plot.saveData(0, "dataSin.txt");
+
#else
std::cout << "Plot functionalities are not avalaible since no display is available." << std::endl;
#endif
- return 0;
}
diff --git a/example/tools/plot3d.cpp b/example/tools/plot3d.cpp
index 94848d5..9485e59 100755
--- a/example/tools/plot3d.cpp
+++ b/example/tools/plot3d.cpp
@@ -3,7 +3,7 @@
* $Id: plot.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,64 +53,70 @@
int main ()
{
#if defined(VISP_HAVE_DISPLAY)
- //Create a window with one graphic
- vpPlot plot(1);
+ try {
+ //Create a window with one graphic
+ vpPlot plot(1);
- // Change the default font
- //plot.setFont("-misc-fixed-bold-r-semicondensed--0-0-75-75-c-0-iso8859-10");
+ // Change the default font
+ //plot.setFont("-misc-fixed-bold-r-semicondensed--0-0-75-75-c-0-iso8859-10");
- //The graphic contains 2 curves
- plot.initGraph(0,2);
-
- //Set the graphic parameters
- plot.setTitle(0, "First graphic");
- plot.setUnitX(0, "time (s)");
- plot.setUnitY(0, "y");
- plot.setUnitZ(0, "z");
- plot.setLegend(0,0, "y^2+z^2=1 and y(0) = 1");
- plot.setLegend(0,1, "y^2+z^2=1 and y(0) = -1");
- plot.setColor(0,0,vpColor::red);
- plot.setColor(0,1,vpColor::green);
+ //The graphic contains 2 curves
+ plot.initGraph(0,2);
- double x = 0;
- double y = 1;
- double z = 0 ;
- double dx = 0.08;
- double dy = 0.04;
- double zsign = 1.0;
+ //Set the graphic parameters
+ plot.setTitle(0, "First graphic");
+ plot.setUnitX(0, "time (s)");
+ plot.setUnitY(0, "y");
+ plot.setUnitZ(0, "z");
+ plot.setLegend(0,0, "y^2+z^2=1 and y(0) = 1");
+ plot.setLegend(0,1, "y^2+z^2=1 and y(0) = -1");
+ plot.setColor(0,0,vpColor::red);
+ plot.setColor(0,1,vpColor::green);
- unsigned long iter = 0;
+ double x = 0;
+ double y = 1;
+ double z = 0 ;
+ double dx = 0.08;
+ double dy = 0.04;
+ double zsign = 1.0;
- std::cout << "Hit CTRL-C to exit...";
- while(1) {
- if (iter < 300) {
- //y*y+z*z = 1
- if (fabs(y) < 1.0)
- z = sqrt(1.0-y*y);
- else z = 0;
+ unsigned long iter = 0;
- //Add points to the graphic
- plot.plot(0,0, x, y,z*zsign);
- plot.plot(0,1, x, -y,-z*zsign);
-
- x += dx;
-
- if (fabs(y) >= 1.0 )
- dy = -dy;
- y += dy;
- if (fabs(y) >= 1.0 )
- zsign = -zsign;
- }
- else {
- // Tip: to allows modifying the point of view with the mouse we
- // plot always the last point
- plot.plot(0,0, x, y,z*zsign);
- plot.plot(0,1, x, -y,-z*zsign);
+ std::cout << "Hit CTRL-C to exit...";
+ while(1) {
+ if (iter < 300) {
+ //y*y+z*z = 1
+ if (fabs(y) < 1.0)
+ z = sqrt(1.0-y*y);
+ else z = 0;
+
+ //Add points to the graphic
+ plot.plot(0,0, x, y,z*zsign);
+ plot.plot(0,1, x, -y,-z*zsign);
+
+ x += dx;
+
+ if (fabs(y) >= 1.0 )
+ dy = -dy;
+ y += dy;
+ if (fabs(y) >= 1.0 )
+ zsign = -zsign;
+ }
+ else {
+ // Tip: to allows modifying the point of view with the mouse we
+ // plot always the last point
+ plot.plot(0,0, x, y,z*zsign);
+ plot.plot(0,1, x, -y,-z*zsign);
+ }
+ iter ++;
}
- iter ++;
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
#else
std::cout << "Plot functionalities are not avalaible since no display is available." << std::endl;
#endif
diff --git a/example/tracking/CMakeLists.txt b/example/tracking/CMakeLists.txt
index 39d1b54..21287d1 100644
--- a/example/tracking/CMakeLists.txt
+++ b/example/tracking/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4156 2013-03-11 16:12:24Z ayol $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
@@ -47,6 +47,7 @@ SET (SOURCE
mbtEdgeTracking.cpp
mbtEdgeKltTracking.cpp
mbtKltTracking.cpp
+ templateTracker.cpp
trackDot2WithAutoDetection.cpp
trackMeCircle.cpp
trackMeEllipse.cpp
@@ -81,6 +82,78 @@ ADD_TEST(trackMeNurbs trackMeNurbs -c ${OPTION_TO_DESACTIVE_DISPLAY})
ADD_TEST(trackDot trackDot -c ${OPTION_TO_DESACTIVE_DISPLAY})
ADD_TEST(trackDot2 trackDot2 -c ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDESM-Affine templateTracker -c -l 2 -t 0 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDESM-Homography templateTracker -c -l 2 -t 0 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDESM-HomographySL3 templateTracker -c -l 2 -t 0 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDESM-SRT templateTracker -c -l 2 -t 0 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDESM-Translation templateTracker -c -l 2 -t 0 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-SSDESM-Affine templateTracker -c -l 2 -t 0 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDESM-Homography templateTracker -c -l 2 -t 0 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDESM-HomographySL3 templateTracker -c -l 2 -t 0 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDESM-SRT templateTracker -c -l 2 -t 0 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDESM-Translation templateTracker -c -l 2 -t 0 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
+#ADD_TEST(templateTracker-SSDForwardAdditional-Affine templateTracker -c -l 2 -t 1 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardAdditional-Homography templateTracker -c -l 2 -t 1 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardAdditional-HomographySL3 templateTracker -c -l 2 -t 1 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardAdditional-SRT templateTracker -c -l 2 -t 1 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardAdditional-Translation templateTracker -c -l 2 -t 1 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-SSDForwardAdditional-Affine templateTracker -c -l 2 -t 1 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardAdditional-Homography templateTracker -c -l 2 -t 1 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardAdditional-HomographySL3 templateTracker -c -l 2 -t 1 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardAdditional-SRT templateTracker -c -l 2 -t 1 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardAdditional-Translation templateTracker -c -l 2 -t 1 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
+#ADD_TEST(templateTracker-SSDForwardCompositional-Affine templateTracker -c -l 2 -t 2 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardCompositional-Homography templateTracker -c -l 2 -t 2 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardCompositional-HomographySL3 templateTracker -c -l 2 -t 2 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardCompositional-SRT templateTracker -c -l 2 -t 2 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDForwardCompositional-Translation templateTracker -c -l 2 -t 2 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-SSDForwardCompositional-Affine templateTracker -c -l 2 -t 2 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardCompositional-Homography templateTracker -c -l 2 -t 2 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardCompositional-HomographySL3 templateTracker -c -l 2 -t 2 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardCompositional-SRT templateTracker -c -l 2 -t 2 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDForwardCompositional-Translation templateTracker -c -l 2 -t 2 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
+#ADD_TEST(templateTracker-SSDInverseCompositional-Affine templateTracker -c -l 2 -t 3 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDInverseCompositional-Homography templateTracker -c -l 2 -t 3 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDInverseCompositional-HomographySL3 templateTracker -c -l 2 -t 3 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDInverseCompositional-SRT templateTracker -c -l 2 -t 3 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-SSDInverseCompositional-Translation templateTracker -c -l 2 -t 3 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-SSDInverseCompositional-Affine templateTracker -c -l 2 -t 3 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDInverseCompositional-Homography templateTracker -c -l 2 -t 3 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDInverseCompositional-HomographySL3 templateTracker -c -l 2 -t 3 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDInverseCompositional-SRT templateTracker -c -l 2 -t 3 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-SSDInverseCompositional-Translation templateTracker -c -l 2 -t 3 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
+#ADD_TEST(templateTracker-ZNCCForwardAdditional-Affine templateTracker -c -l 2 -t 4 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCForwardAdditional-Homography templateTracker -c -l 2 -t 4 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCForwardAdditional-HomographySL3 templateTracker -c -l 2 -t 4 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCForwardAdditional-SRT templateTracker -c -l 2 -t 4 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCForwardAdditional-Translation templateTracker -c -l 2 -t 4 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-ZNCCForwardAdditional-Affine templateTracker -c -l 2 -t 4 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCForwardAdditional-Homography templateTracker -c -l 2 -t 4 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCForwardAdditional-HomographySL3 templateTracker -c -l 2 -t 4 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCForwardAdditional-SRT templateTracker -c -l 2 -t 4 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCForwardAdditional-Translation templateTracker -c -l 2 -t 4 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
+#ADD_TEST(templateTracker-ZNCCInverseCompositional-Affine templateTracker -c -l 2 -t 5 -w 0 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCInverseCompositional-Homography templateTracker -c -l 2 -t 5 -w 1 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCInverseCompositional-HomographySL3 templateTracker -c -l 2 -t 5 -w 2 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCInverseCompositional-SRT templateTracker -c -l 2 -t 5 -w 3 ${OPTION_TO_DESACTIVE_DISPLAY})
+#ADD_TEST(templateTracker-ZNCCInverseCompositional-Translation templateTracker -c -l 2 -t 5 -w 4 ${OPTION_TO_DESACTIVE_DISPLAY})
+
+ADD_TEST(templateTrackerPyramidal-ZNCCInverseCompositional-Affine templateTracker -c -l 2 -t 5 -w 0 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCInverseCompositional-Homography templateTracker -c -l 2 -t 5 -w 1 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCInverseCompositional-HomographySL3 templateTracker -c -l 2 -t 5 -w 2 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCInverseCompositional-SRT templateTracker -c -l 2 -t 5 -w 3 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+ADD_TEST(templateTrackerPyramidal-ZNCCInverseCompositional-Translation templateTracker -c -l 2 -t 5 -w 4 -p ${OPTION_TO_DESACTIVE_DISPLAY})
+
# customize clean target
SET_DIRECTORY_PROPERTIES(PROPERTIES
ADDITIONAL_MAKE_CLEAN_FILES "core*;*~;gmon.out;DartTestfile.txt"
diff --git a/example/tracking/mbtEdgeKltTracking.cpp b/example/tracking/mbtEdgeKltTracking.cpp
index ac53ba8..8fc11f8 100644
--- a/example/tracking/mbtEdgeKltTracking.cpp
+++ b/example/tracking/mbtEdgeKltTracking.cpp
@@ -3,7 +3,7 @@
* $Id: mbtTracking.cpp 3957 2012-11-07 15:22:30Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,6 +65,10 @@
#define GETOPTARGS "x:m:i:n:dchtfCo"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayFeatures, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool& trackCylinder, bool &useOgre);
void usage(const char *name, const char *badparam)
{
@@ -134,17 +138,19 @@ OPTIONS: \n\
}
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile, std::string &initFile, bool &displayFeatures, bool &click_allowed, bool &display, bool& cao3DModel, bool& trackCylinder, bool &useOgre)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayFeatures, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool& trackCylinder, bool &useOgre)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'x': configFile = optarg; break;
- case 'm': modelFile = optarg; break;
- case 'n': initFile = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'x': configFile = optarg_; break;
+ case 'm': modelFile = optarg_; break;
+ case 'n': initFile = optarg_; break;
case 't': displayFeatures = false; break;
case 'f': cao3DModel = true; break;
case 'c': click_allowed = false; break;
@@ -154,7 +160,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -163,7 +169,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -173,254 +179,248 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_configFile;
- std::string configFile;
- std::string opt_modelFile;
- std::string modelFile;
- std::string opt_initFile;
- std::string initFile;
- bool displayFeatures = true;
- bool opt_click_allowed = true;
- bool opt_display = true;
- bool cao3DModel = false;
- bool trackCylinder = true;
- bool useOgre = false;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayFeatures, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
- return (-1);
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() ){
- usage(argv[0], NULL);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << std::endl;
-
- return (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_configFile;
+ std::string configFile;
+ std::string opt_modelFile;
+ std::string modelFile;
+ std::string opt_initFile;
+ std::string initFile;
+ bool displayFeatures = true;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ bool cao3DModel = false;
+ bool trackCylinder = true;
+ bool useOgre = false;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayFeatures, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
+ return (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
- else
- ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
-
- if (!opt_configFile.empty())
- configFile = opt_configFile;
- else if (!opt_ipath.empty())
- configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
- else
- configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
-
- if (!opt_modelFile.empty()){
- modelFile = opt_modelFile;
- }else{
- std::string modelFileCao;
- std::string modelFileWrl;
- if(trackCylinder){
- modelFileCao = "/ViSP-images/mbt/cube_and_cylinder.cao";
- modelFileWrl = "/ViSP-images/mbt/cube_and_cylinder.wrl";
- }else{
- modelFileCao = "/ViSP-images/mbt/cube.cao";
- modelFileWrl = "/ViSP-images/mbt/cube.wrl";
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() ){
+ usage(argv[0], NULL);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << std::endl;
+
+ return (-1);
}
- if(!opt_ipath.empty()){
- if(cao3DModel){
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+ else
+ ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+
+ if (!opt_configFile.empty())
+ configFile = opt_configFile;
+ else if (!opt_ipath.empty())
+ configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+ else
+ configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+
+ if (!opt_modelFile.empty()){
+ modelFile = opt_modelFile;
+ }else{
+ std::string modelFileCao;
+ std::string modelFileWrl;
+ if(trackCylinder){
+ modelFileCao = "/ViSP-images/mbt/cube_and_cylinder.cao";
+ modelFileWrl = "/ViSP-images/mbt/cube_and_cylinder.wrl";
+ }else{
+ modelFileCao = "/ViSP-images/mbt/cube.cao";
+ modelFileWrl = "/ViSP-images/mbt/cube.wrl";
}
- else{
+
+ if(!opt_ipath.empty()){
+ if(cao3DModel){
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
+ modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
#endif
- }
- }
- else{
- if(cao3DModel){
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
}
else{
+ if(cao3DModel){
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = env_ipath + vpIoTools::path(modelFileWrl);
+ modelFile = env_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
#endif
+ }
}
}
- }
-
- if (!opt_initFile.empty())
- initFile = opt_initFile;
- else if (!opt_ipath.empty())
- initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
- else
- initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
-
- vpImage<unsigned char> I;
- vpVideoReader reader;
-
- reader.setFileName(ipath.c_str());
- try{
- reader.open(I);
- }catch(...){
- std::cout << "Cannot open sequence: " << ipath << std::endl;
- return -1;
- }
-
- reader.acquire(I);
- // initialise a display
+ if (!opt_initFile.empty())
+ initFile = opt_initFile;
+ else if (!opt_ipath.empty())
+ initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+ else
+ initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+
+ vpImage<unsigned char> I;
+ vpVideoReader reader;
+
+ reader.setFileName(ipath.c_str());
+ try{
+ reader.open(I);
+ }catch(...){
+ std::cout << "Cannot open sequence: " << ipath << std::endl;
+ return -1;
+ }
+
+ reader.acquire(I);
+
+ // initialise a display
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display;
+ vpDisplayD3D display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#else
- opt_display = false;
+ opt_display = false;
#endif
- if (opt_display)
- {
+ if (opt_display)
+ {
#if (defined VISP_HAVE_DISPLAY)
- display.init(I, 100, 100, "Test tracking") ;
+ display.init(I, 100, 100, "Test tracking") ;
#endif
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
- }
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
- vpMbEdgeKltTracker tracker;
- vpHomogeneousMatrix cMo;
- vpCameraParameters cam;
+ vpMbEdgeKltTracker tracker;
+ vpHomogeneousMatrix cMo;
+ vpCameraParameters cam;
- // Initialise the tracker: camera parameters, moving edge and KLT settings
+ // Initialise the tracker: camera parameters, moving edge and KLT settings
#if defined (VISP_HAVE_XML2)
- // From the xml file
- tracker.loadConfigFile(configFile.c_str());
+ // From the xml file
+ tracker.loadConfigFile(configFile.c_str());
#else
- // By setting the parameters:
- cam.initPersProjWithoutDistortion(547, 542, 338, 234);
-
- vpMe me;
- me.setMaskSize(5);
- me.setMaskNumber(180);
- me.setRange(7);
- me.setThreshold(5000);
- me.setMu1(0.5);
- me.setMu2(0.5);
- me.setMinSampleStep(4);
- me.setNbTotalSample(250);
-
- vpKltOpencv klt;
- klt.setMaxFeatures(10000);
- klt.setWindowSize(5);
- klt.setQuality(0.01);
- klt.setMinDistance(5);
- klt.setHarrisFreeParameter(0.01);
- klt.setBlockSize(3);
- klt.setPyramidLevels(3);
-
- tracker.setCameraParameters(cam);
- tracker.setMovingEdge(me);
- tracker.setKltOpencv(klt);
- tracker.setAngleAppear( vpMath::rad(65) );
- tracker.setAngleDisappear( vpMath::rad(75) );
- tracker.setMaskBorder(5);
-
- // Specify the clipping to
- tracker.setNearClippingDistance(0.01);
- tracker.setFarClippingDistance(0.90);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
-// tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
+ // By setting the parameters:
+ cam.initPersProjWithoutDistortion(547, 542, 338, 234);
+
+ vpMe me;
+ me.setMaskSize(5);
+ me.setMaskNumber(180);
+ me.setRange(7);
+ me.setThreshold(5000);
+ me.setMu1(0.5);
+ me.setMu2(0.5);
+ me.setMinSampleStep(4);
+ me.setNbTotalSample(250);
+
+ vpKltOpencv klt;
+ klt.setMaxFeatures(10000);
+ klt.setWindowSize(5);
+ klt.setQuality(0.01);
+ klt.setMinDistance(5);
+ klt.setHarrisFreeParameter(0.01);
+ klt.setBlockSize(3);
+ klt.setPyramidLevels(3);
+
+ tracker.setCameraParameters(cam);
+ tracker.setMovingEdge(me);
+ tracker.setKltOpencv(klt);
+ tracker.setAngleAppear( vpMath::rad(65) );
+ tracker.setAngleDisappear( vpMath::rad(75) );
+ tracker.setMaskBorder(5);
+
+ // Specify the clipping to
+ tracker.setNearClippingDistance(0.01);
+ tracker.setFarClippingDistance(0.90);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
-
- // Display the moving edges, and the Klt points
- tracker.setDisplayFeatures(displayFeatures);
-
- // Tells if the tracker has to use Ogre3D for visibility tests
- tracker.setOgreVisibilityTest(useOgre);
-
- // Retrieve the camera parameters from the tracker
- tracker.getCameraParameters(cam);
-
- // Loop to position the cube
- if (opt_display && opt_click_allowed)
- {
- while(!vpDisplay::getClick(I,false)){
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, 15, 10,
- "click after positioning the object",
- vpColor::red);
- vpDisplay::flush(I) ;
+
+ // Display the moving edges, and the Klt points
+ tracker.setDisplayFeatures(displayFeatures);
+
+ // Tells if the tracker has to use Ogre3D for visibility tests
+ tracker.setOgreVisibilityTest(useOgre);
+
+ // Retrieve the camera parameters from the tracker
+ tracker.getCameraParameters(cam);
+
+ // Loop to position the cube
+ if (opt_display && opt_click_allowed)
+ {
+ while(!vpDisplay::getClick(I,false)){
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 15, 10,
+ "click after positioning the object",
+ vpColor::red);
+ vpDisplay::flush(I) ;
+ }
}
- }
- // Load the 3D model (either a vrml file or a .cao file)
- try{
+ // Load the 3D model (either a vrml file or a .cao file)
tracker.loadModel(modelFile.c_str());
- }
- catch(...)
- {
- return 0;
- }
- // Initialise the tracker by clicking on the image
- // This function looks for
- // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
- // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
- if (opt_display && opt_click_allowed)
- {
- tracker.initClick(I, initFile.c_str(), true);
+
+ // Initialise the tracker by clicking on the image
+ // This function looks for
+ // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
+ // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
+ if (opt_display && opt_click_allowed)
+ {
+ tracker.initClick(I, initFile.c_str(), true);
+ tracker.getPose(cMo);
+ // display the 3D model at the given pose
+ tracker.display(I,cMo, cam, vpColor::red);
+ }
+ else
+ {
+ vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
+ tracker.initFromPose(I, cMoi);
+ }
+
+ //track the model
+ tracker.track(I);
tracker.getPose(cMo);
- // display the 3D model at the given pose
- tracker.display(I,cMo, cam, vpColor::red);
- }
- else
- {
- vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
- tracker.initFromPose(I, cMoi);
- }
- //track the model
- tracker.track(I);
- tracker.getPose(cMo);
-
- if (opt_display)
- vpDisplay::flush(I);
-
- // Uncomment if you want to compute the covariance matrix.
- // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
-
- while (!reader.end())
- {
- try
+ if (opt_display)
+ vpDisplay::flush(I);
+
+ // Uncomment if you want to compute the covariance matrix.
+ // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
+
+ while (!reader.end())
{
- // acquire a new image
+ // acquire a new image
reader.acquire(I);
// display the image
if (opt_display)
@@ -428,39 +428,38 @@ main(int argc, const char ** argv)
// track the object
tracker.track(I);
tracker.getPose(cMo);
- // display the 3D model
+ // display the 3D model
if (opt_display)
{
tracker.display(I, cMo, cam, vpColor::darkRed);
// display the frame
vpDisplay::displayFrame (I, cMo, cam, 0.05, vpColor::blue);
}
-
- // Uncomment if you want to print the covariance matrix.
+
+ // Uncomment if you want to print the covariance matrix.
// Make sure tracker.setCovarianceComputation(true) has been called (uncomment below).
// std::cout << tracker.getCovarianceMatrix() << std::endl << std::endl;
-
- }
- catch(...)
- {
- std::cout << "error caught" << std::endl;
- break;
+
+ vpDisplay::flush(I) ;
}
- vpDisplay::flush(I) ;
- }
- reader.close();
+ reader.close();
#if defined (VISP_HAVE_XML2)
- // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
- vpXmlParser::cleanup();
+ // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- // Cleanup memory allocated by Coin library used to load a vrml model in vpMbEdgeKltTracker::loadModel()
- SoDB::finish();
+ // Cleanup memory allocated by Coin library used to load a vrml model in vpMbEdgeKltTracker::loadModel()
+ SoDB::finish();
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/tracking/mbtEdgeTracking.cpp b/example/tracking/mbtEdgeTracking.cpp
index 9edb4b4..37c9fbe 100644
--- a/example/tracking/mbtEdgeTracking.cpp
+++ b/example/tracking/mbtEdgeTracking.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: mbtEdgeTracking.cpp 4330 2013-07-20 11:04:19Z ayol $
+ * $Id: mbtEdgeTracking.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,10 @@
#define GETOPTARGS "x:m:i:n:dchtfCo"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayMovingEdge, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool& trackCylinder, bool &useOgre);
void usage(const char *name, const char *badparam)
{
@@ -135,17 +139,19 @@ OPTIONS: \n\
}
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile, std::string &initFile, bool &displayMovingEdge, bool &click_allowed, bool &display, bool& cao3DModel, bool& trackCylinder, bool &useOgre)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayMovingEdge, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool& trackCylinder, bool &useOgre)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'x': configFile = optarg; break;
- case 'm': modelFile = optarg; break;
- case 'n': initFile = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'x': configFile = optarg_; break;
+ case 'm': modelFile = optarg_; break;
+ case 'n': initFile = optarg_; break;
case 't': displayMovingEdge = false; break;
case 'f': cao3DModel = true; break;
case 'c': click_allowed = false; break;
@@ -155,7 +161,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -164,7 +170,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -174,241 +180,239 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_configFile;
- std::string configFile;
- std::string opt_modelFile;
- std::string modelFile;
- std::string opt_initFile;
- std::string initFile;
- bool displayMovingEdge = true;
- bool opt_click_allowed = true;
- bool opt_display = true;
- bool cao3DModel = false;
- bool trackCylinder = true;
- bool useOgre = false;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayMovingEdge, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
- return (-1);
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() ){
- usage(argv[0], NULL);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << std::endl;
-
- return (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_configFile;
+ std::string configFile;
+ std::string opt_modelFile;
+ std::string modelFile;
+ std::string opt_initFile;
+ std::string initFile;
+ bool displayMovingEdge = true;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ bool cao3DModel = false;
+ bool trackCylinder = true;
+ bool useOgre = false;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayMovingEdge, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
+ return (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
- else
- ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
-
- if (!opt_configFile.empty())
- configFile = opt_configFile;
- else if (!opt_ipath.empty())
- configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
- else
- configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
-
- if (!opt_modelFile.empty()){
- modelFile = opt_modelFile;
- }else{
- std::string modelFileCao;
- std::string modelFileWrl;
- if(trackCylinder){
- modelFileCao = "/ViSP-images/mbt/cube_and_cylinder.cao";
- modelFileWrl = "/ViSP-images/mbt/cube_and_cylinder.wrl";
- }else{
- modelFileCao = "/ViSP-images/mbt/cube.cao";
- modelFileWrl = "/ViSP-images/mbt/cube.wrl";
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() ){
+ usage(argv[0], NULL);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << std::endl;
+
+ return (-1);
}
- if(!opt_ipath.empty()){
- if(cao3DModel){
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+ else
+ ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+
+ if (!opt_configFile.empty())
+ configFile = opt_configFile;
+ else if (!opt_ipath.empty())
+ configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+ else
+ configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+
+ if (!opt_modelFile.empty()){
+ modelFile = opt_modelFile;
+ }else{
+ std::string modelFileCao;
+ std::string modelFileWrl;
+ if(trackCylinder){
+ modelFileCao = "/ViSP-images/mbt/cube_and_cylinder.cao";
+ modelFileWrl = "/ViSP-images/mbt/cube_and_cylinder.wrl";
+ }else{
+ modelFileCao = "/ViSP-images/mbt/cube.cao";
+ modelFileWrl = "/ViSP-images/mbt/cube.wrl";
}
- else{
+
+ if(!opt_ipath.empty()){
+ if(cao3DModel){
+ std::cout << "use cao" << std::endl;
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
+ std::cout << "use wrl" << std::endl;
+ modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
#endif
- }
- }
- else{
- if(cao3DModel){
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
}
else{
+ if(cao3DModel){
+ std::cout << "use cao" << std::endl;
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = env_ipath + vpIoTools::path(modelFileWrl);
+ std::cout << "use wrl" << std::endl;
+ modelFile = env_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
#endif
+ }
}
}
- }
-
- if (!opt_initFile.empty())
- initFile = opt_initFile;
- else if (!opt_ipath.empty())
- initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
- else
- initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
-
- vpImage<unsigned char> I;
- vpVideoReader reader;
-
- reader.setFileName(ipath.c_str());
- try{
- reader.open(I);
- }catch(...){
- std::cout << "Cannot open sequence: " << ipath << std::endl;
- return -1;
- }
-
- reader.acquire(I);
- // initialise a display
+ if (!opt_initFile.empty())
+ initFile = opt_initFile;
+ else if (!opt_ipath.empty())
+ initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+ else
+ initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+
+ vpImage<unsigned char> I;
+ vpVideoReader reader;
+
+ reader.setFileName(ipath.c_str());
+ try{
+ reader.open(I);
+ }catch(...){
+ std::cout << "Cannot open sequence: " << ipath << std::endl;
+ return -1;
+ }
+
+ reader.acquire(I);
+
+ // initialise a display
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display;
+ vpDisplayD3D display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#else
- opt_display = false;
+ opt_display = false;
#endif
- if (opt_display)
- {
+ if (opt_display)
+ {
#if (defined VISP_HAVE_DISPLAY)
- display.init(I, 100, 100, "Test tracking") ;
+ display.init(I, 100, 100, "Test tracking") ;
#endif
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
- }
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
- vpMbEdgeTracker tracker;
- vpHomogeneousMatrix cMo;
+ vpMbEdgeTracker tracker;
+ vpHomogeneousMatrix cMo;
- // Initialise the tracker: camera parameters, moving edge and KLT settings
- vpCameraParameters cam;
+ // Initialise the tracker: camera parameters, moving edge and KLT settings
+ vpCameraParameters cam;
#if defined (VISP_HAVE_XML2)
- // From the xml file
- tracker.loadConfigFile(configFile.c_str());
+ // From the xml file
+ tracker.loadConfigFile(configFile.c_str());
#else
- // By setting the parameters:
- cam.initPersProjWithoutDistortion(547, 542, 338, 234);
-
- vpMe me;
- me.setMaskSize(5);
- me.setMaskNumber(180);
- me.setRange(7);
- me.setThreshold(5000);
- me.setMu1(0.5);
- me.setMu2(0.5);
- me.setMinSampleStep(4);
- me.setNbTotalSample(250);
-
- tracker.setCameraParameters(cam);
- tracker.setMovingEdge(me);
-
- // Specify the clipping to use
- tracker.setNearClippingDistance(0.01);
- tracker.setFarClippingDistance(0.90);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
-// tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
+ // By setting the parameters:
+ cam.initPersProjWithoutDistortion(547, 542, 338, 234);
+
+ vpMe me;
+ me.setMaskSize(5);
+ me.setMaskNumber(180);
+ me.setRange(7);
+ me.setThreshold(5000);
+ me.setMu1(0.5);
+ me.setMu2(0.5);
+ me.setMinSampleStep(4);
+ me.setNbTotalSample(250);
+
+ tracker.setCameraParameters(cam);
+ tracker.setMovingEdge(me);
+
+ // Specify the clipping to use
+ tracker.setNearClippingDistance(0.01);
+ tracker.setFarClippingDistance(0.90);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
- // Display the moving edges, see documentation for the significations of the colour
- tracker.setDisplayMovingEdges(displayMovingEdge);
-
- // Tells if the tracker has to use Ogre3D for visibility tests
- tracker.setOgreVisibilityTest(useOgre);
-
- // Retrieve the camera parameters from the tracker
- tracker.getCameraParameters(cam);
-
- // Loop to position the cube
- if (opt_display && opt_click_allowed)
- {
- while(!vpDisplay::getClick(I,false)){
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, 15, 10,
- "click after positioning the object",
- vpColor::red);
- vpDisplay::flush(I) ;
+ // Display the moving edges, see documentation for the significations of the colour
+ tracker.setDisplayMovingEdges(displayMovingEdge);
+
+ // Tells if the tracker has to use Ogre3D for visibility tests
+ tracker.setOgreVisibilityTest(useOgre);
+
+ // Retrieve the camera parameters from the tracker
+ tracker.getCameraParameters(cam);
+
+ // Loop to position the cube
+ if (opt_display && opt_click_allowed)
+ {
+ while(!vpDisplay::getClick(I,false)){
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 15, 10,
+ "click after positioning the object",
+ vpColor::red);
+ vpDisplay::flush(I) ;
+ }
}
- }
- // Load the 3D model (either a vrml file or a .cao file)
- try{
+ // Load the 3D model (either a vrml file or a .cao file)
tracker.loadModel(modelFile.c_str());
- }
- catch(...)
- {
- return 0;
- }
- // Initialise the tracker by clicking on the image
- // This function looks for
- // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
- // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
- if (opt_display && opt_click_allowed)
- {
- tracker.initClick(I, initFile.c_str(), true);
+
+ // Initialise the tracker by clicking on the image
+ // This function looks for
+ // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
+ // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
+ if (opt_display && opt_click_allowed)
+ {
+ tracker.initClick(I, initFile.c_str(), true);
+ tracker.getPose(cMo);
+ // display the 3D model at the given pose
+ tracker.display(I,cMo, cam, vpColor::red);
+ }
+ else
+ {
+ vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
+ tracker.initFromPose(I, cMoi);
+ }
+
+ //track the model
+ tracker.track(I);
tracker.getPose(cMo);
- // display the 3D model at the given pose
- tracker.display(I,cMo, cam, vpColor::red);
- }
- else
- {
- vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
- tracker.initFromPose(I, cMoi);
- }
- //track the model
- tracker.track(I);
- tracker.getPose(cMo);
-
- if (opt_display)
- vpDisplay::flush(I);
+ if (opt_display)
+ vpDisplay::flush(I);
- // Uncomment if you want to compute the covariance matrix.
- // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
-
- while (!reader.end())
- {
- try
+ // Uncomment if you want to compute the covariance matrix.
+ // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
+
+ while (!reader.end())
{
- // acquire a new image
+ // acquire a new image
reader.acquire(I);
// display the image
if (opt_display)
@@ -416,7 +420,7 @@ main(int argc, const char ** argv)
// track the object
tracker.track(I);
tracker.getPose(cMo);
- // display the 3D model
+ // display the 3D model
if (opt_display)
{
tracker.display(I, cMo, cam, vpColor::darkRed);
@@ -424,31 +428,29 @@ main(int argc, const char ** argv)
vpDisplay::displayFrame (I, cMo, cam, 0.05, vpColor::blue);
}
- // Uncomment if you want to print the covariance matrix.
+ // Uncomment if you want to print the covariance matrix.
// Make sure tracker.setCovarianceComputation(true) has been called (uncomment below).
// std::cout << tracker.getCovarianceMatrix() << std::endl << std::endl;
-
- }
- catch(...)
- {
- std::cout << "error caught" << std::endl;
- break;
+ vpDisplay::flush(I) ;
}
- vpDisplay::flush(I) ;
- }
- reader.close();
+ reader.close();
#if defined (VISP_HAVE_XML2)
- // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
- vpXmlParser::cleanup();
+ // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- // Cleanup memory allocated by Coin library used to load a vrml model in vpMbEdgeTracker::loadModel()
- SoDB::finish();
+ // Cleanup memory allocated by Coin library used to load a vrml model in vpMbEdgeTracker::loadModel()
+ SoDB::finish();
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/tracking/mbtKltTracking.cpp b/example/tracking/mbtKltTracking.cpp
index 18a8217..45621b7 100644
--- a/example/tracking/mbtKltTracking.cpp
+++ b/example/tracking/mbtKltTracking.cpp
@@ -3,7 +3,7 @@
* $Id: mbtTracking.cpp 3957 2012-11-07 15:22:30Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,6 +65,10 @@
#define GETOPTARGS "x:m:i:n:dchtfo"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayKltPoints, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool &useOgre);
void usage(const char *name, const char *badparam)
{
@@ -129,26 +133,28 @@ OPTIONS: \n\
}
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile, std::string &initFile, bool &displayKltPoints, bool &click_allowed, bool &display, bool& cao3DModel, bool &useOgre)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
+ std::string &initFile, bool &displayKltPoints, bool &click_allowed, bool &display,
+ bool& cao3DModel, bool &useOgre)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'x': configFile = optarg; break;
- case 'm': modelFile = optarg; break;
- case 'n': initFile = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'x': configFile = optarg_; break;
+ case 'm': modelFile = optarg_; break;
+ case 'n': initFile = optarg_; break;
case 't': displayKltPoints = false; break;
case 'f': cao3DModel = true; break;
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'o' : useOgre = true; break;
+ case 'o': useOgre = true; break;
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -157,7 +163,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -167,233 +173,227 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_configFile;
- std::string configFile;
- std::string opt_modelFile;
- std::string modelFile;
- std::string opt_initFile;
- std::string initFile;
- bool displayKltPoints = true;
- bool opt_click_allowed = true;
- bool opt_display = true;
- bool cao3DModel = false;
- bool useOgre = false;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayKltPoints, opt_click_allowed, opt_display, cao3DModel, useOgre)) {
- return (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_configFile;
+ std::string configFile;
+ std::string opt_modelFile;
+ std::string modelFile;
+ std::string opt_initFile;
+ std::string initFile;
+ bool displayKltPoints = true;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ bool cao3DModel = false;
+ bool useOgre = false;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayKltPoints, opt_click_allowed, opt_display, cao3DModel, useOgre)) {
+ return (-1);
+ }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() ){
- usage(argv[0], NULL);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << std::endl;
-
- return (-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() ){
+ usage(argv[0], NULL);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << std::endl;
+
+ return (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
- else
- ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
-
- if (!opt_configFile.empty())
- configFile = opt_configFile;
- else if (!opt_ipath.empty())
- configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
- else
- configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
-
- if (!opt_modelFile.empty()){
- modelFile = opt_modelFile;
- }else{
- std::string modelFileCao = "/ViSP-images/mbt/cube.cao";
- std::string modelFileWrl = "/ViSP-images/mbt/cube.wrl";
-
- if(!opt_ipath.empty()){
- if(cao3DModel){
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
- }
- else{
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+ else
+ ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
+
+ if (!opt_configFile.empty())
+ configFile = opt_configFile;
+ else if (!opt_ipath.empty())
+ configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+ else
+ configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
+
+ if (!opt_modelFile.empty()){
+ modelFile = opt_modelFile;
+ }else{
+ std::string modelFileCao = "/ViSP-images/mbt/cube.cao";
+ std::string modelFileWrl = "/ViSP-images/mbt/cube.wrl";
+
+ if(!opt_ipath.empty()){
+ if(cao3DModel){
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
+ modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = opt_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = opt_ipath + vpIoTools::path(modelFileCao);
#endif
- }
- }
- else{
- if(cao3DModel){
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
}
else{
+ if(cao3DModel){
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ }
+ else{
#ifdef VISP_HAVE_COIN
- modelFile = env_ipath + vpIoTools::path(modelFileWrl);
+ modelFile = env_ipath + vpIoTools::path(modelFileWrl);
#else
- std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
- modelFile = env_ipath + vpIoTools::path(modelFileCao);
+ std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
+ modelFile = env_ipath + vpIoTools::path(modelFileCao);
#endif
+ }
}
}
- }
-
- if (!opt_initFile.empty())
- initFile = opt_initFile;
- else if (!opt_ipath.empty())
- initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
- else
- initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
-
- vpImage<unsigned char> I;
- vpVideoReader reader;
-
- reader.setFileName(ipath.c_str());
- try{
- reader.open(I);
- }catch(...){
- std::cout << "Cannot open sequence: " << ipath << std::endl;
- return -1;
- }
-
- reader.acquire(I);
- // initialise a display
+ if (!opt_initFile.empty())
+ initFile = opt_initFile;
+ else if (!opt_ipath.empty())
+ initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+ else
+ initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
+
+ vpImage<unsigned char> I;
+ vpVideoReader reader;
+
+ reader.setFileName(ipath.c_str());
+ try{
+ reader.open(I);
+ }catch(...){
+ std::cout << "Cannot open sequence: " << ipath << std::endl;
+ return -1;
+ }
+
+ reader.acquire(I);
+
+ // initialise a display
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display;
+ vpDisplayD3D display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#else
- opt_display = false;
+ opt_display = false;
#endif
- if (opt_display)
- {
+ if (opt_display)
+ {
#if (defined VISP_HAVE_DISPLAY)
- display.init(I, 100, 100, "Test tracking") ;
+ display.init(I, 100, 100, "Test tracking") ;
#endif
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
- }
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
- vpMbKltTracker tracker;
- vpHomogeneousMatrix cMo;
-
- // Load tracker config file (camera parameters and moving edge settings)
- vpCameraParameters cam;
+ vpMbKltTracker tracker;
+ vpHomogeneousMatrix cMo;
+
+ // Load tracker config file (camera parameters and moving edge settings)
+ vpCameraParameters cam;
#if defined (VISP_HAVE_XML2)
- // From the xml file
- tracker.loadConfigFile(configFile.c_str());
+ // From the xml file
+ tracker.loadConfigFile(configFile.c_str());
#else
- // By setting the parameters:
- cam.initPersProjWithoutDistortion(547, 542, 338, 234);
-
- vpKltOpencv klt;
- klt.setMaxFeatures(10000);
- klt.setWindowSize(5);
- klt.setQuality(0.01);
- klt.setMinDistance(5);
- klt.setHarrisFreeParameter(0.01);
- klt.setBlockSize(3);
- klt.setPyramidLevels(3);
-
- tracker.setCameraParameters(cam);
- tracker.setKltOpencv(klt);
- tracker.setAngleAppear( vpMath::rad(65) );
- tracker.setAngleDisappear( vpMath::rad(75) );
- tracker.setMaskBorder(5);
-
- // Specify the clipping to use
- tracker.setNearClippingDistance(0.01);
- tracker.setFarClippingDistance(0.90);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
-// tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
+ // By setting the parameters:
+ cam.initPersProjWithoutDistortion(547, 542, 338, 234);
+
+ vpKltOpencv klt;
+ klt.setMaxFeatures(10000);
+ klt.setWindowSize(5);
+ klt.setQuality(0.01);
+ klt.setMinDistance(5);
+ klt.setHarrisFreeParameter(0.01);
+ klt.setBlockSize(3);
+ klt.setPyramidLevels(3);
+
+ tracker.setCameraParameters(cam);
+ tracker.setKltOpencv(klt);
+ tracker.setAngleAppear( vpMath::rad(65) );
+ tracker.setAngleDisappear( vpMath::rad(75) );
+ tracker.setMaskBorder(5);
+
+ // Specify the clipping to use
+ tracker.setNearClippingDistance(0.01);
+ tracker.setFarClippingDistance(0.90);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
-
- // Display the klt points
- tracker.setDisplayFeatures(displayKltPoints);
-
- // Tells if the tracker has to use Ogre3D for visibility tests
- tracker.setOgreVisibilityTest(useOgre);
- // Retrieve the camera parameters from the tracker
- tracker.getCameraParameters(cam);
-
- // Loop to position the cube
- if (opt_display && opt_click_allowed)
- {
- while(!vpDisplay::getClick(I,false)){
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, 15, 10,
- "click after positioning the object",
- vpColor::red);
- vpDisplay::flush(I) ;
+ // Display the klt points
+ tracker.setDisplayFeatures(displayKltPoints);
+
+ // Tells if the tracker has to use Ogre3D for visibility tests
+ tracker.setOgreVisibilityTest(useOgre);
+
+ // Retrieve the camera parameters from the tracker
+ tracker.getCameraParameters(cam);
+
+ // Loop to position the cube
+ if (opt_display && opt_click_allowed)
+ {
+ while(!vpDisplay::getClick(I,false)){
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 15, 10,
+ "click after positioning the object",
+ vpColor::red);
+ vpDisplay::flush(I) ;
+ }
}
- }
- // Load the 3D model (either a vrml file or a .cao file)
- try{
+ // Load the 3D model (either a vrml file or a .cao file)
tracker.loadModel(modelFile.c_str());
- }
- catch(...)
- {
- return 0;
- }
- // Initialise the tracker by clicking on the image
- // This function looks for
- // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
- // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
- if (opt_display && opt_click_allowed)
- {
- tracker.initClick(I, initFile.c_str(), true);
+
+ // Initialise the tracker by clicking on the image
+ // This function looks for
+ // - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
+ // - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
+ if (opt_display && opt_click_allowed)
+ {
+ tracker.initClick(I, initFile.c_str(), true);
+ tracker.getPose(cMo);
+ // display the 3D model at the given pose
+ tracker.display(I,cMo, cam, vpColor::red);
+ }
+ else
+ {
+ vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
+ tracker.initFromPose(I, cMoi);
+ }
+
+ //track the model
+ tracker.track(I);
tracker.getPose(cMo);
- // display the 3D model at the given pose
- tracker.display(I,cMo, cam, vpColor::red);
- }
- else
- {
- vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
- tracker.initFromPose(I, cMoi);
- }
- //track the model
- tracker.track(I);
- tracker.getPose(cMo);
-
- if (opt_display)
- vpDisplay::flush(I);
+ if (opt_display)
+ vpDisplay::flush(I);
- // Uncomment if you want to compute the covariance matrix.
- // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
-
- while (!reader.end())
- {
- try
+ // Uncomment if you want to compute the covariance matrix.
+ // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.
+
+ while (!reader.end())
{
// acquire a new image
reader.acquire(I);
@@ -414,28 +414,27 @@ main(int argc, const char ** argv)
// Uncomment if you want to print the covariance matrix.
// Make sure tracker.setCovarianceComputation(true) has been called (uncomment below).
// std::cout << tracker.getCovarianceMatrix() << std::endl << std::endl;
-
- }
- catch(...)
- {
- std::cout << "error caught" << std::endl;
- break;
+
+ vpDisplay::flush(I) ;
}
- vpDisplay::flush(I) ;
- }
- reader.close();
+ reader.close();
#if defined (VISP_HAVE_XML2)
- // Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
- vpXmlParser::cleanup();
+ // Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- // Cleanup memory allocated by Coin library used to load a vrml model in vpMbKltTracker::loadModel()
- SoDB::finish();
+ // Cleanup memory allocated by Coin library used to load a vrml model in vpMbKltTracker::loadModel()
+ SoDB::finish();
#endif
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/example/tracking/templateTracker.cpp b/example/tracking/templateTracker.cpp
new file mode 100644
index 0000000..1d1c0be
--- /dev/null
+++ b/example/tracking/templateTracker.cpp
@@ -0,0 +1,430 @@
+/****************************************************************************
+ *
+ * $Id: templateTracker.cpp 4658 2014-02-09 09:50:14Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Example of template tracking.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+
+/*!
+ \example templateTracker.cpp
+
+ \brief Example of template tracking.
+*/
+
+#include <visp/vpConfig.h>
+#include <visp/vpDebug.h>
+#include <visp/vpDisplayD3D.h>
+#include <visp/vpDisplayGTK.h>
+#include <visp/vpDisplayGDI.h>
+#include <visp/vpDisplayOpenCV.h>
+#include <visp/vpDisplayX.h>
+#include <visp/vpHomogeneousMatrix.h>
+#include <visp/vpImageIo.h>
+#include <visp/vpIoTools.h>
+#include <visp/vpMath.h>
+#include <visp/vpVideoReader.h>
+#include <visp/vpParseArgv.h>
+
+#include <visp/vpTemplateTrackerSSD.h>
+#include <visp/vpTemplateTrackerSSDForwardAdditional.h>
+#include <visp/vpTemplateTrackerSSDForwardCompositional.h>
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpTemplateTrackerSSDESM.h>
+#include <visp/vpTemplateTrackerZNCCForwardAdditional.h>
+#include <visp/vpTemplateTrackerZNCCInverseCompositional.h>
+
+#include <visp/vpTemplateTrackerWarpAffine.h>
+#include <visp/vpTemplateTrackerWarpHomography.h>
+#include <visp/vpTemplateTrackerWarpHomographySL3.h>
+#include <visp/vpTemplateTrackerWarpSRT.h>
+#include <visp/vpTemplateTrackerWarpTranslation.h>
+
+#if defined (VISP_HAVE_DISPLAY)
+
+
+#define GETOPTARGS "cdhi:l:pt:w:"
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+typedef enum {
+ WARP_AFFINE,
+ WARP_HOMOGRAPHY,
+ WARP_HOMOGRAPHY_SL3,
+ WARP_SRT,
+ WARP_TRANSLATION
+} WarpType;
+
+typedef enum {
+ TRACKER_SSD_ESM,
+ TRACKER_SSD_FORWARD_ADDITIONAL,
+ TRACKER_SSD_FORWARD_COMPOSITIONAL,
+ TRACKER_SSD_INVERSE_COMPOSITIONAL, // The most efficient
+ TRACKER_ZNCC_FORWARD_ADDITIONEL,
+ TRACKER_ZNCC_INVERSE_COMPOSITIONAL
+} TrackerType;
+
+#endif
+
+void usage(const char *name, const char *badparam, const WarpType &warp_type,
+ TrackerType &tracker_type, const long &last_frame);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display,
+ bool &pyramidal, WarpType &warp_type, TrackerType &tracker_type, long &last_frame);
+
+void usage(const char *name, const char *badparam, const WarpType &warp_type,
+ TrackerType &tracker_type, const long &last_frame)
+{
+ fprintf(stdout, "\n\
+Example of template tracking.\n\
+\n\
+SYNOPSIS\n\
+ %s [-i <test image path>] [-c] [-d] [-p] \n\
+ [-w <warp type>] [-t <tracker type>] \n\
+ [-l <last frame number>] [-h]\n", name );
+
+ fprintf(stdout, "\n\
+OPTIONS: Default\n\
+ -i <input image path> \n\
+ Set image input path.\n\
+ From this path read images \n\
+ \"ViSP-images/cube/image%%04d.pgm\". These \n\
+ images come from ViSP-images-x.y.z.tar.gz available \n\
+ on the ViSP website.\n\
+ Setting the VISP_INPUT_IMAGE_PATH environment\n\
+ variable produces the same behaviour than using\n\
+ this option.\n\
+ \n\
+ -l <last frame number> %ld\n\
+ Last frame number to consider.\n\
+ \n\
+ -d \n\
+ Turn off the display.\n\
+ \n\
+ -c\n\
+ Disable the mouse click. Useful to automaze the \n\
+ execution of this program without humain intervention.\n\
+ \n\
+ -w <warp type=[0,1,2,3,4]> %d\n\
+ Set the model used to warp the template. \n\
+ Authorized values are:\n\
+ %d : Affine\n\
+ %d : Homography\n\
+ %d : Homography in SL3\n\
+ %d : SRT (scale, rotation, translation)\n\
+ %d : Translation\n\
+ \n\
+ -t <tracker type=[0,1,2,3,4,5]> %d\n\
+ Set the tracker used to track the template. \n\
+ Authorized values are:\n\
+ %d : SSD ESM\n\
+ %d : SSD forward additional\n\
+ %d : SSD forward compositional\n\
+ %d : SSD inverse compositional\n\
+ %d : ZNCC forward additional\n\
+ %d : ZNCC inverse compositional\n\
+ \n\
+ -p\n\
+ Enable pyramidal tracking.\n\
+ \n\
+ -h \n\
+ Print the help.\n\n",
+ last_frame, (int)warp_type,
+ (int)WARP_AFFINE, (int)WARP_HOMOGRAPHY, (int)WARP_HOMOGRAPHY_SL3, (int)WARP_SRT, (int)WARP_TRANSLATION,
+ (int)tracker_type,
+ (int)TRACKER_SSD_ESM, (int)TRACKER_SSD_FORWARD_ADDITIONAL, (int)TRACKER_SSD_FORWARD_COMPOSITIONAL,
+ (int)TRACKER_SSD_INVERSE_COMPOSITIONAL, (int)TRACKER_ZNCC_FORWARD_ADDITIONEL,
+ (int)TRACKER_ZNCC_INVERSE_COMPOSITIONAL);
+ if (badparam)
+ fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
+}
+
+
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display,
+ bool &pyramidal, WarpType &warp_type, TrackerType &tracker_type, long &last_frame)
+{
+ const char *optarg_;
+ int c;
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
+
+ switch (c) {
+ case 'c': click_allowed = false; break;
+ case 'd': display = false; break;
+ case 'h': usage(argv[0], NULL, warp_type, tracker_type, last_frame); return false; break;
+ case 'i': ipath = optarg_; break;
+ case 'l': last_frame = (long)atoi(optarg_); break;
+ case 'p': pyramidal = true; break;
+ case 't': tracker_type = (TrackerType)atoi(optarg_); break;
+ case 'w': warp_type = (WarpType)atoi(optarg_); break;
+
+ default:
+ usage(argv[0], optarg_, warp_type, tracker_type, last_frame);
+ return false; break;
+ }
+ }
+
+ if (warp_type > WARP_TRANSLATION) {
+ usage(argv[0], NULL, warp_type, tracker_type, last_frame);
+ std::cerr << "ERROR: " << std::endl;
+ std::cerr << " Bad argument -w <warp type> with \"warp type\"=" << (int)warp_type << std::endl << std::endl;
+ return false;
+ }
+ if (tracker_type > TRACKER_ZNCC_INVERSE_COMPOSITIONAL) {
+ usage(argv[0], NULL, warp_type, tracker_type, last_frame);
+ std::cerr << "ERROR: " << std::endl;
+ std::cerr << " Bad argument -t <tracker type> with \"tracker type\"=" << (int)tracker_type << std::endl << std::endl;
+ return false;
+ }
+ if ((c == 1) || (c == -1)) {
+ // standalone param or error
+ usage(argv[0], NULL, warp_type, tracker_type, last_frame);
+ std::cerr << "ERROR: " << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
+ return false;
+ }
+
+ return true;
+}
+
+int
+main(int argc, const char ** argv)
+{
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+ bool opt_pyramidal = false;
+ TrackerType opt_tracker_type = TRACKER_SSD_INVERSE_COMPOSITIONAL;
+ WarpType opt_warp_type = WARP_AFFINE;
+ long opt_last_frame = 30;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (!getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display, opt_pyramidal,
+ opt_warp_type, opt_tracker_type, opt_last_frame)) {
+ return (-1);
+ }
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() ){
+ usage(argv[0], NULL, opt_warp_type, opt_tracker_type, opt_last_frame);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << std::endl;
+
+ return (-1);
+ }
+
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath + vpIoTools::path("/ViSP-images/mire-2/image.%04d.pgm");
+ else
+ ipath = env_ipath + vpIoTools::path("/ViSP-images/mire-2/image.%04d.pgm");
+
+ vpImage<unsigned char> I;
+ vpVideoReader reader;
+
+ reader.setFileName(ipath.c_str());
+ reader.setFirstFrameIndex(1);
+ reader.setLastFrameIndex(opt_last_frame);
+ try{
+ reader.open(I);
+ }catch(...){
+ std::cout << "Cannot open sequence: " << ipath << std::endl;
+ return -1;
+ }
+ reader.acquire(I);
+
+ vpDisplay *display = NULL;
+ if (opt_display)
+ {
+ // initialise a display
+#if defined VISP_HAVE_X11
+ display = new vpDisplayX;
+#elif defined VISP_HAVE_GDI
+ display = new vpDisplayGDI;
+#elif defined VISP_HAVE_OPENCV
+ display = new vpDisplayOpenCV;
+#elif defined VISP_HAVE_D3D9
+ display = new vpDisplayD3D;
+#elif defined VISP_HAVE_GTK
+ display = new vpDisplayGTK;
+#else
+ opt_display = false;
+#endif
+#if (defined VISP_HAVE_DISPLAY)
+ display->init(I, 100, 100, "Test tracking") ;
+#endif
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
+
+ vpTemplateTrackerWarp *warp = NULL;
+ switch(opt_warp_type) {
+ case WARP_AFFINE: warp = new vpTemplateTrackerWarpAffine; break;
+ case WARP_HOMOGRAPHY: warp = new vpTemplateTrackerWarpHomography; break;
+ case WARP_HOMOGRAPHY_SL3: warp = new vpTemplateTrackerWarpHomographySL3; break;
+ case WARP_SRT: warp = new vpTemplateTrackerWarpSRT; break;
+ case WARP_TRANSLATION: warp = new vpTemplateTrackerWarpTranslation; break;
+ }
+
+ vpTemplateTracker *tracker = NULL;
+ switch(opt_tracker_type) {
+ case TRACKER_SSD_ESM: tracker = new vpTemplateTrackerSSDESM(warp); break;
+ case TRACKER_SSD_FORWARD_ADDITIONAL: tracker = new vpTemplateTrackerSSDForwardAdditional(warp); break;
+ case TRACKER_SSD_FORWARD_COMPOSITIONAL: tracker = new vpTemplateTrackerSSDForwardCompositional(warp); break;
+ case TRACKER_SSD_INVERSE_COMPOSITIONAL: tracker = new vpTemplateTrackerSSDInverseCompositional(warp); break;
+ case TRACKER_ZNCC_FORWARD_ADDITIONEL: tracker = new vpTemplateTrackerZNCCForwardAdditional(warp); break;
+ case TRACKER_ZNCC_INVERSE_COMPOSITIONAL: tracker = new vpTemplateTrackerZNCCInverseCompositional(warp); break;
+ }
+
+ tracker->setSampling(2,2);
+ tracker->setLambda(0.001);
+ tracker->setThresholdGradient(60.);
+ tracker->setIterationMax(800);
+ if (opt_pyramidal) {
+ tracker->setPyramidal(2, 1);
+ }
+ bool delaunay = false;
+ if (opt_display && opt_click_allowed)
+ tracker->initClick(I, delaunay);
+ else {
+ std::vector<vpImagePoint> v_ip;
+ vpImagePoint ip;
+ ip.set_ij(166, 54); v_ip.push_back(ip);
+ ip.set_ij(284, 55); v_ip.push_back(ip);
+ ip.set_ij(259, 284); v_ip.push_back(ip); // ends the first triangle
+ ip.set_ij(259, 284); v_ip.push_back(ip); // start the second triangle
+ ip.set_ij(149, 240); v_ip.push_back(ip);
+ ip.set_ij(167, 58); v_ip.push_back(ip);
+
+ tracker->initFromPoints(I, v_ip, false);
+ }
+
+ while (! reader.end())
+ {
+ std::cout << "Process image number " << reader.getFrameIndex() << std::endl;
+ // Acquire a new image
+ reader.acquire(I);
+ // Display the image
+ vpDisplay::display(I);
+ // Track the template
+ tracker->track(I);
+
+ // Simulate a re-init
+ if (reader.getFrameIndex() == 10){
+ std::cout << "re-init simulation" << std::endl;
+ if (opt_click_allowed)
+ vpDisplay::getClick(I);
+
+ tracker->resetTracker();
+
+ if (opt_display && opt_click_allowed) {
+ vpDisplay::displayCharString(I, 10, 10, "Re-init simulation", vpColor::red);
+ vpDisplay::flush(I);
+ tracker->initClick(I, delaunay);
+ }
+ else {
+ std::vector<vpImagePoint> v_ip;
+ vpImagePoint ip;
+ ip.set_ij(146, 60); v_ip.push_back(ip);
+ ip.set_ij(254, 74); v_ip.push_back(ip);
+ ip.set_ij(228, 288); v_ip.push_back(ip); // ends the first triangle
+ ip.set_ij(228, 288); v_ip.push_back(ip); // start the second triangle
+ ip.set_ij(126, 242); v_ip.push_back(ip);
+ ip.set_ij(146, 60); v_ip.push_back(ip);
+
+ tracker->initFromPoints(I, v_ip, false);
+ }
+ }
+
+ // Display the template
+#if 1
+ tracker->display(I, vpColor::red, 3);
+#else
+ vpTemplateTrackerZone zoneWarped_, zoneRef_ = tracker->getZoneRef();
+ vpTemplateTrackerWarp *warp_ = tracker->getWarp();
+ vpColVector p_= tracker->getp();
+ warp_->warpZone(zoneRef_, p_, zoneWarped_);
+ zoneWarped_.display(I, vpColor::red, 3);
+ zoneRef_.display(I, vpColor::green, 3);
+#endif
+
+ vpDisplay::flush(I) ;
+ }
+ if (opt_click_allowed) {
+ vpDisplay::displayCharString(I, 10,10, "A click to exit...", vpColor::red);
+ vpDisplay::flush(I) ;
+ vpDisplay::getClick(I) ;
+ }
+ reader.close();
+ if (display)
+ delete display;
+
+ delete warp;
+ delete tracker;
+
+ return 0;
+ }
+ catch(vpException e)
+ {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return -1;
+ }
+}
+
+#else
+
+int main()
+{
+ std::cout << "No display is available." << std::endl;
+ return 0;
+}
+
+#endif
diff --git a/example/tracking/trackDot.cpp b/example/tracking/trackDot.cpp
index 2c58fb7..8292858 100644
--- a/example/tracking/trackDot.cpp
+++ b/example/tracking/trackDot.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackDot.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackDot.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -76,6 +76,11 @@
// List of allowed command line options
#define GETOPTARGS "cdf:i:n:p:s:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -90,7 +95,7 @@ Print the program options.
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
- unsigned first, unsigned nimages, unsigned step)
+ unsigned first, unsigned nimages, unsigned step)
{
fprintf(stdout, "\n\
Test dot tracking.\n\
@@ -162,27 +167,26 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
- unsigned &first, unsigned &nimages, unsigned &step,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false; break;
}
}
@@ -191,7 +195,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -202,141 +206,141 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 1;
- unsigned opt_nimages = 500;
- unsigned opt_step = 1;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
- opt_step, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 1;
+ unsigned opt_nimages = 500;
+ unsigned opt_step = 1;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
+ opt_step, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ exit(-1);
+ }
- unsigned iter = opt_first;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- if (opt_ppath.empty()){
+ unsigned iter = opt_first;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
- // ViSP-images/mire-2/image.0001.pgm
- // !! vpDotExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images.tar.gz"
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
+ // ViSP-images/mire-2/image.0001.pgm
+ // !! vpDotExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images.tar.gz"
- // Build the name of the image file
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ // Build the name of the image file
- sprintf(cfilename,opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
+ sprintf(cfilename,opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
- // We open a window using either X11, GTK or GDI.
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
+
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -347,30 +351,23 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- // by using setGraphics, we request to see the all the pixel of the dot
- vpDot d ;
- if (opt_display) {
// by using setGraphics, we request to see the all the pixel of the dot
- // in green on the screen.
- // It uses the overlay image plane.
- // The default of this setting is that it is time consumming
- d.setGraphics(true) ;
- }
- else {
- d.setGraphics(false) ;
- }
- // we also request to compute the dot moment m00, m10, m01, m11, m20, m02
- d.setComputeMoments(true);
- d.setConnexity(vpDot::CONNEXITY_8);
+ vpDot d ;
+ if (opt_display) {
+ // by using setGraphics, we request to see the all the pixel of the dot
+ // in green on the screen.
+ // It uses the overlay image plane.
+ // The default of this setting is that it is time consumming
+ d.setGraphics(true) ;
+ }
+ else {
+ d.setGraphics(false) ;
+ }
+ // we also request to compute the dot moment m00, m10, m01, m11, m20, m02
+ d.setComputeMoments(true);
+ d.setConnexity(vpDot::CONNEXITY_8);
- try {
if (opt_display && opt_click_allowed) {
// tracking is initalized
// if no other parameters are given to the iniTracking(..) method
@@ -384,17 +381,12 @@ main(int argc, const char ** argv)
// image point from which the dot is searched
vpImagePoint ip;
ip.set_u( 160 );
- ip.set_v( 212 );
+ ip.set_v( 212 );
d.initTracking(I, ip) ;
}
- }
- catch(...)
- {
- vpERROR_TRACE("Cannot initialise the tracking... ") ;
- exit(-1);
- }
- try {
+
+
vpImagePoint cog;
while (iter < opt_first + opt_nimages*opt_step) {
// set the new image name
@@ -458,17 +450,18 @@ main(int argc, const char ** argv)
}
iter ++;
}
- }
- catch (...) {
- std::cerr << "Error during the tracking..." << std::endl;
- std::cerr << "The progam was stopped." << std::endl;
- exit(-1);
- }
- if (opt_display && opt_click_allowed) {
- std::cout << "\nA click to exit..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nA click to exit..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/tracking/trackDot2.cpp b/example/tracking/trackDot2.cpp
index 3836da9..9c170a8 100644
--- a/example/tracking/trackDot2.cpp
+++ b/example/tracking/trackDot2.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackDot2.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackDot2.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,6 +70,10 @@
//int gsl_warnings_off;
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display);
/*!
\example trackDot2.cpp
Example of dot tracking on an image sequence using vpDot2.
@@ -90,7 +94,7 @@ Print the program options.
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
- unsigned first, unsigned nimages, unsigned step)
+ unsigned first, unsigned nimages, unsigned step)
{
fprintf(stdout, "\n\
Test dot tracking using vpDot2 class.\n\
@@ -162,27 +166,26 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
- unsigned &first, unsigned &nimages, unsigned &step,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false; break;
}
}
@@ -191,7 +194,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -201,142 +204,142 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 1;
- unsigned opt_nimages = 500;
- unsigned opt_step = 1;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
- opt_step, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 1;
+ unsigned opt_nimages = 500;
+ unsigned opt_step = 1;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
+ opt_step, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ exit(-1);
+ }
- unsigned iter = opt_first;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- if (opt_ppath.empty()){
+ unsigned iter = opt_first;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
- // ViSP-images/mire-2/image.0001.pgm
- // !! vpDotExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images.tar.gz"
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
+ // ViSP-images/mire-2/image.0001.pgm
+ // !! vpDotExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images.tar.gz"
- // Build the name of the image file
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ // Build the name of the image file
- sprintf(cfilename,opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
+ sprintf(cfilename,opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -347,52 +350,40 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
+ // define the vpDot structure.
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- // define the vpDot structure.
+ // vpDot and vpDot2 correspond to two different algorithms designed to track
+ // a dot. vpDot is based on recurse connex componants (all the pixels of the
+ // dot are parsed), while vpDot2 is based on freeman chain code (only the
+ // contour of the dot is parsed)
- // vpDot and vpDot2 correspond to two different algorithms designed to track
- // a dot. vpDot is based on recurse connex componants (all the pixels of the
- // dot are parsed), while vpDot2 is based on freeman chain code (only the
- // contour of the dot is parsed)
+ vpDot2 d ;
+ vpImagePoint cog;
- vpDot2 d ;
- vpImagePoint cog;
+ if (opt_display) {
+ // by using setGraphics, we request to see the all the pixel of the dot
+ // in green on the screen.
+ // It uses the overlay image plane.
+ // The default of this setting is that it is time consumming
- if (opt_display) {
- // by using setGraphics, we request to see the all the pixel of the dot
- // in green on the screen.
- // It uses the overlay image plane.
- // The default of this setting is that it is time consumming
+ d.setGraphics(true) ;
+ }
+ else {
- d.setGraphics(true) ;
- }
- else {
+ d.setGraphics(false) ;
+ }
+ // We want to track an ellipsoid shape. If you want to track a non ellipsoid
+ // object, use d.setEllipsoidShape(0);
+ // we also request to compute the dot moment m00, m10, m01, m11, m20, m02
+ d.setComputeMoments(true);
+ d.setGrayLevelPrecision(0.90);
+
+ // tracking is initalized if no other parameters are given to the
+ // iniTracking(..) method a right mouse click on the dot is expected
+ // dot location can also be specified explicitely in the
+ // initTracking method : d.initTracking(I,ip) where ip is the image
+ // point from which the dot is searched
- d.setGraphics(false) ;
- }
- // We want to track an ellipsoid shape. If you want to track a non ellipsoid
- // object, use d.setEllipsoidShape(0);
- // we also request to compute the dot moment m00, m10, m01, m11, m20, m02
- d.setComputeMoments(true);
- d.setGrayLevelPrecision(0.90);
-
- // tracking is initalized if no other parameters are given to the
- // iniTracking(..) method a right mouse click on the dot is expected
- // dot location can also be specified explicitely in the
- // initTracking method : d.initTracking(I,ip) where ip is the image
- // point from which the dot is searched
-
- try{
if (opt_display && opt_click_allowed) {
std::cout << "Click on a dot to track it."<< std::endl;
d.initTracking(I) ;
@@ -411,7 +402,7 @@ main(int argc, const char ** argv)
<< d.m10 / d.m00 << " " << d.m01 / d.m00 << std::endl;
std::cout << "Size:" << std::endl;
std::cout << " w: " << d.getWidth() << " h: " << d.getHeight() << std::endl;
- std::cout << "Surface: " << d.getSurface() << std::endl;
+ std::cout << "Area: " << d.getArea() << std::endl;
std::cout << "Moments:" << std::endl;
std::cout << " m00: " << d.m00 << std::endl;
std::cout << " m10: " << d.m10 << std::endl;
@@ -429,14 +420,7 @@ main(int argc, const char ** argv)
std::cout << " size precision: " << d.getSizePrecision() << std::endl;
std::cout << " gray level precision: " << d.getGrayLevelPrecision() << std::endl;
}
- }
- catch(...)
- {
- vpERROR_TRACE("Cannot initialise the tracking... ") ;
- exit(-1);
- }
- try {
while (iter < opt_first + opt_nimages*opt_step) {
// set the new image name
if (opt_ppath.empty()){
@@ -475,7 +459,7 @@ main(int argc, const char ** argv)
<< d.m10 / d.m00 << " " << d.m01 / d.m00 << std::endl;
std::cout << "Size:" << std::endl;
std::cout << " w: " << d.getWidth() << " h: " << d.getHeight() << std::endl;
- std::cout << "Surface: " << d.getSurface() << std::endl;
+ std::cout << "Area: " << d.getArea() << std::endl;
std::cout << "Moments:" << std::endl;
std::cout << " m00: " << d.m00 << std::endl;
std::cout << " m10: " << d.m10 << std::endl;
@@ -513,16 +497,17 @@ main(int argc, const char ** argv)
}
iter ++;
}
+
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nA click to exit..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+ return 0;
}
- catch (...) {
- std::cerr << "Error during the tracking..." << std::endl;
- std::cerr << "The progam was stopped." << std::endl;
- exit(-1);
- }
- if (opt_display && opt_click_allowed) {
- std::cout << "\nA click to exit..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/tracking/trackDot2WithAutoDetection.cpp b/example/tracking/trackDot2WithAutoDetection.cpp
index bd497b2..033cbba 100644
--- a/example/tracking/trackDot2WithAutoDetection.cpp
+++ b/example/tracking/trackDot2WithAutoDetection.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackDot2WithAutoDetection.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackDot2WithAutoDetection.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,6 +74,14 @@
// List of allowed command line options
#define GETOPTARGS "cdi:p:f:n:s:S:G:E:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step, double sizePrecision,
+ double grayLevelPrecision, double ellipsoidShapePrecision );
+bool getOptions(int argc, const char **argv, std::string &ipath,
+ std::string &ppath,unsigned &first, unsigned &nimages,
+ unsigned &step, double &sizePrecision, double &grayLevelPrecision,
+ double &ellipsoidShapePrecision, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -93,7 +101,7 @@
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
unsigned first, unsigned nimages, unsigned step, double sizePrecision,
- double grayLevelPrecision, double ellipsoidShapePrecision )
+ double grayLevelPrecision, double ellipsoidShapePrecision)
{
fprintf(stdout, "\n\
Test auto detection of dots using vpDot2.\n\
@@ -196,27 +204,27 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
unsigned &step, double &sizePrecision, double &grayLevelPrecision,
double &ellipsoidShapePrecision, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
- case 'S': sizePrecision = atof(optarg);break;
- case 'G': grayLevelPrecision = atof(optarg);break;
- case 'E': ellipsoidShapePrecision = atof(optarg);break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
+ case 'S': sizePrecision = atof(optarg_);break;
+ case 'G': grayLevelPrecision = atof(optarg_);break;
+ case 'E': ellipsoidShapePrecision = atof(optarg_);break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step,
sizePrecision,grayLevelPrecision,ellipsoidShapePrecision);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step,
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step,
sizePrecision,grayLevelPrecision,ellipsoidShapePrecision);
return false; break;
}
@@ -227,7 +235,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
usage(argv[0], NULL, ipath, ppath, first, nimages, step,
sizePrecision,grayLevelPrecision,ellipsoidShapePrecision);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -238,146 +246,146 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 1;
- unsigned opt_nimages = 10;
- unsigned opt_step = 1;
- double opt_sizePrecision = 0.65;
- double opt_grayLevelPrecision = 0.85;
- double opt_ellipsoidShapePrecision = 0.8;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
- opt_step,opt_sizePrecision,opt_grayLevelPrecision,
- opt_ellipsoidShapePrecision, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 1;
+ unsigned opt_nimages = 10;
+ unsigned opt_step = 1;
+ double opt_sizePrecision = 0.65;
+ double opt_grayLevelPrecision = 0.85;
+ double opt_ellipsoidShapePrecision = 0.8;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
+ opt_step,opt_sizePrecision,opt_grayLevelPrecision,
+ opt_ellipsoidShapePrecision, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages,
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages,
opt_step,opt_sizePrecision,opt_grayLevelPrecision, opt_ellipsoidShapePrecision);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl;
- exit(-1);
- }
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
- unsigned iter = opt_first; // Image number
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
+ unsigned iter = opt_first; // Image number
- if (opt_ppath.empty()){
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
- // ViSP-images/cube/image.0001.pgm
- // !! vpDotExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images.tar.gz"
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
+ // ViSP-images/cube/image.0001.pgm
+ // !! vpDotExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images.tar.gz"
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- // Build the name of the image file
+ // Build the name of the image file
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
- sprintf(cfilename,opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
-
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or your -p " << opt_ppath << " option " <<std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ sprintf(cfilename,opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or your -p " << opt_ppath << " option " <<std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either GTK, X11 or GDI.
+
+ // We open a window using either GTK, X11 or GDI.
#if defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -388,19 +396,12 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- // Dot declaration
- vpDot2 d ;
+ // Dot declaration
+ vpDot2 d ;
- d.setGraphics(true);
- if (opt_click_allowed & opt_display) {
- try{
+ d.setGraphics(true);
+ if (opt_click_allowed & opt_display) {
d.setGrayLevelPrecision(opt_grayLevelPrecision);
std::cout << "Please click on a dot to initialize detection"
@@ -418,97 +419,97 @@ main(int argc, const char ** argv)
printf("Dot characteristics: \n");
printf(" width : %lf\n", d.getWidth());
printf(" height: %lf\n", d.getHeight());
- printf(" surface: %lf\n", d.getSurface());
+ printf(" area: %lf\n", d.getArea());
printf(" gray level min: %d\n", d.getGrayLevelMin());
printf(" gray level max: %d\n", d.getGrayLevelMax());
printf(" grayLevelPrecision: %lf\n", d.getGrayLevelPrecision());
printf(" sizePrecision: %lf\n", d.getSizePrecision());
printf(" ellipsoidShapePrecision: %lf\n", d.getEllipsoidShapePrecision());
}
- catch(...)
- {
- std::cerr << "Cannot initialize the tracking..."<< std::endl;
- exit(-1);
+ else{
+ // Set dot characteristics for the auto detection
+ d.setGraphics(true);
+ d.setWidth(15.0);
+ d.setHeight(12.0);
+ d.setArea(124);
+ d.setGrayLevelMin(164);
+ d.setGrayLevelMax(255);
+ d.setGrayLevelPrecision(opt_grayLevelPrecision);
+ d.setSizePrecision(opt_sizePrecision);
+ d.setEllipsoidShapePrecision(opt_ellipsoidShapePrecision);
}
- }
- else{
- // Set dot characteristics for the auto detection
- d.setGraphics(true);
- d.setWidth(15.0);
- d.setHeight(12.0);
- d.setSurface(124);
- d.setGrayLevelMin(164);
- d.setGrayLevelMax(255);
- d.setGrayLevelPrecision(opt_grayLevelPrecision);
- d.setSizePrecision(opt_sizePrecision);
- d.setEllipsoidShapePrecision(opt_ellipsoidShapePrecision);
- }
-
- while (iter < opt_first + opt_nimages*opt_step)
- {
-
- // set the new image name
- if (opt_ppath.empty()){
-
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
- sprintf(cfilename, opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
- // read the image
- vpImageIo::read(I, filename);
+ while (iter < opt_first + opt_nimages*opt_step)
+ {
- if (opt_display) {
- // Display the image
- vpDisplay::display(I) ;
- }
+ // set the new image name
- std::cout << "Search dots in image" << filename << std::endl;
- std::list<vpDot2> list_d;
- d.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), list_d) ;
+ if (opt_ppath.empty()){
- if( list_d.empty() ) {
- std::cout << "Dot auto detection did not work." << std::endl;
- return(-1) ;
- }
- else {
- std::cout << std::endl << list_d.size() << " dots are detected" << std::endl;
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
+ sprintf(cfilename, opt_ppath.c_str(), iter) ;
+ filename = cfilename;
+ }
+ // read the image
+ vpImageIo::read(I, filename);
if (opt_display) {
- int i=0;
- // Parse all founded dots for display
- for (std::list<vpDot2>::const_iterator it = list_d.begin(); it != list_d.end(); ++ it)
- {
- vpImagePoint cog = (*it).getCog();
+ // Display the image
+ vpDisplay::display(I) ;
+ }
- std::cout << "Dot " << i++ << " : " << cog.get_u()
- << " " << cog.get_v() << std::endl;
+ std::cout << "Search dots in image" << filename << std::endl;
+ std::list<vpDot2> list_d;
+ d.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), list_d) ;
- vpDisplay::displayCross(I, cog, 16, vpColor::blue, 3) ;
+ if( list_d.empty() ) {
+ std::cout << "Dot auto detection did not work." << std::endl;
+ return(-1) ;
+ }
+ else {
+ std::cout << std::endl << list_d.size() << " dots are detected" << std::endl;
+
+ if (opt_display) {
+ int i=0;
+ // Parse all founded dots for display
+ for (std::list<vpDot2>::const_iterator it = list_d.begin(); it != list_d.end(); ++ it)
+ {
+ vpImagePoint cog = (*it).getCog();
+
+ std::cout << "Dot " << i++ << " : " << cog.get_u()
+ << " " << cog.get_v() << std::endl;
+
+ vpDisplay::displayCross(I, cog, 16, vpColor::blue, 3) ;
+ }
+ vpDisplay::flush(I);
}
- vpDisplay::flush(I);
}
- }
- // If click is allowed, wait for a mouse click to launch the next iteration
+ // If click is allowed, wait for a mouse click to launch the next iteration
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nA click to continue..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(I) ;
+ }
+
+ iter += opt_step ;
+ }
if (opt_display && opt_click_allowed) {
- std::cout << "\nA click to continue..." << std::endl;
+ std::cout << "\nA click to exit..." << std::endl;
// Wait for a blocking mouse click
vpDisplay::getClick(I) ;
}
- iter += opt_step ;
+ return 0;
}
- if (opt_display && opt_click_allowed) {
- std::cout << "\nA click to exit..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(I) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- vpTRACE("End...");
}
#else
int
diff --git a/example/tracking/trackKltOpencv.cpp b/example/tracking/trackKltOpencv.cpp
index 0400c59..849f30f 100644
--- a/example/tracking/trackKltOpencv.cpp
+++ b/example/tracking/trackKltOpencv.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackKltOpencv.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackKltOpencv.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,10 @@
// List of allowed command line options
#define GETOPTARGS "cdf:i:n:p:s:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display);
/*!
\example trackKltOpencv.cpp
@@ -91,7 +95,7 @@ Print the program options.
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
- unsigned first, unsigned nimages, unsigned step)
+ unsigned first, unsigned nimages, unsigned step)
{
fprintf(stdout, "\n\
Example of KLT tracking using OpenCV library.\n\
@@ -163,27 +167,26 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
- unsigned &first, unsigned &nimages, unsigned &step,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first,
+ unsigned &nimages, unsigned &step, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false; break;
}
}
@@ -192,7 +195,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -202,149 +205,149 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string dirname;
- std::string filename;
- unsigned opt_first = 1;
- unsigned opt_nimages = 500;
- unsigned opt_step = 1;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
- opt_step, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string dirname;
+ std::string filename;
+ unsigned opt_first = 1;
+ unsigned opt_nimages = 500;
+ unsigned opt_step = 1;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath,opt_first, opt_nimages,
+ opt_step, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
- usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl
- << " Use -p <personal image path> option if you want to "<<std::endl
- << " use personal images." << std::endl
- << std::endl;
-
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
+ usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl
+ << " Use -p <personal image path> option if you want to "<<std::endl
+ << " use personal images." << std::endl
+ << std::endl;
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> vpI ; // This is a ViSP image used for display only
- IplImage * cvI; // This is an OpenCV IPL image used by the tracker
+ exit(-1);
+ }
- unsigned iter = opt_first;
- std::ostringstream s;
- char cfilename[FILENAME_MAX];
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> vpI ; // This is a ViSP image used for display only
+ IplImage * cvI; // This is an OpenCV IPL image used by the tracker
- if (opt_ppath.empty()){
+ unsigned iter = opt_first;
+ std::ostringstream s;
+ char cfilename[FILENAME_MAX];
+ if (opt_ppath.empty()){
- // Warning :
- // the image sequence is not provided with the ViSP package
- // therefore the program will return you an error :
- // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
- // ViSP-images/mire-2/image.0001.pgm
- // !! vpDotExample.cpp: main(#95) :Error while reading the image
- // terminate called after throwing an instance of 'vpImageException'
- //
- // The sequence is available on the visp www site
- // http://www.irisa.fr/lagadic/visp/visp.html
- // in the download section. It is named "ViSP-images.tar.gz"
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
+ // Warning :
+ // the image sequence is not provided with the ViSP package
+ // therefore the program will return you an error :
+ // !! vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
+ // ViSP-images/mire-2/image.0001.pgm
+ // !! vpDotExample.cpp: main(#95) :Error while reading the image
+ // terminate called after throwing an instance of 'vpImageException'
+ //
+ // The sequence is available on the visp www site
+ // http://www.irisa.fr/lagadic/visp/visp.html
+ // in the download section. It is named "ViSP-images.tar.gz"
- // Build the name of the image file
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/mire-2/");
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- }
- else {
+ // Build the name of the image file
- sprintf(cfilename,opt_ppath.c_str(), iter) ;
- filename = cfilename;
- }
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ }
+ else {
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
-
- // Load a ViSP image used for the display
- vpImageIo::read(vpI, filename) ;
- // Load an OpenCV IPL image used by the tracker
- if((cvI = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE))== NULL) {
- printf("Cannot read image: %s\n", filename.c_str());
- return (0);
+ sprintf(cfilename,opt_ppath.c_str(), iter) ;
+ filename = cfilename;
}
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
- // We open a window using either X11, GTK or GDI.
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+
+ // Load a ViSP image used for the display
+ vpImageIo::read(vpI, filename) ;
+ // Load an OpenCV IPL image used by the tracker
+ if((cvI = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE))== NULL) {
+ printf("Cannot read image: %s\n", filename.c_str());
+ return (0);
+ }
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
+
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(vpI, 100, 100,"Display...") ;
// Display the image
@@ -355,49 +358,36 @@ main(int argc, const char ** argv)
vpDisplay::display(vpI) ;
vpDisplay::flush(vpI) ;
}
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ // KLT tracker
+ vpKltOpencv tracker;
+
+ // Event manager
+ //tracker.setOnNewFeature(&newFeature);
+ //tracker.setOnFeatureLost(&lostFeature);
+ //tracker.setIsFeatureValid(&isValid);
+
+ // Tracker parameters
+ tracker.setTrackerId(1);
+ //tracker.setOnMeasureFeature(&modifyFeature);
+ tracker.setMaxFeatures(200);
+ tracker.setWindowSize(10);
+ tracker.setQuality(0.01);
+ tracker.setMinDistance(15);
+ tracker.setHarrisFreeParameter(0.04);
+ tracker.setBlockSize(9);
+ tracker.setUseHarris(1);
+ tracker.setPyramidLevels(3);
+
+ // Point detection using Harris. In input we have an OpenCV IPL image
+ tracker.initTracking(cvI);
+
+ if (opt_display) {
+ // Plot the Harris points on ViSP image
+ tracker.display(vpI, vpColor::red);
}
- }
-
- // KLT tracker
- vpKltOpencv tracker;
-
- // Event manager
- //tracker.setOnNewFeature(&newFeature);
- //tracker.setOnFeatureLost(&lostFeature);
- //tracker.setIsFeatureValid(&isValid);
-
- // Tracker parameters
- tracker.setTrackerId(1);
- //tracker.setOnMeasureFeature(&modifyFeature);
- tracker.setMaxFeatures(200);
- tracker.setWindowSize(10);
- tracker.setQuality(0.01);
- tracker.setMinDistance(15);
- tracker.setHarrisFreeParameter(0.04);
- tracker.setBlockSize(9);
- tracker.setUseHarris(1);
- tracker.setPyramidLevels(3);
-
- // Point detection using Harris. In input we have an OpenCV IPL image
- tracker.initTracking(cvI);
-
- if (opt_display) {
- // Plot the Harris points on ViSP image
- tracker.display(vpI, vpColor::red);
- }
-
- // tracking is now initialized. We can start the tracker.
- try {
+ // tracking is now initialized. We can start the tracker.
while (iter < opt_first + opt_nimages*opt_step) {
// set the new image name
if (opt_ppath.empty()){
@@ -446,16 +436,16 @@ main(int argc, const char ** argv)
}
iter += opt_step;
}
+ if (opt_display && opt_click_allowed) {
+ std::cout << "\nA click to exit..." << std::endl;
+ // Wait for a blocking mouse click
+ vpDisplay::getClick(vpI) ;
+ }
+ return 0;
}
- catch (...) {
- std::cerr << "Error during the tracking..." << std::endl;
- std::cerr << "The progam was stopped." << std::endl;
- exit(-1);
- }
- if (opt_display && opt_click_allowed) {
- std::cout << "\nA click to exit..." << std::endl;
- // Wait for a blocking mouse click
- vpDisplay::getClick(vpI) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/tracking/trackMeCircle.cpp b/example/tracking/trackMeCircle.cpp
index 09d182e..b820333 100644
--- a/example/tracking/trackMeCircle.cpp
+++ b/example/tracking/trackMeCircle.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackMeCircle.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackMeCircle.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -75,6 +75,9 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -129,21 +132,20 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -152,7 +154,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -163,108 +165,108 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/circle/");
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/circle/");
- // Build the name of the image file
- filename = dirname + "circle.pgm";
+ // Build the name of the image file
+ filename = dirname + "circle.pgm";
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -275,61 +277,60 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpMeEllipse E1 ;
+ vpMeEllipse E1 ;
- vpMe me ;
- me.setRange(20) ;
- me.setSampleStep(2) ;
- me.setPointsToTrack(60) ;
- me.setThreshold(15000) ;
+ vpMe me ;
+ me.setRange(20) ;
+ me.setSampleStep(2) ;
+ me.setPointsToTrack(60) ;
+ me.setThreshold(15000) ;
- E1.setCircle(true) ;
- E1.setMe(&me) ;
- E1.setDisplay(vpMeSite::RANGE_RESULT) ;
- // If click is allowed, wait for a mouse click to select the points
- // on the ellipse
- if (opt_display && opt_click_allowed) {
- E1.initTracking(I) ;
- }
- else {
- // Create a list of points to automate the test
- unsigned int n=5 ;
- vpImagePoint *ip = new vpImagePoint [n];
- ip[0].set_i( 39 ); ip[0].set_j( 136 );
- ip[1].set_i( 42 ); ip[1].set_j( 83 );
- ip[2].set_i( 86 ); ip[2].set_j( 55 );
- ip[3].set_i( 132 ); ip[3].set_j( 72 );
- ip[4].set_i( 145 ); ip[4].set_j( 134 );
- E1.initTracking(I, n, ip) ;
- delete [] ip ;
- }
+ E1.setCircle(true) ;
+ E1.setMe(&me) ;
+ E1.setDisplay(vpMeSite::RANGE_RESULT) ;
+ // If click is allowed, wait for a mouse click to select the points
+ // on the ellipse
+ if (opt_display && opt_click_allowed) {
+ E1.initTracking(I) ;
+ }
+ else {
+ // Create a list of points to automate the test
+ unsigned int n=5 ;
+ vpImagePoint *ip = new vpImagePoint [n];
+ ip[0].set_i( 39 ); ip[0].set_j( 136 );
+ ip[1].set_i( 42 ); ip[1].set_j( 83 );
+ ip[2].set_i( 86 ); ip[2].set_j( 55 );
+ ip[3].set_i( 132 ); ip[3].set_j( 72 );
+ ip[4].set_i( 145 ); ip[4].set_j( 134 );
+ E1.initTracking(I, n, ip) ;
+ delete [] ip ;
+ }
- if (opt_display) {
- E1.display(I, vpColor::green) ;
- vpDisplay::flush(I);
- }
+ if (opt_display) {
+ E1.display(I, vpColor::green) ;
+ vpDisplay::flush(I);
+ }
- vpTRACE("sample step %f ",E1.getMe()->getSampleStep()) ;
- std::cout << "Tracking on image: " << filename << std::endl;
- E1.track(I) ;
- if (opt_display) {
- vpDisplay::flush(I);
- }
+ vpTRACE("sample step %f ",E1.getMe()->getSampleStep()) ;
+ std::cout << "Tracking on image: " << filename << std::endl;
+ E1.track(I) ;
+ if (opt_display) {
+ vpDisplay::flush(I);
+ }
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to exit..." << std::endl;
- vpDisplay::getClick(I) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to exit..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ std::cout <<"------------------------------------------------------------"<<std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- std::cout <<"------------------------------------------------------------"<<std::endl;
-
}
#else
int
diff --git a/example/tracking/trackMeEllipse.cpp b/example/tracking/trackMeEllipse.cpp
index 317fb87..6b0397f 100644
--- a/example/tracking/trackMeEllipse.cpp
+++ b/example/tracking/trackMeEllipse.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackMeEllipse.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackMeEllipse.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,6 +77,9 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -133,18 +136,18 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -153,7 +156,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_all
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -164,110 +167,110 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_all
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image is
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image is
+ // read on the disk
+ vpImage<unsigned char> I ;
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/ellipse-1/");
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/ellipse-1/");
- // Build the name of the image file
- unsigned iter = 1; // Image number
- std::ostringstream s;
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
+ // Build the name of the image file
+ unsigned int iter = 1; // Image number
+ std::ostringstream s;
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is thrown if an exception from readPGM has been caught
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is thrown if an exception from readPGM has been caught
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -278,81 +281,74 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpMeEllipse E1 ;
-
- vpMe me ;
- me.setRange(20) ;
- me.setSampleStep(2) ;
- me.setPointsToTrack(60) ;
- me.setThreshold(15000) ;
-
- E1.setMe(&me) ;
- E1.setDisplay(vpMeSite::RANGE_RESULT) ;
- if (opt_click_allowed)
- E1.initTracking(I) ;
- else {
- // Create a list of points to automate the test
- unsigned int n=5 ;
- vpImagePoint *ip = new vpImagePoint [n];
- ip[0].set_i( 33 ); ip[0].set_j( 276 );
- ip[1].set_i( 83 ); ip[1].set_j( 126 );
- ip[2].set_i( 201 ); ip[2].set_j( 36 );
- ip[3].set_i( 243 ); ip[3].set_j( 164 );
- ip[4].set_i( 195 ); ip[4].set_j( 329 );
- E1.initTracking(I, n, ip) ;
- delete [] ip ;
- }
- if (opt_display) {
- E1.display(I, vpColor::green) ;
- }
+ vpMeEllipse E1 ;
+
+ vpMe me ;
+ me.setRange(20) ;
+ me.setSampleStep(2) ;
+ me.setPointsToTrack(60) ;
+ me.setThreshold(15000) ;
+
+ E1.setMe(&me) ;
+ E1.setDisplay(vpMeSite::RANGE_RESULT) ;
+ if (opt_click_allowed)
+ E1.initTracking(I) ;
+ else {
+ // Create a list of points to automate the test
+ unsigned int n=5 ;
+ vpImagePoint *ip = new vpImagePoint [n];
+ ip[0].set_i( 33 ); ip[0].set_j( 276 );
+ ip[1].set_i( 83 ); ip[1].set_j( 126 );
+ ip[2].set_i( 201 ); ip[2].set_j( 36 );
+ ip[3].set_i( 243 ); ip[3].set_j( 164 );
+ ip[4].set_i( 195 ); ip[4].set_j( 329 );
+ E1.initTracking(I, n, ip) ;
+ delete [] ip ;
+ }
+ if (opt_display) {
+ E1.display(I, vpColor::green) ;
+ }
- vpERROR_TRACE("sample step %f ",E1.getMe()->getSampleStep()) ;
- E1.track(I) ;
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to continue..." << std::endl;
- vpDisplay::getClick(I) ;
- }
- std::cout <<"------------------------------------------------------------"<<std::endl;
+ vpERROR_TRACE("sample step %f ",E1.getMe()->getSampleStep()) ;
+ E1.track(I) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ std::cout <<"------------------------------------------------------------"<<std::endl;
- for (int iter = 1 ; iter < 51 ; iter++) // initially : iter < 1500
- {
- // set the new image name
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- std::cout << "Tracking on image: " << filename << std::endl;
- // read the image
- vpImageIo::read(I, filename);
- if (opt_display) {
- // Display the image
- vpDisplay::display(I) ;
- }
- try
+ for (iter = 1 ; iter < 51 ; iter++) // initially : iter < 1500
{
+ // set the new image name
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ std::cout << "Tracking on image: " << filename << std::endl;
+ // read the image
+ vpImageIo::read(I, filename);
+ if (opt_display) {
+ // Display the image
+ vpDisplay::display(I) ;
+ }
+
E1.track(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error in tracking vpMeLine ") ;
- exit(1) ;
- }
- if (opt_display) {
- E1.display(I,vpColor::green) ;
- vpDisplay::flush(I) ;
+ if (opt_display) {
+ E1.display(I,vpColor::green) ;
+ vpDisplay::flush(I) ;
+ }
+ }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to exit..." << std::endl;
+ vpDisplay::getClick(I) ;
}
+ return 0;
}
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to exit..." << std::endl;
- vpDisplay::getClick(I) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/tracking/trackMeLine.cpp b/example/tracking/trackMeLine.cpp
index a74df86..4bd5e3e 100644
--- a/example/tracking/trackMeLine.cpp
+++ b/example/tracking/trackMeLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackMeLine.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: trackMeLine.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,6 +81,9 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -135,21 +138,20 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, std::string &ipath,
- bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -158,7 +160,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -169,110 +171,110 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
-
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/line/");
-
- // Build the name of the image file
- unsigned iter = 1; // Image number
- std::ostringstream s;
- s.setf(std::ios::right, std::ios::adjustfield);
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
-
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
-
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- // We open a window using either X11, GTK or GDI.
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/line/");
+
+ // Build the name of the image file
+ unsigned int iter = 1; // Image number
+ std::ostringstream s;
+ s.setf(std::ios::right, std::ios::adjustfield);
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
+
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
+
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -283,91 +285,82 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
-
- vpMeLine L1 ;
+ vpMeLine L1 ;
- vpMe me ;
- me.setRange(15) ;
- me.setPointsToTrack(160) ;
- me.setThreshold(15000) ;
+ vpMe me ;
+ me.setRange(15) ;
+ me.setPointsToTrack(160) ;
+ me.setThreshold(15000) ;
- L1.setMe(&me) ;
- L1.setDisplay(vpMeSite::RANGE_RESULT) ;
-
- if (opt_display && opt_click_allowed)
- L1.initTracking(I) ;
- else {
- vpImagePoint ip1, ip2;
- ip1.set_i( 96 );
- ip1.set_j( 191 );
- ip2.set_i( 122 );
- ip2.set_j( 211 );
- L1.initTracking(I, ip1, ip2) ;
- }
-
- if (opt_display)
- L1.display(I, vpColor::green) ;
+ L1.setMe(&me) ;
+ L1.setDisplay(vpMeSite::RANGE_RESULT) ;
- L1.track(I) ;
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to continue..." << std::endl;
- vpDisplay::getClick(I) ;
- }
- std::cout <<"----------------------------------------------------------"<<std::endl;
+ if (opt_display && opt_click_allowed)
+ L1.initTracking(I) ;
+ else {
+ vpImagePoint ip1, ip2;
+ ip1.set_i( 96 );
+ ip1.set_j( 191 );
+ ip2.set_i( 122 );
+ ip2.set_j( 211 );
+ L1.initTracking(I, ip1, ip2) ;
+ }
- vpFeatureLine l ;
+ if (opt_display)
+ L1.display(I, vpColor::green) ;
- vpCameraParameters cam ;
- vpImage<vpRGBa> Ic ;
- for (int iter = 1 ; iter < 30 ; iter++)
- {
- std::cout <<"----------------------------------------------------------"<<std::endl;
- // set the new image name
- s.str("");
- s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
- filename = dirname + s.str();
- // read the image
- vpImageIo::read(I, filename);
- if (opt_display) {
- // Display the image
- vpDisplay::display(I) ;
+ L1.track(I) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
}
+ std::cout <<"----------------------------------------------------------"<<std::endl;
- try
+ vpFeatureLine l ;
+
+ vpCameraParameters cam ;
+ vpImage<vpRGBa> Ic ;
+ for (iter = 1 ; iter < 30 ; iter++)
{
+ std::cout <<"----------------------------------------------------------"<<std::endl;
+ // set the new image name
+ s.str("");
+ s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
+ filename = dirname + s.str();
+ // read the image
+ vpImageIo::read(I, filename);
+ if (opt_display) {
+ // Display the image
+ vpDisplay::display(I) ;
+ }
+
std::cout << "Tracking on image: " << filename << std::endl;
L1.track(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error in tracking vpMeLine ") ;
- exit(1) ;
- }
-
- vpTRACE("L1 : %f %f", L1.getRho(), vpMath::deg(L1.getTheta())) ;
- vpFeatureBuilder::create(l,cam,L1) ;
- vpTRACE("L1 : %f %f", l.getRho(), vpMath::deg(l.getTheta())) ;
- if (opt_display) {
- L1.display(I,vpColor::green) ;
- vpDisplay::flush(I) ;
- if (opt_click_allowed) {
- std::cout << "A click to continue..." << std::endl;
- vpDisplay::getClick(I) ;
+ vpTRACE("L1 : %f %f", L1.getRho(), vpMath::deg(L1.getTheta())) ;
+ vpFeatureBuilder::create(l,cam,L1) ;
+ vpTRACE("L1 : %f %f", l.getRho(), vpMath::deg(l.getTheta())) ;
+
+ if (opt_display) {
+ L1.display(I,vpColor::green) ;
+ vpDisplay::flush(I) ;
+ if (opt_click_allowed) {
+ std::cout << "A click to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
}
}
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to exit..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ return 0;
}
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to exit..." << std::endl;
- vpDisplay::getClick(I) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/example/tracking/trackMeNurbs.cpp b/example/tracking/trackMeNurbs.cpp
index fa99856..e6192aa 100644
--- a/example/tracking/trackMeNurbs.cpp
+++ b/example/tracking/trackMeNurbs.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: trackMeNurbs.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: trackMeNurbs.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -78,6 +78,9 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -134,18 +137,18 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -154,7 +157,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_all
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -165,83 +168,83 @@ bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_all
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image is
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image is
+ // read on the disk
+ vpImage<unsigned char> I ;
- // Set the path location of the image sequence
- filename = ipath + vpIoTools::path("/ViSP-images/ellipse-1/image.%04d.pgm");
+ // Set the path location of the image sequence
+ filename = ipath + vpIoTools::path("/ViSP-images/ellipse-1/image.%04d.pgm");
- // Build the name of the image file
- vpVideoReader reader;
- //Initialize the reader and get the first frame.
- reader.setFileName(filename.c_str());
- reader.setFirstFrameIndex(1);
- reader.open(I);
+ // Build the name of the image file
+ vpVideoReader reader;
+ //Initialize the reader and get the first frame.
+ reader.setFileName(filename.c_str());
+ reader.setFirstFrameIndex(1);
+ reader.open(I);
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -252,85 +255,79 @@ main(int argc, const char ** argv)
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpMeNurbs nurbs ;
+ vpMeNurbs nurbs ;
- vpMe me ;
- me.setRange(30) ;
- me.setSampleStep(5) ;
- me.setPointsToTrack(60) ;
- me.setThreshold(15000) ;
+ vpMe me ;
+ me.setRange(30) ;
+ me.setSampleStep(5) ;
+ me.setPointsToTrack(60) ;
+ me.setThreshold(15000) ;
- nurbs.setMe(&me);
- nurbs.setDisplay(vpMeSite::RANGE_RESULT) ;
- nurbs.setNbControlPoints(14);
+ nurbs.setMe(&me);
+ nurbs.setDisplay(vpMeSite::RANGE_RESULT) ;
+ nurbs.setNbControlPoints(14);
- if (opt_click_allowed)
- {
- std::cout << "Click on points along the edge with the left button." << std::endl;
- std::cout << "Then click on the right button to continue." << std::endl;
- nurbs.initTracking(I);
- }
- else
- {
- // Create a list of points to automate the test
- std::list<vpImagePoint> list;
- list.push_back(vpImagePoint(178,357));
- list.push_back(vpImagePoint(212,287));
- list.push_back(vpImagePoint(236,210));
- list.push_back(vpImagePoint(240, 118));
- list.push_back(vpImagePoint(210, 40));
-
- nurbs.initTracking(I, list) ;
- }
- if (opt_display) {
- nurbs.display(I, vpColor::green) ;
- }
+ if (opt_click_allowed)
+ {
+ std::cout << "Click on points along the edge with the left button." << std::endl;
+ std::cout << "Then click on the right button to continue." << std::endl;
+ nurbs.initTracking(I);
+ }
+ else
+ {
+ // Create a list of points to automate the test
+ std::list<vpImagePoint> list;
+ list.push_back(vpImagePoint(178,357));
+ list.push_back(vpImagePoint(212,287));
+ list.push_back(vpImagePoint(236,210));
+ list.push_back(vpImagePoint(240, 118));
+ list.push_back(vpImagePoint(210, 40));
+
+ nurbs.initTracking(I, list) ;
+ }
+ if (opt_display) {
+ nurbs.display(I, vpColor::green) ;
+ }
- nurbs.track(I) ;
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to continue..." << std::endl;
- vpDisplay::getClick(I) ;
- }
- std::cout <<"------------------------------------------------------------"<<std::endl;
+ nurbs.track(I) ;
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to continue..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ std::cout <<"------------------------------------------------------------"<<std::endl;
- for (int iter = 1 ; iter < 40 ; iter++)
- {
- //read the image
- reader.getFrame(I,iter);
- if (opt_display) {
- // Display the image
- vpDisplay::display(I) ;
- }
- try
+ for (int iter = 1 ; iter < 40 ; iter++)
{
+ //read the image
+ reader.getFrame(I,iter);
+ if (opt_display) {
+ // Display the image
+ vpDisplay::display(I) ;
+ }
+
//Track the nurbs
nurbs.track(I) ;
- }
- catch(...)
- {
- vpERROR_TRACE("Error in tracking vpMeLine ") ;
- exit(1) ;
- }
- if (opt_display) {
- nurbs.display(I,vpColor::green) ;
- vpDisplay::flush(I) ;
- vpTime::wait(100);
+
+ if (opt_display) {
+ nurbs.display(I,vpColor::green) ;
+ vpDisplay::flush(I) ;
+ vpTime::wait(100);
+ }
+ }
+ if (opt_display && opt_click_allowed) {
+ std::cout << "A click to exit..." << std::endl;
+ vpDisplay::getClick(I) ;
}
+ return 0;
}
- if (opt_display && opt_click_allowed) {
- std::cout << "A click to exit..." << std::endl;
- vpDisplay::getClick(I) ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/example/video/CMakeLists.txt b/example/video/CMakeLists.txt
index 9204ded..1c115f5 100644
--- a/example/video/CMakeLists.txt
+++ b/example/video/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 2158 2009-05-07 07:24:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/video/imageSequenceReader.cpp b/example/video/imageSequenceReader.cpp
index e349b31..bcc804b 100644
--- a/example/video/imageSequenceReader.cpp
+++ b/example/video/imageSequenceReader.cpp
@@ -3,7 +3,7 @@
* $Id: imageDiskRW.cpp 2158 2009-05-07 07:24:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,6 +65,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:p:f:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
+bool getOptions(int argc, const char **argv,
+ std::string &ipath, std::string &ppath, int &first, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -137,20 +141,20 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv,
std::string &ipath, std::string &ppath, int &first, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
- case 'f': first = atoi(optarg); break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = atoi(optarg_); break;
case 'h': usage(argv[0], NULL, ipath, ppath); return false; break;
default:
- usage(argv[0], optarg, ipath, ppath); return false; break;
+ usage(argv[0], optarg_, ipath, ppath); return false; break;
}
}
@@ -158,7 +162,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, ppath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -170,171 +174,167 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string filename;
+ int opt_first = 1;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " videoImageSequenceReader.cpp" <<std::endl << std::endl ;
+
+ std::cout << " reading an image sequence" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string filename;
- int opt_first = 1;
- bool opt_click_allowed = true;
- bool opt_display = true;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " videoImageSequenceReader.cpp" <<std::endl << std::endl ;
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
+ usage(argv[0], NULL, ipath, opt_ppath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " video path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- std::cout << " reading an image sequence" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
+ /////////////////////////////////////////////////////////////////////
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
+ // vpImage is a template class you can declare vpImage of ... everything...
+ vpImage<vpRGBa> I ;
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ //Create the video Reader
+ vpVideoReader reader;
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ if (opt_ppath.empty())
+ {
+ filename = ipath + vpIoTools::path("/ViSP-images/mire-2/image.%04d.pgm");
+ }
+ else
+ {
+ filename.assign(opt_ppath);
}
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
- usage(argv[0], NULL, ipath, opt_ppath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " video path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
-
-
- /////////////////////////////////////////////////////////////////////
-
- // vpImage is a template class you can declare vpImage of ... everything...
- vpImage<vpRGBa> I ;
-
- //Create the video Reader
- vpVideoReader reader;
+ //Initialize the reader and get the first frame.
+ reader.setFileName(filename.c_str());
+ reader.setFirstFrameIndex(opt_first);
+ reader.open(I);
- if (opt_ppath.empty())
- {
- filename = ipath + vpIoTools::path("/ViSP-images/mire-2/image.%04d.pgm");
- }
- else
- {
- filename.assign(opt_ppath);
- }
-
- //Initialize the reader and get the first frame.
- reader.setFileName(filename.c_str());
- reader.setFirstFrameIndex(opt_first);
- reader.open(I);
-
- // We open a window using either X11, GTK, GDI or OpenCV.
+ // We open a window using either X11, GTK, GDI or OpenCV.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#endif
- if (opt_display)
- {
- try
- {
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display video frame") ;
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
+
}
- catch(...)
+
+ if (opt_display && opt_click_allowed)
{
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ std::cout << "Click on the image to read and display the second frame" << std::endl;
+ vpDisplay::getClick(I);
+ }
+
+ reader.getFrame(I,opt_first+1);
+
+ if (opt_display)
+ {
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
+
+ if (opt_display && opt_click_allowed)
+ {
+ std::cout << "Click on the image to read and display the last frame" << std::endl;
+ vpDisplay::getClick(I);
}
- }
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click on the image to read and display the second frame" << std::endl;
- vpDisplay::getClick(I);
- }
-
- reader.getFrame(I,opt_first+1);
-
- if (opt_display)
- {
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
- }
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click on the image to read and display the last frame" << std::endl;
- vpDisplay::getClick(I);
- }
-
- reader.getFrame(I,reader.getLastFrameIndex());
-
- if (opt_display)
- {
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
- }
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click to see the video" << std::endl;
- vpDisplay::getClick(I);
- }
-
- int lastFrame = reader.getLastFrameIndex();
- for (int i = opt_first; i <= lastFrame; i++)
- {
- reader.getFrame(I,i);
+ reader.getFrame(I,reader.getLastFrameIndex());
+
if (opt_display)
{
vpDisplay::display(I) ;
vpDisplay::flush(I);
}
+
+ if (opt_display && opt_click_allowed)
+ {
+ std::cout << "Click to see the video" << std::endl;
+ vpDisplay::getClick(I);
+ }
+
+ int lastFrame = reader.getLastFrameIndex();
+
+ for (int i = opt_first; i <= lastFrame; i++)
+ {
+ reader.getFrame(I,i);
+ if (opt_display)
+ {
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
+ }
+
+ if (opt_display && opt_click_allowed)
+ {
+ std::cout << "Click to exit the test" << std::endl;
+ vpDisplay::getClick(I);
+ }
+
+ return 0;
}
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click to exit the test" << std::endl;
- vpDisplay::getClick(I);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
#else
int main()
diff --git a/example/video/videoReader.cpp b/example/video/videoReader.cpp
index c8e9380..68794b7 100644
--- a/example/video/videoReader.cpp
+++ b/example/video/videoReader.cpp
@@ -3,7 +3,7 @@
* $Id: imageDiskRW.cpp 2158 2009-05-07 07:24:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:p:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
+ bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -130,22 +134,22 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &ppath, bool &click_allowed, bool &display)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
+ bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, ppath); return false; break;
default:
- usage(argv[0], optarg, ipath, ppath); return false; break;
+ usage(argv[0], optarg_, ipath, ppath); return false; break;
}
}
@@ -153,7 +157,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, ppath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -165,161 +169,149 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string opt_ppath;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " videoReader.cpp" <<std::endl << std::endl ;
+
+ std::cout << " reading a video file" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed,
+ opt_display) == false) {
+ exit (-1);
+ }
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string opt_ppath;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " videoReader.cpp" <<std::endl << std::endl ;
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
+ usage(argv[0], NULL, ipath, opt_ppath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " video path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- std::cout << " reading a video file" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
+ /////////////////////////////////////////////////////////////////////
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
+ // vpImage is a template class you can declare vpImage of ... everything...
+ vpImage<vpRGBa> I ;
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed,
- opt_display) == false) {
- exit (-1);
- }
+ //Create the video Reader
+ vpVideoReader reader;
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ if (opt_ppath.empty())
+ {
+ filename = ipath + vpIoTools::path("/ViSP-images/video/cube.mpeg");
+ }
+ else
+ {
+ filename.assign(opt_ppath);
}
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()){
- usage(argv[0], NULL, ipath, opt_ppath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " video path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
-
-
- /////////////////////////////////////////////////////////////////////
-
-
- // vpImage is a template class you can declare vpImage of ... everything...
- vpImage<vpRGBa> I ;
-
- //Create the video Reader
- vpVideoReader reader;
- if (opt_ppath.empty())
- {
- filename = ipath + vpIoTools::path("/ViSP-images/video/cube.mpeg");
- }
- else
- {
- filename.assign(opt_ppath);
- }
-
- //Initialize the reader and get the first frame.
- reader.setFileName(filename.c_str());
- try
- {
+ //Initialize the reader and get the first frame.
+ reader.setFileName(filename.c_str());
reader.open(I);
- }
- catch(...)
- {
- return 0;
- }
- // We open a window using either X11, GTK, GDI or OpenCV.
+ // We open a window using either X11, GTK, GDI or OpenCV.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display;
+ vpDisplayOpenCV display;
#endif
- if (opt_display)
- {
- try
- {
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display video frame") ;
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
- catch(...)
+
+ // if (opt_display && opt_click_allowed)
+ // {
+ // std::cout << "Click on the image to read and display the last key frame" << std::endl;
+ // vpDisplay::getClick(I);
+ // }
+ //
+ // reader.getFrame(I,reader.getLastFrameIndex());
+ //
+ // if (opt_display)
+ // {
+ // vpDisplay::display(I) ;
+ // vpDisplay::flush(I);
+ // }
+
+ if (opt_display && opt_click_allowed)
{
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
+ std::cout << "Click to see the video" << std::endl;
+ vpDisplay::getClick(I);
}
- }
-
- // if (opt_display && opt_click_allowed)
- // {
- // std::cout << "Click on the image to read and display the last key frame" << std::endl;
- // vpDisplay::getClick(I);
- // }
- //
- // reader.getFrame(I,reader.getLastFrameIndex());
- //
- // if (opt_display)
- // {
- // vpDisplay::display(I) ;
- // vpDisplay::flush(I);
- // }
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click to see the video" << std::endl;
- vpDisplay::getClick(I);
- }
-
- int lastFrame = reader.getLastFrameIndex();
- //To go to the beginning of the video
- reader.getFrame(I,0);
-
- for (int i = 0; i <= lastFrame; i++)
- {
- reader.acquire(I);
- if (opt_display)
+
+ int lastFrame = reader.getLastFrameIndex();
+ //To go to the beginning of the video
+ reader.getFrame(I,0);
+
+ for (int i = 0; i <= lastFrame; i++)
{
- vpDisplay::display(I) ;
- vpDisplay::flush(I);
+ reader.acquire(I);
+ if (opt_display)
+ {
+ vpDisplay::display(I) ;
+ vpDisplay::flush(I);
+ }
+ }
+
+ if (opt_display && opt_click_allowed)
+ {
+ std::cout << "Click to exit the test" << std::endl;
+ vpDisplay::getClick(I);
}
}
-
- if (opt_display && opt_click_allowed)
- {
- std::cout << "Click to exit the test" << std::endl;
- vpDisplay::getClick(I);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
return 0;
}
diff --git a/example/wireframe-simulator/CMakeLists.txt b/example/wireframe-simulator/CMakeLists.txt
index 523661c..a237b43 100644
--- a/example/wireframe-simulator/CMakeLists.txt
+++ b/example/wireframe-simulator/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/example/wireframe-simulator/wireframeSimulator.cpp b/example/wireframe-simulator/wireframeSimulator.cpp
index db922cf..46600a0 100644
--- a/example/wireframe-simulator/wireframeSimulator.cpp
+++ b/example/wireframe-simulator/wireframeSimulator.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: wireframeSimulator.cpp 4182 2013-03-27 13:20:58Z fspindle $
+ * $Id: wireframeSimulator.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,6 +65,9 @@
#ifdef VISP_HAVE_DISPLAY
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &display, bool &click);
+
/*!
Print the program options.
@@ -113,9 +116,9 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, bool &display, bool &click)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click = false; break;
@@ -123,7 +126,7 @@ bool getOptions(int argc, const char **argv, bool &display, bool &click)
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -132,7 +135,7 @@ bool getOptions(int argc, const char **argv, bool &display, bool &click)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -143,41 +146,39 @@ bool getOptions(int argc, const char **argv, bool &display, bool &click)
int
main(int argc, const char ** argv)
{
- bool opt_display = true;
- bool opt_click = true;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_display, opt_click) == false) {
- exit (-1);
- }
-
- /*
+ try {
+ bool opt_display = true;
+ bool opt_click = true;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display, opt_click) == false) {
+ exit (-1);
+ }
+
+ /*
Three vpImage are created : one for the main camera and the others
for two external cameras
*/
- vpImage<vpRGBa> Iint(480,640,255);
- vpImage<vpRGBa> Iext1(480,640,255);
- vpImage<vpRGBa> Iext2(480,640,255);
+ vpImage<vpRGBa> Iint(480,640,255);
+ vpImage<vpRGBa> Iext1(480,640,255);
+ vpImage<vpRGBa> Iext2(480,640,255);
- /*
+ /*
Create a display for each different cameras.
*/
#if defined VISP_HAVE_X11
- vpDisplayX display[3];
+ vpDisplayX display[3];
#elif defined VISP_HAVE_OPENCV
- vpDisplayOpenCV display[3];
+ vpDisplayOpenCV display[3];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[3];
+ vpDisplayGDI display[3];
#elif defined VISP_HAVE_D3D9
- vpDisplayD3D display[3];
+ vpDisplayD3D display[3];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[3];
+ vpDisplayGTK display[3];
#endif
-
- if (opt_display)
- {
- try
- {
+
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display[0].init(Iint, 100, 100,"The internal view") ;
display[1].init(Iext1, 100, 100,"The first external view") ;
@@ -192,146 +193,145 @@ main(int argc, const char ** argv)
vpDisplay::display(Iext2);
vpDisplay::flush(Iext2);
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- //The homogeneous matrix which gives the current position of the main camera relative to the object
- vpHomogeneousMatrix cMo(0,0.05,1.3,vpMath::rad(15),vpMath::rad(25),0);
-
- //The homogeneous matrix which gives the desired position of the main camera relative to the object
- vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
+ //The homogeneous matrix which gives the current position of the main camera relative to the object
+ vpHomogeneousMatrix cMo(0,0.05,1.3,vpMath::rad(15),vpMath::rad(25),0);
+
+ //The homogeneous matrix which gives the desired position of the main camera relative to the object
+ vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),vpMath::rad(0)));
- //Declaration of the simulator
- vpWireFrameSimulator sim;
- /*
+ //Declaration of the simulator
+ vpWireFrameSimulator sim;
+ /*
Set the scene. It enables to choose the shape of the object and the shape of the desired object which is
- displayed in the main camera view. It exists several objects in ViSP. See the html documentation of the
+ displayed in the main camera view. It exists several objects in ViSP. See the html documentation of the
simulator class to have the complete list.
Note : if you don't want to have a desired object displayed in the main camera view you can use the initObject Method.
- Here the object is a plate with 4 points and it is the same object which is used to display the object at the desired position.
+ Here the object is a plate with 4 points and it is the same object which is used to display the object at the desired position.
*/
- sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
-
- /*
+ sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
+
+ /*
The object at the current position will be displayed in blue
The object at the desired position will be displayed in red
The camera will be display in green
*/
- sim.setCurrentViewColor(vpColor::blue);
- sim.setDesiredViewColor(vpColor::red);
- sim.setCameraColor(vpColor::green);
- /*
+ sim.setCurrentViewColor(vpColor::blue);
+ sim.setDesiredViewColor(vpColor::red);
+ sim.setCameraColor(vpColor::green);
+ /*
Set the current and the desired position of the camera relative to the object.
*/
- sim.setCameraPositionRelObj(cMo) ;
- sim.setDesiredCameraPosition(cdMo);
- /*
+ sim.setCameraPositionRelObj(cMo) ;
+ sim.setDesiredCameraPosition(cdMo);
+ /*
Set the main external camera's position relative to the world reference frame.
More information about the different frames are given in the html documentation.
*/
- vpHomogeneousMatrix camMw(vpHomogeneousMatrix(0.0,0,4.5,vpMath::rad(0),vpMath::rad(-30),0));
- sim.setExternalCameraPosition(camMw);
-
- /*
+ vpHomogeneousMatrix camMw(vpHomogeneousMatrix(0.0,0,4.5,vpMath::rad(0),vpMath::rad(-30),0));
+ sim.setExternalCameraPosition(camMw);
+
+ /*
Set the parameters of the cameras (internal and external)
*/
- vpCameraParameters camera(1000,1000,320,240);
- sim.setInternalCameraParameters(camera);
- sim.setExternalCameraParameters(camera);
-
- vpHomogeneousMatrix camoMw(vpHomogeneousMatrix(-0.3,0.2,2.5,vpMath::rad(0),vpMath::rad(10),0));
-
- if (opt_display)
- {
- //Get the view of the internal camera
- sim.getInternalImage(Iint);
- //Get the view of the main external camera
- sim.getExternalImage(Iext1);
- //Get the view of an external camera that you can positionned thanks
- //to a vpHomogeneousMatrix which describes the position of the camera
- //relative to the world reference frame.
- sim.getExternalImage(Iext2,camoMw);
- //Display the views.
-
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext1);
- vpDisplay::flush(Iext2);
- }
-
- std::cout << std::endl;
- std::cout << "Here are presented the effect of the basic functions of the simulator" << std::endl;
- std::cout << std::endl;
-
- if (opt_display)
- {
- if (opt_click) {
- std::cout << "Click on the internal view window to continue. the object will move. The external cameras are fixed. The main camera moves too because the homogeneous matrix cMo didn't change." << std::endl;
- vpDisplay::getClick(Iint);
+ vpCameraParameters camera(1000,1000,320,240);
+ sim.setInternalCameraParameters(camera);
+ sim.setExternalCameraParameters(camera);
+
+ vpHomogeneousMatrix camoMw(vpHomogeneousMatrix(-0.3,0.2,2.5,vpMath::rad(0),vpMath::rad(10),0));
+
+ if (opt_display)
+ {
+ //Get the view of the internal camera
+ sim.getInternalImage(Iint);
+ //Get the view of the main external camera
+ sim.getExternalImage(Iext1);
+ //Get the view of an external camera that you can positionned thanks
+ //to a vpHomogeneousMatrix which describes the position of the camera
+ //relative to the world reference frame.
+ sim.getExternalImage(Iext2,camoMw);
+ //Display the views.
+
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext1);
+ vpDisplay::flush(Iext2);
}
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext1) ;
- vpDisplay::display(Iext2) ;
- }
- /*
+
+ std::cout << std::endl;
+ std::cout << "Here are presented the effect of the basic functions of the simulator" << std::endl;
+ std::cout << std::endl;
+
+ if (opt_display)
+ {
+ if (opt_click) {
+ std::cout << "Click on the internal view window to continue. the object will move. The external cameras are fixed. The main camera moves too because the homogeneous matrix cMo didn't change." << std::endl;
+ vpDisplay::getClick(Iint);
+ }
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext1) ;
+ vpDisplay::display(Iext2) ;
+ }
+ /*
To move the object you have to define a vpHomogeneousMatrix which gives
the position of the object relative to the world refrenece frame.
*/
- vpHomogeneousMatrix mov(0.05,0.05,0.2,vpMath::rad(10),0,0);
- sim.set_fMo(mov);
-
-
- if (opt_display)
- {
- //Get the view of the internal camera
- sim.getInternalImage(Iint);
- //Get the view of the main external camera
- sim.getExternalImage(Iext1);
- //Get the view of an external camera that you can positionned thanks
- //to a vpHomogeneousMatrix which describes the position of the camera
- //relative to the world reference frame.
- sim.getExternalImage(Iext2,camoMw);
- //Display the views.
-
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext1);
- vpDisplay::flush(Iext2);
- }
-
- std::cout << std::endl;
- if (opt_display)
- {
- if (opt_click) {
- std::cout << "Click on the internal view window to continue" << std::endl;
- vpDisplay::getClick(Iint);
+ vpHomogeneousMatrix mov(0.05,0.05,0.2,vpMath::rad(10),0,0);
+ sim.set_fMo(mov);
+
+
+ if (opt_display)
+ {
+ //Get the view of the internal camera
+ sim.getInternalImage(Iint);
+ //Get the view of the main external camera
+ sim.getExternalImage(Iext1);
+ //Get the view of an external camera that you can positionned thanks
+ //to a vpHomogeneousMatrix which describes the position of the camera
+ //relative to the world reference frame.
+ sim.getExternalImage(Iext2,camoMw);
+ //Display the views.
+
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext1);
+ vpDisplay::flush(Iext2);
}
- }
- std::cout << std::endl;
- std::cout << "Now you can move the main external camera. Click inside the corresponding window with one of the three buttons of your mouse and move the pointer." << std::endl;
- std::cout << std::endl;
- std::cout << "Click on the internal view window when you are finished" << std::endl;
-
- /*
+
+ std::cout << std::endl;
+ if (opt_display)
+ {
+ if (opt_click) {
+ std::cout << "Click on the internal view window to continue" << std::endl;
+ vpDisplay::getClick(Iint);
+ }
+ }
+ std::cout << std::endl;
+ std::cout << "Now you can move the main external camera. Click inside the corresponding window with one of the three buttons of your mouse and move the pointer." << std::endl;
+ std::cout << std::endl;
+ std::cout << "Click on the internal view window when you are finished" << std::endl;
+
+ /*
To move the main external camera you need a loop containing the getExternalImage method. This functionnality is only available for the main external camera.
*/
- if (opt_display && opt_click)
- {
- while (!vpDisplay::getClick(Iint, false))
+ if (opt_display && opt_click)
{
- vpDisplay::display(Iext1) ;
- sim.getExternalImage(Iext1);
- vpDisplay::flush(Iext1);
+ while (!vpDisplay::getClick(Iint, false))
+ {
+ vpDisplay::display(Iext1) ;
+ sim.getExternalImage(Iext1);
+ vpDisplay::flush(Iext1);
+ }
}
- }
- std::cout << std::endl;
- std::cout << "You have seen the main capabilities of the simulator. Other specific functionalities are available. Please refers to the html documentation to access the list of all functions" << std::endl;
- return 0;
+ std::cout << std::endl;
+ std::cout << "You have seen the main capabilities of the simulator. Other specific functionalities are available. Please refers to the html documentation to access the list of all functions" << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
int
diff --git a/include/vpConfig.h.cmake b/include/vpConfig.h.cmake
index e9fe8aa..dd4cc05 100644
--- a/include/vpConfig.h.cmake
+++ b/include/vpConfig.h.cmake
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpConfig.h.cmake 4308 2013-07-08 08:47:09Z fspindle $
+ * $Id: vpConfig.h.cmake 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -203,9 +203,6 @@
// Defined if ffmpeg library available.
#cmakedefine VISP_HAVE_FFMPEG
-// Defined if raw1394 and dc1394-1.x libraries available.
-#cmakedefine VISP_HAVE_DC1394_1
-
// Defined if raw1394 and dc1394-2.x libraries available.
#cmakedefine VISP_HAVE_DC1394_2
@@ -247,19 +244,6 @@
// Defined if Irisa's Viper S850 robot available.
#cmakedefine VISP_HAVE_VIPER850
-// Defined if Irisa's Cycab car-like mobile robot is found.
-// If found, either VISP_HAVE_CYCABTK_OLD nor VISP_HAVE_CYCABTK
-// is defined.
-#cmakedefine VISP_HAVE_CYCAB
-
-// Defined if the old cycabtk library is found. CycabTk is used to
-// communicate with Irisa's Cycab car-like robot (obsolete).
-#cmakedefine VISP_HAVE_CYCABTK_OLD
-
-// Defined if the last cycabtk library is found. CycabTk is used to
-// communicate with Irisa's Cycab car-like robot (to use).
-#cmakedefine VISP_HAVE_CYCABTK
-
// Defined if the Aria library and (pthread, rt, dl libraries under Unix) is found.
// These libraries are used to control Pioneer mobile robots.
#cmakedefine VISP_HAVE_PIONEER
@@ -298,7 +282,7 @@
//
// On Linux, set the visibility accordingly. If C++ symbol visibility
// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
-# if defined _WIN32 || defined __CYGWIN__
+# if defined(_WIN32) || defined(__CYGWIN__)
// On Microsoft Windows, use dllimport and dllexport to tag symbols.
# define VISP_DLLIMPORT __declspec(dllimport)
# define VISP_DLLEXPORT __declspec(dllexport)
@@ -315,7 +299,7 @@
# define VISP_DLLEXPORT
# define VISP_DLLLOCAL
# endif // __GNUC__ >= 4
-# endif // defined _WIN32 || defined __CYGWIN__
+# endif // defined(_WIN32) || defined(__CYGWIN__)
// Under Windows, for shared libraries (DLL) we need to define export on
// compilation or import on use (like a third party project).
@@ -339,7 +323,7 @@
// Add the material to produce a warning when deprecated functions are used
#ifndef vp_deprecated
-# if defined (UNIX)
+# if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# define vp_deprecated __attribute__((deprecated))
# else
# define vp_deprecated __declspec(deprecated)
diff --git a/macros/have_visp.m4 b/macros/have_visp.m4
index bdec273..951eb3d 100644
--- a/macros/have_visp.m4
+++ b/macros/have_visp.m4
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: have_visp.m4 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: have_visp.m4 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c735bbc..c60c08c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4059 2013-01-07 17:04:01Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/src/camera/calibration/vpCalibration.cpp b/src/camera/calibration/vpCalibration.cpp
index cb69acc..28f5f19 100644
--- a/src/camera/calibration/vpCalibration.cpp
+++ b/src/camera/calibration/vpCalibration.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCalibration.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpCalibration.cpp 4663 2014-02-14 10:32:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,6 +62,8 @@ int vpCalibration::init()
{
npt = 0 ;
+ residual = residual_dist = 1000.;
+
LoX.clear() ;
LoY.clear() ;
LoZ.clear() ;
@@ -70,10 +72,24 @@ int vpCalibration::init()
return 0 ;
}
+/*!
+ Default constructor.
+ */
vpCalibration::vpCalibration()
+ : cMo(), cMo_dist(), cam(), cam_dist(), rMe(), eMc(), eMc_dist(),
+ npt(0), LoX(), LoY(), LoZ(), Lip(), residual(1000.), residual_dist(1000.)
{
init() ;
}
+/*!
+ Copy constructor.
+ */
+vpCalibration::vpCalibration(const vpCalibration &c)
+ : cMo(), cMo_dist(), cam(), cam_dist(), rMe(), eMc(), eMc_dist(),
+ npt(0), LoX(), LoY(), LoZ(), Lip(), residual(1000.), residual_dist(1000.)
+{
+ (*this) = c;
+}
/*!
@@ -89,8 +105,8 @@ vpCalibration::~vpCalibration()
\param twinCalibration : object to be copied
*/
-void vpCalibration::operator=(vpCalibration& twinCalibration )
- {
+vpCalibration& vpCalibration::operator=(const vpCalibration& twinCalibration )
+{
npt = twinCalibration.npt ;
LoX = twinCalibration.LoX ;
LoY = twinCalibration.LoY ;
@@ -109,6 +125,8 @@ void vpCalibration::operator=(vpCalibration& twinCalibration )
eMc = twinCalibration.eMc;
eMc_dist = twinCalibration.eMc_dist;
+
+ return (*this);
}
@@ -147,11 +165,10 @@ int vpCalibration::addPoint(double X, double Y, double Z, vpImagePoint &ip)
/*!
Compute the pose cMo
- \param cam : camera intrinsic parameters used for computation
- \param cMo : computed pose
+ \param camera : camera intrinsic parameters used for computation.
+ \param cMo_est : computed pose
*/
-void
- vpCalibration::computePose(const vpCameraParameters &cam, vpHomogeneousMatrix &cMo)
+void vpCalibration::computePose(const vpCameraParameters &camera, vpHomogeneousMatrix &cMo_est)
{
// The vpPose class mainly contents a list of vpPoint (that is (X,Y,Z, x, y) )
vpPose pose ;
@@ -168,7 +185,7 @@ void
vpPoint P;
P.setWorldCoordinates(*it_LoX, *it_LoY, *it_LoZ);
double x=0,y=0 ;
- vpPixelMeterConversion::convertPoint(cam, *it_Lip, x,y) ;
+ vpPixelMeterConversion::convertPoint(camera, *it_Lip, x,y) ;
P.set_x(x) ;
P.set_y(y) ;
@@ -195,50 +212,47 @@ void
//we keep the better initialization
if (residual_lagrange < residual_dementhon)
- cMo = cMo_lagrange;
+ cMo_est = cMo_lagrange;
else
- cMo = cMo_dementhon;
+ cMo_est = cMo_dementhon;
// the pose is now refined using the virtual visual servoing approach
// Warning: cMo needs to be initialized otherwise it may diverge
- pose.computePose(vpPose::VIRTUAL_VS, cMo) ;
-
+ pose.computePose(vpPose::VIRTUAL_VS, cMo_est) ;
}
/*!
Compute and return the standard deviation expressed in pixel
for pose matrix and camera intrinsic parameters for model without distortion.
- \param cMo : the matrix that defines the pose to be tested.
- \param cam : camera intrinsic parameters to be tested.
+ \param cMo_est : the matrix that defines the pose to be tested.
+ \param camera : camera intrinsic parameters to be tested.
\return the standard deviation by point of the error in pixel .
*/
-double
- vpCalibration::computeStdDeviation(vpHomogeneousMatrix& cMo,
- vpCameraParameters& cam)
+double vpCalibration::computeStdDeviation(const vpHomogeneousMatrix& cMo_est,
+ const vpCameraParameters& camera)
{
- double residual = 0 ;
+ double residual_ = 0 ;
std::list<double>::const_iterator it_LoX = LoX.begin();
std::list<double>::const_iterator it_LoY = LoY.begin();
std::list<double>::const_iterator it_LoZ = LoZ.begin();
std::list<vpImagePoint>::const_iterator it_Lip = Lip.begin();
- double u0 = cam.get_u0() ;
- double v0 = cam.get_v0() ;
- double px = cam.get_px() ;
- double py = cam.get_py() ;
+ double u0 = camera.get_u0() ;
+ double v0 = camera.get_v0() ;
+ double px = camera.get_px() ;
+ double py = camera.get_py() ;
vpImagePoint ip;
for (unsigned int i =0 ; i < npt ; i++)
{
-
double oX = *it_LoX;
double oY = *it_LoY;
double oZ = *it_LoZ;
- double cX = oX*cMo[0][0]+oY*cMo[0][1]+oZ*cMo[0][2] + cMo[0][3];
- double cY = oX*cMo[1][0]+oY*cMo[1][1]+oZ*cMo[1][2] + cMo[1][3];
- double cZ = oX*cMo[2][0]+oY*cMo[2][1]+oZ*cMo[2][2] + cMo[2][3];
+ double cX = oX*cMo_est[0][0]+oY*cMo_est[0][1]+oZ*cMo_est[0][2] + cMo_est[0][3];
+ double cY = oX*cMo_est[1][0]+oY*cMo_est[1][1]+oZ*cMo_est[1][2] + cMo_est[1][3];
+ double cZ = oX*cMo_est[2][0]+oY*cMo_est[2][1]+oZ*cMo_est[2][2] + cMo_est[2][3];
double x = cX/cZ ;
double y = cY/cZ ;
@@ -250,40 +264,39 @@ double
double xp = u0 + x*px;
double yp = v0 + y*py;
- residual += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
+ residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
++it_LoX;
++it_LoY;
++it_LoZ;
++it_Lip;
}
- this->residual = residual ;
- return sqrt(residual/npt) ;
+ this->residual = residual_ ;
+ return sqrt(residual_/npt) ;
}
/*!
Compute and return the standard deviation expressed in pixel
for pose matrix and camera intrinsic parameters with pixel to meter model.
- \param cMo : the matrix that defines the pose to be tested.
- \param cam : camera intrinsic parameters to be tested.
+ \param cMo_est : the matrix that defines the pose to be tested.
+ \param camera : camera intrinsic parameters to be tested.
\return the standard deviation by point of the error in pixel .
*/
-double
- vpCalibration::computeStdDeviation_dist(vpHomogeneousMatrix& cMo,
- vpCameraParameters& cam)
+double vpCalibration::computeStdDeviation_dist(const vpHomogeneousMatrix& cMo_est,
+ const vpCameraParameters& camera)
{
- double residual = 0 ;
+ double residual_ = 0 ;
std::list<double>::const_iterator it_LoX = LoX.begin();
std::list<double>::const_iterator it_LoY = LoY.begin();
std::list<double>::const_iterator it_LoZ = LoZ.begin();
std::list<vpImagePoint>::const_iterator it_Lip = Lip.begin();
- double u0 = cam.get_u0() ;
- double v0 = cam.get_v0() ;
- double px = cam.get_px() ;
- double py = cam.get_py() ;
- double kud = cam.get_kud() ;
- double kdu = cam.get_kdu() ;
+ double u0 = camera.get_u0() ;
+ double v0 = camera.get_v0() ;
+ double px = camera.get_px() ;
+ double py = camera.get_py() ;
+ double kud = camera.get_kud() ;
+ double kdu = camera.get_kdu() ;
double inv_px = 1/px;
double inv_py = 1/px;
@@ -291,14 +304,13 @@ double
for (unsigned int i =0 ; i < npt ; i++)
{
-
double oX = *it_LoX;
double oY = *it_LoY;
double oZ = *it_LoZ;
- double cX = oX*cMo[0][0]+oY*cMo[0][1]+oZ*cMo[0][2] + cMo[0][3];
- double cY = oX*cMo[1][0]+oY*cMo[1][1]+oZ*cMo[1][2] + cMo[1][3];
- double cZ = oX*cMo[2][0]+oY*cMo[2][1]+oZ*cMo[2][2] + cMo[2][3];
+ double cX = oX*cMo_est[0][0]+oY*cMo_est[0][1]+oZ*cMo_est[0][2] + cMo_est[0][3];
+ double cY = oX*cMo_est[1][0]+oY*cMo_est[1][1]+oZ*cMo_est[1][2] + cMo_est[1][3];
+ double cZ = oX*cMo_est[2][0]+oY*cMo_est[2][1]+oZ*cMo_est[2][2] + cMo_est[2][3];
double x = cX/cZ ;
double y = cY/cZ ;
@@ -312,23 +324,23 @@ double
double xp = u0 + x*px*r2ud;
double yp = v0 + y*py*r2ud;
- residual += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
+ residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
double r2du = (vpMath::sqr((u-u0)*inv_px)+vpMath::sqr((v-v0)*inv_py)) ;
xp = u0 + x*px - kdu*(u-u0)*r2du;
yp = v0 + y*py - kdu*(v-v0)*r2du;
- residual += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
+ residual_ += (vpMath::sqr(xp-u) + vpMath::sqr(yp-v)) ;
++it_LoX;
++it_LoY;
++it_LoZ;
++it_Lip;
}
- residual /=2;
+ residual_ /=2;
- this->residual_dist = residual;
- return sqrt(residual/npt) ;
+ this->residual_dist = residual_;
+ return sqrt(residual_/npt) ;
}
/*!
@@ -349,26 +361,26 @@ void
Compute the calibration according to the desired method using one pose.
\param method : Method that will be used to estimate the parameters.
- \param cMo : the homogeneous matrix that defines the pose.
- \param cam : intrinsic camera parameters.
+ \param cMo_est : estimated homogeneous matrix that defines the pose.
+ \param cam_est : estimated intrinsic camera parameters.
\param verbose : set at true if information about the residual at each loop
of the algorithm is hoped.
\return 0 if the calibration computation succeed.
*/
int vpCalibration::computeCalibration(vpCalibrationMethodType method,
- vpHomogeneousMatrix &cMo,
- vpCameraParameters &cam,
+ vpHomogeneousMatrix &cMo_est,
+ vpCameraParameters &cam_est,
bool verbose)
{
try{
- computePose(cam,cMo);
+ computePose(cam_est,cMo_est);
switch (method)
{
case CALIB_LAGRANGE :
case CALIB_LAGRANGE_VIRTUAL_VS :
{
- calibLagrange(cam, cMo);
+ calibLagrange(cam_est, cMo_est);
}
break;
case CALIB_VIRTUAL_VS:
@@ -386,23 +398,23 @@ int vpCalibration::computeCalibration(vpCalibrationMethodType method,
case CALIB_LAGRANGE_VIRTUAL_VS_DIST:
{
if (verbose){std::cout << "start calibration without distortion"<< std::endl;}
- calibVVS(cam, cMo, verbose);
+ calibVVS(cam_est, cMo_est, verbose);
}
break ;
case CALIB_LAGRANGE:
default:
break;
}
- this->cMo = cMo;
- this->cMo_dist = cMo;
+ this->cMo = cMo_est;
+ this->cMo_dist = cMo_est;
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
}
- this->cam = cam;
+ this->cam = cam_est;
switch (method)
{
@@ -410,7 +422,7 @@ int vpCalibration::computeCalibration(vpCalibrationMethodType method,
case CALIB_LAGRANGE_VIRTUAL_VS_DIST:
{
if (verbose){std::cout << "start calibration with distortion"<< std::endl;}
- calibVVSWithDistortion(cam, cMo, verbose);
+ calibVVSWithDistortion(cam_est, cMo_est, verbose);
}
break ;
case CALIB_LAGRANGE:
@@ -424,12 +436,12 @@ int vpCalibration::computeCalibration(vpCalibrationMethodType method,
// std::cout << "Camera parameters without distortion :" << std::endl;
this->cam.printParameters();
// std::cout << "Camera parameters with distortion :" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
}
- this->cam_dist = cam ;
+ this->cam_dist = cam_est ;
- this->cMo_dist = cMo;
+ this->cMo_dist = cMo_est;
return 0 ;
}
catch(...){
@@ -442,7 +454,7 @@ int vpCalibration::computeCalibration(vpCalibrationMethodType method,
\param method : Method used to estimate the camera parameters.
\param table_cal : Vector of vpCalibration.
- \param cam : Estimated intrinsic camera parameters.
+ \param cam_est : Estimated intrinsic camera parameters.
\param globalReprojectionError : Global reprojection error or global residual.
\param verbose : Set at true if information about the residual at each loop
of the algorithm is hoped.
@@ -451,7 +463,7 @@ int vpCalibration::computeCalibration(vpCalibrationMethodType method,
*/
int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
std::vector<vpCalibration> &table_cal,
- vpCameraParameters& cam,
+ vpCameraParameters& cam_est,
double &globalReprojectionError,
bool verbose)
{
@@ -459,7 +471,7 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
unsigned int nbPose = (unsigned int) table_cal.size();
for(unsigned int i=0;i<nbPose;i++){
if(table_cal[i].get_npt()>3)
- table_cal[i].computePose(cam,table_cal[i].cMo);
+ table_cal[i].computePose(cam_est,table_cal[i].cMo);
}
switch (method) {
case CALIB_LAGRANGE :
@@ -469,9 +481,9 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
return -1 ;
}
else {
- table_cal[0].calibLagrange(cam,table_cal[0].cMo);
- table_cal[0].cam = cam ;
- table_cal[0].cam_dist = cam ;
+ table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
+ table_cal[0].cam = cam_est ;
+ table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
break;
@@ -484,22 +496,22 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
return -1 ;
}
else {
- table_cal[0].calibLagrange(cam,table_cal[0].cMo);
- table_cal[0].cam = cam ;
- table_cal[0].cam_dist = cam ;
+ table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
+ table_cal[0].cam = cam_est ;
+ table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
case CALIB_VIRTUAL_VS:
case CALIB_VIRTUAL_VS_DIST:
{
- calibVVSMulti(table_cal, cam, globalReprojectionError, verbose);
+ calibVVSMulti(table_cal, cam_est, globalReprojectionError, verbose);
}
break ;
}
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
}
switch (method)
@@ -515,7 +527,7 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
if(verbose)
std::cout << "Compute camera parameters with distortion"<<std::endl;
- calibVVSWithDistortionMulti(table_cal, cam, globalReprojectionError, verbose);
+ calibVVSWithDistortionMulti(table_cal, cam_est, globalReprojectionError, verbose);
}
break ;
}
@@ -524,7 +536,7 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
// std::cout << "Camera parameters without distortion :" << std::endl;
table_cal[0].cam.printParameters();
// std::cout << "Camera parameters with distortion:" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
std::cout<<std::endl;
}
return 0 ;
@@ -635,13 +647,17 @@ int vpCalibration::readData(const char* filename)
vpImagePoint ip;
std::ifstream f;
f.open(filename);
- if (f != NULL){
- int n ;
+ if (! f.fail()){
+ unsigned int n ;
f >> n ;
std::cout << "There are "<< n <<" point on the calibration grid " << std::endl ;
clearPoint() ;
- for (int i=0 ; i < n ; i++)
+
+ if (n > 100000)
+ throw(vpException(vpException::badValue, "Bad number of point in the calibration grid"));
+
+ for (unsigned int i=0 ; i < n ; i++)
{
double x, y, z, u, v ;
f >> x >> y >> z >> u >> v ;
@@ -680,7 +696,7 @@ int vpCalibration::readGrid(const char* filename, unsigned int &n,
try{
std::ifstream f;
f.open(filename);
- if (f != NULL){
+ if (! f.fail()){
f >> n ;
if(verbose)
@@ -693,6 +709,9 @@ int vpCalibration::readGrid(const char* filename, unsigned int &n,
oY.clear();
oZ.clear();
+ if (n > 100000)
+ throw(vpException(vpException::badValue, "Bad number of point in the calibration grid"));
+
for (unsigned int i=0 ; i < n ; i++)
{
f >> no_pt >> x >> y >> z ;
@@ -760,7 +779,6 @@ int vpCalibration::displayGrid(vpImage<unsigned char> &I, vpColor color,
for (unsigned int i =0 ; i < npt ; i++)
{
-
double oX = *it_LoX;
double oY = *it_LoY;
double oZ = *it_LoZ;
@@ -814,7 +832,7 @@ int vpCalibration::displayGrid(vpImage<unsigned char> &I, vpColor color,
\param method : Method used to estimate the camera parameters.
\param nbPose : number of images used to compute multi-images calibration
\param table_cal : array of vpCalibration.
- \param cam : intrinsic camera parameters.
+ \param cam_est : estimated intrinsic camera parameters.
\param verbose : set at true if information about the residual at each loop
of the algorithm is hoped.
@@ -823,13 +841,13 @@ int vpCalibration::displayGrid(vpImage<unsigned char> &I, vpColor color,
int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
unsigned int nbPose,
vpCalibration table_cal[],
- vpCameraParameters& cam,
+ vpCameraParameters& cam_est,
bool verbose)
{
try{
for(unsigned int i=0;i<nbPose;i++){
if(table_cal[i].get_npt()>3)
- table_cal[i].computePose(cam,table_cal[i].cMo);
+ table_cal[i].computePose(cam_est,table_cal[i].cMo);
}
switch (method) {
case CALIB_LAGRANGE :
@@ -839,9 +857,9 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
return -1 ;
}
else {
- table_cal[0].calibLagrange(cam,table_cal[0].cMo);
- table_cal[0].cam = cam ;
- table_cal[0].cam_dist = cam ;
+ table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
+ table_cal[0].cam = cam_est ;
+ table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
break;
@@ -854,22 +872,22 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
return -1 ;
}
else {
- table_cal[0].calibLagrange(cam,table_cal[0].cMo);
- table_cal[0].cam = cam ;
- table_cal[0].cam_dist = cam ;
+ table_cal[0].calibLagrange(cam_est,table_cal[0].cMo);
+ table_cal[0].cam = cam_est ;
+ table_cal[0].cam_dist = cam_est ;
table_cal[0].cMo_dist = table_cal[0].cMo ;
}
case CALIB_VIRTUAL_VS:
case CALIB_VIRTUAL_VS_DIST:
{
- calibVVSMulti(nbPose, table_cal, cam, verbose);
+ calibVVSMulti(nbPose, table_cal, cam_est, verbose);
}
break ;
}
//Print camera parameters
if(verbose){
// std::cout << "Camera parameters without distortion :" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
}
switch (method)
@@ -885,7 +903,7 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
if(verbose)
std::cout << "Compute camera parameters with distortion"<<std::endl;
- calibVVSWithDistortionMulti(nbPose, table_cal, cam, verbose);
+ calibVVSWithDistortionMulti(nbPose, table_cal, cam_est, verbose);
}
break ;
}
@@ -894,7 +912,7 @@ int vpCalibration::computeCalibrationMulti(vpCalibrationMethodType method,
// std::cout << "Camera parameters without distortion :" << std::endl;
table_cal[0].cam.printParameters();
// std::cout << "Camera parameters with distortion:" << std::endl;
- cam.printParameters();
+ cam_est.printParameters();
std::cout<<std::endl;
}
return 0 ;
@@ -981,7 +999,7 @@ int vpCalibration::readGrid(const char* filename,unsigned int &n,
try{
std::ifstream f;
f.open(filename);
- if (f != NULL){
+ if (! f.fail()){
f >> n ;
if(verbose)
@@ -992,6 +1010,10 @@ int vpCalibration::readGrid(const char* filename,unsigned int &n,
oX.front();
oY.front();
oZ.front();
+
+ if (n > 100000)
+ throw(vpException(vpException::badValue, "Bad number of point in the calibration grid"));
+
for (unsigned int i=0 ; i < n ; i++)
{
f >> no_pt >> x >> y >> z ;
diff --git a/src/camera/calibration/vpCalibration.h b/src/camera/calibration/vpCalibration.h
index a75150c..ed44d2f 100644
--- a/src/camera/calibration/vpCalibration.h
+++ b/src/camera/calibration/vpCalibration.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCalibration.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpCalibration.h 4663 2014-02-14 10:32:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -105,36 +105,30 @@ public:
vpHomogeneousMatrix eMc_dist;
public:
- int init() ;
-
- //! Suppress all the point in the array of point
- int clearPoint() ;
- // Add a new point in this array
- int addPoint(double X, double Y, double Z, vpImagePoint &ip) ;
-
- //! Constructor
+ // Constructor
vpCalibration() ;
+ vpCalibration(const vpCalibration& c) ;
- //! Destructor
+ // Destructor
virtual ~vpCalibration() ;
- //! = operator
- void operator=(vpCalibration& twinCalibration );
- //!get the residual in pixels
- double getResidual(void) const {return residual;}
- //!get the residual for perspective projection with distortion (in pixels)
- double getResidual_dist(void) const {return residual_dist;}
- //!get the number of points
- unsigned int get_npt() const {return npt;}
+ // Add a new point in this array
+ int addPoint(double X, double Y, double Z, vpImagePoint &ip) ;
+
+ // = operator
+ vpCalibration& operator=(const vpCalibration& twinCalibration);
static void calibrationTsai(std::vector<vpHomogeneousMatrix> &cMo,
std::vector<vpHomogeneousMatrix> &rMe,
vpHomogeneousMatrix &eMc);
+ //! Suppress all the point in the array of point
+ int clearPoint() ;
+
void computeStdDeviation(double &deviation, double &deviation_dist);
int computeCalibration(vpCalibrationMethodType method,
- vpHomogeneousMatrix &cMo,
- vpCameraParameters &cam,
+ vpHomogeneousMatrix &cMo_est,
+ vpCameraParameters &cam_est,
bool verbose = false) ;
static int computeCalibrationMulti(vpCalibrationMethodType method,
std::vector<vpCalibration> &table_cal,
@@ -145,17 +139,27 @@ public:
static int computeCalibrationTsai(std::vector<vpCalibration> &table_cal,
vpHomogeneousMatrix &eMc,
vpHomogeneousMatrix &eMc_dist);
- double computeStdDeviation(vpHomogeneousMatrix &cMo,
- vpCameraParameters &cam);
- double computeStdDeviation_dist(vpHomogeneousMatrix &cMo,
- vpCameraParameters &cam);
+ double computeStdDeviation(const vpHomogeneousMatrix &cMo_est,
+ const vpCameraParameters &camera);
+ double computeStdDeviation_dist(const vpHomogeneousMatrix &cMo,
+ const vpCameraParameters &cam);
int displayData(vpImage<unsigned char> &I, vpColor color=vpColor::red,
unsigned int thickness=1) ;
int displayGrid(vpImage<unsigned char> &I, vpColor color=vpColor::yellow,
unsigned int thickness=1) ;
- //!set the gain for the virtual visual servoing algorithm
+ //! Set the gain for the virtual visual servoing algorithm.
static double getLambda(){return gain;}
+
+ //!get the residual in pixels
+ double getResidual(void) const {return residual;}
+ //!get the residual for perspective projection with distortion (in pixels)
+ double getResidual_dist(void) const {return residual_dist;}
+ //!get the number of points
+ unsigned int get_npt() const {return npt;}
+
+ int init() ;
+
int readData(const char *filename) ;
static int readGrid(const char *filename,unsigned int &n,
std::list<double> &oX, std::list<double> &oY, std::list<double> &oZ,
diff --git a/src/camera/calibration/vpCalibrationException.h b/src/camera/calibration/vpCalibrationException.h
index 4e83a60..1772420 100644
--- a/src/camera/calibration/vpCalibrationException.h
+++ b/src/camera/calibration/vpCalibrationException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCalibrationException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCalibrationException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,12 +70,12 @@
*/
class VISP_EXPORT vpCalibrationException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpCalibration member
*/
- enum errorCodeEnum
+ enum errorCodeEnum
{
//! error returns by a constructor
constructionError,
@@ -90,25 +90,19 @@ public:
forbiddenOperatorError,
} ;
-public:
- vpCalibrationException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpCalibrationException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpCalibrationException (const int code)
- : vpException(code){ ; }
- // vpMatrixException() : vpException() { ;}
+ public:
+ vpCalibrationException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpCalibrationException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpCalibrationException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpCalibrationException_ERROR_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/camera/calibration/vpCalibrationTools.cpp b/src/camera/calibration/vpCalibrationTools.cpp
index 54a7c0e..3723060 100644
--- a/src/camera/calibration/vpCalibrationTools.cpp
+++ b/src/camera/calibration/vpCalibrationTools.cpp
@@ -10,8 +10,7 @@
#undef MIN
void
-vpCalibration::calibLagrange(
- vpCameraParameters &cam, vpHomogeneousMatrix &cMo)
+vpCalibration::calibLagrange(vpCameraParameters &cam_est, vpHomogeneousMatrix &cMo_est)
{
vpMatrix A(2*npt,3) ;
@@ -141,7 +140,7 @@ vpCalibration::calibLagrange(
resul[3] = sqrt(sol[6]*sol[6]+sol[7]*sol[7]+sol[8]*sol[8] /* py */
-resul[1]*resul[1]);
- cam.initPersProjWithoutDistortion(resul[2],resul[3],resul[0],resul[1]);
+ cam_est.initPersProjWithoutDistortion(resul[2],resul[3],resul[0],resul[1]);
resul[4] = (sol[9]-sol[11]*resul[0])/resul[2]; /* X0 */
resul[5] = (sol[10]-sol[11]*resul[1])/resul[3]; /* Y0 */
@@ -159,12 +158,12 @@ vpCalibration::calibLagrange(
for (unsigned int i=0 ; i < 3 ; i++)
{
for (unsigned int j=0 ; j < 3 ; j++)
- cMo[i][j] = rd[i][j];
+ cMo_est[i][j] = rd[i][j];
}
- for (unsigned int i=0 ; i < 3 ; i++) cMo[i][3] = resul[i+4] ;
+ for (unsigned int i=0 ; i < 3 ; i++) cMo_est[i][3] = resul[i+4] ;
- this->cMo = cMo ;
- this->cMo_dist = cMo;
+ this->cMo = cMo_est ;
+ this->cMo_dist = cMo_est;
double deviation,deviation_dist;
this->computeStdDeviation(deviation,deviation_dist);
@@ -173,11 +172,11 @@ vpCalibration::calibLagrange(
void
-vpCalibration::calibVVS(
- vpCameraParameters &cam,
- vpHomogeneousMatrix &cMo,
- bool verbose)
+vpCalibration::calibVVS(vpCameraParameters &cam_est,
+ vpHomogeneousMatrix &cMo_est,
+ bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int n_points = npt ;
@@ -199,7 +198,6 @@ vpCalibration::calibVVS(
for (unsigned int i =0 ; i < n_points ; i++)
{
-
oX[i] = *it_LoX;
oY[i] = *it_LoY;
oZ[i] = *it_LoZ;
@@ -209,7 +207,6 @@ vpCalibration::calibVVS(
u[i] = ip.get_u() ;
v[i] = ip.get_v() ;
-
++it_LoX;
++it_LoY;
++it_LoZ;
@@ -223,22 +220,21 @@ vpCalibration::calibVVS(
double r =1e12-1;
while (vpMath::equal(residu_1,r,threshold) == false && iter < nbIterMax)
{
-
iter++ ;
residu_1 = r ;
- double px = cam.get_px();
- double py = cam.get_py();
- double u0 = cam.get_u0();
- double v0 = cam.get_v0();
+ double px = cam_est.get_px();
+ double py = cam_est.get_py();
+ double u0 = cam_est.get_u0();
+ double v0 = cam_est.get_v0();
r = 0 ;
for (unsigned int i=0 ; i < n_points; i++)
{
- cX[i] = oX[i]*cMo[0][0]+oY[i]*cMo[0][1]+oZ[i]*cMo[0][2] + cMo[0][3];
- cY[i] = oX[i]*cMo[1][0]+oY[i]*cMo[1][1]+oZ[i]*cMo[1][2] + cMo[1][3];
- cZ[i] = oX[i]*cMo[2][0]+oY[i]*cMo[2][1]+oZ[i]*cMo[2][2] + cMo[2][3];
+ cX[i] = oX[i]*cMo_est[0][0]+oY[i]*cMo_est[0][1]+oZ[i]*cMo_est[0][2] + cMo_est[0][3];
+ cY[i] = oX[i]*cMo_est[1][0]+oY[i]*cMo_est[1][1]+oZ[i]*cMo_est[1][2] + cMo_est[1][3];
+ cZ[i] = oX[i]*cMo_est[2][0]+oY[i]*cMo_est[2][1]+oZ[i]*cMo_est[2][2] + cMo_est[2][3];
Pd[2*i] = u[i] ;
Pd[2*i+1] = v[i] ;
@@ -249,7 +245,6 @@ vpCalibration::calibVVS(
r += ((vpMath::sqr(P[2*i]-Pd[2*i]) + vpMath::sqr(P[2*i+1]-Pd[2*i+1]))) ;
}
-
vpColVector error ;
error = P-Pd ;
//r = r/n_points ;
@@ -257,7 +252,6 @@ vpCalibration::calibVVS(
vpMatrix L(n_points*2,10) ;
for (unsigned int i=0 ; i < n_points; i++)
{
-
double x = cX[i] ;
double y = cY[i] ;
double z = cZ[i] ;
@@ -267,7 +261,6 @@ vpCalibration::calibVVS(
double Y = y*inv_z ;
//---------------
-
{
L[2*i][0] = px * (-inv_z) ;
L[2*i][1] = 0 ;
@@ -296,8 +289,6 @@ vpCalibration::calibVVS(
L[2*i+1][8]= 0;
L[2*i+1][9]= Y ;
}
-
-
} // end interaction
vpMatrix Lp ;
Lp = L.pseudoInverse(1e-10) ;
@@ -312,10 +303,10 @@ vpCalibration::calibVVS(
for (unsigned int i=0 ; i <6 ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithoutDistortion(px+Tc[8],py+Tc[9],
+ cam_est.initPersProjWithoutDistortion(px+Tc[8],py+Tc[9],
u0+Tc[6],v0+Tc[7]) ;
- cMo = vpExponentialMap::direct(Tc_v).inverse()*cMo ;
+ cMo_est = vpExponentialMap::direct(Tc_v).inverse()*cMo_est ;
if (verbose)
std::cout << " std dev " << sqrt(r/n_points) << std::endl;
@@ -326,21 +317,23 @@ vpCalibration::calibVVS(
throw(vpCalibrationException(vpCalibrationException::convergencyError,
"Maximum number of iterations reached")) ;
}
- this->cMo = cMo;
- this->cMo_dist = cMo;
+ this->cMo = cMo_est;
+ this->cMo_dist = cMo_est;
this->residual = r;
this->residual_dist = r;
if (verbose)
std::cout << " std dev " << sqrt(r/n_points) << std::endl;
-
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
void
vpCalibration::calibVVSMulti(std::vector<vpCalibration> &table_cal,
- vpCameraParameters &cam,
+ vpCameraParameters &cam_est,
double &globalReprojectionError,
bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int nbPoint[256]; //number of points by image
unsigned int nbPointTotal = 0; //total number of points
@@ -353,6 +346,12 @@ vpCalibration::calibVVSMulti(std::vector<vpCalibration> &table_cal,
nbPointTotal += nbPoint[i];
}
+ if (nbPointTotal < 4) {
+ //vpERROR_TRACE("Not enough point to calibrate");
+ throw(vpCalibrationException(vpCalibrationException::notInitializedError,
+ "Not enough point to calibrate")) ;
+ }
+
vpColVector oX(nbPointTotal), cX(nbPointTotal) ;
vpColVector oY(nbPointTotal), cY(nbPointTotal) ;
vpColVector oZ(nbPointTotal), cZ(nbPointTotal) ;
@@ -400,10 +399,10 @@ vpCalibration::calibVVSMulti(std::vector<vpCalibration> &table_cal,
iter++ ;
residu_1 = r ;
- double px = cam.get_px();
- double py = cam.get_py();
- double u0 = cam.get_u0();
- double v0 = cam.get_v0();
+ double px = cam_est.get_px();
+ double py = cam_est.get_py();
+ double u0 = cam_est.get_u0();
+ double v0 = cam_est.get_v0();
r = 0 ;
curPoint = 0 ; //current point indice
@@ -504,7 +503,7 @@ vpCalibration::calibVVSMulti(std::vector<vpCalibration> &table_cal,
for (unsigned int i = 0 ; i < nbPose6 ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithoutDistortion(px+Tc[nbPose6+2],
+ cam_est.initPersProjWithoutDistortion(px+Tc[nbPose6+2],
py+Tc[nbPose6+3],
u0+Tc[nbPose6],
v0+Tc[nbPose6+1]) ;
@@ -534,20 +533,22 @@ vpCalibration::calibVVSMulti(std::vector<vpCalibration> &table_cal,
for (unsigned int p = 0 ; p < nbPose ; p++)
{
table_cal[p].cMo_dist = table_cal[p].cMo ;
- table_cal[p].cam = cam;
- table_cal[p].cam_dist = cam;
+ table_cal[p].cam = cam_est;
+ table_cal[p].cam_dist = cam_est;
double deviation,deviation_dist;
table_cal[p].computeStdDeviation(deviation,deviation_dist);
}
globalReprojectionError = sqrt(r/nbPointTotal);
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
void
-vpCalibration::calibVVSWithDistortion(
- vpCameraParameters& cam,
- vpHomogeneousMatrix& cMo,
- bool verbose)
+vpCalibration::calibVVSWithDistortion(vpCameraParameters& cam_est,
+ vpHomogeneousMatrix& cMo_est,
+ bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int n_points =npt ;
@@ -590,23 +591,21 @@ vpCalibration::calibVVSWithDistortion(
double r =1e12-1;
while (vpMath::equal(residu_1,r,threshold) == false && iter < nbIterMax)
{
-
iter++ ;
residu_1 = r ;
-
r = 0 ;
- double u0 = cam.get_u0() ;
- double v0 = cam.get_v0() ;
+ double u0 = cam_est.get_u0() ;
+ double v0 = cam_est.get_v0() ;
- double px = cam.get_px() ;
- double py = cam.get_py() ;
+ double px = cam_est.get_px() ;
+ double py = cam_est.get_py() ;
double inv_px = 1/px ;
double inv_py = 1/py ;
- double kud = cam.get_kud() ;
- double kdu = cam.get_kdu() ;
+ double kud = cam_est.get_kud() ;
+ double kdu = cam_est.get_kdu() ;
double k2ud = 2*kud;
double k2du = 2*kdu;
@@ -619,9 +618,9 @@ vpCalibration::calibVVSWithDistortion(
unsigned int i42 = 4*i+2;
unsigned int i43 = 4*i+3;
- cX[i] = oX[i]*cMo[0][0]+oY[i]*cMo[0][1]+oZ[i]*cMo[0][2] + cMo[0][3];
- cY[i] = oX[i]*cMo[1][0]+oY[i]*cMo[1][1]+oZ[i]*cMo[1][2] + cMo[1][3];
- cZ[i] = oX[i]*cMo[2][0]+oY[i]*cMo[2][1]+oZ[i]*cMo[2][2] + cMo[2][3];
+ cX[i] = oX[i]*cMo_est[0][0]+oY[i]*cMo_est[0][1]+oZ[i]*cMo_est[0][2] + cMo_est[0][3];
+ cY[i] = oX[i]*cMo_est[1][0]+oY[i]*cMo_est[1][1]+oZ[i]*cMo_est[1][2] + cMo_est[1][3];
+ cZ[i] = oX[i]*cMo_est[2][0]+oY[i]*cMo_est[2][1]+oZ[i]*cMo_est[2][2] + cMo_est[2][3];
double x = cX[i] ;
double y = cY[i] ;
@@ -670,7 +669,6 @@ vpCalibration::calibVVSWithDistortion(
P[i42] = u0 + px*X*kr2ud ;
P[i43] = v0 + py*Y*kr2ud ;
-
r += (vpMath::sqr(P[i4]-Pd[i4]) +
vpMath::sqr(P[i41]-Pd[i41]) +
vpMath::sqr(P[i42]-Pd[i42]) +
@@ -762,12 +760,12 @@ vpCalibration::calibVVSWithDistortion(
for (unsigned int i=0 ; i <6 ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithDistortion(px + Tc[8], py + Tc[9],
+ cam_est.initPersProjWithDistortion(px + Tc[8], py + Tc[9],
u0 + Tc[6], v0 + Tc[7],
kud + Tc[11],
kdu + Tc[10]);
- cMo = vpExponentialMap::direct(Tc_v).inverse()*cMo ;
+ cMo_est = vpExponentialMap::direct(Tc_v).inverse()*cMo_est ;
if (verbose)
std::cout << " std dev " << sqrt(r/n_points) << std::endl;
@@ -779,19 +777,23 @@ vpCalibration::calibVVSWithDistortion(
"Maximum number of iterations reached")) ;
}
this->residual_dist = r;
- this->cMo_dist = cMo ;
- this->cam_dist = cam ;
+ this->cMo_dist = cMo_est ;
+ this->cam_dist = cam_est ;
if (verbose)
std::cout << " std dev " << sqrt(r/n_points) << std::endl;
+
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
void
vpCalibration::calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal,
- vpCameraParameters &cam, double &globalReprojectionError,
+ vpCameraParameters &cam_est, double &globalReprojectionError,
bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int nbPoint[1024]; //number of points by image
unsigned int nbPointTotal = 0; //total number of points
@@ -803,6 +805,13 @@ vpCalibration::calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal
nbPointTotal += nbPoint[i];
}
+ if (nbPointTotal < 4)
+ {
+ //vpERROR_TRACE("Not enough point to calibrate");
+ throw(vpCalibrationException(vpCalibrationException::notInitializedError,
+ "Not enough point to calibrate")) ;
+ }
+
vpColVector oX(nbPointTotal), cX(nbPointTotal) ;
vpColVector oY(nbPointTotal), cY(nbPointTotal) ;
vpColVector oZ(nbPointTotal), cZ(nbPointTotal) ;
@@ -869,16 +878,16 @@ vpCalibration::calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal
vpMatrix L(nbPointTotal*4,nbPose6+6) ;
curPoint = 0 ; //current point indice
- double px = cam.get_px() ;
- double py = cam.get_py() ;
- double u0 = cam.get_u0() ;
- double v0 = cam.get_v0() ;
+ double px = cam_est.get_px() ;
+ double py = cam_est.get_py() ;
+ double u0 = cam_est.get_u0() ;
+ double v0 = cam_est.get_v0() ;
double inv_px = 1/px ;
double inv_py = 1/py ;
- double kud = cam.get_kud() ;
- double kdu = cam.get_kdu() ;
+ double kud = cam_est.get_kud() ;
+ double kdu = cam_est.get_kdu() ;
double k2ud = 2*kud;
double k2du = 2*kdu;
@@ -1031,7 +1040,7 @@ vpCalibration::calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal
for (unsigned int i = 0 ; i < 6*nbPose ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithDistortion( px+Tc[nbPose6+2], py+Tc[nbPose6+3],
+ cam_est.initPersProjWithDistortion( px+Tc[nbPose6+2], py+Tc[nbPose6+3],
u0+Tc[nbPose6], v0+Tc[nbPose6+1],
kud + Tc[nbPose6+5],
kdu + Tc[nbPose6+4]);
@@ -1062,12 +1071,15 @@ vpCalibration::calibVVSWithDistortionMulti(std::vector<vpCalibration> &table_cal
int totalPoints = 0;
for (unsigned int p = 0 ; p < nbPose ; p++)
{
- table_cal[p].cam_dist = cam ;
- perViewError = table_cal[p].computeStdDeviation_dist(table_cal[p].cMo_dist, cam);
+ table_cal[p].cam_dist = cam_est ;
+ perViewError = table_cal[p].computeStdDeviation_dist(table_cal[p].cMo_dist, cam_est);
totalError += perViewError*perViewError * table_cal[p].npt;
totalPoints += (int)table_cal[p].npt;
}
globalReprojectionError = sqrt(r/(nbPointTotal));
+
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
@@ -1488,9 +1500,10 @@ void vpCalibration::calibrationTsai(std::vector<vpHomogeneousMatrix>& cMo,
void
vpCalibration::calibVVSMulti(unsigned int nbPose,
vpCalibration table_cal[],
- vpCameraParameters &cam,
+ vpCameraParameters &cam_est,
bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int nbPoint[256]; //number of points by image
unsigned int nbPointTotal = 0; //total number of points
@@ -1503,6 +1516,13 @@ vpCalibration::calibVVSMulti(unsigned int nbPose,
nbPointTotal += nbPoint[i];
}
+ if (nbPointTotal < 4)
+ {
+ //vpERROR_TRACE("Not enough point to calibrate");
+ throw(vpCalibrationException(vpCalibrationException::notInitializedError,
+ "Not enough point to calibrate")) ;
+ }
+
vpColVector oX(nbPointTotal), cX(nbPointTotal) ;
vpColVector oY(nbPointTotal), cY(nbPointTotal) ;
vpColVector oZ(nbPointTotal), cZ(nbPointTotal) ;
@@ -1550,10 +1570,10 @@ vpCalibration::calibVVSMulti(unsigned int nbPose,
iter++ ;
residu_1 = r ;
- double px = cam.get_px();
- double py = cam.get_py();
- double u0 = cam.get_u0();
- double v0 = cam.get_v0();
+ double px = cam_est.get_px();
+ double py = cam_est.get_py();
+ double u0 = cam_est.get_u0();
+ double v0 = cam_est.get_v0();
r = 0 ;
curPoint = 0 ; //current point indice
@@ -1654,7 +1674,7 @@ vpCalibration::calibVVSMulti(unsigned int nbPose,
for (unsigned int i = 0 ; i < nbPose6 ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithoutDistortion(px+Tc[nbPose6+2],
+ cam_est.initPersProjWithoutDistortion(px+Tc[nbPose6+2],
py+Tc[nbPose6+3],
u0+Tc[nbPose6],
v0+Tc[nbPose6+1]) ;
@@ -1683,13 +1703,16 @@ vpCalibration::calibVVSMulti(unsigned int nbPose,
for (unsigned int p = 0 ; p < nbPose ; p++)
{
table_cal[p].cMo_dist = table_cal[p].cMo ;
- table_cal[p].cam = cam;
- table_cal[p].cam_dist = cam;
+ table_cal[p].cam = cam_est;
+ table_cal[p].cam_dist = cam_est;
double deviation,deviation_dist;
table_cal[p].computeStdDeviation(deviation,deviation_dist);
}
if (verbose)
std::cout << " Global std dev " << sqrt(r/nbPointTotal) << std::endl;
+
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
@@ -1697,9 +1720,10 @@ void
vpCalibration::calibVVSWithDistortionMulti(
unsigned int nbPose,
vpCalibration table_cal[],
- vpCameraParameters &cam,
+ vpCameraParameters &cam_est,
bool verbose)
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
std::cout.precision(10);
unsigned int nbPoint[1024]; //number of points by image
unsigned int nbPointTotal = 0; //total number of points
@@ -1711,6 +1735,13 @@ vpCalibration::calibVVSWithDistortionMulti(
nbPointTotal += nbPoint[i];
}
+ if (nbPointTotal < 4)
+ {
+ //vpERROR_TRACE("Not enough point to calibrate");
+ throw(vpCalibrationException(vpCalibrationException::notInitializedError,
+ "Not enough point to calibrate")) ;
+ }
+
vpColVector oX(nbPointTotal), cX(nbPointTotal) ;
vpColVector oY(nbPointTotal), cY(nbPointTotal) ;
vpColVector oZ(nbPointTotal), cZ(nbPointTotal) ;
@@ -1777,16 +1808,16 @@ vpCalibration::calibVVSWithDistortionMulti(
vpMatrix L(nbPointTotal*4,nbPose6+6) ;
curPoint = 0 ; //current point indice
- double px = cam.get_px() ;
- double py = cam.get_py() ;
- double u0 = cam.get_u0() ;
- double v0 = cam.get_v0() ;
+ double px = cam_est.get_px() ;
+ double py = cam_est.get_py() ;
+ double u0 = cam_est.get_u0() ;
+ double v0 = cam_est.get_v0() ;
double inv_px = 1/px ;
double inv_py = 1/py ;
- double kud = cam.get_kud() ;
- double kdu = cam.get_kdu() ;
+ double kud = cam_est.get_kud() ;
+ double kdu = cam_est.get_kdu() ;
double k2ud = 2*kud;
double k2du = 2*kdu;
@@ -1939,7 +1970,7 @@ vpCalibration::calibVVSWithDistortionMulti(
for (unsigned int i = 0 ; i < 6*nbPose ; i++)
Tc_v[i] = Tc[i] ;
- cam.initPersProjWithDistortion( px+Tc[nbPose6+2], py+Tc[nbPose6+3],
+ cam_est.initPersProjWithDistortion( px+Tc[nbPose6+2], py+Tc[nbPose6+3],
u0+Tc[nbPose6], v0+Tc[nbPose6+1],
kud + Tc[nbPose6+5],
kdu + Tc[nbPose6+4]);
@@ -1967,10 +1998,12 @@ vpCalibration::calibVVSWithDistortionMulti(
for (unsigned int p = 0 ; p < nbPose ; p++)
{
- table_cal[p].cam_dist = cam ;
- table_cal[p].computeStdDeviation_dist(table_cal[p].cMo_dist,
- cam);
+ table_cal[p].cam_dist = cam_est ;
+ table_cal[p].computeStdDeviation_dist(table_cal[p].cMo_dist, cam_est);
}
if (verbose)
std::cout <<" Global std dev " << sqrt(r/(nbPointTotal)) << std::endl;
+
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
diff --git a/src/camera/vpCameraParameters.cpp b/src/camera/vpCameraParameters.cpp
index ef7d8c7..abffc7b 100644
--- a/src/camera/vpCameraParameters.cpp
+++ b/src/camera/vpCameraParameters.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCameraParameters.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpCameraParameters.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,6 +54,9 @@
#include <visp/vpRotationMatrix.h>
#include <cmath>
#include <limits>
+#include <iostream>
+#include <sstream>
+#include <iomanip>
const double vpCameraParameters::DEFAULT_PX_PARAMETER = 600.0;
const double vpCameraParameters::DEFAULT_PY_PARAMETER = 600.0;
@@ -72,12 +75,15 @@ const vpCameraParameters::vpCameraParametersProjType
\sa init()
*/
vpCameraParameters::vpCameraParameters()
+ :
+ px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER),
+ u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
+ kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER),
+ width(0), height(0),
+ isFov(false), fovAngleX(0), fovAngleY(0), fovNormals(),
+ inv_px(1./DEFAULT_PX_PARAMETER), inv_py(1./DEFAULT_PY_PARAMETER),
+ projModel(DEFAULT_PROJ_TYPE)
{
- isFov = false;
- fovAngleX = 0;
- fovAngleY = 0;
- width = 0;
- height = 0;
init() ;
}
@@ -85,6 +91,14 @@ vpCameraParameters::vpCameraParameters()
Copy constructor
*/
vpCameraParameters::vpCameraParameters(const vpCameraParameters &c)
+ :
+ px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER),
+ u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
+ kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER),
+ width(0), height(0),
+ isFov(false), fovAngleX(0), fovAngleY(0), fovNormals(),
+ inv_px(1./DEFAULT_PX_PARAMETER), inv_py(1./DEFAULT_PY_PARAMETER),
+ projModel(DEFAULT_PROJ_TYPE)
{
init(c) ;
}
@@ -92,40 +106,46 @@ vpCameraParameters::vpCameraParameters(const vpCameraParameters &c)
/*!
Constructor for perspective projection without distortion model
- \param px,py : pixel size
- \param u0,v0 : principal points
+ \param cam_px,cam_py : pixel size
+ \param cam_u0,cam_v0 : principal points
*/
-vpCameraParameters::vpCameraParameters(const double px, const double py,
- const double u0, const double v0)
+vpCameraParameters::vpCameraParameters(const double cam_px, const double cam_py,
+ const double cam_u0, const double cam_v0)
+ :
+ px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER),
+ u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
+ kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER),
+ width(0), height(0),
+ isFov(false), fovAngleX(0), fovAngleY(0), fovNormals(),
+ inv_px(1./DEFAULT_PX_PARAMETER), inv_py(1./DEFAULT_PY_PARAMETER),
+ projModel(DEFAULT_PROJ_TYPE)
{
- isFov = false;
- fovAngleX = 0;
- fovAngleY = 0;
- width = 0;
- height = 0;
- initPersProjWithoutDistortion(px,py,u0,v0) ;
+ initPersProjWithoutDistortion(cam_px,cam_py,cam_u0,cam_v0) ;
}
/*!
Constructor for perspective projection with distortion model
- \param px,py : pixel size
- \param u0,v0 : principal points
- \param kud : undistorted to distorted radial distortion
- \param kdu : distorted to undistorted radial distortion
+ \param cam_px,cam_py : pixel size
+ \param cam_u0,cam_v0 : principal points
+ \param cam_kud : undistorted to distorted radial distortion
+ \param cam_kdu : distorted to undistorted radial distortion
*/
-vpCameraParameters::vpCameraParameters(const double px, const double py,
- const double u0, const double v0,
- const double kud, const double kdu)
+vpCameraParameters::vpCameraParameters(const double cam_px, const double cam_py,
+ const double cam_u0, const double cam_v0,
+ const double cam_kud, const double cam_kdu)
+ :
+ px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER),
+ u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
+ kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER),
+ width(0), height(0),
+ isFov(false), fovAngleX(0), fovAngleY(0), fovNormals(),
+ inv_px(1./DEFAULT_PX_PARAMETER), inv_py(1./DEFAULT_PY_PARAMETER),
+ projModel(DEFAULT_PROJ_TYPE)
{
- isFov = false;
- fovAngleX = 0;
- fovAngleY = 0;
- width = 0;
- height = 0;
- initPersProjWithDistortion(px,py,u0,v0,kud,kdu) ;
+ initPersProjWithDistortion(cam_px,cam_py,cam_u0,cam_v0,cam_kud,cam_kdu) ;
}
/*!
@@ -133,16 +153,7 @@ vpCameraParameters::vpCameraParameters(const double px, const double py,
*/
void
vpCameraParameters::init()
-{
- this->projModel = DEFAULT_PROJ_TYPE ;
-
- this->px = DEFAULT_PX_PARAMETER ;
- this->py = DEFAULT_PY_PARAMETER ;
- this->u0 = DEFAULT_U0_PARAMETER ;
- this->v0 = DEFAULT_V0_PARAMETER ;
- this->kud = DEFAULT_KUD_PARAMETER ;
- this->kdu = DEFAULT_KDU_PARAMETER ;
-
+{
if (fabs(this->px)<1e-6)
{
vpERROR_TRACE("Camera parameter px = 0") ;
@@ -162,19 +173,19 @@ vpCameraParameters::init()
/*!
Initialization with specific parameters using perpective projection without
distortion model.
- \param px,py : pixel size
- \param u0,v0 : principal point
+ \param cam_px,cam_py : pixel size
+ \param cam_u0,cam_v0 : principal point
*/
void
-vpCameraParameters::initPersProjWithoutDistortion(const double px,
- const double py, const double u0, const double v0)
+vpCameraParameters::initPersProjWithoutDistortion(const double cam_px, const double cam_py,
+ const double cam_u0, const double cam_v0)
{
this->projModel = vpCameraParameters::perspectiveProjWithoutDistortion ;
- this->px = px ;
- this->py = py ;
- this->u0 = u0 ;
- this->v0 = v0 ;
+ this->px = cam_px ;
+ this->py = cam_py ;
+ this->u0 = cam_u0 ;
+ this->v0 = cam_v0 ;
this->kud = 0 ;
this->kdu = 0 ;
@@ -197,24 +208,24 @@ vpCameraParameters::initPersProjWithoutDistortion(const double px,
/*!
Initialization with specific parameters using perpective projection with
distortion model.
- \param px,py : pixel size
- \param u0,v0 : principal points
- \param kud : undistorted to distorted radial distortion
- \param kdu : distorted to undistorted radial distortion
+ \param cam_px,cam_py : pixel size
+ \param cam_u0,cam_v0 : principal points
+ \param cam_kud : undistorted to distorted radial distortion
+ \param cam_kdu : distorted to undistorted radial distortion
*/
void
-vpCameraParameters::initPersProjWithDistortion(const double px, const double py,
- const double u0, const double v0,
- const double kud, const double kdu)
+vpCameraParameters::initPersProjWithDistortion(const double cam_px, const double cam_py,
+ const double cam_u0, const double cam_v0,
+ const double cam_kud, const double cam_kdu)
{
this->projModel = vpCameraParameters::perspectiveProjWithDistortion ;
- this->px = px ;
- this->py = py ;
- this->u0 = u0 ;
- this->v0 = v0 ;
- this->kud = kud ;
- this->kdu = kdu ;
+ this->px = cam_px ;
+ this->py = cam_py ;
+ this->u0 = cam_u0 ;
+ this->v0 = cam_v0 ;
+ this->kud = cam_kud ;
+ this->kdu = cam_kdu ;
if (fabs(px)<1e-6)
{
@@ -447,6 +458,7 @@ vpCameraParameters::get_K_inverse() const
void
vpCameraParameters::printParameters()
{
+ std::ios::fmtflags original_flags( std::cout.flags() );
switch(projModel){
case vpCameraParameters::perspectiveProjWithoutDistortion :
std::cout.precision(10);
@@ -465,6 +477,8 @@ vpCameraParameters::printParameters()
std::cout << " kdu = " << kdu << std::endl ;
break;
}
+ // Restore ostream format
+ std::cout.flags(original_flags);
}
/*!
@@ -473,37 +487,33 @@ vpCameraParameters::printParameters()
\param os : Output stream.
\param cam : Camera parameters.
*/
-std::ostream & operator << (std::ostream & os,
- const vpCameraParameters &cam)
+VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpCameraParameters &cam)
{
switch(cam.get_projModel()){
- case vpCameraParameters::perspectiveProjWithoutDistortion :
- os << "Camera parameters for perspective projection without distortion:"
- << std::endl ;
- os << " px = " << cam.get_px() <<"\t py = "<< cam.get_py()
- << std::endl ;
- os << " u0 = " << cam.get_u0() <<"\t v0 = "<< cam.get_v0()
- << std::endl ;
- break;
- case vpCameraParameters::perspectiveProjWithDistortion :
- os.precision(10);
- os << "Camera parameters for perspective projection with distortion:"
- << std::endl ;
- os << " px = " << cam.get_px() <<"\t py = "<< cam.get_py()
- << std::endl ;
- os << " u0 = " << cam.get_u0() <<"\t v0 = "<< cam.get_v0()
- << std::endl ;
- os << " kud = " << cam.get_kud() << std::endl ;
- os << " kdu = " << cam.get_kdu() << std::endl ;
- break;
- }
+ case vpCameraParameters::perspectiveProjWithoutDistortion :
+ os << "Camera parameters for perspective projection without distortion:"
+ << std::endl ;
+ os << " px = " << cam.get_px() <<"\t py = "<< cam.get_py()
+ << std::endl ;
+ os << " u0 = " << cam.get_u0() <<"\t v0 = "<< cam.get_v0()
+ << std::endl ;
+ break;
+ case vpCameraParameters::perspectiveProjWithDistortion :
+ std::ios_base::fmtflags original_flags = os.flags();
+ os.precision(10);
+ os << "Camera parameters for perspective projection with distortion:"
+ << std::endl ;
+ os << " px = " << cam.get_px() <<"\t py = "<< cam.get_py()
+ << std::endl ;
+ os << " u0 = " << cam.get_u0() <<"\t v0 = "<< cam.get_v0()
+ << std::endl ;
+ os << " kud = " << cam.get_kud() << std::endl ;
+ os << " kdu = " << cam.get_kdu() << std::endl ;
+
+ os.flags(original_flags); // restore os to standard state
+ break;
+ }
return os;
}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
-
diff --git a/src/camera/vpCameraParameters.h b/src/camera/vpCameraParameters.h
index 3bd73d4..633cb4a 100644
--- a/src/camera/vpCameraParameters.h
+++ b/src/camera/vpCameraParameters.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCameraParameters.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpCameraParameters.h 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -299,8 +299,7 @@ public :
vpMatrix get_K_inverse() const;
void printParameters() ;
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpCameraParameters &cam);
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpCameraParameters &cam);
private:
static const double DEFAULT_U0_PARAMETER;
@@ -327,7 +326,6 @@ private:
double inv_px, inv_py;
vpCameraParametersProjType projModel ; //!< used projection model
-
} ;
#endif
diff --git a/src/camera/vpMeterPixelConversion.cpp b/src/camera/vpMeterPixelConversion.cpp
index 726e2f1..a2aedf7 100644
--- a/src/camera/vpMeterPixelConversion.cpp
+++ b/src/camera/vpMeterPixelConversion.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeterPixelConversion.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMeterPixelConversion.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/camera/vpMeterPixelConversion.h b/src/camera/vpMeterPixelConversion.h
index 13a00c4..4e030f6 100644
--- a/src/camera/vpMeterPixelConversion.h
+++ b/src/camera/vpMeterPixelConversion.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeterPixelConversion.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMeterPixelConversion.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/camera/vpPixelMeterConversion.cpp b/src/camera/vpPixelMeterConversion.cpp
index acf73b8..ae35c1d 100644
--- a/src/camera/vpPixelMeterConversion.cpp
+++ b/src/camera/vpPixelMeterConversion.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPixelMeterConversion.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPixelMeterConversion.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/camera/vpPixelMeterConversion.h b/src/camera/vpPixelMeterConversion.h
index 698f53f..f93f24f 100644
--- a/src/camera/vpPixelMeterConversion.h
+++ b/src/camera/vpPixelMeterConversion.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPixelMeterConversion.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPixelMeterConversion.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/camera/vpXmlParserCamera.cpp b/src/camera/vpXmlParserCamera.cpp
index a2e0fc0..59ecf5e 100644
--- a/src/camera/vpXmlParserCamera.cpp
+++ b/src/camera/vpXmlParserCamera.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpXmlParserCamera.cpp 4270 2013-06-25 12:15:16Z fspindle $
+ * $Id: vpXmlParserCamera.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,20 +80,22 @@
/*!
Default constructor
*/
-vpXmlParserCamera::vpXmlParserCamera(): vpXmlParser(){
- camera_name = "";
- image_width = 0;
- image_height = 0;
- subsampling_width = 0;
- subsampling_height = 0;
- full_width = 0;
- full_height = 0;
+vpXmlParserCamera::vpXmlParserCamera()
+ : vpXmlParser(),
+ camera(), camera_name(), image_width(0), image_height(0),
+ subsampling_width(0), subsampling_height(0), full_width(0), full_height(0)
+{
}
/*!
Copy constructor
\param twinParser : parser object to copy
*/
-vpXmlParserCamera::vpXmlParserCamera(vpXmlParserCamera& twinParser): vpXmlParser(twinParser){
+vpXmlParserCamera::vpXmlParserCamera(vpXmlParserCamera& twinParser)
+ : vpXmlParser(twinParser),
+ camera(), camera_name(), image_width(0), image_height(0),
+ subsampling_width(0), subsampling_height(0), full_width(0), full_height(0)
+
+{
this->camera = twinParser.camera;
this->camera_name = twinParser.camera_name;
this->image_width = twinParser.image_width;
@@ -126,22 +128,22 @@ vpXmlParserCamera::operator =(const vpXmlParserCamera& twinParser) {
Parse an xml file to load camera parameters.
\param cam : camera parameters to fill.
\param filename : name of the xml file to parse
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
\param projModel : camera projection model needed.
- \param image_width : image width on which camera calibration was performed.
+ \param im_width : image width on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : image height on which camera calibration was performed.
+ \param im_height : image height on which camera calibration was performed.
Set as 0 if not ambiguous.
\return error code.
*/
int
vpXmlParserCamera::parse(vpCameraParameters &cam, const char * filename,
- const std::string& camera_name,
+ const std::string& cam_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
- const unsigned int image_width,
- const unsigned int image_height)
+ const unsigned int im_width,
+ const unsigned int im_height)
{
xmlDocPtr doc;
xmlNodePtr node;
@@ -159,7 +161,7 @@ vpXmlParserCamera::parse(vpCameraParameters &cam, const char * filename,
return SEQUENCE_ERROR;
}
- int ret = this ->read (doc, node, camera_name, projModel, image_width, image_height);
+ int ret = this ->read (doc, node, cam_name, projModel, im_width, im_height);
cam = camera ;
@@ -172,20 +174,20 @@ vpXmlParserCamera::parse(vpCameraParameters &cam, const char * filename,
Save camera parameters in an xml file.
\param cam : camera parameters to save.
\param filename : name of the xml file to fill.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration was performed.
+ \param im_height : height of the image on which camera calibration was performed.
Set as 0 if not ambiguous.
\return error code.
*/
int
vpXmlParserCamera::save(const vpCameraParameters &cam, const char * filename,
- const std::string& camera_name,
- const unsigned int image_width,
- const unsigned int image_height)
+ const std::string& cam_name,
+ const unsigned int im_width,
+ const unsigned int im_height)
{
xmlDocPtr doc;
xmlNodePtr node;
@@ -215,8 +217,8 @@ vpXmlParserCamera::save(const vpCameraParameters &cam, const char * filename,
this->camera = cam;
- int nbCamera = count(doc, node, camera_name,cam.get_projModel(),
- image_width, image_height);
+ int nbCamera = count(doc, node, cam_name,cam.get_projModel(),
+ im_width, im_height);
if( nbCamera > 0){
// vpCERROR << nbCamera
// << " set(s) of camera parameters is(are) already "<< std::endl
@@ -248,27 +250,27 @@ vpXmlParserCamera::save(const vpCameraParameters &cam, const char * filename,
\param doc : XML file.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : subsampling of the image width sent by the camera.
+ \param subsampl_width : subsampling of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : subsampling of the image height sent by the camera.
+ \param subsampl_height : subsampling of the image height sent by the camera.
Set as 0 if not ambiguous.
\return error code.
*/
int
vpXmlParserCamera::read (xmlDocPtr doc, xmlNodePtr node,
- const std::string& camera_name,
+ const std::string& cam_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
- const unsigned int image_width,
- const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+ const unsigned int im_width,
+ const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
// char * val_char;
vpXmlCodeType prop;
@@ -299,8 +301,8 @@ vpXmlParserCamera::read (xmlDocPtr doc, xmlNodePtr node,
}
*/
if (prop == CODE_XML_CAMERA){
- if (SEQUENCE_OK == this->read_camera (doc, node, camera_name, projModel,
- image_width, image_height, subsampling_width, subsampling_height))
+ if (SEQUENCE_OK == this->read_camera (doc, node, cam_name, projModel,
+ im_width, im_height, subsampl_width, subsampl_height))
nbCamera++;
}
else back = SEQUENCE_ERROR;
@@ -326,27 +328,27 @@ vpXmlParserCamera::read (xmlDocPtr doc, xmlNodePtr node,
\param doc : XML file.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : subsampling of the image width sent by the camera.
+ \param subsampl_width : subsampling of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : subsampling of the image height sent by the camera.
+ \param subsampl_height : subsampling of the image height sent by the camera.
Set as 0 if not ambiguous.
\return number of available camera parameters corresponding with inputs.
*/
int
vpXmlParserCamera::count (xmlDocPtr doc, xmlNodePtr node,
- const std::string& camera_name,
+ const std::string& cam_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
- const unsigned int image_width,
- const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+ const unsigned int im_width,
+ const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
// char * val_char;
vpXmlCodeType prop;
@@ -374,9 +376,9 @@ vpXmlParserCamera::count (xmlDocPtr doc, xmlNodePtr node,
}
*/
if (prop== CODE_XML_CAMERA) {
- if (SEQUENCE_OK == this->read_camera (doc, node, camera_name, projModel,
- image_width, image_height,
- subsampling_width, subsampling_height))
+ if (SEQUENCE_OK == this->read_camera (doc, node, cam_name, projModel,
+ im_width, im_height,
+ subsampl_width, subsampl_height))
nbCamera++;
}
}
@@ -389,26 +391,26 @@ vpXmlParserCamera::count (xmlDocPtr doc, xmlNodePtr node,
\param doc : XML file.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : subsampling of the image width sent by the camera.
+ \param subsampl_width : subsampling of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : subsampling of the image height sent by the camera.
+ \param subsampl_height : subsampling of the image height sent by the camera.
Set as 0 if not ambiguous.
\return number of available camera parameters corresponding with inputs.
*/
xmlNodePtr
vpXmlParserCamera::find_camera (xmlDocPtr doc, xmlNodePtr node,
- const std::string& camera_name,
- const unsigned int image_width,
- const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+ const std::string& cam_name,
+ const unsigned int im_width,
+ const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
// char * val_char;
vpXmlCodeType prop;
@@ -435,9 +437,9 @@ vpXmlParserCamera::find_camera (xmlDocPtr doc, xmlNodePtr node,
}
*/
if(prop == CODE_XML_CAMERA){
- if (SEQUENCE_OK == this->read_camera_header(doc, node, camera_name,
- image_width, image_height,
- subsampling_width, subsampling_height))
+ if (SEQUENCE_OK == this->read_camera_header(doc, node, cam_name,
+ im_width, im_height,
+ subsampl_width, subsampl_height))
return node;
}
}
@@ -449,15 +451,15 @@ vpXmlParserCamera::find_camera (xmlDocPtr doc, xmlNodePtr node,
\param doc : XML file.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : scale of the image width sent by the camera.
+ \param subsampl_width : scale of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : scale of the image height sent by the camera.
+ \param subsampl_height : scale of the image height sent by the camera.
Set as 0 if not ambiguous.
\return error code.
@@ -465,12 +467,12 @@ vpXmlParserCamera::find_camera (xmlDocPtr doc, xmlNodePtr node,
*/
int
vpXmlParserCamera::read_camera (xmlDocPtr doc, xmlNodePtr node,
- const std::string& camera_name,
+ const std::string& cam_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
- const unsigned int image_width,
- const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+ const unsigned int im_width,
+ const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
vpXmlCodeType prop;
/* read value in the XML file. */
@@ -552,13 +554,21 @@ vpXmlParserCamera::read_camera (xmlDocPtr doc, xmlNodePtr node,
}
}
- if( !((projModelFound == true) && (camera_name == camera_name_tmp) &&
- (abs((int)image_width - (int)image_width_tmp) < allowedPixelDiffOnImageSize || image_width == 0) &&
- (abs((int)image_height - (int)image_height_tmp) < allowedPixelDiffOnImageSize || image_height == 0) &&
- ( subsampling_width == 0 ||
- abs((int)subsampling_width - (int)subsampling_width_tmp) < (allowedPixelDiffOnImageSize * (int)(subsampling_width_tmp / subsampling_width)))&&
- ( subsampling_height == 0 ||
- abs((int)subsampling_height - (int)subsampling_height_tmp) < (allowedPixelDiffOnImageSize * (int)(subsampling_width_tmp / subsampling_width))))){
+ // Create a specific test for subsampling_width and subsampling_height to ensure that division by zero is not possible in the next test
+ bool test_subsampling_width = true;
+ bool test_subsampling_height = true;
+
+ if (subsampling_width) {
+ test_subsampling_width = (abs((int)subsampl_width - (int)subsampling_width_tmp) < (allowedPixelDiffOnImageSize * (int)(subsampling_width_tmp / subsampling_width)));
+ }
+ if (subsampling_height) {
+ test_subsampling_height = (abs((int)subsampl_height - (int)subsampling_height_tmp) < (allowedPixelDiffOnImageSize * (int)(subsampling_height_tmp / subsampling_height)));
+ }
+ if( !((projModelFound == true) && (cam_name == camera_name_tmp) &&
+ (abs((int)im_width - (int)image_width_tmp) < allowedPixelDiffOnImageSize || im_width == 0) &&
+ (abs((int)im_height - (int)image_height_tmp) < allowedPixelDiffOnImageSize || im_height == 0) &&
+ (test_subsampling_width)&&
+ (test_subsampling_height))){
back = SEQUENCE_ERROR;
}
else{
@@ -578,15 +588,15 @@ vpXmlParserCamera::read_camera (xmlDocPtr doc, xmlNodePtr node,
\param doc : XML file.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : scale of the image width sent by the camera.
+ \param subsampl_width : scale of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : scale of the image height sent by the camera.
+ \param subsampl_height : scale of the image height sent by the camera.
Set as 0 if not ambiguous.
\return error code.
@@ -595,11 +605,11 @@ vpXmlParserCamera::read_camera (xmlDocPtr doc, xmlNodePtr node,
int
vpXmlParserCamera::
read_camera_header (xmlDocPtr doc, xmlNodePtr node,
- const std::string& camera_name,
- const unsigned int image_width,
- const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+ const std::string& cam_name,
+ const unsigned int im_width,
+ const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
vpXmlCodeType prop;
/* read value in the XML file. */
@@ -672,13 +682,13 @@ read_camera_header (xmlDocPtr doc, xmlNodePtr node,
break;
}
}
- if( !((camera_name == camera_name_tmp) &&
- (image_width == image_width_tmp || image_width == 0) &&
- (image_height == image_height_tmp || image_height == 0) &&
- (subsampling_width == subsampling_width_tmp ||
- subsampling_width == 0)&&
- (subsampling_height == subsampling_height_tmp ||
- subsampling_height == 0))){
+ if( !((cam_name == camera_name_tmp) &&
+ (im_width == image_width_tmp || im_width == 0) &&
+ (im_height == image_height_tmp || im_height == 0) &&
+ (subsampl_width == subsampling_width_tmp ||
+ subsampl_width == 0)&&
+ (subsampl_height == subsampling_height_tmp ||
+ subsampl_height == 0))){
back = SEQUENCE_ERROR;
}
return back;
@@ -780,14 +790,18 @@ vpXmlParserCamera::read_camera_model (xmlDocPtr doc, xmlNodePtr node,
}
}
+ if(model_type == NULL) {
+ vpERROR_TRACE("projection model type doesn't match with any known model !");
+ return SEQUENCE_ERROR;
+ }
+
if( !strcmp(model_type,LABEL_XML_MODEL_WITHOUT_DISTORTION)){
if (nb != 5 || validation != 0x1F)
{
vpCERROR <<"ERROR in 'model' field:\n";
vpCERROR << "it must contain 5 parameters\n";
- if(model_type != NULL){
- xmlFree(model_type);
- }
+ xmlFree(model_type);
+
return SEQUENCE_ERROR;
}
cam_tmp.initPersProjWithoutDistortion(px,py,u0,v0) ;
@@ -797,23 +811,20 @@ vpXmlParserCamera::read_camera_model (xmlDocPtr doc, xmlNodePtr node,
{
vpCERROR <<"ERROR in 'model' field:\n";
vpCERROR << "it must contain 7 parameters\n";
- if(model_type != NULL){
- xmlFree(model_type);
- }
+ xmlFree(model_type);
+
return SEQUENCE_ERROR;
}
cam_tmp.initPersProjWithDistortion(px,py,u0,v0,kud,kdu);
}
else{
vpERROR_TRACE("projection model type doesn't match with any known model !");
- if(model_type != NULL){
- xmlFree(model_type);
- }
- return SEQUENCE_ERROR;
- }
- if(model_type != NULL){
xmlFree(model_type);
+
+ return SEQUENCE_ERROR;
}
+ xmlFree(model_type);
+
return back;
}
@@ -821,24 +832,24 @@ vpXmlParserCamera::read_camera_model (xmlDocPtr doc, xmlNodePtr node,
Write camera parameters in an XML Tree.
\param node : XML tree, pointing on a marker equipement.
- \param camera_name : name of the camera : useful if the xml file has multiple
+ \param cam_name : name of the camera : useful if the xml file has multiple
camera parameters. Set as "" if the camera name is not ambiguous.
- \param image_width : width of image on which camera calibration was performed.
+ \param im_width : width of image on which camera calibration was performed.
Set as 0 if not ambiguous.
- \param image_height : height of the image on which camera calibration
+ \param im_height : height of the image on which camera calibration
was performed. Set as 0 if not ambiguous.
- \param subsampling_width : subsampling of the image width sent by the camera.
+ \param subsampl_width : subsampling of the image width sent by the camera.
Set as 0 if not ambiguous.
- \param subsampling_height : subsampling of the image height sent by the camera.
+ \param subsampl_height : subsampling of the image height sent by the camera.
Set as 0 if not ambiguous.
\return error code.
*/
int vpXmlParserCamera::
-write (xmlNodePtr node, const std::string& camera_name,
- const unsigned int image_width, const unsigned int image_height,
- const unsigned int subsampling_width,
- const unsigned int subsampling_height)
+write (xmlNodePtr node, const std::string& cam_name,
+ const unsigned int im_width, const unsigned int im_height,
+ const unsigned int subsampl_width,
+ const unsigned int subsampl_height)
{
int back = SEQUENCE_OK;
@@ -851,46 +862,46 @@ write (xmlNodePtr node, const std::string& camera_name,
{
//<name>
- if(!camera_name.empty()){
+ if(!cam_name.empty()){
node_tmp = xmlNewComment((xmlChar*)"Name of the camera");
xmlAddChild(node_camera,node_tmp);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_CAMERA_NAME,
- (xmlChar*)camera_name.c_str());
+ (xmlChar*)cam_name.c_str());
}
- if(image_width != 0 || image_height != 0){
+ if(im_width != 0 || im_height != 0){
char str[11];
//<image_width>
node_tmp = xmlNewComment((xmlChar*)"Size of the image on which camera calibration was performed");
xmlAddChild(node_camera,node_tmp);
- sprintf(str,"%u",image_width);
+ sprintf(str,"%u",im_width);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_WIDTH,(xmlChar*)str);
//<image_height>
- sprintf(str,"%u",image_height);
+ sprintf(str,"%u",im_height);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_HEIGHT,(xmlChar*)str);
if(subsampling_width != 0 || subsampling_height != 0){
node_tmp = xmlNewComment((xmlChar*)"Subsampling used to obtain the current size of the image.");
xmlAddChild(node_camera,node_tmp);
//<subsampling_width>
- sprintf(str,"%u",subsampling_width);
+ sprintf(str,"%u",subsampl_width);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_SUBSAMPLING_WIDTH,
(xmlChar*)str);
//<subsampling_height>
- sprintf(str,"%u",subsampling_height);
+ sprintf(str,"%u",subsampl_height);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_SUBSAMPLING_HEIGHT,
(xmlChar*)str);
node_tmp = xmlNewComment((xmlChar*)"The full size is the sensor size actually used to grab the image. full_width = subsampling_width * image_width");
xmlAddChild(node_camera,node_tmp);
//<full_width>
- sprintf(str,"%u",image_width*subsampling_width);
+ sprintf(str,"%u",im_width*subsampl_width);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_FULL_WIDTH,
(xmlChar*)str);
//<full_height>
- sprintf(str,"%u",image_height*subsampling_height);
+ sprintf(str,"%u",im_height*subsampl_height);
xmlNewTextChild(node_camera,NULL,(xmlChar*)LABEL_XML_FULL_HEIGHT,
(xmlChar*)str);
}
diff --git a/src/camera/vpXmlParserCamera.h b/src/camera/vpXmlParserCamera.h
index de24acd..f768641 100644
--- a/src/camera/vpXmlParserCamera.h
+++ b/src/camera/vpXmlParserCamera.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpXmlParserCamera.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpXmlParserCamera.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -257,16 +257,16 @@ public:
unsigned int getSubsampling_height(){return this->subsampling_height;}
vpCameraParameters getCameraParameters(){return this->camera;}
- void setCameraName(const std::string& camera_name){
- this->camera_name = camera_name;
+ void setCameraName(const std::string& name){
+ this->camera_name = name;
}
void setWidth(const unsigned int width){ this->image_width = width ; }
void setHeight(const unsigned int height){ this->image_height = height ; }
- void setSubsampling_width(const unsigned int subsampling_width){
- this->subsampling_width = subsampling_width ;
+ void setSubsampling_width(const unsigned int subsampling){
+ this->subsampling_width = subsampling ;
}
- void setSubsampling_height(const unsigned int subsampling_height){
- this->subsampling_height = subsampling_height ;
+ void setSubsampling_height(const unsigned int subsampling){
+ this->subsampling_height = subsampling ;
}
private:
diff --git a/src/computer-vision/homography-estimation/vpHomography.cpp b/src/computer-vision/homography-estimation/vpHomography.cpp
index a16e81e..cb4ee30 100644
--- a/src/computer-vision/homography-estimation/vpHomography.cpp
+++ b/src/computer-vision/homography-estimation/vpHomography.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomography.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHomography.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,55 +47,24 @@
the particular case of homography
*/
-#include <visp/vpHomography.h>
+#include <stdio.h>
+
#include <visp/vpDebug.h>
+#include <visp/vpHomography.h>
#include <visp/vpMatrix.h>
+#include <visp/vpRobust.h>
// Exception
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
-// Debug trace
-#include <visp/vpDebug.h>
-
-#include <stdio.h>
-
-
-
-/*!
- \brief initialiaze a 4x4 matrix as identity
-*/
-
-void
-vpHomography::init()
-{
- unsigned int i,j ;
-
- try {
- vpMatrix::resize(3,3) ;
- }
- catch(vpException me)
- {
- vpERROR_TRACE("Error caught") ;
- throw ;
- }
-
-
- for (i=0 ; i < 3 ; i++)
- for (j=0 ; j < 3; j++)
- if (i==j)
- (*this)[i][j] = 1.0 ;
- else
- (*this)[i][j] = 0.0;
-
-}
-
/*!
\brief initialize an homography as Identity
*/
-vpHomography::vpHomography() : vpMatrix()
+vpHomography::vpHomography() : data(NULL), aMb(), bP()
{
- init() ;
+ data = new double [9];
+ setIdentity();
}
@@ -103,98 +72,87 @@ vpHomography::vpHomography() : vpMatrix()
\brief initialize an homography from another homography
*/
-vpHomography::vpHomography(const vpHomography &aHb) : vpMatrix()
+vpHomography::vpHomography(const vpHomography &H) : data(NULL), aMb(), bP()
{
- init() ;
- *this = aHb ;
+ data = new double [9];
+
+ *this = H;
}
/*!
\brief initialize an homography from another homography
*/
-
-vpHomography::vpHomography(const vpHomogeneousMatrix &aMb,
- const vpPlane &_bP) : vpMatrix()
+vpHomography::vpHomography(const vpHomogeneousMatrix &M, const vpPlane &p) : data(NULL), aMb(), bP()
{
-
-
- init() ;
-
- buildFrom(aMb,_bP) ;
-
-
+ data = new double [9];
+ buildFrom(M, p) ;
}
vpHomography::vpHomography(const vpThetaUVector &tu,
- const vpTranslationVector &atb,
- const vpPlane &_bP) : vpMatrix()
+ const vpTranslationVector &atb,
+ const vpPlane &p) : data(NULL), aMb(), bP()
{
- init() ;
- buildFrom(tu,atb,_bP) ;
+ data = new double [9];
+ buildFrom(tu, atb, p) ;
}
vpHomography::vpHomography(const vpRotationMatrix &aRb,
- const vpTranslationVector &atb,
- const vpPlane &_bP) : vpMatrix()
+ const vpTranslationVector &atb,
+ const vpPlane &p) : data(NULL), aMb(), bP()
{
- init() ;
- buildFrom(aRb,atb,_bP) ;
- }
+ data = new double [9];
+ buildFrom(aRb, atb, p) ;
+}
-vpHomography::vpHomography(const vpPoseVector &arb,
- const vpPlane &_bP) : vpMatrix()
+vpHomography::vpHomography(const vpPoseVector &arb, const vpPlane &p) : data(NULL), aMb(), bP()
{
-
- init() ;
- buildFrom(arb,_bP) ;
+ data = new double [9];
+ buildFrom(arb, p) ;
}
-
+vpHomography::~vpHomography()
+{
+ if (data)
+ delete [] data;
+ data = NULL;
+}
void
-vpHomography::buildFrom(const vpHomogeneousMatrix &aMb,
- const vpPlane &_bP)
+vpHomography::buildFrom(const vpHomogeneousMatrix &M,
+ const vpPlane &p)
{
-
-
- insert(aMb) ;
- insert(_bP) ;
+ insert(M) ;
+ insert(p) ;
build() ;
-
-
}
void
vpHomography::buildFrom(const vpThetaUVector &tu,
- const vpTranslationVector &atb,
- const vpPlane &_bP)
+ const vpTranslationVector &atb,
+ const vpPlane &p)
{
-
insert(tu) ;
insert(atb) ;
- insert(_bP) ;
+ insert(p) ;
build() ;
}
void
vpHomography::buildFrom(const vpRotationMatrix &aRb,
- const vpTranslationVector &atb,
- const vpPlane &_bP)
+ const vpTranslationVector &atb,
+ const vpPlane &p)
{
- init() ;
insert(aRb) ;
insert(atb) ;
- insert(_bP) ;
+ insert(p) ;
build() ;
}
void
-vpHomography::buildFrom(const vpPoseVector &arb,
- const vpPlane &_bP)
+vpHomography::buildFrom(const vpPoseVector &arb, const vpPlane &p)
{
-
aMb.buildFrom(arb[0],arb[1],arb[2],arb[3],arb[4],arb[5]) ;
- insert(_bP) ;
+ insert(p) ;
build() ;
}
@@ -204,31 +162,28 @@ vpHomography::buildFrom(const vpPoseVector &arb,
/*!
- \brief insert the rotational component and
- recompute the homography
+ \brief insert the rotational component.
+ To recompute the homography call build().
*/
void
vpHomography::insert(const vpRotationMatrix &aRb)
{
aMb.insert(aRb) ;
- //build() ;
}
+
/*!
- \brief insert the rotational component and
- recompute the homography
+ \brief insert the rotational component.
+ To recompute the homography call build().
*/
void
-vpHomography::insert(const vpHomogeneousMatrix &_aMb)
+vpHomography::insert(const vpHomogeneousMatrix &M)
{
-
- aMb = _aMb ;
- //build() ;
+ this->aMb = M ;
}
-
/*! \brief insert the rotational component, insert a
- theta u vector (transformation into a rotation matrix) and
- recompute the homography
+ theta u vector (transformation into a rotation matrix).
+ To recompute the homography call build().
*/
void
@@ -236,56 +191,53 @@ vpHomography::insert(const vpThetaUVector &tu)
{
vpRotationMatrix aRb(tu) ;
aMb.insert(aRb) ;
- //build() ;
}
-
/*!
- \brief insert the translational component in a homography and
- recompute the homography
+ \brief insert the translational component in a homography.
+ To recompute the homography call build().
*/
void
vpHomography::insert(const vpTranslationVector &atb)
{
aMb.insert(atb) ;
- //build() ;
}
/*!
- \brief insert the reference plane and
- recompute the homography
+ \brief insert the reference plane.
+ To recompute the homography call build().
*/
void
-vpHomography::insert(const vpPlane &_bP)
+vpHomography::insert(const vpPlane &p)
{
-
- bP= _bP ;
- //build() ;
+ this->bP = p;
}
-
/*!
- \brief invert the homography
+ \brief Invert the homography
-
- \return [H]^-1
+ \return \f$\bf H^{-1}\f$
*/
vpHomography
vpHomography::inverse() const
{
- vpHomography bHa ;
+ vpMatrix M = (*this);
+ vpMatrix Minv;
+ M.pseudoInverse(Minv, 1e-16);
+ vpHomography H;
- vpMatrix::pseudoInverse(bHa,1e-16) ;
+ for(unsigned int i=0; i<3; i++)
+ for(unsigned int j=0; j<3; j++)
+ H[i][j] = Minv[i][j];
- return bHa;
+ return H;
}
/*!
- \brief invert the homography
-
+ \brief Invert the homography.
- \param bHa : [H]^-1
+ \param bHa : \f$\bf H^{-1}\f$ with H = *this.
*/
void
vpHomography::inverse(vpHomography &bHa) const
@@ -297,14 +249,13 @@ vpHomography::inverse(vpHomography &bHa) const
void
vpHomography::save(std::ofstream &f) const
{
- if (f != NULL)
+ if (! f.fail())
{
f << *this ;
}
else
{
- vpERROR_TRACE("\t\t file not open " );
- throw(vpException(vpException::ioError, "\t\t file not open")) ;
+ throw(vpException(vpException::ioError, "Cannot write the homography to the output stream")) ;
}
}
@@ -328,7 +279,7 @@ vpHomography vpHomography::operator*(const vpHomography &H) const
for(unsigned int j = 0; j < 3; j++) {
double s = 0.;
for(unsigned int k = 0; k < 3; k ++) {
- s += (*this)[i][k] * H[k][j];
+ s += (*this)[i][k] * H[k][j];
}
Hp[i][j] = s;
}
@@ -337,6 +288,27 @@ vpHomography vpHomography::operator*(const vpHomography &H) const
}
/*!
+ Operation a = aHb * b.
+
+ \param b : 3 dimension vector.
+*/
+vpColVector
+vpHomography::operator*(const vpColVector &b) const
+{
+ if (b.size() != 3)
+ throw(vpException(vpException::dimensionError, "Cannot multiply an homography by a vector of dimension %d", b.size()));
+
+ vpColVector a(3);
+ for(unsigned int i=0; i<3; i++) {
+ a[i] = 0.;
+ for(unsigned int j=0; j<3; j++)
+ a[i] += (*this)[i][j] * b[j];
+ }
+
+ return a;
+}
+
+/*!
Multiply an homography by a scalar.
@@ -377,14 +349,67 @@ vpHomography vpHomography::operator*(const double &v) const
vpHomography vpHomography::operator/(const double &v) const
{
vpHomography H;
- double one_over_v = 1. / v;
-
+ if (std::fabs(v) <= std::numeric_limits<double>::epsilon())
+ throw vpMatrixException(vpMatrixException::divideByZeroError, "Divide by zero in method /=(double v)");
+
+ double vinv = 1/v ;
+
for (unsigned int i=0; i < 9; i ++) {
- H.data[i] = this->data[i] * one_over_v;
+ H.data[i] = this->data[i] * vinv;
}
return H;
}
+
+//! Divide all the element of the homography matrix by v : Hij = Hij / v
+vpHomography & vpHomography::operator/=(double v)
+{
+ //if (x == 0)
+ if (std::fabs(v) <= std::numeric_limits<double>::epsilon())
+ throw vpMatrixException(vpMatrixException::divideByZeroError, "Divide by zero in method /=(double v)");
+
+ double vinv = 1/v ;
+
+ for (unsigned int i=0;i<9;i++)
+ data[i] *= vinv;
+
+ return *this;
+}
+
+/*!
+ Copy operator.
+ Allow operation such as aHb = H
+
+ \param H : Homography matrix to be copied.
+*/
+vpHomography &
+vpHomography::operator=(const vpHomography &H)
+{
+ for (unsigned int i=0; i< 3; i++)
+ for (unsigned int j=0; j< 3; j++)
+ (*this)[i][j] = H[i][j];
+
+ return *this;
+}
+/*!
+ Copy operator.
+ Allow operation such as aHb = H
+
+ \param H : Matrix to be copied.
+*/
+vpHomography &
+vpHomography::operator=(const vpMatrix &H)
+{
+ if (H.getRows() !=3 || H.getCols() != 3)
+ throw(vpException(vpException::dimensionError, "The matrix is not an homography"));
+
+ for (unsigned int i=0; i< 3; i++)
+ for (unsigned int j=0; j< 3; j++)
+ (*this)[i][j] = H[i][j];
+
+ return *this;
+}
+
/*!
Read an homography in a file, verify if it is really an homogeneous
matrix.
@@ -394,29 +419,29 @@ vpHomography vpHomography::operator/(const double &v) const
void
vpHomography::load(std::ifstream &f)
{
- if (f != NULL)
+ if (! f.fail())
{
for (unsigned int i=0 ; i < 3 ; i++)
for (unsigned int j=0 ; j < 3 ; j++)
{
- f>> (*this)[i][j] ;
+ f >> (*this)[i][j] ;
}
}
else
{
- vpERROR_TRACE("\t\t file not open " );
- throw(vpException(vpException::ioError, "\t\t file not open")) ;
+ throw(vpException(vpException::ioError, "Cannot read the homography from the input stream")) ;
}
}
-
-//! Print the matrix as a vector [T thetaU]
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+//! Print the homography as a matrix.
void
vpHomography::print()
{
std::cout <<*this << std::endl ;
}
+#endif // #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
\brief Compute aHb such that
@@ -428,23 +453,26 @@ vpHomography::print()
void
vpHomography::build()
{
- unsigned int i,j ;
-
vpColVector n(3) ;
vpColVector atb(3) ;
- for (i=0 ; i < 3 ; i++)
+ vpMatrix aRb(3,3);
+ for (unsigned int i=0 ; i < 3 ; i++)
{
- atb[i] = aMb[i][3] ;
- for (j=0 ; j < 3 ; j++) (*this)[i][j] = aMb[i][j];
+ atb[i] = aMb[i][3];
+ for (unsigned int j=0 ; j < 3 ; j++)
+ aRb[i][j] = aMb[i][j];
}
bP.getNormal(n) ;
double d = bP.getD() ;
- *this -= atb*n.t()/d ; // the d used in the equation is such as nX=d is the
+ vpMatrix aHb = aRb - atb*n.t()/d ; // the d used in the equation is such as nX=d is the
// plane equation. So if the plane is described by
// Ax+By+Cz+D=0, d=-D
+ for (unsigned int i=0 ; i < 3 ; i++)
+ for (unsigned int j=0 ; j < 3 ; j++)
+ (*this)[i][j] = aHb[i][j];
}
/*!
@@ -457,30 +485,284 @@ vpHomography::build()
*/
void
vpHomography::build(vpHomography &aHb,
- const vpHomogeneousMatrix &aMb,
- const vpPlane &bP)
+ const vpHomogeneousMatrix &aMb,
+ const vpPlane &bP)
{
- unsigned int i,j ;
-
vpColVector n(3) ;
vpColVector atb(3) ;
- for (i=0 ; i < 3 ; i++)
+ vpMatrix aRb(3,3);
+ for (unsigned int i=0 ; i < 3 ; i++)
{
atb[i] = aMb[i][3] ;
- for (j=0 ; j < 3 ; j++) aHb[i][j] = aMb[i][j];
+ for (unsigned int j=0 ; j < 3 ; j++)
+ aRb[i][j] = aMb[i][j];
}
bP.getNormal(n) ;
double d = bP.getD() ;
- aHb -= atb*n.t()/d ; // the d used in the equation is such as nX=d is the
+ vpMatrix aHb_ = aRb - atb*n.t()/d ; // the d used in the equation is such as nX=d is the
// plane equation. So if the plane is described by
// Ax+By+Cz+D=0, d=-D
+ for (unsigned int i=0 ; i < 3 ; i++)
+ for (unsigned int j=0 ; j < 3 ; j++)
+ aHb[i][j] = aHb_[i][j];
}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
+/*!
+ Set the homography as identity transformation.
+*/
+void
+vpHomography::setIdentity()
+{
+ for (unsigned int i=0 ; i < 3 ; i++)
+ for (unsigned int j=0 ; j < 3; j++)
+ if (i==j)
+ (*this)[i][j] = 1.0 ;
+ else
+ (*this)[i][j] = 0.0;
+}
+
+/*!
+ Given \c iPa a point with coordinates \f$(u_a,v_a)\f$ expressed in pixel in image a, and the homography \c bHa that
+ links image a and b, computes the coordinates of the point \f$(u_b,v_b)\f$ in the image b using the camera parameters
+ matrix \f$\bf K\f$.
+
+ Compute \f$^b{\bf p} = {\bf K} \; {^b}{\bf H}_a \; {\bf K}^{-1} {^a}{\bf p}\f$ with \f$^a{\bf p}=(u_a,v_a,1)\f$
+ and \f$^b{\bf p}=(u_b,v_b,1)\f$
+
+ \return The coordinates in pixel of the point with coordinates \f$(u_b,v_b)\f$.
+ */
+vpImagePoint vpHomography::project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa)
+{
+ double xa = iPa.get_u();
+ double ya = iPa.get_v();
+ vpMatrix H = cam.get_K() * bHa * cam.get_K_inverse();
+ double z = xa * H[2][0] + ya * H[2][1] + H[2][2];
+ double xb = (xa * H[0][0] + ya * H[0][1] + H[0][2]) / z;
+ double yb = (xa * H[1][0] + ya * H[1][1] + H[1][2]) / z;
+
+ vpImagePoint iPb(yb, xb);
+
+ return iPb;
+}
+/*!
+ Given \c Pa a point with normalized coordinates \f$(x_a,y_a,1)\f$ in the image plane a, and the homography \c bHa that
+ links image a and b, computes the normalized coordinates of the point \f$(x_b,y_b,1)\f$ in the image plane b.
+
+ Compute \f$^b{\bf p} = {^b}{\bf H}_a \; {^a}{\bf p}\f$ with \f$^a{\bf p}=(x_a,y_a,1)\f$
+ and \f$^b{\bf p}=(x_b,y_b,1)\f$
+
+ \return The coordinates in meter of the point with coordinates \f$(x_b,y_b)\f$.
+ */
+vpPoint vpHomography::project(const vpHomography &bHa, const vpPoint &Pa)
+{
+ double xa = Pa.get_x();
+ double ya = Pa.get_y();
+ double z = xa * bHa[2][0] + ya * bHa[2][1] + bHa[2][2];
+ double xb = (xa * bHa[0][0] + ya * bHa[0][1] + bHa[0][2]) / z;
+ double yb = (xa * bHa[1][0] + ya * bHa[1][1] + bHa[1][2]) / z;
+
+ vpPoint Pb;
+ Pb.set_x(xb);
+ Pb.set_y(yb);
+
+ return Pb;
+}
+
+/*!
+ From couples of matched points \f$^a{\bf p}=(x_a,y_a,1)\f$ in image a
+ and \f$^b{\bf p}=(x_b,y_b,1)\f$ in image b with homogeneous coordinates, computes the
+ homography matrix by resolving \f$^a{\bf p} = ^a{\bf H}_b\; ^b{\bf p}\f$
+ using a robust estimation scheme.
+
+ This method is to compare to DLT() except that here a robust estimator is used to reject
+ couples of points that are considered as outliers.
+
+ At least 4 couples of points are needed.
+
+ \param xb, yb : Coordinates vector of matched points in image b. These coordinates are expressed in meters.
+ \param xa, ya : Coordinates vector of matched points in image a. These coordinates are expressed in meters.
+ \param aHb : Estimated homography that relies the transformation from image a to image b.
+ \param inliers : Vector that indicates if a matched point is an inlier (true) or an outlier (false).
+ \param residual : Global residual computed as
+ \f$r = \sqrt{1/n \sum_{inliers} {\| {^a{\bf p} - {\hat{^a{\bf H}_b}} {^b{\bf p}}} \|}^{2}}\f$ with \f$n\f$ the
+ number of inliers.
+ \param weights_threshold : Threshold applied on the weights updated during the robust estimation and
+ used to consider if a point is an outlier or an inlier. Values should be in [0:1].
+ A couple of matched points that have a weight lower than this threshold is considered as an outlier.
+ A value equal to zero indicates that all the points are inliers.
+ \param niter : Number of iterations of the estimation process.
+ \param normalization : When set to true, the coordinates of the points are normalized. The normalization
+ carried out is the one preconized by Hartley.
+
+ \sa DLT(), ransac()
*/
+void
+vpHomography::robust(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ vpHomography &aHb,
+ std::vector<bool> &inliers,
+ double &residual,
+ double weights_threshold,
+ unsigned int niter,
+ bool normalization)
+{
+ unsigned int n = (unsigned int) xb.size();
+ if (yb.size() != n || xa.size() != n || ya.size() != n)
+ throw(vpException(vpException::dimensionError,
+ "Bad dimension for robust homography estimation"));
+
+ // 4 point are required
+ if(n<4)
+ throw(vpException(vpException::fatalError, "There must be at least 4 matched points"));
+
+ try{
+ std::vector<double> xan, yan, xbn, ybn;
+
+ double xg1=0., yg1=0., coef1=0., xg2=0., yg2=0., coef2=0.;
+
+ vpHomography aHbn;
+
+ if (normalization) {
+ vpHomography::HartleyNormalization(xb, yb, xbn, ybn, xg1, yg1, coef1);
+ vpHomography::HartleyNormalization(xa, ya, xan, yan, xg2, yg2, coef2);
+ }
+ else {
+ xbn = xb;
+ ybn = yb;
+ xan = xa;
+ yan = ya;
+ }
+
+ unsigned int nbLinesA = 2;
+ vpMatrix A(nbLinesA*n,8);
+ vpColVector X(8);
+ vpColVector Y(nbLinesA*n);
+ vpMatrix W(nbLinesA*n, nbLinesA*n) ; // Weight matrix
+
+ vpColVector w(nbLinesA*n) ;
+
+ // All the weights are set to 1 at the beginning to use a classical least square scheme
+ w = 1;
+ // Update the square matrix associated to the weights
+ for (unsigned int i=0; i < nbLinesA*n; i ++) {
+ W[i][i] = w[i];
+ }
+
+ // build matrix A
+ for(unsigned int i=0; i<n;i++) {
+ A[nbLinesA*i][0]=xbn[i];
+ A[nbLinesA*i][1]=ybn[i];
+ A[nbLinesA*i][2]=1;
+ A[nbLinesA*i][3]=0 ;
+ A[nbLinesA*i][4]=0 ;
+ A[nbLinesA*i][5]=0;
+ A[nbLinesA*i][6]=-xbn[i]*xan[i] ;
+ A[nbLinesA*i][7]=-ybn[i]*xan[i];
+
+ A[nbLinesA*i+1][0]=0 ;
+ A[nbLinesA*i+1][1]=0;
+ A[nbLinesA*i+1][2]=0;
+ A[nbLinesA*i+1][3]=xbn[i];
+ A[nbLinesA*i+1][4]=ybn[i];
+ A[nbLinesA*i+1][5]=1;
+ A[nbLinesA*i+1][6]=-xbn[i]*yan[i];
+ A[nbLinesA*i+1][7]=-ybn[i]*yan[i];
+
+ Y[nbLinesA*i] = xan[i];
+ Y[nbLinesA*i+1] = yan[i];
+ }
+
+ vpMatrix WA;
+ vpMatrix WAp;
+ unsigned int iter = 0;
+ vpRobust r(nbLinesA*n) ; // M-Estimator
+
+ while (iter < niter) {
+ WA = W * A;
+
+ X = WA.pseudoInverse(1e-26)*W*Y;
+ vpColVector residu;
+ residu = Y - A * X;
+
+ // Compute the weights using the Tukey biweight M-Estimator
+ r.setIteration(iter) ;
+ r.MEstimator(vpRobust::TUKEY, residu, w) ;
+
+ // Update the weights matrix
+ for (unsigned int i=0; i < n*nbLinesA; i ++) {
+ W[i][i] = w[i];
+ }
+ // Build the homography
+ for(unsigned int i=0;i<8;i++)
+ aHbn.data[i]= X[i];
+ aHbn[2][2] = 1;
+ {
+ vpMatrix aHbnorm = aHbn;
+ aHbnorm /= aHbnorm[2][2] ;
+ }
+
+ iter ++;
+ }
+ inliers.resize(n);
+ unsigned int nbinliers = 0;
+ for(unsigned int i=0; i< n; i++) {
+ if (w[i*2] < weights_threshold && w[i*2+1] < weights_threshold)
+ inliers[i] = false;
+ else {
+ inliers[i] = true;
+ nbinliers ++;
+ }
+ }
+
+ if (normalization) {
+ // H after denormalization
+ vpHomography::HartleyDenormalization(aHbn, aHb, xg1, yg1, coef1, xg2, yg2, coef2);
+ }
+ else {
+ aHb = aHbn;
+ }
+
+ residual = 0 ;
+ vpColVector a(3), b(3), c(3);
+ for (unsigned int i=0 ; i < n ; i++) {
+ if (inliers[i]) {
+ a[0] = xa[i] ; a[1] = ya[i] ; a[2] = 1 ;
+ b[0] = xb[i] ; b[1] = yb[i] ; b[2] = 1 ;
+
+ c = aHb*b ; c /= c[2] ;
+ residual += (a-c).sumSquare();
+ }
+ }
+
+ residual = sqrt(residual/nbinliers);
+ }
+ catch(...)
+ {
+ throw(vpException(vpException::fatalError, "Cannot estimate an homography")) ;
+ }
+}
+
+/*!
+\brief std::cout a matrix
+*/
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpHomography &H)
+{
+ std::ios_base::fmtflags original_flags = s.flags();
+
+ s.precision(10) ;
+ for (unsigned int i=0;i<H.getRows();i++) {
+ for (unsigned int j=0;j<H.getCols();j++){
+ s << H[i][j] << " ";
+ }
+ // We don't add a \n char on the end of the last matrix line
+ if (i < H.getRows()-1)
+ s << std::endl;
+ }
+
+ s.flags(original_flags); // restore s to standard state
+
+ return s;
+}
diff --git a/src/computer-vision/homography-estimation/vpHomography.h b/src/computer-vision/homography-estimation/vpHomography.h
index f4d031b..c7c8853 100644
--- a/src/computer-vision/homography-estimation/vpHomography.h
+++ b/src/computer-vision/homography-estimation/vpHomography.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomography.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpHomography.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,14 +51,17 @@ tools for homography computation.
#ifndef vpHomography_hh
#define vpHomography_hh
+#include <list>
+#include <vector>
+
+#include <visp/vpCameraParameters.h>
+#include <visp/vpImagePoint.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpPlane.h>
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
# include <visp/vpList.h>
#endif
-#include <list>
-
/*!
\class vpHomography
@@ -84,7 +87,9 @@ tools for homography computation.
{ ^b{\bf n}^T}
\f]
- The example below shows how to manipulate this class to first
+ The \ref tutorial-homography explains how to use this class.
+
+ The example below shows also how to manipulate this class to first
compute a ground truth homography from camera poses, project pixel
coordinates points using an homography and lastly estimate an
homography from a subset of 4 matched points in frame a and frame b
@@ -123,7 +128,7 @@ int main()
// Compute the coordinates in pixels of the 4 object points in the
// camera frame a
vpPoint Pa[4];
- double xa[4], ya[4]; // Coordinates in pixels of the points in frame a
+ std::vector<double> xa(4), ya(4); // Coordinates in pixels of the points in frame a
for(int i=0 ; i < 4 ; i++) {
Pa[i] = Po[i];
Pa[i].project(aMo); // Project the points from object frame to
@@ -136,7 +141,7 @@ int main()
// Compute the coordinates in pixels of the 4 object points in the
// camera frame b
vpPoint Pb[4];
- double xb[4], yb[4]; // Coordinates in pixels of the points in frame b
+ std::vector<double> xb(4), yb(4); // Coordinates in pixels of the points in frame b
for(int i=0 ; i < 4 ; i++) {
Pb[i] = Po[i];
Pb[i].project(bMo); // Project the points from object frame to
@@ -162,7 +167,7 @@ int main()
}
// Estimate the homography from 4 points coordinates expressed in pixels
- vpHomography::HartleyDLT(4, xb, yb, xa, ya, aHb);
+ vpHomography::DLT(xb, yb, xa, ya, aHb, true);
aHb /= aHb[2][2]; // Apply a scale factor to have aHb[2][2] = 1
std::cout << "Estimated homography aHb: \n" << aHb<< std::endl;
@@ -170,211 +175,264 @@ int main()
\endcode
*/
-class VISP_EXPORT vpHomography : public vpMatrix
+class VISP_EXPORT vpHomography
{
-
-private:
- static const double sing_threshold; // = 0.0001;
- static const double threshold_rotation;
- static const double threshold_displacement;
- vpHomogeneousMatrix aMb ;
- // bool isplanar;
- //! reference plane coordinates expressed in Rb
- vpPlane bP ;
- void init() ;
-
-private:
- //! insert a rotation matrix
- void insert(const vpHomogeneousMatrix &aRb) ;
- //! insert a rotation matrix
- void insert(const vpRotationMatrix &aRb) ;
- //! insert a theta u vector (transformation into a rotation matrix)
- void insert(const vpThetaUVector &tu) ;
- //! insert a translation vector
- void insert(const vpTranslationVector &atb) ;
- //! insert a translation vector
- void insert(const vpPlane &bP) ;
-
- static void initRansac(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya,
- vpColVector &x) ;
-
-public:
- static void HartleyNormalization(unsigned int n,
- double *x, double *y,
- double *xn, double *yn,
- double &xg, double &yg,
- double &coef);
- static void HartleyDenormalization(vpHomography &aHbn,
- vpHomography &aHb,
- double xg1, double yg1, double coef1,
- double xg2, double yg2, double coef2 ) ;
-
-
- vpHomography() ;
-
- //! copy constructor
- vpHomography(const vpHomography &aMb) ;
- //! Construction from Translation and rotation and a plane
- vpHomography(const vpHomogeneousMatrix &aMb,
- const vpPlane &bP) ;
- //! Construction from Translation and rotation and a plane
- vpHomography(const vpRotationMatrix &aRb,
- const vpTranslationVector &atb,
- const vpPlane &bP) ;
- //! Construction from Translation and rotation and a plane
- vpHomography(const vpThetaUVector &tu,
- const vpTranslationVector &atb,
- const vpPlane &bP) ;
- //! Construction from Translation and rotation and a plane
- vpHomography(const vpPoseVector &arb,
- const vpPlane &bP) ;
- virtual ~vpHomography() { }
-
- //! Construction from Translation and rotation and a plane
- void buildFrom(const vpRotationMatrix &aRb,
- const vpTranslationVector &atb,
+ public:
+ //! Data array
+ double *data;
+
+ private:
+ static const double sing_threshold; // = 0.0001;
+ static const double threshold_rotation;
+ static const double threshold_displacement;
+ vpHomogeneousMatrix aMb ;
+ // bool isplanar;
+ //! reference plane coordinates expressed in Rb
+ vpPlane bP ;
+
+ private:
+ //! build the homography from aMb and Rb
+ void build() ;
+
+ //! insert a rotation matrix
+ void insert(const vpHomogeneousMatrix &aRb) ;
+ //! insert a rotation matrix
+ void insert(const vpRotationMatrix &aRb) ;
+ //! insert a theta u vector (transformation into a rotation matrix)
+ void insert(const vpThetaUVector &tu) ;
+ //! insert a translation vector
+ void insert(const vpTranslationVector &atb) ;
+ //! insert a translation vector
+ void insert(const vpPlane &bP) ;
+
+ static void initRansac(unsigned int n,
+ double *xb, double *yb,
+ double *xa, double *ya,
+ vpColVector &x) ;
+
+ public:
+ vpHomography() ;
+ vpHomography(const vpHomography &H) ;
+ //! Construction from Translation and rotation and a plane
+ vpHomography(const vpHomogeneousMatrix &aMb,
const vpPlane &bP) ;
- //! Construction from Translation and rotation and a plane
- void buildFrom(const vpThetaUVector &tu,
+ //! Construction from Translation and rotation and a plane
+ vpHomography(const vpRotationMatrix &aRb,
const vpTranslationVector &atb,
const vpPlane &bP) ;
- //! Construction from Translation and rotation and a plane
- void buildFrom(const vpPoseVector &arb,
+ //! Construction from Translation and rotation and a plane
+ vpHomography(const vpThetaUVector &tu,
+ const vpTranslationVector &atb,
const vpPlane &bP) ;
- //! Construction from homogeneous matrix and a plane
- void buildFrom(const vpHomogeneousMatrix &aMb,
+ //! Construction from Translation and rotation and a plane
+ vpHomography(const vpPoseVector &arb,
const vpPlane &bP) ;
-
- //! build the homography from aMb and Rb
- void build() ;
-
-
- void computeDisplacement(vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n) ;
-
- void computeDisplacement(const vpColVector& nd,
- vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n) ;
-
- //! Load an homography from a file
- void load(std::ifstream &f) ;
- //! Print the matrix
- void print() ;
- //! Save an homography in a file
- void save(std::ofstream &f) const ;
-
- //! invert the homography
- vpHomography inverse() const ;
- //! invert the homography
- void inverse(vpHomography &Hi) const;
-
- // Multiplication by an homography
- vpHomography operator*(const vpHomography &H) const;
-
- // Multiplication by a scalar
- vpHomography operator*(const double &v) const;
-
- // Division by a scalar
- vpHomography operator/(const double &v) const;
-
- //! build the homography from aMb and Rb
- static void build(vpHomography &aHb,
- const vpHomogeneousMatrix &aMb,
- const vpPlane &bP) ;
-
- static void DLT(unsigned int n,
- double *xb, double *yb ,
- double *xa, double *ya,
- vpHomography &aHb) ;
-
- static void HartleyDLT(unsigned int n,
- double *xb, double *yb ,
- double *xa, double *ya,
- vpHomography &aHb) ;
- static void HLM(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- bool isplan,
- vpHomography &aHb) ;
-
- static void computeDisplacement(const vpHomography &aHb,
- const vpColVector& nd,
- vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n) ;
-
- static void computeDisplacement (const vpHomography &aHb,
- vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n) ;
-
- static void computeDisplacement(const vpMatrix &H,
- const double x,
- const double y,
- std::list<vpRotationMatrix> & vR,
- std::list<vpTranslationVector> & vT,
- std::list<vpColVector> & vN) ;
- static double computeDisplacement(unsigned int nbpoint,
- vpPoint *c1P,
- vpPoint *c2P,
- vpPlane &oN,
- vpHomogeneousMatrix &c2Mc1,
- vpHomogeneousMatrix &c1Mo,
- int userobust
- ) ;
- static double computeDisplacement(unsigned int nbpoint,
- vpPoint *c1P,
- vpPoint *c2P,
- vpPlane *oN,
- vpHomogeneousMatrix &c2Mc1,
- vpHomogeneousMatrix &c1Mo,
- int userobust
- ) ;
- static double computeResidual(vpColVector &x, vpColVector &M, vpColVector &d);
- // VVS
- static double computeRotation(unsigned int nbpoint,
- vpPoint *c1P,
- vpPoint *c2P,
- vpHomogeneousMatrix &c2Mc1,
- int userobust
- ) ;
- static void computeTransformation(vpColVector &x,unsigned int *ind, vpColVector &M) ;
-
- static bool degenerateConfiguration(vpColVector &x,unsigned int *ind) ;
- static bool degenerateConfiguration(vpColVector &x,unsigned int *ind, double threshold_area);
-
- static bool ransac(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &aHb,
- int consensus = 1000,
- double threshold = 1e-6
- ) ;
-
- static bool ransac(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &aHb,
- vpColVector& inliers,
- double& residual,
- int consensus = 1000,
- double epsilon = 1e-6,
- double areaThreshold = 0.0);
+ virtual ~vpHomography();
+
+ //! Construction from Translation and rotation and a plane
+ void buildFrom(const vpRotationMatrix &aRb,
+ const vpTranslationVector &atb,
+ const vpPlane &bP) ;
+ //! Construction from Translation and rotation and a plane
+ void buildFrom(const vpThetaUVector &tu,
+ const vpTranslationVector &atb,
+ const vpPlane &bP) ;
+ //! Construction from Translation and rotation and a plane
+ void buildFrom(const vpPoseVector &arb,
+ const vpPlane &bP) ;
+ //! Construction from homogeneous matrix and a plane
+ void buildFrom(const vpHomogeneousMatrix &aMb,
+ const vpPlane &bP) ;
+
+ void computeDisplacement(vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n) ;
+
+ void computeDisplacement(const vpColVector& nd,
+ vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n) ;
+
+ //! Return the number of rows of the homography matrix.
+ inline unsigned int getRows() const { return 3;}
+ //! Return the number of columns of the homography matrix.
+ inline unsigned int getCols() const { return 3; }
+
+ //! invert the homography
+ vpHomography inverse() const ;
+ //! invert the homography
+ void inverse(vpHomography &Hi) const;
+
+ //! Load an homography from a file
+ void load(std::ifstream &f) ;
+
+ //! Write elements Hij (usage : H[i][j] = x )
+ inline double *operator[](unsigned int i) { return &data[i*3]; }
+ //! Read elements Hij (usage : x = H[i][j] )
+ inline double *operator[](unsigned int i) const {return &data[i*3];}
+
+ // Multiplication by an homography
+ vpHomography operator*(const vpHomography &H) const;
+
+ // Multiplication by a scalar
+ vpHomography operator*(const double &v) const;
+ vpColVector operator*(const vpColVector &b) const;
+
+ // Division by a scalar
+ vpHomography operator/(const double &v) const;
+ vpHomography & operator/=(double v);
+ vpHomography & operator=(const vpHomography &H);
+ vpHomography & operator=(const vpMatrix &H);
+
+ //! Save an homography in a file
+ void save(std::ofstream &f) const ;
+
+ void setIdentity();
+
+ friend VISP_EXPORT std::ostream &operator << (std::ostream &s,const vpHomography &H);
+
+ static void DLT(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya ,
+ vpHomography &aHb,
+ bool normalization=true);
+
+ static void HLM(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ bool isplanar,
+ vpHomography &aHb) ;
+
+ static bool ransac(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ vpHomography &aHb,
+ std::vector<bool> &inliers,
+ double &residual,
+ unsigned int nbInliersConsensus,
+ double threshold,
+ bool normalization=true);
+
+ static vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa);
+ static vpPoint project(const vpHomography &bHa, const vpPoint &Pa);
+
+ static void robust(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ vpHomography &aHb,
+ std::vector<bool> &inlier,
+ double &residual,
+ double weights_threshold=0.4,
+ unsigned int niter=4,
+ bool normalization=true);
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+ //! build the homography from aMb and Rb
+ static void build(vpHomography &aHb,
+ const vpHomogeneousMatrix &aMb,
+ const vpPlane &bP) ;
+
+ static void computeDisplacement(const vpHomography &aHb,
+ const vpColVector& nd,
+ vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n) ;
+
+ static void computeDisplacement (const vpHomography &aHb,
+ vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n) ;
+
+ static void computeDisplacement(const vpMatrix &H,
+ const double x,
+ const double y,
+ std::list<vpRotationMatrix> & vR,
+ std::list<vpTranslationVector> & vT,
+ std::list<vpColVector> & vN) ;
+ static double computeDisplacement(unsigned int nbpoint,
+ vpPoint *c1P,
+ vpPoint *c2P,
+ vpPlane &oN,
+ vpHomogeneousMatrix &c2Mc1,
+ vpHomogeneousMatrix &c1Mo,
+ int userobust
+ ) ;
+ static double computeDisplacement(unsigned int nbpoint,
+ vpPoint *c1P,
+ vpPoint *c2P,
+ vpPlane *oN,
+ vpHomogeneousMatrix &c2Mc1,
+ vpHomogeneousMatrix &c1Mo,
+ int userobust
+ ) ;
+ static double computeResidual(vpColVector &x, vpColVector &M, vpColVector &d);
+ // VVS
+ static double computeRotation(unsigned int nbpoint,
+ vpPoint *c1P,
+ vpPoint *c2P,
+ vpHomogeneousMatrix &c2Mc1,
+ int userobust) ;
+ static void computeTransformation(vpColVector &x,unsigned int *ind, vpColVector &M) ;
+ static bool degenerateConfiguration(vpColVector &x,unsigned int *ind) ;
+ static bool degenerateConfiguration(vpColVector &x,unsigned int *ind, double threshold_area);
+ static bool degenerateConfiguration(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya);
+ static void HartleyNormalization(unsigned int n,
+ const double *x, const double *y,
+ double *xn, double *yn,
+ double &xg, double &yg,
+ double &coef);
+ static void HartleyNormalization(const std::vector<double> &x, const std::vector<double> &y,
+ std::vector<double> &xn, std::vector<double> &yn,
+ double &xg, double &yg, double &coef);
+ static void HartleyDenormalization(vpHomography &aHbn,
+ vpHomography &aHb,
+ double xg1, double yg1, double coef1,
+ double xg2, double yg2, double coef2 ) ;
+
+#endif // DOXYGEN_SHOULD_SKIP_THIS
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- /*!
+ /*!
@name Deprecated functions
*/
- vp_deprecated static void computeDisplacement(const vpMatrix H,
- const double x,
- const double y,
- vpList<vpRotationMatrix> & vR,
- vpList<vpTranslationVector> & vT,
- vpList<vpColVector> & vN) ;
+ vp_deprecated static void computeDisplacement(const vpMatrix H,
+ const double x,
+ const double y,
+ vpList<vpRotationMatrix> & vR,
+ vpList<vpTranslationVector> & vT,
+ vpList<vpColVector> & vN);
+
+ static void DLT(unsigned int n,
+ double *xb, double *yb ,
+ double *xa, double *ya,
+ vpHomography &aHb) ;
+ vp_deprecated static void HartleyDLT(unsigned int n,
+ double *xb, double *yb ,
+ double *xa, double *ya,
+ vpHomography &aHb) ;
+
+ static void HLM(unsigned int n,
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ bool isplan,
+ vpHomography &aHb) ;
+
+ //! Print the matrix
+ vp_deprecated void print() ;
+
+ vp_deprecated static bool ransac(unsigned int n,
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &aHb,
+ int consensus = 1000,
+ double threshold = 1e-6) ;
+
+ vp_deprecated static bool ransac(unsigned int n,
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &aHb,
+ vpColVector& inliers,
+ double residual = 0.1, // Not used
+ int consensus = 1000,
+ double threshold = 1e-6,
+ double areaThreshold = 0.0);
#endif // VISP_BUILD_DEPRECATED_FUNCTIONS
} ;
diff --git a/src/computer-vision/homography-estimation/vpHomographyDLT.cpp b/src/computer-vision/homography-estimation/vpHomographyDLT.cpp
index 1c48c14..6669a46 100644
--- a/src/computer-vision/homography-estimation/vpHomographyDLT.cpp
+++ b/src/computer-vision/homography-estimation/vpHomographyDLT.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomographyDLT.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpHomographyDLT.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -48,17 +48,74 @@
*/
#include <visp/vpHomography.h>
+#include <visp/vpMatrix.h>
#include <visp/vpMatrixException.h>
#include <cmath> // std::fabs
#include <limits> // numeric_limits
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
+void
+vpHomography::HartleyNormalization(const std::vector<double> &x, const std::vector<double> &y,
+ std::vector<double> &xn, std::vector<double> &yn,
+ double &xg, double &yg, double &coef)
+{
+ if (x.size() != y.size())
+ throw(vpException(vpException::dimensionError,
+ "Hartley normalization require that x and y vector have the same dimension"));
+
+ unsigned int n = (unsigned int) x.size();
+ if (xn.size() != n)
+ xn.resize(n);
+ if (yn.size() != n)
+ yn.resize(n);
+
+ xg = 0 ;
+ yg = 0 ;
+
+ for (unsigned int i =0 ; i < n ; i++)
+ {
+ xg += x[i] ;
+ yg += y[i] ;
+ }
+ xg /= n ;
+ yg /= n ;
+
+ // Changement d'origine : le centre de gravite doit correspondre
+ // a l'origine des coordonnees
+ double distance=0;
+ for(unsigned int i=0; i<n;i++)
+ {
+ double xni=x[i]-xg;
+ double yni=y[i]-yg;
+ xn[i] = xni ;
+ yn[i] = yni ;
+ distance+=sqrt(vpMath::sqr(xni)+vpMath::sqr(yni));
+ }//for translation sur tous les points
+
+ //Changement d'echelle
+ distance/=n;
+ //calcul du coef de changement d'echelle
+ //if(distance ==0)
+ if(std::fabs(distance) <= std::numeric_limits<double>::epsilon())
+ coef=1;
+ else
+ coef=sqrt(2.0)/distance;
+
+ for(unsigned int i=0; i<n;i++)
+ {
+ xn[i] *= coef;
+ yn[i] *= coef;
+ }
+}
+
void
vpHomography::HartleyNormalization(unsigned int n,
- double *x, double *y,
- double *xn, double *yn,
- double &xg, double &yg,
- double &coef)
+ const double *x, const double *y,
+ double *xn, double *yn,
+ double &xg, double &yg,
+ double &coef)
{
unsigned int i;
xg = 0 ;
@@ -72,8 +129,8 @@ vpHomography::HartleyNormalization(unsigned int n,
xg /= n ;
yg /= n ;
- //Changement d'origine : le centre de gravit� doit correspondre
- // � l'origine des coordonn�es
+ //Changement d'origine : le centre de gravite doit correspondre
+ // a l'origine des coordonnees
double distance=0;
for(i=0; i<n;i++)
{
@@ -84,9 +141,9 @@ vpHomography::HartleyNormalization(unsigned int n,
distance+=sqrt(vpMath::sqr(xni)+vpMath::sqr(yni));
}//for translation sur tous les points
- //Changement d'�chelle
+ //Changement d'echelle
distance/=n;
- //calcul du coef de changement d'�chelle
+ //calcul du coef de changement d'echelle
//if(distance ==0)
if(std::fabs(distance) <= std::numeric_limits<double>::epsilon())
coef=1;
@@ -98,7 +155,6 @@ vpHomography::HartleyNormalization(unsigned int n,
xn[i] *= coef;
yn[i] *= coef;
}
-
}
//---------------------------------------------------------------------------------------
@@ -110,8 +166,8 @@ vpHomography::HartleyDenormalization(vpHomography &aHbn,
double xg2, double yg2, double coef2 )
{
- //calcul des transformations � appliquer sur M_norm pour obtenir M
- //en fonction des deux normalisations effectu�es au d�but sur
+ //calcul des transformations a appliquer sur M_norm pour obtenir M
+ //en fonction des deux normalisations effectuees au debut sur
//les points: aHb = T2^ aHbn T1
vpMatrix T1(3,3);
vpMatrix T2(3,3);
@@ -129,19 +185,29 @@ vpHomography::HartleyDenormalization(vpHomography &aHbn,
T2[0][2]=-coef2*xg2 ;
T2[1][2]=-coef2*yg2 ;
-
T2T=T2.pseudoInverse(1e-16) ;
- vpMatrix maHb=T2T*(vpMatrix)aHbn*T1;
+ vpMatrix aHbn_(3,3);
+ for(unsigned int i=0; i<3; i++)
+ for(unsigned int j=0; j<3; j++)
+ aHbn_[i][j] = aHbn[i][j];
- for (unsigned int i=0 ; i < 3 ; i++)
- for (unsigned int j=0 ; j < 3 ; j++) aHb[i][j] = maHb[i][j] ;
+ vpMatrix maHb=T2T*aHbn_*T1;
+ for (unsigned int i=0 ; i < 3 ; i++)
+ for (unsigned int j=0 ; j < 3 ; j++)
+ aHb[i][j] = maHb[i][j] ;
}
+#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
+
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
+ \deprecated You should rather use
+ vpHomography::DLT(const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, vpHomography &, bool)
+
\brief Computes the homography matrix using the DLT (Direct Linear
Transform) algorithm on normalized data.
@@ -157,12 +223,12 @@ vpHomography::HartleyDenormalization(vpHomography &aHbn,
*/
void
vpHomography::HartleyDLT(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &aHb)
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &aHb)
{
try{
- //initialise les donn�es initiales
+ //initialise les donnees initiales
// code_retour =InitialData(n, p1,p2);
// normalize points
@@ -173,9 +239,9 @@ vpHomography::HartleyDLT(unsigned int n,
double xg1, yg1, coef1 ;
vpHomography::HartleyNormalization(n,
- xb,yb,
- xbn,ybn,
- xg1, yg1,coef1);
+ xb,yb,
+ xbn,ybn,
+ xg1, yg1,coef1);
double *xan;
double *yan;
@@ -184,15 +250,15 @@ vpHomography::HartleyDLT(unsigned int n,
double xg2, yg2, coef2 ;
vpHomography::HartleyNormalization(n,
- xa,ya,
- xan,yan,
- xg2, yg2,coef2);
+ xa,ya,
+ xan,yan,
+ xg2, yg2,coef2);
vpHomography aHbn ;
//compute the homography using the DLT from normalized data
vpHomography::DLT(n,xbn,ybn,xan,yan,aHbn);
- //H d�normalis�e
+ //H denormalisee
vpHomography::HartleyDenormalization(aHbn,aHb,xg1,yg1,coef1,xg2,yg2, coef2);
delete [] xbn;
@@ -207,9 +273,14 @@ vpHomography::HartleyDLT(unsigned int n,
throw ;
}
}
+#endif //#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
+ \deprecated You should rather use
+ vpHomography::DLT(const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, vpHomography &, bool)
+
\brief Computes the homography matrix wrt. the
data using the DLT (Direct Linear Transform) algorithm.
@@ -225,7 +296,6 @@ vpHomography::HartleyDLT(unsigned int n,
At least 4 correspondant points couples are needed.
-
For each point, in homogeneous coordinates we have:
\f[
\mathbf{p}_{a}= \mathbf{H}\mathbf{p}_{b}
@@ -244,7 +314,6 @@ vpHomography::HartleyDLT(unsigned int n,
\mathbf{p}_{a} \times \mathbf{H}\mathbf{p}_{b} =\left( \begin{array}{c}y_{a}\mathbf{h}_3^T\mathbf{p}_{b}-w_{a}\mathbf{h}_2^T\mathbf{p}_{b} \\w_{a}\mathbf{h}_1^T\mathbf{p}_{b} -x_{a}\mathbf{h}_3^T \mathbf{p}_{b} \\x_{a}\mathbf{h}_2^T \mathbf{p}_{b}- y_{a}\mathbf{h}_1^T\mathbf{p}_{b}\end{array}\right)
\f]
-
\f[
\underbrace{\left( \begin{array}{ccc}\mathbf{0}^T & -w_{a} \mathbf{p}_{b}^T
& y_{a} \mathbf{p}_{b}^T \\ w_{a}
@@ -267,9 +336,9 @@ vpHomography::HartleyDLT(unsigned int n,
that should be 8 is deficient.
*/
void vpHomography::DLT(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &aHb)
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &aHb)
{
// 4 point are required
@@ -284,19 +353,17 @@ void vpHomography::DLT(unsigned int n,
vpColVector h(9);
vpColVector D(9);
vpMatrix V(9,9);
- unsigned int i, j;
// We need here to compute the SVD on a (n*2)*9 matrix (where n is
// the number of points). if n == 4, the matrix has more columns
// than rows. This kind of matrix is not supported by GSL for
// SVD. The solution is to add an extra line with zeros
- if (n == 4)
+ if (n == 4)
A.resize(2*n+1,9);
// build matrix A
- for(i=0; i<n;i++)
+ for(unsigned int i=0; i<n;i++)
{
-
A[2*i][0]=0;
A[2*i][1]=0;
A[2*i][2]=0;
@@ -321,24 +388,24 @@ void vpHomography::DLT(unsigned int n,
// Add an extra line with zero.
if (n == 4) {
- for (int i=0; i < 9; i ++) {
- A[2*n][i] = 0;
+ for (unsigned int i=0; i < 9; i ++) {
+ A[2*n][i] = 0;
}
- }
+ }
// solve Ah = 0
// SVD Decomposition A = UDV^T (destructive wrt A)
A.svd(D,V);
// on en profite pour effectuer un controle sur le rang de la matrice :
- // pas plus de 2 valeurs singuli�res quasi=0
+ // pas plus de 2 valeurs singulieres quasi=0
int rank=0;
- for(i = 0; i<9;i++) if(D[i]>1e-7) rank++;
+ for(unsigned int i = 0; i<9;i++) if(D[i]>1e-7) rank++;
if(rank <7)
{
vpTRACE(" Rank is : %d, should be 8", rank);
throw(vpMatrixException(vpMatrixException::rankDeficient,
- "\n\t\t Matrix rank is deficient")) ;
+ "\n\t\t Matrix rank is deficient")) ;
}
//h = is the column of V associated with the smallest singular value of A
@@ -346,17 +413,17 @@ void vpHomography::DLT(unsigned int n,
// singular value... we seek for the smallest
double smallestSv = 1e30 ;
unsigned int indexSmallestSv = 0 ;
- for (i=0 ; i < 9 ; i++)
+ for (unsigned int i=0 ; i < 9 ; i++)
if ((D[i] < smallestSv) ){ smallestSv = D[i] ;indexSmallestSv = i ; }
h=V.column(indexSmallestSv+1);
// build the homography
- for(i =0;i<3;i++)
+ for(unsigned int i =0;i<3;i++)
{
- for(j=0;j<3;j++)
- aHb[i][j]=h[3*i+j];
+ for(unsigned int j=0;j<3;j++)
+ aHb[i][j]=h[3*i+j];
}
}
@@ -373,3 +440,192 @@ void vpHomography::DLT(unsigned int n,
}
}
+#endif // #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+
+/*!
+ From couples of matched points \f$^a{\bf p}=(x_a,y_a,1)\f$ in image a
+ and \f$^b{\bf p}=(x_b,y_b,1)\f$ in image b with homogeneous coordinates, computes the
+ homography matrix by resolving \f$^a{\bf p} = ^a{\bf H}_b\; ^b{\bf p}\f$
+ using the DLT (Direct Linear Transform) algorithm.
+
+ At least 4 couples of points are needed.
+
+ To do so, we use the DLT algorithm on the data,
+ ie we resolve the linear system by SDV : \f$\bf{Ah} =0\f$ where
+ \f$\bf{h}\f$ is the vector with the terms of \f$^a{\bf H}_b\f$ and
+ \f$\mathbf{A}\f$ depends on the points coordinates.
+
+ For each point, in homogeneous coordinates we have:
+ \f[
+ ^a{\bf p} = ^a{\bf H}_b\; ^b{\bf p}
+ \f]
+ which is equivalent to:
+ \f[
+ ^a{\bf p} \times {^a{\bf H}_b \; ^b{\bf p}} =0
+ \f]
+ If we note \f$\mathbf{h}_j^T\f$ the \f$j^{\textrm{th}}\f$ line of \f$^a{\bf H}_b\f$, we can write:
+ \f[
+ ^a{\bf H}_b \; ^b{\bf p} = \left( \begin{array}{c}\mathbf{h}_1^T \;^b{\bf p} \\\mathbf{h}_2^T \; ^b{\bf p} \\\mathbf{h}_3^T \;^b{\bf p} \end{array}\right)
+ \f]
+
+ Setting \f$^a{\bf p}=(x_{a},y_{a},w_{a})\f$, the cross product can be rewritten by:
+ \f[
+ ^a{\bf p} \times ^a{\bf H}_b \; ^b{\bf p} =\left( \begin{array}{c}y_{a}\mathbf{h}_3^T \; ^b{\bf p}-w_{a}\mathbf{h}_2^T \; ^b{\bf p} \\w_{a}\mathbf{h}_1^T \; ^b{\bf p} -x_{a}\mathbf{h}_3^T \; ^b{\bf p} \\x_{a}\mathbf{h}_2^T \; ^b{\bf p}- y_{a}\mathbf{h}_1^T \; ^b{\bf p}\end{array}\right)
+ \f]
+
+ \f[
+ \underbrace{\left( \begin{array}{ccc}\mathbf{0}^T & -w_{a} \; ^b{\bf p}^T
+ & y_{a} \; ^b{\bf p}^T \\ w_{a}
+ \; ^b{\bf p}^T&\mathbf{0}^T & -x_{a} \; ^b{\bf p}^T \\
+ -y_{a} \; ^b{\bf p}^T & x_{a} \; ^b{\bf p}^T &
+ \mathbf{0}^T\end{array}\right)}_{\mathbf{A}_i (3\times 9)}
+ \underbrace{\left( \begin{array}{c}\mathbf{h}_{1}^{T} \\
+ \mathbf{h}_{2}^{T}\\\mathbf{h}_{3}^{T}\end{array}\right)}_{\mathbf{h} (9\times 1)}=0
+ \f]
+
+ leading to an homogeneous system to be solved: \f$\mathbf{A}\mathbf{h}=0\f$ with
+ \f$\mathbf{A}=\left(\mathbf{A}_1^T, ..., \mathbf{A}_i^T, ..., \mathbf{A}_n^T \right)^T\f$.
+
+ It can be solved using an SVD decomposition:
+ \f[\bf A = UDV^T \f]
+ <b>h</b> is the column of <b>V</b> associated with the smalest singular value of <b>A
+ </b>
+
+ \param xb, yb : Coordinates vector of matched points in image b. These coordinates are expressed in meters.
+ \param xa, ya : Coordinates vector of matched points in image a. These coordinates are expressed in meters.
+ \param aHb : Estimated homography that relies the transformation from image a to image b.
+ \param normalization : When set to true, the coordinates of the points are normalized. The normalization
+ carried out is the one preconized by Hartley.
+
+ \exception vpMatrixException::rankDeficient : When the rank of the matrix
+ that should be 8 is deficient.
+*/
+void vpHomography::DLT(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya ,
+ vpHomography &aHb,
+ bool normalization)
+{
+ unsigned int n = (unsigned int) xb.size();
+ if (yb.size() != n || xa.size() != n || ya.size() != n)
+ throw(vpException(vpException::dimensionError,
+ "Bad dimension for DLT homography estimation"));
+
+ // 4 point are required
+ if(n<4)
+ throw(vpException(vpException::fatalError, "There must be at least 4 matched points"));
+
+ try{
+ std::vector<double> xan, yan, xbn, ybn;
+
+ double xg1=0., yg1=0., coef1=0., xg2=0., yg2=0., coef2=0.;
+
+ vpHomography aHbn;
+
+ if (normalization) {
+ vpHomography::HartleyNormalization(xb, yb, xbn, ybn, xg1, yg1, coef1);
+ vpHomography::HartleyNormalization(xa, ya, xan, yan, xg2, yg2, coef2);
+ }
+ else {
+ xbn = xb;
+ ybn = yb;
+ xan = xa;
+ yan = ya;
+ }
+
+ vpMatrix A(2*n,9);
+ vpColVector h(9);
+ vpColVector D(9);
+ vpMatrix V(9,9);
+
+ // We need here to compute the SVD on a (n*2)*9 matrix (where n is
+ // the number of points). if n == 4, the matrix has more columns
+ // than rows. This kind of matrix is not supported by GSL for
+ // SVD. The solution is to add an extra line with zeros
+ if (n == 4)
+ A.resize(2*n+1,9);
+
+ // build matrix A
+ for(unsigned int i=0; i<n;i++)
+ {
+ A[2*i][0]=0;
+ A[2*i][1]=0;
+ A[2*i][2]=0;
+ A[2*i][3]=-xbn[i] ;
+ A[2*i][4]=-ybn[i] ;
+ A[2*i][5]=-1;
+ A[2*i][6]=xbn[i]*yan[i] ;
+ A[2*i][7]=ybn[i]*yan[i];
+ A[2*i][8]=yan[i];
+
+
+ A[2*i+1][0]=xbn[i] ;
+ A[2*i+1][1]=ybn[i] ;
+ A[2*i+1][2]=1;
+ A[2*i+1][3]=0;
+ A[2*i+1][4]=0;
+ A[2*i+1][5]=0;
+ A[2*i+1][6]=-xbn[i]*xan[i];
+ A[2*i+1][7]=-ybn[i]*xan[i];
+ A[2*i+1][8]=-xan[i] ;
+ }
+
+ // Add an extra line with zero.
+ if (n == 4) {
+ for (unsigned int i=0; i < 9; i ++) {
+ A[2*n][i] = 0;
+ }
+ }
+
+ // solve Ah = 0
+ // SVD Decomposition A = UDV^T (destructive wrt A)
+ A.svd(D,V);
+
+ // on en profite pour effectuer un controle sur le rang de la matrice :
+ // pas plus de 2 valeurs singulieres quasi=0
+ int rank=0;
+ for(unsigned int i = 0; i<9;i++) if(D[i]>1e-7) rank++;
+ if(rank <7)
+ {
+ vpTRACE(" Rank is : %d, should be 8", rank);
+ throw(vpMatrixException(vpMatrixException::rankDeficient,
+ "\n\t\t Matrix rank is deficient")) ;
+ }
+ //h = is the column of V associated with the smallest singular value of A
+
+ // since we are not sure that the svd implemented sort the
+ // singular value... we seek for the smallest
+ double smallestSv = 1e30 ;
+ unsigned int indexSmallestSv = 0 ;
+ for (unsigned int i=0 ; i < 9 ; i++)
+ if ((D[i] < smallestSv) ){ smallestSv = D[i] ;indexSmallestSv = i ; }
+
+ h=V.column(indexSmallestSv+1);
+
+ // build the homography
+ for(unsigned int i =0;i<3;i++)
+ {
+ for(unsigned int j=0;j<3;j++)
+ aHbn[i][j]=h[3*i+j];
+ }
+
+ if (normalization) {
+ // H after denormalization
+ vpHomography::HartleyDenormalization(aHbn, aHb, xg1, yg1, coef1, xg2, yg2, coef2);
+ }
+ else {
+ aHb = aHbn;
+ }
+
+ }
+ catch(vpMatrixException me)
+ {
+ vpTRACE("Matrix Exception ") ;
+ throw(me) ;
+ }
+ catch(vpException me)
+ {
+ vpERROR_TRACE("caught another error") ;
+ std::cout <<std::endl << me << std::endl ;
+ throw(me) ;
+ }
+}
diff --git a/src/computer-vision/homography-estimation/vpHomographyExtract.cpp b/src/computer-vision/homography-estimation/vpHomographyExtract.cpp
index 6359043..8937d63 100644
--- a/src/computer-vision/homography-estimation/vpHomographyExtract.cpp
+++ b/src/computer-vision/homography-estimation/vpHomographyExtract.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomographyExtract.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHomographyExtract.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,15 +51,69 @@
const double vpHomography::sing_threshold = 0.0001;
/*!
+ Compute the camera displacement between two images from the homography \f$
+ {^a}{\bf H}_b \f$ which is here an implicit parameter (*this).
+
+ \param aRb : Rotation matrix as an output \f$ {^a}{\bf R}_b \f$.
+
+ \param atb : Translation vector as an output \f$ ^a{\bf t}_b \f$.
+
+ \param n : Normal vector to the plane as an output.
+
+*/
+void vpHomography::computeDisplacement(vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n)
+{
+
+
+ vpColVector nd(3) ;
+ nd[0]=0;nd[1]=0;nd[2]=1;
+
+ computeDisplacement(*this,aRb,atb,n);
+
+}
+
+/*!
Compute the camera displacement between two images from the homography \f$
- {^a}{\bf H}_b \f$.
+ {^a}{\bf H}_b \f$ which is here an implicit parameter (*this).
Camera displacement between \f$ {^a}{\bf p} \f$ and \f$ {^a}{\bf p} \f$ is
represented as a rotation matrix \f$ {^a}{\bf R}_b \f$ and a translation
vector \f$ ^a{\bf t}_b \f$ from which an homogenous matrix can be build
(vpHomogeneousMatrix).
+ \param nd : Input normal vector to the plane used to compar with the normal
+ vector \e n extracted from the homography.
+
+ \param aRb : Rotation matrix as an output \f$ {^a}{\bf R}_b \f$.
+
+ \param atb : Translation vector as an output \f$ ^a{\bf t}_b \f$.
+
+ \param n : Normal vector to the plane as an output.
+
+*/
+void vpHomography::computeDisplacement(const vpColVector& nd,
+ vpRotationMatrix &aRb,
+ vpTranslationVector &atb,
+ vpColVector &n)
+{
+ computeDisplacement(*this,nd, aRb,atb,n);
+}
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
+/*!
+
+ Compute the camera displacement between two images from the homography \f$
+ {^a}{\bf H}_b \f$.
+
+ Camera displacement between \f$ {^a}{\bf p} \f$ and \f$ {^b}{\bf p} \f$ is
+ represented as a rotation matrix \f$ {^a}{\bf R}_b \f$ and a translation
+ vector \f$ ^a{\bf t}_b \f$ from which an homogenous matrix can be build
+ (vpHomogeneousMatrix).
+
\param aHb : Input homography \f$ {^a}{\bf H}_b \f$.
\param nd : Input normal vector to the plane used to compar with the normal
@@ -79,7 +133,7 @@ void
vpTranslationVector &atb,
vpColVector &n)
{
- /**** D�clarations des variables ****/
+ /**** Declarations des variables ****/
vpMatrix aRbint(3,3) ;
vpColVector svTemp(3), sv(3);
@@ -344,35 +398,6 @@ void
/*!
Compute the camera displacement between two images from the homography \f$
- {^a}{\bf H}_b \f$ which is here an implicit parameter (*this).
-
- Camera displacement between \f$ {^a}{\bf p} \f$ and \f$ {^a}{\bf p} \f$ is
- represented as a rotation matrix \f$ {^a}{\bf R}_b \f$ and a translation
- vector \f$ ^a{\bf t}_b \f$ from which an homogenous matrix can be build
- (vpHomogeneousMatrix).
-
- \param nd : Input normal vector to the plane used to compar with the normal
- vector \e n extracted from the homography.
-
- \param aRb : Rotation matrix as an output \f$ {^a}{\bf R}_b \f$.
-
- \param atb : Translation vector as an output \f$ ^a{\bf t}_b \f$.
-
- \param n : Normal vector to the plane as an output.
-
- \sa computeDisplacement(const vpHomography &, const vpColVector &, vpRotationMatrix &, vpTranslationVector &, vpColVector &)
-*/
-void
- vpHomography::computeDisplacement(const vpColVector& nd,
- vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n)
-{
- computeDisplacement(*this,nd, aRb,atb,n);
-}
-/*!
-
- Compute the camera displacement between two images from the homography \f$
{^a}{\bf H}_b \f$.
Camera displacement between \f$ {^a}{\bf p} \f$ and \f$ {^a}{\bf p} \f$ is
@@ -394,7 +419,7 @@ void
vpTranslationVector &atb,
vpColVector &n)
{
- /**** D�clarations des variables ****/
+ /**** Declarations des variables ****/
vpMatrix aRbint(3,3) ;
vpColVector svTemp(3), sv(3);
@@ -655,32 +680,6 @@ void
}
-
-/*!
- Compute the camera displacement between two images from the homography \f$
- {^a}{\bf H}_b \f$ which is here an implicit parameter (*this).
-
- \param aRb : Rotation matrix as an output \f$ {^a}{\bf R}_b \f$.
-
- \param atb : Translation vector as an output \f$ ^a{\bf t}_b \f$.
-
- \param n : Normal vector to the plane as an output.
-
- \sa computeDisplacement(const vpHomography &, vpRotationMatrix &, vpTranslationVector &, vpColVector &)
-*/
-void vpHomography::computeDisplacement(vpRotationMatrix &aRb,
- vpTranslationVector &atb,
- vpColVector &n)
-{
-
-
- vpColVector nd(3) ;
- nd[0]=0;nd[1]=0;nd[2]=1;
-
- computeDisplacement(*this,aRb,atb,n);
-
-}
-
void vpHomography::computeDisplacement(const vpMatrix &H,
const double x,
const double y,
@@ -697,7 +696,7 @@ void vpHomography::computeDisplacement(const vpMatrix &H,
vT.clear();
vN.clear();
- /**** D�clarations des variables ****/
+ /**** Declarations des variables ****/
int cas1 =1, cas2=2, cas3=3, cas4=4;
int cas =0;
bool norm1ok=false, norm2ok = false,norm3ok=false,norm4ok =false;
@@ -1333,6 +1332,7 @@ void vpHomography::computeDisplacement(const vpMatrix &H,
printf("fin : Homographie_EstimationDeplacementCamera\n");
#endif
}
+#endif //#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
@@ -1355,7 +1355,7 @@ void vpHomography::computeDisplacement(const vpMatrix H,
vT.kill();
vN.kill();
- /**** D�clarations des variables ****/
+ /**** Declarations des variables ****/
int cas1 =1, cas2=2, cas3=3, cas4=4;
int cas =0;
bool norm1ok=false, norm2ok = false,norm3ok=false,norm4ok =false;
diff --git a/src/computer-vision/homography-estimation/vpHomographyMalis.cpp b/src/computer-vision/homography-estimation/vpHomographyMalis.cpp
index 7a75eca..b723142 100644
--- a/src/computer-vision/homography-estimation/vpHomographyMalis.cpp
+++ b/src/computer-vision/homography-estimation/vpHomographyMalis.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomographyMalis.cpp 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpHomographyMalis.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,16 +91,36 @@ const double eps = 1e-6 ;
****************************************************************************
*/
+void changeFrame(unsigned int *pts_ref,
+ unsigned int nb_pts,
+ vpMatrix &pd, vpMatrix &p,
+ vpMatrix &pnd, vpMatrix &pn,
+ vpMatrix &M, vpMatrix &Mdp);
+void HLM2D(unsigned int nb_pts,
+ vpMatrix &points_des,
+ vpMatrix &points_cour,
+ vpMatrix &H);
+void HLM3D(unsigned int nb_pts,
+ vpMatrix &pd,
+ vpMatrix &p,
+ vpMatrix &H);
+void HLM(unsigned int q_cible,
+ unsigned int nbpt,
+ double *xm, double *ym,
+ double *xmi, double *ymi,
+ vpMatrix &H);
+
+void HLM(unsigned int q_cible,
+ const std::vector<double> &xm, const std::vector<double> &ym,
+ const std::vector<double> &xmi, const std::vector<double> &ymi,
+ vpMatrix &H);
void changeFrame(unsigned int *pts_ref,
- unsigned int nb_pts,
- vpMatrix &pd, vpMatrix &p,
- vpMatrix &pnd, vpMatrix &pn,
- vpMatrix &M, vpMatrix &Mdp)
+ unsigned int nb_pts,
+ vpMatrix &pd, vpMatrix &p,
+ vpMatrix &pnd, vpMatrix &pn,
+ vpMatrix &M, vpMatrix &Mdp)
{
-
-
-
unsigned int i,j, k ;
unsigned int cont_pts; /* */
double lamb_des[3]; /* */
@@ -240,16 +260,16 @@ HLM2D(unsigned int nb_pts,
M[3*j+2][8] = 0 ;
}
- /** calcul de la pseudo-inverse V de M et des valeurs singuli�res **/
+ /** calcul de la pseudo-inverse V de M et des valeurs singulieres **/
M.svd(sv,V);
/*****
La meilleure solution est le vecteur de V associe
a la valeur singuliere la plus petite en valeur absolu.
Pour cela on parcourt la matrice des valeurs singulieres
- et on rep�re la plus petite valeur singuli�re, on en profite
+ et on repere la plus petite valeur singuliere, on en profite
pour effectuer un controle sur le rang de la matrice : pas plus
- de 2 valeurs singuli�res quasi=0
+ de 2 valeurs singulieres quasi=0
*****/
vals_inf = fabs(sv[0]) ;
vect = 0 ;
@@ -268,7 +288,7 @@ HLM2D(unsigned int nb_pts,
}
- /** cas d'erreur : plus de 2 valeurs singuli�res =0 **/
+ /** cas d'erreur : plus de 2 valeurs singulieres =0 **/
if (contZeros > 2) {
//vpERROR_TRACE("matrix is rank deficient");
throw (vpMatrixException(vpMatrixException::matrixError,
@@ -320,8 +340,8 @@ HLM3D(unsigned int nb_pts,
unsigned int cont_pts; /* Pour compter le nombre de points dans l'image */
//unsigned int nl; /*** Nombre de lignes ***/
unsigned int nc ; /*** Nombre de colonnes ***/
- unsigned int pts_ref[4]; /*** d�finit lesquels des points de
- l'image sont les points de r�f�rence***/
+ unsigned int pts_ref[4]; /*** definit lesquels des points de
+ l'image sont les points de reference***/
/*** ***/
int perm; /*** Compte le nombre de permutations, quand le nombre
de permutations =0 arret de l'ordonnancement **/
@@ -345,10 +365,10 @@ HLM3D(unsigned int nb_pts,
vpMatrix H_int(3,3) ;
- vpMatrix pn((nb_pts-3),3) ; //points courant nouveau rep�re
+ vpMatrix pn((nb_pts-3),3) ; //points courant nouveau repere
- vpMatrix pnd((nb_pts-3),3) ; //points d�riv�s nouveau rep�re
+ vpMatrix pnd((nb_pts-3),3) ; //points derives nouveau repere
/* preparation du changement de repere */
/****
@@ -491,7 +511,7 @@ HLM3D(unsigned int nb_pts,
pour obtenir une solution il faut au moins 5 equations independantes
donc il faut au moins la mise en correspondence de 3+5 points
*****/
- vpColVector sv(nc) ; //Vecteur contenant les valeurs singuli�res
+ vpColVector sv(nc) ; //Vecteur contenant les valeurs singulieres
CtC.svd(sv,V) ;
@@ -521,9 +541,9 @@ HLM3D(unsigned int nb_pts,
}
/*****
- Parcours de la matrice ordonn�e des valeurs singuli�res
- On note "cont_zeros" le nbre de valeurs quasi= � 0.
- On note "vect" le rang de la plus petite valeur singli�re
+ Parcours de la matrice ordonnee des valeurs singulieres
+ On note "cont_zeros" le nbre de valeurs quasi= a 0.
+ On note "vect" le rang de la plus petite valeur singliere
en valeur absolu
*****/
@@ -605,29 +625,30 @@ HLM3D(unsigned int nb_pts,
}
}
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/**************************************************************************
* NOM :
* Homographie_CrvMafCalculHomographie
*
* DESCRIPTION :
- * Calcul de l'homographie, en fonction de la cible d�sir�e et de la cible
- * en cours. C'est une estimation lin�aire.
- * Cette proc�dure n'effectue pas elle-m�me le calcul de l'homographie :
- * elle se contente d'appeler la bonne sous-proc�dure.
- * Cette proc�dure est appell�e par "crv_maf_calcul_tomographie".
+ * Calcul de l'homographie, en fonction de la cible desiree et de la cible
+ * en cours. C'est une estimation lineaire.
+ * Cette procedure n'effectue pas elle-meme le calcul de l'homographie :
+ * elle se contente d'appeler la bonne sous-procedure.
+ * Cette procedure est appellee par "crv_maf_calcul_tomographie".
*
****************************************************************************
* ENTREES :
* STR_CIBLE_ASSER *cible_asser Pointeur sur structure contenant les
- * commandes du robot, les donn�es de la
+ * commandes du robot, les donnees de la
* carte...
* Voir "cvda/edixaa/param/robot.h"
- * STR_VITESSE_ROBOT *data_common Pointeur sur la structure d�crivant la
+ * STR_VITESSE_ROBOT *data_common Pointeur sur la structure decrivant la
* cible d'asservissement.
* Voir "cvda/edixia/param/param.h"
* STR_MACH_DIV *machine_div Pointeur sur structure contenant divers
- * param�tres de configuration du robot.
+ * parametres de configuration du robot.
* Voir "cvda/edixia/param/param.h"
*
* SORTIES :
@@ -636,7 +657,7 @@ HLM3D(unsigned int nb_pts,
*
****************************************************************************
- * AUTEUR : BOSSARD Nicolas. INSA Rennes 5�me ann�e.
+ * AUTEUR : BOSSARD Nicolas. INSA Rennes 5eme annee.
*
* DATE DE CREATION : 01/12/98
*
@@ -690,9 +711,57 @@ HLM(unsigned int q_cible,
} /* fin procedure calcul_homogaphie */
+#endif // #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+
+void
+HLM(unsigned int q_cible,
+ const std::vector<double> &xm, const std::vector<double> &ym,
+ const std::vector<double> &xmi, const std::vector<double> &ymi,
+ vpMatrix &H)
+{
+ unsigned int nbpt = (unsigned int)xm.size();
+
+ /****
+ on regarde si il y a au moins un point mais pour l'homographie
+ il faut au moins quatre points
+ ****/
+ vpMatrix pd(nbpt,3) ;
+ vpMatrix p(nbpt,3) ;
+
+ for (unsigned int i=0;i<nbpt;i++) {
+ /****
+ on assigne les points fournies par la structure robot
+ pour la commande globale
+ ****/
+ pd[i][0] = xmi[i];
+ pd[i][1] = ymi[i];
+ pd[i][2] = 1.0 ;
+ p[i][0] = xm[i];
+ p[i][1] = ym[i];
+ p[i][2] = 1.0 ;
+ }
+ switch (q_cible) {
+ case (1):
+ case (2):
+ /* La cible est planaire de type points */
-#endif
+ HLM2D(nbpt,pd,p,H);
+
+ break;
+ case (3) : /* cible non planaire : chateau */
+ /* cible non planaire de type points */
+ HLM3D(nbpt,pd,p,H);
+ break;
+ } /* fin switch */
+
+
+
+} /* fin procedure calcul_homogaphie */
+
+#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
+
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
\brief Computes the homography matrix from planar \cite TheseMalis or non planar points
@@ -712,20 +781,15 @@ HLM(unsigned int q_cible,
*/
void vpHomography::HLM(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- bool isplanar,
- vpHomography &aHb)
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ bool isplanar,
+ vpHomography &aHb)
{
-#ifndef DOXYGEN_SHOULD_SKIP_THIS
-
unsigned int i,j;
unsigned int q_cible;
vpMatrix H; // matrice d'homographie en metre
- aHb.setIdentity();
-
-
if (isplanar)
q_cible =1;
else
@@ -736,7 +800,56 @@ void vpHomography::HLM(unsigned int n,
for(i=0;i<3;i++)
for(j=0;j<3;j++)
aHb[i][j] = H[i][j];
+}
+
+#endif //#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+
+/*!
+ From couples of matched points \f$^a{\bf p}=(x_a,y_a,1)\f$ in image a
+ and \f$^b{\bf p}=(x_b,y_b,1)\f$ in image b with homogeneous coordinates, computes the
+ homography matrix by resolving \f$^a{\bf p} = ^a{\bf H}_b\; ^b{\bf p}\f$
+ using Ezio Malis linear method (HLM) \cite Malis00b.
+
+ This method can consider points that are planar or non planar. The algorithm for planar
+ scene implemented in this file is described in Ezio
+ Malis PhD thesis \cite TheseMalis.
+
+ \param xb, yb : Coordinates vector of matched points in image b. These coordinates are expressed in meters.
+ \param xa, ya : Coordinates vector of matched points in image a. These coordinates are expressed in meters.
+ \param isplanar : If true the points are assumed to be in a plane,
+ otherwise there are assumed to be non planar.
+ \param aHb : Estimated homography that relies the transformation from image a to image b.
+
+ If the boolean isplanar is true the points are assumed to be in a plane
+ otherwise there are assumed to be non planar.
+
+ \sa DLT() when the scene is planar.
+*/
+void vpHomography::HLM(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ bool isplanar,
+ vpHomography &aHb)
+{
+ unsigned int n = (unsigned int) xb.size();
+ if (yb.size() != n || xa.size() != n || ya.size() != n)
+ throw(vpException(vpException::dimensionError,
+ "Bad dimension for HLM shomography estimation"));
+
+ // 4 point are required
+ if(n<4)
+ throw(vpException(vpException::fatalError, "There must be at least 4 matched points"));
+
+ // The reference plane is the plane build from the 3 first points.
+ unsigned int q_cible;
+ vpMatrix H; // matrice d'homographie en metre
+
+ if (isplanar)
+ q_cible =1;
+ else
+ q_cible =3;
+
+ ::HLM(q_cible, xa, ya, xb, yb, H) ;
-#endif
+ aHb = H;
}
diff --git a/src/computer-vision/homography-estimation/vpHomographyRansac.cpp b/src/computer-vision/homography-estimation/vpHomographyRansac.cpp
index d60d8a7..777c0ee 100644
--- a/src/computer-vision/homography-estimation/vpHomographyRansac.cpp
+++ b/src/computer-vision/homography-estimation/vpHomographyRansac.cpp
@@ -12,7 +12,7 @@
* Version control
* ===============
*
- * $Id: vpHomographyRansac.cpp 3496 2011-11-22 15:14:32Z fspindle $
+ * $Id: vpHomographyRansac.cpp 4649 2014-02-07 14:57:11Z fspindle $
* optimized by Tran to improve speed.
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
@@ -20,6 +20,10 @@
#include <visp/vpColVector.h>
#include <visp/vpRansac.h>
+#include <visp/vpImage.h>
+#include <visp/vpDisplay.h>
+#include <visp/vpMeterPixelConversion.h>
+
#define vpEps 1e-6
/*!
@@ -27,6 +31,10 @@
\brief function used to estimate an homography using the Ransac algorithm
*/
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
+bool iscolinear(double *x1, double *x2, double *x3);
+bool isColinear(vpColVector &p1, vpColVector &p2, vpColVector &p3);
bool
iscolinear(double *x1, double *x2, double *x3)
@@ -42,6 +50,11 @@ iscolinear(double *x1, double *x2, double *x3)
// scale.
return ((vpColVector::cross(p2-p1, p3-p1).sumSquare()) < vpEps);
}
+bool
+isColinear(vpColVector &p1, vpColVector &p2, vpColVector &p3)
+{
+ return ((vpColVector::cross(p2-p1, p3-p1).sumSquare()) < vpEps);
+}
bool
@@ -149,14 +162,49 @@ vpHomography::degenerateConfiguration(vpColVector &x, unsigned int *ind)
iscolinear(pb[0],pb[2],pb[3]) ||
iscolinear(pb[1],pb[2],pb[3]));
}
+bool
+vpHomography::degenerateConfiguration(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya)
+{
+ unsigned int n = (unsigned int)xb.size();
+ if (n < 4)
+ throw(vpException(vpException::fatalError, "There must be at least 4 matched points"));
+
+ std::vector<vpColVector> pa(n), pb(n);
+ for (unsigned i=0; i<n;i++) {
+ pa[i].resize(3);
+ pa[i][0] = xa[i];
+ pa[i][1] = ya[i];
+ pa[i][2] = 1;
+ pb[i].resize(3);
+ pb[i][0] = xb[i];
+ pb[i][1] = yb[i];
+ pb[i][2] = 1;
+ }
+
+ for (unsigned int i = 0; i < n-2; i++) {
+ for (unsigned int j = i+1; j < n-1; j++) {
+ for (unsigned int k = j+1; k < n ; k++)
+ {
+ if (isColinear(pa[i], pa[j], pa[k])) {
+ return true;
+ }
+ if (isColinear(pb[i], pb[j], pb[k])){
+ return true;
+ }
+ }
+ }
+ }
+ return false;
+}
// Fit model to this random selection of data points.
void
vpHomography::computeTransformation(vpColVector &x, unsigned int *ind, vpColVector &M)
{
unsigned int i ;
unsigned int n = x.getRows()/4 ;
- double xa[4], xb[4];
- double ya[4], yb[4];
+ std::vector<double> xa(4), xb(4);
+ std::vector<double> ya(4), yb(4);
unsigned int n2 = n * 2;
unsigned int ind2;
for(i=0 ; i < 4 ; i++)
@@ -171,8 +219,7 @@ vpHomography::computeTransformation(vpColVector &x, unsigned int *ind, vpColVect
vpHomography aHb ;
try {
- vpHomography::HLM(4,xb, yb, xa, ya, true, aHb);
- //vpHomography::HLM(8, xb, yb, xa, ya, false, aHb); //modified 13/09
+ vpHomography::HLM(xb, yb, xa, ya, true, aHb);
}
catch(...)
{
@@ -240,6 +287,7 @@ vpHomography::computeResidual(vpColVector &x, vpColVector &M, vpColVector &d)
return 0 ;
}
+#endif //#ifndef DOXYGEN_SHOULD_SKIP_THIS
void
@@ -261,14 +309,20 @@ vpHomography::initRansac(unsigned int n,
}
}
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+
+/*!
+ \deprecated This method is deprecated. You should rather use
+ vpHomography::ransac(const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, vpHomography &, std::vector<bool> &, double &, unsigned int, double, bool)
+ */
bool
vpHomography::ransac(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &aHb,
- int consensus,
- double threshold
- )
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &aHb,
+ int consensus,
+ double threshold
+ )
{
vpColVector x ;
vpHomography::initRansac(n, xb, yb, xa, ya, x) ;
@@ -291,6 +345,8 @@ vpHomography::ransac(unsigned int n,
}
/*!
+ \deprecated This method is deprecated. You should rather use
+ vpHomography::ransac(const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, const std::vector<double> &, vpHomography &, std::vector<bool> &, double &, unsigned int, double, bool)
Computes homography matrix \f$ b^H_a \f$ such as \f$X_b = b^H_a X_a \f$ with
\f$ X_a = (xa, ya)^t \f$ and \f$ X_b = (xb, yb)^t \f$.
@@ -321,14 +377,14 @@ vpHomography::ransac(unsigned int n,
*/
bool vpHomography::ransac(unsigned int n,
- double *xb, double *yb,
- double *xa, double *ya ,
- vpHomography &bHa,
- vpColVector &inliers,
- double& /* residual */,
- int consensus,
- double threshold,
- double areaThreshold)
+ double *xb, double *yb,
+ double *xa, double *ya ,
+ vpHomography &bHa,
+ vpColVector &inliers,
+ double /* residual */,
+ int consensus,
+ double threshold,
+ double areaThreshold)
{
vpColVector x ;
vpHomography::initRansac(n, xb, yb, xa, ya, x);
@@ -348,9 +404,215 @@ bool vpHomography::ransac(unsigned int n,
bHa /= bHa[2][2];
return ransacable;
}
+#endif //#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+/*!
+
+ From couples of matched points \f$^a{\bf p}=(x_a,y_a,1)\f$ in image a
+ and \f$^b{\bf p}=(x_b,y_b,1)\f$ in image b with homogeneous coordinates, computes the
+ homography matrix by resolving \f$^a{\bf p} = ^a{\bf H}_b\; ^b{\bf p}\f$
+ using Ransac algorithm.
+
+ \param xb, yb : Coordinates vector of matched points in image b. These coordinates are expressed in meters.
+ \param xa, ya : Coordinates vector of matched points in image a. These coordinates are expressed in meters.
+ \param aHb : Estimated homography that relies the transformation from image a to image b.
+ \param inliers : Vector that indicates if a matched point is an inlier (true) or an outlier (false).
+ \param residual : Global residual computed as
+ \f$r = \sqrt{1/n \sum_{inliers} {\| {^a{\bf p} - {\hat{^a{\bf H}_b}} {^b{\bf p}}} \|}^{2}}\f$ with \f$n\f$ the
+ number of inliers.
+
+ \param nbInliersConsensus : Minimal number of points requested to fit the estimated homography.
+
+ \param threshold : Threshold for outlier removing. A point is considered as an outlier if the reprojection error
+ \f$\| {^a{\bf p} - {\hat{^a{\bf H}_b}} {^b{\bf p}}} \|\f$ is greater than this threshold.
+
+ \param normalization : When set to true, the coordinates of the points are normalized. The normalization
+ carried out is the one preconized by Hartley.
+
+ \return true if the homography could be computed, false otherwise.
+
+*/
+bool vpHomography::ransac(const std::vector<double> &xb, const std::vector<double> &yb,
+ const std::vector<double> &xa, const std::vector<double> &ya,
+ vpHomography &aHb,
+ std::vector<bool> &inliers,
+ double &residual,
+ unsigned int nbInliersConsensus,
+ double threshold,
+ bool normalization)
+{
+ unsigned int n = (unsigned int)xb.size();
+ if (yb.size() != n || xa.size() != n || ya.size() != n)
+ throw(vpException(vpException::dimensionError,
+ "Bad dimension for robust homography estimation"));
+
+ // 4 point are required
+ if(n<4)
+ throw(vpException(vpException::fatalError, "There must be at least 4 matched points"));
+
+ vpUniRand random((const long)time(NULL)) ;
+
+ std::vector<unsigned int> best_consensus;
+ std::vector<unsigned int> cur_consensus;
+ std::vector<unsigned int> cur_outliers;
+ std::vector<unsigned int> cur_randoms;
+
+ std::vector<unsigned int> rand_ind;
+
+ unsigned int nbMinRandom = 4 ;
+ unsigned int ransacMaxTrials = 1000;
+ unsigned int maxDegenerateIter = 1000;
+
+ unsigned int nbTrials = 0;
+ unsigned int nbDegenerateIter = 0;
+ unsigned int nbInliers = 0;
+
+ bool foundSolution = false;
+
+ std::vector<double> xa_rand(nbMinRandom);
+ std::vector<double> ya_rand(nbMinRandom);
+ std::vector<double> xb_rand(nbMinRandom);
+ std::vector<double> yb_rand(nbMinRandom);
+
+ if (inliers.size() != n)
+ inliers.resize(n);
+
+ while (nbTrials < ransacMaxTrials && nbInliers < nbInliersConsensus)
+ {
+ cur_outliers.clear();
+ cur_randoms.clear();
+
+ bool degenerate = true;
+ while(degenerate == true){
+ std::vector<bool> usedPt(n, false);
+
+ rand_ind.clear();
+ for(unsigned int i = 0; i < nbMinRandom; i++)
+ {
+ // Generate random indicies in the range 0..n
+ unsigned int r = (unsigned int)ceil(random()*n) -1;
+ while(usedPt[r]) {
+ r = (unsigned int)ceil(random()*n) -1;
+ }
+ usedPt[r] = true;
+ rand_ind.push_back(r);
+
+ xa_rand[i] = xa[r];
+ ya_rand[i] = ya[r];
+ xb_rand[i] = xb[r];
+ yb_rand[i] = yb[r];
+ }
+
+ try{
+ if (! vpHomography::degenerateConfiguration(xb_rand, yb_rand, xa_rand, ya_rand)) {
+ vpHomography::DLT(xb_rand, yb_rand, xa_rand, ya_rand, aHb, normalization);
+ degenerate = false;
+ }
+ }
+ catch(...){
+ degenerate = true;
+ }
+
+ nbDegenerateIter ++;
+
+ if (nbDegenerateIter > maxDegenerateIter){
+ vpERROR_TRACE("Unable to select a nondegenerate data set");
+ throw(vpException(vpException::fatalError, "Unable to select a nondegenerate data set"));
+ }
+ }
+
+ aHb /= aHb[2][2] ;
+
+ // Computing Residual
+ double r = 0;
+ vpColVector a(3), b(3), c(3) ;
+ for (unsigned int i=0 ; i < nbMinRandom ; i++) {
+ a[0] = xa_rand[i] ; a[1] = ya_rand[i] ; a[2] = 1 ;
+ b[0] = xb_rand[i] ; b[1] = yb_rand[i] ; b[2] = 1 ;
+
+ c = aHb*b; c /= c[2] ;
+ r += (a-c).sumSquare() ;
+ //cout << "point " <<i << " " << (a-c).sumSquare() <<endl ;;
+ }
+
+ // Finding inliers & ouliers
+ r = sqrt(r/nbMinRandom);
+ //std::cout << "Candidate residual: " << r << std::endl;
+ if (r < threshold)
+ {
+ unsigned int nbInliersCur = 0;
+ for (unsigned int i = 0; i < n ; i++)
+ {
+ a[0] = xa[i] ; a[1] = ya[i] ; a[2] = 1 ;
+ b[0] = xb[i] ; b[1] = yb[i] ; b[2] = 1 ;
+
+ c = aHb*b ; c /= c[2] ;
+ double error = sqrt((a-c).sumSquare()) ;
+ if(error <= threshold){
+ nbInliersCur++;
+ cur_consensus.push_back(i);
+ inliers[i] = true;
+ }
+ else{
+ cur_outliers.push_back(i);
+ inliers[i] = false;
+ }
+ }
+ //std::cout << "nb inliers that matches: " << nbInliersCur << std::endl;
+ if(nbInliersCur > nbInliers)
+ {
+ foundSolution = true;
+ best_consensus = cur_consensus;
+ nbInliers = nbInliersCur;
+ }
+
+ cur_consensus.clear();
+ }
+
+ nbTrials++;
+ if(nbTrials >= ransacMaxTrials){
+ vpERROR_TRACE("Ransac reached the maximum number of trials");
+ foundSolution = true;
+ }
+ }
+
+ if(foundSolution){
+ if(nbInliers >= nbInliersConsensus)
+ {
+ std::vector<double> xa_best(best_consensus.size());
+ std::vector<double> ya_best(best_consensus.size());
+ std::vector<double> xb_best(best_consensus.size());
+ std::vector<double> yb_best(best_consensus.size());
+
+ for(unsigned i = 0 ; i < best_consensus.size(); i++)
+ {
+ xa_best[i] = xa[best_consensus[i]];
+ ya_best[i] = ya[best_consensus[i]];
+ xb_best[i] = xb[best_consensus[i]];
+ yb_best[i] = yb[best_consensus[i]];
+ }
+
+ vpHomography::DLT(xb_best, yb_best, xa_best, ya_best, aHb, normalization) ;
+ aHb /= aHb[2][2];
+
+ residual = 0 ;
+ vpColVector a(3), b(3), c(3);
+ for (unsigned int i=0 ; i < best_consensus.size() ; i++) {
+ a[0] = xa_best[i] ; a[1] = ya_best[i] ; a[2] = 1 ;
+ b[0] = xb_best[i] ; b[1] = yb_best[i] ; b[2] = 1 ;
+
+ c = aHb*b ; c /= c[2] ;
+ residual += (a-c).sumSquare() ;
+ }
+
+ residual = sqrt(residual/best_consensus.size());
+ return true;
+ }
+ else {
+ return false;
+ }
+ }
+ else {
+ return false;
+ }
+}
diff --git a/src/computer-vision/homography-estimation/vpHomographyVVS.cpp b/src/computer-vision/homography-estimation/vpHomographyVVS.cpp
index bbb25b6..9d8688d 100644
--- a/src/computer-vision/homography-estimation/vpHomographyVVS.cpp
+++ b/src/computer-vision/homography-estimation/vpHomographyVVS.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomographyVVS.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHomographyVVS.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,6 +55,8 @@
const double vpHomography::threshold_rotation = 1e-7;
const double vpHomography::threshold_displacement = 1e-18;
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+
static void
updatePoseRotation(vpColVector& dx,vpHomogeneousMatrix& mati)
{
@@ -126,14 +128,16 @@ vpHomography::computeRotation(unsigned int nbpoint,
unsigned int n=0 ;
for (unsigned int i=0 ; i < nbpoint ; i++) {
// if ((c2P[i].get_x() !=-1) && (c1P[i].get_x() !=-1))
- if ( (std::fabs(c2P[i].get_x() + 1) > std::fabs(vpMath::maximum(c2P[i].get_x(), 1.)))
- &&
- (std::fabs(c1P[i].get_x() + 1) > std::fabs(vpMath::maximum(c1P[i].get_x(), 1.))) )
- {
- n++ ;
- }
+ if ( (std::fabs(c2P[i].get_x() + 1) > std::fabs(vpMath::maximum(c2P[i].get_x(), 1.)))
+ &&
+ (std::fabs(c1P[i].get_x() + 1) > std::fabs(vpMath::maximum(c1P[i].get_x(), 1.))) )
+ {
+ n++ ;
+ }
}
- if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ //if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ if ( (! only_1) && (! only_2) )
+ n *=2 ;
vpRobust robust(n);
vpColVector res(n) ;
@@ -159,9 +163,9 @@ vpHomography::computeRotation(unsigned int nbpoint,
int k =0 ;
for (unsigned int i=0 ; i < nbpoint ; i++) {
//if ((c2P[i].get_x() !=-1) && (c1P[i].get_x() !=-1))
- if ( (std::fabs(c2P[i].get_x() + 1) > std::fabs(vpMath::maximum(c2P[i].get_x(), 1.)))
- &&
- (std::fabs(c1P[i].get_x() + 1) > std::fabs(vpMath::maximum(c1P[i].get_x(), 1.))) )
+ if ( (std::fabs(c2P[i].get_x() + 1) > std::fabs(vpMath::maximum(c2P[i].get_x(), 1.)))
+ &&
+ (std::fabs(c1P[i].get_x() + 1) > std::fabs(vpMath::maximum(c1P[i].get_x(), 1.))) )
{
p2[0] = c2P[i].get_x() ;
p2[1] = c2P[i].get_y() ;
@@ -240,35 +244,35 @@ vpHomography::computeRotation(unsigned int nbpoint,
{
robust.setIteration(0);
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int l=0 ; l < n ; l++)
{
- res[k] = vpMath::sqr(e[2*k]) + vpMath::sqr(e[2*k+1]) ;
+ res[l] = vpMath::sqr(e[2*l]) + vpMath::sqr(e[2*l+1]) ;
}
robust.MEstimator(vpRobust::TUKEY, res, w);
// compute the pseudo inverse of the interaction matrix
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int l=0 ; l < n ; l++)
{
- W[2*k][2*k] = w[k] ;
- W[2*k+1][2*k+1] = w[k] ;
+ W[2*l][2*l] = w[l] ;
+ W[2*l+1][2*l+1] = w[l] ;
}
}
else
{
- for (unsigned int k=0 ; k < 2*n ; k++) W[k][k] = 1 ;
+ for (unsigned int l=0 ; l < 2*n ; l++) W[l][l] = 1 ;
}
// CreateDiagonalMatrix(w, W) ;
(L).pseudoInverse(Lp, 1e-6) ;
// Compute the camera velocity
- vpColVector c2Rc1, v(6) ;
+ vpColVector c2rc1, v(6) ;
- c2Rc1 = -2*Lp*W*e ;
- for (unsigned int i=0 ; i < 3 ; i++) v[i+3] = c2Rc1[i] ;
+ c2rc1 = -2*Lp*W*e ;
+ for (unsigned int i=0 ; i < 3 ; i++) v[i+3] = c2rc1[i] ;
// only for simulation
- updatePoseRotation(c2Rc1, c2Mc1) ;
+ updatePoseRotation(c2rc1, c2Mc1) ;
r =e.sumSquare() ;
if ((W*e).sumSquare() < 1e-10) break ;
@@ -307,13 +311,9 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
int userobust
)
{
-
-
vpColVector e(2) ;
double r_1 = -1 ;
-
-
vpColVector p2(3) ;
vpColVector p1(3) ;
vpColVector Hp2(3) ;
@@ -324,13 +324,17 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
vpMatrix H1(2,6) ;
vpColVector e1(2) ;
- int only_1 = 1 ;
- int only_2 = 0 ;
+ int only_1;
+ int only_2;
int iter = 0 ;
- unsigned int i ;
unsigned int n=0 ;
n = nbpoint ;
- if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ only_1 = 1 ;
+ only_2 = 0 ;
+
+ //if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ if ( (! only_1) && (! only_2) )
+ n *=2 ;
vpRobust robust(n);
vpColVector res(n) ;
@@ -347,11 +351,9 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
iter =0 ;
while (vpMath::equal(r_1,r,threshold_displacement) == false )
{
-
r_1 =r ;
// compute current position
-
//Change frame (current)
vpHomogeneousMatrix c1Mc2, c2Mo ;
vpRotationMatrix c1Rc2, c2Rc1 ;
@@ -367,10 +369,9 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
getPlaneInfo(oN, c1Mo, N1, d1) ;
getPlaneInfo(oN, c2Mo, N2, d2) ;
-
vpMatrix L(2,3), Lp ;
int k =0 ;
- for (i=0 ; i < nbpoint ; i++)
+ for (unsigned int i=0 ; i < nbpoint ; i++)
{
p2[0] = c2P[i].get_x() ;
p2[1] = c2P[i].get_y() ;
@@ -405,18 +406,16 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
vpMatrix c1CFc2(6,6) ;
{
vpMatrix sTR = c1Tc2.skew()*(vpMatrix)c1Rc2 ;
- for (unsigned int k=0 ; k < 3 ; k++)
+ for (unsigned int k_=0 ; k_ < 3 ; k_++)
for (unsigned int l=0 ; l<3 ; l++)
{
- c1CFc2[k][l] = c1Rc2[k][l] ;
- c1CFc2[k+3][l+3] = c1Rc2[k][l] ;
- c1CFc2[k][l+3] = sTR[k][l] ;
+ c1CFc2[k_][l] = c1Rc2[k_][l] ;
+ c1CFc2[k_+3][l+3] = c1Rc2[k_][l] ;
+ c1CFc2[k_][l+3] = sTR[k_][l] ;
}
}
H2 = H2*c1CFc2 ;
-
-
// Set up the error vector
e2[0] = Hp2[0] - c1P[i].get_x() ;
e2[1] = Hp2[1] - c1P[i].get_y() ;
@@ -435,7 +434,6 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
e1[0] = Hp1[0] - c2P[i].get_x() ;
e1[1] = Hp1[1] - c2P[i].get_y() ;
-
if (only_2==1)
{
if (k == 0) { L = H2 ; e = e2 ; }
@@ -474,23 +472,22 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
if (userobust)
{
robust.setIteration(0);
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int l=0 ; l < n ; l++)
{
- res[k] = vpMath::sqr(e[2*k]) + vpMath::sqr(e[2*k+1]) ;
+ res[l] = vpMath::sqr(e[2*l]) + vpMath::sqr(e[2*l+1]) ;
}
robust.MEstimator(vpRobust::TUKEY, res, w);
-
// compute the pseudo inverse of the interaction matrix
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int l=0 ; l < n ; l++)
{
- W[2*k][2*k] = w[k] ;
- W[2*k+1][2*k+1] = w[k] ;
+ W[2*l][2*l] = w[l] ;
+ W[2*l+1][2*l+1] = w[l] ;
}
}
else
{
- for (unsigned int k=0 ; k < 2*n ; k++) W[k][k] = 1 ;
+ for (unsigned int l=0 ; l < 2*n ; l++) W[l][l] = 1 ;
}
(W*L).pseudoInverse(Lp, 1e-16) ;
// Compute the camera velocity
@@ -504,8 +501,6 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
// UpdatePose2(c2Tcc1, c2Mc1) ;
r =(W*e).sumSquare() ;
-
-
if (r < 1e-15) {break ; }
if (iter>1000){break ; }
if (r>r_1) { break ; }
@@ -532,8 +527,6 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
vpColVector e(2) ;
double r_1 = -1 ;
-
-
vpColVector p2(3) ;
vpColVector p1(3) ;
vpColVector Hp2(3) ;
@@ -545,13 +538,17 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
vpColVector e1(2) ;
- int only_1 = 1 ;
- int only_2 = 0 ;
+ int only_1;
+ int only_2;
int iter = 0 ;
unsigned int i ;
unsigned int n=0 ;
+ only_1 = 1 ;
+ only_2 = 0 ;
n = nbpoint ;
- if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ // if ((only_1==1) || (only_2==1)) ; else n *=2 ;
+ if ( (! only_1) && (! only_2) )
+ n *=2 ;
vpRobust robust(n);
vpColVector res(n) ;
@@ -626,18 +623,16 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
vpMatrix c1CFc2(6,6) ;
{
vpMatrix sTR = c1Tc2.skew()*(vpMatrix)c1Rc2 ;
- for (unsigned int k=0 ; k < 3 ; k++)
+ for (unsigned int k_=0 ; k_ < 3 ; k_++)
for (unsigned int l=0 ; l<3 ; l++)
{
- c1CFc2[k][l] = c1Rc2[k][l] ;
- c1CFc2[k+3][l+3] = c1Rc2[k][l] ;
- c1CFc2[k][l+3] = sTR[k][l] ;
+ c1CFc2[k_][l] = c1Rc2[k_][l] ;
+ c1CFc2[k_+3][l+3] = c1Rc2[k_][l] ;
+ c1CFc2[k_][l+3] = sTR[k_][l] ;
}
}
H2 = H2*c1CFc2 ;
-
-
// Set up the error vector
e2[0] = Hp2[0] - c1P[i].get_x() ;
e2[1] = Hp2[1] - c1P[i].get_y() ;
@@ -695,23 +690,23 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
if (userobust)
{
robust.setIteration(0);
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int k_=0 ; k_ < n ; k_++)
{
- res[k] = vpMath::sqr(e[2*k]) + vpMath::sqr(e[2*k+1]) ;
+ res[k_] = vpMath::sqr(e[2*k_]) + vpMath::sqr(e[2*k_+1]) ;
}
robust.MEstimator(vpRobust::TUKEY, res, w);
// compute the pseudo inverse of the interaction matrix
- for (unsigned int k=0 ; k < n ; k++)
+ for (unsigned int k_=0 ; k_ < n ; k_++)
{
- W[2*k][2*k] = w[k] ;
- W[2*k+1][2*k+1] = w[k] ;
+ W[2*k_][2*k_] = w[k_] ;
+ W[2*k_+1][2*k_+1] = w[k_] ;
}
}
else
{
- for (unsigned int k=0 ; k < 2*n ; k++) W[k][k] = 1 ;
+ for (unsigned int k_=0 ; k_ < 2*n ; k_++) W[k_][k_] = 1 ;
}
(W*L).pseudoInverse(Lp, 1e-16) ;
// Compute the camera velocity
@@ -737,3 +732,4 @@ vpHomography::computeDisplacement(unsigned int nbpoint,
}
+#endif //#ifndef DOXYGEN_SHOULD_SKIP_THIS
diff --git a/src/computer-vision/pose-estimation/vpLevenbergMarquartd.cpp b/src/computer-vision/pose-estimation/vpLevenbergMarquartd.cpp
index 2f4c7aa..b5dcf13 100644
--- a/src/computer-vision/pose-estimation/vpLevenbergMarquartd.cpp
+++ b/src/computer-vision/pose-estimation/vpLevenbergMarquartd.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLevenbergMarquartd.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLevenbergMarquartd.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,6 +46,7 @@
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <iostream>
+#include <algorithm> // std::min
#define SIGN(x) ((x) < 0 ? -1 : 1)
#define SWAP(a,b,c) {(c) = (a); (a) = (b); (b) = (c);}
@@ -233,7 +234,7 @@ double enorm (const double *x, int n)
*
*/
int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
- double *delta, double *par, double *x, double *sdiag, double *wa1, double *wa2)
+ double *delta, double *par, double *x, double *sdiag, double *wa1, double *wa2)
{
const double tol1 = 0.1, tol001 = 0.001; /* tolerance a 0.1 et a 0.001 */
@@ -276,8 +277,8 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
if (jm1 >= 0)
{
- for (unsigned int j = 0; j <= (unsigned int)jm1; j++)
- wa1[j] -= *MIJ(r, i, j, ldr) * temp;
+ for (unsigned int j = 0; j <= (unsigned int)jm1; j++)
+ wa1[j] -= *MIJ(r, i, j, ldr) * temp;
}
}
}
@@ -315,22 +316,22 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
{
for (int i = 0; i < n; i++)
{
- l = ipvt[i];
- wa1[i] = diag[l] * (wa2[l] / dxnorm);
+ l = ipvt[i];
+ wa1[i] = diag[l] * (wa2[l] / dxnorm);
}
for (int i = 0; i < n; i++)
{
- long im1;
- sum = 0.0;
- im1 = (i - 1L);
-
- if (im1 >= 0)
- {
- for (unsigned int j = 0; j <= (unsigned int)im1; j++)
- sum += (*MIJ(r, i, j, ldr) * wa1[j]);
- }
- wa1[i] = (wa1[i] - sum) / *MIJ(r, i, i, ldr);
+ long im1;
+ sum = 0.0;
+ im1 = (i - 1L);
+
+ if (im1 >= 0)
+ {
+ for (unsigned int j = 0; j <= (unsigned int)im1; j++)
+ sum += (*MIJ(r, i, j, ldr) * wa1[j]);
+ }
+ wa1[i] = (wa1[i] - sum) / *MIJ(r, i, i, ldr);
}
temp = enorm(wa1, n);
@@ -346,7 +347,7 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
sum = 0.0;
for (int j = 0; j <= i; j++)
- sum += *MIJ(r, i, j, ldr) * qtb[j];
+ sum += *MIJ(r, i, j, ldr) * qtb[j];
l = ipvt[i];
wa1[i] = sum / diag[l];
@@ -384,17 +385,17 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
*/
//if (*par == 0.0)
if (std::fabs(*par) <= std::numeric_limits<double>::epsilon() )
- *par = vpMath::maximum(dwarf, (tol001 * paru));
+ *par = vpMath::maximum(dwarf, (tol001 * paru));
temp = sqrt(*par);
for (int i = 0; i < n; i++)
- wa1[i] = temp * diag[i];
+ wa1[i] = temp * diag[i];
qrsolv(n, r, ldr, ipvt, wa1, qtb, x, sdiag, wa2);
for (int i = 0; i < n; i++)
- wa2[i] = diag[i] * x[i];
+ wa2[i] = diag[i] * x[i];
dxnorm = enorm(wa2, n);
temp = fp;
@@ -409,16 +410,15 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
//if ((std::fabs(fp) <= tol1 * (*delta)) || ((parl == 0.0) && (fp <= temp)
// && (temp < 0.0)) || (iter == 10))
if ((std::fabs(fp) <= tol1 * (*delta)) || ((std::fabs(parl) <= std::numeric_limits<double>::epsilon()) && (fp <= temp)
- && (temp < 0.0)) || (iter == 10))
+ && (temp < 0.0)) || (iter == 10))
{
- /*
- * terminaison.
- */
+ // terminaison.
- if (iter == 0)
- *par = 0.0;
+ // Remove the two next lines since this is a dead code
+ /* if (iter == 0)
+ *par = 0.0; */
- return (0);
+ return (0);
}
/*
@@ -427,20 +427,20 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
for (int i = 0; i < n; i++)
{
- l = ipvt[i];
- wa1[i] = diag[l] * (wa2[l] / dxnorm);
+ l = ipvt[i];
+ wa1[i] = diag[l] * (wa2[l] / dxnorm);
}
for (unsigned int i = 0; i < (unsigned int)n; i++)
{
- wa1[i] = wa1[i] / sdiag[i];
- temp = wa1[i];
- jp1 = i + 1;
- if ( (unsigned int) n >= jp1)
- {
- for (unsigned int j = jp1; j < (unsigned int)n; j++)
- wa1[j] -= (*MIJ(r, i, j, ldr) * temp);
- }
+ wa1[i] = wa1[i] / sdiag[i];
+ temp = wa1[i];
+ jp1 = i + 1;
+ if ( (unsigned int) n >= jp1)
+ {
+ for (unsigned int j = jp1; j < (unsigned int)n; j++)
+ wa1[j] -= (*MIJ(r, i, j, ldr) * temp);
+ }
}
temp = enorm(wa1, n);
@@ -451,10 +451,10 @@ int lmpar(int n, double *r, int ldr, int *ipvt, double *diag, double *qtb,
* de parl ou paru.
*/
if (fp > 0.0)
- parl = vpMath::maximum(parl, *par);
+ parl = vpMath::maximum(parl, *par);
if (fp < 0.0)
- paru = vpMath::minimum(paru, *par);
+ paru = vpMath::minimum(paru, *par);
/*
* calcul d'une estimee ameliree de "par".
diff --git a/src/computer-vision/pose-estimation/vpLevenbergMarquartd.h b/src/computer-vision/pose-estimation/vpLevenbergMarquartd.h
index 36ea86d..a746f59 100644
--- a/src/computer-vision/pose-estimation/vpLevenbergMarquartd.h
+++ b/src/computer-vision/pose-estimation/vpLevenbergMarquartd.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLevenbergMarquartd.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLevenbergMarquartd.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/computer-vision/pose-estimation/vpPose.cpp b/src/computer-vision/pose-estimation/vpPose.cpp
index 292e2b0..b139175 100644
--- a/src/computer-vision/pose-estimation/vpPose.cpp
+++ b/src/computer-vision/pose-estimation/vpPose.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpPose.cpp 4056 2013-01-05 13:04:42Z fspindle $
+* $Id: vpPose.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,11 +71,10 @@ vpPose::init()
#endif
npt = 0 ;
listP.clear() ;
+ c3d.clear();
lambda = 0.25 ;
- c3d = NULL ;
-
vvsIterMax = 200 ;
distanceToPlaneForCoplanarityTest = 0.001 ;
@@ -86,13 +85,19 @@ vpPose::init()
ransacThreshold = 0.0001;
ransacNbInlierConsensus = 4;
+ residual = 0;
#if (DEBUG_LEVEL1)
std::cout << "end vpPose::Init() " << std::endl ;
#endif
}
+/*! Defaukt constructor. */
vpPose::vpPose()
+ : npt(0), listP(), residual(0), lambda(0.25), vvsIterMax(200), c3d(),
+ computeCovariance(false), covarianceMatrix(),
+ ransacNbInlierConsensus(4), ransacMaxTrials(1000), ransacInliers(), ransacThreshold(0.0001),
+ distanceToPlaneForCoplanarityTest(0.001)
{
#if (DEBUG_LEVEL1)
std::cout << "begin vpPose::vpPose() " << std::endl ;
@@ -107,7 +112,7 @@ vpPose::vpPose()
}
/*!
-\brief destructor delete the array of point (freed the memory)
+ Destructor that deletes the array of point (freed the memory).
*/
vpPose::~vpPose()
{
@@ -122,7 +127,7 @@ vpPose::~vpPose()
#endif
}
/*!
-\brief delete the array of point
+ Delete the array of point
*/
void
vpPose::clearPoint()
@@ -338,8 +343,7 @@ the pose matrix 'cMo'.
double
vpPose::computeResidual(const vpHomogeneousMatrix &cMo) const
{
-
- double residual = 0 ;
+ double residual_ = 0 ;
vpPoint P ;
for(std::list<vpPoint>::const_iterator it=listP.begin(); it != listP.end(); ++it)
{
@@ -349,9 +353,9 @@ vpPose::computeResidual(const vpHomogeneousMatrix &cMo) const
P.track(cMo) ;
- residual += vpMath::sqr(x-P.get_x()) + vpMath::sqr(y-P.get_y()) ;
+ residual_ += vpMath::sqr(x-P.get_x()) + vpMath::sqr(y-P.get_y()) ;
}
- return residual ;
+ return residual_ ;
}
@@ -672,8 +676,8 @@ vpPose::poseFromRectangle(vpPoint &p1,vpPoint &p2,
vpHomogeneousMatrix & cMo)
{
- double rectx[4] ;
- double recty[4] ;
+ std::vector<double> rectx(4) ;
+ std::vector<double> recty(4) ;
rectx[0]= 0 ;
recty[0]=0 ;
rectx[1]=1 ;
@@ -682,8 +686,8 @@ vpPose::poseFromRectangle(vpPoint &p1,vpPoint &p2,
recty[2]=1 ;
rectx[3]=0 ;
recty[3]=1 ;
- double irectx[4] ;
- double irecty[4] ;
+ std::vector<double> irectx(4) ;
+ std::vector<double> irecty(4) ;
irectx[0]=(p1.get_x()) ;
irecty[0]=(p1.get_y()) ;
irectx[1]=(p2.get_x()) ;
@@ -697,8 +701,8 @@ vpPose::poseFromRectangle(vpPoint &p1,vpPoint &p2,
vpMatrix H(3,3);
vpHomography hom;
- // vpHomography::HartleyDLT(4,rectx,recty,irectx,irecty,hom);
- vpHomography::HLM(4,rectx,recty,irectx,irecty,1,hom);
+ // vpHomography::HartleyDLT(rectx,recty,irectx,irecty,hom);
+ vpHomography::HLM(rectx,recty,irectx,irecty,1,hom);
for (unsigned int i=0 ; i < 3 ; i++)
for(unsigned int j=0 ; j < 3 ; j++)
H[i][j] = hom[i][j] ;
diff --git a/src/computer-vision/pose-estimation/vpPose.h b/src/computer-vision/pose-estimation/vpPose.h
index 282718c..dd203f1 100644
--- a/src/computer-vision/pose-estimation/vpPose.h
+++ b/src/computer-vision/pose-estimation/vpPose.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPose.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPose.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -102,7 +102,7 @@ protected :
private:
int vvsIterMax ; //! define the maximum number of iteration in VVS
//! variable used in the Dementhon approach
- vpPoint *c3d ;
+ std::vector<vpPoint> c3d ;
//! Flag used to specify if the covariance matrix has to be computed or not.
bool computeCovariance;
//! Covariance matrix
@@ -120,7 +120,7 @@ protected:
int calculArbreDementhon(vpMatrix &b, vpColVector &U, vpHomogeneousMatrix &cMo) ;
public:
- //! constructor
+ // constructor
vpPose() ;
//! destructor
virtual ~vpPose() ;
@@ -169,8 +169,8 @@ public:
void setRansacNbInliersToReachConsensus(const unsigned int &nbC){ ransacNbInlierConsensus = nbC; }
void setRansacThreshold(const double &t){ ransacThreshold = t; }
void setRansacMaxTrials(const int &rM){ ransacMaxTrials = rM; }
- unsigned int getRansacNbInliers(){ return (unsigned int) ransacInliers.size(); }
- std::vector<vpPoint> getRansacInliers(){ return ransacInliers; }
+ unsigned int getRansacNbInliers() const { return (unsigned int) ransacInliers.size(); }
+ std::vector<vpPoint> getRansacInliers() const{ return ransacInliers; }
/*!
Set if the covaraince matrix has to be computed in the Virtual Visual Servoing approach.
diff --git a/src/computer-vision/pose-estimation/vpPoseDementhon.cpp b/src/computer-vision/pose-estimation/vpPoseDementhon.cpp
index 2190625..0d55038 100644
--- a/src/computer-vision/pose-estimation/vpPoseDementhon.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseDementhon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpPoseDementhon.cpp 4276 2013-06-25 12:36:48Z fspindle $
+* $Id: vpPoseDementhon.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,23 +70,17 @@ vpPose::poseDementhonNonPlan(vpHomogeneousMatrix &cMo)
double seuil=1.0;
double f=1.;
- // CPoint c3d[npt] ;
-
- if (c3d !=NULL) delete [] c3d ;
- c3d = new vpPoint[npt] ;
-
vpPoint p0 = listP.front() ;
- vpPoint P ;
- int i=0;
+ c3d.clear();
+ vpPoint P;
for (std::list<vpPoint>::const_iterator it = listP.begin(); it != listP.end(); ++it)
{
- P = *it ;
- c3d[i] = P ;
- c3d[i].set_oX(P.get_oX()-p0.get_oX()) ;
- c3d[i].set_oY(P.get_oY()-p0.get_oY()) ;
- c3d[i].set_oZ(P.get_oZ()-p0.get_oZ()) ;
- ++i;
+ P = (*it);
+ P.set_oX(P.get_oX()-p0.get_oX()) ;
+ P.set_oY(P.get_oY()-p0.get_oY()) ;
+ P.set_oZ(P.get_oZ()-p0.get_oZ()) ;
+ c3d.push_back(P) ;
}
vpMatrix a ;
@@ -227,8 +221,6 @@ vpPose::poseDementhonNonPlan(vpHomogeneousMatrix &cMo)
cMo[0][3] -= (p0.get_oX()*cMo[0][0]+p0.get_oY()*cMo[0][1]+p0.get_oZ()*cMo[0][2]);
cMo[1][3] -= (p0.get_oX()*cMo[1][0]+p0.get_oY()*cMo[1][1]+p0.get_oZ()*cMo[1][2]);
cMo[2][3] -= (p0.get_oX()*cMo[2][0]+p0.get_oY()*cMo[2][1]+p0.get_oZ()*cMo[2][2]);
-
- delete [] c3d ; c3d = NULL ;
}
@@ -375,7 +367,6 @@ vpPose::calculArbreDementhon(vpMatrix &b, vpColVector &U,
vpColVector I(3) ;
vpColVector J(3) ;
- vpHomogeneousMatrix cMo_old ;
smin_old = 2*smin ;
cpt = 0;
@@ -519,21 +510,17 @@ vpPose::poseDementhonPlan(vpHomogeneousMatrix &cMo)
unsigned int i,j,k ;
- if (c3d !=NULL) delete []c3d ;
- c3d = new vpPoint[npt] ;
-
vpPoint p0 = listP.front() ;
vpPoint P ;
- i=0 ;
+ c3d.clear();
for (std::list<vpPoint>::const_iterator it = listP.begin(); it != listP.end(); ++it)
{
P = *it;
- c3d[i] = P ;
- c3d[i].set_oX(P.get_oX()-p0.get_oX()) ;
- c3d[i].set_oY(P.get_oY()-p0.get_oY()) ;
- c3d[i].set_oZ(P.get_oZ()-p0.get_oZ()) ;
- i++ ;
+ P.set_oX(P.get_oX()-p0.get_oX()) ;
+ P.set_oY(P.get_oY()-p0.get_oY()) ;
+ P.set_oZ(P.get_oZ()-p0.get_oZ()) ;
+ c3d.push_back(P);
}
vpMatrix a ;
@@ -714,7 +701,6 @@ vpPose::poseDementhonPlan(vpHomogeneousMatrix &cMo)
cMo[1][3] -= p0.get_oX()*cMo[1][0]+p0.get_oY()*cMo[1][1]+p0.get_oZ()*cMo[1][2];
cMo[2][3] -= p0.get_oX()*cMo[2][0]+p0.get_oY()*cMo[2][1]+p0.get_oZ()*cMo[2][2];
- delete [] c3d ; c3d = NULL ;
#if (DEBUG_LEVEL1)
std::cout << "end CCalculPose::PoseDementhonPlan()" << std::endl ;
#endif
@@ -735,12 +721,10 @@ vpPose::poseDementhonPlan(vpHomogeneousMatrix &cMo)
*/
double vpPose::computeResidualDementhon(const vpHomogeneousMatrix &cMo)
{
- unsigned int i ;
- double residual = 0 ;
-
+ double residual_ = 0 ;
- residual =0 ;
- for (i =0 ; i < npt ; i++)
+ residual_ =0 ;
+ for (unsigned int i =0 ; i < npt ; i++)
{
double X = c3d[i].get_oX()*cMo[0][0]+c3d[i].get_oY()*cMo[0][1]+c3d[i].get_oZ()*cMo[0][2] + cMo[0][3];
@@ -750,11 +734,9 @@ double vpPose::computeResidualDementhon(const vpHomogeneousMatrix &cMo)
double x = X/Z ;
double y = Y/Z ;
-
-
- residual += vpMath::sqr(x-c3d[i].get_x()) + vpMath::sqr(y-c3d[i].get_y()) ;
+ residual_ += vpMath::sqr(x-c3d[i].get_x()) + vpMath::sqr(y-c3d[i].get_y()) ;
}
- return residual ;
+ return residual_ ;
}
diff --git a/src/computer-vision/pose-estimation/vpPoseException.h b/src/computer-vision/pose-estimation/vpPoseException.h
index 09132b6..23c4c54 100644
--- a/src/computer-vision/pose-estimation/vpPoseException.h
+++ b/src/computer-vision/pose-estimation/vpPoseException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPoseException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -67,12 +67,12 @@
*/
class VISP_EXPORT vpPoseException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpPose member
*/
- enum errorCodeEnum
+ enum errorCodeEnum
{
poseError,
//! something is not initialized
@@ -84,25 +84,20 @@ public:
notEnoughPointError
} ;
-public:
- vpPoseException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpPoseException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpPoseException (const int code)
- : vpException(code){ ; }
- // vpPoseException() : vpException() { ;}
+ public:
+ vpPoseException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpPoseException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpPoseException (const int id)
+ : vpException(id){ ; }
+ // vpPoseException() : vpException() { ;}
};
-
-
-
-
-#endif /* #ifndef __vpPoseException_ERROR_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/computer-vision/pose-estimation/vpPoseFeatures.cpp b/src/computer-vision/pose-estimation/vpPoseFeatures.cpp
index 7f1a106..132c074 100644
--- a/src/computer-vision/pose-estimation/vpPoseFeatures.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseFeatures.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseFeatures.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPoseFeatures.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,13 +44,11 @@
Default constructor.
*/
vpPoseFeatures::vpPoseFeatures()
+ : maxSize(0), totalSize(0), vvsIterMax(200), lambda(1.0), verbose(false), computeCovariance(false),
+ covarianceMatrix(), featurePoint_Point_list(), featurePoint3D_Point_list(), featureVanishingPoint_Point_list(),
+ featureVanishingPoint_DuoLine_list(), featureEllipse_Sphere_list(), featureEllipse_Circle_list(),
+ featureLine_Line_list(), featureLine_DuoLineInt_List(), featureSegment_DuoPoints_list()
{
- lambda = 1.0;
- vvsIterMax = 200;
- totalSize = 0;
- maxSize = 0;
-
- verbose = false;
}
/*!
diff --git a/src/computer-vision/pose-estimation/vpPoseFeatures.h b/src/computer-vision/pose-estimation/vpPoseFeatures.h
index 409cec7..787ed4b 100644
--- a/src/computer-vision/pose-estimation/vpPoseFeatures.h
+++ b/src/computer-vision/pose-estimation/vpPoseFeatures.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseFeatures.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPoseFeatures.h 4660 2014-02-09 14:13:27Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -323,7 +323,7 @@ public:
\brief Template class that allows to estimate a pose from all kind of specific features if the compiler support C++ 11.
*/
template< typename featureType, typename RetType, typename ...Args >
-class VISP_EXPORT vpPoseSpecificFeatureTemplate : public vpPoseSpecificFeature
+class vpPoseSpecificFeatureTemplate : public vpPoseSpecificFeature
{
private:
featureType desiredFeature;
@@ -372,7 +372,7 @@ public:
\brief Template class that allows to estimate a pose from all kind of specific features if the compiler support C++ 11.
*/
template< typename ObjectType, typename featureType, typename RetType, typename ...Args >
-class VISP_EXPORT vpPoseSpecificFeatureTemplateObject : public vpPoseSpecificFeature
+class vpPoseSpecificFeatureTemplateObject : public vpPoseSpecificFeature
{
private:
featureType desiredFeature;
@@ -440,6 +440,7 @@ private:
struct vpDuo{
FeatureType *desiredFeature;
FirstParamType firstParam;
+ vpDuo() : desiredFeature(NULL), firstParam() {}
};
template<typename FeatureType, typename FirstParamType, typename SecondParamType>
@@ -447,6 +448,8 @@ private:
FeatureType *desiredFeature;
FirstParamType firstParam;
SecondParamType secondParam;
+
+ vpTrio() : desiredFeature(NULL), firstParam(), secondParam() {}
};
#endif //#ifndef DOXYGEN_SHOULD_SKIP_THIS
diff --git a/src/computer-vision/pose-estimation/vpPoseLagrange.cpp b/src/computer-vision/pose-estimation/vpPoseLagrange.cpp
index 6f25431..7cf3c5a 100644
--- a/src/computer-vision/pose-estimation/vpPoseLagrange.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseLagrange.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpPoseLagrange.cpp 4056 2013-01-05 13:04:42Z fspindle $
+* $Id: vpPoseLagrange.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -385,8 +385,9 @@ vpPose::poseLagrangePlan(vpHomogeneousMatrix &cMo, const int coplanar_plane_type
for (i=0;i<3;i++) {s += (X1[i]*X2[i]);}
for (i=0;i<3;i++) {X2[i] -= (s*X1[i]);} /* X1^T X2 = 0 */
- s = 0.0;
- for (i=0;i<3;i++) {s += (X2[i]*X2[i]);}
+ //s = 0.0;
+ //for (i=0;i<3;i++) {s += (X2[i]*X2[i]);}
+ s = X2[0]*X2[0] + X2[1]*X2[1] + X2[2]*X2[2]; // To avoid a Coverity copy/past error
if (s<1e-10)
{
@@ -559,8 +560,9 @@ vpPose::poseLagrangeNonPlan(vpHomogeneousMatrix &cMo)
for (i=0;i<3;i++) {s += (X1[i]*X2[i]);}
for (i=0;i<3;i++) {X2[i] -= (s*X1[i]);} /* X1^T X2 = 0 */
- s = 0.0;
- for (i=0;i<3;i++) {s += (X2[i]*X2[i]);}
+ //s = 0.0;
+ //for (i=0;i<3;i++) {s += (X2[i]*X2[i]);}
+ s = X2[0]*X2[0] + X2[1]*X2[1] + X2[2]*X2[2]; // To avoid a Coverity copy/past error
if (s<1e-10)
{
diff --git a/src/computer-vision/pose-estimation/vpPoseLowe.cpp b/src/computer-vision/pose-estimation/vpPoseLowe.cpp
index 1f5c4f9..e2ce296 100644
--- a/src/computer-vision/pose-estimation/vpPoseLowe.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseLowe.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpPoseLowe.cpp 4276 2013-06-25 12:36:48Z fspindle $
+* $Id: vpPoseLowe.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -94,6 +94,8 @@ static double XO[NBPTMAX],YO[NBPTMAX],ZO[NBPTMAX];
#define MINI 0.001
#define MINIMUM 0.000001
+void eval_function(int npt,double *xc,double *f);
+void fcn (int m, int n, double *xc, double *fvecc, double *jac, int ldfjac, int iflag);
void eval_function(int npt,double *xc,double *f)
{
@@ -290,7 +292,6 @@ vpPose::poseLowe(vpHomogeneousMatrix & cMo)
#if (DEBUG_LEVEL1)
std::cout << "begin CCalcuvpPose::PoseLowe(...) " << std::endl;
#endif
- unsigned int i;
int n, m; /* nombre d'elements dans la matrice jac */
int lwa; /* taille du vecteur wa */
int ldfjac; /* taille maximum d'une ligne de jac */
@@ -321,19 +322,18 @@ vpPose::poseLowe(vpHomogeneousMatrix & cMo)
}
vpPoint P ;
- i=0;
+ unsigned int i_=0;
for (std::list<vpPoint>::const_iterator it = listP.begin(); it != listP.end(); ++it)
{
P = *it;
- XI[i] = P.get_x();//*cam.px + cam.xc ;
- YI[i] = P.get_y() ;//;*cam.py + cam.yc ;
- XO[i] = P.get_oX();
- YO[i] = P.get_oY();
- ZO[i] = P.get_oZ();
- ++i;
+ XI[i_] = P.get_x();//*cam.px + cam.xc ;
+ YI[i_] = P.get_y() ;//;*cam.py + cam.yc ;
+ XO[i_] = P.get_oX();
+ YO[i_] = P.get_oY();
+ ZO[i_] = P.get_oZ();
+ ++i_;
}
- tst_lmder = lmder1 (&fcn, m, n, sol, f, &jac[0][0], ldfjac, tol, &info,
- ipvt, lwa, wa);
+ tst_lmder = lmder1 (&fcn, m, n, sol, f, &jac[0][0], ldfjac, tol, &info, ipvt, lwa, wa);
if (tst_lmder == -1)
{
std::cout << " in CCalculPose::PoseLowe(...) : " ;
@@ -341,10 +341,10 @@ vpPose::poseLowe(vpHomogeneousMatrix & cMo)
// return FATAL_ERROR ;
}
- for (i = 0; i < 3; i++)
+ for (unsigned int i = 0; i < 3; i++)
u[i] = sol[i + 3];
- for (i=0;i<3;i++)
+ for (unsigned int i=0;i<3;i++)
{
cMo[i][3] = sol[i];
u[i] = sol[i+3];
diff --git a/src/computer-vision/pose-estimation/vpPoseRansac.cpp b/src/computer-vision/pose-estimation/vpPoseRansac.cpp
index e6b6dec..1d81f61 100644
--- a/src/computer-vision/pose-estimation/vpPoseRansac.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseRansac.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseRansac.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPoseRansac.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,9 +77,15 @@ void vpPose::poseRansac(vpHomogeneousMatrix & cMo)
int nbTrials = 0;
unsigned int nbMinRandom = 4 ;
unsigned int nbInliers = 0;
+ double r, r_lagrange, r_dementhon;
vpHomogeneousMatrix cMo_lagrange, cMo_dementhon;
- double r, r_lagrange, r_dementhon;
+
+ if (size < 4) {
+ //vpERROR_TRACE("Not enough point to compute the pose");
+ throw(vpPoseException(vpPoseException::notInitializedError,
+ "Not enough point to compute the pose")) ;
+ }
bool foundSolution = false;
@@ -93,12 +99,12 @@ void vpPose::poseRansac(vpHomogeneousMatrix & cMo)
vpPose poseMin ;
for(unsigned int i = 0; i < nbMinRandom; i++)
{
- unsigned int r = (unsigned int)rand()%size;
- while(usedPt[r] ) r = (unsigned int)rand()%size;
- usedPt[r] = true;
+ unsigned int r_ = (unsigned int)rand()%size;
+ while(usedPt[r_] ) r_ = (unsigned int)rand()%size;
+ usedPt[r_] = true;
std::list<vpPoint>::const_iterator iter = listP.begin();
- std::advance(iter, r);
+ std::advance(iter, r_);
vpPoint pt = *iter;
bool degenerate = false;
@@ -112,7 +118,7 @@ void vpPose::poseRansac(vpHomogeneousMatrix & cMo)
}
if(!degenerate){
poseMin.addPoint(pt) ;
- cur_randoms.push_back(r);
+ cur_randoms.push_back(r_);
}
else
i--;
@@ -153,7 +159,7 @@ void vpPose::poseRansac(vpHomogeneousMatrix & cMo)
for(unsigned int it_inlier_index = 0; it_inlier_index< cur_consensus.size(); it_inlier_index++){
std::list<vpPoint>::const_iterator it_point = listP.begin();
std::advance(it_point, cur_consensus[it_inlier_index]);
- vpPoint pt = *it_point;
+ pt = *it_point;
vpPoint ptdeg = *it;
if( ((fabs(pt.get_x() - ptdeg.get_x()) < 1e-6) && (fabs(pt.get_y() - ptdeg.get_y()) < 1e-6)) ||
diff --git a/src/computer-vision/pose-estimation/vpPoseVirtualVisualServoing.cpp b/src/computer-vision/pose-estimation/vpPoseVirtualVisualServoing.cpp
index 6070859..fa9477c 100755
--- a/src/computer-vision/pose-estimation/vpPoseVirtualVisualServoing.cpp
+++ b/src/computer-vision/pose-estimation/vpPoseVirtualVisualServoing.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseVirtualVisualServoing.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPoseVirtualVisualServoing.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,7 +96,7 @@ vpPose::poseVirtualVS(vpHomogeneousMatrix & cMo)
residu_1 = r ;
// Compute the interaction matrix and the error
- unsigned int k =0 ;
+ k =0 ;
for (std::list<vpPoint>::const_iterator it = lP.begin(); it != lP.end(); ++it)
{
P = *it;
@@ -186,14 +186,14 @@ vpPose::poseVirtualVSrobust(vpHomogeneousMatrix & cMo)
std::list<vpPoint> lP ;
// create sd
- unsigned int k =0 ;
+ unsigned int k_ =0 ;
for (std::list<vpPoint>::const_iterator it = listP.begin(); it != listP.end(); ++it)
{
P = *it;
- sd[2*k] = P.get_x() ;
- sd[2*k+1] = P.get_y() ;
+ sd[2*k_] = P.get_x() ;
+ sd[2*k_+1] = P.get_y() ;
lP.push_back(P) ;
- k ++;
+ k_ ++;
}
int iter = 0 ;
res.resize(s.getRows()/2) ;
@@ -206,8 +206,7 @@ vpPose::poseVirtualVSrobust(vpHomogeneousMatrix & cMo)
residu_1 = r ;
// Compute the interaction matrix and the error
- vpPoint P ;
- k =0 ;
+ k_ =0 ;
for (std::list<vpPoint>::const_iterator it = lP.begin(); it != lP.end(); ++it)
{
P = *it;
@@ -216,24 +215,24 @@ vpPose::poseVirtualVSrobust(vpHomogeneousMatrix & cMo)
// perspective projection
P.track(cMo) ;
- double x = s[2*k] = P.get_x(); // point projected from cMo
- double y = s[2*k+1] = P.get_y();
+ double x = s[2*k_] = P.get_x(); // point projected from cMo
+ double y = s[2*k_+1] = P.get_y();
double Z = P.get_Z() ;
- L[2*k][0] = -1/Z ;
- L[2*k][1] = 0 ;
- L[2*k][2] = x/Z ;
- L[2*k][3] = x*y ;
- L[2*k][4] = -(1+x*x) ;
- L[2*k][5] = y ;
-
- L[2*k+1][0] = 0 ;
- L[2*k+1][1] = -1/Z ;
- L[2*k+1][2] = y/Z ;
- L[2*k+1][3] = 1+y*y ;
- L[2*k+1][4] = -x*y ;
- L[2*k+1][5] = -x ;
-
- k ++;
+ L[2*k_][0] = -1/Z ;
+ L[2*k_][1] = 0 ;
+ L[2*k_][2] = x/Z ;
+ L[2*k_][3] = x*y ;
+ L[2*k_][4] = -(1+x*x) ;
+ L[2*k_][5] = y ;
+
+ L[2*k_+1][0] = 0 ;
+ L[2*k_+1][1] = -1/Z ;
+ L[2*k_+1][2] = y/Z ;
+ L[2*k_+1][3] = 1+y*y ;
+ L[2*k_+1][4] = -x*y ;
+ L[2*k_+1][5] = -x ;
+
+ k_ ++;
}
error = s - sd ;
diff --git a/src/data-structure/vpList.h b/src/data-structure/vpList.h
index 44baab2..485acb0 100644
--- a/src/data-structure/vpList.h
+++ b/src/data-structure/vpList.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpList.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpList.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,10 +64,11 @@
template <class type>
class vpListElement
{
- public:
- vpListElement<type> *prev; //<! pointer to the previous element in the list
- vpListElement<type> *next; //<! pointer to the next element in the list
- type val; //<! value of the element
+ public:
+ vpListElement() : prev(NULL), next(NULL), val() {};
+ vpListElement<type> *prev; //<! pointer to the previous element in the list
+ vpListElement<type> *next; //<! pointer to the next element in the list
+ type val; //<! value of the element
} ;
#endif /* DOXYGEN_SHOULD_SKIP_THIS */
@@ -173,7 +174,7 @@ class vpList
inline unsigned int nbElement(void); // returns the number of items currently in the list
inline unsigned int nbElements(void); // returns the number of items currently in the list
- void operator=(const vpList<type>& l);
+ vpList<type>& operator=(const vpList<type>& l);
inline void operator+=(vpList<type>& l);
inline void operator+=(const type& l);
@@ -222,7 +223,7 @@ void vpList<type>::init()
\sa init()
*/
template<class type>
-vpList<type>::vpList()
+vpList<type>::vpList() : nb(0), first(NULL), last(NULL), cur(NULL)
{
init() ;
}
@@ -236,13 +237,10 @@ vpList<type>::vpList()
template<class type>
vpList<type>::~vpList()
{
-
kill() ;
- if (first != NULL) delete first ;
- if (last != NULL) delete last ;
-
-
+ /*if (first != NULL) */ delete first ;
+ /*if (last != NULL) */ delete last ;
}
/*!
@@ -741,7 +739,7 @@ void vpList<type>::suppress(void)
*/
template<class type>
-void vpList<type>::operator=(const vpList<type>& l)
+vpList<type>& vpList<type>::operator=(const vpList<type>& l)
{
type x ;
vpListElement<type> *e ;
@@ -758,6 +756,8 @@ void vpList<type>::operator=(const vpList<type>& l)
nb = l.nb ;
cur = first->next ;
+
+ return *this;
}
/*!
@@ -806,6 +806,7 @@ void vpList<type>::operator += (const type& l)
*/
template<class type>
vpList<type>::vpList(const vpList<type>& l)
+ : nb(0), first(NULL), last(NULL), cur(NULL)
{
init() ;
*this = l;
diff --git a/src/device/display/vpDisplay.cpp b/src/device/display/vpDisplay.cpp
index 50f501f..a992615 100644
--- a/src/device/display/vpDisplay.cpp
+++ b/src/device/display/vpDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplay.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplay.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,25 +58,28 @@
Default constructor.
*/
vpDisplay::vpDisplay()
+ : displayHasBeenInitialized(false), windowXPosition(0), windowYPosition(0), width(0), height(0), title_() {}
+
+/*!
+ Copy constructor.
+*/
+vpDisplay::vpDisplay(const vpDisplay &d)
+ : displayHasBeenInitialized(false), windowXPosition(0), windowYPosition(0), width(0), height(0), title_()
{
- displayHasBeenInitialized = false;
- windowXPosition = 0;
- windowYPosition = 0;
+ displayHasBeenInitialized = d.displayHasBeenInitialized;
+ windowXPosition = d.windowXPosition;
+ windowYPosition = d.windowYPosition;
- title = new char[1024];
- strcpy (title, "" );
+ width = d.width;
+ height = d.height;
}
+
/*!
Destructor that desallocates memory.
*/
vpDisplay::~vpDisplay()
{
displayHasBeenInitialized = false ;
-
- if (title != NULL) {
- delete [] title;
- title = NULL;
- }
}
/*!
@@ -117,7 +120,7 @@ vpDisplay::setFont ( const vpImage<unsigned char> &I,
*/
void
vpDisplay::setTitle ( const vpImage<unsigned char> &I,
- const char *windowtitle )
+ const char *windowtitle )
{
try
diff --git a/src/device/display/vpDisplay.h b/src/device/display/vpDisplay.h
index e350bbc..dd77098 100644
--- a/src/device/display/vpDisplay.h
+++ b/src/device/display/vpDisplay.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplay.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplay.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,6 +44,8 @@
#ifndef vpDisplay_h
#define vpDisplay_h
+#include <string>
+
// image
#include <visp/vpImage.h>
@@ -89,11 +91,10 @@ int main()
vpImage<unsigned char> I; // Grey level image
// Read an image in PGM P5 format
-#ifdef UNIX
- //vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(I, "/tmp/Klimt.pgm");
-#elif WIN32
+#ifdef _WIN32
vpImageIo::read(I, "C:/temp/ViSP-images/Klimt/Klimt.pgm");
+#else
+ vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
#endif
vpDisplay *d;
@@ -181,13 +182,9 @@ class VISP_EXPORT vpDisplay
int windowXPosition ;
//! display position
int windowYPosition ;
- //! display title
- char *title ;
- char *font;
unsigned int width ;
unsigned int height ;
-
- vpDisplay() ;
+ std::string title_;
/*!
Display an arrow from image point \e ip1 to image point \e ip2.
@@ -316,6 +313,8 @@ class VISP_EXPORT vpDisplay
unsigned int thickness=1)=0 ;
public:
+ vpDisplay() ;
+ vpDisplay(const vpDisplay& d) ;
virtual ~vpDisplay();
/*!
diff --git a/src/device/display/vpDisplayException.h b/src/device/display/vpDisplayException.h
index e3eb704..7c62631 100644
--- a/src/device/display/vpDisplayException.h
+++ b/src/device/display/vpDisplayException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDisplayException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,12 +73,12 @@
*/
class VISP_EXPORT vpDisplayException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpDisplay member
*/
- enum errorDisplayCodeEnum
+ enum errorDisplayCodeEnum
{
notInitializedError,
cannotOpenWindowError,
@@ -89,33 +89,26 @@ public:
depthNotSupportedError
} ;
-public:
- vpDisplayException(const int code, const char * msg)
- : vpException(code, msg)
+ public:
+ vpDisplayException(const int id, const char* format, ...)
{
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
}
-
- vpDisplayException (const int code, const std::string & msg)
- : vpException(code, msg)
+
+ vpDisplayException (const int id, const std::string & msg)
+ : vpException(id, msg)
{
}
-
- vpDisplayException (const int code)
- : vpException(code)
- {
- }
-
-};
-
-
-
+ vpDisplayException (const int id)
+ : vpException(id)
+ {
+ }
-#endif /* #ifndef __vpDisplayException_H */
-
+};
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/device/display/vpDisplayGTK.cpp b/src/device/display/vpDisplayGTK.cpp
index 239549e..e365a0a 100644
--- a/src/device/display/vpDisplayGTK.cpp
+++ b/src/device/display/vpDisplayGTK.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayGTK.cpp 4174 2013-03-22 10:28:41Z fspindle $
+ * $Id: vpDisplayGTK.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,10 +80,17 @@
vpDisplayGTK::vpDisplayGTK(vpImage<unsigned char> &I,
int x,
int y,
- const char *title) : vpDisplay()
+ const char *title)
{
+ widget = NULL;
+ vectgtk = NULL;
+ font = NULL;
+ colormap = NULL;
+ background = NULL;
+ gc = NULL;
+ nrow = ncol = 0;
col = NULL;
- widget = NULL ;
+
init(I, x, y, title) ;
}
@@ -99,10 +106,17 @@ vpDisplayGTK::vpDisplayGTK(vpImage<unsigned char> &I,
vpDisplayGTK::vpDisplayGTK(vpImage<vpRGBa> &I,
int x,
int y,
- const char *title) : vpDisplay()
+ const char *title)
{
+ widget = NULL;
+ vectgtk = NULL;
+ font = NULL;
+ colormap = NULL;
+ background = NULL;
+ gc = NULL;
+ nrow = ncol = 0;
col = NULL;
- widget = NULL ;
+
init(I, x, y, title) ;
}
@@ -130,16 +144,24 @@ int main()
}
\endcode
*/
-vpDisplayGTK::vpDisplayGTK(int x, int y, const char *title) : vpDisplay()
+vpDisplayGTK::vpDisplayGTK(int x, int y, const char *title)
{
+ widget = NULL;
+ vectgtk = NULL;
+ font = NULL;
+ colormap = NULL;
+ background = NULL;
+ gc = NULL;
+ nrow = ncol = 0;
+ col = NULL;
+
windowXPosition = x ;
windowYPosition = y ;
- col = NULL;
- widget = NULL ;
-
- if (title != NULL)
- strcpy(this->title, title) ;
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
}
/*!
@@ -163,8 +185,14 @@ int main()
*/
vpDisplayGTK::vpDisplayGTK() : vpDisplay()
{
+ widget = NULL;
+ vectgtk = NULL;
+ font = NULL;
+ colormap = NULL;
+ background = NULL;
+ gc = NULL;
+ nrow = ncol = 0;
col = NULL;
- widget = NULL ;
}
/*!
@@ -361,15 +389,20 @@ vpDisplayGTK::init(unsigned int width, unsigned int height,
gdk_colormap_alloc_color(colormap,&darkGray,FALSE,TRUE);
col[vpColor::id_darkGray] = &darkGray ;
- /* Chargement des polices */
- Police1 = gdk_font_load("-*-times-medium-r-normal-*-16-*-*-*-*-*-*-*");
- Police2 = gdk_font_load("-*-courier-bold-r-normal-*-*-140-*-*-*-*-*-*");
+ // Try to load a default font
+ font = gdk_font_load("-*-times-medium-r-normal-*-16-*-*-*-*-*-*-*");
+ if (font == NULL)
+ font = gdk_font_load("-*-courier-bold-r-normal-*-*-140-*-*-*-*-*-*");
+ if (font == NULL)
+ font = gdk_font_load("-*-courier 10 pitch-medium-r-normal-*-16-*-*-*-*-*-*-*");
- if (title != NULL)
- strcpy(this->title, title) ;
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
displayHasBeenInitialized = true ;
- setTitle(this->title) ;
+ gdk_window_set_title(widget->window, title_.c_str());
}
@@ -380,7 +413,7 @@ vpDisplayGTK::init(unsigned int width, unsigned int height,
Set the font used to display a text in overlay. The display is
performed using displayCharString().
- \param font : The expected font name.
+ \param fontname : The expected font name.
\note Under UNIX, to know all the available fonts, use the
"xlsfonts" binary in a terminal. You can also use the "xfontsel" binary.
@@ -388,9 +421,9 @@ vpDisplayGTK::init(unsigned int width, unsigned int height,
\sa displayCharString()
*/
void
-vpDisplayGTK::setFont(const char * /* font */)
+vpDisplayGTK::setFont(const char *fontname)
{
- vpERROR_TRACE("Not yet implemented" ) ;
+ font = gdk_font_load((const gchar*)fontname);
}
/*!
@@ -402,8 +435,11 @@ vpDisplayGTK::setTitle(const char *title)
{
if (displayHasBeenInitialized)
{
- if (title != NULL)
- gdk_window_set_title(widget->window,(char *)title);
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
+ gdk_window_set_title(widget->window, title_.c_str());
}
else
{
@@ -780,12 +816,13 @@ void vpDisplayGTK::displayCharString ( const vpImagePoint &ip,
gdk_colormap_alloc_color(colormap,&gdkcolor,FALSE,TRUE);
gdk_gc_set_foreground(gc, &gdkcolor);
}
-
- gdk_draw_string(background, Police2, gc,
- vpMath::round( ip.get_u() ),
- vpMath::round( ip.get_v() ),
- (const gchar *)text);
-
+ if (font != NULL)
+ gdk_draw_string(background, font, gc,
+ vpMath::round( ip.get_u() ),
+ vpMath::round( ip.get_v() ),
+ (const gchar *)text);
+ else
+ std::cout << "Cannot draw string: no font is selected" << std::endl;
}
else
{
diff --git a/src/device/display/vpDisplayGTK.h b/src/device/display/vpDisplayGTK.h
index 64d34ae..dc58ec2 100644
--- a/src/device/display/vpDisplayGTK.h
+++ b/src/device/display/vpDisplayGTK.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayGTK.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplayGTK.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,10 +44,10 @@
#define vpDisplayGTK_h
#include <visp/vpConfig.h>
-#include <visp/vpDisplay.h>
#if ( defined(VISP_HAVE_GTK) )
#include <visp/vpImage.h>
+#include <visp/vpDisplay.h>
#include <gtk/gtk.h>
#include <gdk/gdkrgb.h>
@@ -83,10 +83,10 @@ int main()
vpImage<unsigned char> I; // Grey level image
// Read an image in PGM P5 format
-#ifdef UNIX
- vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
-#elif WIN32
+#ifdef _WIN32
vpImageIo::read(I, "C:/temp/ViSP-images/Klimt/Klimt.pgm");
+#else
+ vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
#endif
vpDisplayGTK d;
@@ -154,7 +154,7 @@ private:
purple, lightGray, gray, darkGray;
GdkColormap *colormap;
- GdkFont *Police1,*Police2;
+ GdkFont *font;
guchar *vectgtk;
GdkColor **col ;
int ncol, nrow ;
@@ -208,7 +208,7 @@ public:
protected:
- void setFont( const char *font );
+ void setFont( const char *fontname );
void setTitle(const char *title) ;
void setWindowPosition(int winx, int winy);
diff --git a/src/device/display/vpDisplayOpenCV.cpp b/src/device/display/vpDisplayOpenCV.cpp
index 1eafa60..d156fed 100644
--- a/src/device/display/vpDisplayOpenCV.cpp
+++ b/src/device/display/vpDisplayOpenCV.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayOpenCV.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpDisplayOpenCV.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,7 +80,7 @@
vpDisplayOpenCV::vpDisplayOpenCV(vpImage<unsigned char> &I,
int x,
int y,
- const char *title) : vpDisplay()
+ const char *title)
{
col = NULL;
background = NULL;
@@ -100,7 +100,7 @@ vpDisplayOpenCV::vpDisplayOpenCV(vpImage<unsigned char> &I,
vpDisplayOpenCV::vpDisplayOpenCV(vpImage<vpRGBa> &I,
int x,
int y,
- const char *title) : vpDisplay()
+ const char *title)
{
col = NULL;
background = NULL;
@@ -130,7 +130,7 @@ int main()
}
\endcode
*/
-vpDisplayOpenCV::vpDisplayOpenCV ( int x, int y, const char *title ) : vpDisplay()
+vpDisplayOpenCV::vpDisplayOpenCV ( int x, int y, const char *title )
{
col = NULL;
background = NULL;
@@ -138,8 +138,20 @@ vpDisplayOpenCV::vpDisplayOpenCV ( int x, int y, const char *title ) : vpDisplay
windowXPosition = x;
windowYPosition = y;
- if (title != NULL)
- strcpy (this->title, title);
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
+
+ fontHeight = 10;
+ ncol = nrow = 0;
+ x_move = y_move = 0; move = false;
+ x_lbuttondown = y_lbuttondown = 0; lbuttondown = false;
+ x_mbuttondown = y_mbuttondown = 0; mbuttondown = false;
+ x_rbuttondown = y_rbuttondown = 0; rbuttondown = false;
+ x_lbuttonup = y_lbuttonup = 0; lbuttonup = false;
+ x_mbuttonup = y_mbuttonup = 0; mbuttonup = false;
+ x_rbuttonup = y_rbuttonup = 0; rbuttonup = false;
}
/*!
@@ -161,11 +173,20 @@ int main()
}
\endcode
*/
-vpDisplayOpenCV::vpDisplayOpenCV() : vpDisplay()
+vpDisplayOpenCV::vpDisplayOpenCV()
{
col = NULL;
background = NULL;
font = NULL;
+ fontHeight = 10;
+ ncol = nrow = 0;
+ x_move = y_move = 0; move = false;
+ x_lbuttondown = y_lbuttondown = 0; lbuttondown = false;
+ x_mbuttondown = y_mbuttondown = 0; mbuttondown = false;
+ x_rbuttondown = y_rbuttondown = 0; rbuttondown = false;
+ x_lbuttonup = y_lbuttonup = 0; lbuttonup = false;
+ x_mbuttonup = y_mbuttonup = 0; mbuttonup = false;
+ x_rbuttonup = y_rbuttonup = 0; rbuttonup = false;
}
/*!
@@ -233,7 +254,7 @@ vpDisplayOpenCV::init(vpImage<vpRGBa> &I,
/*!
Initialize the display size, position and title.
- \param width, height : Width and height of the window.
+ \param w, h : Width and height of the window.
\param x, y : The window is set at position x,y (column index, row index).
\param title : Window title.
@@ -241,12 +262,12 @@ vpDisplayOpenCV::init(vpImage<vpRGBa> &I,
with an available display device suach as Gtk, Cocoa, Carbon, Qt.
*/
void
-vpDisplayOpenCV::init(unsigned int width, unsigned int height,
+vpDisplayOpenCV::init(unsigned int w, unsigned int h,
int x, int y,
const char *title)
{
- this->width = width;
- this->height = height;
+ this->width = w;
+ this->height = h;
if (x != -1)
this->windowXPosition = x;
@@ -254,16 +275,18 @@ vpDisplayOpenCV::init(unsigned int width, unsigned int height,
this->windowYPosition = y;
int flags = CV_WINDOW_AUTOSIZE;
- if (title != NULL)
- strcpy(this->title, title) ;
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
/* Create the window*/
- if (cvNamedWindow( this->title, flags ) < 0) {
+ if (cvNamedWindow( this->title_.c_str(), flags ) < 0) {
vpERROR_TRACE("OpenCV was not built with a display device");
throw(vpDisplayException(vpDisplayException::notInitializedError,
"OpenCV was not built with a display device")) ;
}
- cvMoveWindow( this->title, this->windowXPosition, this->windowYPosition );
+ cvMoveWindow( this->title_.c_str(), this->windowXPosition, this->windowYPosition );
move = false;
lbuttondown = false;
mbuttondown = false;
@@ -271,11 +294,11 @@ vpDisplayOpenCV::init(unsigned int width, unsigned int height,
lbuttonup = false;
mbuttonup = false;
rbuttonup = false;
- cvSetMouseCallback( this->title, on_mouse, this );
+ cvSetMouseCallback( this->title_.c_str(), on_mouse, this );
/* Create background pixmap */
// background = cvCreateImage(cvSize((int)width,(int)height),IPL_DEPTH_8U,3);
//
-// cvShowImage( this->title,background);
+// cvShowImage( this->title_.c_str(),background);
col = new CvScalar[vpColor::id_unknown] ;
@@ -381,7 +404,7 @@ void vpDisplayOpenCV::setWindowPosition(int winx, int winy)
if (displayHasBeenInitialized) {
this->windowXPosition = winx;
this->windowYPosition = winy;
- cvMoveWindow( this->title, winx, winy );
+ cvMoveWindow( this->title_.c_str(), winx, winy );
}
else
{
@@ -436,18 +459,17 @@ void vpDisplayOpenCV::displayImage(const vpImage<unsigned char> &I)
\param iP : Top left corner of the region of interest
- \param width : Width of the region of interest
+ \param w, h : Width and height of the region of interest
- \param height : Height of the region of interest
-
\sa init(), closeDisplay()
*/
-void vpDisplayOpenCV::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
+void vpDisplayOpenCV::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP,
+ const unsigned int w, const unsigned int h )
{
if (displayHasBeenInitialized)
{
vpImage<unsigned char> Itemp;
- vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),height,width,Itemp);
+ vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),h,w,Itemp);
vpImage<vpRGBa> Ic;
vpImageConvert::convert(Itemp,Ic);
@@ -474,15 +496,15 @@ void vpDisplayOpenCV::displayImageROI ( const vpImage<unsigned char> &I,const vp
output = output + (int)(iP.get_i()*3*this->width+ iP.get_j()*3);
unsigned int i = 0;
- while (i < height)
+ while (i < h)
{
unsigned int j = 0;
- while (j < width)
+ while (j < w)
{
- *(output+3*j) = *(input+j*3);
- *(output+3*j+1) = *(input+j*3+1);
- *(output+3*j+2) = *(input+j*3+2);
- j++;
+ *(output+3*j) = *(input+j*3);
+ *(output+3*j+1) = *(input+j*3+1);
+ *(output+3*j+2) = *(input+j*3+2);
+ j++;
}
input = input + 3*iwidth;
output = output + 3*this->width;
@@ -543,18 +565,17 @@ void vpDisplayOpenCV::displayImage(const vpImage<vpRGBa> &I)
\param iP : Top left corner of the region of interest
- \param width : Width of the region of interest
+ \param w, h : Width and height of the region of interest
- \param height : Height of the region of interest
-
\sa init(), closeDisplay()
*/
-void vpDisplayOpenCV::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
+void vpDisplayOpenCV::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP,
+ const unsigned int w, const unsigned int h )
{
if (displayHasBeenInitialized)
{
vpImage<vpRGBa> Ic;
- vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),height,width,Ic);
+ vpImageTools::createSubImage(I,(unsigned int)iP.get_i(),(unsigned int)iP.get_j(),h,w,Ic);
CvSize size = cvSize((int)this->width, (int)this->height);
int depth = 8;
@@ -579,15 +600,15 @@ void vpDisplayOpenCV::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePo
output = output + (int)(iP.get_i()*3*this->width+ iP.get_j()*3);
unsigned int i = 0;
- while (i < height)
+ while (i < h)
{
unsigned int j = 0;
- while (j < width)
+ while (j < w)
{
- *(output+3*j) = *(input+j*3);
- *(output+3*j+1) = *(input+j*3+1);
- *(output+3*j+2) = *(input+j*3+2);
- j++;
+ *(output+3*j) = *(input+j*3);
+ *(output+3*j+1) = *(input+j*3+1);
+ *(output+3*j+2) = *(input+j*3+2);
+ j++;
}
input = input + 3*iwidth;
output = output + 3*this->width;
@@ -635,7 +656,7 @@ void vpDisplayOpenCV::closeDisplay()
}
if (displayHasBeenInitialized) {
- cvDestroyWindow( this->title );
+ cvDestroyWindow( this->title_.c_str() );
displayHasBeenInitialized= false;
}
@@ -651,7 +672,7 @@ void vpDisplayOpenCV::flushDisplay()
{
if (displayHasBeenInitialized)
{
- cvShowImage(this->title, background );
+ cvShowImage(this->title_.c_str(), background );
cvWaitKey(5);
}
else
@@ -671,7 +692,7 @@ void vpDisplayOpenCV::flushDisplayROI(const vpImagePoint &/*iP*/, const unsigned
{
if (displayHasBeenInitialized)
{
- cvShowImage(this->title, background );
+ cvShowImage(this->title_.c_str(), background );
cvWaitKey(5);
}
else
@@ -1035,7 +1056,7 @@ void vpDisplayOpenCV::displayPoint(const vpImagePoint &ip,
width and \e height the rectangle size.
\param topLeft : Top-left corner of the rectangle.
- \param width,height : Rectangle size.
+ \param w,h : Rectangle size in terms of width and height.
\param color : Rectangle color.
\param fill : When set to true fill the rectangle.
@@ -1045,7 +1066,7 @@ void vpDisplayOpenCV::displayPoint(const vpImagePoint &ip,
*/
void
vpDisplayOpenCV::displayRectangle(const vpImagePoint &topLeft,
- unsigned int width, unsigned int height,
+ unsigned int w, unsigned int h,
const vpColor &color, bool fill,
unsigned int thickness)
{
@@ -1053,41 +1074,40 @@ vpDisplayOpenCV::displayRectangle(const vpImagePoint &topLeft,
{
if (fill == false) {
if (color.id < vpColor::id_unknown) {
- cvRectangle( background,
- cvPoint( vpMath::round( topLeft.get_u() ),
- vpMath::round( topLeft.get_v() ) ),
- cvPoint( vpMath::round( topLeft.get_u()+width ),
- vpMath::round( topLeft.get_v()+height ) ),
- col[color.id], (int)thickness);
+ cvRectangle( background,
+ cvPoint( vpMath::round( topLeft.get_u() ),
+ vpMath::round( topLeft.get_v() ) ),
+ cvPoint( vpMath::round( topLeft.get_u()+w ),
+ vpMath::round( topLeft.get_v()+h ) ),
+ col[color.id], (int)thickness);
}
else {
- cvcolor = CV_RGB(color.R, color.G, color.B) ;
- cvRectangle( background,
- cvPoint( vpMath::round( topLeft.get_u() ),
- vpMath::round( topLeft.get_v() ) ),
- cvPoint( vpMath::round( topLeft.get_u()+width ),
- vpMath::round( topLeft.get_v()+height ) ),
- cvcolor, (int)thickness);
+ cvcolor = CV_RGB(color.R, color.G, color.B) ;
+ cvRectangle( background,
+ cvPoint( vpMath::round( topLeft.get_u() ),
+ vpMath::round( topLeft.get_v() ) ),
+ cvPoint( vpMath::round( topLeft.get_u()+w ),
+ vpMath::round( topLeft.get_v()+h ) ),
+ cvcolor, (int)thickness);
}
}
else {
if (color.id < vpColor::id_unknown) {
- cvRectangle( background,
- cvPoint( vpMath::round( topLeft.get_u() ),
- vpMath::round( topLeft.get_v() ) ),
- cvPoint( vpMath::round( topLeft.get_u()+width ),
- vpMath::round( topLeft.get_v()+height ) ),
- col[color.id], CV_FILLED);
+ cvRectangle( background,
+ cvPoint( vpMath::round( topLeft.get_u() ),
+ vpMath::round( topLeft.get_v() ) ),
+ cvPoint( vpMath::round( topLeft.get_u()+w ),
+ vpMath::round( topLeft.get_v()+h ) ),
+ col[color.id], CV_FILLED);
}
else {
- cvcolor = CV_RGB(color.R, color.G, color.B) ;
- cvRectangle( background,
- cvPoint( vpMath::round( topLeft.get_u() ),
- vpMath::round( topLeft.get_v() ) ),
- cvPoint( vpMath::round( topLeft.get_u()+width ),
- vpMath::round( topLeft.get_v()+height ) ),
- cvcolor, CV_FILLED);
-
+ cvcolor = CV_RGB(color.R, color.G, color.B) ;
+ cvRectangle( background,
+ cvPoint( vpMath::round( topLeft.get_u() ),
+ vpMath::round( topLeft.get_v() ) ),
+ cvPoint( vpMath::round( topLeft.get_u()+w ),
+ vpMath::round( topLeft.get_v()+h ) ),
+ cvcolor, CV_FILLED);
}
}
}
diff --git a/src/device/display/vpDisplayOpenCV.h b/src/device/display/vpDisplayOpenCV.h
index d27158e..cd435c9 100644
--- a/src/device/display/vpDisplayOpenCV.h
+++ b/src/device/display/vpDisplayOpenCV.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayOpenCV.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplayOpenCV.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/vpDisplayX.cpp b/src/device/display/vpDisplayX.cpp
index 0fdebd9..b828e86 100644
--- a/src/device/display/vpDisplayX.cpp
+++ b/src/device/display/vpDisplayX.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayX.cpp 4174 2013-03-22 10:28:41Z fspindle $
+ * $Id: vpDisplayX.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -79,8 +79,9 @@
vpDisplayX::vpDisplayX ( vpImage<unsigned char> &I,
int x,
int y,
- const char *title ) : vpDisplay()
+ const char *title )
{
+ size = 0;
x_color = NULL;
init ( I, x, y, title ) ;
}
@@ -98,8 +99,9 @@ vpDisplayX::vpDisplayX ( vpImage<unsigned char> &I,
vpDisplayX::vpDisplayX ( vpImage<vpRGBa> &I,
int x,
int y,
- const char *title ) : vpDisplay()
+ const char *title )
{
+ size = 0;
x_color = NULL;
init ( I, x, y, title ) ;
}
@@ -126,7 +128,7 @@ int main()
}
\endcode
*/
-vpDisplayX::vpDisplayX ( int x, int y, const char *title ) : vpDisplay()
+vpDisplayX::vpDisplayX ( int x, int y, const char *title )
{
windowXPosition = x ;
windowYPosition = y ;
@@ -134,9 +136,13 @@ vpDisplayX::vpDisplayX ( int x, int y, const char *title ) : vpDisplay()
this->x_color = NULL;
if (title != NULL)
- strcpy (this->title, title);
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
ximage_data_init = false;
+
+ size = 0;
}
/*!
@@ -158,10 +164,11 @@ int main()
}
\endcode
*/
-vpDisplayX::vpDisplayX() : vpDisplay()
+vpDisplayX::vpDisplayX()
{
x_color = NULL;
ximage_data_init = false;
+ size = 0;
}
/*!
@@ -195,8 +202,10 @@ vpDisplayX::init ( vpImage<unsigned char> &I, int x, int y, const char *title )
if (y != -1)
windowYPosition = y ;
- if ( title != NULL )
- strcpy ( this->title, title ) ;
+ if (title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
// Positionnement de la fenetre dans l'�cran.
if ( ( windowXPosition < 0 ) || ( windowYPosition < 0 ) )
@@ -568,7 +577,7 @@ vpDisplayX::init ( vpImage<unsigned char> &I, int x, int y, const char *title )
}
}
- XSetStandardProperties ( display, window, this->title, this->title, None, 0, 0, &hints );
+ XSetStandardProperties ( display, window, this->title_.c_str(), this->title_.c_str(), None, 0, 0, &hints );
XMapWindow ( display, window ) ;
// Selection des evenements.
XSelectInput ( display, window,
@@ -612,7 +621,9 @@ vpDisplayX::init ( vpImage<unsigned char> &I, int x, int y, const char *title )
}
displayHasBeenInitialized = true ;
- setTitle ( this->title ) ;
+
+ XStoreName ( display, window, title_.c_str() );
+
XSync ( display, 1 );
I.display = this ;
@@ -642,10 +653,12 @@ vpDisplayX::init ( vpImage<vpRGBa> &I, int x, int y, const char *title )
x_color= new unsigned long [vpColor::id_unknown];
}
- if ( title != NULL )
- strcpy ( this->title, title ) ;
+ if (title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
- // Positionnement de la fenetre dans l'�cran.
+ // Positionnement de la fenetre dans l'ecran.
if ( ( windowXPosition < 0 ) || ( windowYPosition < 0 ) )
{
hints.flags = 0;
@@ -1019,7 +1032,7 @@ vpDisplayX::init ( vpImage<vpRGBa> &I, int x, int y, const char *title )
}
}
- XSetStandardProperties ( display, window, this->title, this->title, None, 0, 0, &hints );
+ XSetStandardProperties ( display, window, this->title_.c_str(), this->title_.c_str(), None, 0, 0, &hints );
XMapWindow ( display, window ) ;
// Selection des evenements.
XSelectInput ( display, window,
@@ -1067,7 +1080,8 @@ vpDisplayX::init ( vpImage<vpRGBa> &I, int x, int y, const char *title )
displayHasBeenInitialized = true ;
XSync ( display, true );
- setTitle ( this->title ) ;
+
+ XStoreName ( display, window, title_.c_str() );
I.display = this ;
}
@@ -1076,17 +1090,15 @@ vpDisplayX::init ( vpImage<vpRGBa> &I, int x, int y, const char *title )
/*!
Initialize the display size, position and title.
- \param width, height : Width and height of the window.
+ \param w, h : Width and height of the window.
\param x, y : The window is set at position x,y (column index, row index).
\param title : Window title.
*/
-void vpDisplayX::init ( unsigned int width, unsigned int height,
- int x, int y, const char *title )
+void vpDisplayX::init ( unsigned int w, unsigned int h, int x, int y, const char *title )
{
-
/* setup X11 ------------------------------------------------------------- */
- this->width = width;
- this->height = height;
+ this->width = w;
+ this->height = h;
XSizeHints hints;
@@ -1106,8 +1118,10 @@ void vpDisplayX::init ( unsigned int width, unsigned int height,
hints.y = windowYPosition;
}
- if ( title != NULL )
- strcpy ( this->title, title ) ;
+ if (title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
if ( ( display = XOpenDisplay ( NULL ) ) == NULL )
{
@@ -1489,7 +1503,7 @@ void vpDisplayX::init ( unsigned int width, unsigned int height,
}
}
- XSetStandardProperties ( display, window, this->title, this->title, None, 0, 0, &hints );
+ XSetStandardProperties ( display, window, this->title_.c_str(), this->title_.c_str(), None, 0, 0, &hints );
XMapWindow ( display, window ) ;
// Selection des evenements.
XSelectInput ( display, window,
@@ -1534,8 +1548,8 @@ void vpDisplayX::init ( unsigned int width, unsigned int height,
displayHasBeenInitialized = true ;
XSync ( display, true );
- setTitle ( this->title ) ;
+ XStoreName ( display, window, title_.c_str() );
}
/*!
@@ -1588,7 +1602,11 @@ vpDisplayX::setTitle ( const char *title )
{
if ( displayHasBeenInitialized )
{
- XStoreName ( display, window, title );
+ if(title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
+ XStoreName ( display, window, title_.c_str() );
}
else
{
@@ -1647,11 +1665,11 @@ void vpDisplayX::displayImage ( const vpImage<unsigned char> &I )
// ROUGE, VERT, BLEU, JAUNE
{
unsigned int i = 0;
- unsigned int size = width * height;
+ unsigned int size_ = width * height;
unsigned char nivGris;
unsigned char nivGrisMax = 255 - vpColor::id_unknown;
- while ( i < size )
+ while ( i < size_ )
{
nivGris = src_8[i] ;
if ( nivGris > nivGrisMax )
@@ -1694,10 +1712,10 @@ void vpDisplayX::displayImage ( const vpImage<unsigned char> &I )
default:
{
unsigned char *dst_32 = NULL;
- unsigned int size = width * height ;
+ unsigned int size_ = width * height ;
dst_32 = ( unsigned char* ) Ximage->data;
unsigned char *bitmap = I.bitmap ;
- unsigned char *n = I.bitmap + size;
+ unsigned char *n = I.bitmap + size_;
//for (unsigned int i = 0; i < size; i++) // suppression de l'iterateur i
while ( bitmap < n )
{
@@ -1852,136 +1870,135 @@ void vpDisplayX::displayImage ( const unsigned char *I )
\param iP : Top left corner of the region of interest
- \param width : Width of the region of interest
+ \param w, h : Width and height of the region of interest
- \param height : Height of the region of interest
-
\sa init(), closeDisplay()
*/
-void vpDisplayX::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
+void vpDisplayX::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP,
+ const unsigned int w, const unsigned int h )
{
if ( displayHasBeenInitialized )
{
switch ( screen_depth )
{
- case 8:
+ case 8:
+ {
+ unsigned char *src_8 = NULL;
+ unsigned char *dst_8 = NULL;
+ src_8 = ( unsigned char * ) I.bitmap;
+ dst_8 = ( unsigned char * ) Ximage->data;
+ // Correction de l'image de facon a liberer les niveaux de gris
+ // ROUGE, VERT, BLEU, JAUNE
{
- unsigned char *src_8 = NULL;
- unsigned char *dst_8 = NULL;
- src_8 = ( unsigned char * ) I.bitmap;
- dst_8 = ( unsigned char * ) Ximage->data;
- // Correction de l'image de facon a liberer les niveaux de gris
- // ROUGE, VERT, BLEU, JAUNE
+ //int size = width * height;
+ unsigned char nivGris;
+ unsigned char nivGrisMax = 255 - vpColor::id_unknown;
+
+ //unsigned int iwidth = I.getWidth();
+ unsigned int iwidth = I.getWidth();
+
+ src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
+ dst_8 = dst_8 + (int)(iP.get_i()*this->height+ iP.get_j());
+
+ unsigned int i = 0;
+ while (i < h)
{
- //int size = width * height;
- unsigned char nivGris;
- unsigned char nivGrisMax = 255 - vpColor::id_unknown;
-
- //unsigned int iwidth = I.getWidth();
- unsigned int iwidth = I.getWidth();
-
- src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
- dst_8 = dst_8 + (int)(iP.get_i()*this->height+ iP.get_j());
-
- unsigned int i = 0;
- while (i < height)
- {
- unsigned int j = 0;
- while (j < width)
- {
- nivGris = *(src_8+j);
- if ( nivGris > nivGrisMax )
- *(dst_8+j) = 255;
- else
- *(dst_8+j) = nivGris;
- j++;
- }
- src_8 = src_8 + iwidth;
- dst_8 = dst_8 + this->height;
- i++;
- }
+ unsigned int j = 0;
+ while (j < w)
+ {
+ nivGris = *(src_8+j);
+ if ( nivGris > nivGrisMax )
+ *(dst_8+j) = 255;
+ else
+ *(dst_8+j) = nivGris;
+ j++;
+ }
+ src_8 = src_8 + iwidth;
+ dst_8 = dst_8 + this->height;
+ i++;
}
-
- // Affichage de l'image dans la Pixmap.
- XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), width, height );
- XSetWindowBackgroundPixmap ( display, window, pixmap );
-// XClearWindow ( display, window );
-// XSync ( display,1 );
- break;
}
- case 16:
- {
- unsigned short *dst_16 = NULL;
- dst_16 = ( unsigned short* ) Ximage->data;
- unsigned char *src_8 = NULL;
- src_8 = ( unsigned char * ) I.bitmap;
-
- unsigned int iwidth = I.getWidth();
-
- src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
- dst_16 = dst_16 + (int)(iP.get_i()*this->height+ iP.get_j());
-
- unsigned int i = 0;
- while (i < height)
- {
- unsigned int j = 0;
- while (j < width)
- {
- *(dst_16+j) = ( unsigned short ) colortable[*(src_8+j)];
- j++;
- }
- src_8 = src_8 + iwidth;
- dst_16 = dst_16 + this->height;
- i++;
- }
- // Affichage de l'image dans la Pixmap.
- XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), width, height );
- XSetWindowBackgroundPixmap ( display, window, pixmap );
-// XClearWindow ( display, window );
-// XSync ( display,1 );
- break;
- }
+ // Affichage de l'image dans la Pixmap.
+ XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), w, h );
+ XSetWindowBackgroundPixmap ( display, window, pixmap );
+ // XClearWindow ( display, window );
+ // XSync ( display,1 );
+ break;
+ }
+ case 16:
+ {
+ unsigned short *dst_16 = NULL;
+ dst_16 = ( unsigned short* ) Ximage->data;
+ unsigned char *src_8 = NULL;
+ src_8 = ( unsigned char * ) I.bitmap;
- case 24:
- default:
+ unsigned int iwidth = I.getWidth();
+
+ src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
+ dst_16 = dst_16 + (int)(iP.get_i()*this->height+ iP.get_j());
+
+ unsigned int i = 0;
+ while (i < h)
{
- unsigned char *dst_32 = NULL;
- //unsigned int size = width * height ;
- dst_32 = ( unsigned char* ) Ximage->data;
- unsigned char *src_8 = I.bitmap ;
- //unsigned char *n = I.bitmap + size;
-
- unsigned int iwidth = I.getWidth();
-
- src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
- dst_32 = dst_32 + (int)(iP.get_i()*4*this->width+ iP.get_j()*4);
-
- unsigned int i = 0;
- while (i < height)
- {
- unsigned int j = 0;
- while (j < width)
- {
- unsigned char val = *(src_8+j);
- *(dst_32+4*j) = val;
- *(dst_32+4*j+1) = val;
- *(dst_32+4*j+2) = val;
- *(dst_32+4*j+3) = val;
- j++;
- }
- src_8 = src_8 + iwidth;
- dst_32 = dst_32 + 4*this->width;
- i++;
- }
+ unsigned int j = 0;
+ while (j < w)
+ {
+ *(dst_16+j) = ( unsigned short ) colortable[*(src_8+j)];
+ j++;
+ }
+ src_8 = src_8 + iwidth;
+ dst_16 = dst_16 + this->height;
+ i++;
+ }
- // Affichage de l'image dans la Pixmap.
- XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), width, height );
- XSetWindowBackgroundPixmap ( display, window, pixmap );
-// XClearWindow ( display, window );
-// XSync ( display,1 );
- break;
+ // Affichage de l'image dans la Pixmap.
+ XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), w, h );
+ XSetWindowBackgroundPixmap ( display, window, pixmap );
+ // XClearWindow ( display, window );
+ // XSync ( display,1 );
+ break;
+ }
+
+ case 24:
+ default:
+ {
+ unsigned char *dst_32 = NULL;
+ //unsigned int size = width * height ;
+ dst_32 = ( unsigned char* ) Ximage->data;
+ unsigned char *src_8 = I.bitmap ;
+ //unsigned char *n = I.bitmap + size;
+
+ unsigned int iwidth = I.getWidth();
+
+ src_8 = src_8 + (int)(iP.get_i()*iwidth+ iP.get_j());
+ dst_32 = dst_32 + (int)(iP.get_i()*4*this->width+ iP.get_j()*4);
+
+ unsigned int i = 0;
+ while (i < h)
+ {
+ unsigned int j = 0;
+ while (j < w)
+ {
+ unsigned char val = *(src_8+j);
+ *(dst_32+4*j) = val;
+ *(dst_32+4*j+1) = val;
+ *(dst_32+4*j+2) = val;
+ *(dst_32+4*j+3) = val;
+ j++;
+ }
+ src_8 = src_8 + iwidth;
+ dst_32 = dst_32 + 4*this->width;
+ i++;
}
+
+ // Affichage de l'image dans la Pixmap.
+ XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), w, h );
+ XSetWindowBackgroundPixmap ( display, window, pixmap );
+ // XClearWindow ( display, window );
+ // XSync ( display,1 );
+ break;
+ }
}
}
else
@@ -2004,74 +2021,72 @@ void vpDisplayX::displayImageROI ( const vpImage<unsigned char> &I,const vpImage
\param iP : Top left corner of the region of interest
- \param width : Width of the region of interest
+ \param w, h : Width and height of the region of interest
- \param height : Height of the region of interest
-
\sa init(), closeDisplay()
*/
-void vpDisplayX::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
+void vpDisplayX::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP,
+ const unsigned int w, const unsigned int h )
{
-
if ( displayHasBeenInitialized )
{
switch ( screen_depth )
{
- case 24:
- case 32:
- {
- /*
+ case 24:
+ case 32:
+ {
+ /*
* 32-bit source, 24/32-bit destination
*/
- unsigned char *dst_32 = NULL;
- dst_32 = ( unsigned char* ) Ximage->data;
- vpRGBa* src_32 = I.bitmap;
- //unsigned int sizeI = I.getWidth() * I.getHeight();
-
- unsigned int iwidth = I.getWidth();
-
- src_32 = src_32 + (int)(iP.get_i()*iwidth+ iP.get_j());
- dst_32 = dst_32 + (int)(iP.get_i()*4*this->width+ iP.get_j()*4);
-
- unsigned int i = 0;
- while (i < height)
- {
- unsigned int j = 0;
- while (j < width)
- {
+ unsigned char *dst_32 = NULL;
+ dst_32 = ( unsigned char* ) Ximage->data;
+ vpRGBa* src_32 = I.bitmap;
+ //unsigned int sizeI = I.getWidth() * I.getHeight();
+
+ unsigned int iwidth = I.getWidth();
+
+ src_32 = src_32 + (int)(iP.get_i()*iwidth+ iP.get_j());
+ dst_32 = dst_32 + (int)(iP.get_i()*4*this->width+ iP.get_j()*4);
+
+ unsigned int i = 0;
+ while (i < h)
+ {
+ unsigned int j = 0;
+ while (j < w)
+ {
#ifdef BIGENDIAN
- *(dst_32+4*j) = (src_32+j)->A;
- *(dst_32+4*j+1) = (src_32+j)->R;
- *(dst_32+4*j+2) = (src_32+j)->G;
- *(dst_32+4*j+3) = (src_32+j)->B;
+ *(dst_32+4*j) = (src_32+j)->A;
+ *(dst_32+4*j+1) = (src_32+j)->R;
+ *(dst_32+4*j+2) = (src_32+j)->G;
+ *(dst_32+4*j+3) = (src_32+j)->B;
#else
- *(dst_32+4*j) = (src_32+j)->B;
- *(dst_32+4*j+1) = (src_32+j)->G;
- *(dst_32+4*j+2) = (src_32+j)->R;
- *(dst_32+4*j+3) = (src_32+j)->A;
+ *(dst_32+4*j) = (src_32+j)->B;
+ *(dst_32+4*j+1) = (src_32+j)->G;
+ *(dst_32+4*j+2) = (src_32+j)->R;
+ *(dst_32+4*j+3) = (src_32+j)->A;
#endif
- j++;
- }
- src_32 = src_32 + iwidth;
- dst_32 = dst_32 + 4*this->width;
- i++;
- }
-
- // Affichage de l'image dans la Pixmap.
- XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), width, height );
- XSetWindowBackgroundPixmap ( display, window, pixmap );
-// XClearWindow ( display, window );
-// XSync ( display,1 );
- break;
-
+ j++;
+ }
+ src_32 = src_32 + iwidth;
+ dst_32 = dst_32 + 4*this->width;
+ i++;
}
- default:
- vpERROR_TRACE ( "Unsupported depth (%d bpp) for color display",
- screen_depth ) ;
- throw ( vpDisplayException ( vpDisplayException::depthNotSupportedError,
- "Unsupported depth for color display" ) ) ;
+
+ // Affichage de l'image dans la Pixmap.
+ XPutImage ( display, pixmap, context, Ximage, iP.get_u(), iP.get_v(), iP.get_u(), iP.get_v(), w, h );
+ XSetWindowBackgroundPixmap ( display, window, pixmap );
+ // XClearWindow ( display, window );
+ // XSync ( display,1 );
+ break;
+
+ }
+ default:
+ vpERROR_TRACE ( "Unsupported depth (%d bpp) for color display",
+ screen_depth ) ;
+ throw ( vpDisplayException ( vpDisplayException::depthNotSupportedError,
+ "Unsupported depth for color display" ) ) ;
}
}
else
@@ -2141,15 +2156,14 @@ void vpDisplayX::flushDisplay()
It's necessary to use this function to see the results of any drawing.
\param iP : Top left corner of the region of interest
- \param width : Width of the region of interest
- \param height : Height of the region of interest
+ \param w,h : Width and height of the region of interest
*/
-void vpDisplayX::flushDisplayROI(const vpImagePoint &iP, const unsigned int width, const unsigned int height)
+void vpDisplayX::flushDisplayROI(const vpImagePoint &iP, const unsigned int w, const unsigned int h)
{
if ( displayHasBeenInitialized )
{
//XClearWindow ( display, window );
- XClearArea ( display, window,iP.get_u(),iP.get_v(),width,height,0 );
+ XClearArea ( display, window,iP.get_u(),iP.get_v(),w,h,0 );
XFlush ( display );
}
else
@@ -2354,14 +2368,14 @@ void vpDisplayX::displayCircle ( const vpImagePoint ¢er,
/*!
Display a cross at the image point \e ip location.
\param ip : Cross location.
- \param size : Size (width and height) of the cross.
+ \param cross_size : Size (width and height) of the cross.
\param color : Cross color.
\param thickness : Thickness of the lines used to display the cross.
*/
void vpDisplayX::displayCross ( const vpImagePoint &ip,
- unsigned int size,
- const vpColor &color,
- unsigned int thickness)
+ unsigned int cross_size,
+ const vpColor &color,
+ unsigned int thickness)
{
if ( displayHasBeenInitialized )
{
@@ -2371,16 +2385,16 @@ void vpDisplayX::displayCross ( const vpImagePoint &ip,
double j = ip.get_j();
vpImagePoint ip1, ip2;
- ip1.set_i( i-size/2 );
+ ip1.set_i( i-cross_size/2 );
ip1.set_j( j );
- ip2.set_i( i+size/2 );
+ ip2.set_i( i+cross_size/2 );
ip2.set_j( j );
displayLine ( ip1, ip2, color, thickness ) ;
ip1.set_i( i );
- ip1.set_j( j-size/2 );
+ ip1.set_j( j-cross_size/2 );
ip2.set_i( i );
- ip2.set_j( j+size/2 );
+ ip2.set_j( j+cross_size/2 );
displayLine ( ip1, ip2, color, thickness ) ;
}
@@ -2524,7 +2538,7 @@ void vpDisplayX::displayPoint ( const vpImagePoint &ip,
width and \e height the rectangle size.
\param topLeft : Top-left corner of the rectangle.
- \param width,height : Rectangle size.
+ \param w,h : Rectangle size in terms of width and height.
\param color : Rectangle color.
\param fill : When set to true fill the rectangle.
@@ -2534,9 +2548,9 @@ void vpDisplayX::displayPoint ( const vpImagePoint &ip,
*/
void
vpDisplayX::displayRectangle ( const vpImagePoint &topLeft,
- unsigned int width, unsigned int height,
+ unsigned int w, unsigned int h,
const vpColor &color, bool fill,
- unsigned int thickness )
+ unsigned int thickness )
{
if ( displayHasBeenInitialized )
{
@@ -2558,14 +2572,14 @@ vpDisplayX::displayRectangle ( const vpImagePoint &topLeft,
XDrawRectangle ( display, pixmap, context,
vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ),
- width-1, height-1 );
+ w-1, h-1 );
}
else
{
XFillRectangle ( display, pixmap, context,
vpMath::round( topLeft.get_u() ),
vpMath::round( topLeft.get_v() ),
- width, height );
+ w, h );
}
}
else
@@ -2592,7 +2606,7 @@ void
vpDisplayX::displayRectangle ( const vpImagePoint &topLeft,
const vpImagePoint &bottomRight,
const vpColor &color, bool fill,
- unsigned int thickness )
+ unsigned int thickness )
{
if ( displayHasBeenInitialized )
{
@@ -2611,22 +2625,22 @@ vpDisplayX::displayRectangle ( const vpImagePoint &topLeft,
XSetLineAttributes ( display, context, thickness,
LineSolid, CapButt, JoinBevel );
- unsigned int width = (unsigned int)vpMath::round( std::fabs(bottomRight.get_u() - topLeft.get_u()) );
- unsigned int height = (unsigned int)vpMath::round( std::fabs(bottomRight.get_v() - topLeft.get_v()) );
+ unsigned int w = (unsigned int)vpMath::round( std::fabs(bottomRight.get_u() - topLeft.get_u()) );
+ unsigned int h = (unsigned int)vpMath::round( std::fabs(bottomRight.get_v() - topLeft.get_v()) );
if ( fill == false )
{
XDrawRectangle ( display, pixmap, context,
vpMath::round( topLeft.get_u() < bottomRight.get_u() ? topLeft.get_u() : bottomRight.get_u() ),
vpMath::round( topLeft.get_v() < bottomRight.get_v() ? topLeft.get_v() : bottomRight.get_v() ),
- width > 0 ? width-1 : 1, height > 0 ? height : 1 );
+ w > 0 ? w-1 : 1, h > 0 ? h : 1 );
}
else
{
XFillRectangle ( display, pixmap, context,
vpMath::round( topLeft.get_u() < bottomRight.get_u() ? topLeft.get_u() : bottomRight.get_u() ),
vpMath::round( topLeft.get_v() < bottomRight.get_v() ? topLeft.get_v() : bottomRight.get_v() ),
- width, height );
+ w, h );
}
}
else
@@ -3024,46 +3038,46 @@ void vpDisplayX::getImage ( vpImage<vpRGBa> &I )
*/
unsigned int vpDisplayX::getScreenDepth()
{
- Display *_display;
- int screen;
+ Display *display_;
+ int screen_;
unsigned int depth;
- if ( ( _display = XOpenDisplay ( NULL ) ) == NULL )
+ if ( ( display_ = XOpenDisplay ( NULL ) ) == NULL )
{
vpERROR_TRACE ( "Can't connect display on server %s.",
XDisplayName ( NULL ) );
throw ( vpDisplayException ( vpDisplayException::connexionError,
"Can't connect display on server." ) ) ;
}
- screen = DefaultScreen ( _display );
- depth = (unsigned int)DefaultDepth ( _display, screen );
+ screen_ = DefaultScreen ( display_ );
+ depth = (unsigned int)DefaultDepth ( display_, screen_ );
- XCloseDisplay ( _display );
+ XCloseDisplay ( display_ );
return ( depth );
}
/*!
Gets the window size.
- \param width, height : Size of the display.
+ \param w, h : Size of the display in therms of width and height.
*/
-void vpDisplayX::getScreenSize ( unsigned int &width, unsigned int &height )
+void vpDisplayX::getScreenSize ( unsigned int &w, unsigned int &h )
{
- Display *_display;
- int screen;
+ Display *display_;
+ int screen_;
- if ( ( _display = XOpenDisplay ( NULL ) ) == NULL )
+ if ( ( display_ = XOpenDisplay ( NULL ) ) == NULL )
{
vpERROR_TRACE ( "Can't connect display on server %s.",
XDisplayName ( NULL ) );
throw ( vpDisplayException ( vpDisplayException::connexionError,
"Can't connect display on server." ) ) ;
}
- screen = DefaultScreen ( _display );
- width = (unsigned int)DisplayWidth ( _display, screen );
- height = (unsigned int)DisplayHeight ( _display, screen );
+ screen_ = DefaultScreen ( display_ );
+ w = (unsigned int)DisplayWidth ( display_, screen_ );
+ h = (unsigned int)DisplayHeight ( display_, screen_ );
- XCloseDisplay ( _display );
+ XCloseDisplay ( display_ );
}
/*!
diff --git a/src/device/display/vpDisplayX.h b/src/device/display/vpDisplayX.h
index d7b9c94..dd82a4f 100644
--- a/src/device/display/vpDisplayX.h
+++ b/src/device/display/vpDisplayX.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayX.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplayX.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -174,23 +174,22 @@ public:
vpDisplayX() ;
vpDisplayX(int winx, int winy, const char *title=NULL) ;
vpDisplayX(vpImage<unsigned char> &I, int winx=-1, int winy=-1,
- const char *title=NULL) ;
+ const char *title=NULL) ;
vpDisplayX(vpImage<vpRGBa> &I, int winx=-1, int winy=-1,
- const char *title=NULL) ;
-
+ const char *title=NULL) ;
virtual ~vpDisplayX() ;
void init(vpImage<unsigned char> &I,
- int winx=-1, int winy=-1,
- const char *title=NULL) ;
+ int winx=-1, int winy=-1,
+ const char *title=NULL) ;
void init(vpImage<vpRGBa> &I,
- int winx=-1, int winy=-1,
- const char *title=NULL) ;
+ int winx=-1, int winy=-1,
+ const char *title=NULL) ;
void init(unsigned int width, unsigned int height,
- int winx=-1, int winy=-1 ,
- const char *title=NULL) ;
+ int winx=-1, int winy=-1 ,
+ const char *title=NULL) ;
unsigned int getScreenDepth();
void getScreenSize(unsigned int &width, unsigned int &height);
diff --git a/src/device/display/vpMouseButton.h b/src/device/display/vpMouseButton.h
index 138cbd7..081dd21 100755
--- a/src/device/display/vpMouseButton.h
+++ b/src/device/display/vpMouseButton.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMouseButton.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMouseButton.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpD3DRenderer.cpp b/src/device/display/windows/vpD3DRenderer.cpp
index 6af10a3..5ec259d 100755
--- a/src/device/display/windows/vpD3DRenderer.cpp
+++ b/src/device/display/windows/vpD3DRenderer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpD3DRenderer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpD3DRenderer.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -41,7 +41,7 @@
#ifndef DOXYGEN_SHOULD_SKIP_THIS
#include <visp/vpConfig.h>
-#if ( defined(WIN32) & defined(VISP_HAVE_D3D9) )
+#if ( defined(_WIN32) & defined(VISP_HAVE_D3D9) )
#include <visp/vpD3DRenderer.h>
#include <visp/vpColor.h>
diff --git a/src/device/display/windows/vpD3DRenderer.h b/src/device/display/windows/vpD3DRenderer.h
index 7edb7a9..5231be1 100755
--- a/src/device/display/windows/vpD3DRenderer.h
+++ b/src/device/display/windows/vpD3DRenderer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpD3DRenderer.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpD3DRenderer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpDisplayD3D.cpp b/src/device/display/windows/vpDisplayD3D.cpp
index a3a11d3..36d4f0c 100755
--- a/src/device/display/windows/vpDisplayD3D.cpp
+++ b/src/device/display/windows/vpDisplayD3D.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayD3D.cpp 4174 2013-03-22 10:28:41Z fspindle $
+ * $Id: vpDisplayD3D.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -45,7 +45,7 @@
*/
#include <visp/vpConfig.h>
-#if ( defined(WIN32) & defined(VISP_HAVE_D3D9) )
+#if ( defined(_WIN32) & defined(VISP_HAVE_D3D9) )
#include <visp/vpDisplayD3D.h>
#include <visp/vpD3DRenderer.h>
@@ -60,17 +60,19 @@ vpDisplayD3D::vpDisplayD3D(): vpDisplayWin32(new vpD3DRenderer()){}
\brief Constructor : Initialize a display.
\param winx, winy The window is set at position x,y (column index, row index).
- \param _title Window's title.
+ \param title Window's title.
*/
-vpDisplayD3D::vpDisplayD3D(int winx, int winy, const char *_title)
+vpDisplayD3D::vpDisplayD3D(int winx, int winy, const char *title)
: vpDisplayWin32(new vpD3DRenderer())
{
windowXPosition = winx;
windowYPosition = winy;
- if (_title != NULL)
- strcpy(this->title, _title);
+ if (title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
}
/*!
@@ -80,15 +82,15 @@ vpDisplayD3D::vpDisplayD3D(int winx, int winy, const char *_title)
\param I : Image to be displayed (note that image has to be initialized).
\param winx, winy : The window is set at position x,y (column index, row index).
-\param _title : Window's title.
+\param title : Window's title.
*/
vpDisplayD3D::vpDisplayD3D(vpImage<vpRGBa> &I,
int winx, int winy,
- const char *_title)
+ const char *title)
: vpDisplayWin32(new vpD3DRenderer())
{
- init(I,winx,winy,_title);
+ init(I,winx,winy,title);
}
/*!
@@ -98,15 +100,15 @@ vpDisplayD3D::vpDisplayD3D(vpImage<vpRGBa> &I,
\param I Image to be displayed (note that image has to be initialized).
\param winx, winy The window is set at position x,y (column index, row index).
-\param _title Window's title.
+\param title Window's title.
*/
vpDisplayD3D::vpDisplayD3D(vpImage<unsigned char> &I,
int winx, int winy,
- const char *_title)
+ const char *title)
: vpDisplayWin32(new vpD3DRenderer())
{
- init(I,winx,winy,_title);
+ init(I,winx,winy,title);
}
/*!
diff --git a/src/device/display/windows/vpDisplayD3D.h b/src/device/display/windows/vpDisplayD3D.h
index b11f7ef..dd71b66 100755
--- a/src/device/display/windows/vpDisplayD3D.h
+++ b/src/device/display/windows/vpDisplayD3D.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayD3D.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplayD3D.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -110,9 +110,9 @@ class VISP_EXPORT vpDisplayD3D : public vpDisplayWin32
{
public:
vpDisplayD3D();
- vpDisplayD3D(int winx, int winy, const char *_title=NULL);
- vpDisplayD3D(vpImage<vpRGBa> &I,int winx=-1, int winy=-1, const char *_title=NULL);
- vpDisplayD3D(vpImage<unsigned char> &I, int winx=-1, int winy=-1, const char *_title=NULL);
+ vpDisplayD3D(int winx, int winy, const char *title=NULL);
+ vpDisplayD3D(vpImage<vpRGBa> &I,int winx=-1, int winy=-1, const char *title=NULL);
+ vpDisplayD3D(vpImage<unsigned char> &I, int winx=-1, int winy=-1, const char *title=NULL);
virtual ~vpDisplayD3D();
diff --git a/src/device/display/windows/vpDisplayGDI.cpp b/src/device/display/windows/vpDisplayGDI.cpp
index 01303c0..6972110 100755
--- a/src/device/display/windows/vpDisplayGDI.cpp
+++ b/src/device/display/windows/vpDisplayGDI.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayGDI.cpp 4174 2013-03-22 10:28:41Z fspindle $
+ * $Id: vpDisplayGDI.cpp 4642 2014-02-05 12:42:30Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,17 +61,19 @@ vpDisplayGDI::vpDisplayGDI(): vpDisplayWin32(new vpGDIRenderer()){}
\brief Constructor : Initialize a display.
\param winx, winy The window is set at position x,y (column index, row index).
- \param _title Window's title.
+ \param title Window's title.
*/
-vpDisplayGDI::vpDisplayGDI(int winx, int winy, const char *_title)
+vpDisplayGDI::vpDisplayGDI(int winx, int winy, const char *title)
: vpDisplayWin32(new vpGDIRenderer())
{
windowXPosition = winx;
windowYPosition = winy;
- if (_title != NULL)
- strcpy(this->title, _title);
+ if (title != NULL)
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
}
/*!
@@ -81,15 +83,15 @@ vpDisplayGDI::vpDisplayGDI(int winx, int winy, const char *_title)
\param I : image to be displayed (note that image has to be initialized).
\param winx, winy The window is set at position x,y (column index, row index).
- \param _title Window's title.
+ \param title Window's title.
*/
vpDisplayGDI::vpDisplayGDI(vpImage<vpRGBa> &I,
int winx, int winy,
- const char *_title)
+ const char *title)
: vpDisplayWin32(new vpGDIRenderer())
{
- init(I,winx,winy,_title);
+ init(I,winx,winy,title);
}
/*!
@@ -99,15 +101,15 @@ vpDisplayGDI::vpDisplayGDI(vpImage<vpRGBa> &I,
\param I Image to be displayed (note that image has to be initialized).
\param winx, winy The window is set at position x,y (column index, row index).
- \param _title Window's title.
+ \param title Window's title.
*/
vpDisplayGDI::vpDisplayGDI(vpImage<unsigned char> &I,
int winx, int winy,
- const char *_title)
+ const char *title)
: vpDisplayWin32(new vpGDIRenderer())
{
- init(I,winx,winy,_title);
+ init(I,winx,winy,title);
}
/*!
diff --git a/src/device/display/windows/vpDisplayGDI.h b/src/device/display/windows/vpDisplayGDI.h
index 7b0f3f4..ffe1b31 100755
--- a/src/device/display/windows/vpDisplayGDI.h
+++ b/src/device/display/windows/vpDisplayGDI.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayGDI.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpDisplayGDI.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,11 +71,10 @@ int main()
vpImage<unsigned char> I; // Grey level image
// Read an image in PGM P5 format
-#ifdef UNIX
- //vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(I, "/tmp/Klimt.pgm");
-#elif WIN32
+#ifdef _WIN32
vpImageIo::read(I, "C:/temp/ViSP-images/Klimt/Klimt.pgm");
+#else
+ vpImageIo::read(I, "/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
#endif
vpDisplayGDI d;
@@ -134,9 +133,9 @@ class VISP_EXPORT vpDisplayGDI : public vpDisplayWin32
{
public:
vpDisplayGDI();
- vpDisplayGDI(int winx, int winy, const char *_title=NULL);
- vpDisplayGDI(vpImage<vpRGBa> &I,int winx=-1, int winy=-1, const char *_title=NULL);
- vpDisplayGDI(vpImage<unsigned char> &I, int winx=-1, int winy=-1, const char *_title=NULL);
+ vpDisplayGDI(int winx, int winy, const char *title=NULL);
+ vpDisplayGDI(vpImage<vpRGBa> &I,int winx=-1, int winy=-1, const char *title=NULL);
+ vpDisplayGDI(vpImage<unsigned char> &I, int winx=-1, int winy=-1, const char *title=NULL);
virtual ~vpDisplayGDI();
};
diff --git a/src/device/display/windows/vpDisplayWin32.cpp b/src/device/display/windows/vpDisplayWin32.cpp
index bb88afd..fdcbd93 100755
--- a/src/device/display/windows/vpDisplayWin32.cpp
+++ b/src/device/display/windows/vpDisplayWin32.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayWin32.cpp 4174 2013-03-22 10:28:41Z fspindle $
+ * $Id: vpDisplayWin32.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,7 +58,7 @@ const int vpDisplayWin32::MAX_INIT_DELAY = 5000;
void vpCreateWindow(threadParam * param)
{
//char* title = param->title;
- (param->vpDisp)->window.initWindow(param->title, param->x, param->y,
+ (param->vpDisp)->window.initWindow(param->title.c_str(), param->x, param->y,
param->w, param->h);
delete param;
}
@@ -150,7 +150,9 @@ void vpDisplayWin32::init(unsigned int width, unsigned int height,
const char *title)
{
if (title != NULL)
- strcpy(this->title, title) ;
+ title_ = std::string(title);
+ else
+ title_ = std::string(" ");
if (x != -1)
windowXPosition = x;
@@ -164,7 +166,7 @@ void vpDisplayWin32::init(unsigned int width, unsigned int height,
param->w = width;
param->h = height;
param->vpDisp = this;
- param->title = this->title;
+ param->title = this->title_;
//creates the window in a separate thread
hThread = CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)vpCreateWindow,
@@ -706,7 +708,7 @@ void vpDisplayWin32::flushDisplayROI(const vpImagePoint &iP, const unsigned int
//sends a message to the window
# if 1 // new version FS
- WPARAM wp = (hr1.left_top << sizeof(unsigned short)) + hr1.right_bottom;
+ WPARAM wp = (WPARAM)(hr1.left_top << sizeof(unsigned short)) + hr1.right_bottom;
LPARAM lp = (hr2.left_top << sizeof(unsigned short)) + hr2.right_bottom;
# else // produce warnings with MinGW
WPARAM wp=*((WPARAM*)(&hr1));
diff --git a/src/device/display/windows/vpDisplayWin32.h b/src/device/display/windows/vpDisplayWin32.h
index b8d9bf0..3e6e680 100755
--- a/src/device/display/windows/vpDisplayWin32.h
+++ b/src/device/display/windows/vpDisplayWin32.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplayWin32.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDisplayWin32.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,6 +46,8 @@
#ifndef vpDisplayWin32_hh
#define vpDisplayWin32_hh
+#include <string>
+
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <windows.h>
@@ -76,7 +78,7 @@ struct threadParam
unsigned int h;
//! Title of the window.
- char * title;
+ std::string title;
};
#endif /* DOXYGEN_SHOULD_SKIP_THIS */
diff --git a/src/device/display/windows/vpGDIRenderer.cpp b/src/device/display/windows/vpGDIRenderer.cpp
index 468ef7f..5a6e2f1 100755
--- a/src/device/display/windows/vpGDIRenderer.cpp
+++ b/src/device/display/windows/vpGDIRenderer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpGDIRenderer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpGDIRenderer.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpGDIRenderer.h b/src/device/display/windows/vpGDIRenderer.h
index 9db8183..ca9631d 100755
--- a/src/device/display/windows/vpGDIRenderer.h
+++ b/src/device/display/windows/vpGDIRenderer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpGDIRenderer.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpGDIRenderer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpWin32API.cpp b/src/device/display/windows/vpWin32API.cpp
index a134230..c396c28 100644
--- a/src/device/display/windows/vpWin32API.cpp
+++ b/src/device/display/windows/vpWin32API.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWin32API.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpWin32API.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpWin32API.h b/src/device/display/windows/vpWin32API.h
index e5fcb86..9dfd757 100644
--- a/src/device/display/windows/vpWin32API.h
+++ b/src/device/display/windows/vpWin32API.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWin32API.h 4058 2013-01-06 14:59:58Z fspindle $
+ * $Id: vpWin32API.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpWin32Renderer.h b/src/device/display/windows/vpWin32Renderer.h
index 2dee893..5602b09 100755
--- a/src/device/display/windows/vpWin32Renderer.h
+++ b/src/device/display/windows/vpWin32Renderer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWin32Renderer.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpWin32Renderer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpWin32Window.cpp b/src/device/display/windows/vpWin32Window.cpp
index f6ea76b..e72a3b6 100755
--- a/src/device/display/windows/vpWin32Window.cpp
+++ b/src/device/display/windows/vpWin32Window.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWin32Window.cpp 4304 2013-07-04 14:29:24Z fspindle $
+ * $Id: vpWin32Window.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/display/windows/vpWin32Window.h b/src/device/display/windows/vpWin32Window.h
index 7a609e3..a3ea37c 100755
--- a/src/device/display/windows/vpWin32Window.h
+++ b/src/device/display/windows/vpWin32Window.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWin32Window.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpWin32Window.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/1394/vp1394CMUGrabber.cpp b/src/device/framegrabber/1394/vp1394CMUGrabber.cpp
index 2529bcc..0e7dac0 100644
--- a/src/device/framegrabber/1394/vp1394CMUGrabber.cpp
+++ b/src/device/framegrabber/1394/vp1394CMUGrabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vp1394CMUGrabber.cpp 4204 2013-04-10 16:51:46Z fspindle $
+ * $Id: vp1394CMUGrabber.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/1394/vp1394CMUGrabber.h b/src/device/framegrabber/1394/vp1394CMUGrabber.h
index cb45e1d..c34a837 100644
--- a/src/device/framegrabber/1394/vp1394CMUGrabber.h
+++ b/src/device/framegrabber/1394/vp1394CMUGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vp1394CMUGrabber.h 4216 2013-04-17 09:06:18Z fspindle $
+ * $Id: vp1394CMUGrabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/1394/vp1394Grabber.cpp b/src/device/framegrabber/1394/vp1394Grabber.cpp
deleted file mode 100644
index 7312e95..0000000
--- a/src/device/framegrabber/1394/vp1394Grabber.cpp
+++ /dev/null
@@ -1,2394 +0,0 @@
-/****************************************************************************
- *
- * $Id: vp1394Grabber.cpp 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Firewire cameras video capture.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-
-
-/*!
- \file vp1394Grabber.cpp
- \brief member functions for firewire cameras
- \ingroup libdevice
-*/
-#include <iostream>
-
-#include <visp/vpConfig.h>
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-#if defined(VISP_HAVE_DC1394_1)
-
-
-
-#include <visp/vp1394Grabber.h>
-#include <visp/vpFrameGrabberException.h>
-#include <visp/vpImageIo.h>
-#include <visp/vpImageConvert.h>
-
-const int vp1394Grabber::DROP_FRAMES = 1; /*!< With libdc1394-1.0.0 or more rencent versions, DROP_FRAMES has to be set to 1 in order to suppress the latency. */
-const int vp1394Grabber::NUM_BUFFERS = 8; /*!< Number of buffers */
-const int vp1394Grabber::MAX_PORTS = 4; /*!< Maximal number of ports */
-const int vp1394Grabber::MAX_CAMERAS = 8; /*!< Maximal number of cameras */
-
-const char * vp1394Grabber::strFormats[NUM_FORMATS]= {
- "Format_0",
- "Format_1",
- "Format_2",
- "Reserved", // 3 reserved formats
- "Reserved",
- "Reserved",
- "Format_6",
- "Format_7"
-};
-
-const char * vp1394Grabber::strModesInFormat0[NUM_FORMAT0_MODES]= {
- "Format_0, Mode_0: 160x120 YUV (4:4:4)",
- "Format_0, Mode_1: 320x240 YUV (4:2:2)",
- "Format_0, Mode_2: 640x480 YUV (4:1:1)",
- "Format_0, Mode_3: 640x480 YUV (4:2:2)",
- "Format_0, Mode_4: 640x480 RGB 24bpp",
- "Format_0, Mode_5: 640x480 Mono 8bpp",
- "Format_0, Mode_6: 640x480 Mono 16bpp"
-};
-
-const char * vp1394Grabber::strModesInFormat1[NUM_FORMAT1_MODES]= {
- "Format_1, Mode_0: 800x600 YUV (4:2:2)",
- "Format_1, Mode_1: 800x600 RGB 24bpp",
- "Format_1, Mode_2: 800x600 Mono 8bpp",
- "Format_1, Mode_3: 1024x768 YUV (4:2:2)",
- "Format_1, Mode_4: 1024x768 RGB 24bpp",
- "Format_1, Mode_5: 1024x768 Mono 8bpp",
- "Format_1, Mode_6: 800x600 Mono 16bpp",
- "Format_1, Mode_7: 1024x768 Mono 16bpp"
-};
-
-const char * vp1394Grabber::strModesInFormat2[NUM_FORMAT2_MODES]= {
- "Format_2, Mode_0: 1280x960 YUV (4:2:2)",
- "Format_2, Mode_1: 1280x960 RGB 24bpp",
- "Format_2, Mode_2: 1280x960 Mono 8bpp",
- "Format_2, Mode_3: 1600x1200 YUV (4:2:2)",
- "Format_2, Mode_4: 1600x1200 RGB 24bpp",
- "Format_2, Mode_5: 1600x1200 Mono 8bpp",
- "Format_2, Mode_6: 1280x960 Mono 16bpp",
- "Format_2, Mode_7: 1600x1200 Mono 16bpp"
-};
-
-const char * vp1394Grabber::strModesInFormat6[NUM_FORMAT6_MODES]= {
- "Format6, Mode_0: EXIT (not supported)"
-};
-
-const char * vp1394Grabber::strModesInFormat7[NUM_MODE_FORMAT7]= {
- "Format_7, Mode_0",
- "Format_7, Mode_1",
- "Format_7, Mode_2",
- "Format_7, Mode_3",
- "Format_7, Mode_4",
- "Format_7, Mode_5",
- "Format_7, Mode_6",
- "Format_7, Mode_7"
-};
-
-const char * vp1394Grabber::strColorsInFormat7[NUM_COLOR_FORMAT7] = {
- "Format_7 Color, Mono 8bpp",
- "Format_7 Color, YUV 4:1:1",
- "Format_7 Color, YUV 4:2:2",
- "Format_7 Color, YUV 4:4:4",
- "Format_7 Color, RGB 24bpp",
- "Format_7 Color, Mono 16bpp",
- "Format_7 Color, RGB 48bpp"
-};
-
-const char * vp1394Grabber::strFramerates[NUM_FRAMERATES] = {
- "1.875 Hz",
- "3.75 Hz",
- "7.5 Hz",
- "15 Hz",
- "30 Hz",
- "60 Hz"
-};
-
-/*!
- \deprecated This class is deprecated. You shoud use
- vp1394TwoGrabber class instead.
-
- Default constructor. Using this constructor, you have explicitly to call
- open().
-
- By default:
- - the camera is the first found on the bus,
-
- Current camera settings can be changed using setCamera(),
- setFormat(), setMode() or setFramerate() after a call to open(). The
- list of supported formats, modes and framerates is available using
- respectively getFormatSupported(), getModeSupported(),
- getFramerateSupported().
-
- \code
- vpImage<unsigned char> I;
- vp1394Grabber g;
- g.open(I);
- g.setFormat(FORMAT_VGA_NONCOMPRESSED); // Format_0
- g.setMode(MODE_640x480_MONO); // Mode 5
- g.setFramerate(FRAMERATE_15); // 15 fps
- \endcode
-
- \sa open(), setCamera(), setFormat(), setMode(), setFramerate()
-
-*/
-vp1394Grabber::vp1394Grabber( )
-{
- sprintf(device_name, "/dev/video1394/0");
-
- // allocations
- handles = new raw1394handle_t [vp1394Grabber::MAX_CAMERAS];
- cameras = new dc1394_cameracapture [vp1394Grabber::MAX_CAMERAS];
- cam_count = new int [vp1394Grabber::MAX_CAMERAS];
- pformat = new int [vp1394Grabber::MAX_CAMERAS];
- pmode = new int [vp1394Grabber::MAX_CAMERAS];
- pframerate = new int [vp1394Grabber::MAX_CAMERAS];
- _width = new int [vp1394Grabber::MAX_CAMERAS];
- _height = new int [vp1394Grabber::MAX_CAMERAS];
- image_format = new vp1394ImageFormatType [vp1394Grabber::MAX_CAMERAS];
-
- // Camera settings initialisation
- for (int i=0; i < vp1394Grabber::MAX_CAMERAS; i ++) {
- pformat[i] = 0;
- pmode[i] = 0;
- pframerate[i] = 0;
- }
- verbose = false;
-
- iso_transmission_started = false;
- handle_created = false;
- camera_found = false;
- dma_started = false;
- num_cameras = 0;
- camera = 0; // the first camera on the bus
-
- // Image settings
- for (int i=0; i < vp1394Grabber::MAX_CAMERAS; i ++) {
- _width[i] = 0;
- _height[i] = 0;
- image_format[i] = RGB;
- }
-
- init = false ;
-}
-
-/*!
-
- \deprecated This class is deprecated. You shoud use
- vp1394TwoGrabber class instead.
-
- Constructor which initialize the grabber and call the open() method.
-
- \param I : Image data structure (8 bits image)
-
- By default:
- - the camera is the first found on the bus,
-
- Current camera settings can be changed using setCamera(),
- setFormat(), setMode() or setFramerate() after a call to open(). The
- list of supported formats, modes and framerates is available using
- respectively getFormatSupported(), getModeSupported(),
- getFramerateSupported().
-
- \code
- vpImage<unsigned char> I;
- vp1394Grabber g(I);
- g.setFormat(FORMAT_VGA_NONCOMPRESSED); // Format_0
- g.setMode(MODE_640x480_MONO); // Mode 5
- g.setFramerate(FRAMERATE_15); // 15 fps
- \endcode
-
- \sa setCamera(), setFormat(), setMode(), setFramerate()
-*/
-vp1394Grabber::vp1394Grabber(vpImage<unsigned char> &I)
-{
- sprintf(device_name, "/dev/video1394/0");
-
- // allocations
- handles = new raw1394handle_t [vp1394Grabber::MAX_CAMERAS];
- cameras = new dc1394_cameracapture [vp1394Grabber::MAX_CAMERAS];
- cam_count = new int [vp1394Grabber::MAX_CAMERAS];
- pformat = new int [vp1394Grabber::MAX_CAMERAS];
- pmode = new int [vp1394Grabber::MAX_CAMERAS];
- pframerate = new int [vp1394Grabber::MAX_CAMERAS];
- _width = new int [vp1394Grabber::MAX_CAMERAS];
- _height = new int [vp1394Grabber::MAX_CAMERAS];
- image_format = new vp1394ImageFormatType [vp1394Grabber::MAX_CAMERAS];
-
- // Camera settings
- for (int i=0; i < vp1394Grabber::MAX_CAMERAS; i ++) {
- pformat[i] = 0;
- pmode[i] = 0;
- pframerate[i] = 0;
- }
- verbose = false;
-
- iso_transmission_started = false;
- handle_created = false;
- camera_found = false;
- num_cameras = 0;
- camera = 0; // the first camera on the bus
-
- // Image settings
- for (int i=0; i < vp1394Grabber::MAX_CAMERAS; i ++) {
- _width[i] = 0;
- _height[i] = 0;
- image_format[i] = RGB;
- }
-
- init = false ;
-
- open ( I ) ;
-}
-
-/*!
-
- Destructor.
-
- Stops the iso transmission and close the device.
-
- \sa close()
-
-*/
-vp1394Grabber::~vp1394Grabber()
-{
- close();
-}
-
-/*!
-
- If multiples cameras are connected on the bus, select the camero to dial
- with.
-
- \param camera : A camera. The value must be comprised between 0 (the first
- camera) and the number of cameras found on the bus and returned by
- getNumCameras(). If two cameras are connected on the bus, setting \e camera
- to one allows to communicate with the second one.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not reachable.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \code
- vpImage<unsigned char> I;
- vp1394Grabber g;
- g.open(I);
- unsigned int num_cameras; // Number of cameras on the bus
- g.getNumCameras(num_cameras);
- g.setCamera(num_cameras-1); // To dial with the last camera on the bus
- g.acquire(I); // I contains the frame captured by the last camera on the bus
- \endcode
-
- \sa setFormat(), setMode(), setFramerate(), open(), getNumCameras()
-
-*/
-void
-vp1394Grabber::setCamera(unsigned int camera)
-{
- if (camera >= num_cameras) {
- close();
- vpERROR_TRACE("The required camera is not present");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "The required camera is not present") );
- }
-
- this->camera = camera;
-
-}
-/*!
-
- Get the active camera on the bus.
-
- \param camera : A camera id. The value is comprised between 0 (the first
- camera) and the number of cameras found on the bus and returned by
- getNumCameras().
-
- \sa setCamera(), getNumCameras()
-
-*/
-void
-vp1394Grabber::getCamera(unsigned int &camera)
-{
- camera = this->camera;
-
-}
-/*!
-
- Set the capture format for a given camera on the bus. To set the format for a
- specific camera, call setCamera() before.
-
- \param format : The camera image format. The current camera format is given by
- getFormat(). The camera supported formats are given by
- getFormatSupported(). The allowed values given in
- libdc1394/dc1394_control.h are:
- - FORMAT_VGA_NONCOMPRESSED for the Format_0
- - FORMAT_SVGA_NONCOMPRESSED_1 for the Format_1
- - FORMAT_SVGA_NONCOMPRESSED_2 for the Format_2
- - FORMAT_STILL_IMAGE for the Format_6
- - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
-
- \warning The requested format is sent to the camera only after a call to
- close(). Depending on the format and the camera mode, image size can differ.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa setMode(), setFramerate(), open(), setCamera(), getNumCameras()
-
-*/
-void
-vp1394Grabber::setFormat(int format)
-{
- if (iso_transmission_started == true) {
-
- stopIsoTransmission();
-
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_dma_unlisten( handles[i], &cameras[i] );
- iso_transmission_started = false;
- }
-
- this->pformat[camera] = format;
-
- setup();
- startIsoTransmission();
-}
-
-/*!
-
- Query the actual capture format of a given camera. The camera supported
- formats are given by getFormatSupported().
-
- \warning Before requerying the actual format a handle must
- be created by calling open(), and a camera must be connected.
-
- \param format : The camera capture format (see file
- libdc1394/dc1394_control.h), either :
-
- - FORMAT_VGA_NONCOMPRESSED for the Format_0
- - FORMAT_SVGA_NONCOMPRESSED_1 for the Format_1
- - FORMAT_SVGA_NONCOMPRESSED_2 for the Format_2
- - FORMAT_STILL_IMAGE for the Format_6
- - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present or if an error occurs.
-
- \sa setFormat(), getFormatSupported(), open(), setCamera(), getNumCameras()
-
-*/
-void
-vp1394Grabber::getFormat(int & format)
-{
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- if(dc1394_get_camera_misc_info(handles[camera],
- cameras[camera].node,
- &miscinfo) !=DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to get misc info");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get misc info") );
- }
-
- format = miscinfo.format;
-}
-
-/*!
-
- Query the available camera image formats.
-
- \warning Before requerying supported formats a handle must be created by
- calling open(), and a camera must be connected.
-
- \param formats : The list of supported camera image formats.
-
- \return The number of supported camera image formats, 0 if an error occurs.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present or if an error occurs.
-
- \sa getModeSupported(), getFramerateSupported(), open(),
- getFormat(), setCamera()
-
-*/
-int
-vp1394Grabber::getFormatSupported(vpList<int> & formats)
-{
- int nb = 0; // Number of supported formats
-
- // Refresh the list of supported formats
- formats.kill();
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- quadlet_t value;
- if (dc1394_query_supported_formats(handles[camera],
- cameras[camera].node,
- &value) != DC1394_SUCCESS) {
- vpERROR_TRACE("Could not query supported formats");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Could not query supported formats") );
- }
-
- if (value & (0x1<<31)) {
- formats.addRight(FORMAT_VGA_NONCOMPRESSED);
- nb ++;
- }
- if (value & (0x1<<30)) {
- formats.addRight(FORMAT_SVGA_NONCOMPRESSED_1);
- nb ++;
- }
- if (value & (0x1<<29)) {
- formats.addRight(FORMAT_SVGA_NONCOMPRESSED_2);
- nb ++;
- }
- if (value & (0x1<<25)) {
- formats.addRight(FORMAT_STILL_IMAGE);
- nb ++;
- }
- if (value & (0x1<<24)) {
- formats.addRight(FORMAT_SCALABLE_IMAGE_SIZE);
- nb ++;
- }
-
- return nb;
-}
-
-/*!
-
- Set the camera capture mode for a given camera on the bus.
-
- \param mode : The camera capture mode. The current camera mode is
- given by getMode(). The camera supported modes are given by
- getSupportedModes(). The allowed values are given in
- libdc1394/dc1394_control.h file:
-
- - Allowed mode for Format 0: MODE_160x120_YUV444 = 64, MODE_320x240_YUV422, MODE_640x480_YUV411, MODE_640x480_YUV422, MODE_640x480_RGB, MODE_640x480_MONO, MODE_640x480_MONO16
-
- - Allowed modes for Format 1: MODE_800x600_YUV422 = 96, MODE_800x600_RGB, MODE_800x600_MONO, MODE_1024x768_YUV422, MODE_1024x768_RGB, MODE_1024x768_MONO, MODE_800x600_MONO16, MODE_1024x768_MONO16
-
- - Allowed modes for Format 2: MODE_1280x960_YUV422 = 128, MODE_1280x960_RGB, MODE_1280x960_MONO, MODE_1600x1200_YUV422, MODE_1600x1200_RGB, MODE_1600x1200_MONO, MODE_1280x960_MONO16, MODE_1600x1200_MONO16
-
- - Allowed modes for Format 6: MODE_EXIF= 256
-
- - Allowed modes for Format 7: MODE_FORMAT7_0= 288, MODE_FORMAT7_1, MODE_FORMAT7_2, MODE_FORMAT7_3, MODE_FORMAT7_4, MODE_FORMAT7_5, MODE_FORMAT7_6, MODE_FORMAT7_7
-
-
- All these modes are not supported by your camera. The camera supported modes
- are given by getModeSupported().
-
- \warning The requested format is sent to the camera only after a call to
- close(). Depending on the format and the camera mode, image size can differ.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa setFormat(), setFramerate(), open(), getNumCameras(), setCamera()
-
-*/
-void
-vp1394Grabber::setMode(int mode)
-{
- if (iso_transmission_started == true) {
-
- stopIsoTransmission();
-
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_dma_unlisten( handles[i], &cameras[i] );
- iso_transmission_started = false;
- }
-
- this->pmode[camera] = mode;
-
- setup();
- startIsoTransmission();
-}
-
-/*!
-
- Query the actual capture mode of a given camera. Given a format, all
- the camera supported modes are given by getModeSupported().
-
- \warning Before requerying the actual mode a handle must
- be created by calling open(), and a camera must be connected.
-
- \param mode : The camera capture mode.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \sa setMode(), getModeSupported(), open(), setCamera()
-
-*/
-void
-vp1394Grabber::getMode(int & mode)
-{
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
- if(dc1394_get_camera_misc_info(handles[camera],
- cameras[camera].node,
- &miscinfo) !=DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to get misc info");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get misc info") );
- }
-
- mode = miscinfo.mode;
-}
-
-/*!
-
- Query the available camera modes for the given format.
-
- \warning Before requerying supported modes for a given format a handle must
- be created by calling open(), and a camera must be connected.
-
- \param format : Camera image format. Values for format are parts of the list
- (see file libdc1394/dc1394_control.h):
-
- - FORMAT_VGA_NONCOMPRESSED = 384 for the Format_0
- - FORMAT_SVGA_NONCOMPRESSED_1 for the Format_1
- - FORMAT_SVGA_NONCOMPRESSED_2 for the Format_2
- - FORMAT_STILL_IMAGE = 390 for the Format_6
- - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
-
- \param modes : The list of supported camera modes.
-
- \return The number of supported camera modes, 0 if an error occurs.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \sa getMode(), getFramerateSupported(), open(), setCamera()
-*/
-int
-vp1394Grabber::getModeSupported(int format, vpList<int> & modes)
-{
- int nb = 0; // Number of supported modes
-
- // Refresh the list of supported modes
- modes.kill();
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- quadlet_t value;
- if (dc1394_query_supported_modes(handles[camera],
- cameras[camera].node,
- format, &value) != DC1394_SUCCESS) {
- vpERROR_TRACE("Could not query supported modes for format %d\n", format);
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Could not query supported mode") );
- }
-
- switch (format) {
- case FORMAT_VGA_NONCOMPRESSED:
- for (int m = MODE_FORMAT0_MIN; m <= MODE_FORMAT0_MAX; m ++) {
- if (value & (0x1<<(31-(m-MODE_FORMAT0_MIN)))) {
- modes.addRight(m);
- nb ++;
- }
- }
- break;
-
- case FORMAT_SVGA_NONCOMPRESSED_1:
- for (int m = MODE_FORMAT1_MIN; m <= MODE_FORMAT1_MAX; m ++) {
- if (value & (0x1<<(31-(m-MODE_FORMAT1_MIN)))) {
- modes.addRight(m);
- nb ++;
- }
- }
- break;
-
- case FORMAT_SVGA_NONCOMPRESSED_2:
- for (int m = MODE_FORMAT2_MIN; m <= MODE_FORMAT2_MAX; m ++) {
- if (value & (0x1<<(31-(m-MODE_FORMAT2_MIN)))) {
- modes.addRight(m);
- nb ++;
- }
- }
- break;
-
- case FORMAT_STILL_IMAGE:
- for (int m = MODE_FORMAT6_MIN; m <= MODE_FORMAT6_MAX; m ++) {
- if (value & (0x1<<(31-(m-MODE_FORMAT6_MIN)))) {
- modes.addRight(m);
- nb ++;
- }
- }
- break;
-
- case FORMAT_SCALABLE_IMAGE_SIZE:
- for (int m = MODE_FORMAT7_MIN; m <= MODE_FORMAT7_MAX; m ++) {
- if (value & (0x1<<(31-(m-MODE_FORMAT7_MIN)))) {
- modes.addRight(m);
- nb ++;
- }
- }
- break;
- }
-
- return nb;
-}
-
-/*!
-
- Set the capture framerate for a given camera on the bus.
-
- \param framerate : The camera framerate. The current framerate of the camera
- is given by getFramerate(). The camera supported framerates are given by
- getFramerateSupported(). The allowed values given in
- libdc1394/dc1394_control.h are:
-
- - FRAMERATE_1_875 = 32 for 1.875 fps,
- - FRAMERATE_3_75 for 3.75 fps,
- - FRAMERATE_7_5 for 7.5 fps,
- - FRAMERATE_15 for 15 fps,
- - FRAMERATE_30 for 30 fps,
- - FRAMERATE_60 for 60 fps,
- - FRAMERATE_120 for 120 fps,
- - FRAMERATE_240 for 240 fps.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa setFormat(), setMode(), open(), getNumCameras(), setCamera()
-
-*/
-void
-vp1394Grabber::setFramerate(int framerate)
-{
- if (iso_transmission_started == true) {
-
- stopIsoTransmission();
-
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_dma_unlisten( handles[i], &cameras[i] );
- iso_transmission_started = false;
- }
-
- this->pframerate[camera] = framerate;
-
- setup();
- startIsoTransmission();
-}
-
-/*!
-
- Query the actual capture framerate of a given camera. The camera supported
- framerates are given by getFramerateSupported().
-
- \warning Before requerying the actual framerate a handle must
- be created by calling open(), and a camera must be connected.
-
- \param framerate : The camera capture framerate.
-
- \return true if the framerate was obtained, false if an error occurs.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \sa setFramerate(), getFramerateSupported(), open(), getNumCameras(),
- setCamera()
-
-*/
-void
-vp1394Grabber::getFramerate(int & framerate)
-{
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- if(dc1394_get_camera_misc_info(handles[camera],
- cameras[camera].node,
- &miscinfo) !=DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to get misc info");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get misc info") );
- }
-
- framerate = miscinfo.framerate;
-}
-
-/*!
-
- Query the available framerates for the given camera image format and mode
- (see file libdc1394/dc1394_control.h). The framerate is only available if
- format is either FORMAT_VGA_NONCOMPRESSED (format 0),
- FORMAT_SVGA_NONCOMPRESSED_1 (format 1) or FORMAT_SVGA_NONCOMPRESSED_2 (format
- 2). If format is equal to FORMAT_STILL_IMAGE (format 6) or
- FORMAT_SCALABLE_IMAGE_SIZE (format 7), the framerate is not available. In
- this case, we return 0.
-
- \warning Before requerying supported framerates for a given format and mode a
- handle must be created by calling open(), and a camera must be connected.
-
- \param format : Camera image format.
- \param mode : Camera mode.
- \param framerates ; The list of supported camera framerates.
-
- \return The number of supported camera image framerates, 0 if an error
- occurs.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \sa getFormatSupported(), getModeSupported(), open(), getFramerate(),
- setCamera()
-*/
-int
-vp1394Grabber::getFramerateSupported(int format, int mode,
- vpList<int> & framerates)
-{
- int nb = 0; // Number of supported framerates
-
- // Refresh the list of supported framerates
- framerates.kill();
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- switch(format) {
- case FORMAT_VGA_NONCOMPRESSED:
- case FORMAT_SVGA_NONCOMPRESSED_1:
- case FORMAT_SVGA_NONCOMPRESSED_2:
- {
-
- quadlet_t value;
- if (dc1394_query_supported_framerates(handles[camera],
- cameras[camera].node,
- format, mode,
- &value) != DC1394_SUCCESS) {
- vpERROR_TRACE("Could not query supported frametates for format %d\n"
- "and mode %d\n", format, mode);
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Could not query supported framerates") );
- }
-
- for (int f = FRAMERATE_MIN; f <= FRAMERATE_MAX; f ++) {
- if (value & (0x1<<(31-(f-FRAMERATE_MIN)))) {
- framerates.addRight(f);
- nb ++;
- }
- }
- }
- break;
- default:
- // Framerate not available for:
- // - FORMAT_STILL_IMAGE for the Format_6
- // - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
- return 0;
- }
-
- return nb;
-}
-
-/*!
-
- Converts the string containing the description of the format into the format
- dentifier.
-
- \param format : The string describing the format given by Format(int)
-
- \return The camera capture format identifier, either :
- - FORMAT_VGA_NONCOMPRESSED for the Format_0
- - FORMAT_SVGA_NONCOMPRESSED_1 for the Format_1
- - FORMAT_SVGA_NONCOMPRESSED_2 for the Format_2
- - FORMAT_STILL_IMAGE for the Format_6
- - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
- .
- This method returns 0 if the string does not match to a format string.
-
- \sa convertFormat(int), convertMode(std::string), convertFramerate(std::string&)
-
-*/
-int vp1394Grabber::convertFormat(std::string format)
-{
- for (int i = FORMAT_MIN; i <= FORMAT_MAX; i ++) {
- // if (format.compare(0, format(i).length(), format(i)) == 0) {
- if (format.compare(0, convertFormat(i).length(), convertFormat(i)) == 0) {
- return i;
- }
- };
-
- return 0;
-}
-/*!
-
- Converts the string containing the description of the mode into the mode
- dentifier.
-
- \param mode : The string describing the mode given by Mode(int)
-
- \return The camera capture mode identifier.
-
- This method returns 0 if the string does not match to a mode string.
-
- \sa convertMode(int), convertFormat(std::string), convertFramerate(std::string)
-
-*/
-int vp1394Grabber::convertMode(std::string mode)
-{
- for (int i = MODE_FORMAT0_MIN; i <= MODE_FORMAT0_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
- for (int i = MODE_FORMAT1_MIN; i <= MODE_FORMAT1_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
- for (int i = MODE_FORMAT2_MIN; i <= MODE_FORMAT2_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
- for (int i = MODE_FORMAT6_MIN; i <= MODE_FORMAT6_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
- for (int i = MODE_FORMAT7_MIN; i <= MODE_FORMAT7_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
- for (int i = COLOR_FORMAT7_MIN; i <= COLOR_FORMAT7_MAX; i ++) {
- if (mode.compare(convertMode(i)) == 0)
- return i;
- };
-
- return 0;
-}
-/*!
-
- Converts the string containing the description of the framerate into the
- framerate dentifier.
-
- \param framerate : The string describing the framerate given by
- Framerate(int).
-
- \return The camera capture framerate identifier.
-
- This method returns 0 if the string does not match to a framerate string.
-
- \sa convertFramerate(int), convertFormat(std::string &), convertMode(std::string)
-
-*/
-int vp1394Grabber::convertFramerate(std::string framerate)
-{
- for (int i = FRAMERATE_MIN; i <= FRAMERATE_MAX; i ++) {
- if (framerate.compare(convertFramerate(i)) == 0)
- return i;
- };
-
- return 0;
-}
-
-
-/*!
-
- Converts the format identifier into a string containing the description of
- the format.
-
- \param format : The camera capture format, either :
- - FORMAT_VGA_NONCOMPRESSED for the Format_0
- - FORMAT_SVGA_NONCOMPRESSED_1 for the Format_1
- - FORMAT_SVGA_NONCOMPRESSED_2 for the Format_2
- - FORMAT_STILL_IMAGE for the Format_6
- - FORMAT_SCALABLE_IMAGE_SIZE for the Format_7
-
- \return A string describing the format, an empty string if the format is not
- supported.
-
- \sa convertMode(), convertFramerate()
-
-*/
-std::string vp1394Grabber::convertFormat(int format)
-{
- std::string _format;
- if ((format >= FORMAT_MIN) && (format <= FORMAT_MAX)) {
- switch (format) {
- case FORMAT_VGA_NONCOMPRESSED: _format = strFormats[0]; break;
- case FORMAT_SVGA_NONCOMPRESSED_1: _format = strFormats[1]; break;
- case FORMAT_SVGA_NONCOMPRESSED_2: _format = strFormats[2]; break;
- // 3 reserved formats
- case FORMAT_SVGA_NONCOMPRESSED_2 + 1: _format = strFormats[3]; break;
- case FORMAT_SVGA_NONCOMPRESSED_2 + 2: _format = strFormats[4]; break;
- case FORMAT_SVGA_NONCOMPRESSED_2 + 3: _format = strFormats[5]; break;
-
- case FORMAT_STILL_IMAGE: _format = strFormats[6]; break;
- case FORMAT_SCALABLE_IMAGE_SIZE: _format = strFormats[7]; break;
- default:
- break;
- }
- }
- else {
- std::cout << "The format " << format
- << " is not supported by the camera" << std::endl;
- _format = "Not Valid";
- }
-
- return _format;
-}
-/*!
-
- Converts the mode identifier into a string containing the description of the
- mode.
-
- \param mode : The camera capture mode.
-
- \return A string describing the mode, an empty string if the mode is not
- supported.
-
- \sa convertFormat(), convertFramerate()
-
-*/
-std::string vp1394Grabber::convertMode(int mode)
-{
- std::string _mode;
-
- if ((mode >= MODE_FORMAT0_MIN) && (mode <= MODE_FORMAT0_MAX)) {
- switch (mode) {
- case MODE_160x120_YUV444: _mode = strModesInFormat0[0]; break;
- case MODE_320x240_YUV422: _mode = strModesInFormat0[1]; break;
- case MODE_640x480_YUV411: _mode = strModesInFormat0[2]; break;
- case MODE_640x480_YUV422: _mode = strModesInFormat0[3]; break;
- case MODE_640x480_RGB: _mode = strModesInFormat0[4]; break;
- case MODE_640x480_MONO: _mode = strModesInFormat0[5]; break;
- case MODE_640x480_MONO16: _mode = strModesInFormat0[6]; break;
- default: break;
- }
- }
- else if ((mode >= MODE_FORMAT1_MIN) && (mode <= MODE_FORMAT1_MAX)) {
- switch (mode) {
- case MODE_800x600_YUV422: _mode = strModesInFormat1[0]; break;
- case MODE_800x600_RGB: _mode = strModesInFormat1[1]; break;
- case MODE_800x600_MONO: _mode = strModesInFormat1[2]; break;
- case MODE_1024x768_YUV422: _mode = strModesInFormat1[3]; break;
- case MODE_1024x768_RGB: _mode = strModesInFormat1[4]; break;
- case MODE_1024x768_MONO: _mode = strModesInFormat1[5]; break;
- case MODE_800x600_MONO16: _mode = strModesInFormat1[6]; break;
- case MODE_1024x768_MONO16: _mode = strModesInFormat1[7]; break;
- default: break;
- }
- }
- else if ((mode >= MODE_FORMAT2_MIN) && (mode <= MODE_FORMAT2_MAX)) {
- switch (mode) {
- case MODE_1280x960_YUV422: _mode = strModesInFormat2[0]; break;
- case MODE_1280x960_RGB: _mode = strModesInFormat2[1]; break;
- case MODE_1280x960_MONO: _mode = strModesInFormat2[2]; break;
- case MODE_1600x1200_YUV422: _mode = strModesInFormat2[3]; break;
- case MODE_1600x1200_RGB: _mode = strModesInFormat2[4]; break;
- case MODE_1600x1200_MONO: _mode = strModesInFormat2[5]; break;
- case MODE_1280x960_MONO16: _mode = strModesInFormat2[6]; break;
- case MODE_1600x1200_MONO16: _mode = strModesInFormat2[7]; break;
- default: break;
- }
- }
- else if ((mode >= MODE_FORMAT6_MIN) && (mode <= MODE_FORMAT6_MAX)) {
- switch (mode) {
- case MODE_EXIF: _mode = strModesInFormat6[0]; break;
- default: break;
- }
- }
- else if ((mode >= MODE_FORMAT7_MIN) && (mode <= MODE_FORMAT7_MAX)) {
- switch (mode) {
- case MODE_FORMAT7_0: _mode = strModesInFormat7[0]; break;
- case MODE_FORMAT7_1: _mode = strModesInFormat7[1]; break;
- case MODE_FORMAT7_2: _mode = strModesInFormat7[2]; break;
- case MODE_FORMAT7_3: _mode = strModesInFormat7[3]; break;
- case MODE_FORMAT7_4: _mode = strModesInFormat7[4]; break;
- case MODE_FORMAT7_5: _mode = strModesInFormat7[5]; break;
- case MODE_FORMAT7_6: _mode = strModesInFormat7[6]; break;
- case MODE_FORMAT7_7: _mode = strModesInFormat7[7]; break;
- default: break;
- }
- }
- else if ((mode >= COLOR_FORMAT7_MIN) && (mode <= COLOR_FORMAT7_MAX)) {
- switch (mode) {
- case COLOR_FORMAT7_MONO8: _mode = strColorsInFormat7[0]; break;
- case COLOR_FORMAT7_YUV411: _mode = strColorsInFormat7[1]; break;
- case COLOR_FORMAT7_YUV422: _mode = strColorsInFormat7[2]; break;
- case COLOR_FORMAT7_YUV444: _mode = strColorsInFormat7[3]; break;
- case COLOR_FORMAT7_RGB8: _mode = strColorsInFormat7[4]; break;
- case COLOR_FORMAT7_MONO16: _mode = strColorsInFormat7[5]; break;
- case COLOR_FORMAT7_RGB16: _mode = strColorsInFormat7[6]; break;
- default: break;
- }
- }
- else {
- std::cout << "The mode " << mode << " is not supported by the camera" << std::endl;
- _mode = "Not valid";
- }
-
- return _mode;
-}
-
-/*!
-
- Converts the framerate identifier into a string
- containing the description of the framerate.
-
- \param framerate : The camera capture framerate.
-
- \return A string describing the framerate, an empty string if the framerate
- is not supported.
-
- \sa convertFormat(), convertMode()
-
-*/
-std::string vp1394Grabber::convertFramerate(int framerate)
-{
- std::string _framerate;
-
- if ((framerate >= FRAMERATE_MIN) && (framerate <= FRAMERATE_MAX)) {
- switch (framerate) {
- case FRAMERATE_1_875: _framerate = strFramerates[0]; break;
- case FRAMERATE_3_75: _framerate = strFramerates[1]; break;
- case FRAMERATE_7_5: _framerate = strFramerates[2]; break;
- case FRAMERATE_15: _framerate = strFramerates[3]; break;
- case FRAMERATE_30: _framerate = strFramerates[4]; break;
- case FRAMERATE_60: _framerate = strFramerates[5]; break;
- default: break;
- }
- }
- else {
- std::cout << "The framerate " << framerate
- << " is not supported by the camera" << std::endl;
- _framerate = "Not valid";
- }
-
- return _framerate;
-
-}
-
-/*!
-
- Set the shutter for a given camera.
-
- \param shutter : The shutter value to apply to the camera.
-
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present or if an error occurs.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa getShutter(), open(), getNumCameras(), setCamera()
-*/
-void
-vp1394Grabber::setShutter(unsigned int shutter)
-{
- unsigned int min_shutter = 0;
- unsigned int max_shutter = 0;
-
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- if(dc1394_get_min_value(handles[camera],
- cameras[camera].node,
- FEATURE_SHUTTER, &min_shutter) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get min shutter value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get min shutter value") );
- }
-
- if(dc1394_get_max_value(handles[camera],
- cameras[camera].node,
- FEATURE_SHUTTER, &max_shutter) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get max shutter value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get max shutter value") );
- }
-
- if (shutter < min_shutter || shutter > max_shutter) {
- vpCERROR << "The requested shutter " << shutter
- << " must be comprised between " << min_shutter
- << " and " << max_shutter << std::endl;
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Cannot set shutter: bad value") );
- }
-
- if ( dc1394_set_shutter(handles[camera],
- cameras[camera].node,
- shutter) != DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to set shutter");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Cannot set shutter") );
- }
-}
-
-/*!
-
- Query the actual shutter value of a given camera and the bounded shutter
- values.
-
- \warning Before requerying the shutter a handle must
- be created by calling open(), and a camera must be connected.
-
- \param min_shutter : Minimal autorized shutter value.
-
- \param shutter : The current camera shutter value. This value is comprised
- between \e min_shutter and \e max_shutter.
-
- \param max_shutter : Maximal autorized shutter value.
-
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present or if an error occurs.
-
- \sa setShutter(), open(), getNumCameras(), setCamera()
-
-*/
-void
-vp1394Grabber::getShutter(unsigned int &min_shutter,
- unsigned int &shutter,
- unsigned int &max_shutter)
-{
- shutter = 0;
- min_shutter = 0;
- max_shutter = 0;
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
- if(dc1394_get_shutter(handles[camera],
- cameras[camera].node,
- &shutter) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get shutter value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get shutter value") );
-
- }
-
- if(dc1394_get_min_value(handles[camera],
- cameras[camera].node,
- FEATURE_SHUTTER, &min_shutter) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get min shutter value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get min shutter value") );
- }
-
- if(dc1394_get_max_value(handles[camera],
- cameras[camera].node,
- FEATURE_SHUTTER, &max_shutter) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get max shutter value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get max shutter value") );
- }
-}
-
-/*!
-
- Set the gain for a given camera.
-
- \warning Before setting the gain a handle must
- be created by calling open(), and a camera must be connected.
-
- \param gain The gain value to apply to the camera.
-
- \exception vpFrameGrabberException::settingError : If the required camera is not present or if an error occurs.
-
- \sa getGain(), getNumCameras(), setCamera()
-*/
-void
-vp1394Grabber::setGain(unsigned int gain)
-{
- unsigned int min_gain = 0;
- unsigned int max_gain = 0;
-
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
- if(dc1394_get_min_value(handles[camera],
- cameras[camera].node,
- FEATURE_GAIN, &min_gain) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get min gain value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get min gain value") );
- }
-
- if(dc1394_get_max_value(handles[camera],
- cameras[camera].node,
- FEATURE_GAIN, &max_gain) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get max gain value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get max gain value") );
- }
-
- if (gain < min_gain || gain > max_gain) {
- vpCERROR << "The requested gain " << gain
- << " must be comprised between " << min_gain
- << " and " << max_gain << std::endl;
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Cannot set shutter: bad value") );
- }
-
- if ( dc1394_set_gain(handles[camera],
- cameras[camera].node,
- gain) != DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to set gain");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Cannot set gain") );
- }
-}
-
-/*!
-
- Query the actual gain value of a given camera and the bounded gain
- values.
-
- \warning Before requerying the gain a handle must
- be created by calling open(), and a camera must be connected.
-
- \param min_gain : Minimal autorized gain value.
-
- \param gain : The current camera gain value. This value is comprised
- between \e min_gain and \e max_gain.
-
- \param max_gain : Maximal autorized gain value.
-
- \exception vpFrameGrabberException::settingError :If the required camera is
- not present or if an error occurs.
-
- \sa setGain(), open(), getNumCameras(), setCamera()
-
-*/
-void
-vp1394Grabber::getGain(unsigned int &min_gain,
- unsigned int &gain,
- unsigned int &max_gain)
-{
- gain = 0;
- min_gain = 0;
- max_gain = 0;
-
- if (handle_created == false) {
- close();
- vpERROR_TRACE("To set the shutter the handle must be created");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter the handle must be created") );
- }
- if (camera_found == false) {
- close();
- vpERROR_TRACE("To set the shutter a camera must be connected");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "To set the shutter a camera must be connected") );
- }
-
- if(dc1394_get_gain(handles[camera],
- cameras[camera].node,
- &gain) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get gain value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get gain value") );
-
- }
-
- if(dc1394_get_min_value(handles[camera],
- cameras[camera].node,
- FEATURE_GAIN, &min_gain) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get min gain value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get min gain value") );
- }
-
- if(dc1394_get_max_value(handles[camera],
- cameras[camera].node,
- FEATURE_GAIN, &max_gain) !=DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get max gain value");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "Unable to get max gain value") );
-
- }
-}
-
-/*!
-
- Get the image width. It depends on the camera format setFormat() and mode
- setMode(). The width of the images is only available after a call to open().
-
- \param width : The image width, zero if the required camera is not available.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa getHeight(), setCamera()
-
-*/
-void vp1394Grabber::getWidth(unsigned int &width)
-{
- if (camera >= num_cameras) {
- width = 0;
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "The required camera is not present") );
- }
-
- width = this->_width[camera];
- this->width = width;
-}
-
-/*!
-
- Get the image height. It depends on the camera format setFormat() and mode
- setMode(). The height of the images is only available after a call to
- open().
-
- \param height : The image height.
-
- \exception vpFrameGrabberException::settingError : If the required camera is
- not present.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa getWidth(), getImageFormat(), close(), getNumCameras(), setCamera()
-
-*/
-void vp1394Grabber::getHeight(unsigned int &height)
-{
- if (camera >= num_cameras) {
- height = 0;
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "The required camera is not present") );
- }
-
- height = this->_height[camera];
- this->height = height;
-}
-
-/*!
-
- Query the number of cameras on the bus.
-
- \param cameras : The number of cameras found on the bus.
-
-
-*/
-void
-vp1394Grabber::getNumCameras(unsigned int &cameras)
-{
- if (camera_found == false) {
- vpCTRACE << "No camera found..."<< std::endl;
- cameras = 0;
- }
-
- cameras = num_cameras;
-}
-
-
-/*!
- Initialize grey level image acquisition
-
- \param I : Image data structure (8 bits image)
-
-*/
-void
-vp1394Grabber::open(vpImage<unsigned char> &I)
-{
-
- open();
-
- // Get the actual camera format, mode and framerate
- getFormat(pformat[camera]);
- getMode(pmode[camera]);
- getFramerate(pframerate[camera]);
-
- setup();
- startIsoTransmission();
-
- unsigned int w, h;
- getWidth( w ) ;
- getHeight( h ) ;
-
- vpDEBUG_TRACE(10, "%d %d", h, w ) ;
-
- I.resize(h, w) ;
-
- init = true ;
-
-}
-
-/*!
- Initialize color image (in RGBa format) acquisition
-
- \param I : Image data structure (RGBa format)
-
-*/
-void
-vp1394Grabber::open(vpImage<vpRGBa> &I)
-{
-
- open();
-
- // Get the actual camera format, mode and framerate
- getFormat(pformat[camera]);
- getMode(pmode[camera]);
- getFramerate(pframerate[camera]);
-
- setup();
- startIsoTransmission();
-
- unsigned int w, h;
- getWidth( w ) ;
- getHeight( h ) ;
-
- vpDEBUG_TRACE(10, "%d %d", h, w ) ;
-
- I.resize(h, w) ;
-
- init = true ;
-
-}
-
-/*!
- Acquire a grey level image from a given camera.
-
- \param I : Image data structure (8 bits image)
-
- \exception vpFrameGrabberException::initializationError : If the device is
- not openned.
-
- \sa getField(), setCamera()
-*/
-void
-vp1394Grabber::acquire(vpImage<unsigned char> &I)
-{
-
- if (init==false)
- {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "Initialization not done") );
- }
-
- int *bitmap = NULL ;
- bitmap = dmaCapture();
-
- unsigned int w, h;
- getWidth( w ) ;
- getHeight( h ) ;
-
- if ((I.getWidth() != w)||(I.getHeight() != h))
- I.resize(h, w) ;
-
- int size = I.getHeight()*I.getWidth();
- switch (image_format[camera])
- {
- case MONO:
- memcpy(I.bitmap, (unsigned char *) bitmap, size*sizeof(unsigned char));
- break;
- case YUV411: {
- vpImageConvert::YUV411ToGrey( (unsigned char *) bitmap, I.bitmap, size);
- break;
- }
- case YUV422: {
- vpImageConvert::YUV422ToGrey( (unsigned char *) bitmap, I.bitmap, size);
- break;
- }
- case RGB: {
- vpImageConvert::RGBToGrey((unsigned char *) bitmap, I.bitmap, size);
- break;
- }
- case RGBa: {
- vpImageConvert::RGBaToGrey((unsigned char *) bitmap, I.bitmap, size);
- break;
- }
- default:
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Format conversion not implemented. Acquisition failed.") );
- break;
- };
-
- dmaDoneWithBuffer();
-
-}
-
-/*!
- Acquire a color image from a given camera.
-
- \param I : Image data structure (RGBa image)
-
- \exception vpFrameGrabberException::initializationError : If the device is
- not openned.
-
- \sa getField(), setCamera()
-*/
-void
-vp1394Grabber::acquire(vpImage<vpRGBa> &I)
-{
-
- if (init==false)
- {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "Initialization not done") );
- }
-
- int *bitmap = NULL ;
- bitmap = dmaCapture();
-
- unsigned int w, h;
- getWidth( w ) ;
- getHeight( h ) ;
-
- if ((I.getWidth() != w)||(I.getHeight() != h))
- I.resize(h, w) ;
-
- int size = I.getHeight()*I.getWidth();
- switch (image_format[camera])
- {
- case MONO:
- vpImageConvert::GreyToRGBa((unsigned char *) bitmap,
- (unsigned char *) I.bitmap, size);
- break;
- case YUV411: {
- vpImageConvert::YUV411ToRGBa( (unsigned char *) bitmap,
- (unsigned char *) I.bitmap, size);
- break;
- }
- case YUV422: {
- vpImageConvert::YUV422ToRGBa( (unsigned char *) bitmap,
- (unsigned char *) I.bitmap, size);
- break;
- }
- case RGB: {
- vpImageConvert::RGBToRGBa((unsigned char *) bitmap,
- (unsigned char *) I.bitmap, size);
- break;
- }
- case RGBa: {
- memcpy((unsigned char *) I.bitmap, (unsigned char *) bitmap, size);
- break;
- }
- default:
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Format conversion not implemented. Acquisition failed.") );
- break;
- };
-
- dmaDoneWithBuffer();
-
-}
-
-
-/*!
-
- Open ohci and asign handle to it and get the camera nodes and
- describe them as we find them.
-
- \exception vpFrameGrabberException::initializationError : If a raw1394 handle
- can't be aquired.
-
- \sa close()
-*/
-void
-vp1394Grabber::open()
-{
- //int num_nodes;
- int num_ports = vp1394Grabber::MAX_PORTS;
- struct raw1394_portinfo ports[vp1394Grabber::MAX_PORTS];
- raw1394handle_t raw_handle;
-
- if (handles == NULL)
- handles = new raw1394handle_t [vp1394Grabber::MAX_CAMERAS];
- if (cameras == NULL)
- cameras = new dc1394_cameracapture [vp1394Grabber::MAX_CAMERAS];
- if (cam_count == NULL)
- cam_count = new int [vp1394Grabber::MAX_CAMERAS];
- if (pformat == NULL)
- pformat = new int [vp1394Grabber::MAX_CAMERAS];
- if (pmode == NULL)
- pmode = new int [vp1394Grabber::MAX_CAMERAS];
- if (pframerate == NULL)
- pframerate = new int [vp1394Grabber::MAX_CAMERAS];
- if (_width == NULL)
- _width = new int [vp1394Grabber::MAX_CAMERAS];
- if (_height == NULL)
- _height = new int [vp1394Grabber::MAX_CAMERAS];
- if (image_format == NULL)
- image_format = new vp1394ImageFormatType [vp1394Grabber::MAX_CAMERAS];
-
- raw_handle = raw1394_new_handle();
-
- if (raw_handle==NULL) {
- close();
- vpERROR_TRACE("Unable to aquire a raw1394 handle\n\n"
- "Please check \n"
- " - if the kernel modules `ieee1394',`raw1394' and `ohci1394' are loaded \n"
- " - if you have read/write access to /dev/raw1394\n\n");
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "Unable to aquire a raw1394 handle") );
- }
-
- num_ports = raw1394_get_port_info(raw_handle, ports, num_ports);
- raw1394_destroy_handle(raw_handle);
- if (verbose)
- printf("number of ports detected: %d\n", num_ports);
-
- if (num_ports < 1) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "no ports found") );
- }
-
- //num_nodes = raw1394_get_nodecount(raw_handle);
- num_cameras = 0;
-
- /* get dc1394 handle to each port */
- for (int p = 0; p < num_ports; p++) {
-
- /* get the camera nodes and describe them as we find them */
- raw_handle = raw1394_new_handle();
- raw1394_set_port( raw_handle, p );
-
- camera_nodes = NULL;
- camera_nodes = dc1394_get_camera_nodes(raw_handle, &cam_count[p], 0);
- raw1394_destroy_handle(raw_handle);
- if (verbose)
- fprintf(stdout, "%d camera(s) on port %d\n", cam_count[p], p);
-
- for (int i = 0; i < cam_count[p]; i++, num_cameras ++) {
- handles[num_cameras] = dc1394_create_handle(p);
- if (handles[num_cameras]==NULL) {
- close();
- vpERROR_TRACE("Unable to aquire a raw1394 handle\n");
- vpERROR_TRACE("did you load the drivers?\n");
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "Unable to aquire a raw1394 handle.") );
- }
- cameras[num_cameras].node = camera_nodes[i];
-
- }
- if (cam_count[p])
- dc1394_free_camera_nodes(camera_nodes);
- }
-
- if (num_cameras < 1) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
- "no cameras found") );
- }
- vpDEBUG_TRACE(10, "%d cameras detected\n", num_cameras);
-
- camera_found = true;
-
- handle_created = true;
-
- // Get the actual camera format, mode and framerate
- getFormat(pformat[camera]);
- getMode(pmode[camera]);
- getFramerate(pframerate[camera]);
-}
-
-/*!
-
- Get the feature and set the dma capture.
-
- Set the camera to the specified format setFormat(), mode setMode() and
- framerate setFramerate(). Considering the camera format and mode, updates
- the captured image size.
-
- \exception vpFrameGrabberException::otherError : If unable to get feature set
- or setup the camera.
-
- \sa setFormat(), setMode(), setFramerate(), getWidth(), getHeight()
-
-*/
-void
-vp1394Grabber::setup()
-{
- unsigned int channel;
- unsigned int speed;
-
- if ( handle_created == true && camera_found == true) {
-
- for (unsigned int i = 0; i < num_cameras; i++) {
- if (verbose) {
- dc1394_feature_set features;
-
- if(dc1394_get_camera_feature_set(handles[i],
- cameras[i].node,
- &features) != DC1394_SUCCESS) {
- close();
-
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to get feature set") );
- }
- else {
- dc1394_print_feature_set(&features);
- }
- }
-
- // After setting the camera format and mode we update the image size
- getImageCharacteristics(pformat[i],
- pmode[i],
- _width[i],
- _height[i],
- image_format[i]);
-
- if (dc1394_get_iso_channel_and_speed(handles[i],
- cameras[i].node,
- &channel,
- &speed) != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to get the iso channel number") );
- }
-
- if (pformat[i] == FORMAT_SCALABLE_IMAGE_SIZE) {
- if( dc1394_dma_setup_format7_capture(handles[i],
- cameras[i].node,
- channel,
- pmode[i],
- speed,
- USE_MAX_AVAIL, /*max packet size*/
- 0, 0, /* left, top */
- _width[i],
- _height[i],
- vp1394Grabber::NUM_BUFFERS,
- vp1394Grabber::DROP_FRAMES,
- device_name,
- &cameras[i]) != DC1394_SUCCESS) {
- close();
-
- vpERROR_TRACE("Unable to setup camera in format 7 mode 0-\n"
- "check line %d of %s to"
- "make sure that the video mode,framerate and format are "
- "supported by your camera.\n",
- __LINE__,__FILE__);
-
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to setup camera in format 7 ") );
-
- }
- if (verbose) {
- unsigned int qpp; // packet bytes
- if (dc1394_query_format7_byte_per_packet(handles[i],
- cameras[i].node,
- pmode[i],
- &qpp) != DC1394_SUCCESS) {
- close();
-
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to query format7 byte_per_packet ") );
- }
- //std::cout << "Format 7: byte per packet : " << qpp << std::endl;
- }
-
- } else {
-
- if (dc1394_dma_setup_capture(handles[i],
- cameras[i].node,
- channel,
- pformat[i],
- pmode[i],
- speed,
- pframerate[i],
- vp1394Grabber::NUM_BUFFERS,
- vp1394Grabber::DROP_FRAMES,
- device_name,
- &cameras[i]) != DC1394_SUCCESS) {
- vpERROR_TRACE("Unable to setup camera- check line %d of %s to"
- "make sure that the video mode,framerate and format are "
- "supported by your camera.\n",
- __LINE__,__FILE__);
- close();
-
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to setup camera ") );
- }
- }
- }
- }
-}
-
-/*!
-
- Gets the image size and coding format, depending on the camera image format
- and the camera mode.
-
- \param _format : The camera capture format.
- \param _mode : The camera capture mode.
- \param width : Width of the image for the given camera capture format
- and mode.
-
- \param height : Height of the image for the given camera capture format and
- mode.
-
- \param image_format : Coding image format for the given camera capture
- format and mode.
-
- \exception vpFrameGrabberException::otherError : If camera mode (see
- setMode()) and the image format (see setFormat()) are incompatible.
-
- \sa setFormat(), setMode(), getWidth(), getHeight(), setCamera()
-*/
-void
-vp1394Grabber::getImageCharacteristics(int _format, int _mode,
- int &width, int &height,
- vp1394ImageFormatType &_image_format)
-{
- switch(_format)
- {
- case FORMAT_VGA_NONCOMPRESSED:
- switch(_mode)
- {
- case MODE_160x120_YUV444:
- width = 160; height = 120;
- _image_format = YUV444;
- break;
- case MODE_320x240_YUV422:
- width = 320; height = 240;
- _image_format = YUV422;
- break;
- case MODE_640x480_YUV411:
- width = 640; height = 480;
- _image_format = YUV411;
- break;
- case MODE_640x480_YUV422:
- width = 640; height = 480;
- _image_format = YUV422;
- break;
- case MODE_640x480_RGB:
- width = 640; height = 480;
- _image_format = RGB;
- break;
- case MODE_640x480_MONO:
- width = 640; height = 480;
- _image_format = MONO;
- break;
- case MODE_640x480_MONO16:
- width = 640; height = 480;
- _image_format = MONO;
- break;
- default:
- close();
- vpERROR_TRACE("Error: camera image format and camera mode are uncompatible...\n");
- vpERROR_TRACE("format: %d and mode: %d\n", _format, _mode);
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Wrong mode for format 0") );
- break;
- }
- break;
- case FORMAT_SVGA_NONCOMPRESSED_1:
- switch(_mode)
- {
- case MODE_800x600_YUV422:
- width = 800; height = 600;
- _image_format = YUV422;
- break;
- case MODE_800x600_RGB:
- width = 800; height = 600;
- _image_format = RGB;
- break;
- case MODE_800x600_MONO:
- width = 800; height = 600;
- _image_format = MONO;
- break;
- case MODE_800x600_MONO16:
- width = 800; height = 600;
- _image_format = MONO16;
- break;
- case MODE_1024x768_YUV422:
- width = 1024; height = 768;
- _image_format = YUV422;
- break;
- case MODE_1024x768_RGB:
- width = 1024; height = 768;
- _image_format = RGB;
- break;
- case MODE_1024x768_MONO:
- width = 1024; height = 768;
- _image_format = MONO;
- break;
- case MODE_1024x768_MONO16:
- width = 1024; height = 768;
- _image_format = MONO16;
- break;
- default:
- close();
- vpERROR_TRACE("Error: camera image format and camera mode are uncompatible...\n");
- vpERROR_TRACE("format: %d and mode: %d\n", _format, _mode);
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Wrong mode for format 1") );
- break;
- }
- break;
- case FORMAT_SVGA_NONCOMPRESSED_2:
- switch(_mode)
- {
- case MODE_1280x960_YUV422:
- width = 1280; height = 960;
- _image_format = YUV422;
- break;
- case MODE_1280x960_RGB:
- width = 1280; height = 960;
- _image_format = RGB;
- break;
- case MODE_1280x960_MONO:
- width = 1280; height = 960;
- _image_format = MONO;
- break;
- case MODE_1280x960_MONO16:
- width = 1280; height = 960;
- _image_format = MONO16;
- break;
- case MODE_1600x1200_YUV422:
- width = 1600; height = 1200;
- _image_format = YUV422;
- break;
- case MODE_1600x1200_RGB:
- width = 1600; height = 1200;
- _image_format = RGB;
- break;
- case MODE_1600x1200_MONO:
- width = 1600; height = 1200;
- _image_format = MONO;
- break;
- case MODE_1600x1200_MONO16:
- width = 1600; height = 1200;
- _image_format = MONO16;
- break;
- default:
- close();
- vpERROR_TRACE("Error: camera image format and camera mode are uncompatible...\n");
- vpERROR_TRACE("format: %d and mode: %d\n", _format, _mode);
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Wrong mode for format 2") );
- break;
- }
- break;
- case FORMAT_SCALABLE_IMAGE_SIZE:
-#if 1
- switch(_mode)
- {
- case MODE_FORMAT7_0:
- width = 656; height = 492;
- _image_format = YUV422;
- break;
-
- case MODE_FORMAT7_1:
- width = 328; height = 492;
- _image_format = MONO;
- break;
- case MODE_FORMAT7_2:
- width = 656; height = 244;
- _image_format = MONO;
- break;
- case MODE_FORMAT7_3:
- case MODE_FORMAT7_4:
- case MODE_FORMAT7_5:
- case MODE_FORMAT7_6:
- case MODE_FORMAT7_7:
- width = 656; height = 244;
- _image_format = MONO;
- break;
- }
-
-
-#else
- // Did not work. Even if subsampling is activated in MODE_FORMAT7_1, image
- // max size is the size of the image without considering the subsampling
- switch(_mode)
- {
- case MODE_FORMAT7_0:
- // _width = 656; _height = 492;
- _image_format = YUV422;
- break;
-
- case MODE_FORMAT7_1:
- // _width = 328; _height = 492;
- _image_format = MONO;
- break;
- case MODE_FORMAT7_2:
- // _width = 656; _height = 244;
- _image_format = MONO;
- break;
- }
-
- // In format 7 we query set the image size to the maximal image size
- if (dc1394_query_format7_max_image_size(handles[camera],
- cameras[camera].node,
- _mode,
- &width,
- &_eight) != DC1394_SUCCESS) {
- close();
- vpERROR_TRACE("Unable to get maximal image size for format 7\n");
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to get maximal image size for format 7 ") );
- }
- std::cout << "max width=" << width << " height: " << height << std::endl;
-#endif
-
- break;
- default:
- close();
- vpERROR_TRACE("Error: camera image format and camera mode are uncompatible...\n");
- vpERROR_TRACE("format: %d and mode: %d\n", _format, _mode);
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Wrong format") );
- break;
- }
-}
-
-
-/*!
-
- Captures a frame from the given camera using DMA (direct memory acces). Two
- policies are available, either this fonction waits for a frame (waiting
- mode), either it returns if no frame is available (polling mode).
-
- After you have finished with the frame, you must return the buffer to the
- pool by calling dmaDoneWithBuffer().
-
- \param waiting : Capture mode; true if you want to wait for an available
- image (waiting mode), false to activate the polling mode.
-
- \return NULL if no frame is available, the address of the image buffer
- otherwise.
-
- \exception vpFrameGrabberException::otherError : If no frame is available.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa dmaDoneWithBuffer(), getNumCameras(), setCamera()
-*/
-
-int*
-vp1394Grabber::dmaCapture(bool waiting)
-{
-
- if (camera >= num_cameras) {
- std::cout << "The required camera is not present..."
- << std::endl;
- return NULL;
- }
-
- if ( handle_created == true && camera_found == true) {
- if (waiting) {
- if (num_cameras == 1) {
- // Only one camera on the bus
- if (dc1394_dma_single_capture(&cameras[camera]) != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "No frame is available...") );
- return NULL;
- }
- }
- else {
- // More than one camera on the bus.
- if (dc1394_dma_multi_capture(cameras, num_cameras) != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "No frame is available...") );
- return NULL;
- }
- // std::cout << "-";
- }
- }
- else {
- if (num_cameras == 1) {
- // Only one camera on the bus
- if (dc1394_dma_single_capture_poll(&cameras[camera]) != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "No frame is available...") );
- return NULL;
- }
- }
- else {
- // More than one camera on the bus.
- if (dc1394_dma_multi_capture_poll(cameras, num_cameras)
- != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "No frame is available...") );
- return NULL;
- }
-
- }
- }
- }
-
- return cameras[camera].capture_buffer;
-}
-
-/*!
-
- Return the buffer to the pool for the given camera. This allows the driver to
- use the buffer previously handed to the user.
-
- \exception vpFrameGrabberException::settingError :If the required camera is
- not present.
-
- \exception vpFrameGrabberException::otherError : If can't stop the dma
- access.
-
- \warning Has to be called after open() to be sure that a camera is detected.
-
- \sa dmaCapture(), setCamera()
-
-*/
-void
-vp1394Grabber::dmaDoneWithBuffer()
-{
-
- if (camera >= num_cameras) {
- close();
- vpERROR_TRACE("The required camera is not present");
- throw (vpFrameGrabberException(vpFrameGrabberException::settingError,
- "The required camera is not present") );
- }
-
- if ( handle_created == true && camera_found == true) {
- if (dc1394_dma_done_with_buffer(&cameras[camera]) != DC1394_SUCCESS) {
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Can't done the dma") );
- }
- }
-}
-
-
-
-/*!
-
- Close the link between the camera and the acquisition program
-
-*/
-void
-vp1394Grabber::close()
-{
- if (iso_transmission_started == true) {
-
- stopIsoTransmission();
-
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_dma_unlisten( handles[i], &cameras[i] );
- iso_transmission_started = false;
- }
- if ((camera_found == true) && (dma_started == true)) {
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_dma_release_camera( handles[i], &cameras[i]);
- camera_found = false;
- dma_started = false;
- }
- if (handle_created == true) {
- for (unsigned int i=0; i < num_cameras; i++)
- dc1394_destroy_handle(handles[i]);
- handle_created = false;
- }
-
- if (handles != NULL) { delete [] handles; handles = NULL; }
- if (cameras != NULL) { delete [] cameras; cameras = NULL; }
- if (cam_count != NULL) { delete [] cam_count; cam_count = NULL; }
- if (pformat != NULL) { delete [] pformat; pformat = NULL; }
- if (pmode != NULL) { delete [] pmode; pmode = NULL; }
- if (pframerate != NULL) { delete [] pframerate; pframerate = NULL; }
- if (_width != NULL) { delete [] _width; _width = NULL; }
- if (_height != NULL) { delete [] _height; _height = NULL; }
- if (image_format != NULL) { delete [] image_format; image_format = NULL; }
-
-}
-/*!
- Start the transmission of the images for all the cameras on the bus.
-
- \exception vpFrameGrabberException::otherError : If Unable to start camera
- iso transmission.
-
- \sa stopIsoTransmission()
-
-*/
-void vp1394Grabber::startIsoTransmission()
-{
- if ( handle_created == true && camera_found == true) {
-
- for (unsigned int i = 0; i < num_cameras; i ++) {
- if (dc1394_start_iso_transmission(handles[i],
- cameras[i].node) !=DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Unable to start camera iso transmission") );
- }
- }
- iso_transmission_started = true;
- }
-}
-
-/*!
-
- Stop the Iso transmission for all the cameras on the bus.
-
- \return true on success, false otherwise.
-
- \sa StartIsoTransmission()
-
-*/
-void vp1394Grabber::stopIsoTransmission()
-{
-
- if (iso_transmission_started == true) {
- if (handle_created == true && camera_found == true) {
- for (unsigned int i = 0; i < num_cameras; i ++) {
- if (dc1394_stop_iso_transmission(handles[i],
- cameras[i].node) != DC1394_SUCCESS) {
- close();
- throw (vpFrameGrabberException(vpFrameGrabberException::otherError,
- "Can't stop the camera") );
- }
-
- }
- iso_transmission_started = false;
- }
- }
-}
-
-
-#endif
-#endif
diff --git a/src/device/framegrabber/1394/vp1394Grabber.h b/src/device/framegrabber/1394/vp1394Grabber.h
deleted file mode 100644
index fad5e93..0000000
--- a/src/device/framegrabber/1394/vp1394Grabber.h
+++ /dev/null
@@ -1,249 +0,0 @@
-/****************************************************************************
- *
- * $Id: vp1394Grabber.h 4323 2013-07-18 09:24:01Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Firewire cameras video capture.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-
-/*!
- \file vp1394Grabber.h
- \brief class for firewire cameras video capture.
-
- \warning This class needs at least libdc1394-1.0.0 and
- libraw1394-1.1.0. These libraries are available from
- http://sourceforge.net/projects/libdc1394 and
- http://sourceforge.net/projects/libraw1394 .
-
- vp1394Grabber was tested with a Marlin F033C camera. This grabber is
- not working with a PointGrey DragonFly 2 camera. Since libdc1394-1.x
- is deprecated, you should better use vp1394TwoGrabber based on
- libdc1394-2.x.
-
-*/
-
-#ifndef vp1394Grabber_h
-#define vp1394Grabber_h
-
-#include <visp/vpConfig.h>
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-
-#if defined(VISP_HAVE_DC1394_1)
-
-#include <string>
-
-#include <libraw1394/raw1394.h>
-#include <libdc1394/dc1394_control.h>
-
-#include <visp/vpImage.h>
-#include <visp/vpFrameGrabber.h>
-#include <visp/vpRGBa.h>
-#include <visp/vpList.h>
-
-
-
-/*!
- \class vp1394Grabber
-
- \ingroup Framegrabber CameraDriver
-
- \brief Class for firewire ieee1394 video devices using libdc1394-1.x api
-
- \deprecated This class is deprecated. You should use
- vp1394TwoGrabber class instead.
-
- Needs libraw1394-1.2.0 and libdc1394-1.1.0 or more recent versions
- available on http://sourceforge.net.
-
- This class was tested with Marlin F033C and F131B cameras. This grabber is
- not working with a PointGrey DragonFly 2 camera. Since libdc1394-1.x
- is deprecated, you should better use vp1394TwoGrabber based on
- libdc1394-2.x.
-
- The code below shows how to use this class.
- \code
-#include <visp/vpConfig.h>
-#include <visp/vpImage.h>
-#include <visp/vpImageIo.h>
-#include <visp/vp1394Grabber.h>
-
-int main()
-{
-#if defined(VISP_HAVE_DC1394_1)
- vpImage<unsigned char> I; // Create a gray level image container
- vp1394Grabber g; // Create a grabber based on libdc1394-1.x third party lib
- g.setFormat(FORMAT_VGA_NONCOMPRESSED); // Format_0
- g.setMode(MODE_640x480_MONO); // Mode 5
- g.setFramerate(FRAMERATE_15); // 15 fps
-
- g.open(I); // Open the framegrabber
- g.acquire(I); // Acquire an image
- vpImageIo::write(I, "image.pgm"); // Write image on the disk
-#endif
-}
- \endcode
-
- \author Fabien Spindler (Fabien.Spindler at irisa.fr), Irisa / Inria Rennes
-
-*/
-class VISP_EXPORT vp1394Grabber : public vpFrameGrabber
-{
-public:
- /*! \enum vp1394ImageFormatType
- Supported image coding format.
- */
- typedef enum {
- YUV444, /*!< YUV 4:4:4 coding format (24 bits/pixel) */
- YUV422, /*!< YUV 4:2:2 coding format (16 bits/pixel) */
- YUV411, /*!< YUV 4:1:1 coding format (12 bits/pixel) */
- RGB, /*!< RGB coding format (24 bits/pixel) */
- RGBa, /*!< RGBa coding format (32 bits/pixel) */
- MONO, /*!< MONO8 coding format (8 bits/pixel) */
- MONO16 /*!< MONO16 coding format (16 bits/pixel) */
- } vp1394ImageFormatType;
-
- static const int DROP_FRAMES; // Number of frames to drop
- static const int NUM_BUFFERS; // Number of buffers
- static const int MAX_PORTS; // Port maximal number
- static const int MAX_CAMERAS; // Maximal number of cameras on the bus
-
- static const char * strFormats[NUM_FORMATS];
- static const char * strModesInFormat0[NUM_FORMAT0_MODES];
- static const char * strModesInFormat1[NUM_FORMAT1_MODES];
- static const char * strModesInFormat2[NUM_FORMAT2_MODES];
- static const char * strModesInFormat6[NUM_FORMAT6_MODES];
- static const char * strModesInFormat7[NUM_MODE_FORMAT7];
- static const char * strColorsInFormat7[NUM_COLOR_FORMAT7];
- static const char * strFramerates[NUM_FRAMERATES];
-
-
-public:
- vp_deprecated vp1394Grabber();
- vp_deprecated vp1394Grabber(vpImage<unsigned char> &I);
- virtual ~vp1394Grabber();
-
- void setCamera(unsigned int camera);
- void getCamera(unsigned int &camera);
-
- void setFormat(int format);
- void getFormat(int & format);
- int getFormatSupported(vpList<int> & formats);
-
- void setMode(int mode);
- void getMode(int & mode);
- int getModeSupported(int format, vpList<int> & modes);
-
- void setFramerate(int framerate);
- void getFramerate(int & framerate);
- int getFramerateSupported(int format, int mode, vpList<int> & framerates);
-
- int convertFormat (std::string format);
- int convertMode (std::string mode);
- int convertFramerate(std::string framerate);
-
- std::string convertFormat (int format);
- std::string convertMode (int mode);
- std::string convertFramerate(int framerate);
-
- void setShutter(unsigned int shutter);
- void getShutter(unsigned int &min_shutter,
- unsigned int &shutter,
- unsigned int &max_shutter);
-
- void setGain(unsigned int gain);
- void getGain(unsigned int &min_gain,
- unsigned int &gain,
- unsigned int &max_gain);
-
- void open(vpImage<unsigned char> &I);
- void acquire(vpImage<unsigned char> &I);
- void open(vpImage<vpRGBa> &I);
- void acquire(vpImage<vpRGBa> &I);
- void close();
-
- void getWidth (unsigned int &width);
- void getHeight(unsigned int &height);
- void getNumCameras(unsigned int &cameras);
-
-
-private:
-
- void open();
- void setup();
-
- void getImageCharacteristics(int _format, int _mode,
- int &width, int &height,
- vp1394ImageFormatType &imageformat);
- int* dmaCapture(bool waiting = true);
- void dmaDoneWithBuffer();
-
- void startIsoTransmission();
- void stopIsoTransmission();
-
-private:
- bool iso_transmission_started;
- bool handle_created;
- bool camera_found;
- bool camera_nodes_allocated;
- bool dma_started;
- unsigned int num_cameras;
- /* declarations for libdc1394 */
- raw1394handle_t *handles; // MAX_CAMERAS
- dc1394_cameracapture *cameras; // MAX_CAMERAS
- nodeid_t *camera_nodes;
- dc1394_miscinfo miscinfo;
- int *cam_count; // MAX_CAMERAS
-
- /* declarations for video1394 */
- char device_name[FILENAME_MAX];
-
- unsigned int camera;
- // Camera settings
- int *pformat; // MAX_CAMERAS
- int *pmode; // MAX_CAMERAS
- int *pframerate; // MAX_CAMERAS
- bool verbose;
-
- // Image settings
- int *_width; // MAX_CAMERAS
- int *_height; // MAX_CAMERAS
- vp1394ImageFormatType *image_format; // MAX_CAMERAS
-} ;
-
-#endif
-#endif
-#endif
diff --git a/src/device/framegrabber/1394/vp1394TwoGrabber.cpp b/src/device/framegrabber/1394/vp1394TwoGrabber.cpp
index a5a6d45..f76e891 100644
--- a/src/device/framegrabber/1394/vp1394TwoGrabber.cpp
+++ b/src/device/framegrabber/1394/vp1394TwoGrabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vp1394TwoGrabber.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vp1394TwoGrabber.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -168,28 +168,20 @@ int main()
*/
vp1394TwoGrabber::vp1394TwoGrabber(bool reset)
+ : camera(NULL), cameras(NULL), num_cameras(0), camera_id(0), verbose(false), camIsOpen(NULL),
+ num_buffers(4), // ring buffer size
+ isDataModified(NULL), initialShutterMode(NULL), dataCam(NULL)
+ #ifdef VISP_HAVE_DC1394_2_CAMERA_ENUMERATE // new API > libdc1394-2.0.0-rc7
+ , d(NULL),
+ list(NULL)
+ #endif
{
// protected members
width = height = 0;
// private members
- num_cameras = 0;
- cameras = NULL;
- camera_id = 0;
- verbose = false;//true;
- camIsOpen = NULL;
init = false;
- cameras = NULL;
-#ifdef VISP_HAVE_DC1394_2_CAMERA_ENUMERATE // new API > libdc1394-2.0.0-rc7
- d = NULL;
- list = NULL;
-#endif
- num_buffers = 4; // ring buffer size
- isDataModified = NULL;
- initialShutterMode = NULL;
- dataCam = NULL;
-
reset = false;
initialize(reset);
@@ -220,7 +212,7 @@ vp1394TwoGrabber::~vp1394TwoGrabber()
If multiples cameras are connected on the bus, select the camero to dial
with.
- \param camera_id : A camera identifier or GUID. By identifier, we
+ \param cam_id : A camera identifier or GUID. By identifier, we
mean a value comprised between 0 (the first camera found on the bus)
and the number of cameras found on the bus and returned by
getNumCameras() minus 1. If two cameras are connected on the bus,
@@ -332,24 +324,23 @@ int main()
}
\endcode
-
\sa setFormat(), setVideoMode(), setFramerate(), getNumCameras()
*/
void
-vp1394TwoGrabber::setCamera(uint64_t camera_id)
+vp1394TwoGrabber::setCamera(uint64_t cam_id)
{
// Suppose that if camera_id is a camera GUID, this value is greater
// than the number of cameras connected to the bus
- if (camera_id >= num_cameras) {
+ if (cam_id >= num_cameras) {
// Check if camera_id is a camera guid
bool is_guid = false;
// check if the camera_id is a guid
for (unsigned int i=0; i< num_cameras; i++) {
if (cameras[i]->guid == camera_id) {
- this->camera_id = i;
- is_guid = true;
- break;
+ this->camera_id = i;
+ is_guid = true;
+ break;
}
}
if (is_guid == false) {
@@ -362,7 +353,7 @@ vp1394TwoGrabber::setCamera(uint64_t camera_id)
}
}
else {
- this->camera_id = camera_id;
+ this->camera_id = cam_id;
}
// create a pointer to the working camera
@@ -374,7 +365,7 @@ vp1394TwoGrabber::setCamera(uint64_t camera_id)
Get the active camera identifier on the bus.
- \param camera_id : The active camera identifier. The value is
+ \param cam_id : The active camera identifier. The value is
comprised between 0 (the first camera) and the number of cameras
found on the bus returned by getNumCameras() minus 1.
@@ -385,10 +376,10 @@ vp1394TwoGrabber::setCamera(uint64_t camera_id)
*/
void
-vp1394TwoGrabber::getCamera(uint64_t &camera_id)
+vp1394TwoGrabber::getCamera(uint64_t &cam_id)
{
if (num_cameras) {
- camera_id = this->camera_id;
+ cam_id = this->camera_id;
}
else {
close();
@@ -434,7 +425,7 @@ vp1394TwoGrabber::getCamera()
*/
void
-vp1394TwoGrabber::getNumCameras(unsigned int &ncameras)
+vp1394TwoGrabber::getNumCameras(unsigned int &ncameras) const
{
if (! num_cameras) {
vpCTRACE << "No camera found..."<< std::endl;
@@ -452,7 +443,7 @@ vp1394TwoGrabber::getNumCameras(unsigned int &ncameras)
*/
unsigned int
-vp1394TwoGrabber::getNumCameras()
+vp1394TwoGrabber::getNumCameras() const
{
unsigned int ncameras = 0;
if (! num_cameras) {
@@ -1345,10 +1336,10 @@ vp1394TwoGrabber::isColorCodingSupported(vp1394TwoVideoModeType mode,
\param top : Position of the upper left roi corner.
- \param width : Roi width. If width is set to 0, uses the maximum
+ \param w : Roi width. If width is set to 0, uses the maximum
allowed image width.
- \param height : Roi height. If width is set to 0, uses the maximum
+ \param h : Roi height. If width is set to 0, uses the maximum
allowed image height.
@@ -1362,7 +1353,7 @@ vp1394TwoGrabber::isColorCodingSupported(vp1394TwoVideoModeType mode,
*/
void
vp1394TwoGrabber::setFormat7ROI(unsigned int left, unsigned int top,
- unsigned int width, unsigned int height)
+ unsigned int w, unsigned int h)
{
open();
if (! num_cameras) {
@@ -1397,8 +1388,8 @@ vp1394TwoGrabber::setFormat7ROI(unsigned int left, unsigned int top,
}
#if 0
vpTRACE("left: %d top: %d width: %d height: %d", left, top,
- width == 0 ? DC1394_USE_MAX_AVAIL: width,
- height == 0 ? DC1394_USE_MAX_AVAIL : height);
+ width == 0 ? DC1394_USE_MAX_AVAIL: w,
+ height == 0 ? DC1394_USE_MAX_AVAIL : h);
vpTRACE("max_width: %d max_height: %d", max_width, max_height);
#endif
@@ -1416,27 +1407,26 @@ vp1394TwoGrabber::setFormat7ROI(unsigned int left, unsigned int top,
int32_t roi_width;
int32_t roi_height;
- if (width != 0) {
+ if (w != 0) {
// Check if roi width is acceptable (ie roi is contained in the image)
- if (width > (max_width - left))
- width = (max_width - left);
- roi_width = (int32_t)width;
+ if (w > (max_width - left))
+ w = (max_width - left);
+ roi_width = (int32_t)w;
}
else {
roi_width = DC1394_USE_MAX_AVAIL;
}
- if (height != 0) {
+ if (h != 0) {
// Check if roi height is acceptable (ie roi is contained in the image)
- if (height > (max_height - top))
- height = (max_height - top);
- roi_height = (int32_t)height;
+ if (h > (max_height - top))
+ h = (max_height - top);
+ roi_height = (int32_t)h;
}
else {
roi_height = DC1394_USE_MAX_AVAIL;
}
-
if (dc1394_format7_set_roi(camera, _videomode,
(dc1394color_coding_t) DC1394_QUERY_FROM_CAMERA, // color_coding
DC1394_USE_MAX_AVAIL/*DC1394_QUERY_FROM_CAMERA*/, // bytes_per_packet
@@ -1530,7 +1520,7 @@ vp1394TwoGrabber::initialize(bool reset)
dc1394_reset_bus(cameras[0]);
}
- if (list != NULL)
+ // if (list != NULL)
dc1394_camera_free_list (list);
list = NULL;
@@ -1771,7 +1761,7 @@ vp1394TwoGrabber::setRingBufferSize(unsigned int size)
\sa setRingBufferSize()
*/
unsigned int
-vp1394TwoGrabber::getRingBufferSize()
+vp1394TwoGrabber::getRingBufferSize() const
{
return num_buffers;
}
@@ -1781,6 +1771,9 @@ vp1394TwoGrabber::getRingBufferSize()
and max exposure time, but only for AVT cameras. In that case
use setAutoShutter(unsigned int, unsigned int).
+ \param enable : Flag to enable or disable the auto shutter. If false, set the
+ shutter as manual.
+
\exception vpFrameGrabberException::initializationError : If no
camera found on the bus.
@@ -1813,7 +1806,7 @@ int main()
\sa setAutoShutter(unsigned int, unsigned int), getAutoShutter()
*/
void
-vp1394TwoGrabber::setAutoShutter()
+vp1394TwoGrabber::setAutoShutter(bool enable)
{
if (! num_cameras) {
close();
@@ -1822,6 +1815,14 @@ vp1394TwoGrabber::setAutoShutter()
"No camera found") );
}
+ dc1394feature_mode_t mode;
+ if (enable) {
+ mode = DC1394_FEATURE_MODE_AUTO;
+ }
+ else {
+ mode = DC1394_FEATURE_MODE_MANUAL;
+ }
+
if (dc1394_feature_set_power(camera, DC1394_FEATURE_SHUTTER, DC1394_ON)
!= DC1394_SUCCESS) {
// vpERROR_TRACE("Cannot set shutter on. \n");
@@ -1832,7 +1833,7 @@ vp1394TwoGrabber::setAutoShutter()
if (dc1394_feature_set_mode(camera,
DC1394_FEATURE_SHUTTER,
- DC1394_FEATURE_MODE_AUTO)
+ mode)
!= DC1394_SUCCESS) {
// vpERROR_TRACE("Cannot set auto shutter. \n");
close();
@@ -1930,6 +1931,9 @@ vp1394TwoGrabber::getAutoShutter(unsigned int &minvalue, unsigned int &maxvalue)
and max gain, but only for AVT cameras. In that case
use setAutoGain(unsigned int, unsigned int).
+ \param enable : Flag to enable or disable the auto gain. If false, set the
+ gain as manual.
+
\exception vpFrameGrabberException::initializationError : If no
camera found on the bus.
@@ -1948,7 +1952,7 @@ int main()
vp1394TwoGrabber g(false); // Don't reset the bus
g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_FORMAT7_0 );
g.setColorCoding(vp1394TwoGrabber::vpCOLOR_CODING_MONO8);
- g.setAutoGain(); // Enable auto gain
+ g.setAutoGain(true); // Enable auto gain
g.setIsoTransmissionSpeed(vp1394TwoGrabber::vpISO_SPEED_800); // 1394b
while(1)
g.acquire(I);
@@ -1962,7 +1966,7 @@ int main()
\sa setAutoGain(unsigned int, unsigned int), getAutoGain()
*/
void
-vp1394TwoGrabber::setAutoGain()
+vp1394TwoGrabber::setAutoGain(bool enable)
{
if (! num_cameras) {
close();
@@ -1971,7 +1975,15 @@ vp1394TwoGrabber::setAutoGain()
"No camera found") );
}
- if (dc1394_feature_set_power(camera, DC1394_FEATURE_SHUTTER, DC1394_ON)
+ dc1394feature_mode_t mode;
+ if (enable) {
+ mode = DC1394_FEATURE_MODE_AUTO;
+ }
+ else {
+ mode = DC1394_FEATURE_MODE_MANUAL;
+ }
+
+ if (dc1394_feature_set_power(camera, DC1394_FEATURE_GAIN, DC1394_ON)
!= DC1394_SUCCESS) {
// vpERROR_TRACE("Cannot set shutter on. \n");
close();
@@ -1981,7 +1993,7 @@ vp1394TwoGrabber::setAutoGain()
if (dc1394_feature_set_mode(camera,
DC1394_FEATURE_GAIN,
- DC1394_FEATURE_MODE_AUTO)
+ mode)
!= DC1394_SUCCESS) {
// vpERROR_TRACE("Cannot set auto gain. \n");
close();
@@ -2924,7 +2936,7 @@ vp1394TwoGrabber::acquire(vpImage<vpRGBa> &I,
Get the image width. It depends on the camera video mode setVideoMode(). The
image size is only available after a call to open() or acquire().
- \param width : The image width, zero if the required camera is not available.
+ \param w : The image width, zero if the required camera is not available.
\exception vpFrameGrabberException::initializationError : If no
camera found on the bus.
@@ -2935,7 +2947,7 @@ vp1394TwoGrabber::acquire(vpImage<vpRGBa> &I,
\sa getHeight(), open(), acquire()
*/
-void vp1394TwoGrabber::getWidth(unsigned int &width)
+void vp1394TwoGrabber::getWidth(unsigned int &w)
{
if (! num_cameras) {
close();
@@ -2944,7 +2956,7 @@ void vp1394TwoGrabber::getWidth(unsigned int &width)
"No camera found") );
}
- width = this->width;
+ w = this->width;
}
/*!
@@ -2981,7 +2993,7 @@ unsigned int vp1394TwoGrabber::getWidth()
setVideoMode(). The image size is only available after a call to
open() or acquire().
- \param height : The image height.
+ \param h : The image height.
\exception vpFrameGrabberException::initializationError : If no
camera found on the bus.
@@ -2992,7 +3004,7 @@ unsigned int vp1394TwoGrabber::getWidth()
\sa getWidth()
*/
-void vp1394TwoGrabber::getHeight(unsigned int &height)
+void vp1394TwoGrabber::getHeight(unsigned int &h)
{
if (! num_cameras) {
close();
@@ -3001,7 +3013,7 @@ void vp1394TwoGrabber::getHeight(unsigned int &height)
"No camera found") );
}
- height = this->height;
+ h = this->height;
}
/*!
@@ -3096,8 +3108,8 @@ std::string vp1394TwoGrabber::videoMode2string(vp1394TwoVideoModeType videomode)
_str = strVideoMode[_videomode - DC1394_VIDEO_MODE_MIN];
}
else {
- vpCERROR << "The video mode " << videomode
- << " is not supported by the camera" << std::endl;
+ vpCERROR << "The video mode " << (int)videomode
+ << " is not supported by the camera" << std::endl;
}
return _str;
@@ -3125,8 +3137,8 @@ std::string vp1394TwoGrabber::framerate2string(vp1394TwoFramerateType fps)
_str = strFramerate[_fps - DC1394_FRAMERATE_MIN];
}
else {
- vpCERROR << "The framerate " << fps
- << " is not supported by the camera" << std::endl;
+ vpCERROR << "The framerate " << (int)fps
+ << " is not supported by the camera" << std::endl;
}
return _str;
@@ -3155,8 +3167,8 @@ std::string vp1394TwoGrabber::colorCoding2string(vp1394TwoColorCodingType colorc
}
else {
- vpCERROR << "The color coding " << colorcoding
- << " is not supported by the camera" << std::endl;
+ vpCERROR << "The color coding " << (int)colorcoding
+ << " is not supported by the camera" << std::endl;
}
return _str;
@@ -3319,7 +3331,7 @@ void vp1394TwoGrabber::resetBus()
dc1394_camera_free (camera);
dc1394_free (d);
d = NULL;
- if (cameras != NULL)
+ //if (cameras != NULL)
delete [] cameras;
cameras = NULL ;
#elif defined VISP_HAVE_DC1394_2_FIND_CAMERAS // old API <= libdc1394-2.0.0-rc7
@@ -3764,7 +3776,7 @@ vp1394TwoGrabber::getFramerateSupported(vp1394TwoVideoModeType mode,
*/
uint32_t
vp1394TwoGrabber::getColorCodingSupported(vp1394TwoVideoModeType mode,
- vpList<vp1394TwoColorCodingType> & codings)
+ vpList<vp1394TwoColorCodingType> & codings)
{
if (! num_cameras) {
close();
diff --git a/src/device/framegrabber/1394/vp1394TwoGrabber.h b/src/device/framegrabber/1394/vp1394TwoGrabber.h
index 123a1e7..4422023 100644
--- a/src/device/framegrabber/1394/vp1394TwoGrabber.h
+++ b/src/device/framegrabber/1394/vp1394TwoGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vp1394TwoGrabber.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vp1394TwoGrabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -382,10 +382,10 @@ class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
void getGuid(uint64_t &guid);
void getHeight(unsigned int &height);
unsigned int getHeight();
- void getNumCameras(unsigned int &ncameras);
- unsigned int getNumCameras();
+ void getNumCameras(unsigned int &ncameras) const;
+ unsigned int getNumCameras() const;
unsigned int getParameterValue(vp1394TwoParametersType param);
- unsigned int getRingBufferSize();
+ unsigned int getRingBufferSize() const;
void getVideoMode(vp1394TwoVideoModeType & videomode);
uint32_t getVideoModeSupported(std::list<vp1394TwoVideoModeType> & videomodes);
void getWidth(unsigned int &width);
@@ -406,9 +406,9 @@ class VISP_EXPORT vp1394TwoGrabber : public vpFrameGrabber
void resetBus();
- void setAutoGain();
+ void setAutoGain(bool enable = true);
void setAutoGain(unsigned int minvalue, unsigned int maxvalue);
- void setAutoShutter();
+ void setAutoShutter(bool enable = true);
void setAutoShutter(unsigned int minvalue, unsigned int maxvalue);
void setCamera(uint64_t camera);
void setColorCoding(vp1394TwoColorCodingType coding);
diff --git a/src/device/framegrabber/OpenCV/vpOpenCVGrabber.cpp b/src/device/framegrabber/OpenCV/vpOpenCVGrabber.cpp
index f4e0c0c..47981f9 100644
--- a/src/device/framegrabber/OpenCV/vpOpenCVGrabber.cpp
+++ b/src/device/framegrabber/OpenCV/vpOpenCVGrabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpOpenCVGrabber.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpOpenCVGrabber.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,17 +58,13 @@
Basic Constructor.
*/
vpOpenCVGrabber::vpOpenCVGrabber()
+ : capture(NULL), DeviceType(0), flip(false)
{
// public memebers
init = false;
// protected members
width = height = 0;
-
- // private members
- capture = NULL;
- DeviceType = 0;
- flip = false;
}
@@ -245,14 +241,14 @@ void vpOpenCVGrabber::setFramerate(const double framerate)
\warning This function must be called after open() method.
- \param width : The requested value of the captured image width.
+ \param w : The requested value of the captured image width.
\exception vpFrameGrabberException::initializationError If no
camera was found.
*/
-void vpOpenCVGrabber::setWidth(const unsigned int width)
+void vpOpenCVGrabber::setWidth(const unsigned int w)
{
- if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width))
+ if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, w))
{
close();
vpERROR_TRACE("Impossible to set the size of the grabber");
@@ -260,7 +256,7 @@ void vpOpenCVGrabber::setWidth(const unsigned int width)
"Impossible to set the size of the grabber") );
}
- this->width = width;
+ this->width = w;
}
/*!
@@ -268,14 +264,14 @@ void vpOpenCVGrabber::setWidth(const unsigned int width)
\warning This function must be called after open() method.
- \param height : The requested value of the captured image height.
+ \param h : The requested value of the captured image height.
\exception vpFrameGrabberException::initializationError If no
camera was found.
*/
-void vpOpenCVGrabber::setHeight(const unsigned int height)
+void vpOpenCVGrabber::setHeight(const unsigned int h)
{
- if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height))
+ if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, h))
{
close();
vpERROR_TRACE("Impossible to set the size of the grabber");
@@ -283,7 +279,7 @@ void vpOpenCVGrabber::setHeight(const unsigned int height)
"Impossible to set the size of the grabber") );
}
- this->height = height;
+ this->height = h;
}
/*!
diff --git a/src/device/framegrabber/OpenCV/vpOpenCVGrabber.h b/src/device/framegrabber/OpenCV/vpOpenCVGrabber.h
index 61b1033..d9f11e2 100644
--- a/src/device/framegrabber/OpenCV/vpOpenCVGrabber.h
+++ b/src/device/framegrabber/OpenCV/vpOpenCVGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpOpenCVGrabber.h 4216 2013-04-17 09:06:18Z fspindle $
+ * $Id: vpOpenCVGrabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/directshow/vpDirectShowDevice.cpp b/src/device/framegrabber/directshow/vpDirectShowDevice.cpp
index 94536e6..21de590 100644
--- a/src/device/framegrabber/directshow/vpDirectShowDevice.cpp
+++ b/src/device/framegrabber/directshow/vpDirectShowDevice.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowDevice.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowDevice.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -120,5 +120,10 @@ bool vpDirectShowDevice::operator==(vpDirectShowDevice& dev)
&& devPath==dev.devPath;
}
+VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpDirectShowDevice& dev)
+{
+ return os<<dev.name<<std::endl<<dev.desc<<std::endl<<dev.devPath;
+}
+
#endif
#endif
diff --git a/src/device/framegrabber/directshow/vpDirectShowDevice.h b/src/device/framegrabber/directshow/vpDirectShowDevice.h
index d3bc59c..6f35fe2 100644
--- a/src/device/framegrabber/directshow/vpDirectShowDevice.h
+++ b/src/device/framegrabber/directshow/vpDirectShowDevice.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowDevice.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowDevice.h 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -79,10 +79,7 @@ public:
bool operator==(vpDirectShowDevice& dev);
- friend VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpDirectShowDevice& dev)
- {
- return os<<dev.name<<std::endl<<dev.desc<<std::endl<<dev.devPath;
- }
+ friend VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpDirectShowDevice& dev);
};
#endif
#endif
diff --git a/src/device/framegrabber/directshow/vpDirectShowGrabber.cpp b/src/device/framegrabber/directshow/vpDirectShowGrabber.cpp
index f49bb4f..2235568 100644
--- a/src/device/framegrabber/directshow/vpDirectShowGrabber.cpp
+++ b/src/device/framegrabber/directshow/vpDirectShowGrabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowGrabber.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowGrabber.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/directshow/vpDirectShowGrabber.h b/src/device/framegrabber/directshow/vpDirectShowGrabber.h
index ddc2027..d360e26 100644
--- a/src/device/framegrabber/directshow/vpDirectShowGrabber.h
+++ b/src/device/framegrabber/directshow/vpDirectShowGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowGrabber.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowGrabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.cpp b/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.cpp
index 8078889..c2c4893 100755
--- a/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.cpp
+++ b/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowGrabberImpl.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowGrabberImpl.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.h b/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.h
index 7133ec9..6f07bde 100755
--- a/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.h
+++ b/src/device/framegrabber/directshow/vpDirectShowGrabberImpl.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowGrabberImpl.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowGrabberImpl.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/directshow/vpDirectShowSampleGrabberI.h b/src/device/framegrabber/directshow/vpDirectShowSampleGrabberI.h
index da66cf3..f233f3c 100644
--- a/src/device/framegrabber/directshow/vpDirectShowSampleGrabberI.h
+++ b/src/device/framegrabber/directshow/vpDirectShowSampleGrabberI.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDirectShowSampleGrabberI.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDirectShowSampleGrabberI.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/disk/vpDiskGrabber.cpp b/src/device/framegrabber/disk/vpDiskGrabber.cpp
index e31e6e4..d1c78cd 100644
--- a/src/device/framegrabber/disk/vpDiskGrabber.cpp
+++ b/src/device/framegrabber/disk/vpDiskGrabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDiskGrabber.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDiskGrabber.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,22 +47,30 @@
Elementary constructor.
*/
vpDiskGrabber::vpDiskGrabber()
+ : image_number(0), image_step(1), number_of_zero(0), useGenericName(false)
{
setDirectory("/tmp");
setBaseName("I");
- setImageNumber(0);
- setStep(1);
- setNumberOfZero(0);
setExtension("pgm");
init = false;
- useGenericName = false;
}
-vpDiskGrabber::vpDiskGrabber(const char *genericName)
+vpDiskGrabber::vpDiskGrabber(const char *generic_name)
+ : image_number(0), image_step(1), number_of_zero(0), useGenericName(false)
{
- strcpy(this->genericName, genericName);
+ setDirectory("/tmp");
+ setBaseName("I");
+ setExtension("pgm");
+
+ init = false;
+ if (strlen( generic_name ) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the generic name"));
+ }
+
+ strcpy(this->genericName, generic_name);
useGenericName = true;
}
@@ -82,16 +90,13 @@ vpDiskGrabber::vpDiskGrabber(const char *dir, const char *basename,
long number,
int step, unsigned int noz,
const char *ext)
+ : image_number(number), image_step(step), number_of_zero(noz), useGenericName(false)
{
setDirectory(dir);
setBaseName(basename);
- setImageNumber(number);
- setStep(step);
- setNumberOfZero(noz);
setExtension(ext);
init = false;
- useGenericName = false;
}
void
@@ -244,19 +249,19 @@ vpDiskGrabber::acquire(vpImage<float> &I)
Acquire an image: read a pgm image from the disk.
After this call, the image number is incremented considering the step.
- \param I the read image
- \param image_number The index of the desired image.
+ \param I : The image read from a file.
+ \param img_number : The number of the desired image.
*/
void
-vpDiskGrabber::acquire(vpImage<unsigned char> &I, long image_number)
+vpDiskGrabber::acquire(vpImage<unsigned char> &I, long img_number)
{
char name[FILENAME_MAX] ;
if(useGenericName)
- sprintf(name,genericName,image_number) ;
+ sprintf(name,genericName,img_number) ;
else
- sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,image_number,extension) ;
+ sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,img_number,extension) ;
vpDEBUG_TRACE(2, "load: %s\n", name);
@@ -270,19 +275,19 @@ vpDiskGrabber::acquire(vpImage<unsigned char> &I, long image_number)
Acquire an image: read a ppm image from the disk.
After this call, the image number is incremented considering the step.
- \param I the read image
- \param image_number The index of the desired image.
+ \param I : The image read from a file.
+ \param img_number : The number of the desired image.
*/
void
-vpDiskGrabber::acquire(vpImage<vpRGBa> &I, long image_number)
+vpDiskGrabber::acquire(vpImage<vpRGBa> &I, long img_number)
{
char name[FILENAME_MAX] ;
if(useGenericName)
- sprintf(name,genericName,image_number) ;
+ sprintf(name,genericName,img_number) ;
else
- sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,image_number,extension) ;
+ sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,img_number,extension) ;
vpDEBUG_TRACE(2, "load: %s\n", name);
@@ -298,19 +303,19 @@ vpDiskGrabber::acquire(vpImage<vpRGBa> &I, long image_number)
Acquire an image: read a pfm image from the disk.
After this call, the image number is incremented considering the step.
- \param I the read image
- \param image_number The index of the desired image.
+ \param I : The image read from a file.
+ \param img_number : The number of the desired image.
*/
void
-vpDiskGrabber::acquire(vpImage<float> &I, long image_number)
+vpDiskGrabber::acquire(vpImage<float> &I, long img_number)
{
char name[FILENAME_MAX] ;
if(useGenericName)
- sprintf(name,genericName,image_number) ;
+ sprintf(name,genericName,img_number) ;
else
- sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,image_number,extension) ;
+ sprintf(name,"%s/%s%0*ld.%s",directory,base_name,number_of_zero,img_number,extension) ;
vpDEBUG_TRACE(2, "load: %s\n", name);
@@ -399,8 +404,13 @@ vpDiskGrabber::setNumberOfZero(unsigned int noz)
}
void
-vpDiskGrabber::setGenericName(const char *genericName)
+vpDiskGrabber::setGenericName(const char *generic_name)
{
- strcpy(this->genericName, genericName) ;
+ if (strlen( generic_name ) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the generic name"));
+ }
+
+ strcpy(this->genericName, generic_name) ;
useGenericName = true;
}
diff --git a/src/device/framegrabber/disk/vpDiskGrabber.h b/src/device/framegrabber/disk/vpDiskGrabber.h
index eb3b8cf..a85b70c 100644
--- a/src/device/framegrabber/disk/vpDiskGrabber.h
+++ b/src/device/framegrabber/disk/vpDiskGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDiskGrabber.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDiskGrabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/framegrabber/generic-framegrabber/vpFrameGrabber.h b/src/device/framegrabber/generic-framegrabber/vpFrameGrabber.h
index b9bfb74..975adbd 100644
--- a/src/device/framegrabber/generic-framegrabber/vpFrameGrabber.h
+++ b/src/device/framegrabber/generic-framegrabber/vpFrameGrabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFrameGrabber.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpFrameGrabber.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -121,6 +121,7 @@ public:
inline unsigned int getWidth() const { return width ; }
public:
+ vpFrameGrabber() : init(false), height(0), width(0) {};
virtual ~vpFrameGrabber() { ; }
virtual void open(vpImage<unsigned char> &I) =0 ;
diff --git a/src/device/framegrabber/generic-framegrabber/vpFrameGrabberException.h b/src/device/framegrabber/generic-framegrabber/vpFrameGrabberException.h
index 772263d..1439f7a 100644
--- a/src/device/framegrabber/generic-framegrabber/vpFrameGrabberException.h
+++ b/src/device/framegrabber/generic-framegrabber/vpFrameGrabberException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFrameGrabberException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFrameGrabberException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,37 +71,32 @@
*/
class VISP_EXPORT vpFrameGrabberException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpFrameGrabber member
*/
- enum errorFrameGrabberCodeEnum
+ enum errorFrameGrabberCodeEnum
{
settingError,
initializationError,
otherError
} ;
-public:
- vpFrameGrabberException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpFrameGrabberException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpFrameGrabberException (const int code)
- : vpException(code){ ; }
+ public:
+ vpFrameGrabberException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpFrameGrabberException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpFrameGrabberException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
#endif /* #ifndef __vpFrameGrabberException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/device/framegrabber/v4l2/vpV4l2Grabber.cpp b/src/device/framegrabber/v4l2/vpV4l2Grabber.cpp
index 365f7c2..ec0ce3d 100644
--- a/src/device/framegrabber/v4l2/vpV4l2Grabber.cpp
+++ b/src/device/framegrabber/v4l2/vpV4l2Grabber.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpV4l2Grabber.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpV4l2Grabber.cpp 4656 2014-02-07 17:21:28Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -919,11 +919,22 @@ vpV4l2Grabber::open()
if (cap.capabilities & V4L2_CAP_STREAMING)
fprintf(stdout, " Support streaming capture.\n");
else
- fprintf(stdout, " Does not support streaming capture.\n");
+ fprintf(stdout, " Does not support streaming capture\n");
if(cap.capabilities & V4L2_CAP_ASYNCIO)
- fprintf(stdout, " Support asynchronous I/O methods.\n");
+ fprintf(stdout, " Support asynchronous I/O methods\n");
else
- fprintf(stdout, " Does not support asynchronous I/O methods.\n");
+ fprintf(stdout, " Does not support asynchronous I/O methods\n");
+ if(cap.capabilities & V4L2_CAP_TIMEPERFRAME)
+ fprintf(stdout, " Support time per frame field\n");
+ else
+ fprintf(stdout, " Does not support time per frame field\n");
+ // Get framerate
+ struct v4l2_streamparm streamparm;
+ streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (v4l2_ioctl(fd, VIDIOC_G_PARM, &streamparm) != -1) {
+ fprintf(stdout, " Current acquisition framerate: %d fps\n",
+ streamparm.parm.output.timeperframe.denominator);
+ }
}
getCapabilities();
diff --git a/src/device/framegrabber/v4l2/vpV4l2Grabber.h b/src/device/framegrabber/v4l2/vpV4l2Grabber.h
index da741f4..3c672b8 100644
--- a/src/device/framegrabber/v4l2/vpV4l2Grabber.h
+++ b/src/device/framegrabber/v4l2/vpV4l2Grabber.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpV4l2Grabber.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpV4l2Grabber.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/kinect/vpKinect.cpp b/src/device/kinect/vpKinect.cpp
index cfab762..9fe7abe 100644
--- a/src/device/kinect/vpKinect.cpp
+++ b/src/device/kinect/vpKinect.cpp
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpKinect.cpp 4329 2013-07-20 07:06:49Z fspindle $
+ * $Id: vpKinect.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/kinect/vpKinect.h b/src/device/kinect/vpKinect.h
index 5eaab28..d4b2d99 100644
--- a/src/device/kinect/vpKinect.h
+++ b/src/device/kinect/vpKinect.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpKinect.h 4131 2013-02-11 20:45:31Z fspindle $
+ * $Id: vpKinect.h 4574 2014-01-09 08:48:51Z fspindle $
*
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/laserscanner/sick/vpSickLDMRS.cpp b/src/device/laserscanner/sick/vpSickLDMRS.cpp
index 86de3d6..78fdf6b 100644
--- a/src/device/laserscanner/sick/vpSickLDMRS.cpp
+++ b/src/device/laserscanner/sick/vpSickLDMRS.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSickLDMRS.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSickLDMRS.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -39,22 +39,24 @@
*
*****************************************************************************/
-#if ( defined(UNIX) && !defined(WIN32) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
#include <visp/vpSickLDMRS.h>
#include <visp/vpMath.h>
#include <visp/vpDebug.h>
#include <visp/vpTime.h>
#include <sys/socket.h>
+#include <sys/select.h>
#include <netinet/in.h>
#include <fcntl.h>
#include <errno.h>
#include <netdb.h>
#include <string.h>
-#include <strings.h>
+//#include <strings.h>
#include <math.h>
#include <assert.h>
#include <stdlib.h>
+#include <limits.h>
@@ -72,19 +74,18 @@
body messages.
*/
vpSickLDMRS::vpSickLDMRS()
+ : socket_fd(-1), body(NULL), vAngle(), time_offset(0),
+ isFirstMeasure(true), maxlen_body(104000)
{
ip = "131.254.12.119";
port = 12002;
- body = new unsigned char [104000];
- isFirstMeasure = true;
- time_offset = 0;
+ body = new unsigned char [maxlen_body];
vAngle.resize(4); // Vertical angle of the 4 layers
vAngle[0] = vpMath::rad(-1.2);
vAngle[1] = vpMath::rad(-0.4);
vAngle[2] = vpMath::rad( 0.4);
vAngle[3] = vpMath::rad( 1.2);
-
}
/*!
@@ -99,16 +100,16 @@ vpSickLDMRS::~vpSickLDMRS()
/*!
Initialize the connexion with the Sick LD-MRS laser scanner.
- \param ip : Ethernet address of the laser.
- \param port : Ethernet port of the laser.
+ \param ip_address : Ethernet address of the laser.
+ \param com_port : Ethernet port of the laser.
\return true if the device was initialized, false otherwise.
*/
-bool vpSickLDMRS::setup(std::string ip, int port)
+bool vpSickLDMRS::setup(std::string ip_address, int com_port)
{
- setIpAddress( ip );
- setPort( port );
+ setIpAddress( ip_address );
+ setPort( com_port );
return ( this->setup() );
}
@@ -130,7 +131,8 @@ bool vpSickLDMRS::setup()
fprintf(stderr, "Failed to create socket\n");
return false;
}
- bzero(&serv_addr, sizeof(serv_addr));
+ //bzero(&serv_addr, sizeof(serv_addr));
+ memset(&serv_addr, 0, sizeof(serv_addr));
serv_addr.sin_family = AF_INET; // Internet/IP
serv_addr.sin_addr.s_addr = inet_addr(ip.c_str()); // IP address
serv_addr.sin_port = htons(port); // server port
@@ -266,6 +268,9 @@ bool vpSickLDMRS::measure(vpLaserScan laserscan[4])
double rDist; // radial distance in meters
vpScanPoint scanPoint;
+ if (numPoints > USHRT_MAX-2)
+ throw(vpException (vpException::ioError, "Out of range number of point"));
+
for (int i=0; i < numPoints; i++) {
ushortptr = (unsigned short *) (body+44+i*10);
unsigned char layer = ((unsigned char) body[44+i*10])&0x0F;
diff --git a/src/device/laserscanner/sick/vpSickLDMRS.h b/src/device/laserscanner/sick/vpSickLDMRS.h
index b6fd478..062517c 100644
--- a/src/device/laserscanner/sick/vpSickLDMRS.h
+++ b/src/device/laserscanner/sick/vpSickLDMRS.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSickLDMRS.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSickLDMRS.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -43,17 +43,18 @@
#include <visp/vpConfig.h>
-#if ( defined(UNIX) && !defined(WIN32) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
#include <arpa/inet.h>
#include <iostream>
#include <vector>
-
+#include <string.h>
#include <visp/vpScanPoint.h>
#include <visp/vpLaserScan.h>
#include <visp/vpLaserScanner.h>
#include <visp/vpColVector.h>
+#include <visp/vpException.h>
/*!
@@ -80,7 +81,7 @@
int main()
{
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
std::string ip = "131.254.12.119";
vpSickLDMRS laser;
@@ -98,7 +99,7 @@ int main()
vpScanPoint p;
for (unsigned int i=0; i < pointsInLayer.size(); i++) {
- std::cout << pointsInLayer[i] << std::endl;
+ std::cout << pointsInLayer[i] << std::endl;
}
}
}
@@ -117,26 +118,42 @@ class VISP_EXPORT vpSickLDMRS : public vpLaserScanner
};
vpSickLDMRS();
/*! Copy constructor. */
- vpSickLDMRS(const vpSickLDMRS &sick) : vpLaserScanner(sick) {
+ vpSickLDMRS(const vpSickLDMRS &sick)
+ : vpLaserScanner(sick), socket_fd(-1), body(NULL), vAngle(), time_offset(0),
+ isFirstMeasure(true), maxlen_body(104000)
+ {
+ *this = sick;
+ };
+ virtual ~vpSickLDMRS();
+ /*! Copy constructor. */
+ vpSickLDMRS &operator=(const vpSickLDMRS &sick)
+ {
socket_fd = sick.socket_fd;
+ vAngle = sick.vAngle;
+ time_offset = sick.time_offset;
+ isFirstMeasure = sick.isFirstMeasure;
+ maxlen_body = sick.maxlen_body;
+ if (body) delete [] body;
body = new unsigned char [104000];
+ memcpy(body, sick.body, maxlen_body);
+ return (*this);
};
- virtual ~vpSickLDMRS();
+
bool setup(std::string ip, int port);
bool setup();
bool measure(vpLaserScan laserscan[4]);
protected:
-#ifdef WIN32
+#if defined(_WIN32)
SOCKET socket_fd;
#else
int socket_fd;
#endif
- private:
unsigned char *body;
vpColVector vAngle; // constant vertical angle for each layer
double time_offset;
bool isFirstMeasure;
+ size_t maxlen_body;
};
#endif
diff --git a/src/device/laserscanner/vpLaserScan.h b/src/device/laserscanner/vpLaserScan.h
index 6ca3763..b2e57ae 100644
--- a/src/device/laserscanner/vpLaserScan.h
+++ b/src/device/laserscanner/vpLaserScan.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpLaserScan.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLaserScan.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,7 +26,7 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
@@ -67,17 +67,16 @@ class VISP_EXPORT vpLaserScan
{
public:
/*! Default constructor that initialize all the internal variable to zero. */
- vpLaserScan() {
- startTimestamp = 0;
- endTimestamp = 0;
- measurementId = 0;
- numSteps = 0;
- startAngle = 0;
- stopAngle = 0;
- numPoints = 0;
+ vpLaserScan()
+ : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0),
+ numSteps(0), startAngle(0), stopAngle(0), numPoints(0)
+ {
}
/*! Copy constructor. */
- vpLaserScan(const vpLaserScan &scan) {
+ vpLaserScan(const vpLaserScan &scan)
+ : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0),
+ numSteps(0), startAngle(0), stopAngle(0), numPoints(0)
+ {
startTimestamp = scan.startTimestamp;
endTimestamp = scan.endTimestamp;
measurementId = scan.measurementId;
@@ -103,32 +102,32 @@ class VISP_EXPORT vpLaserScan
}
/*! Specifies the id of former measurements and increases with
every measurement. */
- inline void setMeasurementId(const unsigned short &measurementId) {
- this->measurementId = measurementId;
+ inline void setMeasurementId(const unsigned short &id) {
+ this->measurementId = id;
}
/*! Start time of measurement. */
- inline void setStartTimestamp(const double &startTimestamp) {
- this->startTimestamp = startTimestamp;
+ inline void setStartTimestamp(const double &start_timestamp) {
+ this->startTimestamp = start_timestamp;
}
/*! End time of measurement. */
- inline void setEndTimestamp(const double &endTimestamp) {
- this->endTimestamp = endTimestamp;
+ inline void setEndTimestamp(const double &end_timestamp) {
+ this->endTimestamp = end_timestamp;
}
/*! Angular steps per scanner rotation. */
- inline void setNumSteps(const unsigned short &numSteps) {
- this->numSteps = numSteps;
+ inline void setNumSteps(const unsigned short &num_steps) {
+ this->numSteps = num_steps;
}
/*! Start angle of the measurement in angular steps. */
- inline void setStartAngle(const short &startAngle) {
- this->startAngle = startAngle;
+ inline void setStartAngle(const short &start_angle) {
+ this->startAngle = start_angle;
}
/*! Stop angle of the measurement in angular steps. */
- inline void setStopAngle(const short &stopAngle) {
- this->stopAngle = stopAngle;
+ inline void setStopAngle(const short &stop_angle) {
+ this->stopAngle = stop_angle;
}
/*! Number of measured points of the measurement. */
- inline void setNumPoints(const unsigned short &numPoints) {
- this->numPoints = numPoints;
+ inline void setNumPoints(const unsigned short &num_points) {
+ this->numPoints = num_points;
}
/*! Return the measurement start time. */
inline double getStartTimestamp() {
diff --git a/src/device/laserscanner/vpLaserScanner.h b/src/device/laserscanner/vpLaserScanner.h
index 5c986f4..bc30f0d 100644
--- a/src/device/laserscanner/vpLaserScanner.h
+++ b/src/device/laserscanner/vpLaserScanner.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpLaserScanner.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLaserScanner.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,7 +26,7 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
@@ -61,12 +61,11 @@ class VISP_EXPORT vpLaserScanner
{
public:
/*! Default constructor that initialize all the internal variable to zero. */
- vpLaserScanner() {
- ip = "null";
- port = 0;
- };
+ vpLaserScanner() : ip("null"), port(0) {};
/*! Copy constructor. */
- vpLaserScanner(const vpLaserScanner &scanner) {
+ vpLaserScanner(const vpLaserScanner &scanner)
+ : ip("null"), port(0)
+ {
ip = scanner.ip;
port = scanner.port;
};
@@ -74,15 +73,15 @@ class VISP_EXPORT vpLaserScanner
virtual ~vpLaserScanner() {};
/*! Set the Ethernet address of the laser. */
- void setIpAddress(std::string ip) {
- this->ip = ip;
+ void setIpAddress(std::string ip_address) {
+ this->ip = ip_address;
};
-
+
/*! Set the communication port. */
- void setPort(int port) {
- this->port = port;
+ void setPort(int com_port) {
+ this->port = com_port;
};
-
+
protected:
std::string ip;
int port;
diff --git a/src/device/laserscanner/vpScanPoint.h b/src/device/laserscanner/vpScanPoint.h
index 74e135b..cd8533e 100644
--- a/src/device/laserscanner/vpScanPoint.h
+++ b/src/device/laserscanner/vpScanPoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpScanPoint.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpScanPoint.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,6 +44,7 @@
#include <visp/vpMath.h>
#include <ostream>
+#include <sstream>
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <math.h>
@@ -75,40 +76,38 @@ class /* VISP_EXPORT */ vpScanPoint // Note that here VISP_EXPORT should not be
{
public:
/*! Default constructor. */
- inline vpScanPoint() {
- this->rDist = 0;
- this->hAngle = 0;
- this->vAngle = 0;
- }
+ inline vpScanPoint() : rDist(0), hAngle(0), vAngle(0) {}
/*! Copy constructor. */
- inline vpScanPoint(const vpScanPoint &scanpoint) {
+ inline vpScanPoint(const vpScanPoint &scanpoint) : rDist(0), hAngle(0), vAngle(0) {
this->rDist = scanpoint.rDist;
this->hAngle = scanpoint.hAngle;
this->vAngle = scanpoint.vAngle;
}
/*!
Set the polar point coordinates.
- \param rDist : Radial distance in meter.
- \param hAngle : Horizontal angle in radian.
- \param vAngle : Vertical angle in radian.
+ \param r_dist : Radial distance in meter.
+ \param h_angle : Horizontal angle in radian.
+ \param v_angle : Vertical angle in radian.
*/
- inline vpScanPoint(double rDist, double hAngle, double vAngle) {
- this->rDist = rDist;
- this->hAngle = hAngle;
- this->vAngle = vAngle;
+ inline vpScanPoint(double r_dist, double h_angle, double v_angle)
+ : rDist(r_dist), hAngle(h_angle), vAngle(v_angle)
+ {
+ this->rDist = r_dist;
+ this->hAngle = h_angle;
+ this->vAngle = v_angle;
}
/*! Destructor that does nothing. */
inline virtual ~vpScanPoint() {};
/*!
Set the polar point coordinates.
- \param rDist : Radial distance in meter.
- \param hAngle : Horizontal angle in radian.
- \param vAngle : Vertical angle in radian.
+ \param r_dist : Radial distance in meter.
+ \param h_angle : Horizontal angle in radian.
+ \param v_angle : Vertical angle in radian.
*/
- inline void setPolar(double rDist, double hAngle, double vAngle) {
- this->rDist = rDist;
- this->hAngle = hAngle;
- this->vAngle = vAngle;
+ inline void setPolar(double r_dist, double h_angle, double v_angle) {
+ this->rDist = r_dist;
+ this->hAngle = h_angle;
+ this->vAngle = v_angle;
}
/*!
Return the radial distance in meter.
@@ -250,13 +249,18 @@ std::cout << p << std::endl;
*/
inline std::ostream &operator << (std::ostream &s, const vpScanPoint &p) {
- s.precision(10);
- s << p.getRadialDist() << " "
- << p.getHAngle() << " "
- << p.getVAngle() << " "
- << p.getX() << " "
- << p.getY() << " " << p.getZ();
- return s;
- }
+ std::ios_base::fmtflags original_flags = s.flags();
+
+ s.precision(10);
+ s << p.getRadialDist() << " "
+ << p.getHAngle() << " "
+ << p.getVAngle() << " "
+ << p.getX() << " "
+ << p.getY() << " " << p.getZ();
+
+ s.setf(original_flags); // restore s to standard state
+
+ return s;
+}
#endif
diff --git a/src/device/light/vpRingLight.cpp b/src/device/light/vpRingLight.cpp
index d16a526..2f02477 100644
--- a/src/device/light/vpRingLight.cpp
+++ b/src/device/light/vpRingLight.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRingLight.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRingLight.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/device/light/vpRingLight.h b/src/device/light/vpRingLight.h
index 6d349c3..b1784f4 100644
--- a/src/device/light/vpRingLight.h
+++ b/src/device/light/vpRingLight.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRingLight.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRingLight.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/exceptions/vpException.cpp b/src/exceptions/vpException.cpp
index c0af7b8..c5eda21 100644
--- a/src/exceptions/vpException.cpp
+++ b/src/exceptions/vpException.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpException.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpException.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,44 +44,37 @@
\brief error that can be emited by the vp class and its derivates
*/
+#include <stdio.h>
#include "visp/vpException.h"
/* ------------------------------------------------------------------------- */
/* --- CONSTRUCTORS -------------------------------------------------------- */
/* ------------------------------------------------------------------------- */
-
-
-vpException::vpException (int _code)
- :
- code (_code),
- message ()
-
+vpException::vpException (int id)
+ : code (id), message ()
{
- return ;
}
-
-vpException::vpException (int _code,
- const std::string & _msg)
- :
- code (_code),
- message (_msg)
-
+vpException::vpException (int id, const std::string & msg)
+ : code (id), message (msg)
{
- return ;
}
-
-vpException::vpException (int _code,
- const char * _msg)
- :
- code (_code),
- message (_msg)
+vpException::vpException (int id, const char* format, ...)
+ : code (id), message ()
{
- return ;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
}
+vpException::vpException (const int id, const char* format, va_list args)
+ : code (id), message ()
+{
+ setMessage(format, args);
+}
/* ------------------------------------------------------------------------ */
/* --- DESTRUCTORS -------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
@@ -92,11 +85,19 @@ vpException::vpException (int _code,
// {
// }
+
+void vpException::setMessage(const char* format, va_list args)
+{
+ char buffer[1024];
+ vsnprintf (buffer, 1024, format, args);
+ std::string msg(buffer);
+ message = msg;
+}
+
/* ------------------------------------------------------------------------ */
/* --- ACCESSORS ---------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
-
const char *vpException::getMessage (void)
{
return (this->message) .c_str();
@@ -133,9 +134,8 @@ const char* vpException::what () const throw()
/* --- OP << --------------------------------------------------------------- */
/* ------------------------------------------------------------------------- */
-std::ostream &
-operator << (std::ostream & os,
- const vpException & error)
+VISP_EXPORT std::ostream &
+operator << (std::ostream & os, const vpException & error)
{
os << "Error [" << error.code << "]:\t" << error.message << std::endl;
diff --git a/src/exceptions/vpException.h b/src/exceptions/vpException.h
index e64558d..d15124f 100644
--- a/src/exceptions/vpException.h
+++ b/src/exceptions/vpException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpException.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,6 +57,7 @@
/* Classes standards. */
#include <iostream> /* Classe std::ostream. */
#include <string> /* Classe string. */
+#include <stdarg.h>
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
@@ -74,23 +75,23 @@
*/
class VISP_EXPORT vpException : public std::exception
{
+ protected:
-private:
+ //! Contains the error code, see the errorCodeEnum table for details.
+ int code;
- //! Contains the error code, see the errorCodeEnum table for details.
- int code;
+ //! Contains an error message (can be empty)
+ std::string message;
- //! Contains an error message (can be empty)
- std::string message;
+ //! Set the message container
+ void setMessage(const char* format, va_list args);
-private:
+ //! forbid the empty constructor (protected)
+ vpException(): code(notInitialized), message("") { };
- //! forbid the empty constructor (private)
- vpException();
+ public:
-public:
-
- enum generalExceptionEnum
+ enum generalExceptionEnum
{
memoryAllocationError,
memoryFreeError,
@@ -105,42 +106,31 @@ public:
notInitialized /*!< Used to indicate that a parameter is not initialized. */
} ;
- vpException (const int code, const char * msg);
- vpException (const int code, const std::string & msg);
- vpException (const int code);
+ vpException (const int code, const char* format, va_list args);
+ vpException (const int code, const char* format, ...);
+ vpException (const int code, const std::string & msg);
+ vpException (const int code);
- /*!
- Basic destructor. Do nothing but implemented to fit the inheritance from
- std::exception
- */
- virtual ~vpException() throw() {}
+ /*!
+ Basic destructor. Do nothing but implemented to fit the inheritance from
+ std::exception
+ */
+ virtual ~vpException() throw() {}
- //! send the object code
- int getCode (void);
+ //! send the object code
+ int getCode (void);
- //! send a reference (constant) related the error message (can be empty)
- const std::string &getStringMessage (void);
- //! send a pointer on the array of \e char related to the error string.
- //!Cannot be \e NULL.
- const char *getMessage (void);
+ //! send a reference (constant) related the error message (can be empty)
+ const std::string &getStringMessage (void);
+ //! send a pointer on the array of \e char related to the error string.
+ //!Cannot be \e NULL.
+ const char *getMessage (void);
- //! print the error structure
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpException & art);
+ //! print the error structure
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpException & art);
- const char* what () const throw();
+ const char* what () const throw();
};
-
-
-
-
#endif /* #ifndef __vpException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/image/vpColor.cpp b/src/image/vpColor.cpp
index 42e762a..27598c6 100755
--- a/src/image/vpColor.cpp
+++ b/src/image/vpColor.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpColor.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpColor.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -121,3 +121,25 @@ vpColor const vpColor::allColors[vpColor::nbColors] = {
/*!< Predefined none color with R=G=B=0 and identifier vpColor::id_unknown. */
vpColor const vpColor::none = vpColor(0, 0, 0, id_unknown);
+/*!
+ Compare two colors.
+
+ Return true if the R,G,B components are the same.
+
+ \param c1,c2 : Color to compare.
+*/
+VISP_EXPORT bool operator==( const vpColor &c1, const vpColor &c2 ) {
+ return ( ( c1.R == c2.R ) && ( c1.G == c2.G ) && ( c1.B == c2.B) );
+}
+
+/*!
+
+ Compare two colors.
+
+ Return true if the R,G,B components are different.
+
+ \param c1,c2 : Color to compare.
+*/
+VISP_EXPORT bool operator!=( const vpColor &c1, const vpColor &c2 ) {
+ return ( ( c1.R != c2.R ) || ( c1.G != c2.G ) || ( c1.B == c2.B) );
+}
diff --git a/src/image/vpColor.h b/src/image/vpColor.h
index 5a6b735..db77d18 100644
--- a/src/image/vpColor.h
+++ b/src/image/vpColor.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpColor.h 4243 2013-05-07 07:58:55Z fspindle $
+ * $Id: vpColor.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -194,33 +194,35 @@ class VISP_EXPORT vpColor : public vpRGBa
/*!
Construct a color from its RGB values.
- \param R : Red component.
- \param G : Green component.
- \param B : Blue component.
+ \param r : Red component.
+ \param g : Green component.
+ \param b : Blue component.
- \param id : The color identifier to indicate if this color is or
+ \param cid : The color identifier to indicate if this color is or
not a predefined one.
*/
- inline vpColor(unsigned char R, unsigned char G, unsigned char B,
- vpColor::vpColorIdentifier id=vpColor::id_unknown)
- : vpRGBa(R, G, B), id(id)
+ inline vpColor(unsigned char r, unsigned char g, unsigned char b,
+ vpColor::vpColorIdentifier cid=vpColor::id_unknown)
+ : vpRGBa(r, g, b), id(cid)
{};
+ friend VISP_EXPORT bool operator==( const vpColor &c1, const vpColor &c2 );
+ friend VISP_EXPORT bool operator!=( const vpColor &c1, const vpColor &c2 );
/*!
Set a color from its RGB values.
- \param R : Red component.
- \param G : Green component.
- \param B : Blue component.
+ \param r : Red component.
+ \param g : Green component.
+ \param b : Blue component.
The color identifier is set to vpColor::id_unknown to indicate
that this color is not a predefined one.
*/
- inline void setColor(unsigned char R, unsigned char G, unsigned char B) {
- this->R = R;
- this->G = G;
- this->B = B;
+ inline void setColor(unsigned char r, unsigned char g, unsigned char b) {
+ this->R = r;
+ this->G = g;
+ this->B = b;
this->A = 0;
id = id_unknown;
};
@@ -231,37 +233,10 @@ class VISP_EXPORT vpColor : public vpRGBa
\param i : color indice
*/
- static inline vpColor getColor(const unsigned int &i) {return vpColor::allColors[i % vpColor::nbColors];};
+ static inline vpColor getColor(const unsigned int &i) {
+ return vpColor::allColors[i % vpColor::nbColors];
+ };
};
-/*!
- Compare two colors.
-
- Return true if the R,G,B components are the same.
-
- \param c1,c2 : Color to compare.
-*/
-VISP_EXPORT inline bool operator==( const vpColor &c1, const vpColor &c2 ) {
- return ( ( c1.R == c2.R ) && ( c1.G == c2.G ) && ( c1.B == c2.B) );
-}
-
-/*!
-
- Compare two colors.
-
- Return true if the R,G,B components are different.
-
- \param c1,c2 : Color to compare.
-*/
-VISP_EXPORT inline bool operator!=( const vpColor &c1, const vpColor &c2 ) {
- return ( ( c1.R != c2.R ) || ( c1.G != c2.G ) || ( c1.B == c2.B) );
-}
-
#endif
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/image/vpImage.h b/src/image/vpImage.h
index 08dd1a2..e485d51 100644
--- a/src/image/vpImage.h
+++ b/src/image/vpImage.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImage.h 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpImage.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -135,7 +135,7 @@ public:
//! set the size of the image
void init(unsigned int height, unsigned int width, Type value) ;
//! set the size of the image
- void resize(const unsigned int height, const unsigned int width) ;
+ void resize(const unsigned int h, const unsigned int w) ;
//! destructor
void destroy() ;
@@ -217,9 +217,11 @@ public:
//! operator[] allows operation like I[i] = x.
inline Type *operator[]( const unsigned int i) { return row[i];}
+ inline Type *operator[]( const int i) { return row[i];}
//! operator[] allows operation like x = I[i]
inline const Type *operator[](unsigned int i) const { return row[i];}
+ inline const Type *operator[](int i) const { return row[i];}
/*!
Get the value of an image point.
@@ -287,9 +289,9 @@ public:
vpImage<Type> operator-(const vpImage<Type> &B);
//! Copy operator
- void operator=(const vpImage<Type> &I) ;
+ vpImage<Type>& operator=(const vpImage<Type> &I) ;
- void operator=(const Type &v);
+ vpImage<Type>& operator=(const Type &v);
bool operator==(const vpImage<Type> &I);
bool operator!=(const vpImage<Type> &I);
@@ -331,21 +333,23 @@ private:
/*!
\brief Image initialisation
- Allocate memory for an [height x width] image
+ Allocate memory for an [h x w] image.
- Set all the element of the bitmap to value
+ \param w : Image width.
+ \param h : Image height.
+ \param value : Set all the element of the bitmap to \e value.
\exception vpException::memoryAllocationError
- \sa vpImage::init(height, width)
+ \sa vpImage::init(h, w)
*/
template<class Type>
void
-vpImage<Type>::init(unsigned int height, unsigned int width, Type value)
+vpImage<Type>::init(unsigned int h, unsigned int w, Type value)
{
try
{
- init(height,width) ;
+ init(h,w) ;
}
catch(vpException me)
{
@@ -361,7 +365,10 @@ vpImage<Type>::init(unsigned int height, unsigned int width, Type value)
/*!
\brief Image initialization
- Allocate memory for an [height x width] image
+ Allocate memory for an [h x w] image.
+
+ \param w : Image width.
+ \param h : Image height.
Element of the bitmap are not initialized
@@ -374,10 +381,10 @@ vpImage<Type>::init(unsigned int height, unsigned int width, Type value)
*/
template<class Type>
void
-vpImage<Type>::init(unsigned int height, unsigned int width)
+vpImage<Type>::init(unsigned int h, unsigned int w)
{
- if (height != this->height) {
+ if (h != this->height) {
if (row != NULL) {
vpDEBUG_TRACE(10,"Destruction row[]");
delete [] row;
@@ -385,7 +392,7 @@ vpImage<Type>::init(unsigned int height, unsigned int width)
}
}
- if ((height != this->height) || (width != this->width))
+ if ((h != this->height) || (w != this->width))
{
if (bitmap != NULL) {
vpDEBUG_TRACE(10,"Destruction bitmap[]") ;
@@ -394,14 +401,11 @@ vpImage<Type>::init(unsigned int height, unsigned int width)
}
}
-
-
- this->width = width ;
- this->height = height ;
+ this->width = w ;
+ this->height = h;
npixels=width*height;
-
if (bitmap == NULL) bitmap = new Type[npixels] ;
// vpERROR_TRACE("Allocate bitmap %p",bitmap) ;
@@ -429,9 +433,12 @@ vpImage<Type>::init(unsigned int height, unsigned int width)
/*!
\brief Constructor
- Allocate memory for an [height x width] image
+ Allocate memory for an [h x w] image.
+
+ \param w : Image width.
+ \param h : Image height.
- Element of the bitmap are set to zero
+ Element of the bitmap are set to zero.
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
@@ -442,20 +449,15 @@ vpImage<Type>::init(unsigned int height, unsigned int width)
\sa vpImage::init(height, width)
*/
template<class Type>
-vpImage<Type>::vpImage(unsigned int height, unsigned int width)
+vpImage<Type>::vpImage(unsigned int h, unsigned int w)
+ : bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
- bitmap = NULL ;
- row = NULL ;
-
- display = NULL ;
- this->height = this->width = 0 ;
try
{
- init(height,width,0) ;
+ init(h,w,0) ;
}
- catch(vpException me)
+ catch(...)
{
- vpERROR_TRACE(" ") ;
throw ;
}
}
@@ -463,9 +465,11 @@ vpImage<Type>::vpImage(unsigned int height, unsigned int width)
/*!
\brief Constructor
- Allocate memory for an [height x width] image
+ Allocate memory for an [height x width] image.
- set all the element of the bitmap to value
+ \param w : Image width.
+ \param h : Image height.
+ \param value : Set all the element of the bitmap to value.
If the image has been already initialized, memory allocation is done
only if the new image size is different, else we re-use the same
@@ -476,16 +480,12 @@ vpImage<Type>::vpImage(unsigned int height, unsigned int width)
\sa vpImage::init(height, width, value)
*/
template<class Type>
-vpImage<Type>::vpImage (unsigned int height, unsigned int width, Type value)
+vpImage<Type>::vpImage (unsigned int h, unsigned int w, Type value)
+ : bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
- bitmap = NULL ;
- row = NULL ;
-
- display = NULL ;
- this->height = this->width = 0 ;
try
{
- init(height,width,value) ;
+ init(h,w,value) ;
}
catch(vpException me)
{
@@ -505,14 +505,8 @@ vpImage<Type>::vpImage (unsigned int height, unsigned int width, Type value)
*/
template<class Type>
vpImage<Type>::vpImage()
+ : bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
- bitmap = NULL ;
- row = NULL ;
-
- display = NULL ;
-
- this->height = this->width = 0 ;
- this->npixels = 0;
}
/*!
@@ -520,6 +514,9 @@ vpImage<Type>::vpImage()
Allocate memory for an [height x width] image
+ \param w : Image width.
+ \param h : Image height.
+
Element of the bitmap are not initialized
If the image has been already initialized, memory allocation is done
@@ -532,11 +529,11 @@ vpImage<Type>::vpImage()
*/
template<class Type>
void
-vpImage<Type>::resize(unsigned int height, unsigned int width)
+vpImage<Type>::resize(unsigned int h, unsigned int w)
{
try
{
- init(height, width) ;
+ init(h, w) ;
}
catch(vpException me)
{
@@ -596,23 +593,13 @@ vpImage<Type>::~vpImage()
*/
template<class Type>
vpImage<Type>::vpImage(const vpImage<Type>& I)
+ : bitmap(NULL), display(NULL), npixels(0), width(0), height(0), row(NULL)
{
- bitmap = NULL ;
- row = NULL ;
- /* we first have to set the initial values of the image because resize function calls init function that test the actual size of the image */
- this->width = 0;
- this->height = 0;
- this->npixels = 0;
try
{
- //if (I.bitmap!=NULL)
-// if(I.getHeight() != 0 || I.getWidth() != 0)
- {
- resize(I.getHeight(),I.getWidth());
- unsigned int i;
- memcpy(bitmap, I.bitmap, I.npixels*sizeof(Type)) ;
- for (i =0 ; i < this->height ; i++) row[i] = bitmap + i*this->width ;
- }
+ resize(I.getHeight(),I.getWidth());
+ memcpy(bitmap, I.bitmap, I.npixels*sizeof(Type)) ;
+ for (unsigned int i =0 ; i < this->height ; i++) row[i] = bitmap + i*this->width ;
}
catch(vpException me)
{
@@ -673,7 +660,7 @@ void vpImage<Type>::getMinMaxValue(Type &min, Type &max) const
\brief Copy operator
*/
template<class Type>
-void vpImage<Type>::operator=(const vpImage<Type> &I)
+vpImage<Type> & vpImage<Type>::operator=(const vpImage<Type> &I)
{
/* we first have to set the initial values of the image because resize function calls init function that test the actual size of the image */
if(bitmap != NULL){
@@ -723,6 +710,7 @@ void vpImage<Type>::operator=(const vpImage<Type> &I)
vpERROR_TRACE(" ") ;
throw ;
}
+ return (* this);
}
@@ -733,10 +721,12 @@ void vpImage<Type>::operator=(const vpImage<Type> &I)
\warning = must be defined for \f$ <\f$ Type \f$ > \f$
*/
template<class Type>
-void vpImage<Type>::operator=(const Type &v)
+vpImage<Type>& vpImage<Type>::operator=(const Type &v)
{
for (unsigned int i=0 ; i < npixels ; i++)
bitmap[i] = v ;
+
+ return *this;
}
/*!
diff --git a/src/image/vpImageConvert.cpp b/src/image/vpImageConvert.cpp
index f4f7b05..d01f315 100644
--- a/src/image/vpImageConvert.cpp
+++ b/src/image/vpImageConvert.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageConvert.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpImageConvert.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,8 +65,7 @@ Convert a vpImage\<vpRGBa\> to a vpImage\<unsigned char\>
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<unsigned char> &src,
- vpImage<vpRGBa> & dest)
+vpImageConvert::convert(const vpImage<unsigned char> &src, vpImage<vpRGBa> & dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
@@ -80,8 +79,7 @@ Convert a vpImage\<unsigned char\> to a vpImage\<vpRGBa\>
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<vpRGBa> &src,
- vpImage<unsigned char> & dest)
+vpImageConvert::convert(const vpImage<vpRGBa> &src, vpImage<unsigned char> & dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
@@ -96,8 +94,7 @@ Convert a vpImage\<float\> to a vpImage\<unsigend char\> by renormalizing betwee
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<float> &src,
- vpImage<unsigned char> &dest)
+vpImageConvert::convert(const vpImage<float> &src, vpImage<unsigned char> &dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
unsigned int max_xy = src.getWidth()*src.getHeight();
@@ -112,7 +109,7 @@ vpImageConvert::convert(const vpImage<float> &src,
else if(val > 255)
dest.bitmap[i] = 255;
else
- dest.bitmap[i] = (int)val;
+ dest.bitmap[i] = (unsigned char)val;
}
}
@@ -122,8 +119,7 @@ Convert a vpImage\<unsigned char\> to a vpImage\<float\> by basic casting.
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<unsigned char> &src,
- vpImage<float> &dest)
+vpImageConvert::convert(const vpImage<unsigned char> &src, vpImage<float> &dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
for (unsigned int i = 0; i < src.getHeight()*src.getWidth(); i++)
@@ -136,8 +132,7 @@ Convert a vpImage\<double\> to a vpImage\<unsigend char\> by renormalizing betwe
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<double> &src,
- vpImage<unsigned char> &dest)
+vpImageConvert::convert(const vpImage<double> &src, vpImage<unsigned char> &dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
unsigned int max_xy = src.getWidth()*src.getHeight();
@@ -152,7 +147,7 @@ vpImageConvert::convert(const vpImage<double> &src,
else if(val > 255)
dest.bitmap[i] = 255;
else
- dest.bitmap[i] = (int)val;
+ dest.bitmap[i] = (unsigned char)val;
}
}
@@ -162,8 +157,7 @@ Convert a vpImage\<unsigned char\> to a vpImage\<double\> by basic casting.
\param dest : destination image
*/
void
-vpImageConvert::convert(const vpImage<unsigned char> &src,
- vpImage<double> &dest)
+vpImageConvert::convert(const vpImage<unsigned char> &src, vpImage<double> &dest)
{
dest.resize(src.getHeight(), src.getWidth()) ;
for (unsigned int i = 0; i < src.getHeight()*src.getWidth(); i++)
@@ -315,8 +309,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const IplImage* src,
- vpImage<unsigned char> &dest, bool flip)
+vpImageConvert::convert(const IplImage* src, vpImage<unsigned char> &dest, bool flip)
{
int nChannel = src->nChannels;
int depth = src->depth;
@@ -357,21 +350,21 @@ vpImageConvert::convert(const IplImage* src,
}
else
{
- if(nChannel == 1 && depth == 8){
+ if(nChannel == 1 && depth == 8){
+ dest.resize((unsigned int)height, (unsigned int)width) ;
unsigned char* beginOutput = (unsigned char*)dest.bitmap;
- dest.resize((unsigned int)height, (unsigned int)width) ;
- for (int i =0 ; i < height ; i++){
- memcpy(beginOutput + lineStep * ( 4 * width * ( height - 1 - i ) ) , src->imageData + i*widthStep,
- (size_t)width);
- }
- }
- if(nChannel == 3 && depth == 8){
- dest.resize((unsigned int)height, (unsigned int)width) ;
- //for (int i = 0 ; i < height ; i++){
- BGRToGrey((unsigned char*)src->imageData /*+ i*widthStep*/,
- dest.bitmap /*+ i*width*/, (unsigned int)width, (unsigned int)height/*1*/, true);
- //}
+ for (int i =0 ; i < height ; i++){
+ memcpy(beginOutput + lineStep * ( 4 * width * ( height - 1 - i ) ) , src->imageData + i*widthStep,
+ (size_t)width);
}
+ }
+ if(nChannel == 3 && depth == 8){
+ dest.resize((unsigned int)height, (unsigned int)width) ;
+ //for (int i = 0 ; i < height ; i++){
+ BGRToGrey((unsigned char*)src->imageData /*+ i*widthStep*/,
+ dest.bitmap /*+ i*width*/, (unsigned int)width, (unsigned int)height/*1*/, true);
+ //}
+ }
}
}
@@ -502,8 +495,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const vpImage<unsigned char> & src,
- IplImage* &dest)
+vpImageConvert::convert(const vpImage<unsigned char> & src, IplImage* &dest)
{
unsigned int height = src.getHeight();
unsigned int width = src.getWidth();
@@ -577,8 +569,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const cv::Mat& src,
- vpImage<vpRGBa>& dest, const bool flip)
+vpImageConvert::convert(const cv::Mat& src, vpImage<vpRGBa>& dest, const bool flip)
{
if(src.type() == CV_8UC4){
dest.resize((unsigned int)src.rows, (unsigned int)src.cols);
@@ -671,8 +662,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const cv::Mat& src,
- vpImage<unsigned char>& dest, const bool flip)
+vpImageConvert::convert(const cv::Mat& src, vpImage<unsigned char>& dest, const bool flip)
{
if(src.type() == CV_8UC1){
dest.resize((unsigned int)src.rows, (unsigned int)src.cols);
@@ -754,8 +744,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const vpImage<vpRGBa> & src,
- cv::Mat& dest)
+vpImageConvert::convert(const vpImage<vpRGBa> & src, cv::Mat& dest)
{
cv::Mat vpToMat((int)src.getRows(), (int)src.getCols(), CV_8UC4, (void*)src.bitmap);
@@ -809,8 +798,7 @@ int main()
\endcode
*/
void
-vpImageConvert::convert(const vpImage<unsigned char> & src,
- cv::Mat& dest, const bool copyData)
+vpImageConvert::convert(const vpImage<unsigned char> & src, cv::Mat& dest, const bool copyData)
{
if(copyData){
cv::Mat tmpMap((int)src.getRows(), (int)src.getCols(), CV_8UC1, (void*)src.bitmap);
@@ -857,7 +845,7 @@ int main()
\endcode
*/
void vpImageConvert::convert(const vpImage<unsigned char> & src,
- yarp::sig::ImageOf< yarp::sig::PixelMono > *dest, const bool copyData)
+ yarp::sig::ImageOf< yarp::sig::PixelMono > *dest, const bool copyData)
{
if(copyData)
{
@@ -905,7 +893,7 @@ int main()
\endcode
*/
void vpImageConvert::convert(const yarp::sig::ImageOf< yarp::sig::PixelMono > *src,
- vpImage<unsigned char> & dest,const bool copyData )
+ vpImage<unsigned char> & dest,const bool copyData)
{
dest.resize(src->height(),src->width());
if(copyData)
@@ -948,7 +936,7 @@ int main()
\endcode
*/
void vpImageConvert::convert(const vpImage<vpRGBa> & src,
- yarp::sig::ImageOf< yarp::sig::PixelRgba > *dest, const bool copyData)
+ yarp::sig::ImageOf< yarp::sig::PixelRgba > *dest, const bool copyData)
{
if(copyData){
dest->resize(src.getWidth(),src.getHeight());
@@ -996,7 +984,7 @@ int main()
\endcode
*/
void vpImageConvert::convert(const yarp::sig::ImageOf< yarp::sig::PixelRgba > *src,
- vpImage<vpRGBa> & dest,const bool copyData)
+ vpImage<vpRGBa> & dest,const bool copyData)
{
dest.resize(src->height(),src->width());
if(copyData)
@@ -1037,8 +1025,7 @@ int main()
}
\endcode
*/
-void vpImageConvert::convert(const vpImage<vpRGBa> & src,
- yarp::sig::ImageOf< yarp::sig::PixelRgb > *dest)
+void vpImageConvert::convert(const vpImage<vpRGBa> & src, yarp::sig::ImageOf< yarp::sig::PixelRgb > *dest)
{
dest->resize(src.getWidth(),src.getHeight());
for(unsigned int i = 0 ; i < src.getRows() ; i++){
@@ -1086,8 +1073,7 @@ int main()
}
\endcode
*/
-void vpImageConvert::convert(const yarp::sig::ImageOf< yarp::sig::PixelRgb > *src,
- vpImage<vpRGBa> & dest)
+void vpImageConvert::convert(const yarp::sig::ImageOf< yarp::sig::PixelRgb > *src, vpImage<vpRGBa> & dest)
{
dest.resize(src->height(),src->width());
for(int i = 0 ; i < src->height() ; i++){
@@ -1213,7 +1199,7 @@ void vpImageConvert::convertToJPEGBuffer(unsigned char *src, long unsigned int s
\sa YUV422ToRGBa()
*/
void vpImageConvert::YUYVToRGBa(unsigned char* yuyv, unsigned char* rgba,
- unsigned int width, unsigned int height)
+ unsigned int width, unsigned int height)
{
unsigned char *s;
unsigned char *d;
@@ -1269,7 +1255,7 @@ void vpImageConvert::YUYVToRGBa(unsigned char* yuyv, unsigned char* rgba,
\sa YUV422ToRGB()
*/
void vpImageConvert::YUYVToRGB(unsigned char* yuyv, unsigned char* rgb,
- unsigned int width, unsigned int height)
+ unsigned int width, unsigned int height)
{
unsigned char *s;
unsigned char *d;
@@ -1321,8 +1307,7 @@ void vpImageConvert::YUYVToRGB(unsigned char* yuyv, unsigned char* rgb,
\sa YUV422ToGrey()
*/
-void vpImageConvert::YUYVToGrey(unsigned char* yuyv, unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YUYVToGrey(unsigned char* yuyv, unsigned char* grey, unsigned int size)
{
unsigned int i=0,j=0;
@@ -1341,9 +1326,7 @@ Convert YUV411 into RGB32
yuv411 : u y1 y2 v y3 y4
*/
-void vpImageConvert::YUV411ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int size)
+void vpImageConvert::YUV411ToRGBa(unsigned char* yuv, unsigned char* rgba, unsigned int size)
{
#if 1
// std::cout << "call optimized ConvertYUV411ToRGBa()" << std::endl;
@@ -1470,9 +1453,7 @@ void vpImageConvert::YUV411ToRGBa(unsigned char* yuv,
\sa YUYVToRGBa()
*/
-void vpImageConvert::YUV422ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int size)
+void vpImageConvert::YUV422ToRGBa(unsigned char* yuv, unsigned char* rgba, unsigned int size)
{
#if 1
@@ -1552,12 +1533,8 @@ Convert YUV411 into Grey
yuv411 : u y1 y2 v y3 y4
*/
-void vpImageConvert::YUV411ToGrey(unsigned char* yuv,
- unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YUV411ToGrey(unsigned char* yuv, unsigned char* grey, unsigned int size)
{
-
-
unsigned int i=0,j=0;
while( j < size*3/2)
{
@@ -1581,9 +1558,7 @@ void vpImageConvert::YUV411ToGrey(unsigned char* yuv,
\sa YUYVToRGB()
*/
-void vpImageConvert::YUV422ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int size)
+void vpImageConvert::YUV422ToRGB(unsigned char* yuv, unsigned char* rgb, unsigned int size)
{
#if 1
// std::cout << "call optimized convertYUV422ToRGB()" << std::endl;
@@ -1661,9 +1636,7 @@ void vpImageConvert::YUV422ToRGB(unsigned char* yuv,
\sa YUYVToGrey()
*/
-void vpImageConvert::YUV422ToGrey(unsigned char* yuv,
- unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YUV422ToGrey(unsigned char* yuv, unsigned char* grey, unsigned int size)
{
unsigned int i=0,j=0;
@@ -1681,9 +1654,7 @@ Convert YUV411 into RGB
yuv411 : u y1 y2 v y3 y4
*/
-void vpImageConvert::YUV411ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int size)
+void vpImageConvert::YUV411ToRGB(unsigned char* yuv, unsigned char* rgb, unsigned int size)
{
#if 1
// std::cout << "call optimized ConvertYUV411ToRGB()" << std::endl;
@@ -1806,9 +1777,8 @@ void vpImageConvert::YUV411ToRGB(unsigned char* yuv,
yuv420 : Y(NxM), U(N/2xM/2), V(N/2xM/2)
*/
-void vpImageConvert::YUV420ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int width, unsigned int height)
+void vpImageConvert::YUV420ToRGBa(unsigned char* yuv, unsigned char* rgba,
+ unsigned int width, unsigned int height)
{
// std::cout << "call optimized ConvertYUV420ToRGBa()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -1908,8 +1878,8 @@ void vpImageConvert::YUV420ToRGBa(unsigned char* yuv,
*/
void vpImageConvert::YUV420ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int width, unsigned int height)
+ unsigned char* rgb,
+ unsigned int width, unsigned int height)
{
// std::cout << "call optimized ConvertYUV420ToRGB()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -2005,9 +1975,7 @@ void vpImageConvert::YUV420ToRGB(unsigned char* yuv,
yuv420 : Y(NxM), U(N/2xM/2), V(N/2xM/2)
*/
-void vpImageConvert::YUV420ToGrey(unsigned char* yuv,
- unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YUV420ToGrey(unsigned char* yuv, unsigned char* grey, unsigned int size)
{
for(unsigned int i=0 ; i < size ; i++)
{
@@ -2021,9 +1989,7 @@ void vpImageConvert::YUV420ToGrey(unsigned char* yuv,
yuv444 : u y v
*/
-void vpImageConvert::YUV444ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int size)
+void vpImageConvert::YUV444ToRGBa(unsigned char* yuv, unsigned char* rgba, unsigned int size)
{
register int U, V, R, G, B, V2, U5, UV;
register int Y;
@@ -2062,9 +2028,7 @@ void vpImageConvert::YUV444ToRGBa(unsigned char* yuv,
yuv444 : u y v
*/
-void vpImageConvert::YUV444ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int size)
+void vpImageConvert::YUV444ToRGB(unsigned char* yuv, unsigned char* rgb, unsigned int size)
{
register int U, V, R, G, B, V2, U5, UV;
register int Y;
@@ -2103,9 +2067,7 @@ void vpImageConvert::YUV444ToRGB(unsigned char* yuv,
yuv444 : u y v
*/
-void vpImageConvert::YUV444ToGrey(unsigned char* yuv,
- unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YUV444ToGrey(unsigned char* yuv, unsigned char* grey, unsigned int size)
{
yuv++;
for(unsigned int i=0 ; i < size ; i++)
@@ -2121,9 +2083,8 @@ void vpImageConvert::YUV444ToGrey(unsigned char* yuv,
yuv420 : Y(NxM), V(N/2xM/2), U(N/2xM/2)
*/
-void vpImageConvert::YV12ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int width, unsigned int height)
+void vpImageConvert::YV12ToRGBa(unsigned char* yuv, unsigned char* rgba,
+ unsigned int width, unsigned int height)
{
// std::cout << "call optimized ConvertYV12ToRGBa()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -2222,9 +2183,8 @@ void vpImageConvert::YV12ToRGBa(unsigned char* yuv,
yuv420 : Y(NxM), V(N/2xM/2), U(N/2xM/2)
*/
-void vpImageConvert::YV12ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int height, unsigned int width)
+void vpImageConvert::YV12ToRGB(unsigned char* yuv, unsigned char* rgb,
+ unsigned int height, unsigned int width)
{
// std::cout << "call optimized ConvertYV12ToRGB()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -2320,9 +2280,8 @@ void vpImageConvert::YV12ToRGB(unsigned char* yuv,
yuv420 : Y(NxM), V(N/4xM/4), U(N/4xM/4)
*/
-void vpImageConvert::YVU9ToRGBa(unsigned char* yuv,
- unsigned char* rgba,
- unsigned int width, unsigned int height)
+void vpImageConvert::YVU9ToRGBa(unsigned char* yuv, unsigned char* rgba,
+ unsigned int width, unsigned int height)
{
// std::cout << "call optimized ConvertYVU9ToRGBa()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -2614,9 +2573,8 @@ void vpImageConvert::YVU9ToRGBa(unsigned char* yuv,
yuv420 : Y(NxM), V(N/4xM/4), U(N/4xM/4)
*/
-void vpImageConvert::YVU9ToRGB(unsigned char* yuv,
- unsigned char* rgb,
- unsigned int height, unsigned int width)
+void vpImageConvert::YVU9ToRGB(unsigned char* yuv, unsigned char* rgb,
+ unsigned int height, unsigned int width)
{
// std::cout << "call optimized ConvertYVU9ToRGB()" << std::endl;
register int U, V, R, G, B, V2, U5, UV;
@@ -2892,8 +2850,7 @@ void vpImageConvert::YVU9ToRGB(unsigned char* yuv,
Convert RGB into RGBa
*/
-void vpImageConvert::RGBToRGBa(unsigned char* rgb, unsigned char* rgba,
- unsigned int size)
+void vpImageConvert::RGBToRGBa(unsigned char* rgb, unsigned char* rgba, unsigned int size)
{
unsigned char *pt_input = rgb;
unsigned char *pt_end = rgb + 3*size;
@@ -2912,8 +2869,7 @@ void vpImageConvert::RGBToRGBa(unsigned char* rgb, unsigned char* rgba,
Convert RGB into RGBa
*/
-void vpImageConvert::RGBaToRGB(unsigned char* rgba, unsigned char* rgb,
- unsigned int size)
+void vpImageConvert::RGBaToRGB(unsigned char* rgba, unsigned char* rgb, unsigned int size)
{
unsigned char *pt_input = rgba;
unsigned char *pt_end = rgba + 4*size;
@@ -2932,8 +2888,7 @@ void vpImageConvert::RGBaToRGB(unsigned char* rgba, unsigned char* rgb,
http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html
*/
-void vpImageConvert::RGBToGrey(unsigned char* rgb, unsigned char* grey,
- unsigned int size)
+void vpImageConvert::RGBToGrey(unsigned char* rgb, unsigned char* grey, unsigned int size)
{
unsigned char *pt_input = rgb;
unsigned char* pt_end = rgb + size*3;
@@ -2953,8 +2908,7 @@ void vpImageConvert::RGBToGrey(unsigned char* rgb, unsigned char* grey,
http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html
*/
-void vpImageConvert::RGBaToGrey(unsigned char* rgba, unsigned char* grey,
- unsigned int size)
+void vpImageConvert::RGBaToGrey(unsigned char* rgba, unsigned char* grey, unsigned int size)
{
unsigned char *pt_input = rgba;
unsigned char* pt_end = rgba + size*4;
@@ -2974,8 +2928,7 @@ void vpImageConvert::RGBaToGrey(unsigned char* rgba, unsigned char* grey,
*/
void
-vpImageConvert::GreyToRGBa(unsigned char* grey,
- unsigned char* rgba, unsigned int size)
+vpImageConvert::GreyToRGBa(unsigned char* grey, unsigned char* rgba, unsigned int size)
{
unsigned char *pt_input = grey;
unsigned char *pt_end = grey + size;
@@ -2998,8 +2951,7 @@ vpImageConvert::GreyToRGBa(unsigned char* grey,
*/
void
-vpImageConvert::GreyToRGB(unsigned char* grey,
- unsigned char* rgb, unsigned int size)
+vpImageConvert::GreyToRGB(unsigned char* grey, unsigned char* rgb, unsigned int size)
{
unsigned char *pt_input = grey;
unsigned char* pt_end = grey + size;
@@ -3024,7 +2976,7 @@ vpImageConvert::GreyToRGB(unsigned char* grey,
*/
void
vpImageConvert::BGRToRGBa(unsigned char * bgr, unsigned char * rgba,
- unsigned int width, unsigned int height, bool flip)
+ unsigned int width, unsigned int height, bool flip)
{
//if we have to flip the image, we start from the end last scanline so the
//step is negative
@@ -3062,7 +3014,7 @@ vpImageConvert::BGRToRGBa(unsigned char * bgr, unsigned char * rgba,
*/
void
vpImageConvert::BGRToGrey(unsigned char * bgr, unsigned char * grey,
- unsigned int width, unsigned int height, bool flip)
+ unsigned int width, unsigned int height, bool flip)
{
//if we have to flip the image, we start from the end last scanline so the
//step is negative
@@ -3097,7 +3049,7 @@ vpImageConvert::BGRToGrey(unsigned char * bgr, unsigned char * grey,
*/
void
vpImageConvert::RGBToRGBa(unsigned char * rgb, unsigned char * rgba,
- unsigned int width, unsigned int height, bool flip)
+ unsigned int width, unsigned int height, bool flip)
{
//if we have to flip the image, we start from the end last scanline so the
//step is negative
@@ -3132,7 +3084,7 @@ vpImageConvert::RGBToRGBa(unsigned char * rgb, unsigned char * rgba,
*/
void
vpImageConvert::RGBToGrey(unsigned char * rgb, unsigned char * grey,
- unsigned int width, unsigned int height, bool flip)
+ unsigned int width, unsigned int height, bool flip)
{
//if we have to flip the image, we start from the end last scanline so the
//step is negative
@@ -3206,8 +3158,7 @@ void vpImageConvert::computeYCbCrLUT()
*/
-void vpImageConvert::YCbCrToRGB(unsigned char *ycbcr, unsigned char *rgb,
- unsigned int size)
+void vpImageConvert::YCbCrToRGB(unsigned char *ycbcr, unsigned char *rgb, unsigned int size)
{
unsigned char *cbv;
unsigned char *crv;
@@ -3265,8 +3216,7 @@ void vpImageConvert::YCbCrToRGB(unsigned char *ycbcr, unsigned char *rgb,
*/
-void vpImageConvert::YCbCrToRGBa(unsigned char *ycbcr, unsigned char *rgba,
- unsigned int size)
+void vpImageConvert::YCbCrToRGBa(unsigned char *ycbcr, unsigned char *rgba, unsigned int size)
{
unsigned char *cbv;
unsigned char *crv;
@@ -3321,9 +3271,7 @@ void vpImageConvert::YCbCrToRGBa(unsigned char *ycbcr, unsigned char *rgba,
- In grey format, each pixel is coded using 8 bytes.
*/
-void vpImageConvert::YCbCrToGrey(unsigned char* yuv,
- unsigned char* grey,
- unsigned int size)
+void vpImageConvert::YCbCrToGrey(unsigned char* yuv, unsigned char* grey, unsigned int size)
{
unsigned int i=0,j=0;
@@ -3353,8 +3301,7 @@ void vpImageConvert::YCbCrToGrey(unsigned char* yuv,
Byte 2: Blue
*/
-void vpImageConvert::YCrCbToRGB(unsigned char *ycrcb, unsigned char *rgb,
- unsigned int size)
+void vpImageConvert::YCrCbToRGB(unsigned char *ycrcb, unsigned char *rgb, unsigned int size)
{
unsigned char *cbv;
unsigned char *crv;
@@ -3410,8 +3357,7 @@ void vpImageConvert::YCrCbToRGB(unsigned char *ycrcb, unsigned char *rgb,
*/
-void vpImageConvert::YCrCbToRGBa(unsigned char *ycrcb, unsigned char *rgba,
- unsigned int size)
+void vpImageConvert::YCrCbToRGBa(unsigned char *ycrcb, unsigned char *rgba, unsigned int size)
{
unsigned char *cbv;
unsigned char *crv;
@@ -3485,10 +3431,10 @@ int main()
\endcode
*/
void vpImageConvert::split(const vpImage<vpRGBa> &src,
- vpImage<unsigned char>* pR,
- vpImage<unsigned char>* pG,
- vpImage<unsigned char>* pB,
- vpImage<unsigned char>* pa)
+ vpImage<unsigned char>* pR,
+ vpImage<unsigned char>* pG,
+ vpImage<unsigned char>* pB,
+ vpImage<unsigned char>* pa)
{
register size_t n = src.getNumberOfPixel();
unsigned int height = src.getHeight();
@@ -3549,8 +3495,7 @@ void vpImageConvert::split(const vpImage<vpRGBa> &src,
\param size : The image size or the number of pixels.
*/
-void vpImageConvert::MONO16ToGrey(unsigned char *grey16, unsigned char *grey,
- unsigned int size)
+void vpImageConvert::MONO16ToGrey(unsigned char *grey16, unsigned char *grey, unsigned int size)
{
register int i = (((int)size)<<1)-1;
register int j = (int)size-1;
@@ -3572,8 +3517,7 @@ void vpImageConvert::MONO16ToGrey(unsigned char *grey16, unsigned char *grey,
\param size : The image size or the number of pixels.
*/
-void vpImageConvert::MONO16ToRGBa(unsigned char *grey16, unsigned char *rgba,
- unsigned int size)
+void vpImageConvert::MONO16ToRGBa(unsigned char *grey16, unsigned char *rgba, unsigned int size)
{
register int i = (((int)size)<<1)-1;
register int j = (int)(size*4-1);
diff --git a/src/image/vpImageConvert.h b/src/image/vpImageConvert.h
index c43d62d..2a88695 100644
--- a/src/image/vpImageConvert.h
+++ b/src/image/vpImageConvert.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpImageConvert.h 4216 2013-04-17 09:06:18Z fspindle $
+* $Id: vpImageConvert.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,7 +71,7 @@
# include <yarp/sig/Image.h>
#endif
-#ifdef WIN32
+#if defined(_WIN32)
# include <windows.h>
#endif
diff --git a/src/image/vpImageException.h b/src/image/vpImageException.h
index 7519545..79c7fe9 100644
--- a/src/image/vpImageException.h
+++ b/src/image/vpImageException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImageException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,12 +73,12 @@
*/
class VISP_EXPORT vpImageException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpImage member
*/
- enum errorImageCodeEnum
+ enum errorImageCodeEnum
{
ioError,
noFileNameError,
@@ -87,25 +87,19 @@ public:
notInTheImage
} ;
-public:
- vpImageException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpImageException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpImageException (const int code)
- : vpException(code){ ; }
-
+ public:
+ vpImageException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpImageException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpImageException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpImageException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/image/vpImageFilter.cpp b/src/image/vpImageFilter.cpp
index e659452..c74971b 100644
--- a/src/image/vpImageFilter.cpp
+++ b/src/image/vpImageFilter.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageFilter.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImageFilter.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -43,7 +43,7 @@
#include <visp/vpImageConvert.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020101)
#include <opencv2/imgproc/imgproc_c.h>
-#elif defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
+#elif defined(VISP_HAVE_OPENCV)
#include <cv.h>
#endif
@@ -192,3 +192,480 @@ vpImageFilter:: canny(const vpImage<unsigned char>& Isrc,
cvReleaseImage(&edges_ipl);
}
#endif
+
+/*!
+ Apply a separable filter.
+ */
+void vpImageFilter::filter(const vpImage<unsigned char> &I, vpImage<double>& GI, const double *filter,unsigned int size)
+{
+ vpImage<double> GIx ;
+ filterX(I, GIx,filter,size);
+ filterY(GIx, GI,filter,size);
+ GIx.destroy();
+}
+
+/*!
+ Apply a separable filter.
+ */
+void vpImageFilter::filter(const vpImage<double> &I, vpImage<double>& GI, const double *filter,unsigned int size)
+{
+ vpImage<double> GIx ;
+ filterX(I, GIx,filter,size);
+ filterY(GIx, GI,filter,size);
+ GIx.destroy();
+}
+
+void vpImageFilter::filterX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size)
+{
+ dIx.resize(I.getHeight(),I.getWidth()) ;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < (size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterXLeftBorder(I,i,j,filter,size);
+ //dIx[i][j]=0;
+ }
+ for (unsigned int j=(size-1)/2 ; j < I.getWidth()-(size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterX(I,i,j,filter,size);
+ }
+ for (unsigned int j=I.getWidth()-(size-1)/2 ; j < I.getWidth() ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterXRightBorder(I,i,j,filter,size);
+ //dIx[i][j]=0;
+ }
+ }
+}
+void vpImageFilter::filterX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size)
+{
+ dIx.resize(I.getHeight(),I.getWidth()) ;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < (size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterXLeftBorder(I,i,j,filter,size);
+ //dIx[i][j]=0;
+ }
+ for (unsigned int j=(size-1)/2 ; j < I.getWidth()-(size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterX(I,i,j,filter,size);
+ }
+ for (unsigned int j=I.getWidth()-(size-1)/2 ; j < I.getWidth() ; j++)
+ {
+ dIx[i][j]=vpImageFilter::filterXRightBorder(I,i,j,filter,size);
+ //dIx[i][j]=0;
+ }
+ }
+}
+void vpImageFilter::filterY(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *filter,unsigned int size)
+{
+ dIy.resize(I.getHeight(),I.getWidth()) ;
+ for (unsigned int i=0 ; i < (size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterYTopBorder(I,i,j,filter,size);
+ }
+ }
+ for (unsigned int i=(size-1)/2 ; i < I.getHeight()-(size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterY(I,i,j,filter,size);
+ }
+ }
+ for (unsigned int i=I.getHeight()-(size-1)/2 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterYBottomBorder(I,i,j,filter,size);
+ }
+ }
+}
+void vpImageFilter::filterY(const vpImage<double> &I, vpImage<double>& dIy, const double *filter,unsigned int size)
+{
+ dIy.resize(I.getHeight(),I.getWidth()) ;
+ for (unsigned int i=0 ; i < (size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterYTopBorder(I,i,j,filter,size);
+ }
+ }
+ for (unsigned int i=(size-1)/2 ; i < I.getHeight()-(size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterY(I,i,j,filter,size);
+ }
+ }
+ for (unsigned int i=I.getHeight()-(size-1)/2 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::filterYBottomBorder(I,i,j,filter,size);
+ }
+ }
+}
+
+/*!
+ Apply a Gaussian blur to an image.
+ \param I : Input image.
+ \param GI : Filtered image.
+ \param size : Filter size. This value should be odd.
+ \param sigma : Gaussian standard deviation. If it is equal to zero or negative, it is computed from filter size as sigma = (size-1)/6.
+ \param normalize : Flag indicating whether to normalize the filter coefficients or not.
+
+ */
+void vpImageFilter::gaussianBlur(const vpImage<unsigned char> &I, vpImage<double>& GI, unsigned int size, double sigma, bool normalize)
+{
+ double *fg=new double[(size+1)/2] ;
+ vpImageFilter::getGaussianKernel(fg, size, sigma, normalize) ;
+ vpImage<double> GIx ;
+ vpImageFilter::filterX(I, GIx,fg,size);
+ vpImageFilter::filterY(GIx, GI,fg,size);
+ GIx.destroy();
+ delete[] fg;
+}
+
+/*!
+ Return the coefficients of a Gaussian filter.
+
+ \param filter : Pointer to the filter kernel that should refer to a (size+1)/2 array.
+ The first value refers to the central coefficient, the next one to the right coefficients. Left coefficients could be deduced by symmetry.
+ \param size : Filter size. This value should be odd.
+ \param sigma : Gaussian standard deviation. If it is equal to zero or negative, it is computed from filter size as sigma = (size-1)/6.
+ \param normalize : Flag indicating whether to normalize the filter coefficients or not.
+*/
+void vpImageFilter::getGaussianKernel(double *filter, unsigned int size, double sigma, bool normalize)
+{
+ if (size%2 != 1)
+ throw (vpImageException(vpImageException::incorrectInitializationError,
+ "Bad Gaussian filter size"));
+
+ if (sigma<= 0)
+ sigma = (size-1)/6.0;
+
+ int middle = (int)(size-1)/2;
+ double sigma2 = vpMath::sqr(sigma);
+ for( int i=0; i<= middle; i++)
+ {
+ filter[i] = (1./(sigma*sqrt(2.*M_PI)))*exp(-(i*i)/(2.*sigma2));
+ }
+ if (normalize) {
+ //renormalization
+ double sum=0;
+ for(int i=1; i<=middle; i++)
+ {
+ sum += 2*filter[i] ;
+ }
+ sum += filter[0];
+
+ for(int i=0; i<=middle; i++)
+ {
+ filter[i] = filter[i]/sum;
+ }
+ }
+}
+
+/*!
+ Return the coefficients of a Gaussian derivative filter that may be used to compute spatial image derivatives after applying a Gaussian blur.
+
+ \param filter : Pointer to the filter kernel that should refer to a (size+1)/2 array.
+ The first value refers to the central coefficient, the next one to the right coefficients. Left coefficients could be deduced by symmetry.
+ \param size : Filter size. This value should be odd.
+ \param sigma : Gaussian standard deviation. If it is equal to zero or negative, it is computed from filter size as sigma = (size-1)/6.
+ \param normalize : Flag indicating whether to normalize the filter coefficients or not.
+*/
+void vpImageFilter::getGaussianDerivativeKernel(double *filter, unsigned int size, double sigma, bool normalize)
+{
+ if (size%2 != 1)
+ throw (vpImageException(vpImageException::incorrectInitializationError,
+ "Bad Gaussian filter size"));
+
+ if (sigma<= 0)
+ sigma = (size-1)/6.0;
+
+ int middle = (int)(size-1)/2;
+ double sigma2 = vpMath::sqr(sigma);
+ filter[0] = 0.;
+ for(int i=1; i<= middle; i++)
+ {
+ filter[i] = -(1./(sigma*sqrt(2.*M_PI)))*(exp(-((i+1)*(i+1))/(2.*sigma2))-exp(-((i-1)*(i-1))/(2.*sigma2)))/2.;
+ }
+
+ if (normalize) {
+ double sum=0;
+ for(int i=1; i<=middle; i++)
+ {
+ sum += 2.*(1./(sigma*sqrt(2.*M_PI)))*exp(-(i*i)/(2.*sigma2));
+ }
+ sum += (1./(sigma*sqrt(2.*M_PI))) ;
+
+ for(int i=1; i<=middle; i++)
+ {
+ filter[i] = filter[i]/sum;
+ }
+ }
+}
+
+
+void vpImageFilter::getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx)
+{
+ dIx.resize(I.getHeight(),I.getWidth()) ;
+ //dIx=0;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < 3 ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ for (unsigned int j=3 ; j < I.getWidth()-3 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::derivativeFilterX(I,i,j);
+ }
+ for (unsigned int j=I.getWidth()-3 ; j < I.getWidth() ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ }
+}
+
+void vpImageFilter::getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy)
+{
+ dIy.resize(I.getHeight(),I.getWidth()) ;
+ //dIy=0;
+ for (unsigned int i=0 ; i < 3 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+ for (unsigned int i=3 ; i < I.getHeight()-3 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::derivativeFilterY(I,i,j);
+ }
+ }
+ for (unsigned int i=I.getHeight()-3 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+}
+
+void vpImageFilter::getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size)
+{
+ dIx.resize(I.getHeight(),I.getWidth()) ;
+ //#pragma omp parallel for
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < (size-1)/2 ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ for (unsigned int j=(size-1)/2 ; j < I.getWidth()-(size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::derivativeFilterX(I,i,j,filter,size);
+ }
+ for (unsigned int j=I.getWidth()-(size-1)/2 ; j < I.getWidth() ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ }
+}
+void vpImageFilter::getGradX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size)
+{
+ dIx.resize(I.getHeight(),I.getWidth()) ;
+ //dIx=0;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < (size-1)/2 ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ for (unsigned int j=(size-1)/2 ; j < I.getWidth()-(size-1)/2 ; j++)
+ {
+ dIx[i][j]=vpImageFilter::derivativeFilterX(I,i,j,filter,size);
+ }
+ for (unsigned int j=I.getWidth()-(size-1)/2 ; j < I.getWidth() ; j++)
+ {
+ dIx[i][j]=0;
+ }
+ }
+}
+
+void vpImageFilter::getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *filter,unsigned int size)
+{
+ dIy.resize(I.getHeight(),I.getWidth()) ;
+ //#pragma omp parallel for
+ for (unsigned int i=0 ; i < (size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+ //#pragma omp parallel for
+ for (unsigned int i=(size-1)/2 ; i < I.getHeight()-(size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::derivativeFilterY(I,i,j,filter,size);
+ }
+ }
+ //#pragma omp parallel for
+ for (unsigned int i=I.getHeight()-(size-1)/2 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+}
+
+void vpImageFilter::getGradY(const vpImage<double> &I, vpImage<double>& dIy, const double *filter,unsigned int size)
+{
+ dIy.resize(I.getHeight(),I.getWidth()) ;
+ //dIy=0;
+ for (unsigned int i=0 ; i < (size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+ for (unsigned int i=(size-1)/2 ; i < I.getHeight()-(size-1)/2 ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=vpImageFilter::derivativeFilterY(I,i,j,filter,size);
+ }
+ }
+ for (unsigned int i=I.getHeight()-(size-1)/2 ; i < I.getHeight() ; i++)
+ {
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ dIy[i][j]=0;
+ }
+ }
+}
+
+/*!
+ Compute the gradient along X after applying a gaussian filter along Y.
+ \param I : Input image
+ \param dIx : Gradient along X.
+ \param gaussianKernel : Gaussian kernel which values should be computed using vpImageFilter::getGaussianKernel().
+ \param gaussianDerivativeKernel : Gaussian derivative kernel which values should be computed using vpImageFilter::getGaussianDerivativeKernel().
+ \param size : Size of the Gaussian and Gaussian derivative kernels.
+ */
+void vpImageFilter::getGradXGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
+{
+ vpImage<double> GIy;
+ vpImageFilter::filterY(I, GIy, gaussianKernel, size);
+ vpImageFilter::getGradX(GIy, dIx, gaussianDerivativeKernel, size);
+}
+
+/*!
+ Compute the gradient along Y after applying a gaussian filter along X.
+ \param I : Input image
+ \param dIy : Gradient along Y.
+ \param gaussianKernel : Gaussian kernel which values should be computed using vpImageFilter::getGaussianKernel().
+ \param gaussianDerivativeKernel : Gaussian derivative kernel which values should be computed using vpImageFilter::getGaussianDerivativeKernel().
+ \param size : Size of the Gaussian and Gaussian derivative kernels.
+ */
+void vpImageFilter::getGradYGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *gaussianKernel, const double *gaussianDerivativeKernel,unsigned int size)
+{
+ vpImage<double> GIx;
+ vpImageFilter::filterX(I, GIx, gaussianKernel, size);
+ vpImageFilter::getGradY(GIx, dIy, gaussianDerivativeKernel, size);
+}
+
+//operation pour pyramide gaussienne
+void vpImageFilter::getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI)
+{
+ vpImage<unsigned char> GIx;
+#ifdef VISP_HAVE_OPENCV
+ IplImage* imgsrc = NULL;//cvCreateImage(cvGetSize(imgign), IPL_DEPTH_8U, 1);
+ IplImage* imgdest = NULL;//cvCreateImage(cvGetSize(imgign), IPL_DEPTH_8U, 1);
+ imgsrc = cvCreateImage(cvSize((int)I.getWidth(),(int)I.getHeight()), IPL_DEPTH_8U, 1);
+ imgdest = cvCreateImage(cvSize((int)I.getWidth()/2,(int)I.getHeight()/2), IPL_DEPTH_8U, 1);
+ vpImageConvert::convert(I,imgsrc);
+ cvPyrDown( imgsrc, imgdest);
+ vpImageConvert::convert(imgdest,GI);
+
+ cvReleaseImage(&imgsrc);
+ cvReleaseImage(&imgdest);
+ //vpImage<unsigned char> sGI;sGI=GI;
+
+#else
+ vpImageFilter::getGaussXPyramidal(I,GIx);
+ vpImageFilter::getGaussYPyramidal(GIx,GI);
+#endif
+}
+
+void vpImageFilter::getGaussXPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI)
+{
+#if 0
+ GI.resize(I.getHeight(),(int)((I.getWidth()+1.)/2.)) ;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ GI[i][0]=I[i][0];
+ for (unsigned int j=1 ; j < ((I.getWidth()+1.)/2.)-1 ; j++)
+ {
+ GI[i][j]=vpImageFilter::filterGaussXPyramidal(I,i,2*j);
+ }
+ GI[i][(int)((I.getWidth()+1.)/2.)-1]=I[i][2*((int)((I.getWidth()+1.)/2.)-1)];
+ }
+#else
+ unsigned int w = I.getWidth()/2;
+
+ GI.resize(I.getHeight(), w) ;
+ for (unsigned int i=0 ; i < I.getHeight() ; i++)
+ {
+ GI[i][0]=I[i][0];
+ for (unsigned int j=1 ; j < w-1 ; j++)
+ {
+ GI[i][j]=vpImageFilter::filterGaussXPyramidal(I,i,2*j);
+ }
+ GI[i][w-1]=I[i][2*w-1];
+ }
+
+#endif
+}
+void vpImageFilter::getGaussYPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI)
+{
+
+#ifdef ORIG
+ GI.resize((int)((I.getHeight()+1.)/2.),I.getWidth()) ;
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ GI[0][j]=I[0][j];
+ for (unsigned int i=1 ; i < ((I.getHeight()+1.)/2.)-1 ; i++)
+ {
+ GI[i][j]=vpImageFilter::filterGaussYPyramidal(I,2*i,j);
+ }
+ GI[(int)((I.getHeight()+1.)/2.)-1][j]=I[2*((int)((I.getHeight()+1.)/2.)-1)][j];
+ }
+
+#else
+ unsigned int h = I.getHeight()/2;
+
+ GI.resize(h, I.getWidth()) ;
+ for (unsigned int j=0 ; j < I.getWidth() ; j++)
+ {
+ GI[0][j]=I[0][j];
+ for (unsigned int i=1 ; i < h-1 ; i++)
+ {
+ GI[i][j]=vpImageFilter::filterGaussYPyramidal(I,2*i,j);
+ }
+ GI[h-1][j]=I[2*h-1][j];
+ }
+#endif
+}
+
+
diff --git a/src/image/vpImageFilter.h b/src/image/vpImageFilter.h
index db72daa..cb8c9cf 100644
--- a/src/image/vpImageFilter.h
+++ b/src/image/vpImageFilter.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpImageFilter.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImageFilter.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,7 +26,7 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
@@ -72,16 +72,6 @@ class VISP_EXPORT vpImageFilter
{
public:
- static void filter(const vpImage<double> &I,
- vpImage<double>& Iu,
- vpImage<double>& Iv,
- const vpMatrix& M) ;
-
-
- static void filter(const vpImage<unsigned char> &I,
- vpImage<double>& If,
- const vpMatrix& M) ;
-
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
static void canny(const vpImage<unsigned char>& I,
vpImage<unsigned char>& Ic,
@@ -91,161 +81,368 @@ public:
#endif
/*!
- Apply a 5x5 Gaussian filter to an image pixel.
+ Apply a 1x3 derivative filter to an image pixel.
- \param fr : Image to filter
- \param r : coordinates (row) of the pixel
+ \param I : Image to filter
+ \param r: coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
*/
template<class T>
- static double
- gaussianFilter(vpImage<T> & fr,
- const unsigned int r, const unsigned int c)
+ static double derivativeFilterX(const vpImage<T> &I,
+ const unsigned int r, const unsigned int c)
{
- //filter Gaussien
- return (
- 15.0 * fr[r][c]
- + 12.0 * ( fr[r-1][c] + fr[r][c-1] + fr[r+1][c] + fr[r][c+1] )
- + 9.0 * ( fr[r-1][c-1] + fr[r+1][c-1] + fr[r-1][c+1] + fr[r+1][c+1])
- + 5.0 * ( fr[r-2][c] + fr[r][c-2] + fr[r+2][c] + fr[r][c+2] )
- + 4.0 * ( fr[r-2][c+1] + fr[r-2][c-1] + fr[r-1][c-2] + fr[r+1][c-2] +
- fr[r+2][c-1] + fr[r+2][c+1] + fr[r-1][c+2] + fr[r+1][c+2] )
- + 2.0 * ( fr[r-2][c-2] + fr[r+2][c-2] + fr[r-2][c+2] + fr[r+2][c+2] )
- )
- /159.0;
+ return (2047.0 *(I[r][c+1] - I[r][c-1])
+ +913.0 *(I[r][c+2] - I[r][c-2])
+ +112.0 *(I[r][c+3] - I[r][c-3]))/8418.0;
}
-
-
/*!
- Apply a 1x3 Derivative Filter to an image pixel.
+ Apply a 3x1 derivative filter to an image pixel.
- \param fr : Image to filter
- \param r: coordinates (row) of the pixel
+ \param I : Image to filter
+ \param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
*/
template<class T>
- static double
- derivativeFilterX(vpImage<T> & fr,
- const unsigned int r, const unsigned int c)
+ static double derivativeFilterY(const vpImage<T> &I,
+ const unsigned int r, const unsigned int c)
{
- return (2047.0 *(fr[r][c+1] - fr[r][c-1])
- +913.0 *(fr[r][c+2] - fr[r][c-2])
- +112.0 *(fr[r][c+3] - fr[r][c-3]))/8418.0;
+ return (2047.0 *(I[r+1][c] - I[r-1][c])
+ +913.0 *(I[r+2][c] - I[r-2][c])
+ +112.0 *(I[r+3][c] - I[r-3][c]))/8418.0;
}
/*!
- Apply a 3x1 Derivative Filter to an image pixel.
+ Apply a 1 x size Derivative Filter in X to an image pixel.
- \param fr : Image to filter
+ \param I : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
+ \param filter : coefficients of the filter to be initialized using vpImageFilter::getGaussianDerivativeKernel().
+ \param size : size of the filter
+
+ \sa vpImageFilter::getGaussianDerivativeKernel()
*/
+
template<class T>
- static double
- derivativeFilterY(vpImage<T> & fr,
- const unsigned int r, const unsigned int c)
+ static double derivativeFilterX(const vpImage<T> &I,
+ const unsigned int r, const unsigned int c,
+ const double *filter, const unsigned int size)
{
- return (2047.0 *(fr[r+1][c] - fr[r-1][c])
- +913.0 *(fr[r+2][c] - fr[r-2][c])
- +112.0 *(fr[r+3][c] - fr[r-3][c]))/8418.0;
+ unsigned int i;
+ double result;
+
+ result = 0;
+
+ for(i=1; i<=(size-1)/2; i++)
+ {
+ result += filter[i]*(I[r][c+i] - I[r][c-i]) ;
+ }
+ return result;
}
+
+
/*!
- build a Gaussian Derivative filter
+ Apply a size x 1 Derivative Filter in Y to an image pixel.
- \param filter : array (of size t/2) that contains the filter
- \param t : size of the filter
+ \param I : Image to filter
+ \param r : coordinates (row) of the pixel
+ \param c : coordinates (column) of the pixel
+ \param filter : coefficients of the filter to be initialized using vpImageFilter::getGaussianDerivativeKernel().
+ \param size : size of the filter
- \warning filter has to be deallocated
+ \sa vpImageFilter::getGaussianDerivativeKernel()
*/
- static void
- coefficientGaussianDerivative(double *filter, const unsigned int t)
+ template<class T>
+ static double derivativeFilterY(const vpImage<T> &I,
+ const unsigned int r, const unsigned int c,
+ const double *filter, const unsigned int size)
{
unsigned int i;
- // double sigma;
- if (filter == NULL)
- filter = new double[t/2] ;
+ double result;
- double s2 = vpMath::sqr((t-1)/6.0);
+ result = 0;
- for(i=1; i<=(t-1)/2; i++)
+ for(i=1; i<=(size-1)/2; i++)
{
- filter[i] = (i/(s2*sqrt(2*M_PI)))*exp((i*i)/(-2*s2));
+ result += filter[i]*(I[r+i][c] - I[r-i][c]) ;
+ }
+ return result;
+ }
+
+ static void filter(const vpImage<double> &I,
+ vpImage<double>& Iu,
+ vpImage<double>& Iv,
+ const vpMatrix& M) ;
+
+
+ static void filter(const vpImage<unsigned char> &I,
+ vpImage<double>& If,
+ const vpMatrix& M) ;
+
+
+ static void filter(const vpImage<unsigned char> &I, vpImage<double>& GI, const double *filter,unsigned int size);
+ static void filter(const vpImage<double> &I, vpImage<double>& GI, const double *filter,unsigned int size);
+
+ static inline unsigned char filterGaussXPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
+ {
+ return (unsigned char)((1.*I[i][j-2]+4.*I[i][j-1]+6.*I[i][j]+4.*I[i][j+1]+1.*I[i][j+2])/16.);
+ }
+ static inline unsigned char filterGaussYPyramidal(const vpImage<unsigned char> &I, unsigned int i, unsigned int j)
+ {
+ return (unsigned char)((1.*I[i-2][j]+4.*I[i-1][j]+6.*I[i][j]+4.*I[i+1][j]+1.*I[i+2][j])/16.);
+ }
+
+ static void filterX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
+ static void filterX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
+ static inline double filterX(const vpImage<unsigned char> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
}
+ return result+filter[0]*I[r][c];
+ }
+
+
+ static inline double filterXLeftBorder(const vpImage<unsigned char> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(c>i)
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
+ else
+ result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
+ }
+ return result+filter[0]*I[r][c];
}
+ static inline double filterXRightBorder(const vpImage<unsigned char> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
- /*!
- Apply a 1 x size Derivative Filter in X to an image pixel.
+ result = 0;
- \param I : Image to filter
- \param r : coordinates (row) of the pixel
- \param c : coordinates (column) of the pixel
- \param filter : coefficients of the filter to be initialized using vpImageFilter::coefficientGaussianDerivative().
- \param size : size of the filter
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(c+i<I.getWidth())
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
+ else
+ result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
- \sa vpImageFilter::coefficientGaussianDerivative()
- */
+ static inline double filterX(const vpImage<double> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
- template<class T>
- static double
- derivativeFilterX(vpImage<T> &I,
- const unsigned int r, const unsigned int c,
- double *filter, const unsigned int size)
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static inline double filterXLeftBorder(const vpImage<double> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
{
- unsigned int i;
- double result;
+ double result;
- result = 0;
+ result = 0;
- for(i=1; i<=(size-1)/2; i++)
- {
- result += filter[i]*(I[r][c+i] - I[r][c-i]) ;
- }
- return result;
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(c>i)
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
+ else
+ result += filter[i]*(I[r][c+i] + I[r][i-c]) ;
+ }
+ return result+filter[0]*I[r][c];
}
+ static inline double filterXRightBorder(const vpImage<double> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
+ result = 0;
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(c+i<I.getWidth())
+ result += filter[i]*(I[r][c+i] + I[r][c-i]) ;
+ else
+ result += filter[i]*(I[r][2*I.getWidth()-c-i-1] + I[r][c-i]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static void filterY(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
+ static void filterY(const vpImage<double> &I, vpImage<double>& dIx, const double *filter,unsigned int size);
+ static inline double filterY(const vpImage<unsigned char> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ double static inline filterYTopBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(r>i)
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ else
+ result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ double static inline filterYBottomBorder(const vpImage<unsigned char> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(r+i<I.getHeight())
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ else
+ result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static inline double filterYTopBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(r>i)
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ else
+ result += filter[i]*(I[r+i][c] + I[i-r][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static inline double filterYBottomBorder(const vpImage<double> &I, unsigned int r, unsigned int c, const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ if(r+i<I.getHeight())
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ else
+ result += filter[i]*(I[2*I.getHeight()-r-i-1][c] + I[r-i][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static inline double filterY(const vpImage<double> &I,
+ unsigned int r, unsigned int c,
+ const double *filter,unsigned int size)
+ {
+ double result;
+
+ result = 0;
+
+ for(unsigned int i=1; i<=(size-1)/2; i++)
+ {
+ result += filter[i]*(I[r+i][c] + I[r-i][c]) ;
+ }
+ return result+filter[0]*I[r][c];
+ }
+
+ static void gaussianBlur(const vpImage<unsigned char> &I, vpImage<double>& GI, unsigned int size=7, double sigma=0., bool normalize=true);
/*!
- Apply a size x 1 Derivative Filter in Y to an image pixel.
+ Apply a 5x5 Gaussian filter to an image pixel.
- \param I : Image to filter
+ \param fr : Image to filter
\param r : coordinates (row) of the pixel
\param c : coordinates (column) of the pixel
- \param filter : coefficients of the filter to be initialized using vpImageFilter::coefficientGaussianDerivative().
- \param size : size of the filter
-
- \sa vpImageFilter::coefficientGaussianDerivative()
*/
template<class T>
- static double
- derivativeFilterY(vpImage<T> &I,
- const unsigned int r, const unsigned int c,
- double *filter, const unsigned int size)
+ static double gaussianFilter(const vpImage<T> & fr,
+ const unsigned int r, const unsigned int c)
{
- unsigned int i;
- double result;
-
- result = 0;
-
- for(i=1; i<=(size-1)/2; i++)
- {
- result += filter[i]*(I[r+i][c] - I[r-i][c]) ;
- }
- return result;
+ //filter Gaussien
+ return (
+ 15.0 * fr[r][c]
+ + 12.0 * ( fr[r-1][c] + fr[r][c-1] + fr[r+1][c] + fr[r][c+1] )
+ + 9.0 * ( fr[r-1][c-1] + fr[r+1][c-1] + fr[r-1][c+1] + fr[r+1][c+1])
+ + 5.0 * ( fr[r-2][c] + fr[r][c-2] + fr[r+2][c] + fr[r][c+2] )
+ + 4.0 * ( fr[r-2][c+1] + fr[r-2][c-1] + fr[r-1][c-2] + fr[r+1][c-2] +
+ fr[r+2][c-1] + fr[r+2][c+1] + fr[r-1][c+2] + fr[r+1][c+2] )
+ + 2.0 * ( fr[r-2][c-2] + fr[r+2][c-2] + fr[r-2][c+2] + fr[r+2][c+2] )
+ )
+ /159.0;
}
+ //operation pour pyramide gaussienne
+ static void getGaussPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
+ static void getGaussXPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
+ static void getGaussYPyramidal(const vpImage<unsigned char> &I, vpImage<unsigned char>& GI);
+
+ static void getGaussianKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);
+ static void getGaussianDerivativeKernel(double *filter, unsigned int size, double sigma=0., bool normalize=true);
+
+ //fonction renvoyant le gradient en X de l'image I pour traitement pyramidal => dimension /2
+ static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx);
+ static void getGradX(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
+ static void getGradX(const vpImage<double> &I, vpImage<double>& dIx, const double *filter, unsigned int size);
+ static void getGradXGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIx, const double *gaussianKernel,
+ const double *gaussianDerivativeKernel, unsigned int size);
+
+ //fonction renvoyant le gradient en Y de l'image I
+ static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy);
+ static void getGradY(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
+ static void getGradY(const vpImage<double> &I, vpImage<double>& dIy, const double *filter, unsigned int size);
+ static void getGradYGauss2D(const vpImage<unsigned char> &I, vpImage<double>& dIy, const double *gaussianKernel,
+ const double *gaussianDerivativeKernel,unsigned int size);
+
} ;
#endif
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/image/vpImageIo.cpp b/src/image/vpImageIo.cpp
index e93254a..c02bd4b 100644
--- a/src/image/vpImageIo.cpp
+++ b/src/image/vpImageIo.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageIo.cpp 4315 2013-07-16 20:32:52Z fspindle $
+ * $Id: vpImageIo.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,6 +47,7 @@
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpImageConvert.h> //image conversion
+#include <visp/vpIoTools.h>
const int vpImageIo::vpMAX_LEN = 100;
@@ -276,6 +277,11 @@ std::string vpImageIo::getExtension(const std::string &filename)
void
vpImageIo::read(vpImage<unsigned char> &I, const char *filename)
{
+ bool exist = vpIoTools::checkFilename(filename);
+ if (!exist) {
+ std::string message = "Cannot read file: \"" + std::string(filename) + "\" doesn't exist";
+ throw (vpImageException(vpImageException::ioError, message));
+ }
bool try_opencv_reader = false;
switch(getFormat(filename)){
@@ -314,9 +320,8 @@ vpImageIo::read(vpImage<unsigned char> &I, const char *filename)
cv::Mat cvI = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
vpImageConvert::convert(cvI, I);
#else
- vpCERROR << "Cannot read file: Image format not supported..." << std::endl;
- throw (vpImageException(vpImageException::ioError,
- "Cannot read file: Image format not supported")) ;
+ std::string message = "Cannot read file \"" + std::string(filename) + "\": Image format not supported";
+ throw (vpImageException(vpImageException::ioError, message)) ;
#endif
}
}
@@ -360,6 +365,12 @@ vpImageIo::read(vpImage<unsigned char> &I, const std::string filename)
void
vpImageIo::read(vpImage<vpRGBa> &I, const char *filename)
{
+ bool exist = vpIoTools::checkFilename(filename);
+ if (!exist) {
+ std::string message = "Cannot read file: \"" + std::string(filename) + "\" doesn't exist";
+ throw (vpImageException(vpImageException::ioError, message));
+ }
+
bool try_opencv_reader = false;
switch(getFormat(filename)){
@@ -398,9 +409,8 @@ vpImageIo::read(vpImage<vpRGBa> &I, const char *filename)
cv::Mat cvI = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
vpImageConvert::convert(cvI, I);
#else
- vpCERROR << "Cannot read file: Image format not supported..." << std::endl;
- throw (vpImageException(vpImageException::ioError,
- "Cannot read file: Image format not supported")) ;
+ std::string message = "Cannot read file \"" + std::string(filename) + "\": Image format not supported";
+ throw (vpImageException(vpImageException::ioError, message)) ;
#endif
}
}
@@ -774,9 +784,9 @@ vpImageIo::writePGM(const vpImage<vpRGBa> &I, const char *filename)
}
/*!
- Read a PGM P5 file and initialize a scalar image.
+ Read a PFM P8 file and initialize a float image.
- Read the contents of the portable gray pixmap (PGM P5) filename, allocate
+ Read the contents of the portable gray pixmap (PFM P8) filename, allocate
memory for the corresponding image, and set the bitmap whith the content of
the file.
@@ -818,7 +828,7 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
"couldn't read file")) ;
}
- // Read the first line with magic number P5
+ // Read the first line with magic number P8
line = 0;
err = fgets(str, vpMAX_LEN - 1, fd);
@@ -834,9 +844,9 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
if (strlen(str) < 3)
{
fclose (fd);
- vpERROR_TRACE("\"%s\" is not a PGM file\n", filename) ;
+ vpERROR_TRACE("\"%s\" is not a PFM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a pfm file")) ;
+ "this is not a PFM file")) ;
}
str[2] = '\0';
@@ -845,7 +855,7 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("\"%s\" is not a PFM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a pgm file")) ;
+ "this is not a PFM file")) ;
}
// Jump the possible comment, or empty line and read the following line
@@ -855,11 +865,18 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
if (err == NULL) {
fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read content of PFM file")) ;
}
} while ((str[0] == '#') || (str[0] == '\n'));
// Extract image size
ierr = sscanf(str, "%d %d", &w, &h);
+ if (w > 100000 || h>100000) {
+ fclose (fd);
+ throw(vpException(vpException::badValue, "Bad image size"));
+ }
+
if(ierr == 1){// the norm allows to have the two values on two separated lines.
do {
err = fgets(str, vpMAX_LEN - 1, fd);
@@ -867,6 +884,8 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
if (err == NULL) {
fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read content of PFM file")) ;
}
} while ((str[0] == '#') || (str[0] == '\n'));
ierr = sscanf(str, "%d", &h);
@@ -876,20 +895,20 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read content of PFM file")) ;
}
if ((h != I.getHeight())||( w != I.getWidth()))
{
-
try
{
I.resize(h,w) ;
}
catch(...)
{
- vpERROR_TRACE(" ") ;
- throw ;
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read content of PFM file")) ;
}
}
@@ -900,7 +919,7 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read content of PFM file")) ;
}
ierr = sscanf(str, "%d", &is255);
@@ -908,7 +927,7 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("couldn't read line %d of file \"%s\"\n", line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read content of PFM file")) ;
}
if (is255 != 255)
@@ -916,7 +935,7 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("MAX_VAL is not 255 in file \"%s\"\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "error reading pfm file")) ;
+ "Cannot read content of PFM file")) ;
}
unsigned int nbyte = I.getHeight()*I.getWidth();
@@ -925,12 +944,10 @@ vpImageIo::readPFM(vpImage<float> &I, const char *filename)
fclose (fd);
vpERROR_TRACE("couldn't read %d bytes in file \"%s\"\n", nbyte, filename) ;
throw (vpImageException(vpImageException::ioError,
- "error reading pfm file")) ;
+ "Cannot read content of PFM file")) ;
}
fclose (fd);
-
-
}
@@ -956,143 +973,189 @@ vpImageIo::readPGM(vpImage<unsigned char> &I, const char *filename)
{
FILE* fd = NULL; // File descriptor
int ierr;
- int line;
- int is255;
char* err ;
char str[vpMAX_LEN];
- unsigned int w, h;
+ unsigned int magic=5, w=0, h=0, maxval=255;
// Test the filename
- if (filename == '\0')
- {
- vpERROR_TRACE("no filename") ;
+ if (filename == '\0') {
throw (vpImageException(vpImageException::ioError,
- " no filename")) ;
-
+ "No filename")) ;
}
// Open the filename
- fd = fopen(filename, "rb");
- if (fd == NULL)
- {
- vpERROR_TRACE("couldn't read file \"%s\"", filename) ;
+ if ((fd = fopen(filename, "rb")) == NULL) {
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read file \"%s\"", filename)) ;
}
- // Read the first line with magic number P5
- line = 0;
-
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
- if (err == NULL)
- {
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n", line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read header of file \"%s\"", filename));
}
-
- if (strlen(str) < 3)
- {
+ if ((ierr = sscanf(str, "P%u %u %u %u", &magic, &w, &h, &maxval)) == 0) {
fclose (fd);
- vpERROR_TRACE("\"%s\" is not a PGM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a pgm file")) ;
+ "Cannot read header of file \"%s\"", filename));
}
- str[2] = '\0';
- if (strcmp(str, "P5") != 0)
- {
+ if (magic != 5) {
fclose (fd);
- vpERROR_TRACE("\"%s\" is not a PGM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a pgm file")) ;
+ "\"%s\" is not a PGM P5 file", filename));
}
- // Jump the possible comment, or empty line and read the following line
- do {
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
+ // Depending on ierr the line may contain:
+ // 1 : P5
+ // 2 : P5 w
+ // 3 : P5 w h
+ // 4 : P5 w h maxval
+
+ if (ierr == 1) {
+// std::cout << "magic: " << magic << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
if (err == NULL) {
- fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- } while ((str[0] == '#') || (str[0] == '\n'));
+ if (((ierr = sscanf(str, "%u %u %u", &w, &h, &maxval)) == 0) || (ierr != 1 && ierr != 2 && ierr != 3)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ // Depending on ierr the line may contain:
+ // 1 : w
+ // 2 : w h
+ // 3 : w h maxval
+ if (ierr == 1) {
+// std::cout << "w: " << w << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (((ierr = sscanf(str, "%u %u", &h, &maxval)) == 0) || (ierr != 1 && ierr != 2)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (ierr == 1) {
+// std::cout << "h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ }
+// else {
+// std::cout << "h: " << h << " maxval: " << maxval << std::endl;
+// }
+ }
+ else if (ierr == 2) {
+// std::cout << "w: " << w << " h: " << h << std::endl;
- // Extract image size
- ierr = sscanf(str, "%d %d", &w, &h);
- if(ierr == 1){// the norm allows to have the two values on two separated lines.
- do {
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
if (err == NULL) {
- fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- } while ((str[0] == '#') || (str[0] == '\n'));
- ierr = sscanf(str, "%d", &h);
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+// std::cout << "maxval: " << maxval << std::endl;
+ }
+// else {
+// std::cout << "w: " << w << " h: " << h << " maxval: " << maxval << std::endl;
+// }
}
- if (ierr == EOF)
- {
- fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
- throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ else if (ierr == 2) {
+// std::cout << "magic: " << magic << " w: " << w << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (((ierr = sscanf(str, "%u %u", &h, &maxval)) == 0) || (ierr != 1 && ierr != 2)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (ierr == 1) {
+// std::cout << "h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+// std::cout << "maxval: " << maxval << std::endl;
+ }
+// else {
+// std::cout << "h: " << h << " maxval: " << maxval << std::endl;
+// }
}
-
- if ((h != I.getHeight())||( w != I.getWidth()))
- {
-
- try
- {
- I.resize(h,w) ;
+ else if (ierr == 3) {
+// std::cout << "magic: " << magic << " w: " << w << " h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- catch(...)
- {
- vpERROR_TRACE(" ") ;
- throw ;
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
+// std::cout << "maxval: " << maxval << std::endl;
}
+// else if (ierr == 4) {
+// std::cout << "magic: " << magic << " w: " << w << " h: " << h << " maxval: " << maxval << std::endl;
+// }
- // Read 255
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
- if (err == NULL) {
+ if (w > 100000 || h>100000) {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
- throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename));
}
-
- ierr = sscanf(str, "%d", &is255);
- if (ierr == EOF) {
+ if (maxval != 255)
+ {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n", line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Bad maxval in \"%s\"", filename));
}
- if (is255 != 255)
- {
- fclose (fd);
- vpERROR_TRACE("MAX_VAL is not 255 in file \"%s\"\n", filename) ;
- throw (vpImageException(vpImageException::ioError,
- "error reading pgm file")) ;
+ if ((h != I.getHeight())||( w != I.getWidth())) {
+ I.resize(h,w) ;
}
unsigned int nbyte = I.getHeight()*I.getWidth();
- if (fread (I.bitmap, sizeof(unsigned char), nbyte, fd ) != nbyte)
- {
+ size_t n;
+ if ((n = fread (I.bitmap, sizeof(unsigned char), nbyte, fd)) != nbyte) {
fclose (fd);
- vpERROR_TRACE("couldn't read %d bytes in file \"%s\"\n", nbyte, filename) ;
throw (vpImageException(vpImageException::ioError,
- "error reading pgm file")) ;
+ "Read only %d of %d bytes in file \"%s\"", n, nbyte, filename));
}
fclose (fd);
-
-
}
@@ -1117,14 +1180,12 @@ vpImageIo::readPGM(vpImage<unsigned char> &I, const char *filename)
void
vpImageIo::readPGM(vpImage<vpRGBa> &I, const char *filename)
{
-
try
{
vpImage<unsigned char> Itmp ;
vpImageIo::readPGM(Itmp, filename) ;
-
vpImageConvert::convert(Itmp, I) ;
}
@@ -1190,132 +1251,180 @@ vpImageIo::readPPM(vpImage<unsigned char> &I, const char *filename)
void
vpImageIo::readPPM(vpImage<vpRGBa> &I, const char *filename)
{
-
FILE* fd = NULL; // File descriptor
int ierr;
- int line;
- int is255;
char* err ;
char str[vpMAX_LEN];
- unsigned int w, h;
+ unsigned int magic=5, w=0, h=0, maxval=255;
// Test the filename
- if (filename == '\0')
- {
- vpERROR_TRACE("no filename") ;
+ if (filename == '\0') {
throw (vpImageException(vpImageException::ioError,
- " no filename")) ;
-
+ "No filename")) ;
}
// Open the filename
- fd = fopen(filename, "rb");
- if (fd == NULL)
- {
- vpERROR_TRACE("couldn't read file \"%s\"", filename) ;
+ if ((fd = fopen(filename, "rb")) == NULL) {
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read file \"%s\"", filename)) ;
}
- // Read the first line with magic number P5
- line = 0;
-
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
- if (err == NULL)
- {
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n", line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Cannot read header of file \"%s\"", filename));
}
-
- if (strlen(str) < 3)
- {
+ if ((ierr = sscanf(str, "P%u %u %u %u", &magic, &w, &h, &maxval)) == 0) {
fclose (fd);
- vpERROR_TRACE("\"%s\" is not a PPM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a ppm file")) ;
+ "Cannot read header of file \"%s\"", filename));
}
- str[2] = '\0';
- if (strcmp(str, "P6") != 0)
- {
+ if (magic != 6) {
fclose (fd);
- vpERROR_TRACE("\"%s\" is not a PPM file\n", filename) ;
throw (vpImageException(vpImageException::ioError,
- "this is not a ppm file")) ;
+ "\"%s\" is not a PGM P6 file", filename));
}
- // Jump the possible comment, or empty line and read the following line
- do {
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
+ // Depending on ierr the line may contain:
+ // 1 : P6
+ // 2 : P6 w
+ // 3 : P6 w h
+ // 4 : P6 w h maxval
+
+ if (ierr == 1) {
+// std::cout << "magic: " << magic << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
if (err == NULL) {
- fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- } while ((str[0] == '#') || (str[0] == '\n'));
+ if (((ierr = sscanf(str, "%u %u %u", &w, &h, &maxval)) == 0) || (ierr != 1 && ierr != 2 && ierr != 3)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ // Depending on ierr the line may contain:
+ // 1 : w
+ // 2 : w h
+ // 3 : w h maxval
+ if (ierr == 1) {
+// std::cout << "w: " << w << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (((ierr = sscanf(str, "%u %u", &h, &maxval)) == 0) || (ierr != 1 && ierr != 2)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (ierr == 1) {
+// std::cout << "h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ }
+// else {
+// std::cout << "h: " << h << " maxval: " << maxval << std::endl;
+// }
+ }
+ else if (ierr == 2) {
+// std::cout << "w: " << w << " h: " << h << std::endl;
- // Extract image size
- ierr = sscanf(str, "%d %d", &w, &h);
- if(ierr == 1){// the norm allows to have the two values on two separated lines.
- do {
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
if (err == NULL) {
- fprintf(stderr, "couldn't read line %d of file \"%s\"\n", line, filename);
fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- } while ((str[0] == '#') || (str[0] == '\n'));
- ierr = sscanf(str, "%d", &h);
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+// std::cout << "maxval: " << maxval << std::endl;
+ }
+// else {
+// std::cout << "w: " << w << " h: " << h << " maxval: " << maxval << std::endl;
+// }
}
- if (ierr == EOF)
- {
- fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
- throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ else if (ierr == 2) {
+// std::cout << "magic: " << magic << " w: " << w << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (((ierr = sscanf(str, "%u %u", &h, &maxval)) == 0) || (ierr != 1 && ierr != 2)) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if (ierr == 1) {
+// std::cout << "h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
+ }
+// std::cout << "maxval: " << maxval << std::endl;
+ }
+// else {
+// std::cout << "h: " << h << " maxval: " << maxval << std::endl;
+// }
}
-
- if ((h != I.getHeight())||( w != I.getWidth()))
- {
-
- try
- {
- I.resize(h,w) ;
+ else if (ierr == 3) {
+// std::cout << "magic: " << magic << " w: " << w << " h: " << h << std::endl;
+ while ((err = fgets(str, vpMAX_LEN - 1, fd)) != NULL && ((str[0] == '#') || (str[0] == '\n'))) {};
+ if (err == NULL) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
- catch(...)
- {
- vpERROR_TRACE(" ") ;
- throw ;
+ if ((ierr = sscanf(str, "%u", &maxval)) != 1) {
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read header of file \"%s\"", filename));
}
+// std::cout << "maxval: " << maxval << std::endl;
}
+// else if (ierr == 4) {
+// std::cout << "magic: " << magic << " w: " << w << " h: " << h << " maxval: " << maxval << std::endl;
+// }
- // Read 255
- err = fgets(str, vpMAX_LEN - 1, fd);
- line++;
- if (err == NULL) {
+ if (w > 100000 || h>100000) {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n",line, filename) ;
- throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ throw(vpException(vpException::badValue, "Bad image size in \"%s\"", filename));
}
-
- ierr = sscanf(str, "%d", &is255);
- if (ierr == EOF) {
+ if (maxval != 255)
+ {
fclose (fd);
- vpERROR_TRACE("couldn't read line %d of file \"%s\"\n", line, filename) ;
throw (vpImageException(vpImageException::ioError,
- "couldn't read file")) ;
+ "Bad maxval in \"%s\"", filename));
}
- if (is255 != 255)
- {
- fclose (fd);
- vpERROR_TRACE("MAX_VAL is not 255 in file \"%s\"\n", filename) ;
- throw (vpImageException(vpImageException::ioError,
- "error reading ppm file")) ;
+ if ((h != I.getHeight())||( w != I.getWidth())) {
+ I.resize(h,w) ;
}
for(unsigned int i=0;i<I.getHeight();i++)
@@ -1328,16 +1437,15 @@ vpImageIo::readPPM(vpImage<vpRGBa> &I, const char *filename)
res |= fread(&v.B,sizeof(v.B),1,fd) ;
if (res==0)
{
- fclose (fd);
- vpERROR_TRACE("couldn't read bytes in file \"%s\"\n", filename) ;
- throw (vpImageException(vpImageException::ioError,
- "error reading ppm file")) ;
+ fclose (fd);
+ throw (vpImageException(vpImageException::ioError,
+ "Cannot read bytes in file \"%s\"\n", filename));
}
I[i][j] = v ;
}
}
- fclose(fd) ;
+ fclose (fd);
}
/*!
diff --git a/src/image/vpImageIo.h b/src/image/vpImageIo.h
index 69acede..f08f6d8 100644
--- a/src/image/vpImageIo.h
+++ b/src/image/vpImageIo.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageIo.h 4314 2013-07-16 17:41:21Z fspindle $
+ * $Id: vpImageIo.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,7 +56,7 @@
#include <stdio.h>
#include <iostream>
-#ifdef WIN32
+#if defined(_WIN32)
# include <windows.h>
#endif
@@ -89,10 +89,10 @@
int main()
{
vpImage<unsigned char> I;
-#ifdef UNIX
- std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
-#elif WIN32
+#if defined(_WIN32)
std::string filename("C:/temp/ViSP-images/Klimt/Klimt.ppm");
+#else // UNIX
+ std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
#endif
vpImageIo::read(I, filename); // Convert the color image in a gray level image
diff --git a/src/image/vpImageMorphology.h b/src/image/vpImageMorphology.h
index 8f0385f..076e0dc 100644
--- a/src/image/vpImageMorphology.h
+++ b/src/image/vpImageMorphology.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageMorphology.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImageMorphology.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/image/vpImagePoint.cpp b/src/image/vpImagePoint.cpp
index 6bffc2e..8bd2415 100644
--- a/src/image/vpImagePoint.cpp
+++ b/src/image/vpImagePoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImagePoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImagePoint.cpp 4640 2014-02-05 12:41:38Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -86,3 +86,318 @@ vpImagePoint::projection(const vpHomography& aHb)
return ap;
}
+
+/*!
+
+ Operator +=.
+
+ This operator can be used to compute the center of gravity of a set of image points.
+
+ \code
+#include <iostream>
+#include <vector>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+std::vector<vpImagePoint> ip(2);
+
+ip[0].set_ij(100, 200);
+ip[1].set_ij(300, 400);
+
+vpImagePoint cog(0,0);
+for(unsigned int i=0; i<ip.size(); i++)
+ cog += ip[i];
+cog /= ip.size();
+std::cout << "cog: " << cog << std::endl;
+}
+ \endcode
+
+*/
+vpImagePoint& vpImagePoint::operator+=(const vpImagePoint &ip) {
+ this->i += ip.i;
+ this->j += ip.j;
+ return *this;
+}
+
+/*!
+
+ Operator /=.
+
+ This operator can be used to compute the center of gravity of a set of image points.
+ \code
+#include <iostream>
+#include <vector>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+std::vector<vpImagePoint> ip(2);
+
+ip[0].set_ij(100, 200);
+ip[1].set_ij(300, 400);
+
+vpImagePoint cog(0,0);
+for(unsigned int i=0; i<ip.size(); i++)
+ cog += ip[i];
+cog /= ip.size();
+std::cout << "cog: " << cog << std::endl;
+}
+ \endcode
+
+*/
+vpImagePoint& vpImagePoint::operator/=(const double scale) {
+ this->i /= scale;
+ this->j /= scale;
+ return *this;
+}
+
+/*!
+ \relates vpImagePoint
+
+ Returns true if ip1 and ip2 are equal; otherwire returns false.
+
+*/
+VISP_EXPORT bool operator==( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
+ //return ( ( ip1.get_i() == ip2.get_i() ) && ( ip1.get_j() == ip2.get_j() ) );
+
+ double i1 = ip1.get_i();
+ double j1 = ip1.get_j();
+ double i2 = ip2.get_i();
+ double j2 = ip2.get_j();
+
+ return (
+ ( std::fabs(i1-i2) <= std::fabs(vpMath::maximum(i1, i2))*std::numeric_limits<double>::epsilon() )
+ &&
+ ( std::fabs(j1-j2) <= std::fabs(vpMath::maximum(j1, j2))*std::numeric_limits<double>::epsilon() )
+ );
+}
+
+/*!
+
+ \relates vpImagePoint
+
+ Returns true if ip1 and ip2 are different; otherwire returns true.
+
+*/
+VISP_EXPORT bool operator!=( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
+ //return ( ( ip1.get_i() != ip2.get_i() ) || ( ip1.get_j() != ip2.get_j() ) );
+ double i1 = ip1.get_i();
+ double j1 = ip1.get_j();
+ double i2 = ip2.get_i();
+ double j2 = ip2.get_j();
+
+ return (
+ ( std::fabs(i1-i2) > std::fabs(vpMath::maximum(i1, i2))*std::numeric_limits<double>::epsilon() )
+ ||
+ ( std::fabs(j1-j2) > std::fabs(vpMath::maximum(j1, j2))*std::numeric_limits<double>::epsilon() )
+ );
+}
+
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint wich is the sum of \f$ ip1 \f$ and \f$ ip2 \f$.
+
+*/
+VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
+ return ( vpImagePoint(ip1.get_i()+ip2.get_i(), ip1.get_j()+ip2.get_j()));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint wich is the sum of \f$ ip1 \f$ and \f$ ip2 \f$.
+
+*/
+VISP_EXPORT vpImagePoint operator+=( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
+ return ( vpImagePoint(ip1.get_i()+ip2.get_i(), ip1.get_j()+ip2.get_j()));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with an offset added to the two coordinates.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip+10: " << ip+10 << std::endl; // new coordinates (110, 210)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const int offset ) {
+ return ( vpImagePoint(ip1.get_i()+offset, ip1.get_j()+offset));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with an offset added to the two coordinates.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip+12.34: " << ip+12.34 << std::endl; // new coordinates (112.34, 212.34)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const double offset ) {
+ return ( vpImagePoint(ip1.get_i()+offset, ip1.get_j()+offset));
+}
+
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint wich is the difference between \f$ ip1 \f$ and \f$ ip2 \f$.
+
+*/
+VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const vpImagePoint &ip2 ) {
+ return ( vpImagePoint(ip1.get_i()-ip2.get_i(), ip1.get_j()-ip2.get_j()));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with an offset substracted to the two coordinates.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip-10: " << ip-10 << std::endl; // new coordinates (90, 190)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const int offset ) {
+ return ( vpImagePoint(ip1.get_i()-offset, ip1.get_j()-offset));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with an offset substracted to the two coordinates.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip-12.34: " << ip-12.34 << std::endl; // new coordinates (87.66, 187.66)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const double offset ) {
+ return ( vpImagePoint(ip1.get_i()-offset, ip1.get_j()-offset));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with coordinates multiplied by a scale factor.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip*2: " << ip*2 << std::endl; // new coordinates (200, 400)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator*( const vpImagePoint &ip1, const double scale ) {
+ return ( vpImagePoint(ip1.get_i()*scale, ip1.get_j()*scale));
+}
+/*!
+
+ \relates vpImagePoint
+
+ Returns a vpImagePoint with coordinates divided by a scale factor.
+
+ \code
+#include <iostream>
+#include <visp/vpImagePoint.h>
+
+int main()
+{
+ vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
+ std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
+ std::cout << "ip/2: " << ip/2 << std::endl; // new coordinates (50, 100)
+
+ return 0;
+}
+ \endcode
+*/
+VISP_EXPORT vpImagePoint operator/( const vpImagePoint &ip1, const double scale ) {
+ return ( vpImagePoint(ip1.get_i()/scale, ip1.get_j()/scale));
+}
+
+/*!
+
+ \relates vpImagePoint
+
+ Writes the image point coordinates \e ip to the stream \e os, and
+ returns a reference to the stream. Writes the first coordinate along
+ the \e i axis and then the second one along the \e j axis. The
+ coordinates are separated by a comma.
+
+ The following code
+ \code
+#include <iostream>
+
+#include <visp/vpImagePoint.h>
+int main()
+{
+ vpImagePoint ip;
+
+ ip.set_i(10);
+ ip.set_j(11.1);
+
+ std::cout << "Image point with coordinates: " << ip << std::endl;
+
+ return 0;
+}
+ \endcode
+
+ The previous sample code produces the output:
+ \verbatim
+Image point with coordinates: 10, 11.1
+ \endverbatim
+*/
+VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpImagePoint& ip)
+ {
+ os << ip.get_i() << ", " << ip.get_j();
+ return os;
+}
diff --git a/src/image/vpImagePoint.h b/src/image/vpImagePoint.h
index 1b3e7f1..95350fe 100644
--- a/src/image/vpImagePoint.h
+++ b/src/image/vpImagePoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImagePoint.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImagePoint.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,18 +96,12 @@ class VISP_EXPORT vpImagePoint
Default constructor that initialize the coordinates of the image
point to zero.
*/
- inline vpImagePoint() {
- i = 0;
- j = 0;
- }
+ inline vpImagePoint() : i(0), j(0) {}
/*!
Default constructor that initialize the coordinates of the image
- thanks to the parameters \f$ i \f$ and \f$ j \f$.
+ thanks to the parameters \f$ ii \f$ and \f$ jj \f$.
*/
- inline vpImagePoint(double i, double j) {
- this->i = i;
- this->j = j;
- }
+ inline vpImagePoint(double ii, double jj) : i(ii), j(jj) {}
/*!
Copy constructor.
@@ -115,15 +109,12 @@ class VISP_EXPORT vpImagePoint
\param ip : An image point.
*/
- inline vpImagePoint(const vpImagePoint &ip) {
- this->i = ip.i;
- this->j = ip.j;
- }
+ inline vpImagePoint(const vpImagePoint &ip) : i(ip.i), j(ip.j) {}
//! Destructor.
inline virtual ~vpImagePoint() { ; }
/*!
-
+
Copy operator.
*/
@@ -132,41 +123,63 @@ class VISP_EXPORT vpImagePoint
this->j = ip.j;
return *this;
}
+ vpImagePoint& operator+=(const vpImagePoint &ip);
+
+ /*!
+
+ Operator -=.
+
+ */
+ inline vpImagePoint& operator-=(const vpImagePoint &ip) {
+ this->i -= ip.i;
+ this->j -= ip.j;
+ return *this;
+ }
+ vpImagePoint& operator/=(const double scale);
+ /*!
+
+ Operator *=.
+*/
+ inline vpImagePoint& operator*=(const double scale) {
+ this->i *= scale;
+ this->j *= scale;
+ return *this;
+ }
/*!
Sets the point coordinate corresponding to the \f$ i \f$ axes in
the frame (i,j).
- \param i : The desired value for the coordinate along the \f$ i \f$ axes.
+ \param ii : The desired value for the coordinate along the \f$ i \f$ axes.
\sa set_j(), set_u(), set_v()
*/
- inline void set_i(const double i) { this->i = i ; }
+ inline void set_i(const double ii) { this->i = ii ; }
/*!
Sets the point coordinate corresponding to the \f$ j \f$ axes in
the frame (i,j).
- \param j : The desired value for the coordinate along the \f$ j \f$ axes.
+ \param jj : The desired value for the coordinate along the \f$ j \f$ axes.
\sa set_i(), set_u(), set_v()
*/
- inline void set_j(const double j) { this->j = j ; }
+ inline void set_j(const double jj) { this->j = jj ; }
/*!
Sets the point coordinates in the frame (i,j).
- \param i : The desired value for the coordinate along the \f$ i \f$ axes.
- \param j : The desired value for the coordinate along the \f$ j \f$ axes.
+ \param ii : The desired value for the coordinate along the \f$ i \f$ axes.
+ \param jj : The desired value for the coordinate along the \f$ j \f$ axes.
\sa set_i(), set_j(), set_u(), set_v()
*/
- inline void set_ij(const double i, const double j) {
- this->i = i ;
- this->j = j ;
+ inline void set_ij(const double ii, const double jj) {
+ this->i = ii ;
+ this->j = jj ;
}
/*!
@@ -276,268 +289,23 @@ class VISP_EXPORT vpImagePoint
bool inRectangle( const vpRect &rect ) const;
+ friend VISP_EXPORT bool operator==( const vpImagePoint &ip1, const vpImagePoint &ip2 );
+ friend VISP_EXPORT bool operator!=( const vpImagePoint &ip1, const vpImagePoint &ip2 );
+ friend VISP_EXPORT vpImagePoint operator+=( const vpImagePoint &ip1, const vpImagePoint &ip2 );
+ friend VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const vpImagePoint &ip2 );
+ friend VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const int offset );
+ friend VISP_EXPORT vpImagePoint operator+( const vpImagePoint &ip1, const double offset );
+ friend VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const vpImagePoint &ip2 );
+ friend VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const int offset );
+ friend VISP_EXPORT vpImagePoint operator-( const vpImagePoint &ip1, const double offset );
+ friend VISP_EXPORT vpImagePoint operator*( const vpImagePoint &ip1, const double scale );
+ friend VISP_EXPORT vpImagePoint operator/( const vpImagePoint &ip1, const double scale );
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpImagePoint& ip);
+
vpImagePoint projection(const vpHomography& aHb);
private:
double i,j;
};
-/*!
- \relates vpImagePoint
-
- Returns true if ip1 and ip2 are equal; otherwire returns false.
-
-*/
-VISP_EXPORT inline bool operator==( const vpImagePoint &ip1,
- const vpImagePoint &ip2 ) {
- //return ( ( ip1.get_i() == ip2.get_i() ) && ( ip1.get_j() == ip2.get_j() ) );
-
- double i1 = ip1.get_i();
- double j1 = ip1.get_j();
- double i2 = ip2.get_i();
- double j2 = ip2.get_j();
-
- return (
- ( std::fabs(i1-i2) <= std::fabs(vpMath::maximum(i1, i2))*std::numeric_limits<double>::epsilon() )
- &&
- ( std::fabs(j1-j2) <= std::fabs(vpMath::maximum(j1, j2))*std::numeric_limits<double>::epsilon() )
- );
-}
-
-/*!
-
- \relates vpImagePoint
-
- Returns true if ip1 and ip2 are different; otherwire returns true.
-
-*/
-VISP_EXPORT inline bool operator!=( const vpImagePoint &ip1,
- const vpImagePoint &ip2 ) {
- //return ( ( ip1.get_i() != ip2.get_i() ) || ( ip1.get_j() != ip2.get_j() ) );
- double i1 = ip1.get_i();
- double j1 = ip1.get_j();
- double i2 = ip2.get_i();
- double j2 = ip2.get_j();
-
- return (
- ( std::fabs(i1-i2) > std::fabs(vpMath::maximum(i1, i2))*std::numeric_limits<double>::epsilon() )
- ||
- ( std::fabs(j1-j2) > std::fabs(vpMath::maximum(j1, j2))*std::numeric_limits<double>::epsilon() )
- );
-}
-
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint wich is the sum of \f$ ip1 \f$ and \f$ ip2 \f$.
-
-*/
-VISP_EXPORT inline vpImagePoint operator+( const vpImagePoint &ip1,
- const vpImagePoint &ip2 ) {
- return ( vpImagePoint(ip1.get_i()+ip2.get_i(), ip1.get_j()+ip2.get_j()));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with an offset added to the two coordinates.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip+10: " << ip+10 << std::endl; // new coordinates (110, 210)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator+( const vpImagePoint &ip1,
- const int offset ) {
- return ( vpImagePoint(ip1.get_i()+offset, ip1.get_j()+offset));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with an offset added to the two coordinates.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip+12.34: " << ip+12.34 << std::endl; // new coordinates (112.34, 212.34)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator+( const vpImagePoint &ip1,
- const double offset ) {
- return ( vpImagePoint(ip1.get_i()+offset, ip1.get_j()+offset));
-}
-
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint wich is the difference between \f$ ip1 \f$ and \f$ ip2 \f$.
-
-*/
-VISP_EXPORT inline vpImagePoint operator-( const vpImagePoint &ip1,
- const vpImagePoint &ip2 ) {
- return ( vpImagePoint(ip1.get_i()-ip2.get_i(), ip1.get_j()-ip2.get_j()));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with an offset substracted to the two coordinates.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip-10: " << ip-10 << std::endl; // new coordinates (90, 190)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator-( const vpImagePoint &ip1,
- const int offset ) {
- return ( vpImagePoint(ip1.get_i()-offset, ip1.get_j()-offset));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with an offset substracted to the two coordinates.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip-12.34: " << ip-12.34 << std::endl; // new coordinates (87.66, 187.66)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator-( const vpImagePoint &ip1,
- const double offset ) {
- return ( vpImagePoint(ip1.get_i()-offset, ip1.get_j()-offset));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with coordinates multiplied by a scale factor.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip*2: " << ip*2 << std::endl; // new coordinates (200, 400)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator*( const vpImagePoint &ip1,
- const double scale ) {
- return ( vpImagePoint(ip1.get_i()*scale, ip1.get_j()*scale));
-}
-/*!
-
- \relates vpImagePoint
-
- Returns a vpImagePoint with coordinates divided by a scale factor.
-
- \code
-#include <iostream>
-#include <visp/vpImagePoint.h>
-
-int main()
-{
- vpImagePoint ip(100, 200); // Create an image point with coordinates i=100, j=200
- std::cout << "ip: " << ip << std::endl; // coordinates (100, 200)
- std::cout << "ip/2: " << ip/2 << std::endl; // new coordinates (50, 100)
-
- return 0;
-}
- \endcode
-*/
-VISP_EXPORT inline vpImagePoint operator/( const vpImagePoint &ip1,
- const double scale ) {
- return ( vpImagePoint(ip1.get_i()/scale, ip1.get_j()/scale));
-}
-
-/*!
-
- \relates vpImagePoint
-
- Writes the image point coordinates \e ip to the stream \e os, and
- returns a reference to the stream. Writes the first coordinate along
- the \e i axis and then the second one along the \e j axis. The
- coordinates are separated by a comma.
-
- The following code
- \code
-#include <iostream>
-
-#include <visp/vpImagePoint.h>
-int main()
-{
- vpImagePoint ip;
-
- ip.set_i(10);
- ip.set_j(11.1);
-
- std::cout << "Image point with coordinates: " << ip << std::endl;
-
- return 0;
-}
- \endcode
-
- The previous sample code produces the output:
- \verbatim
-Image point with coordinates: 10, 11.1
- \endverbatim
-*/
-VISP_EXPORT inline std::ostream& operator<< (std::ostream &os,
- const vpImagePoint& ip)
- {
- os << ip.get_i() << ", " << ip.get_j();
- return os;
-}
-
-
#endif
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/image/vpImageTools.cpp b/src/image/vpImageTools.cpp
index 59a4eef..c0ea67a 100644
--- a/src/image/vpImageTools.cpp
+++ b/src/image/vpImageTools.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageTools.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImageTools.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,18 +74,18 @@
\code
#include <visp/vpImageTools.h>
-
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
int main()
{
vpImage<unsigned char> I;
-#ifdef UNIX
- std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.pgm");
-#elif WIN32
- std::string filename("C:/temp/ViSP-images/Klimt/Klimt.pgm");
+#ifdef _WIN32
+ std::string filename("C:/temp/ViSP-images/Klimt/Klimt.ppm");
+#else
+ std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
#endif
+
// Read an image from the disk
vpImageIo::read(I, filename);
diff --git a/src/image/vpImageTools.h b/src/image/vpImageTools.h
index 4a98427..e972357 100644
--- a/src/image/vpImageTools.h
+++ b/src/image/vpImageTools.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImageTools.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpImageTools.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -249,7 +249,11 @@ public:
unsigned int nthreads;
unsigned int threadid;
public:
- vpUndistortInternalType() {};
+ vpUndistortInternalType() {
+ src = dst = NULL;
+ width = height = 0;
+ nthreads = threadid = 0;
+ };
vpUndistortInternalType(const vpUndistortInternalType<Type> &u) {
src = u.src;
dst = u.dst;
@@ -548,6 +552,31 @@ void vpImageTools::flip(const vpImage<Type> &I,
Flip vertically the input image.
\param I : Input image which is flipped and modified in output.
+
+ The following example shows how to use this function:
+ \code
+#include <visp/vpImageTools.h>
+#include <visp/vpImage.h>
+#include <visp/vpImageIo.h>
+
+int main()
+{
+ vpImage<vpRGBa> I;
+#ifdef _WIN32
+ std::string filename("C:/temp/ViSP-images/Klimt/Klimt.ppm");
+#else
+ std::string filename("/local/soft/ViSP/ViSP-images/Klimt/Klimt.ppm");
+#endif
+
+ // Read an image from the disk
+ vpImageIo::read(I, filename);
+
+ // Flip the image
+ vpImageTools::flip(I);
+
+ vpImageIo::write(I, "Klimt-flip.ppm"); // Write the image in a PGM P5 image file format
+}
+ \endcode
*/
template<class Type>
void vpImageTools::flip(vpImage<Type> &I)
diff --git a/src/image/vpRGBa.cpp b/src/image/vpRGBa.cpp
index 8360c08..297b320 100644
--- a/src/image/vpRGBa.cpp
+++ b/src/image/vpRGBa.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRGBa.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRGBa.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,25 +58,27 @@
\param v : Input color ( R = G = B = v )
*/
-void
+vpRGBa &
vpRGBa::operator=(const unsigned char &v)
{
this->R = v;
this->G = v;
this->B = v;
this->A = v;
+ return *this;
}
/*!
Copy operator.
*/
-void
+vpRGBa &
vpRGBa::operator=(const vpRGBa &v)
{
this->R = v.R;
this->G = v.G;
this->B = v.B;
this->A = v.A;
+ return *this;
}
/*!
@@ -88,7 +90,7 @@ vpRGBa::operator=(const vpRGBa &v)
\exception vpException::dimensionError : If v is not a 4 four
dimention vector.
*/
-void
+vpRGBa &
vpRGBa::operator=(const vpColVector &v)
{
if (v.getRows() != 4) {
@@ -99,6 +101,7 @@ vpRGBa::operator=(const vpColVector &v)
G = (unsigned char)v[1];
B = (unsigned char)v[2];
A = (unsigned char)v[3];
+ return *this;
}
/*!
diff --git a/src/image/vpRGBa.h b/src/image/vpRGBa.h
index 5307f17..5566e56 100644
--- a/src/image/vpRGBa.h
+++ b/src/image/vpRGBa.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRGBa.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRGBa.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,27 +74,22 @@ public:
Build a black value.
*/
- inline vpRGBa()
- : R(0), G(0), B(0), A(0)
- {
- };
+ inline vpRGBa() : R(0), G(0), B(0), A(0) {};
/*!
Constructor.
Initialize the color with R, G, B, A values.
- \param R : Red value.
- \param G : Green value.
- \param B : Blue value.
- \param A : Additional value.
+ \param r : Red value.
+ \param g : Green value.
+ \param b : Blue value.
+ \param a : Additional value.
*/
- inline vpRGBa(const unsigned char &R, const unsigned char &G,
- const unsigned char &B, const unsigned char &A=0)
- : R(R), G(G), B(B), A(A)
- {
- };
+ inline vpRGBa(const unsigned char &r, const unsigned char &g,
+ const unsigned char &b, const unsigned char &a=0)
+ : R(r), G(g), B(b), A(a) {};
/*!
@@ -105,19 +100,13 @@ public:
\param v : Value to set.
*/
- inline vpRGBa(const unsigned char &v)
- : R(v), G(v), B(v), A(v)
- {
- };
+ inline vpRGBa(const unsigned char &v) : R(v), G(v), B(v), A(v) {};
/*!
Copy constructor.
*/
- inline vpRGBa(const vpRGBa &v)
- {
- *this = v ;
- };
+ inline vpRGBa(const vpRGBa &v) : R(v.R), G(v.G), B(v.B), A(v.A) {};
/*!
Create a RGBa value from a 4 dimension column vector.
@@ -128,14 +117,18 @@ public:
A=v[3]
*/
- inline vpRGBa(const vpColVector &v)
+ inline vpRGBa(const vpColVector &v) : R(0), G(0), B(0), A(0)
{
- *this = v ;
- }
+ *this = v;
+ };
+
+ // We cannot add here the following destructor without changing the hypothesis that the size of this class is 4.
+ // With the destructor it becomes 16 that does break a lot of things arround image conversions
+ // virtual ~vpRGBa() {}; // Not to implement
- void operator=(const unsigned char &v) ;
- void operator=(const vpRGBa &v) ;
- void operator=(const vpColVector &v) ;
+ vpRGBa & operator=(const unsigned char &v) ;
+ vpRGBa & operator=(const vpRGBa &v) ;
+ vpRGBa & operator=(const vpColVector &v) ;
bool operator==(const vpRGBa &v);
bool operator!=(const vpRGBa &v);
diff --git a/src/key-point/vpBasicKeyPoint.cpp b/src/key-point/vpBasicKeyPoint.cpp
index 19e8dfb..68ad68b 100644
--- a/src/key-point/vpBasicKeyPoint.cpp
+++ b/src/key-point/vpBasicKeyPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBasicKeyPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBasicKeyPoint.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -42,23 +42,12 @@
#include <visp/vpBasicKeyPoint.h>
-#include <vector>
-
/*!
Basic constructor.
*/
vpBasicKeyPoint::vpBasicKeyPoint()
+ : referenceImagePointsList(), currentImagePointsList(), matchedReferencePoints(), _reference_computed(false)
{
- _reference_computed = false;
- matchedReferencePoints.resize(0);
- currentImagePointsList.resize(0);
- referenceImagePointsList.resize(0);
}
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
-
diff --git a/src/key-point/vpBasicKeyPoint.h b/src/key-point/vpBasicKeyPoint.h
index 3cf81c0..375aa74 100644
--- a/src/key-point/vpBasicKeyPoint.h
+++ b/src/key-point/vpBasicKeyPoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBasicKeyPoint.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpBasicKeyPoint.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/key-point/vpFernClassifier.cpp b/src/key-point/vpFernClassifier.cpp
index bfd3a78..f803581 100644
--- a/src/key-point/vpFernClassifier.cpp
+++ b/src/key-point/vpFernClassifier.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFernClassifier.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpFernClassifier.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,9 +54,14 @@
Basic constructor
*/
-vpFernClassifier::vpFernClassifier():vpBasicKeyPoint(), gen(0, 256, 5, true, 0.6, 1.5, -CV_PI/2, CV_PI/2, -CV_PI/2, CV_PI/2)
+vpFernClassifier::vpFernClassifier()
+ : vpBasicKeyPoint(),
+ ldetector(), fernClassifier(), gen(0, 256, 5, true, 0.6, 1.5, -CV_PI/2, CV_PI/2, -CV_PI/2, CV_PI/2),
+ hasLearn(false), threshold(20), nbView(2000), dist(2), nbClassfier(100), ClassifierSize(11),
+ nbOctave(2), patchSize(32), radius(7), nbPoints(200), blurImage(true), radiusBlur(7),
+ sigmaBlur(1), nbMinPoint(10), curIplImg(NULL), objKeypoints(), modelROI_Ref(), modelROI(),
+ modelPoints(), imgKeypoints(), refPt(), curPt()
{
- init();
}
/*!
@@ -70,9 +75,14 @@ vpFernClassifier::vpFernClassifier():vpBasicKeyPoint(), gen(0, 256, 5, true, 0.6
\param _objectName : the name of the object to load
*/
vpFernClassifier::vpFernClassifier(const std::string& _dataFile, const std::string& _objectName)
+ : vpBasicKeyPoint(),
+ ldetector(), fernClassifier(), gen(0, 256, 5, true, 0.6, 1.5, -CV_PI/2, CV_PI/2, -CV_PI/2, CV_PI/2),
+ hasLearn(false), threshold(20), nbView(2000), dist(2), nbClassfier(100), ClassifierSize(11),
+ nbOctave(2), patchSize(32), radius(7), nbPoints(200), blurImage(true), radiusBlur(7),
+ sigmaBlur(1), nbMinPoint(10), curIplImg(NULL), objKeypoints(), modelROI_Ref(), modelROI(),
+ modelPoints(), imgKeypoints(), refPt(), curPt()
{
- init();
- this->load(_dataFile, _objectName);
+ this->load(_dataFile, _objectName);
}
/*!
diff --git a/src/key-point/vpFernClassifier.h b/src/key-point/vpFernClassifier.h
index 399cbc6..f840e3f 100644
--- a/src/key-point/vpFernClassifier.h
+++ b/src/key-point/vpFernClassifier.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFernClassifier.h 4201 2013-04-08 08:20:47Z fspindle $
+ * $Id: vpFernClassifier.h 4664 2014-02-16 16:17:54Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,13 +73,8 @@
image. The points of interests belonging to the model and the points detected
in the current image are given in pixels thanks to the vpImagePoint class.
- For more details about the Ferns Classifier and the point detector, see
- - Mustafa Özuysal, Michael Calonder, Vincent Lepetit, Pascal Fua, "Fast
- KeyPoint Recognition Using Random Ferns", IEEE Transactions on Pattern
- Analysis and Machine Intelligence, 15 Jan. 2009.
-
- - Vincent Lepetit, Pascal Fua, “Towards Recognizing Feature Points Using
- Classification Trees”, Technical Report IC/2004/74, EPFL, 2004.
+ For more details about the Ferns Classifier and the point detector,
+ see \cite Ozuysal10 and \cite Lepetit04c.
To use this class, you first have to detect points in the model and train the
associated Fern classifier. Then, for each new grabbed image, You can detect
diff --git a/src/key-point/vpKeyPointSurf.cpp b/src/key-point/vpKeyPointSurf.cpp
index 126fed3..7a7d819 100644
--- a/src/key-point/vpKeyPointSurf.cpp
+++ b/src/key-point/vpKeyPointSurf.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyPointSurf.cpp 4182 2013-03-27 13:20:58Z fspindle $
+ * $Id: vpKeyPointSurf.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,9 +56,21 @@
#include <vector>
#include <list>
+double compareSURFDescriptors( const float* d1, const float* d2, double best, int length );
+int naiveNearestNeighbor( const float *vec, int laplacian,
+ const CvSeq *model_keypoints,
+ const CvSeq *model_descriptors );
+int naiveNearestNeighbor( const float *vec,
+ const CvSeq *ref_keypoints,
+ const CvSeq *ref_descriptors );
+void findPairs( const CvSeq* objectKeypoints,
+ const CvSeq* objectDescriptors,
+ const CvSeq* imageKeypoints,
+ const CvSeq* imageDescriptors,
+ std::vector<int>& ptpairs );
+
// Compare two surf descriptors.
-double compareSURFDescriptors( const float* d1, const float* d2,
- double best, int length )
+double compareSURFDescriptors( const float* d1, const float* d2, double best, int length )
{
double total_cost = 0;
int i;
@@ -79,8 +91,8 @@ double compareSURFDescriptors( const float* d1, const float* d2,
//Find for a point candidate the most similar point in the reference point list.
int naiveNearestNeighbor( const float *vec, int laplacian,
- const CvSeq *model_keypoints,
- const CvSeq *model_descriptors )
+ const CvSeq *model_keypoints,
+ const CvSeq *model_descriptors )
{
int length = (int)(model_descriptors->elem_size/(int)sizeof(float));
int i, neighbor = -1;
@@ -115,8 +127,8 @@ int naiveNearestNeighbor( const float *vec, int laplacian,
//Find for a point candidate the most similar point in the reference point list.
int naiveNearestNeighbor( const float *vec,
- const CvSeq *ref_keypoints,
- const CvSeq *ref_descriptors )
+ const CvSeq *ref_keypoints,
+ const CvSeq *ref_descriptors )
{
int length = (int)(ref_descriptors->elem_size/(int)sizeof(float));
int i, neighbor = -1;
@@ -149,10 +161,10 @@ int naiveNearestNeighbor( const float *vec,
//Find all the matched points
void findPairs( const CvSeq* objectKeypoints,
- const CvSeq* objectDescriptors,
- const CvSeq* imageKeypoints,
- const CvSeq* imageDescriptors,
- std::vector<int>& ptpairs )
+ const CvSeq* objectDescriptors,
+ const CvSeq* imageKeypoints,
+ const CvSeq* imageDescriptors,
+ std::vector<int>& ptpairs )
{
int i;
CvSeqReader reader, kreader;
@@ -187,18 +199,12 @@ void findPairs( const CvSeq* objectKeypoints,
type to extended.
*/
-vpKeyPointSurf::vpKeyPointSurf():vpBasicKeyPoint()
+vpKeyPointSurf::vpKeyPointSurf()
+ : vpBasicKeyPoint(),
+ storage(NULL), params(), storage_cur(NULL), image_keypoints(NULL), image_descriptors(NULL),
+ ref_keypoints(NULL), ref_descriptors(NULL), hessianThreshold(500), descriptorType(extendedDescriptor)
{
- descriptorType = extendedDescriptor;
- hessianThreshold = 500;
init();
-
- image_keypoints = NULL;
- image_descriptors = NULL;
- ref_keypoints = NULL;
- ref_descriptors = NULL;
-
- storage_cur = NULL;
}
/*!
diff --git a/src/key-point/vpKeyPointSurf.h b/src/key-point/vpKeyPointSurf.h
index 4002854..afea538 100644
--- a/src/key-point/vpKeyPointSurf.h
+++ b/src/key-point/vpKeyPointSurf.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyPointSurf.h 4201 2013-04-08 08:20:47Z fspindle $
+ * $Id: vpKeyPointSurf.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -83,7 +83,7 @@
The coordinates of the different reference points and matched points
are given in pixel thanks to the class vpImagePoint. In this
documentation we do not explain the SURF technics. So if you want to
- learn more about it you can refere to the following article :
+ learn more about it you can refer to the following article :
Herbert Bay, Tinne Tuytelaars and Luc Van Gool "SURF: Speeded Up
Robust Features", Proceedings of the 9th European Conference on
Computer Vision, Springer LNCS volume 3951, part 1, pp 404--417,
@@ -188,6 +188,8 @@ int main()
int main() {}
#endif
\endcode
+
+ This class is also described in \ref tutorial-matching.
*/
class VISP_EXPORT vpKeyPointSurf : public vpBasicKeyPoint
@@ -239,10 +241,10 @@ class VISP_EXPORT vpKeyPointSurf : public vpBasicKeyPoint
Computer Vision, Springer LNCS volume 3951, part 1, pp 404--417,
2006.
- \param hessianThreshold : Desired hessian threshold value.
+ \param hessian_threshold : Desired hessian threshold value.
*/
- void setHessianThreshold (double hessianThreshold) {
- this->hessianThreshold = hessianThreshold;
+ void setHessianThreshold (double hessian_threshold) {
+ this->hessianThreshold = hessian_threshold;
params = cvSURFParams(this->hessianThreshold, this->descriptorType);
} ;
@@ -250,10 +252,10 @@ class VISP_EXPORT vpKeyPointSurf : public vpBasicKeyPoint
Sets the type of descriptors to use.
- \param descriptorType : Type of descriptor to use.
+ \param descriptor_type : Type of descriptor to use.
*/
- void setDescriptorType (vpDescriptorType descriptorType) {
- this->descriptorType = descriptorType;
+ void setDescriptorType (vpDescriptorType descriptor_type) {
+ this->descriptorType = descriptor_type;
params = cvSURFParams(this->hessianThreshold, this->descriptorType);
} ;
diff --git a/src/key-point/vpPlanarObjectDetector.cpp b/src/key-point/vpPlanarObjectDetector.cpp
index ddbdaf0..71b4704 100755
--- a/src/key-point/vpPlanarObjectDetector.cpp
+++ b/src/key-point/vpPlanarObjectDetector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlanarObjectDetector.cpp 4182 2013-03-27 13:20:58Z fspindle $
+ * $Id: vpPlanarObjectDetector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,13 +60,9 @@
*/
vpPlanarObjectDetector::vpPlanarObjectDetector()
+ : fern(), homography(), H(), dst_corners(), isCorrect(false), ref_corners(), modelROI(), currentImagePoints(),
+ refImagePoints(), minNbMatching(10)
{
- isCorrect = false;
- dst_corners.resize(0);
- ref_corners.resize(0);
- currentImagePoints.resize(0);
- refImagePoints.resize(0);
- minNbMatching = 10;
}
/*!
@@ -78,19 +74,18 @@ vpPlanarObjectDetector::vpPlanarObjectDetector()
*/
vpPlanarObjectDetector::vpPlanarObjectDetector(const std::string& _dataFile, const std::string& _objectName)
+ : fern(), homography(), H(), dst_corners(), isCorrect(false), ref_corners(), modelROI(), currentImagePoints(),
+ refImagePoints(), minNbMatching(10)
{
- isCorrect = false;
load(_dataFile, _objectName);
}
/*!
- initialise stuff
-
+ Initialise stuff. For the moment does nothing.
*/
void
vpPlanarObjectDetector::init()
{
-
}
/*!
diff --git a/src/key-point/vpPlanarObjectDetector.h b/src/key-point/vpPlanarObjectDetector.h
index 2613dcf..72d3074 100755
--- a/src/key-point/vpPlanarObjectDetector.h
+++ b/src/key-point/vpPlanarObjectDetector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlanarObjectDetector.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPlanarObjectDetector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/kalman/vpKalmanFilter.cpp b/src/math/kalman/vpKalmanFilter.cpp
index 336a6d7..10067e5 100644
--- a/src/math/kalman/vpKalmanFilter.cpp
+++ b/src/math/kalman/vpKalmanFilter.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKalmanFilter.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpKalmanFilter.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,20 +53,20 @@
/*!
Initialize the Kalman filter.
- \param size_state : Size of the state vector \f${\bf x}_{k}\f$ for one signal.
+ \param size_state_vector : Size of the state vector \f${\bf x}_{k}\f$ for one signal.
- \param size_measure : Size of the measure vector \f${\bf z}_{k}\f$
+ \param size_measure_vector : Size of the measure vector \f${\bf z}_{k}\f$
for one signal.
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
*/
void
-vpKalmanFilter::init(unsigned int size_state, unsigned int size_measure,
- unsigned int nsignal)
+vpKalmanFilter::init(unsigned int size_state_vector, unsigned int size_measure_vector,
+ unsigned int n_signal)
{
- this->size_state = size_state;
- this->size_measure = size_measure ;
- this->nsignal = nsignal ;
+ this->size_state = size_state_vector;
+ this->size_measure = size_measure_vector ;
+ this->nsignal = n_signal ;
F.resize(size_state*nsignal, size_state*nsignal) ;
H.resize(size_measure*nsignal, size_state*nsignal) ;
@@ -91,14 +91,9 @@ vpKalmanFilter::init(unsigned int size_state, unsigned int size_measure,
*/
vpKalmanFilter::vpKalmanFilter()
+ : iter(0), size_state(0), size_measure(0), nsignal(0), verbose_mode(false),
+ Xest(), Xpre(), F(), H(), R(), Q(), dt(-1), Ppre(), Pest(), W(), I()
{
- verbose(false);
- // init_done = false ;
- this->size_state = 0;
- this->size_measure = 0 ;
- this->nsignal = 0 ;
- iter = 0 ;
- dt = -1 ;
}
/*!
@@ -106,17 +101,12 @@ vpKalmanFilter::vpKalmanFilter()
The verbose mode is by default desactivated.
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
*/
-vpKalmanFilter::vpKalmanFilter(unsigned int nsignal)
+vpKalmanFilter::vpKalmanFilter(unsigned int n_signal)
+ : iter(0), size_state(0), size_measure(0), nsignal(n_signal), verbose_mode(false),
+ Xest(), Xpre(), F(), H(), R(), Q(), dt(-1), Ppre(), Pest(), W(), I()
{
- verbose(false);
- // init_done = false;
- this->size_state = 0;
- this->size_measure = 0 ;
- this->nsignal = nsignal;
- iter = 0 ;
- dt = -1 ;
}
/*!
@@ -124,17 +114,18 @@ vpKalmanFilter::vpKalmanFilter(unsigned int nsignal)
The verbose mode is by default desactivated.
- \param size_state : Size of the state vector \f${\bf x}_{(k)}\f$ for one signal.
+ \param size_state_vector : Size of the state vector \f${\bf x}_{(k)}\f$ for one signal.
- \param size_measure : Size of the measure vector \f${\bf z}_{(k)}\f$
+ \param size_measure_vector : Size of the measure vector \f${\bf z}_{(k)}\f$
for one signal.
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
*/
-vpKalmanFilter::vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int nsignal)
+vpKalmanFilter::vpKalmanFilter(unsigned int size_state_vector, unsigned int size_measure_vector, unsigned int n_signal)
+ : iter(0), size_state(0), size_measure(0), nsignal(0), verbose_mode(false),
+ Xest(), Xpre(), F(), H(), R(), Q(), dt(-1), Ppre(), Pest(), W(), I()
{
- verbose(false);
- init( size_state, size_measure, nsignal) ;
+ init( size_state_vector, size_measure_vector, n_signal) ;
}
/*!
diff --git a/src/math/kalman/vpKalmanFilter.h b/src/math/kalman/vpKalmanFilter.h
index d7e1e08..823dfe8 100644
--- a/src/math/kalman/vpKalmanFilter.h
+++ b/src/math/kalman/vpKalmanFilter.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKalmanFilter.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpKalmanFilter.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -128,18 +128,20 @@ protected :
public:
vpKalmanFilter() ;
- vpKalmanFilter(unsigned int nsignal) ;
- vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int nsignal) ;
+ vpKalmanFilter(unsigned int n_signal) ;
+ vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int n_signal) ;
+ /*! Destructor that does noting. */
+ virtual ~vpKalmanFilter() {};
/*!
Set the number of signal to filter.
*/
- void setNumberOfSignal(unsigned int nsignal)
+ void setNumberOfSignal(unsigned int n_signal)
{
- this->nsignal = nsignal;
+ this->nsignal = n_signal;
}
// int init() { return init_done ; }
- void init(unsigned int size_state, unsigned int size_measure, unsigned int nsignal) ;
+ void init(unsigned int size_state, unsigned int size_measure, unsigned int n_signal) ;
void prediction() ;
void filtering(vpColVector &z) ;
/*!
diff --git a/src/math/kalman/vpLinearKalmanFilterInstantiation.cpp b/src/math/kalman/vpLinearKalmanFilterInstantiation.cpp
index 492b4b8..dbd55d4 100644
--- a/src/math/kalman/vpLinearKalmanFilterInstantiation.cpp
+++ b/src/math/kalman/vpLinearKalmanFilterInstantiation.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLinearKalmanFilterInstantiation.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLinearKalmanFilterInstantiation.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,7 +62,7 @@
\warning It is requiered to set the state model before using this method.
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
\param sigma_state : Vector that contains the variance of the state
noise. The dimension of this vector is equal to the state vector
@@ -79,7 +79,7 @@
\param rho : Degree of correlation between successive accelerations. Values
are in [0:1[.
- \param dt : Sampling time \f$\Delta t\f$ expressed is
+ \param delta_t : Sampling time \f$\Delta t\f$ expressed is
second. Depending on the filter modelization, this value may not be
used. This is for example the case for the
vpLinearKalmanFilterInstantiation::stateConstVelWithColoredNoise_MeasureVel model
@@ -174,23 +174,23 @@ int main()
\endcode
*/
void
-vpLinearKalmanFilterInstantiation::initFilter(unsigned int nsignal,
- vpColVector &sigma_state,
- vpColVector &sigma_measure,
- double rho, double dt)
+vpLinearKalmanFilterInstantiation::initFilter(unsigned int n_signal,
+ vpColVector &sigma_state,
+ vpColVector &sigma_measure,
+ double rho, double delta_t)
{
switch (model) {
case stateConstVelWithColoredNoise_MeasureVel:
- initStateConstVelWithColoredNoise_MeasureVel(nsignal, sigma_state,
+ initStateConstVelWithColoredNoise_MeasureVel(n_signal, sigma_state,
sigma_measure, rho);
break;
case stateConstVel_MeasurePos:
- initStateConstVel_MeasurePos(nsignal, sigma_state,
- sigma_measure, dt);
+ initStateConstVel_MeasurePos(n_signal, sigma_state,
+ sigma_measure, delta_t);
break;
case stateConstAccWithColoredNoise_MeasureVel:
- initStateConstAccWithColoredNoise_MeasureVel(nsignal, sigma_state,
- sigma_measure, rho, dt);
+ initStateConstAccWithColoredNoise_MeasureVel(n_signal, sigma_state,
+ sigma_measure, rho, delta_t);
break;
case unknown:
vpERROR_TRACE("Kalman state model is not set") ;
@@ -282,7 +282,7 @@ vpLinearKalmanFilterInstantiation::initFilter(unsigned int nsignal,
\right]
\f]
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
\param sigma_state : Vector that fix the variance of the state covariance matrix
\f$[\sigma^2_Q \; 0]^T\f$. The dimension of
@@ -292,19 +292,19 @@ vpLinearKalmanFilterInstantiation::initFilter(unsigned int nsignal,
noise. The dimension of this vector is equal to the number of signal
to filter.
- \param dt : Sampling time \f$\Delta t\f$ expressed is second.
+ \param delta_t : Sampling time \f$\Delta t\f$ expressed is second.
*/
void
-vpLinearKalmanFilterInstantiation::initStateConstVel_MeasurePos(unsigned int nsignal,
+vpLinearKalmanFilterInstantiation::initStateConstVel_MeasurePos(unsigned int n_signal,
vpColVector &sigma_state,
vpColVector &sigma_measure,
- double dt )
+ double delta_t )
{
// init_done = true ;
setStateModel(stateConstVel_MeasurePos);
- init(size_state, size_measure, nsignal);
+ init(size_state, size_measure, n_signal);
iter = 0;
Pest = 0;
@@ -313,12 +313,12 @@ vpLinearKalmanFilterInstantiation::initStateConstVel_MeasurePos(unsigned int nsi
H = 0;
R = 0;
Q = 0;
- this->dt = dt ;
+ this->dt = delta_t ;
double dt2 = dt*dt ;
double dt3 = dt2*dt ;
- for (unsigned int i=0; i < size_measure*nsignal ; i++ ) {
+ for (unsigned int i=0; i < size_measure*n_signal ; i++ ) {
// State model
// | 1 dt |
// F = | |
@@ -443,7 +443,7 @@ vpLinearKalmanFilterInstantiation::initStateConstVel_MeasurePos(unsigned int nsi
\right]
\f]
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
\param sigma_state : Vector that fix the variance of the state covariance matrix
\f$[0 \; \sigma^2_Q]^T\f$. The dimension of
@@ -505,7 +505,7 @@ int main()
\endcode
*/
void
-vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(unsigned int nsignal,
+vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(unsigned int n_signal,
vpColVector &sigma_state,
vpColVector &sigma_measure,
double rho)
@@ -517,7 +517,7 @@ vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(
setStateModel(stateConstVelWithColoredNoise_MeasureVel);
- init(size_state, size_measure, nsignal);
+ init(size_state, size_measure, n_signal);
iter = 0;
Pest = 0;
@@ -527,7 +527,7 @@ vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(
R = 0;
Q = 0;
- for (unsigned int i=0; i < size_measure*nsignal ; i++ ) {
+ for (unsigned int i=0; i < size_measure*n_signal ; i++ ) {
// State model
// | 1 1 |
// F = | |
@@ -658,7 +658,7 @@ vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(
\right]
\f]
- \param nsignal : Number of signal to filter.
+ \param n_signal : Number of signal to filter.
\param sigma_state : Vector that fix the variance of the state
covariance matrix \f$[0 \; \sigma^2_{Q_1} \;
@@ -672,7 +672,7 @@ vpLinearKalmanFilterInstantiation::initStateConstVelWithColoredNoise_MeasureVel(
\param rho : Degree of correlation between successive accelerations. Values
are in [0:1[.
- \param dt : Sampling time \f$\Delta t\f$ expressed is second.
+ \param delta_t : Sampling time \f$\Delta t\f$ expressed is second.
\exception vpException::badValue : Bad rho value wich is not in [0:1[.
@@ -728,11 +728,11 @@ int main()
*/
void
-vpLinearKalmanFilterInstantiation::initStateConstAccWithColoredNoise_MeasureVel(unsigned int nsignal,
+vpLinearKalmanFilterInstantiation::initStateConstAccWithColoredNoise_MeasureVel(unsigned int n_signal,
vpColVector &sigma_state,
vpColVector &sigma_measure,
double rho,
- double dt)
+ double delta_t)
{
if ((rho < 0) || (rho >= 1)) {
vpERROR_TRACE("Bad rho value %g; should be in [0:1[", rho) ;
@@ -740,7 +740,7 @@ vpLinearKalmanFilterInstantiation::initStateConstAccWithColoredNoise_MeasureVel(
}
setStateModel(stateConstAccWithColoredNoise_MeasureVel);
- init(size_state, size_measure, nsignal);
+ init(size_state, size_measure, n_signal);
iter = 0;
Pest = 0;
@@ -749,7 +749,7 @@ vpLinearKalmanFilterInstantiation::initStateConstAccWithColoredNoise_MeasureVel(
H = 0;
R = 0;
Q = 0;
- this->dt = dt;
+ this->dt = delta_t;
// initialise les matrices decrivant les modeles
for (unsigned int i=0; i < size_measure*nsignal ; i++ ) {
// State model
diff --git a/src/math/kalman/vpLinearKalmanFilterInstantiation.h b/src/math/kalman/vpLinearKalmanFilterInstantiation.h
index 8429699..5ff208b 100644
--- a/src/math/kalman/vpLinearKalmanFilterInstantiation.h
+++ b/src/math/kalman/vpLinearKalmanFilterInstantiation.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLinearKalmanFilterInstantiation.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLinearKalmanFilterInstantiation.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -88,11 +88,12 @@ class VISP_EXPORT vpLinearKalmanFilterInstantiation : public vpKalmanFilter
By default the state model is unknown and set to
vpLinearKalmanFilterInstantiation::unknown.
*/
- vpLinearKalmanFilterInstantiation() : vpKalmanFilter()
+ vpLinearKalmanFilterInstantiation() : model(unknown)
{
- setStateModel(unknown);
};
+ /*! Destructor that does nothng. */
+ virtual ~vpLinearKalmanFilterInstantiation() {};
/*!
Return the current state model.
*/
@@ -155,8 +156,8 @@ int main()
}
\endcode
*/
-void vpLinearKalmanFilterInstantiation::setStateModel(vpStateModel model) {
- this->model = model;
+void vpLinearKalmanFilterInstantiation::setStateModel(vpStateModel mdl) {
+ this->model = mdl;
switch(model) {
case stateConstVel_MeasurePos:
case stateConstVelWithColoredNoise_MeasureVel:
diff --git a/src/math/matrix/vpColVector.cpp b/src/math/matrix/vpColVector.cpp
index b765b2b..f931cc8 100644
--- a/src/math/matrix/vpColVector.cpp
+++ b/src/math/matrix/vpColVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpColVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpColVector.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -139,7 +139,7 @@ vpColVector::vpColVector (const vpRotationVector &v){
//! operator A = -A
-vpColVector vpColVector::operator-()
+vpColVector vpColVector::operator-() const
{
vpColVector A ;
try {
@@ -185,12 +185,10 @@ vpColVector vpColVector::operator*(double x) const
*/
vpColVector &vpColVector::operator=(const vpMatrix &m)
{
-
-
if (m.getCols() !=1)
{
vpTRACE(" m should be a 1 cols matrix ") ;
- throw (vpException(vpException::dimensionError)," m should be a 1 cols matrix ");
+ throw (vpException(vpException::dimensionError,"m should be a 1 cols matrix "));
}
try {
diff --git a/src/math/matrix/vpColVector.h b/src/math/matrix/vpColVector.h
index 3868f4e..3ec8895 100644
--- a/src/math/matrix/vpColVector.h
+++ b/src/math/matrix/vpColVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpColVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpColVector.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -121,7 +121,7 @@ public:
//! operator multiplication by a scalar V = A * x
vpColVector operator*(const double x) const;
//! operator A = -A
- vpColVector operator-() ;
+ vpColVector operator-() const;
vpColVector rows(unsigned int first_row, unsigned int last_row)
{
@@ -175,20 +175,20 @@ public:
*/
inline void rad2deg() {
- double rad2deg = 180.0/M_PI;
+ double r2d = 180.0/M_PI;
for (unsigned int i=0; i < rowNum; i++)
- (*this)[i] *= rad2deg;
+ (*this)[i] *= r2d;
}
/*!
Convert a column vector containing angles in degrees into radians.
*/
inline void deg2rad() {
- double deg2rad = M_PI/180.0;
+ double d2r = M_PI/180.0;
for (unsigned int i=0; i < rowNum; i++)
- (*this)[i] *= deg2rad;
+ (*this)[i] *= d2r;
}
/*!
diff --git a/src/math/matrix/vpGEMM.h b/src/math/matrix/vpGEMM.h
index c266fa6..0360d0e 100644
--- a/src/math/matrix/vpGEMM.h
+++ b/src/math/matrix/vpGEMM.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpGEMM.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpGEMM.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/matrix/vpMatrix.cpp b/src/math/matrix/vpMatrix.cpp
index 674e6e4..711b650 100644
--- a/src/math/matrix/vpMatrix.cpp
+++ b/src/math/matrix/vpMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpMatrix.cpp 4210 2013-04-16 08:57:46Z fspindle $
+* $Id: vpMatrix.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,6 +56,7 @@
#include <visp/vpMatrix.h>
#include <visp/vpMath.h>
+#include <visp/vpHomography.h>
#include <visp/vpTranslationVector.h>
// Exception
@@ -77,6 +78,10 @@
#include <cmath> // std::fabs
#include <limits> // numeric_limits
+#ifdef VISP_HAVE_GSL
+#include <gsl/gsl_linalg.h>
+#endif
+
#define DEBUG_LEVEL1 0
#define DEBUG_LEVEL2 0
@@ -109,8 +114,8 @@ Construction of the object matrix.
Number of columns and rows are zero.
*/
vpMatrix::vpMatrix()
+ : rowNum(0), colNum(0), data(NULL), rowPtrs(NULL), dsize(0), trsize(0)
{
- init() ;
}
@@ -123,20 +128,25 @@ Initialize a matrix with 0.
\param c : Matrix number of columns.
*/
vpMatrix::vpMatrix(unsigned int r, unsigned int c)
+ : rowNum(0), colNum(0), data(NULL), rowPtrs(NULL), dsize(0), trsize(0)
{
- init() ;
resize(r, c);
}
+vpMatrix::vpMatrix(const vpHomography& H)
+ : rowNum(0), colNum(0), data(NULL), rowPtrs(NULL), dsize(0), trsize(0)
+{
+ (*this) = H;
+}
+
/*!
\brief submatrix constructor
*/
vpMatrix::vpMatrix(const vpMatrix &m,
unsigned int r, unsigned int c,
unsigned int nrows, unsigned int ncols)
+ : rowNum(0), colNum(0), data(NULL), rowPtrs(NULL), dsize(0), trsize(0)
{
- init() ;
-
if (((r + nrows) > m.rowNum) || ((c + ncols) > m.colNum))
{
vpERROR_TRACE("\n\t\t SubvpMatrix larger than vpMatrix") ;
@@ -149,9 +159,8 @@ vpMatrix::vpMatrix(const vpMatrix &m,
//! copie constructor
vpMatrix::vpMatrix(const vpMatrix& m)
+ : rowNum(0), colNum(0), data(NULL), rowPtrs(NULL), dsize(0), trsize(0)
{
- init() ;
-
resize(m.rowNum,m.colNum);
memcpy(data,m.data,rowNum*colNum*sizeof(double)) ;
@@ -222,8 +231,8 @@ void vpMatrix::resize(const unsigned int nrows, const unsigned int ncols,
vpDEBUG_TRACE (25, "Recomputation this->trsize array values.");
{
- double **t= rowPtrs;
- for (unsigned int i=0; i<dsize; i+=ncols) { *t++ = this->data + i; }
+ double **t_= rowPtrs;
+ for (unsigned int i=0; i<dsize; i+=ncols) { *t_++ = this->data + i; }
}
this->rowNum = nrows; this->colNum = ncols;
@@ -332,6 +341,24 @@ vpMatrix::operator=(const vpMatrix &B)
return *this;
}
+/*!
+\brief Copy operator.
+Allow operation such as A = H
+
+\param H : homography matrix to be copied.
+*/
+vpMatrix &
+vpMatrix::operator=(const vpHomography& H)
+{
+ init() ;
+ resize(3,3);
+ for(unsigned int i=0; i<3; i++)
+ for(unsigned int j=0; j<3; j++)
+ (*this)[i][j] = H[i][j];
+
+ return *this;
+}
+
//! set all the element of the matrix A to x
vpMatrix &
vpMatrix::operator=(double x)
@@ -442,6 +469,28 @@ vpMatrix vpMatrix::operator*(const vpMatrix &B) const
return C;
}
/*!
+ Allows to multiply a matrix by an homography.
+ Operation M = K * H (H is unchanged).
+
+*/
+vpMatrix vpMatrix::operator*(const vpHomography &H) const
+{
+ if (colNum != 3)
+ throw(vpException(vpMatrixException::dimensionError, "Cannot multiply the matrix by the homography; bad matrix size"));
+ vpMatrix M(rowNum, 3);
+
+ for (unsigned int i=0;i<rowNum;i++){
+ for (unsigned int j=0;j<3;j++) {
+ double s = 0;
+ for (unsigned int k=0;k<3;k++) s += (*this)[i][k] * H[k][j];
+ M[i][j] = s;
+ }
+ }
+
+ return M;
+}
+
+/*!
Operation C = A*wA + B*wB
The result is placed in the third parameter C and not returned.
@@ -859,7 +908,7 @@ vpMatrix::operator*(const vpTranslationVector &b) const
if (rowNum != 3 || colNum != 3)
{
vpERROR_TRACE("vpMatrix mismatch in vpMatrix::operator*(const vpTranslationVector)") ;
- throw(vpMatrixException::incorrectMatrixSizeError) ;
+ throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError, "vpMatrix mismatch in vpMatrix::operator*()")) ;
}
for (unsigned int j=0;j<3;j++) c[j]=0 ;
@@ -1232,10 +1281,10 @@ void vpMatrix::transpose(vpMatrix & At )const{
for( unsigned int i = 0; i < colNum; i++ )
{
- double * row = AtRowPtrs[i];
+ double * row_ = AtRowPtrs[i];
double * col = rowPtrs[0]+i;
for( unsigned int j = 0; j < rowNum; j++, col+=A_step )
- *(row++)=*col;
+ *(row_++)=*col;
}
}
@@ -2380,7 +2429,7 @@ vpMatrix::insert(const vpMatrix &A, const vpMatrix &B, vpMatrix &C,
const unsigned int r, const unsigned int c)
{
if( ( (r + B.getRows()) <= A.getRows() ) &&
- ( (c + B.getCols()) <= A.getRows() ) ){
+ ( (c + B.getCols()) <= A.getCols() ) ){
try {
C.resize(A.getRows(),A.getCols() ) ;
}
@@ -2573,8 +2622,10 @@ vpMatrix::createDiagonalMatrix(const vpColVector &A, vpMatrix &DA)
/*!
\brief std::cout a matrix
*/
-std::ostream &operator <<(std::ostream &s,const vpMatrix &m)
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpMatrix &m)
{
+ std::ios_base::fmtflags original_flags = s.flags();
+
s.precision(10) ;
for (unsigned int i=0;i<m.getRows();i++) {
for (unsigned int j=0;j<m.getCols();j++){
@@ -2585,6 +2636,8 @@ std::ostream &operator <<(std::ostream &s,const vpMatrix &m)
s << std::endl;
}
+ s.flags(original_flags); // restore s to standard state
+
return s;
}
@@ -2622,6 +2675,8 @@ vpMatrix::print(std::ostream& s, unsigned int length, char const* intro)
std::vector<std::string> values(m*n);
std::ostringstream oss;
std::ostringstream ossFixed;
+ std::ios_base::fmtflags original_flags = oss.flags();
+
// ossFixed <<std::fixed;
ossFixed.setf ( std::ios::fixed, std::ios::floatfield );
@@ -2690,6 +2745,8 @@ vpMatrix::print(std::ostream& s, unsigned int length, char const* intro)
s <<std::endl;
}
+ s.flags(original_flags); // restore s to standard state
+
return (int)(maxBefore+maxAfter);
}
@@ -2703,7 +2760,7 @@ d,e,f;
g,h,i]
*/
std::ostream & vpMatrix::
-matlabPrint(std::ostream & os)
+matlabPrint(std::ostream & os) const
{
unsigned int i,j;
@@ -2732,7 +2789,7 @@ Print using the following way so that this output can be directly copied into MA
])
*/
std::ostream & vpMatrix::
-maplePrint(std::ostream & os)
+maplePrint(std::ostream & os) const
{
unsigned int i,j;
@@ -2749,6 +2806,32 @@ maplePrint(std::ostream & os)
return os;
};
+/*!
+\brief Print matrix in csv format.
+
+Print as comma separated values so that this output can be imported into any program which has a csv data import option:
+0.939846, 0.0300754, 0.340272
+0.0300788, 0.984961, -0.170136
+-0.340272, 0.170136, 0.924807
+*/
+std::ostream & vpMatrix::
+csvPrint(std::ostream & os) const
+{
+ unsigned int i,j;
+
+ for (i=0; i < this->getRows(); ++ i)
+ {
+ for (j=0; j < this->getCols(); ++ j)
+ {
+ os << (*this)[i][j];
+ if (!(j==(this->getCols()-1)))
+ os << ", ";
+ }
+ os << std::endl;
+ }
+ return os;
+};
+
/*!
\brief Print to be used as part of a C++ code later.
@@ -2765,7 +2848,7 @@ the line vpMatrix A(6,7) (see example).
each bytes of the double array.
*/
std::ostream & vpMatrix::
-cppPrint(std::ostream & os, const char * matrixName, bool octet)
+cppPrint(std::ostream & os, const char * matrixName, bool octet) const
{
unsigned int i,j;
@@ -2863,7 +2946,7 @@ See the Numerical Recipes in C page 43 for further explanations.
double vpMatrix::detByLU() const
{
- double det(0);
+ double det_ = 0;
// Test wether the matrix is squred
if (rowNum == colNum)
@@ -2884,10 +2967,10 @@ double vpMatrix::detByLU() const
delete[]perm;
// compute the determinant that is the product of the eigen values
- det = (double) d;
+ det_ = (double) d;
for(unsigned int i=0;i<rowNum;i++)
{
- det*=tmp[i][i];
+ det_*=tmp[i][i];
}
}
@@ -2898,7 +2981,7 @@ double vpMatrix::detByLU() const
}
- return det ;
+ return det_ ;
}
@@ -3336,10 +3419,10 @@ vpMatrix::kernel(vpMatrix &kerA, double svThreshold)
}
// if (noyau == 1)
{
- double maxsv = 0 ;
+ maxsv = 0 ;
for (i=0 ; i < ddl ; i++)
if (fabs(sv[i]) > maxsv) maxsv = fabs(sv[i]) ;
- unsigned int rank = 0 ;
+ rank = 0 ;
for (i=0 ; i < ddl ; i++)
if (fabs(sv[i]) > maxsv*svThreshold) rank++ ;
vpMatrix cons(ddl,ddl) ;
@@ -3412,14 +3495,14 @@ A.det(vpMatrix::LU_DECOMPOSITION ) << std::endl;
*/
double vpMatrix::det(vpDetMethod method) const
{
- double det = 0;
+ double det_ = 0;
if ( method == LU_DECOMPOSITION )
{
- det = this->detByLU();
+ det_ = this->detByLU();
}
- return (det);
+ return (det_);
}
@@ -3429,7 +3512,7 @@ Save a matrix to a file.
\param filename : Absolute file name.
\param M : Matrix to be saved.
\param binary : If true the matrix is saved in a binary file, else a text file.
-\param Header : Optional line that will be saved at the beginning of the file.
+\param header : Optional line that will be saved at the beginning of the file.
\return Returns true if no problem happened.
@@ -3438,7 +3521,7 @@ less than if you save it in a binary file.
*/
bool
vpMatrix::saveMatrix(const char *filename, const vpMatrix &M,
- const bool binary, const char *Header)
+ const bool binary, const char *header)
{
std::fstream file;
@@ -3459,10 +3542,10 @@ vpMatrix::saveMatrix(const char *filename, const vpMatrix &M,
{
unsigned int i = 0;
file << "# ";
- while (Header[i] != '\0')
+ while (header[i] != '\0')
{
- file << Header[i];
- if (Header[i] == '\n')
+ file << header[i];
+ if (header[i] == '\n')
file << "# ";
i++;
}
@@ -3474,8 +3557,8 @@ vpMatrix::saveMatrix(const char *filename, const vpMatrix &M,
else
{
int headerSize = 0;
- while (Header[headerSize] != '\0') headerSize++;
- file.write(Header,headerSize+1);
+ while (header[headerSize] != '\0') headerSize++;
+ file.write(header,headerSize+1);
unsigned int matrixSize;
matrixSize = M.getRows();
file.write((char*)&matrixSize,sizeof(int));
@@ -3497,21 +3580,119 @@ vpMatrix::saveMatrix(const char *filename, const vpMatrix &M,
return true;
}
+/*!
+ Save a matrix in a YAML-formatted file.
+
+ \param filename : absolute file name.
+ \param M : matrix to be saved in the file.
+ \param header : optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
+
+ \return Returns true if success.
+
+ Here is an example of outputs.
+\code
+vpMatrix M(3,4);
+vpMatrix::saveMatrixYAML("matrix.yml", M, "example: a YAML-formatted header");
+vpMatrix::saveMatrixYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted header\n - with inner indentation");
+\endcode
+Content of matrix.yml:
+\code
+example: a YAML-formatted header
+rows: 3
+cols: 4
+data:
+ - [0, 0, 0, 0]
+ - [0, 0, 0, 0]
+ - [0, 0, 0, 0]
+\endcode
+Content of matrixIndent.yml:
+\code
+example:
+ - a YAML-formatted header
+ - with inner indentation
+rows: 3
+cols: 4
+data:
+ - [0, 0, 0, 0]
+ - [0, 0, 0, 0]
+ - [0, 0, 0, 0]
+\endcode
+
+ \sa loadMatrixYAML()
+*/
+bool vpMatrix::saveMatrixYAML(const char *filename, const vpMatrix &M, const char *header)
+{
+ std::fstream file;
+
+ file.open(filename, std::fstream::out);
+
+ if(!file)
+ {
+ file.close();
+ return false;
+ }
+
+ unsigned int i = 0;
+ bool inIndent = false;
+ std::string indent = "";
+ bool checkIndent = true;
+ while (header[i] != '\0')
+ {
+ file << header[i];
+ if(checkIndent)
+ {
+ if (inIndent)
+ {
+ if(header[i] == ' ')
+ indent += " ";
+ else if (indent.length() > 0)
+ checkIndent = false;
+ }
+ if (header[i] == '\n' || (inIndent && header[i] == ' '))
+ inIndent = true;
+ else
+ inIndent = false;
+ }
+ i++;
+ }
+
+ if(i != 0)
+ file << std::endl;
+ file << "rows: " << M.getRows() << std::endl;
+ file << "cols: " << M.getCols() << std::endl;
+
+ if(indent.length() == 0)
+ indent = " ";
+
+ file << "data: " << std::endl;
+ unsigned int j;
+ for(i=0;i<M.getRows();++i)
+ {
+ file << indent << "- [";
+ for(j=0;j<M.getCols()-1;++j)
+ file << M[i][j] << ", ";
+ file << M[i][j] << "]" << std::endl;
+ }
+
+ file.close();
+ return true;
+}
+
/*!
- Load a matrix to a file.
+ Load a matrix from a file.
\param filename : Absolute file name.
\param M : Matrix to be loaded.
\param binary : If true the matrix is loaded from a binary file,
else from a text file.
- \param Header : Header of the file loaded in this parameter.
+ \param header : header of the file loaded in this parameter.
\return Returns true if no problem happened.
*/
bool
vpMatrix::loadMatrix(const char *filename, vpMatrix &M, const bool binary,
- char *Header)
+ char *header)
{
std::fstream file;
@@ -3537,12 +3718,17 @@ vpMatrix::loadMatrix(const char *filename, vpMatrix &M, const bool binary,
file.read(&c,1);
h+=c;
}
- if (Header != NULL)
- strncpy(Header, h.c_str(), h.size() + 1);
+ if (header != NULL)
+ strncpy(header, h.c_str(), h.size() + 1);
unsigned int rows, cols;
file >> rows;
file >> cols;
+
+ if (rows > std::numeric_limits<unsigned int>::max()
+ || cols > std::numeric_limits<unsigned int>::max())
+ throw vpException(vpException::badValue, "Matrix exceed the max size.");
+
M.resize(rows,cols);
double value;
@@ -3564,8 +3750,8 @@ vpMatrix::loadMatrix(const char *filename, vpMatrix &M, const bool binary,
file.read(&c,1);
h+=c;
}
- if (Header != NULL)
- strncpy(Header, h.c_str(), h.size() + 1);
+ if (header != NULL)
+ strncpy(header, h.c_str(), h.size() + 1);
unsigned int rows, cols;
file.read((char*)&rows,sizeof(unsigned int));
@@ -3590,6 +3776,88 @@ vpMatrix::loadMatrix(const char *filename, vpMatrix &M, const bool binary,
/*!
+ Load a matrix from a YAML-formatted file.
+
+ \param filename : absolute file name.
+ \param M : matrix to be loaded from the file.
+ \param header : header of the file is loaded in this parameter.
+
+ \return Returns true on success.
+
+ \sa saveMatrixYAML()
+
+*/
+bool
+vpMatrix::loadMatrixYAML(const char *filename, vpMatrix &M, char *header)
+{
+ std::fstream file;
+
+ file.open(filename, std::fstream::in);
+
+ if(!file)
+ {
+ file.close();
+ return false;
+ }
+
+ unsigned int rows = 0,cols = 0;
+ std::string h;
+ std::string line,subs;
+ bool inheader = true;
+ unsigned int i=0, j;
+ unsigned int lineStart = 0;
+
+ while ( getline (file,line) )
+ {
+ if(inheader)
+ {
+ if(rows == 0 && line.compare(0,5,"rows:") == 0)
+ {
+ std::stringstream ss(line);
+ ss >> subs;
+ ss >> rows;
+ }
+ else if (cols == 0 && line.compare(0,5,"cols:") == 0)
+ {
+ std::stringstream ss(line);
+ ss >> subs;
+ ss >> cols;
+ }
+ else if (line.compare(0,5,"data:") == 0)
+ inheader = false;
+ else
+ h += line + "\n";
+ }
+ else
+ {
+ // if i == 0, we just got out of the header: initialize matrix dimensions
+ if(i == 0)
+ {
+ if(rows == 0 || cols == 0)
+ {
+ file.close();
+ return false;
+ }
+ M.resize(rows, cols);
+ // get indentation level which is common to all lines
+ lineStart = (unsigned int)line.find("[") + 1;
+ }
+ std::stringstream ss(line.substr(lineStart, line.find("]") - lineStart));
+ j = 0;
+ while(getline(ss, subs, ','))
+ M[i][j++] = atof(subs.c_str());
+ i++;
+ }
+ }
+
+ if (header != NULL)
+ strncpy(header, h.substr(0,h.length()-1).c_str(), h.size());
+
+ file.close();
+ return true;
+}
+
+/*!
Compute the exponential matrix of a square matrix.
@@ -3607,6 +3875,21 @@ vpMatrix::expm()
}
else
{
+#ifdef VISP_HAVE_GSL
+ size_t size = rowNum * colNum;
+ double *b = new double [size];
+ for (size_t i=0; i< size; i++)
+ b[i] = 0.;
+ gsl_matrix_view m = gsl_matrix_view_array(this->data, rowNum, colNum);
+ gsl_matrix_view em = gsl_matrix_view_array(b, rowNum, colNum);
+ gsl_linalg_exponential_ss(&m.matrix, &em.matrix, 0);
+ //gsl_matrix_fprintf(stdout, &em.matrix, "%g");
+ vpMatrix expA(rowNum, colNum);
+ memcpy(expA.data, b, size * sizeof(double));
+
+ delete [] b;
+ return expA;
+#else
vpMatrix _expE(rowNum, colNum);
vpMatrix _expD(rowNum, colNum);
vpMatrix _expX(rowNum, colNum);
@@ -3664,6 +3947,7 @@ vpMatrix::expm()
exp=_expE;
}
return exp;
+#endif
}
}
@@ -3736,6 +4020,56 @@ vpMatrix subblock(const vpMatrix &M, unsigned int col, unsigned int row)
return M_comp;
}
+/*!
+ \return The condition number, the ratio of the largest singular value of the matrix to the smallest.
+ */
+double vpMatrix::cond()
+{
+ vpMatrix v;
+ vpColVector w;
+
+ vpMatrix M;
+ M = *this;
+
+ M.svd(w, v);
+ double min=w[0];
+ double max=w[0];
+ for(unsigned int i=0;i<M.getCols();i++)
+ {
+ if(min>w[i])min=w[i];
+ if(max<w[i])max=w[i];
+ }
+ return max/min;
+}
+
+/*!
+ Compute \f${\bf H} + \alpha * diag({\bf H})\f$
+ \param H : input Matrix \f${\bf H}\f$. This matrix should be square.
+ \param alpha : Scalar \f$\alpha\f$
+ \param HLM : Resulting operation.
+ */
+void vpMatrix::computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
+{
+ if(H.getCols() != H.getRows())
+ {
+ vpTRACE("The matrix must be square");
+ throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
+ "The matrix must be square" ));
+ }
+ HLM.resize(H.getRows(), H.getCols());
+
+ for(unsigned int i=0;i<H.getCols();i++)
+ {
+ for(unsigned int j=0;j<H.getCols();j++)
+ {
+ HLM[i][j]=H[i][j];
+ if(i==j)
+ HLM[i][j]+= alpha*H[i][j];
+ }
+ }
+
+}
+
#undef DEBUG_LEVEL1
#undef DEBUG_LEVEL2
diff --git a/src/math/matrix/vpMatrix.h b/src/math/matrix/vpMatrix.h
index 6e574e4..be6df84 100644
--- a/src/math/matrix/vpMatrix.h
+++ b/src/math/matrix/vpMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -45,6 +45,7 @@
#define vpMatrix_H
#include <visp/vpConfig.h>
+#include <visp/vpException.h>
#include <visp/vpTime.h>
#ifdef VISP_HAVE_GSL
@@ -63,6 +64,7 @@ class vpTranslationVector;
class vpColVector;
class vpTranslationVector;
class vpRowVector;
+class vpHomography;
@@ -133,6 +135,8 @@ protected:
vpMatrix(const vpMatrix &m, unsigned int r, unsigned int c,
unsigned int nrows, unsigned int ncols) ;
+ vpMatrix(const vpHomography& H);
+
//! Destructor (Memory de-allocation)
virtual ~vpMatrix();
@@ -176,50 +180,14 @@ protected:
//@{
int print(std::ostream& s, unsigned int length, char const* intro=0);
- std::ostream & matlabPrint(std::ostream & os);
- std::ostream & maplePrint(std::ostream & os);
- std::ostream & cppPrint(std::ostream & os, const char * matrixName = NULL, bool octet = false);
+ std::ostream & matlabPrint(std::ostream & os) const;
+ std::ostream & maplePrint(std::ostream & os) const;
+ std::ostream & csvPrint(std::ostream & os) const;
+ std::ostream & cppPrint(std::ostream & os, const char * matrixName = NULL, bool octet = false) const;
void printSize() { std::cout << getRows() <<" x " << getCols() <<" " ; }
//@}
- static bool saveMatrix(const char *filename, const vpMatrix &M, const bool binary = false, const char *Header = "");
- static bool loadMatrix(const char *filename, vpMatrix &M, const bool binary = false, char *Header = NULL);
-
- /*!
- Save a matrix to a file.
-
- \param filename : absolute file name
- \param M : matrix to be saved
- \param binary :If true the matrix is save in a binary file, else a text file.
- \param Header : optional line that will be saved at the beginning of the file
-
- \return Returns true if no problem appends.
-
- Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
- */
- static inline bool saveMatrix(std::string filename, const vpMatrix &M,
- const bool binary = false,
- const char *Header = "")
- {
- return vpMatrix::saveMatrix(filename.c_str(), M, binary, Header);
- }
-
- /*!
- Load a matrix to a file.
-
- \param filename : absolute file name
- \param M : matrix to be loaded
- \param binary :If true the matrix is load from a binary file, else from a text file.
- \param Header : Header of the file is load in this parameter
-
- \return Returns true if no problem appends.
- */
- static inline bool loadMatrix(std::string filename, vpMatrix &M,
- const bool binary = false, char *Header = NULL)
- {
- return vpMatrix::loadMatrix(filename.c_str(), M, binary, Header);
- }
//---------------------------------
// Copy / assignment
@@ -234,6 +202,8 @@ protected:
//! Copy operator. Allow operation such as A = B
vpMatrix &operator=(const vpMatrix &B);
+ //! Copy operator. Allow operation such as A = H
+ vpMatrix &operator=(const vpHomography &H);
//! Set all the element of the matrix A to x
vpMatrix &operator=(const double x);
void diag(const vpColVector &A);
@@ -245,24 +215,118 @@ protected:
/** @name Access/modification operators */
//@{
//! write elements Aij (usage : A[i][j] = x )
- inline double *operator[](unsigned int n) { return rowPtrs[n]; }
+ inline double *operator[](unsigned int i) { return rowPtrs[i]; }
//! read elements Aij (usage : x = A[i][j] )
- inline double *operator[](unsigned int n) const {return rowPtrs[n];}
+ inline double *operator[](unsigned int i) const {return rowPtrs[i];}
//@}
//---------------------------------
// Matrix operations (Static).
- //---------------------------------
+ //---------------------------------
- static void mult2Matrices(const vpMatrix &A, const vpMatrix &B, vpMatrix &C);
static void add2Matrices(const vpMatrix &A, const vpMatrix &B, vpMatrix &C);
static void add2WeightedMatrices(const vpMatrix &A, const double &wA, const vpMatrix &B,const double &wB, vpMatrix &C);
- static void sub2Matrices(const vpMatrix &A, const vpMatrix &B, vpMatrix &C);
- static void negateMatrix(const vpMatrix &A, vpMatrix &C);
- static void multMatrixVector(const vpMatrix &A, const vpColVector &b, vpColVector &c);
-
static vpMatrix computeCovarianceMatrix(const vpMatrix &A, const vpColVector &x, const vpColVector &b);
static vpMatrix computeCovarianceMatrix(const vpMatrix &A, const vpColVector &x, const vpColVector &b, const vpMatrix &w);
+ static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM);
+
+ // Create a diagonal matrix with the element of a vector DAii = Ai
+ static void createDiagonalMatrix(const vpColVector &A, vpMatrix &DA) ;
+ // Insert matrix A in the current matrix at the given position (r, c).
+ void insert(const vpMatrix&A, const unsigned int r, const unsigned int c);
+ // Insert matrix B in matrix A at the given position (r, c).
+ static vpMatrix insert(const vpMatrix &A,const vpMatrix &B, const unsigned int r, const unsigned int c) ;
+ // Insert matrix B in matrix A (not modified) at the given position (r, c), the result is given in matrix C.
+ static void insert(const vpMatrix &A, const vpMatrix &B, vpMatrix &C, const unsigned int r, const unsigned int c) ;
+
+ // Juxtapose to matrices C = [ A B ]
+ static vpMatrix juxtaposeMatrices(const vpMatrix &A,const vpMatrix &B) ;
+ // Juxtapose to matrices C = [ A B ]
+ static void juxtaposeMatrices(const vpMatrix &A,const vpMatrix &B, vpMatrix &C) ;
+ // Compute Kronecker product matrix
+ static void kron(const vpMatrix &m1, const vpMatrix &m2 , vpMatrix &out);
+
+ // Compute Kronecker product matrix
+ static vpMatrix kron(const vpMatrix &m1, const vpMatrix &m2 );
+
+ /*!
+ Load a matrix from a file.
+
+ \param filename : absolute file name
+ \param M : matrix to be loaded
+ \param binary :If true the matrix is loaded from a binary file, else from a text file.
+ \param Header : Header of the file is loaded in this parameter
+
+ \return Returns true if no problem appends.
+ */
+ static inline bool loadMatrix(std::string filename, vpMatrix &M,
+ const bool binary = false, char *Header = NULL)
+ {
+ return vpMatrix::loadMatrix(filename.c_str(), M, binary, Header);
+ }
+ static bool loadMatrix(const char *filename, vpMatrix &M, const bool binary = false, char *Header = NULL);
+ static void mult2Matrices(const vpMatrix &A, const vpMatrix &B, vpMatrix &C);
+ static void multMatrixVector(const vpMatrix &A, const vpColVector &b, vpColVector &c);
+ static void negateMatrix(const vpMatrix &A, vpMatrix &C);
+ /*!
+ Save a matrix to a file.
+
+ \param filename : absolute file name
+ \param M : matrix to be saved
+ \param binary :If true the matrix is save in a binary file, else a text file.
+ \param Header : optional line that will be saved at the beginning of the file
+
+ \return Returns true if no problem appends.
+
+ Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
+ */
+ static inline bool saveMatrix(std::string filename, const vpMatrix &M,
+ const bool binary = false,
+ const char *Header = "")
+ {
+ return vpMatrix::saveMatrix(filename.c_str(), M, binary, Header);
+ }
+ static bool saveMatrix(const char *filename, const vpMatrix &M, const bool binary = false, const char *Header = "");
+
+ /*!
+ Save a matrix in a YAML-formatted file.
+
+ \param filename : absolute file name.
+ \param M : matrix to be saved in the file.
+ \param header : optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.
+
+ \return Returns true if success.
+
+ */
+ static inline bool saveMatrixYAML(std::string filename, const vpMatrix &M, const char *header = "")
+ {
+ return vpMatrix::saveMatrixYAML(filename.c_str(), M, header);
+ }
+ static bool saveMatrixYAML(const char *filename, const vpMatrix &M, const char *header = "");
+ /*!
+ Load a matrix from a YAML-formatted file.
+
+ \param filename : absolute file name.
+ \param M : matrix to be loaded from the file.
+ \param header : Header of the file is loaded in this parameter.
+
+ \return Returns true if no problem appends.
+ */
+ static inline bool loadMatrixYAML(std::string filename, vpMatrix &M, char *header = NULL)
+ {
+ return vpMatrix::loadMatrixYAML(filename.c_str(), M, header);
+ }
+ static bool loadMatrixYAML(const char *filename, vpMatrix &M, char *header = NULL);
+
+
+ // Stack the matrix A below the current one, copy if not initialized this = [ this A ]^T
+ void stackMatrices(const vpMatrix &A);
+ //! Stack two Matrices C = [ A B ]^T
+ static vpMatrix stackMatrices(const vpMatrix &A,const vpMatrix &B) ;
+ //! Stack two Matrices C = [ A B ]^T
+ static void stackMatrices(const vpMatrix &A,const vpMatrix &B, vpMatrix &C) ;
+ static void sub2Matrices(const vpMatrix &A, const vpMatrix &B, vpMatrix &C);
+
//---------------------------------
// Matrix operations.
@@ -275,6 +339,7 @@ protected:
vpMatrix &operator-=(const vpMatrix &B);
vpMatrix operator*(const vpMatrix &B) const;
+ vpMatrix operator*(const vpHomography &H) const;
vpMatrix operator+(const vpMatrix &B) const;
vpMatrix operator-(const vpMatrix &B) const;
vpMatrix operator-() const;
@@ -372,13 +437,6 @@ protected:
vpMatrix kron(const vpMatrix &m1);
//@}
- // Compute Kronecker product matrix
- static void kron(const vpMatrix &m1, const vpMatrix &m2 , vpMatrix &out);
-
- // Compute Kronecker product matrix
- static vpMatrix kron(const vpMatrix &m1, const vpMatrix &m2 );
-
-
//-------------------------------------------------
// Matrix inversion
//-------------------------------------------------
@@ -460,6 +518,7 @@ protected:
vpColVector solveBySVD(const vpColVector &B) const ;
unsigned int kernel(vpMatrix &KerA, double svThreshold=1e-6);
+ double cond();
//@}
//-------------------------------------------------
@@ -474,28 +533,6 @@ protected:
void eigenValues(vpColVector &evalue, vpMatrix &evector);
//@}
- //! Stack two Matrices C = [ A B ]^T
- static vpMatrix stackMatrices(const vpMatrix &A,const vpMatrix &B) ;
- //! Stack two Matrices C = [ A B ]^T
- static void stackMatrices(const vpMatrix &A,const vpMatrix &B, vpMatrix &C) ;
- // Juxtapose to matrices C = [ A B ]
- static vpMatrix juxtaposeMatrices(const vpMatrix &A,const vpMatrix &B) ;
- // Juxtapose to matrices C = [ A B ]
- static void juxtaposeMatrices(const vpMatrix &A,const vpMatrix &B, vpMatrix &C) ;
-
- // Create a diagonal matrix with the element of a vector DAii = Ai
- static void createDiagonalMatrix(const vpColVector &A, vpMatrix &DA) ;
-
- // Stack the matrix A below the current one, copy if not initialized this = [ this A ]^T
- void stackMatrices(const vpMatrix &A);
-
- // Insert matrix A in the current matrix at the given position (r, c).
- void insert(const vpMatrix&A, const unsigned int r, const unsigned int c);
- // Insert matrix B in matrix A at the given position (r, c).
- static vpMatrix insert(const vpMatrix &A,const vpMatrix &B, const unsigned int r, const unsigned int c) ;
- // Insert matrix B in matrix A (not modified) at the given position (r, c), the result is given in matrix C.
- static void insert(const vpMatrix &A, const vpMatrix &B, vpMatrix &C, const unsigned int r, const unsigned int c) ;
-
// -------------------------
// Norms
// -------------------------
diff --git a/src/math/matrix/vpMatrixException.h b/src/math/matrix/vpMatrixException.h
index 60ba790..2d23f34 100644
--- a/src/math/matrix/vpMatrixException.h
+++ b/src/math/matrix/vpMatrixException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMatrixException.h 4195 2013-04-05 08:28:41Z marchand $
+ * $Id: vpMatrixException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,12 +68,12 @@
*/
class VISP_EXPORT vpMatrixException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpMatrix member
*/
- enum errorCodeEnum
+ enum errorCodeEnum
{
//! error returns by a constructor
constructionError,
@@ -92,25 +92,20 @@ public:
rankDeficient
} ;
-public:
- vpMatrixException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpMatrixException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpMatrixException (const int code)
- : vpException(code){ ; }
- // vpMatrixException() : vpException() { ;}
+ public:
+ vpMatrixException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpMatrixException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpMatrixException (const int id)
+ : vpException(id){ ; }
+ // vpMatrixException() : vpException() { ;}
};
-
-
-
-
-#endif /* #ifndef __vpMatrixException_ERROR_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/math/matrix/vpMatrix_cholesky.cpp b/src/math/matrix/vpMatrix_cholesky.cpp
index b320084..ec4af3f 100644
--- a/src/math/matrix/vpMatrix_cholesky.cpp
+++ b/src/math/matrix/vpMatrix_cholesky.cpp
@@ -3,7 +3,7 @@
* $Id: vpMatrix_lu.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,30 +60,27 @@ extern "C" int dpotri_(char *uplo, int *n, double *a, int *lda, int *info);
#ifdef VISP_HAVE_LAPACK
vpMatrix vpMatrix::inverseByCholeskyLapack() const{
- int rowNum = (int)this->getRows();
- int lda = (int)rowNum; //lda is the number of rows because we don't use a submatrix
+ int rowNum_ = (int)this->getRows();
+ int lda = (int)rowNum_; //lda is the number of rows because we don't use a submatrix
int info;
vpMatrix A = *this;
- dpotrf_((char*)"L",&rowNum,A.data,&lda,&info);
+ dpotrf_((char*)"L",&rowNum_,A.data,&lda,&info);
if(info!=0)
std::cout << "cholesky:dpotrf_:error" << std::endl;
- dpotri_((char*)"L",&rowNum,A.data,&lda,&info);
+ dpotri_((char*)"L",&rowNum_,A.data,&lda,&info);
if(info!=0){
std::cout << "cholesky:dpotri_:error" << std::endl;
throw vpMatrixException::badValue;
}
-
for(unsigned int i=0;i<A.getRows();i++)
for(unsigned int j=0;j<A.getCols();j++)
if(i>j) A[i][j] = A[j][i];
-
return A;
-
}
#endif
@@ -102,9 +99,10 @@ int main()
{
vpMatrix A(4,4);
- A[0][0] = 1/1.; A[0][1] = 1/2.; A[0][2] = 1/3.; A[0][3] = 1/4.;
+ // Symmetric matrix
+ A[0][0] = 1/1.; A[0][1] = 1/5.; A[0][2] = 1/6.; A[0][3] = 1/7.;
A[1][0] = 1/5.; A[1][1] = 1/3.; A[1][2] = 1/3.; A[1][3] = 1/5.;
- A[2][0] = 1/6.; A[2][1] = 1/4.; A[2][2] = 1/2.; A[2][3] = 1/6.;
+ A[2][0] = 1/6.; A[2][1] = 1/3.; A[2][2] = 1/2.; A[2][3] = 1/6.;
A[3][0] = 1/7.; A[3][1] = 1/5.; A[3][2] = 1/6.; A[3][3] = 1/7.;
// Compute the inverse
diff --git a/src/math/matrix/vpMatrix_covariance.cpp b/src/math/matrix/vpMatrix_covariance.cpp
index 12ebed2..9bb6644 100644
--- a/src/math/matrix/vpMatrix_covariance.cpp
+++ b/src/math/matrix/vpMatrix_covariance.cpp
@@ -3,7 +3,7 @@
* $Id: vpMatrix_lu.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/matrix/vpMatrix_lu.cpp b/src/math/matrix/vpMatrix_lu.cpp
index 8833e6d..d43710e 100644
--- a/src/math/matrix/vpMatrix_lu.cpp
+++ b/src/math/matrix/vpMatrix_lu.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMatrix_lu.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMatrix_lu.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -260,7 +260,13 @@ vpMatrix::inverseByLU() const
unsigned int *perm = new unsigned int[rowNum];
int p;
- A.LUDcmp(perm, p);
+ try {
+ A.LUDcmp(perm, p);
+ }
+ catch(vpException e) {
+ delete [] perm;
+ throw(e);
+ }
vpColVector c_tmp(rowNum) ;
for (j=1; j<=rowNum; j++)
diff --git a/src/math/matrix/vpMatrix_qr.cpp b/src/math/matrix/vpMatrix_qr.cpp
index 8708bed..e56d029 100644
--- a/src/math/matrix/vpMatrix_qr.cpp
+++ b/src/math/matrix/vpMatrix_qr.cpp
@@ -3,7 +3,7 @@
* $Id: vpMatrix_lu.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -39,6 +39,7 @@
*
*****************************************************************************/
+#include <algorithm> // for std::min and std::max
#include <visp/vpConfig.h>
#include <visp/vpMatrix.h>
@@ -52,6 +53,7 @@
// Debug trace
#include <visp/vpDebug.h>
+int allocate_work(double** work);
#ifdef VISP_HAVE_LAPACK
extern "C" int dgeqrf_(int *m, int *n, double*a, int *lda, double *tau, double *work, int *lwork, int *info);
@@ -63,18 +65,19 @@ extern "C" int dorgqr_(int *, int *, int *, double *, int *,
extern "C" int dtrtri_(char *uplo, char *diag, int *n, double *a, int *lda, int *info);
#endif
-int allocate_work(double** work){
- int dimWork = (int)((*work)[0]);
+int allocate_work(double** work)
+{
+ unsigned int dimWork = (unsigned int)((*work)[0]);
delete[] *work;
*work = new double[dimWork];
- return dimWork;
+ return (int)dimWork;
}
#ifdef VISP_HAVE_LAPACK
vpMatrix vpMatrix::inverseByQRLapack() const{
- int rowNum = (int)this->getRows();
- int colNum = (int)this->getCols();
- int lda = (int)rowNum; //lda is the number of rows because we don't use a submatrix
- int dimTau = std::min(rowNum,colNum);
+ int rowNum_ = (int)this->getRows();
+ int colNum_ = (int)this->getCols();
+ int lda = (int)rowNum_; //lda is the number of rows because we don't use a submatrix
+ int dimTau = std::min(rowNum_,colNum_);
int dimWork = -1;
double *tau = new double[dimTau];
double *work = new double[1];
@@ -85,8 +88,8 @@ vpMatrix vpMatrix::inverseByQRLapack() const{
try{
//1) Extract householder reflections (useful to compute Q) and R
dgeqrf_(
- &rowNum, //The number of rows of the matrix A. M >= 0.
- &colNum, //The number of columns of the matrix A. N >= 0.
+ &rowNum_, //The number of rows of the matrix A. M >= 0.
+ &colNum_, //The number of columns of the matrix A. N >= 0.
A.data, /*On entry, the M-by-N matrix A.
On exit, the elements on and above the diagonal of the array
contain the min(M,N)-by-N upper trapezoidal matrix R (R is
@@ -110,8 +113,8 @@ vpMatrix vpMatrix::inverseByQRLapack() const{
dimWork = allocate_work(&work);
dgeqrf_(
- &rowNum, //The number of rows of the matrix A. M >= 0.
- &colNum, //The number of columns of the matrix A. N >= 0.
+ &rowNum_, //The number of rows of the matrix A. M >= 0.
+ &colNum_, //The number of columns of the matrix A. N >= 0.
A.data, /*On entry, the M-by-N matrix A.
On exit, the elements on and above the diagonal of the array
contain the min(M,N)-by-N upper trapezoidal matrix R (R is
@@ -156,7 +159,6 @@ vpMatrix vpMatrix::inverseByQRLapack() const{
for(unsigned int j=0;j<C.getRows();j++)
if(j>i) C[i][j] = 0.;
-
dimWork = -1;
int ldc = lda;
@@ -164,14 +166,14 @@ vpMatrix vpMatrix::inverseByQRLapack() const{
//get R^-1*tQ
//C contains R^-1
//A contains Q
- dormqr_((char*)"R", (char*)"T", &rowNum, &colNum, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
+ dormqr_((char*)"R", (char*)"T", &rowNum_, &colNum_, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
if(info != 0){
std::cout << "dormqr_:Preparation"<< -info << "th element had an illegal value" << std::endl;
throw vpMatrixException::badValue;
}
dimWork = allocate_work(&work);
- dormqr_((char*)"R", (char*)"T", &rowNum, &colNum, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
+ dormqr_((char*)"R", (char*)"T", &rowNum_, &colNum_, &dimTau, A.data, &lda, tau, C.data, &ldc, work, &dimWork, &info);
if(info != 0){
std::cout << "dormqr_:"<< -info << "th element had an illegal value" << std::endl;
diff --git a/src/math/matrix/vpMatrix_svd.cpp b/src/math/matrix/vpMatrix_svd.cpp
index f6783b5..4a9184e 100644
--- a/src/math/matrix/vpMatrix_svd.cpp
+++ b/src/math/matrix/vpMatrix_svd.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMatrix_svd.cpp 4210 2013-04-16 08:57:46Z fspindle $
+ * $Id: vpMatrix_svd.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -297,8 +297,10 @@ void vpMatrix::svdNr(vpColVector& W, vpMatrix& V)
g=c*g;
z=pythag(f,h);
rv1[j]=z;
- c=f/z;
- s=h/z;
+ if ((std::fabs(z) > epsilon) /*|| (fabs(z) > EPS_SVD)*/) {
+ c=f/z;
+ s=h/z;
+ }
f=x*c+g*s;
g=g*c-x*s;
h=y*s;
@@ -593,8 +595,7 @@ void vpMatrix::svdLapack(vpColVector& W, vpMatrix& V){
dgesdd_( (char*)"S", &m, &n, a, &lda, s, u, &ldu, vt, &ldvt, work, &lwork, iwork, &info );
if( info > 0 ) {
- std::cout << "The algorithm computing SVD failed to converge." << std::endl;
-
+ vpTRACE("The algorithm computing SVD failed to converge.");
}
V=V.transpose();
diff --git a/src/math/matrix/vpRowVector.cpp b/src/math/matrix/vpRowVector.cpp
index 03a4adc..a7b70e4 100644
--- a/src/math/matrix/vpRowVector.cpp
+++ b/src/math/matrix/vpRowVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRowVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRowVector.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -150,7 +150,8 @@ vpRowVector vpRowVector::operator*(const vpMatrix &A) const
if (colNum != A.getRows())
{
vpERROR_TRACE("vpMatrix mismatch in vpRowVector/matrix multiply") ;
- throw(vpMatrixException::incorrectMatrixSizeError) ;
+ throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
+ "vpMatrix mismatch in vpRowVector/matrix multiply")) ;
}
c = 0.0;
diff --git a/src/math/matrix/vpRowVector.h b/src/math/matrix/vpRowVector.h
index 562a1fa..8d049a4 100644
--- a/src/math/matrix/vpRowVector.h
+++ b/src/math/matrix/vpRowVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRowVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRowVector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/matrix/vpSubColVector.cpp b/src/math/matrix/vpSubColVector.cpp
index 4141fe4..4b93b5f 100644
--- a/src/math/matrix/vpSubColVector.cpp
+++ b/src/math/matrix/vpSubColVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSubColVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSubColVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,15 +46,9 @@
#include <visp/vpDebug.h>
#include <stdlib.h>
-vpSubColVector::vpSubColVector(){
- data=NULL;
- parent=NULL;
- rowPtrs=NULL;
- rowNum=0;
- colNum=0;
- pRowNum=0;
- dsize=0;
- trsize=0;
+vpSubColVector::vpSubColVector()
+ : pRowNum(0), parent(NULL)
+{
}
/*!
@@ -63,7 +57,9 @@ vpSubColVector::vpSubColVector(){
\param offset : offset where subColVector start in the parent colVector
\param nrows : size of the subColVector
*/
-vpSubColVector::vpSubColVector(vpColVector &v, const unsigned int & offset,const unsigned int & nrows){
+vpSubColVector::vpSubColVector(vpColVector &v, const unsigned int & offset, const unsigned int & nrows)
+ : pRowNum(0), parent(NULL)
+{
init(v,offset,nrows);
}
diff --git a/src/math/matrix/vpSubColVector.h b/src/math/matrix/vpSubColVector.h
index 055091e..59cd355 100644
--- a/src/math/matrix/vpSubColVector.h
+++ b/src/math/matrix/vpSubColVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSubColVector.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpSubColVector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/matrix/vpSubMatrix.cpp b/src/math/matrix/vpSubMatrix.cpp
index 9a6939c..6ba81a2 100644
--- a/src/math/matrix/vpSubMatrix.cpp
+++ b/src/math/matrix/vpSubMatrix.cpp
@@ -1,11 +1,11 @@
/****************************************************************************
*
- * $Id: vpSubMatrix.cpp 4057 2013-01-05 13:10:29Z fspindle $
+ * $Id: vpSubMatrix.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
- * Copyright (C) 2005 - 2013 Inria. All rights reserved.
+ * Copyright (C) 2005 - 2014 Inria. All rights reserved.
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,39 +46,35 @@
#include <visp/vpDebug.h>
#include <stdlib.h>
-vpSubMatrix::vpSubMatrix(){
- data=NULL;
- parent=NULL;
- rowPtrs=NULL;
- rowNum=0;
- colNum=0;
- pRowNum=0;
- pColNum=0;
- dsize=0;
- trsize=0;
+vpSubMatrix::vpSubMatrix()
+ : pRowNum(0), pColNum(0), parent(NULL)
+{
}
/*!
\brief Constructor
\param m : parent matrix
- \param row : row offset
- \param col : col offset
+ \param row_offset : row offset
+ \param col_offset : col offset
\param nrows : number of rows of the sub matrix
\param ncols : number of columns of the sub matrix
*/
-vpSubMatrix::vpSubMatrix(vpMatrix &m, const unsigned int & row, const unsigned int &col , const unsigned int & nrows , const unsigned int & ncols){
- init(m,row,col,nrows,ncols);
+vpSubMatrix::vpSubMatrix(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset,
+ const unsigned int & nrows, const unsigned int & ncols)
+ : pRowNum(0), pColNum(0), parent(NULL)
+{
+ init(m,row_offset,col_offset,nrows,ncols);
}
/*!
\brief Initialisation of a sub matrix
\param m : parent matrix
- \param row : row offset
- \param col : col offset
+ \param row_offset : row offset
+ \param col_offset : col offset
\param nrows : number of rows of the sub matrix
\param ncols : number of columns of the sub matrix
*/
-void vpSubMatrix::init(vpMatrix &m, const unsigned int & row, const unsigned int &col , const unsigned int & nrows , const unsigned int & ncols){
+void vpSubMatrix::init(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset , const unsigned int & nrows , const unsigned int & ncols){
if(! m.data){
vpERROR_TRACE("\n\t\t SubMatrix parent matrix is not allocated") ;
@@ -86,7 +82,7 @@ void vpSubMatrix::init(vpMatrix &m, const unsigned int & row, const unsigned int
"\n\t\t SubMatrix parent matrix is not allocated")) ;
}
- if(row+nrows <= m.getRows() && col+ncols <= m.getCols()){
+ if(row_offset+nrows <= m.getRows() && col_offset+ncols <= m.getCols()){
data=m.data;
parent =&m;
rowNum = nrows;
@@ -99,7 +95,7 @@ void vpSubMatrix::init(vpMatrix &m, const unsigned int & row, const unsigned int
rowPtrs=(double**) malloc(nrows * sizeof(double*));
for(unsigned int r=0;r<nrows;r++)
- rowPtrs[r]= m.data+col+(r+row)*pColNum;
+ rowPtrs[r]= m.data+col_offset+(r+row_offset)*pColNum;
dsize = pRowNum*pColNum ;
trsize =0 ;
diff --git a/src/math/matrix/vpSubMatrix.h b/src/math/matrix/vpSubMatrix.h
index b33af1b..9dcae3e 100644
--- a/src/math/matrix/vpSubMatrix.h
+++ b/src/math/matrix/vpSubMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSubMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSubMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/matrix/vpSubRowVector.cpp b/src/math/matrix/vpSubRowVector.cpp
index c206161..935f0cb 100644
--- a/src/math/matrix/vpSubRowVector.cpp
+++ b/src/math/matrix/vpSubRowVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSubRowVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSubRowVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,16 +46,10 @@
#include <visp/vpDebug.h>
#include <stdlib.h>
- vpSubRowVector::vpSubRowVector(){
- data=NULL;
- parent=NULL;
- rowPtrs=NULL;
- rowNum=0;
- colNum=0;
- pColNum=0;
- dsize=0;
- trsize=0;
- }
+vpSubRowVector::vpSubRowVector()
+ : pColNum(0), parent(NULL)
+{
+}
/*!
\brief Constructor
@@ -63,8 +57,10 @@
\param offset : offset where subRowVector start in the parent vector
\param ncols : size of the subRowVector
*/
-vpSubRowVector::vpSubRowVector(vpRowVector &v, const unsigned int & offset,const unsigned int & ncols){
- init(v,offset,ncols);
+vpSubRowVector::vpSubRowVector(vpRowVector &v, const unsigned int & offset,const unsigned int & ncols)
+ : pColNum(0), parent(NULL)
+{
+ init(v, offset, ncols);
}
/*!
diff --git a/src/math/matrix/vpSubRowVector.h b/src/math/matrix/vpSubRowVector.h
index 331220e..eb91bfa 100644
--- a/src/math/matrix/vpSubRowVector.h
+++ b/src/math/matrix/vpSubRowVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSubRowVector.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpSubRowVector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/misc/vpHinkley.cpp b/src/math/misc/vpHinkley.cpp
index 73b490a..d7d8893 100755
--- a/src/math/misc/vpHinkley.cpp
+++ b/src/math/misc/vpHinkley.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHinkley.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHinkley.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -78,11 +78,8 @@
*/
vpHinkley::vpHinkley()
+ : dmin2(0.1), alpha(0.2), nsignal(0), mean(0), Sk(0), Mk(0), Tk(0), Nk(0)
{
- init();
-
- setAlpha(0.2);
- setDelta(0.2);
}
/*!
@@ -92,21 +89,18 @@ vpHinkley::vpHinkley()
Call init() to initialise the Hinkley's test and set \f$\alpha\f$
and \f$\delta\f$ thresholds.
- \param alpha : \f$\alpha\f$ is a predefined threshold.
+ \param alpha_val : \f$\alpha\f$ is a predefined threshold.
- \param delta : \f$\delta\f$ denotes the jump minimal magnitude that
+ \param delta_val : \f$\delta\f$ denotes the jump minimal magnitude that
we want to detect.
\sa setAlpha(), setDelta()
*/
-vpHinkley::vpHinkley(double alpha, double delta)
+vpHinkley::vpHinkley(double alpha_val, double delta_val)
+ : dmin2(delta_val/2.), alpha(alpha_val), nsignal(0), mean(0), Sk(0), Mk(0), Tk(0), Nk(0)
{
- init();
-
- setAlpha(alpha);
- setDelta(delta);
}
/*!
@@ -114,21 +108,21 @@ vpHinkley::vpHinkley(double alpha, double delta)
Call init() to initialise the Hinkley's test and set \f$\alpha\f$
and \f$\delta\f$ thresholds.
- \param alpha : \f$\alpha\f$ is a predefined threshold.
+ \param alpha_val : \f$\alpha\f$ is a predefined threshold.
- \param delta : \f$\delta\f$ denotes the jump minimal magnitude that
+ \param delta_val : \f$\delta\f$ denotes the jump minimal magnitude that
we want to detect.
\sa setAlpha(), setDelta()
*/
void
-vpHinkley::init(double alpha, double delta)
+vpHinkley::init(double alpha_val, double delta_val)
{
init();
- setAlpha(alpha);
- setDelta(delta);
+ setAlpha(alpha_val);
+ setDelta(delta_val);
}
/*!
@@ -178,9 +172,9 @@ void vpHinkley::setDelta(double delta)
\sa setDelta()
*/
-void vpHinkley::setAlpha(double alpha)
+void vpHinkley::setAlpha(double alpha_val)
{
- this->alpha = alpha;
+ this->alpha = alpha_val;
}
/*!
diff --git a/src/math/misc/vpHinkley.h b/src/math/misc/vpHinkley.h
index 197e6a1..97fad83 100755
--- a/src/math/misc/vpHinkley.h
+++ b/src/math/misc/vpHinkley.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHinkley.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHinkley.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/misc/vpMath.cpp b/src/math/misc/vpMath.cpp
index 692c83f..ac637a1 100644
--- a/src/math/misc/vpMath.cpp
+++ b/src/math/misc/vpMath.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMath.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMath.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/misc/vpMath.h b/src/math/misc/vpMath.h
index 2d991ea..491fcf6 100644
--- a/src/math/misc/vpMath.h
+++ b/src/math/misc/vpMath.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMath.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMath.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,7 +54,7 @@
#include <math.h>
-#ifdef WIN32 // Not defined in Microsoft math.h
+#if defined(_WIN32) // Not defined in Microsoft math.h
# ifndef M_PI
# define M_PI 3.14159265358979323846f
diff --git a/src/math/misc/vpNoise.cpp b/src/math/misc/vpNoise.cpp
index 72553f8..d1616ae 100644
--- a/src/math/misc/vpNoise.cpp
+++ b/src/math/misc/vpNoise.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNoise.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpNoise.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/misc/vpNoise.h b/src/math/misc/vpNoise.h
index ac9289d..0db43e4 100644
--- a/src/math/misc/vpNoise.h
+++ b/src/math/misc/vpNoise.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNoise.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpNoise.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,37 +71,26 @@
*/
class VISP_EXPORT vpUniRand
{
-
-
- /*unsigned*/ long a ;
- /*unsigned*/ long m ; //2^31-1
- /*unsigned*/ long q ; //integer part of m/a
- /*unsigned*/ long r ;//r=m mod a
- double normalizer ; //we use a normalizer > m to ensure ans will never be 1 (it is the case if x = 739806647)
-
-
-private:
- void draw0();
-protected:
- long x;
- double draw1();
- void init()
- {
- a = 16807 ;
- m = /*(unsigned long)*/2147483647 ; //2^31-1
- q = 127773 ; //integer part of m/a
- r = 2836 ;//r=m mod a
- //we use a normalizer > m to ensure ans will never be
- // 1 (it is the case if x = 739806647)
- normalizer = 2147484721.0 ;
- }
-
-public:
- vpUniRand(const long seed = 0):x((seed)? seed : 739806647)
- {
- init() ;
- }
- double operator()() {return draw1();}
+ /*unsigned*/ long a ;
+ /*unsigned*/ long m ; //2^31-1
+ /*unsigned*/ long q ; //integer part of m/a
+ /*unsigned*/ long r ;//r=m mod a
+ double normalizer ; //we use a normalizer > m to ensure ans will never be 1 (it is the case if x = 739806647)
+
+ private:
+ void draw0();
+ protected:
+ long x;
+ double draw1();
+
+ public:
+ vpUniRand(const long seed = 0)
+ : a(16807), m(2147483647), q(127773), r(2836), normalizer(2147484721.0), x((seed)? seed : 739806647)
+ {
+ }
+ virtual ~vpUniRand() {};
+
+ double operator()() {return draw1();}
};
@@ -117,12 +106,11 @@ public:
\code
#include <iostream>
-
#include <visp/vpNoise.h>
int main()
{
- vpGaussRand noise(0.5, 0);
+ vpGaussRand noise(0.5, 10);
for(int i=0; i< 10; i++) {
std::cout << "noise " << i << ": " << noise() << std::endl;
}
@@ -132,38 +120,54 @@ int main()
*/
class vpGaussRand : public vpUniRand
{
- double mean;
- double sigma;
-
-public:
-
- // Initialization
- vpGaussRand() {init();mean=0;sigma=0;x=739806647;}
- vpGaussRand(const double sqrtvariance,
- const double _mean,
- const long seed = 0):mean(_mean), sigma(sqrtvariance)
- {
- init() ;
- mean = 0 ;
- if (seed) x=seed; else x=739806647;
- }
- /*!
- Set the standard deviation and mean for gaussian noise
-
- \param _s new standard deviation
- \param _m new mean
- */
- inline void setSigmaMean(const double _s, const double _m) {mean=_m;sigma=_s;}
- /*!
- Set the seed of the noise
-
- \param seed new seed
- */
- inline void seed(const long seed) {x=seed;}
- inline double operator()() {return sigma*gaussianDraw()+mean;}
-
-private :
- double gaussianDraw();
+ private :
+ double mean;
+ double sigma;
+ double gaussianDraw();
+
+ public:
+
+ /*!
+ Default noise generator constructor.
+ */
+ vpGaussRand() : vpUniRand(), mean(0), sigma(0) {}
+
+ /*!
+ Gaussian noise random generator constructor.
+
+ \param sigma_val : Standard deviation.
+ \param mean_val : Mean value.
+ \param noise_seed : Seed of the noise
+ */
+ vpGaussRand(const double sigma_val, const double mean_val, const long noise_seed = 0)
+ : vpUniRand(noise_seed), mean(mean_val), sigma(sigma_val) {}
+
+ /*!
+ Set the standard deviation and mean for gaussian noise.
+
+ \param sigma_val : New standard deviation sigma.
+ \param mean_val : New mean value.
+ */
+ void setSigmaMean(const double sigma_val, const double mean_val) {
+ this->mean = mean_val;
+ this->sigma = sigma_val;
+ }
+
+ /*!
+ Set the seed of the noise.
+
+ \param seed_val : New seed.
+ */
+ void seed(const long seed_val) {
+ x=seed_val;
+ }
+
+ /*!
+ Return a random value from the Gaussian noise generator.
+ */
+ double operator()() {
+ return sigma*gaussianDraw()+mean;
+ }
};
#endif
diff --git a/src/math/robust/vpRansac.h b/src/math/robust/vpRansac.h
index 5f4d1d3..b3029d9 100644
--- a/src/math/robust/vpRansac.h
+++ b/src/math/robust/vpRansac.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRansac.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRansac.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,16 +63,7 @@
\brief This class is a generic implementation of the Ransac algorithm. It
cannot be used alone.
- Creation: june, 15 2005
-
- RANSAC is described in :
-
- M.A. Fishler and R.C. Boles. "Random sample consensus: A paradigm for model
- fitting with applications to image analysis and automated cartography". Comm.
- Assoc. Comp, Mach., Vol 24, No 6, pp 381-395, 1981
-
- Richard Hartley and Andrew Zisserman. "Multiple View Geometry in
- Computer Vision". pp 101-113. Cambridge University Press, 2001
+ RANSAC is described in \cite Fischler81 and \cite Hartley01a.
The code of this class is inspired by :
Peter Kovesi
@@ -81,14 +72,9 @@
pk at csse uwa edu au
http://www.csse.uwa.edu.au/~pk
-
\sa vpHomography
-
*/
-
-
-
template <class vpTransformation>
class vpRansac
{
@@ -114,7 +100,7 @@ public:
npts is the number of data points.
\param s : The minimum number of samples from x required by fitting fn to
- fit a model.
+ fit a model. Value should be greater or equal to 4.
\param t : The distance threshold between data point and the model used to
decide whether a point is an inlier or not.
@@ -141,22 +127,22 @@ vpRansac<vpTransformation>::ransac(unsigned int npts, vpColVector &x,
vpColVector &inliers,
int consensus,
double /* areaThreshold */,
- const int maxNbumbersOfTrials
- )
+ const int maxNbumbersOfTrials)
{
-
-
-/* bool isplanar; */
-/* if (s == 4) isplanar = true; */
-/* else isplanar = false; */
+ /* bool isplanar; */
+ /* if (s == 4) isplanar = true; */
+ /* else isplanar = false; */
double eps = 1e-6 ;
double p = 0.99; // Desired probability of choosing at least one sample
- // free from outliers
+ // free from outliers
int maxTrials = maxNbumbersOfTrials; // Maximum number of trials before we give up.
int maxDataTrials = 1000; // Max number of attempts to select a non-degenerate
- // data set.
+ // data set.
+
+ if (s<4)
+ s = 4;
// Sentinel value allowing detection of solution failure.
bool solutionFind = false ;
@@ -184,7 +170,7 @@ vpRansac<vpTransformation>::ransac(unsigned int npts, vpColVector &x,
{
// Generate s random indicies in the range 1..npts
for (unsigned int i=0 ; i < s ; i++)
- ind[i] = (unsigned int)ceil(random()*npts) -1;
+ ind[i] = (unsigned int)ceil(random()*npts) -1;
// Test that these points are not a degenerate configuration.
degenerate = vpTransformation::degenerateConfiguration(x,ind) ;
@@ -194,10 +180,10 @@ vpRansac<vpTransformation>::ransac(unsigned int npts, vpColVector &x,
count = count + 1;
if (count > maxDataTrials) {
- delete [] ind;
- vpERROR_TRACE("Unable to select a nondegenerate data set");
- throw(vpException(vpException::fatalError, "Unable to select a nondegenerate data set"));
- //return false; //Useless after a throw() function
+ delete [] ind;
+ vpERROR_TRACE("Unable to select a nondegenerate data set");
+ throw(vpException(vpException::fatalError, "Unable to select a nondegenerate data set"));
+ //return false; //Useless after a throw() function
}
}
// Fit model to this random selection of data points.
@@ -215,9 +201,9 @@ vpRansac<vpTransformation>::ransac(unsigned int npts, vpColVector &x,
double resid = fabs(d[i]);
if (resid < t)
{
- inliers[i] = 1 ;
- ninliers++ ;
- residual += fabs(d[i]);
+ inliers[i] = 1 ;
+ ninliers++ ;
+ residual += fabs(d[i]);
}
else inliers[i] = 0;
}
diff --git a/src/math/robust/vpRobust.cpp b/src/math/robust/vpRobust.cpp
index d404fcf..8355741 100644
--- a/src/math/robust/vpRobust.cpp
+++ b/src/math/robust/vpRobust.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobust.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobust.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,16 +70,14 @@
*/
vpRobust::vpRobust(unsigned int n_data)
+ : normres(), sorted_normres(), sorted_residues(), NoiseThreshold(0.0017), sig_prev(0), it(0), swap(0), size(n_data)
{
vpCDEBUG(2) << "vpRobust constructor reached" << std::endl;
- size=n_data;
normres.resize(n_data);
sorted_normres.resize(n_data);
sorted_residues.resize(n_data);
- it=0;
- NoiseThreshold=0.0017; //Can not be more accurate than 1 pixel
-
+ // NoiseThreshold=0.0017; //Can not be more accurate than 1 pixel
}
/*!
@@ -354,7 +352,7 @@ vpRobust::simultMEstimator(vpColVector &residues)
double sigma=0; // Standard Deviation
unsigned int n_data = residues.getRows();
- vpColVector normres(n_data); // Normalized Residue
+ vpColVector norm_res(n_data); // Normalized Residue
vpColVector w(n_data);
vpCDEBUG(2) << "vpRobust MEstimator reached. No. data = " << n_data
@@ -366,14 +364,14 @@ vpRobust::simultMEstimator(vpColVector &residues)
// Normalize residues
for(unsigned int i=0; i<n_data; i++)
- normres[i] = (fabs(residues[i]- med));
+ norm_res[i] = (fabs(residues[i]- med));
// Check for various methods.
// For Huber compute Simultaneous scale estimate
// For Others use MAD calculated on first iteration
if(it==0)
{
- normmedian = select(normres, 0, n_data-1, ind_med/*(int)n_data/2*/);
+ normmedian = select(norm_res, 0, n_data-1, ind_med/*(int)n_data/2*/);
// 1.48 keeps scale estimate consistent for a normal probability dist.
sigma = 1.4826*normmedian; // Median Absolute Deviation
}
@@ -390,10 +388,9 @@ vpRobust::simultMEstimator(vpColVector &residues)
sigma= NoiseThreshold;
}
-
vpCDEBUG(2) << "MAD and C computed" << std::endl;
- psiHuber(sigma, normres,w);
+ psiHuber(sigma, norm_res,w);
sig_prev = sigma;
diff --git a/src/math/robust/vpRobust.h b/src/math/robust/vpRobust.h
index 39168c0..b684968 100644
--- a/src/math/robust/vpRobust.h
+++ b/src/math/robust/vpRobust.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobust.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobust.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/robust/vpScale.cpp b/src/math/robust/vpScale.cpp
index 15e3758..dff1b37 100644
--- a/src/math/robust/vpScale.cpp
+++ b/src/math/robust/vpScale.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpScale.cpp 4312 2013-07-16 15:12:42Z ayol $
+ * $Id: vpScale.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,14 +60,11 @@
//! Constructor
vpScale::vpScale()
+ : bandwidth(0.02), dimension(1), kernel_type(EPANECHNIKOV)
{
#if (DEBUG_LEVEL2)
std::cout << "vpScale constructor reached" << std::endl;
#endif
- bandwidth = 0.02;
- dimension = 1;
- kernel_type = EPANECHNIKOV;
-
#if (DEBUG_LEVEL2)
std::cout << "vpScale constructor finished" << std::endl;
#endif
@@ -75,31 +72,23 @@ vpScale::vpScale()
}
//! Constructor
-vpScale::vpScale(double kernel_bandwidth,
- int dimension=1, int kernel_type=EPANECHNIKOV)
+vpScale::vpScale(double kernel_bandwidth, int dim=1, int type=EPANECHNIKOV)
+ : bandwidth(kernel_bandwidth), dimension(dim), kernel_type(type)
+
{
#if (DEBUG_LEVEL2)
std::cout << "vpScale constructor reached" << std::endl;
#endif
-
- bandwidth = kernel_bandwidth;
- this->dimension = (unsigned)dimension;
- this->kernel_type = kernel_type;
-
#if (DEBUG_LEVEL2)
std::cout << "vpScale constructor finished" << std::endl;
#endif
-
}
//! Destructor
vpScale::~vpScale()
{
-
}
-
-
// Calculate the modes of the density for the distribution
// and their associated errors
double
diff --git a/src/math/robust/vpScale.h b/src/math/robust/vpScale.h
index 9c9c6dd..a39029c 100644
--- a/src/math/robust/vpScale.h
+++ b/src/math/robust/vpScale.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpScale.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpScale.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/spline/vpBSpline.cpp b/src/math/spline/vpBSpline.cpp
index f0ef288..c78e194 100644
--- a/src/math/spline/vpBSpline.cpp
+++ b/src/math/spline/vpBSpline.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBSpline.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpBSpline.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -49,8 +49,9 @@
compute cubic B-Spline.
*/
vpBSpline::vpBSpline()
+ : controlPoints(), knots(), p(3), // By default : p=3 for clubic spline
+ crossingPoints()
{
- p = 3; //By default : clubic spline
}
/*!
@@ -58,6 +59,8 @@ vpBSpline::vpBSpline()
*/
vpBSpline::vpBSpline(const vpBSpline &bspline)
+ : controlPoints(), knots(), p(3), // By default : p=3 for clubic spline
+ crossingPoints()
{
controlPoints = bspline.controlPoints;
knots = bspline.knots;
diff --git a/src/math/spline/vpBSpline.h b/src/math/spline/vpBSpline.h
index cb7d93d..c1c371f 100644
--- a/src/math/spline/vpBSpline.h
+++ b/src/math/spline/vpBSpline.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBSpline.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBSpline.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -168,9 +168,9 @@ class VISP_EXPORT vpBSpline
/*!
Sets the degree of the B-Spline.
- \param p : the degree of the B-Spline.
+ \param degree : the degree of the B-Spline.
*/
- inline void set_p(unsigned int p) {this->p = p;}
+ inline void set_p(unsigned int degree) {this->p = degree;}
/*!
diff --git a/src/math/spline/vpNurbs.cpp b/src/math/spline/vpNurbs.cpp
index 163a288..a413915 100644
--- a/src/math/spline/vpNurbs.cpp
+++ b/src/math/spline/vpNurbs.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNurbs.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpNurbs.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,6 +64,7 @@ inline double distance(const vpImagePoint &iP1, const double w1, const vpImagePo
compute cubic NURBS.
*/
vpNurbs::vpNurbs()
+ : weights()
{
p = 3;
}
@@ -71,7 +72,7 @@ vpNurbs::vpNurbs()
/*!
Copy constructor.
*/
-vpNurbs::vpNurbs(const vpNurbs &nurbs) : vpBSpline(nurbs)
+vpNurbs::vpNurbs(const vpNurbs &nurbs) : vpBSpline(nurbs), weights()
{
weights = nurbs.weights;
}
@@ -691,13 +692,19 @@ vpNurbs::removeCurveKnot(double u, unsigned int r, unsigned int num, double TOL)
The result of the method is composed by a knot vector, a set of control points and a set of associated weights.
\param l_crossingPoints : The list of data points which have to be interpolated.
- \param l_p : Degree of the NURBS basis functions.
+ \param l_p : Degree of the NURBS basis functions. This value need to be > 0.
\param l_knots : The knot vector
\param l_controlPoints : the list of control points.
\param l_weights : the list of weights.
*/
void vpNurbs::globalCurveInterp(std::vector<vpImagePoint> &l_crossingPoints, unsigned int l_p, std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints, std::vector<double> &l_weights)
{
+ if (l_p == 0) {
+ //vpERROR_TRACE("Bad degree of the NURBS basis functions");
+ throw(vpException(vpException::badValue,
+ "Bad degree of the NURBS basis functions")) ;
+ }
+
l_knots.clear();
l_controlPoints.clear();
l_weights.clear();
@@ -786,8 +793,8 @@ void vpNurbs::globalCurveInterp(vpList<vpMeSite> &l_crossingPoints)
l_crossingPoints.next();
while(!l_crossingPoints.outside())
{
- vpMeSite s = l_crossingPoints.value();
- vpImagePoint pt(s.ifloat,s.jfloat);
+ s = l_crossingPoints.value();
+ pt.set_ij(s.ifloat,s.jfloat);
if (vpImagePoint::distance(pt_1,pt) >= 10)
{
v_crossingPoints.push_back(pt);
@@ -890,11 +897,10 @@ void vpNurbs::globalCurveApprox(std::vector<vpImagePoint> &l_crossingPoints, uns
d = (double)(m+1)/(double)(l_n-l_p+1);
- double i;
double alpha;
for(unsigned int j = 1; j <= l_n-l_p; j++)
{
- i = floor(j*d);
+ double i = floor(j*d);
alpha = j*d-i;
l_knots.push_back((1.0-alpha)*ubar[(unsigned int)i-1]+alpha*ubar[(unsigned int)i]);
}
diff --git a/src/math/spline/vpNurbs.h b/src/math/spline/vpNurbs.h
index f896637..f0d5fdb 100644
--- a/src/math/spline/vpNurbs.h
+++ b/src/math/spline/vpNurbs.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNurbs.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpNurbs.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpExponentialMap.cpp b/src/math/transformation/vpExponentialMap.cpp
index 2a66fe8..128df22 100644
--- a/src/math/transformation/vpExponentialMap.cpp
+++ b/src/math/transformation/vpExponentialMap.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpExponentialMap.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpExponentialMap.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpExponentialMap.h b/src/math/transformation/vpExponentialMap.h
index 0ab20ef..f8ed340 100644
--- a/src/math/transformation/vpExponentialMap.h
+++ b/src/math/transformation/vpExponentialMap.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpExponentialMap.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpExponentialMap.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpForceTwistMatrix.cpp b/src/math/transformation/vpForceTwistMatrix.cpp
index 550c8f0..96b3aca 100644
--- a/src/math/transformation/vpForceTwistMatrix.cpp
+++ b/src/math/transformation/vpForceTwistMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpForceTwistMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpForceTwistMatrix.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -162,16 +162,16 @@ vpForceTwistMatrix::vpForceTwistMatrix(const vpHomogeneousMatrix &M) : vpMatrix(
Initialize a force/torque twist transformation matrix from a translation vector
\e t and a rotation vector with \f$\theta u \f$ parametrization.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param thetau : \f$\theta u\f$ rotation vector.
*/
-vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &t,
- const vpThetaUVector &thetau) : vpMatrix()
+vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &tv,
+ const vpThetaUVector &thetau) : vpMatrix()
{
init() ;
- buildFrom(t, thetau) ;
+ buildFrom(tv, thetau) ;
}
/*!
@@ -179,16 +179,16 @@ vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &t,
Initialize a force/torque twist transformation matrix from a translation vector
\e t and a rotation matrix R.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param R : Rotation matrix.
*/
-vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &t,
+vpForceTwistMatrix::vpForceTwistMatrix(const vpTranslationVector &tv,
const vpRotationMatrix &R)
{
init() ;
- buildFrom(t,R) ;
+ buildFrom(tv,R) ;
}
/*!
@@ -365,17 +365,17 @@ vpForceTwistMatrix::operator*(const vpColVector &H) const
Build a force/torque twist transformation matrix from a translation vector
\e t and a rotation matrix M.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param R : Rotation matrix.
*/
vpForceTwistMatrix
-vpForceTwistMatrix::buildFrom(const vpTranslationVector &t,
- const vpRotationMatrix &R)
+vpForceTwistMatrix::buildFrom(const vpTranslationVector &tv,
+ const vpRotationMatrix &R)
{
unsigned int i, j;
- vpMatrix skewaR = t.skew(t)*R ;
+ vpMatrix skewaR = tv.skew(tv)*R ;
for (i=0 ; i < 3 ; i++) {
for (j=0 ; j < 3 ; j++) {
@@ -392,18 +392,18 @@ vpForceTwistMatrix::buildFrom(const vpTranslationVector &t,
Initialize a force/torque twist transformation matrix from a translation vector
\e t and a rotation vector with \f$\theta u \f$ parametrization.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param thetau : \f$\theta u\f$ rotation vector.
*/
vpForceTwistMatrix
-vpForceTwistMatrix::buildFrom(const vpTranslationVector &t,
- const vpThetaUVector &thetau)
+vpForceTwistMatrix::buildFrom(const vpTranslationVector &tv,
+ const vpThetaUVector &thetau)
{
vpRotationMatrix R ;
R.buildFrom(thetau) ;
- buildFrom(t,R) ;
+ buildFrom(tv,R) ;
return (*this) ;
}
@@ -421,12 +421,12 @@ vpForceTwistMatrix::buildFrom(const vpTranslationVector &t,
vpForceTwistMatrix
vpForceTwistMatrix::buildFrom(const vpHomogeneousMatrix &M)
{
- vpTranslationVector t ;
+ vpTranslationVector tv ;
vpRotationMatrix R ;
M.extract(R) ;
- M.extract(t) ;
+ M.extract(tv) ;
- buildFrom(t, R) ;
+ buildFrom(tv, R) ;
return (*this) ;
}
diff --git a/src/math/transformation/vpForceTwistMatrix.h b/src/math/transformation/vpForceTwistMatrix.h
index e337a13..33a797a 100644
--- a/src/math/transformation/vpForceTwistMatrix.h
+++ b/src/math/transformation/vpForceTwistMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpForceTwistMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpForceTwistMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpHomogeneousMatrix.cpp b/src/math/transformation/vpHomogeneousMatrix.cpp
index 3dc2428..db8ca5d 100644
--- a/src/math/transformation/vpHomogeneousMatrix.cpp
+++ b/src/math/transformation/vpHomogeneousMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomogeneousMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHomogeneousMatrix.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -86,11 +86,11 @@ vpHomogeneousMatrix::init()
}
-vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &t,
- const vpQuaternionVector &q)
+vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &tv,
+ const vpQuaternionVector &q)
{
init();
- buildFrom(t,q);
+ buildFrom(tv,q);
}
/*!
@@ -111,19 +111,19 @@ vpHomogeneousMatrix::vpHomogeneousMatrix(const vpHomogeneousMatrix &M) : vpMatri
*this = M ;
}
-vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &t,
+vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &tv,
const vpThetaUVector &tu) : vpMatrix()
{
init() ;
- buildFrom(t,tu) ;
+ buildFrom(tv,tu) ;
}
-vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &t,
+vpHomogeneousMatrix::vpHomogeneousMatrix(const vpTranslationVector &tv,
const vpRotationMatrix &R) : vpMatrix()
{
init() ;
insert(R) ;
- insert(t) ;
+ insert(tv) ;
}
vpHomogeneousMatrix::vpHomogeneousMatrix(const vpPoseVector &p) : vpMatrix()
@@ -145,20 +145,20 @@ vpHomogeneousMatrix::vpHomogeneousMatrix(const double tx,
}
void
-vpHomogeneousMatrix::buildFrom(const vpTranslationVector &t,
+vpHomogeneousMatrix::buildFrom(const vpTranslationVector &tv,
const vpThetaUVector &tu)
{
insert(tu) ;
- insert(t) ;
+ insert(tv) ;
}
void
-vpHomogeneousMatrix::buildFrom(const vpTranslationVector &t,
+vpHomogeneousMatrix::buildFrom(const vpTranslationVector &tv,
const vpRotationMatrix &R)
{
init() ;
insert(R) ;
- insert(t) ;
+ insert(tv) ;
}
@@ -166,17 +166,17 @@ void
vpHomogeneousMatrix::buildFrom(const vpPoseVector &p)
{
- vpTranslationVector t(p[0],p[1],p[2]) ;
+ vpTranslationVector tv(p[0],p[1],p[2]) ;
vpThetaUVector tu(p[3],p[4],p[5]) ;
insert(tu) ;
- insert(t) ;
+ insert(tv) ;
}
-void vpHomogeneousMatrix::buildFrom(const vpTranslationVector &t,
+void vpHomogeneousMatrix::buildFrom(const vpTranslationVector &tv,
const vpQuaternionVector &q)
{
- insert(t);
+ insert(tv);
insert(q);
}
@@ -189,10 +189,10 @@ vpHomogeneousMatrix::buildFrom(const double tx,
const double tuz)
{
vpRotationMatrix R(tux, tuy, tuz) ;
- vpTranslationVector t(tx, ty, tz) ;
+ vpTranslationVector tv(tx, ty, tz) ;
insert(R) ;
- insert(t) ;
+ insert(tv) ;
}
/*!
@@ -308,11 +308,11 @@ vpHomogeneousMatrix::extract(vpRotationMatrix &R) const
Extract the translation vector from the homogeneous matrix.
*/
void
-vpHomogeneousMatrix::extract(vpTranslationVector &t) const
+vpHomogeneousMatrix::extract(vpTranslationVector &tv) const
{
- t[0] = (*this)[0][3] ;
- t[1] = (*this)[1][3] ;
- t[2] = (*this)[2][3] ;
+ tv[0] = (*this)[0][3] ;
+ tv[1] = (*this)[1][3] ;
+ tv[2] = (*this)[2][3] ;
}
/*!
Extract the rotation as a Theta U vector.
@@ -481,7 +481,7 @@ vpHomogeneousMatrix::inverse(vpHomogeneousMatrix &M) const
void
vpHomogeneousMatrix::save(std::ofstream &f) const
{
- if (f != NULL)
+ if (! f.fail())
{
f << *this ;
}
@@ -514,12 +514,12 @@ vpHomogeneousMatrix::save(std::ofstream &f) const
void
vpHomogeneousMatrix::load(std::ifstream &f)
{
- if (f != NULL)
+ if (! f.fail())
{
for (unsigned int i=0 ; i < 4 ; i++)
for (unsigned int j=0 ; j < 4 ; j++)
{
- f>> (*this)[i][j] ;
+ f >> (*this)[i][j] ;
}
}
else
diff --git a/src/math/transformation/vpHomogeneousMatrix.h b/src/math/transformation/vpHomogeneousMatrix.h
index 43c7b5f..9d1abda 100644
--- a/src/math/transformation/vpHomogeneousMatrix.h
+++ b/src/math/transformation/vpHomogeneousMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHomogeneousMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHomogeneousMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpPoseVector.cpp b/src/math/transformation/vpPoseVector.cpp
index b265652..bb472e2 100644
--- a/src/math/transformation/vpPoseVector.cpp
+++ b/src/math/transformation/vpPoseVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPoseVector.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -119,15 +119,15 @@ vpPoseVector::vpPoseVector(const double tx,
u]^\top\f$ from a translation vector \f$ \bf t \f$ and a \f$\Theta
\bf u\f$ vector.
- \param t : Translation vector \f$ \bf t \f$.
+ \param tv : Translation vector \f$ \bf t \f$.
\param tu : \f$\Theta \bf u\f$ rotation vector.
*/
-vpPoseVector::vpPoseVector(const vpTranslationVector& t,
+vpPoseVector::vpPoseVector(const vpTranslationVector& tv,
const vpThetaUVector& tu)
{
init() ;
- buildFrom(t,tu) ;
+ buildFrom(tv,tu) ;
}
/*!
@@ -136,17 +136,17 @@ vpPoseVector::vpPoseVector(const vpTranslationVector& t,
u]^\top\f$ from a translation vector \f$ \bf t \f$ and a rotation
matrix \f$ \bf R \f$.
- \param t : Translation vector \f$ \bf t \f$.
+ \param tv : Translation vector \f$ \bf t \f$.
\param R : Rotation matrix \f$ \bf R \f$ from which \f$\Theta \bf
u\f$ vector is extracted to initialise the pose vector.
*/
-vpPoseVector::vpPoseVector(const vpTranslationVector& t,
+vpPoseVector::vpPoseVector(const vpTranslationVector& tv,
const vpRotationMatrix& R)
{
init() ;
- buildFrom(t,R) ;
+ buildFrom(tv,R) ;
}
/*!
@@ -180,8 +180,8 @@ vpPoseVector
vpPoseVector::buildFrom(const vpHomogeneousMatrix& M)
{
vpRotationMatrix R ; M.extract(R) ;
- vpTranslationVector t ; M.extract(t) ;
- buildFrom(t,R) ;
+ vpTranslationVector tv ; M.extract(tv) ;
+ buildFrom(tv,R) ;
return *this ;
}
@@ -191,18 +191,18 @@ vpPoseVector::buildFrom(const vpHomogeneousMatrix& M)
from a translation vector \f$ \bf t \f$ and a \f$\Theta \bf u\f$
vector.
- \param t : Translation vector \f$ \bf t \f$.
+ \param tv : Translation vector \f$ \bf t \f$.
\param tu : \f$\Theta \bf u\f$ rotation vector.
\return The build pose vector.
*/
vpPoseVector
-vpPoseVector::buildFrom(const vpTranslationVector& t,
+vpPoseVector::buildFrom(const vpTranslationVector& tv,
const vpThetaUVector& tu)
{
for (unsigned int i =0 ; i < 3 ; i++)
{
- (*this)[i] = t[i] ;
+ (*this)[i] = tv[i] ;
(*this)[i+3] = tu[i] ;
}
return *this ;
@@ -214,7 +214,7 @@ vpPoseVector::buildFrom(const vpTranslationVector& t,
from a translation vector \f$ \bf t \f$ and a rotation matrix \f$
\bf R \f$.
- \param t : Translation vector \f$ \bf t \f$.
+ \param tv : Translation vector \f$ \bf t \f$.
\param R : Rotation matrix \f$ \bf R \f$ from which \f$\Theta \bf
u\f$ vector is extracted to initialise the pose vector.
@@ -222,13 +222,13 @@ vpPoseVector::buildFrom(const vpTranslationVector& t,
\return The build pose vector.
*/
vpPoseVector
-vpPoseVector::buildFrom(const vpTranslationVector& t,
+vpPoseVector::buildFrom(const vpTranslationVector& tv,
const vpRotationMatrix& R)
{
vpThetaUVector tu ;
tu.buildFrom(R) ;
- buildFrom(t,tu) ;
+ buildFrom(tv,tu) ;
return *this ;
}
@@ -276,7 +276,7 @@ vpPoseVector::print()
void
vpPoseVector::save(std::ofstream &f) const
{
- if (f != NULL)
+ if (! f.fail())
{
f << *this ;
}
@@ -301,18 +301,18 @@ vpPoseVector::save(std::ofstream &f) const
void
vpPoseVector::load(std::ifstream &f)
{
- if (f != NULL)
+ if (! f.fail())
+ {
+ for (unsigned int i=0 ; i < 6 ; i++)
{
- for (unsigned int i=0 ; i < 6 ; i++)
- {
- f>> (*this)[i] ;
- }
+ f >> (*this)[i] ;
}
+ }
else
- {
- vpERROR_TRACE("\t\t file not open " );
- throw(vpException(vpException::ioError, "\t\t file not open")) ;
- }
+ {
+ vpERROR_TRACE("\t\t file not open " );
+ throw(vpException(vpException::ioError, "\t\t file not open")) ;
+ }
}
diff --git a/src/math/transformation/vpPoseVector.h b/src/math/transformation/vpPoseVector.h
index dd50230..607fdcd 100644
--- a/src/math/transformation/vpPoseVector.h
+++ b/src/math/transformation/vpPoseVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoseVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPoseVector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpQuaternionVector.cpp b/src/math/transformation/vpQuaternionVector.cpp
index 07beeca..f00cab0 100644
--- a/src/math/transformation/vpQuaternionVector.cpp
+++ b/src/math/transformation/vpQuaternionVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpQuaternionVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpQuaternionVector.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,14 +54,13 @@ const double vpQuaternionVector::minimum = 0.0001;
\file vpQuaternionVector.cpp
\brief Defines a quaternion and common operations on it.
*/
-vpQuaternionVector::vpQuaternionVector() : vpRotationVector(4) { }
//! Constructor from doubles.
-vpQuaternionVector::vpQuaternionVector(const double x, const double y,
- const double z,const double w)
+vpQuaternionVector::vpQuaternionVector(const double x_, const double y_,
+ const double z_,const double w_)
: vpRotationVector(4)
{
- set(x, y, z, w);
+ set(x_, y_, z_, w_);
}
/*!
@@ -74,30 +73,21 @@ vpQuaternionVector::vpQuaternionVector(const vpRotationMatrix &R)
{
buildFrom(R);
}
-/*!
- Copy constructor.
- \param q : quaternion to construct from.
-*/
-vpQuaternionVector::vpQuaternionVector(const vpQuaternionVector &q)
- : vpRotationVector(4)
-{
- for(unsigned int i=0;i<size();i++) (*this)[i]=q.r[i];
-}
-
+
/*!
Manually change values of a quaternion.
- \param x : x quaternion parameter.
- \param y : y quaternion parameter.
- \param z : z quaternion parameter.
- \param w : w quaternion parameter.
+ \param x_ : x quaternion parameter.
+ \param y_ : y quaternion parameter.
+ \param z_ : z quaternion parameter.
+ \param w_ : w quaternion parameter.
*/
-void vpQuaternionVector::set(const double x, const double y,
- const double z,const double w)
+void vpQuaternionVector::set(const double x_, const double y_,
+ const double z_,const double w_)
{
- r[0]=x;
- r[1]=y;
- r[2]=z;
- r[3]=w;
+ r[0]=x_;
+ r[1]=y_;
+ r[2]=z_;
+ r[3]=w_;
}
@@ -144,13 +134,6 @@ vpQuaternionVector vpQuaternionVector::operator* ( vpQuaternionVector &rq) {
w() * rq.w() - x() * rq.x() - y() * rq.y() - z() * rq.z());
}
-//! Copy operator. Allow operation such as Q = q.
-vpQuaternionVector &vpQuaternionVector::operator=( vpQuaternionVector &q)
-{
- for(unsigned int i=0;i<size();i++) (*this)[i]=q.r[i];
- return *this;
-}
-
/*!
Constructs a quaternion from a rotation matrix.
diff --git a/src/math/transformation/vpQuaternionVector.h b/src/math/transformation/vpQuaternionVector.h
index a98224b..a41a41f 100644
--- a/src/math/transformation/vpQuaternionVector.h
+++ b/src/math/transformation/vpQuaternionVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpQuaternionVector.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpQuaternionVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -82,9 +82,11 @@ private:
static const double minimum;
public:
- vpQuaternionVector() ;
+ /*! Default constructor that initialize all the angles to zero. */
+ vpQuaternionVector() : vpRotationVector(4) {}
+ /*! Copy constructor. */
+ vpQuaternionVector(const vpQuaternionVector &q) : vpRotationVector(q) {}
vpQuaternionVector(const double x, const double y, const double z,const double w) ;
- vpQuaternionVector(const vpQuaternionVector &q);
vpQuaternionVector(const vpRotationMatrix &R);
void buildFrom(const vpRotationMatrix& R);
@@ -104,8 +106,7 @@ public:
vpQuaternionVector operator-( vpQuaternionVector &q) ;
vpQuaternionVector operator-() ;
vpQuaternionVector operator*(const double l) ;
- vpQuaternionVector operator* ( vpQuaternionVector &rq) ;
- vpQuaternionVector &operator=( vpQuaternionVector &q);
+ vpQuaternionVector operator*( vpQuaternionVector &rq) ;
} ;
#endif
diff --git a/src/math/transformation/vpRotationMatrix.cpp b/src/math/transformation/vpRotationMatrix.cpp
index f3894e9..b1fe772 100644
--- a/src/math/transformation/vpRotationMatrix.cpp
+++ b/src/math/transformation/vpRotationMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRotationMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRotationMatrix.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -456,7 +456,7 @@ vpRotationMatrix::inverse(vpRotationMatrix &M) const
//! std::cout an rotation matrix [thetaU]
-std::ostream &operator <<(std::ostream &s,const vpRotationMatrix &R)
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpRotationMatrix &R)
{
for (unsigned int i=0; i<3; i++)
{
diff --git a/src/math/transformation/vpRotationMatrix.h b/src/math/transformation/vpRotationMatrix.h
index 04b47d9..dfbad69 100644
--- a/src/math/transformation/vpRotationMatrix.h
+++ b/src/math/transformation/vpRotationMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRotationMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRotationMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpRotationVector.cpp b/src/math/transformation/vpRotationVector.cpp
index 6c95e25..5829b3e 100644
--- a/src/math/transformation/vpRotationVector.cpp
+++ b/src/math/transformation/vpRotationVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRotationVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRotationVector.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -97,8 +97,9 @@ Rxyz rotation vector:
0
\endcode
*/
-std::ostream &operator <<(std::ostream &s,const vpRotationVector &m)
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpRotationVector &m)
{
+ std::ios::fmtflags original_flags( s.flags() );
s.precision(10) ;
for (unsigned int i=0; i < m.size(); i++)
@@ -106,12 +107,15 @@ std::ostream &operator <<(std::ostream &s,const vpRotationVector &m)
s << std::endl;
+ // Restore ostream format
+ s.flags(original_flags);
+
return s;
}
-void vpRotationVector::init(const unsigned int size){
- this->_size = size;
+void vpRotationVector::init(const unsigned int vector_size){
+ this->_size = vector_size;
r = new double[this->_size];
std::fill(r,r+this->_size,0.);
}
@@ -119,9 +123,3 @@ void vpRotationVector::init(const unsigned int size){
vpRotationVector::~vpRotationVector(){
delete[] r;
}
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/math/transformation/vpRotationVector.h b/src/math/transformation/vpRotationVector.h
index 118b41a..965ee37 100644
--- a/src/math/transformation/vpRotationVector.h
+++ b/src/math/transformation/vpRotationVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRotationVector.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRotationVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -83,11 +83,10 @@ int main()
std::cout << "Rxyz rotation vector: " << r << std::endl;
- double rx = r[1]; // Get the value of the angle around x axis
- double ry = r[2]; // Get the value of the angle around y axis
- double rz = r[3]; // Get the value of the angle around z axis
+ double rx = r[0]; // Get the value of the angle around x axis
+ double ry = r[1]; // Get the value of the angle around y axis
+ double rz = r[2]; // Get the value of the angle around z axis
}
-
\endcode
*/
@@ -100,18 +99,29 @@ protected:
unsigned int _size;
void init(const unsigned int size);
public:
- //! Constructor that constructs a vector of size 3 initialize three vector values to zero.
- vpRotationVector() {
- init(3);
+ //! Constructor that constructs a vector of size 3 and initialize all values to zero.
+ vpRotationVector()
+ : r(NULL), _size(0)
+ {
+ init(3);
}
-
- //! Constructor that constructs a vector of size n initialize three vector values to zero.
- vpRotationVector(const unsigned int n) {
- init(n);
+ //! Constructor that constructs a vector of size n and initialize all values to zero.
+ vpRotationVector(const unsigned int n)
+ : r(NULL), _size(n)
+ {
+ init(n);
+ }
+ /*!
+ Copy operator.
+ */
+ vpRotationVector(const vpRotationVector &v)
+ : r(NULL), _size(0)
+ {
+ *this = v;
}
-
- ~vpRotationVector();
+
+ virtual ~vpRotationVector();
/*!
Operator that allows to set the value of an element of the rotation
@@ -124,7 +134,19 @@ public:
*/
inline const double &operator [](unsigned int n) const { return *(r+n); }
-
+ /*!
+ Affectation of two vectors.
+ */
+ vpRotationVector &operator=(const vpRotationVector &v)
+ {
+ init(v.size());
+ for (unsigned int i=0; i<_size; i++)
+ {
+ r[i] = v.r[i] ;
+ }
+ return *this;
+ }
+
/*! Returns the size of the rotation vector
*/
unsigned int size() const;
@@ -132,8 +154,7 @@ public:
// Transpose of the rotation vector.
vpRowVector t() const;
- friend VISP_EXPORT std::ostream &operator << (std::ostream &s,
- const vpRotationVector &m);
+ friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpRotationVector &m);
} ;
diff --git a/src/math/transformation/vpRxyzVector.cpp b/src/math/transformation/vpRxyzVector.cpp
index 6fe57a9..cc2218e 100644
--- a/src/math/transformation/vpRxyzVector.cpp
+++ b/src/math/transformation/vpRxyzVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRxyzVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRxyzVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,27 +51,6 @@
*/
-/*!
- Affectation of two vectors.
-*/
-vpRxyzVector &
-vpRxyzVector::operator=(const vpRxyzVector &m)
-{
-
- for (int i=0; i<3; i++)
- {
- r[i] = m.r[i] ;
- }
- return *this;
-}
-
-
-//! Copy constructor.
-vpRxyzVector::vpRxyzVector(const vpRxyzVector &m) : vpRotationVector()
-{
- *this = m ;
-}
-
/*!
Constructor that initialize \f$R_{xyz}=(\varphi,\theta,\psi)\f$ Euler
angles from a rotation matrix.
diff --git a/src/math/transformation/vpRxyzVector.h b/src/math/transformation/vpRxyzVector.h
index a52f2f6..ec1f258 100644
--- a/src/math/transformation/vpRxyzVector.h
+++ b/src/math/transformation/vpRxyzVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRxyzVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRxyzVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -155,12 +155,11 @@ class VISP_EXPORT vpRxyzVector : public vpRotationVector
friend class vpThetaUVector;
public:
- //! Default constructor. Initialize the angles to zero.
- vpRxyzVector() { ; }
-
- // Copy constructor.
- vpRxyzVector(const vpRxyzVector &m);
-
+ /*! Default constructor that initialize all the angles to zero. */
+ vpRxyzVector() {}
+ /*! Copy constructor. */
+ vpRxyzVector(const vpRxyzVector &rxyz) : vpRotationVector(rxyz) {}
+
/*!
Constructor from 3 angles (in radian).
\param phi : \f$\varphi\f$ angle around the \f$x\f$ axis.
@@ -176,9 +175,6 @@ class VISP_EXPORT vpRxyzVector : public vpRotationVector
// initialize a Rxyz vector from a ThetaU vector
vpRxyzVector(const vpThetaUVector& tu) ;
- // Affectation of two vectors.
- vpRxyzVector &operator=(const vpRxyzVector &m);
-
/*!
Construction from 3 angles (in radian).
\param phi : \f$\varphi\f$ angle around the \f$x\f$ axis.
@@ -201,9 +197,3 @@ class VISP_EXPORT vpRxyzVector : public vpRotationVector
} ;
#endif
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/math/transformation/vpRzyxVector.cpp b/src/math/transformation/vpRzyxVector.cpp
index d2e5b18..abeab6c 100644
--- a/src/math/transformation/vpRzyxVector.cpp
+++ b/src/math/transformation/vpRzyxVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRzyxVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRzyxVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,29 +51,6 @@
*/
-
-/*!
- Affectation of two vectors.
-*/
-vpRzyxVector &
-vpRzyxVector::operator=(const vpRzyxVector &m)
-{
-
- for (int i=0; i<3; i++)
- {
- r[i] = m.r[i] ;
- }
- return *this;
-}
-
-
-//! Copy constructor.
-vpRzyxVector::vpRzyxVector(const vpRzyxVector &m) : vpRotationVector()
-{
- *this = m ;
-}
-
-
/*!
Constructor that initialize \f$R_{zyx}=(\varphi,\theta,\psi)\f$ Euler
angles from a rotation matrix.
diff --git a/src/math/transformation/vpRzyxVector.h b/src/math/transformation/vpRzyxVector.h
index 5d2af9b..329c4b4 100644
--- a/src/math/transformation/vpRzyxVector.h
+++ b/src/math/transformation/vpRzyxVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRzyxVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRzyxVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -154,11 +154,10 @@ class VISP_EXPORT vpRzyxVector : public vpRotationVector
friend class vpThetaUVector;
public:
- //! Default constructor. Initialize the angles to zero.
- vpRzyxVector() { ; }
-
- // Copy constructor.
- vpRzyxVector(const vpRzyxVector &m);
+ /*! Default constructor that initialize all the angles to zero. */
+ vpRzyxVector() {}
+ /*! Copy constructor. */
+ vpRzyxVector(const vpRzyxVector &rzyx) : vpRotationVector(rzyx) {}
/*!
Constructor from 3 angles (in radian).
@@ -173,10 +172,7 @@ public:
vpRzyxVector(const vpRotationMatrix& R) ;
// initialize a Rzyx vector from a ThetaU vector
- vpRzyxVector(const vpThetaUVector& tu) ;
-
- // Affectation of two vectors.
- vpRzyxVector &operator=(const vpRzyxVector &m);
+ vpRzyxVector(const vpThetaUVector& tu) ;
/*!
Construction from 3 angles (in radian).
diff --git a/src/math/transformation/vpRzyzVector.cpp b/src/math/transformation/vpRzyzVector.cpp
index 63c1f3f..d0d0eb2 100644
--- a/src/math/transformation/vpRzyzVector.cpp
+++ b/src/math/transformation/vpRzyzVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRzyzVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRzyzVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,28 +51,6 @@
Rzyz(phi,theta,psi) = Rot(z,phi)Rot(y,theta)Rot(z,psi)
*/
-
-/*!
- Affectation of two vectors.
-*/
-vpRzyzVector &
-vpRzyzVector::operator=(const vpRzyzVector &m)
-{
-
- for (int i=0; i<3; i++)
- {
- r[i] = m.r[i] ;
- }
- return *this;
-}
-
-
-//! Copy constructor.
-vpRzyzVector::vpRzyzVector(const vpRzyzVector &m) : vpRotationVector()
-{
- *this = m ;
-}
-
/*!
Constructor that initialize \f$R_{zyz}=(\varphi,\theta,\psi)\f$ Euler
angles from a rotation matrix.
@@ -83,7 +61,6 @@ vpRzyzVector::vpRzyzVector(const vpRotationMatrix& R)
buildFrom(R) ;
}
-
/*!
Constructor that initialize \f$R_{zyz}=(\varphi,\theta,\psi)\f$ Euler
angles vector from a \f$\theta u\f$ vector.
@@ -144,11 +121,30 @@ vpRzyzVector::buildFrom(const vpThetaUVector& tu)
return *this ;
}
+/*!
+
+ Initialize each element of the vector to the same angle value \e v.
+
+ \param v : Angle value to set for each element of the vector.
+
+\code
+#include <visp/vpMath.h>
+#include <visp/vpRzyzVector.h>
+
+int main()
+{
+ vpRzyzVector r;
+ // Initialise the rotation vector
+ r = vpMath::rad( 45.f); // All the 3 angles are set to 45 degrees
+}
+\endcode
+*/
+vpRzyzVector &vpRzyzVector::operator=(double v)
+{
+ for (int i=0; i< 3; i++)
+ r[i] = v;
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+ return *this;
+}
diff --git a/src/math/transformation/vpRzyzVector.h b/src/math/transformation/vpRzyzVector.h
index 801f04c..90865e9 100644
--- a/src/math/transformation/vpRzyzVector.h
+++ b/src/math/transformation/vpRzyzVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRzyzVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRzyzVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -153,12 +153,11 @@ class VISP_EXPORT vpRzyzVector : public vpRotationVector
friend class vpThetaUVector;
public:
- //! Default constructor. Initialize the angles to zero.
- vpRzyzVector() { ; }
+ /*! Default constructor that initialize all the angles to zero. */
+ vpRzyzVector() {}
+ /*! Copy constructor. */
+ vpRzyzVector(const vpRzyzVector &rzyz) : vpRotationVector(rzyz) {}
- // Copy constructor.
- vpRzyzVector(const vpRzyzVector &m);
-
/*!
Constructor from 3 angles (in radian).
\param phi : \f$\varphi\f$ angle around the \f$z\f$ axis.
@@ -174,9 +173,6 @@ class VISP_EXPORT vpRzyzVector : public vpRotationVector
// initialize a Rzyz vector from a ThetaU vector
vpRzyzVector(const vpThetaUVector& tu);
- // Affectation of two vectors.
- vpRzyzVector &operator=(const vpRzyzVector &m);
-
/*!
Construction from 3 angles (in radian).
\param phi : \f$\varphi\f$ angle around the \f$z\f$ axis.
@@ -195,11 +191,9 @@ class VISP_EXPORT vpRzyzVector : public vpRotationVector
// convert a ThetaU vector into a Rzyz vector
vpRzyzVector buildFrom(const vpThetaUVector& R) ;
+
+ vpRzyzVector &operator=(double x) ;
+
} ;
#endif
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/math/transformation/vpThetaUVector.cpp b/src/math/transformation/vpThetaUVector.cpp
index 4e5b690..84f4176 100644
--- a/src/math/transformation/vpThetaUVector.cpp
+++ b/src/math/transformation/vpThetaUVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpThetaUVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+* $Id: vpThetaUVector.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,28 +55,6 @@ rotation
const double vpThetaUVector::minimum = 0.0001;
/*!
-Affectation of two \f$\theta {\bf u}\f$ vector.
-*/
-vpThetaUVector &
-vpThetaUVector::operator=(const vpThetaUVector &m)
-{
- for (int i=0; i<3; i++)
- {
- r[i] = m.r[i] ;
- }
- return *this;
-}
-
-
-/*!
-Copy constructor.
-*/
-vpThetaUVector::vpThetaUVector(const vpThetaUVector &m) : vpRotationVector()
-{
- *this = m ;
-}
-
-/*!
Initialize a \f$\theta {\bf u}\f$ vector from an homogeneous matrix.
*/
vpThetaUVector::vpThetaUVector(const vpHomogeneousMatrix& M)
@@ -271,7 +249,7 @@ vpThetaUVector::buildFrom(const vpRxyzVector& rxyz)
return *this ;
}
-/*!
+/*!
Initialize each element of the \f$\theta {\bf u}\f$ vector to the
same angle value \e v.
@@ -327,8 +305,3 @@ vpThetaUVector::extract(double &theta, vpColVector &u) const
}
#undef vpDEBUG_LEVEL1
-/*
-* Local variables:
-* c-basic-offset: 2
-* End:
-*/
diff --git a/src/math/transformation/vpThetaUVector.h b/src/math/transformation/vpThetaUVector.h
index 43e2f5f..27b1331 100644
--- a/src/math/transformation/vpThetaUVector.h
+++ b/src/math/transformation/vpThetaUVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpThetaUVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpThetaUVector.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -148,10 +148,10 @@ private:
public:
- // constructor
- vpThetaUVector() { ; }
- // copy constructor
- vpThetaUVector(const vpThetaUVector &tu) ;
+ /*! Default constructor that initialize all the angles to zero. */
+ vpThetaUVector() {}
+ /*! Copy constructor. */
+ vpThetaUVector(const vpThetaUVector &tu) : vpRotationVector(tu) {}
// constructor initialize a Theta U vector from a homogeneous matrix
vpThetaUVector(const vpHomogeneousMatrix & M) ;
@@ -181,8 +181,6 @@ public:
// convert an Rxyz vector into Theta U vector
vpThetaUVector buildFrom(const vpRxyzVector &xyz) ;
- // copy operator
- vpThetaUVector &operator=(const vpThetaUVector &tu);
vpThetaUVector &operator=(double x) ;
// extract the angle and the axis from the ThetaU representation
diff --git a/src/math/transformation/vpTranslationVector.cpp b/src/math/transformation/vpTranslationVector.cpp
index 46e35fa..9222e97 100644
--- a/src/math/transformation/vpTranslationVector.cpp
+++ b/src/math/transformation/vpTranslationVector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTranslationVector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTranslationVector.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -82,7 +82,7 @@ vpTranslationVector::vpTranslationVector(const double tx,
/*!
Copy constructor.
- \param t : Translation vector to copy.
+ \param tv : Translation vector to copy.
\code
vpTranslationVector t1(1,2,3); // Create and initialize a translation vector
@@ -91,7 +91,7 @@ vpTranslationVector::vpTranslationVector(const double tx,
\endcode
*/
-vpTranslationVector::vpTranslationVector (const vpTranslationVector &t) : vpColVector(t)
+vpTranslationVector::vpTranslationVector (const vpTranslationVector &tv) : vpColVector(tv)
{
}
@@ -114,7 +114,7 @@ vpTranslationVector::set(const double tx,
/*!
Operator that allows to add two translation vectors.
- \param t : Translation vector to add.
+ \param tv : Translation vector to add.
\return The sum of the current translation vector (*this) and the one to add.
\code
@@ -129,11 +129,11 @@ vpTranslationVector::set(const double tx,
*/
vpTranslationVector
-vpTranslationVector::operator+(const vpTranslationVector &t) const
+vpTranslationVector::operator+(const vpTranslationVector &tv) const
{
vpTranslationVector sum ;
- for (unsigned int i=0;i<3;i++) sum[i] = (*this)[i]+t[i] ;
+ for (unsigned int i=0;i<3;i++) sum[i] = (*this)[i]+tv[i] ;
return sum;
}
@@ -141,7 +141,7 @@ vpTranslationVector::operator+(const vpTranslationVector &t) const
/*!
Operator that allows to substract two translation vectors.
- \param t : Translation vector to substract.
+ \param tv : Translation vector to substract.
\return The substraction of the current translation vector (*this) and the one to substract.
\code
@@ -156,11 +156,11 @@ vpTranslationVector::operator+(const vpTranslationVector &t) const
*/
vpTranslationVector
-vpTranslationVector::operator-(const vpTranslationVector &t) const
+vpTranslationVector::operator-(const vpTranslationVector &tv) const
{
vpTranslationVector sub ;
- for (unsigned int i=0;i<3;i++) sub[i] = (*this)[i]-t[i] ;
+ for (unsigned int i=0;i<3;i++) sub[i] = (*this)[i]-tv[i] ;
return sub;
}
@@ -182,13 +182,13 @@ vpTranslationVector::operator-(const vpTranslationVector &t) const
*/
vpTranslationVector vpTranslationVector::operator-() const //negate
{
- vpTranslationVector t ;
- for (unsigned int i=0;i<dsize;i++)
- {
- *(t.data + i) = -*(data + i) ;
- }
+ vpTranslationVector tv ;
+ for (unsigned int i=0;i<dsize;i++)
+ {
+ *(tv.data + i) = -*(data + i) ;
+ }
- return t;
+ return tv;
}
/*!
@@ -208,18 +208,18 @@ vpTranslationVector vpTranslationVector::operator-() const //negate
*/
vpTranslationVector vpTranslationVector::operator*(const double x) const
{
- vpTranslationVector t ;
- for (unsigned int i=0;i<dsize;i++)
- {
- *(t.data + i) = (*(data + i)) * x ;
- }
+ vpTranslationVector tv ;
+ for (unsigned int i=0;i<dsize;i++)
+ {
+ *(tv.data + i) = (*(data + i)) * x ;
+ }
- return t;
+ return tv;
}
/*!
Copy operator.
- \param t : Translation vector to copy
+ \param tv : Translation vector to copy
\return A copy of t.
\code
@@ -230,10 +230,10 @@ vpTranslationVector vpTranslationVector::operator*(const double x) const
// t2 is now equal to t1 : 1, 2, 3
\endcode
*/
-vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &t)
+vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &tv)
{
- unsigned int k = t.rowNum ;
+ unsigned int k = tv.rowNum ;
if (rowNum != k){
try {
resize(k);
@@ -245,7 +245,7 @@ vpTranslationVector &vpTranslationVector::operator=(const vpTranslationVector &t
}
}
- memcpy(data, t.data, rowNum*sizeof(double)) ;
+ memcpy(data, tv.data, rowNum*sizeof(double)) ;
return *this;
}
diff --git a/src/math/transformation/vpTranslationVector.h b/src/math/transformation/vpTranslationVector.h
index 53d4e55..16c5d06 100644
--- a/src/math/transformation/vpTranslationVector.h
+++ b/src/math/transformation/vpTranslationVector.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTranslationVector.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTranslationVector.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/math/transformation/vpVelocityTwistMatrix.cpp b/src/math/transformation/vpVelocityTwistMatrix.cpp
index 3bf5067..add5bec 100644
--- a/src/math/transformation/vpVelocityTwistMatrix.cpp
+++ b/src/math/transformation/vpVelocityTwistMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpVelocityTwistMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpVelocityTwistMatrix.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -146,16 +146,16 @@ vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpHomogeneousMatrix &M) : vpM
Initialize a velocity twist transformation matrix from a translation vector
\e t and a rotation vector with \f$\theta u \f$ parametrization.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param thetau : \f$\theta u\f$ rotation vector.
*/
-vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &t,
+vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &tv,
const vpThetaUVector &thetau) : vpMatrix()
{
init() ;
- buildFrom(t, thetau) ;
+ buildFrom(tv, thetau) ;
}
/*!
@@ -163,16 +163,16 @@ vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &t,
Initialize a velocity twist transformation matrix from a translation vector
\e t and a rotation matrix M.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param R : Rotation matrix.
*/
-vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &t,
+vpVelocityTwistMatrix::vpVelocityTwistMatrix(const vpTranslationVector &tv,
const vpRotationMatrix &R)
{
init() ;
- buildFrom(t,R) ;
+ buildFrom(tv,R) ;
}
/*!
@@ -313,17 +313,18 @@ vpVelocityTwistMatrix::operator*(const vpColVector &v) const
vpColVector c(6);
if (6 != v.getRows())
- {
- vpERROR_TRACE("vpVelocityTwistMatrix mismatch in vpVelocityTwistMatrix/vector multiply") ;
- throw(vpMatrixException::incorrectMatrixSizeError) ;
- }
+ {
+ vpERROR_TRACE("vpVelocityTwistMatrix mismatch in vpVelocityTwistMatrix/vector multiply") ;
+ throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
+ "Mismatch in vpVelocityTwistMatrix/vector multiply")) ;
+ }
c = 0.0;
for (unsigned int i=0;i<6;i++) {
for (unsigned int j=0;j<6;j++) {
{
- c[i]+=rowPtrs[i][j] * v[j];
+ c[i]+=rowPtrs[i][j] * v[j];
}
}
}
@@ -337,26 +338,26 @@ vpVelocityTwistMatrix::operator*(const vpColVector &v) const
Build a velocity twist transformation matrix from a translation vector
\e t and a rotation matrix M.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param R : Rotation matrix.
*/
vpVelocityTwistMatrix
-vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t,
+vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &tv,
const vpRotationMatrix &R)
{
unsigned int i, j;
- vpMatrix skewaR = t.skew(t)*R ;
+ vpMatrix skewaR = tv.skew(tv)*R ;
for (i=0 ; i < 3 ; i++)
for (j=0 ; j < 3 ; j++)
- {
- (*this)[i][j] = R[i][j] ;
- (*this)[i+3][j+3] = R[i][j] ;
- (*this)[i][j+3] = skewaR[i][j] ;
+ {
+ (*this)[i][j] = R[i][j] ;
+ (*this)[i+3][j+3] = R[i][j] ;
+ (*this)[i][j+3] = skewaR[i][j] ;
- }
+ }
return (*this) ;
}
@@ -365,18 +366,18 @@ vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t,
Initialize a velocity twist transformation matrix from a translation vector
\e t and a rotation vector with \f$\theta u \f$ parametrization.
- \param t : Translation vector.
+ \param tv : Translation vector.
\param thetau : \f$\theta u\f$ rotation vector.
*/
vpVelocityTwistMatrix
-vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t,
+vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &tv,
const vpThetaUVector &thetau)
{
vpRotationMatrix R ;
R.buildFrom(thetau) ;
- buildFrom(t,R) ;
+ buildFrom(tv,R) ;
return (*this) ;
}
@@ -395,12 +396,12 @@ vpVelocityTwistMatrix::buildFrom(const vpTranslationVector &t,
vpVelocityTwistMatrix
vpVelocityTwistMatrix::buildFrom(const vpHomogeneousMatrix &M)
{
- vpTranslationVector t ;
+ vpTranslationVector tv ;
vpRotationMatrix R ;
M.extract(R) ;
- M.extract(t) ;
+ M.extract(tv) ;
- buildFrom(t, R) ;
+ buildFrom(tv, R) ;
return (*this) ;
}
@@ -438,7 +439,7 @@ vpVelocityTwistMatrix::extract( vpRotationMatrix &R) const
//! extract the translation vector from the twist matrix
void
-vpVelocityTwistMatrix::extract(vpTranslationVector &t) const
+vpVelocityTwistMatrix::extract(vpTranslationVector &tv) const
{
vpRotationMatrix R;extract(R);
vpMatrix skTR(3,3);
@@ -447,9 +448,9 @@ vpVelocityTwistMatrix::extract(vpTranslationVector &t) const
skTR[i][j] = (*this)[i][j+3];
vpMatrix skT = skTR*R.t();
- t[0] = skT[2][1];
- t[1] = skT[0][2];
- t[2] = skT[1][0];
+ tv[0] = skT[2][1];
+ tv[1] = skT[0][2];
+ tv[2] = skT[1][0];
}
/*
diff --git a/src/math/transformation/vpVelocityTwistMatrix.h b/src/math/transformation/vpVelocityTwistMatrix.h
index b8d0221..1ca88bc 100644
--- a/src/math/transformation/vpVelocityTwistMatrix.h
+++ b/src/math/transformation/vpVelocityTwistMatrix.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpVelocityTwistMatrix.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpVelocityTwistMatrix.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/network/vpClient.cpp b/src/network/vpClient.cpp
index fb887c2..66e5e2a 100644
--- a/src/network/vpClient.cpp
+++ b/src/network/vpClient.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpClient.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpClient.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -42,8 +42,9 @@
#include <visp/vpClient.h>
-vpClient::vpClient() : vpNetwork()
-{}
+vpClient::vpClient() : vpNetwork(), numberOfAttempts(0)
+{
+}
/*!
Disconnect the client from all the servers, and close the sockets.
@@ -82,7 +83,7 @@ bool vpClient::connectToHostname(const std::string &hostname, const unsigned int
serv.socketFileDescriptorReceptor = socket( AF_INET, SOCK_STREAM, 0 );
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( serv.socketFileDescriptorReceptor < 0){
#else
if ( serv.socketFileDescriptorReceptor == INVALID_SOCKET){
@@ -117,7 +118,7 @@ bool vpClient::connectToIP(const std::string &ip, const unsigned int &port_serv)
serv.socketFileDescriptorReceptor = socket( AF_INET, SOCK_STREAM, 0 );
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( serv.socketFileDescriptorReceptor < 0){
#else
if ( serv.socketFileDescriptorReceptor == INVALID_SOCKET){
@@ -144,9 +145,9 @@ void vpClient::deconnect(const unsigned int &index)
{
if(index < receptor_list.size())
{
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
shutdown( receptor_list[index].socketFileDescriptorReceptor, SHUT_RDWR );
-#else // WIN32
+#else // _WIN32
shutdown( receptor_list[index].socketFileDescriptorReceptor, SD_BOTH );
#endif
receptor_list.erase(receptor_list.begin()+(int)index);
@@ -159,9 +160,9 @@ void vpClient::deconnect(const unsigned int &index)
void vpClient::stop()
{
for(unsigned int i = 0 ; i < receptor_list.size() ; i++){
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
shutdown( receptor_list[i].socketFileDescriptorReceptor, SHUT_RDWR );
-#else // WIN32
+#else // _WIN32
shutdown( receptor_list[i].socketFileDescriptorReceptor, SD_BOTH );
#endif
receptor_list.erase(receptor_list.begin()+(int)i);
@@ -184,7 +185,7 @@ bool vpClient::connectServer(vpNetwork::vpReceptor &serv)
numberOfAttempts = 15;
unsigned int ind = 1;
- int connectionResult;
+ int connectionResult=-1;
while(ind <= numberOfAttempts){
std::cout << "Attempt number " << ind << "..." << std::endl;
diff --git a/src/network/vpClient.h b/src/network/vpClient.h
index 2197739..0f45779 100644
--- a/src/network/vpClient.h
+++ b/src/network/vpClient.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpClient.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpClient.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/network/vpNetwork.cpp b/src/network/vpNetwork.cpp
index 579e79e..7f8e57c 100644
--- a/src/network/vpNetwork.cpp
+++ b/src/network/vpNetwork.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNetwork.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpNetwork.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -43,19 +43,15 @@
#include <visp/vpNetwork.h>
vpNetwork::vpNetwork()
-{
- separator = "[*@*]";
- beginning = "[*start*]";
- end = "[*end*]";
- param_sep = "[*|*]";
- max_size_message = 999999;
-
- tv_sec = 0;
- tv_usec = 10;
+ : emitter(), receptor_list(), readFileDescriptor(), socketMax(0), request_list(),
+ max_size_message(999999), separator("[*@*]"), beginning("[*start*]"), end("[*end*]"),
+ param_sep("[*|*]"), currentMessageReceived(), tv(), tv_sec(0), tv_usec(10),
+ verboseMode(false)
+{
+ tv.tv_sec = tv_sec;
+ tv.tv_usec = tv_usec;
- verboseMode = false;
-
-#ifdef WIN32
+#if defined(_WIN32)
//Enable the sockets to be used
//Note that: if we were using "winsock.h" instead of "winsock2.h" we would had to use:
//WSAStartup(MAKEWORD(1,0), &WSAData);
@@ -66,7 +62,7 @@ vpNetwork::vpNetwork()
vpNetwork::~vpNetwork()
{
-#ifdef WIN32
+#if defined(_WIN32)
WSACleanup();
#endif
}
@@ -135,7 +131,7 @@ void vpNetwork::print(const char *id)
\param name : Name of the receptor.
- \return Index of the receptor.
+ \return Index of the receptor, or -1 if an error occurs.
*/
int vpNetwork::getReceptorIndex(const char *name)
{
@@ -146,7 +142,8 @@ int vpNetwork::getReceptorIndex(const char *name)
std::string noSuchHostMessage( "ERROR, " );
noSuchHostMessage.append( name );
noSuchHostMessage.append( ": no such host\n" );
- vpERROR_TRACE( noSuchHostMessage.c_str(), "vpClient::getReceptorIndex()" );
+ vpERROR_TRACE( noSuchHostMessage.c_str(), "vpNetwork::getReceptorIndex()" );
+ return -1;
}
std::string ip = inet_ntoa(*(in_addr *)server->h_addr);
@@ -216,11 +213,12 @@ int vpNetwork::sendRequestTo(vpRequest &req, const unsigned int &dest)
message += end;
int flags = 0;
-#if ! defined(APPLE) && ! defined(WIN32)
+//#if ! defined(APPLE) && ! defined(SOLARIS) && ! defined(_WIN32)
+#if defined(__linux__)
flags = MSG_NOSIGNAL; // Only for Linux
#endif
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
int value = sendto(receptor_list[dest].socketFileDescriptorReceptor, message.c_str(), message.size(), flags,
(sockaddr*) &receptor_list[dest].receptorAddress,receptor_list[dest].receptorAddressSize);
#else
@@ -689,17 +687,17 @@ int vpNetwork::_receiveRequestOnce()
for(unsigned int i=0; i<receptor_list.size(); i++){
if(FD_ISSET((unsigned int)receptor_list[i].socketFileDescriptorReceptor,&readFileDescriptor)){
char *buf = new char [max_size_message];
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
numbytes=recv(receptor_list[i].socketFileDescriptorReceptor, buf, max_size_message, 0);
#else
numbytes=recv((unsigned int)receptor_list[i].socketFileDescriptorReceptor, buf, (int)max_size_message, 0);
#endif
-
-
+
if(numbytes <= 0)
{
std::cout << "Disconnected : " << inet_ntoa(receptor_list[i].receptorAddress.sin_addr) << std::endl;
receptor_list.erase(receptor_list.begin()+(int)i);
+ delete [] buf;
return numbytes;
}
else if(numbytes > 0){
@@ -768,7 +766,7 @@ int vpNetwork::_receiveRequestOnceFrom(const unsigned int &receptorEmitting)
else{
if(FD_ISSET((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor,&readFileDescriptor)){
char *buf = new char [max_size_message];
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
numbytes=recv(receptor_list[receptorEmitting].socketFileDescriptorReceptor, buf, max_size_message, 0);
#else
numbytes=recv((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor, buf, (int)max_size_message, 0);
@@ -777,6 +775,7 @@ int vpNetwork::_receiveRequestOnceFrom(const unsigned int &receptorEmitting)
{
std::cout << "Disconnected : " << inet_ntoa(receptor_list[receptorEmitting].receptorAddress.sin_addr) << std::endl;
receptor_list.erase(receptor_list.begin()+(int)receptorEmitting);
+ delete [] buf;
return numbytes;
}
else if(numbytes > 0){
diff --git a/src/network/vpNetwork.h b/src/network/vpNetwork.h
index 8a84077..4be624c 100644
--- a/src/network/vpNetwork.h
+++ b/src/network/vpNetwork.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpNetwork.h 4135 2013-02-13 16:48:19Z fspindle $
+ * $Id: vpNetwork.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,7 +50,7 @@
#include <string.h>
#include <iostream>
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
# include <sys/socket.h>
# include <netinet/in.h>
@@ -85,7 +85,7 @@ class VISP_EXPORT vpNetwork
protected:
struct vpReceptor{
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
int socketFileDescriptorReceptor;
socklen_t receptorAddressSize;
#else
@@ -94,15 +94,24 @@ protected:
#endif
struct sockaddr_in receptorAddress;
std::string receptorIP;
+
+ vpReceptor() : socketFileDescriptorReceptor(0), receptorAddressSize(), receptorAddress(), receptorIP() {}
};
struct vpEmitter{
- struct sockaddr_in emitterAdress;
-#ifdef UNIX
+ struct sockaddr_in emitterAddress;
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
int socketFileDescriptorEmitter;
#else
SOCKET socketFileDescriptorEmitter;
#endif
+ vpEmitter() : emitterAddress(), socketFileDescriptorEmitter(0)
+ {
+ emitterAddress.sin_family = AF_INET;
+ emitterAddress.sin_addr.s_addr = INADDR_ANY;
+ emitterAddress.sin_port = 0;
+ socketFileDescriptorEmitter = 0;
+ }
};
//######## PARAMETERS ########
@@ -112,7 +121,7 @@ protected:
vpEmitter emitter;
std::vector<vpReceptor> receptor_list;
fd_set readFileDescriptor;
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
int socketMax;
#else
SOCKET socketMax;
@@ -305,7 +314,7 @@ int vpNetwork::receive(T* object, const unsigned int &sizeOfObject)
else{
for(unsigned int i=0; i<receptor_list.size(); i++){
if(FD_ISSET((unsigned int)receptor_list[i].socketFileDescriptorReceptor,&readFileDescriptor)){
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
numbytes = recv(receptor_list[i].socketFileDescriptorReceptor, (char*)(void*)object, sizeOfObject, 0);
#else
numbytes = recv((unsigned int)receptor_list[i].socketFileDescriptorReceptor, (char*)(void*)object, (int)sizeOfObject, 0);
@@ -378,7 +387,7 @@ int vpNetwork::receiveFrom(T* object, const unsigned int &receptorEmitting, cons
}
else{
if(FD_ISSET((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor,&readFileDescriptor)){
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
numbytes = recv(receptor_list[receptorEmitting].socketFileDescriptorReceptor, (char*)(void*)object, sizeOfObject, 0);
#else
numbytes = recv((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor, (char*)(void*)object, (int)sizeOfObject, 0);
@@ -426,11 +435,12 @@ int vpNetwork::send(T* object, const unsigned int &sizeOfObject)
}
int flags = 0;
-#if ! defined(APPLE) && ! defined(WIN32)
+//#if ! defined(APPLE) && ! defined(SOLARIS) && ! defined(_WIN32)
+#if defined(__linux__)
flags = MSG_NOSIGNAL; // Only for Linux
#endif
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
return sendto(receptor_list[0].socketFileDescriptorReceptor, (const char*)(void*)object, sizeOfObject,
flags, (sockaddr*) &receptor_list[0].receptorAddress,receptor_list[0].receptorAddressSize);
#else
@@ -472,11 +482,12 @@ int vpNetwork::sendTo(T* object, const unsigned int &dest, const unsigned int &s
}
int flags = 0;
-#if ! defined(APPLE) && ! defined(WIN32)
+//#if ! defined(APPLE) && ! defined(SOLARIS) && ! defined(_WIN32)
+#if defined(__linux__)
flags = MSG_NOSIGNAL; // Only for Linux
#endif
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
return sendto(receptor_list[dest].socketFileDescriptorReceptor, (const char*)(void*)object, sizeOfObject,
flags, (sockaddr*) &receptor_list[dest].receptorAddress,receptor_list[dest].receptorAddressSize);
#else
diff --git a/src/network/vpRequest.cpp b/src/network/vpRequest.cpp
index b300c78..4195c39 100644
--- a/src/network/vpRequest.cpp
+++ b/src/network/vpRequest.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRequest.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRequest.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -42,6 +42,7 @@
#include <visp/vpRequest.h>
vpRequest::vpRequest()
+ : request_id(""), listOfParams()
{}
vpRequest::~vpRequest()
diff --git a/src/network/vpRequest.h b/src/network/vpRequest.h
index 0a0ea6b..a155160 100644
--- a/src/network/vpRequest.h
+++ b/src/network/vpRequest.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRequest.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpRequest.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/network/vpServer.cpp b/src/network/vpServer.cpp
index 2d85309..01647ac 100644
--- a/src/network/vpServer.cpp
+++ b/src/network/vpServer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServer.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -45,11 +45,11 @@
/*!
Construct a server on the machine launching it.
*/
-vpServer::vpServer( ) : vpNetwork(), started(false)
+vpServer::vpServer( ) : adress(), port(0), started(false), max_clients(10)
{
int protocol = 0;
emitter.socketFileDescriptorEmitter = socket(AF_INET, SOCK_STREAM, protocol);
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if (emitter.socketFileDescriptorEmitter < 0)
#else
if (emitter.socketFileDescriptorEmitter == INVALID_SOCKET)
@@ -57,12 +57,12 @@ vpServer::vpServer( ) : vpNetwork(), started(false)
{
vpERROR_TRACE( "vpServer::vpServer(), cannot open socket." );
}
- emitter.emitterAdress.sin_family = AF_INET;
- emitter.emitterAdress.sin_addr.s_addr = INADDR_ANY;
- emitter.emitterAdress.sin_port = 0;
+ emitter.emitterAddress.sin_family = AF_INET;
+ emitter.emitterAddress.sin_addr.s_addr = INADDR_ANY;
+ emitter.emitterAddress.sin_port = 0;
- adress = inet_ntoa(emitter.emitterAdress.sin_addr);
- port = emitter.emitterAdress.sin_port;
+ adress = inet_ntoa(emitter.emitterAddress.sin_addr);
+ port = emitter.emitterAddress.sin_port;
}
/*!
@@ -70,11 +70,11 @@ vpServer::vpServer( ) : vpNetwork(), started(false)
\param port_serv : server's port.
*/
-vpServer::vpServer( const int &port_serv ) : vpNetwork(), started(false)
+vpServer::vpServer( const int &port_serv ) : adress(), port(0), started(false), max_clients(10)
{
int protocol = 0;
emitter.socketFileDescriptorEmitter = socket(AF_INET, SOCK_STREAM, protocol);
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if (emitter.socketFileDescriptorEmitter < 0)
#else
if (emitter.socketFileDescriptorEmitter == INVALID_SOCKET)
@@ -82,11 +82,11 @@ vpServer::vpServer( const int &port_serv ) : vpNetwork(), started(false)
{
vpERROR_TRACE( "vpServer::vpServer(const int &port_serv), cannot open socket." );
}
- emitter.emitterAdress.sin_family = AF_INET;
- emitter.emitterAdress.sin_addr.s_addr = INADDR_ANY; //inet_addr("127.0.0.1");;
- emitter.emitterAdress.sin_port = htons( (unsigned short)port_serv );
+ emitter.emitterAddress.sin_family = AF_INET;
+ emitter.emitterAddress.sin_addr.s_addr = INADDR_ANY; //inet_addr("127.0.0.1");;
+ emitter.emitterAddress.sin_port = htons( (unsigned short)port_serv );
- adress = inet_ntoa(emitter.emitterAdress.sin_addr);
+ adress = inet_ntoa(emitter.emitterAddress.sin_addr);
port = port_serv;
}
@@ -96,11 +96,12 @@ vpServer::vpServer( const int &port_serv ) : vpNetwork(), started(false)
\param adress_serv : server's adress.
\param port_serv : server's port.
*/
-vpServer::vpServer( const std::string &adress_serv,const int &port_serv ) : vpNetwork(), started(false)
+vpServer::vpServer( const std::string &adress_serv,const int &port_serv )
+ : adress(), port(0), started(false), max_clients(10)
{
int protocol = 0;
emitter.socketFileDescriptorEmitter = socket(AF_INET, SOCK_STREAM, protocol);
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if (emitter.socketFileDescriptorEmitter < 0)
#else
if (emitter.socketFileDescriptorEmitter == INVALID_SOCKET)
@@ -108,9 +109,9 @@ vpServer::vpServer( const std::string &adress_serv,const int &port_serv ) : vpNe
{
vpERROR_TRACE( "vpServer::vpServer(const std::string &adress_serv,const int &port_serv), cannot open socket." );
}
- emitter.emitterAdress.sin_family = AF_INET;
- emitter.emitterAdress.sin_addr.s_addr = inet_addr(adress_serv.c_str());
- emitter.emitterAdress.sin_port = htons( (unsigned short)port_serv );
+ emitter.emitterAddress.sin_family = AF_INET;
+ emitter.emitterAddress.sin_addr.s_addr = inet_addr(adress_serv.c_str());
+ emitter.emitterAddress.sin_port = htons( (unsigned short)port_serv );
adress = adress_serv;
port = port_serv;
@@ -121,14 +122,14 @@ vpServer::vpServer( const std::string &adress_serv,const int &port_serv ) : vpNe
*/
vpServer::~vpServer()
{
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
close( emitter.socketFileDescriptorEmitter );
#else //Win32
closesocket( (unsigned)emitter.socketFileDescriptorEmitter );
#endif
for(unsigned int i = 0 ; i < receptor_list.size() ; i++)
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
close( receptor_list[i].socketFileDescriptorReceptor );
#else //Win32
closesocket( (unsigned)receptor_list[i].socketFileDescriptorReceptor );
@@ -143,11 +144,11 @@ vpServer::~vpServer()
*/
bool vpServer::start()
{
- int serverStructLength = sizeof(emitter.emitterAdress);
-#ifdef UNIX
- int bindResult = bind( emitter.socketFileDescriptorEmitter, (struct sockaddr *) &emitter.emitterAdress, (unsigned)serverStructLength );
+ int serverStructLength = sizeof(emitter.emitterAddress);
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ int bindResult = bind( emitter.socketFileDescriptorEmitter, (struct sockaddr *) &emitter.emitterAddress, (unsigned)serverStructLength );
#else //Win32
- int bindResult = bind( (unsigned)emitter.socketFileDescriptorEmitter, (struct sockaddr *) &emitter.emitterAdress, serverStructLength );
+ int bindResult = bind( (unsigned)emitter.socketFileDescriptorEmitter, (struct sockaddr *) &emitter.emitterAddress, serverStructLength );
#endif
@@ -176,7 +177,7 @@ bool vpServer::start()
}
#endif // SO_NOSIGPIPE
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
listen( emitter.socketFileDescriptorEmitter, (int)max_clients );
#else //Win32
listen( (unsigned)emitter.socketFileDescriptorEmitter, (int)max_clients );
@@ -230,13 +231,13 @@ bool vpServer::checkForConnections()
if(FD_ISSET((unsigned int)emitter.socketFileDescriptorEmitter,&readFileDescriptor)){
vpNetwork::vpReceptor client;
client.receptorAddressSize = sizeof(client.receptorAddress);
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
client.socketFileDescriptorReceptor = accept(emitter.socketFileDescriptorEmitter,(struct sockaddr*) &client.receptorAddress, &client.receptorAddressSize);
#else //Win32
client.socketFileDescriptorReceptor = accept((unsigned int)emitter.socketFileDescriptorEmitter,(struct sockaddr*) &client.receptorAddress, &client.receptorAddressSize);
#endif
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if((client.socketFileDescriptorReceptor) == -1)
#else
if((client.socketFileDescriptorReceptor) == INVALID_SOCKET)
@@ -253,7 +254,7 @@ bool vpServer::checkForConnections()
for(unsigned int i=0; i<receptor_list.size(); i++){
if(FD_ISSET((unsigned int)receptor_list[i].socketFileDescriptorReceptor,&readFileDescriptor)){
char deco;
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
int numbytes = recv(receptor_list[i].socketFileDescriptorReceptor, &deco, 1, MSG_PEEK);
#else //Win32
int numbytes = recv((unsigned int)receptor_list[i].socketFileDescriptorReceptor, &deco, 1, MSG_PEEK);
diff --git a/src/network/vpServer.h b/src/network/vpServer.h
index 5adf807..b1873e2 100644
--- a/src/network/vpServer.h
+++ b/src/network/vpServer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServer.h 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpServer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/real-robot/afma4/vpAfma4.cpp b/src/robot/real-robot/afma4/vpAfma4.cpp
index 66c2751..32ee3c9 100644
--- a/src/robot/real-robot/afma4/vpAfma4.cpp
+++ b/src/robot/real-robot/afma4/vpAfma4.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAfma4.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAfma4.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,6 +69,7 @@ const unsigned int vpAfma4::njoint = 4;
*/
vpAfma4::vpAfma4()
+ : _a1(0), _d3(0), _d4(0), _etc(), _erc(), _eMc()
{
// Set the default parameters in case of the config files on the NAS
// at Inria are not available.
@@ -148,7 +149,7 @@ vpAfma4::init (void)
*/
vpHomogeneousMatrix
-vpAfma4::getForwardKinematics(const vpColVector & q)
+vpAfma4::getForwardKinematics(const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
fMc = get_fMc(q);
@@ -186,7 +187,7 @@ vpAfma4::getForwardKinematics(const vpColVector & q)
\sa getForwardKinematics(const vpColVector & q)
*/
vpHomogeneousMatrix
-vpAfma4::get_fMc (const vpColVector & q)
+vpAfma4::get_fMc (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
get_fMc(q, fMc);
@@ -221,7 +222,7 @@ vpAfma4::get_fMc (const vpColVector & q)
*/
void
-vpAfma4::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc)
+vpAfma4::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const
{
// Compute the direct geometric model: fMe = transformation between
@@ -269,7 +270,7 @@ vpAfma4::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc)
*/
void
-vpAfma4::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
+vpAfma4::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const
{
double q1 = q[0]; // rot touret
double q2 = q[1]; // vertical translation
@@ -320,7 +321,7 @@ vpAfma4::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
*/
void
-vpAfma4::get_cMe(vpHomogeneousMatrix &cMe)
+vpAfma4::get_cMe(vpHomogeneousMatrix &cMe) const
{
cMe = this->_eMc.inverse();
}
@@ -335,7 +336,7 @@ vpAfma4::get_cMe(vpHomogeneousMatrix &cMe)
*/
void
-vpAfma4::get_cVe(vpVelocityTwistMatrix &cVe)
+vpAfma4::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
@@ -364,7 +365,7 @@ vpAfma4::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpAfma4::get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf)
+vpAfma4::get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf) const
{
vpHomogeneousMatrix fMc, cMf ;
get_fMc(q, fMc) ;
@@ -375,8 +376,6 @@ vpAfma4::get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf)
return;
}
-
-
/*!
Get the robot jacobian expressed in the end-effector frame:
@@ -414,7 +413,7 @@ vpAfma4::get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf)
\sa get_fJe()
*/
void
-vpAfma4::get_eJe(const vpColVector &q, vpMatrix &eJe)
+vpAfma4::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{
double q4 = q[2]; // pan
double q5 = q[3]; // tilt
@@ -468,7 +467,7 @@ vpAfma4::get_eJe(const vpColVector &q, vpMatrix &eJe)
*/
void
-vpAfma4::get_fJe(const vpColVector &q, vpMatrix &fJe)
+vpAfma4::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
fJe.resize(6,4) ;
@@ -524,7 +523,7 @@ vpAfma4::get_fJe(const vpColVector &q, vpMatrix &fJe)
\sa get_eJe() and get_fJe()
*/
-void vpAfma4::get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse)
+void vpAfma4::get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const
{
fJe_inverse.resize(4, 6) ;
fJe_inverse = 0;
@@ -560,7 +559,7 @@ void vpAfma4::get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse)
*/
vpColVector
-vpAfma4::getJointMin()
+vpAfma4::getJointMin() const
{
vpColVector qmin(4);
for (unsigned int i=0; i < 4; i ++)
@@ -577,7 +576,7 @@ vpAfma4::getJointMin()
*/
vpColVector
-vpAfma4::getJointMax()
+vpAfma4::getJointMax() const
{
vpColVector qmax(4);
for (unsigned int i=0; i < 4; i ++)
@@ -596,7 +595,7 @@ vpAfma4::getJointMax()
\param os : Output stream.
\param afma4 : Robot parameters.
*/
-std::ostream & operator << (std::ostream & os,
+VISP_EXPORT std::ostream & operator << (std::ostream & os,
const vpAfma4 & afma4)
{
vpRotationMatrix eRc;
@@ -649,9 +648,3 @@ std::ostream & operator << (std::ostream & os,
return os;
}
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/robot/real-robot/afma4/vpAfma4.h b/src/robot/real-robot/afma4/vpAfma4.h
index 4acab0c..376314a 100644
--- a/src/robot/real-robot/afma4/vpAfma4.h
+++ b/src/robot/real-robot/afma4/vpAfma4.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAfma4.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAfma4.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -113,28 +113,29 @@ class VISP_EXPORT vpAfma4
{
public:
vpAfma4();
+ /*! Destructor that does nothing. */
+ virtual ~vpAfma4() {};
void init (void);
- vpHomogeneousMatrix getForwardKinematics(const vpColVector & q);
+ vpHomogeneousMatrix getForwardKinematics(const vpColVector & q) const;
/* int getInverseKinematics(const vpHomogeneousMatrix & fMc, */
/* vpColVector & q, const bool &nearest=true); */
- vpHomogeneousMatrix get_fMc (const vpColVector & q);
- void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe);
- void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc);
-
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf);
- void get_eJe(const vpColVector &q, vpMatrix &eJe) ;
- void get_fJe(const vpColVector &q, vpMatrix &fJe) ;
- void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) ;
-
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpAfma4 & afma4);
-
- vpColVector getJointMin();
- vpColVector getJointMax();
+ vpHomogeneousMatrix get_fMc (const vpColVector & q) const;
+ void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const;
+ void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const;
+
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_cVf(const vpColVector & q, vpVelocityTwistMatrix &cVf) const;
+ void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
+ void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
+ void get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const;
+
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpAfma4 & afma4);
+
+ vpColVector getJointMin() const;
+ vpColVector getJointMax() const;
public:
diff --git a/src/robot/real-robot/afma4/vpRobotAfma4.cpp b/src/robot/real-robot/afma4/vpRobotAfma4.cpp
index d79c9d7..731a357 100644
--- a/src/robot/real-robot/afma4/vpRobotAfma4.cpp
+++ b/src/robot/real-robot/afma4/vpRobotAfma4.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotAfma4.cpp 4107 2013-02-06 10:04:49Z fspindle $
+ * $Id: vpRobotAfma4.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -554,7 +554,7 @@ vpRobotAfma4::getPowerState(void)
*/
void
-vpRobotAfma4::get_cVe(vpVelocityTwistMatrix &cVe)
+vpRobotAfma4::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpAfma4::get_cMe(cMe) ;
@@ -572,7 +572,7 @@ vpRobotAfma4::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpRobotAfma4::get_cVf(vpVelocityTwistMatrix &cVf)
+vpRobotAfma4::get_cVf(vpVelocityTwistMatrix &cVf) const
{
double position[this->njoint];
double timestamp;
@@ -604,7 +604,7 @@ vpRobotAfma4::get_cVf(vpVelocityTwistMatrix &cVf)
*/
void
-vpRobotAfma4::get_cMe(vpHomogeneousMatrix &cMe)
+vpRobotAfma4::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpAfma4::get_cMe(cMe) ;
}
diff --git a/src/robot/real-robot/afma4/vpRobotAfma4.h b/src/robot/real-robot/afma4/vpRobotAfma4.h
index e61dea0..b7d19e0 100644
--- a/src/robot/real-robot/afma4/vpRobotAfma4.h
+++ b/src/robot/real-robot/afma4/vpRobotAfma4.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotAfma4.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotAfma4.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -251,11 +251,11 @@ public: /* Methode publiques */
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double ×tamp);
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_cVf(vpVelocityTwistMatrix &cVf) ;
- void get_eJe(vpMatrix &eJe) ;
- void get_fJe(vpMatrix &fJe) ;
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_cVf(vpVelocityTwistMatrix &cVf) const;
+ void get_eJe(vpMatrix &eJe);
+ void get_fJe(vpMatrix &fJe);
void init (void);
diff --git a/src/robot/real-robot/afma4/vpServolens.cpp b/src/robot/real-robot/afma4/vpServolens.cpp
index 1fe21d8..1104be2 100644
--- a/src/robot/real-robot/afma4/vpServolens.cpp
+++ b/src/robot/real-robot/afma4/vpServolens.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServolens.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServolens.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -49,7 +49,7 @@
*/
-#if defined(UNIX)
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <unistd.h>
#include <termios.h>
@@ -71,9 +71,8 @@
\sa open()
*/
-vpServolens::vpServolens()
+vpServolens::vpServolens() : remfd(0), isinit(false)
{
- isinit = false;
}
/*!
@@ -84,10 +83,8 @@ vpServolens::vpServolens()
\sa open()
*/
-vpServolens::vpServolens(const char *port)
+vpServolens::vpServolens(const char *port) : remfd(0), isinit(false)
{
- isinit = false;
-
this->open(port);
}
@@ -131,7 +128,7 @@ vpServolens::open(const char *port)
"Cannot open Servolens serial port.");
}
- // Lecture des param�tres courants de la liaison s�rie.
+ // Lecture des parametres courants de la liaison serie.
if (tcgetattr(this->remfd, &info) < 0) {
::close(this->remfd);
vpERROR_TRACE ("Error using TCGETS in ioctl.");
@@ -144,11 +141,11 @@ vpServolens::open(const char *port)
// 9600 bauds, 1 bit de stop, parite paire, 7 bits de donnee
//
- // Traitement sur les caract�res recus
+ // Traitement sur les caracteres recus
info.c_iflag = 0;
info.c_iflag |= INLCR;
- // Traitement sur les caract�res envoy�s sur la RS232.
+ // Traitement sur les caracteres envoyes sur la RS232.
info.c_oflag = 0; // idem
// Traitement des lignes
@@ -159,7 +156,7 @@ vpServolens::open(const char *port)
info.c_cflag |= CREAD; // Validation reception
info.c_cflag |= B9600 | CS7 | PARENB; // 9600 baus, 7 data, parite paire
- // Caract�res imm�diatement disponibles.
+ // Caracteres immediatement disponibles.
// info.c_cc[VMIN] = 1;
// info.c_cc[VTIME] = 0;
@@ -210,7 +207,7 @@ vpServolens::close()
with Servolens.
*/
void
-vpServolens::reset()
+vpServolens::reset() const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -248,7 +245,7 @@ vpServolens::reset()
\sa open()
*/
void
-vpServolens::init()
+vpServolens::init() const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -283,7 +280,7 @@ vpServolens::init()
*/
void
-vpServolens::enableCmdComplete(vpServoType servo, bool active)
+vpServolens::enableCmdComplete(vpServoType servo, bool active) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -331,7 +328,7 @@ vpServolens::enableCmdComplete(vpServoType servo, bool active)
*/
void
-vpServolens::enablePrompt(bool active)
+vpServolens::enablePrompt(bool active) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -358,7 +355,7 @@ vpServolens::enablePrompt(bool active)
with Servolens.
*/
void
-vpServolens::setController(vpControllerType controller)
+vpServolens::setController(vpControllerType controller) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -399,7 +396,7 @@ vpServolens::setController(vpControllerType controller)
*/
void
-vpServolens::setAutoIris(bool enable)
+vpServolens::setAutoIris(bool enable) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -427,7 +424,7 @@ vpServolens::setAutoIris(bool enable)
*/
void
-vpServolens::setPosition(vpServoType servo, unsigned int position)
+vpServolens::setPosition(vpServoType servo, unsigned int position) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -442,15 +439,15 @@ vpServolens::setPosition(vpServoType servo, unsigned int position)
this->wait();
*/
-#if FINSERVO
+#ifdef FINSERVO
/* envoie des commandes pour qu'en fin de mouvement servolens renvoie */
/* une commande de fin de mouvement (ex: ZF, FF, DF). */
this->enableCommandComplete();
#endif /* FINSERVO */
// 08/08/00 Fabien S. - Correction de la consigne demandee
- // pour prendre en compte l'erreur entre la consigne demand�e
- // et la consigne mesur�e.
+ // pour prendre en compte l'erreur entre la consigne demandee
+ // et la consigne mesuree.
// A la consigne du zoom on retranche 1.
// A la consigne du focus on ajoute 1.
// A la consigne du iris on ajoute 1.
@@ -488,13 +485,13 @@ vpServolens::setPosition(vpServoType servo, unsigned int position)
break;
}
/* envoie de la commande */
-#if PRINT
+#ifdef PRINT
printf("\ncommande: %s", commande);
#endif
this->write(commande);
-#if FINSERVO
+#ifdef FINSERVO
/* on attend la fin du mouvement des objectifs */
this->wait(servo); /* on attend les codes ZF, FF, DF */
#endif
@@ -511,7 +508,7 @@ vpServolens::setPosition(vpServoType servo, unsigned int position)
*/
bool
-vpServolens::getPosition(vpServoType servo, unsigned int &position)
+vpServolens::getPosition(vpServoType servo, unsigned int &position) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -634,7 +631,7 @@ vpServolens::getPosition(vpServoType servo, unsigned int &position)
int main()
{
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
vpServolens servolens("/dev/ttyS0");
vpImage<unsigned char> I(240, 320);
@@ -649,7 +646,7 @@ vpServolens::getPosition(vpServoType servo, unsigned int &position)
*/
vpCameraParameters
-vpServolens::getCameraParameters(vpImage<unsigned char> &I)
+vpServolens::getCameraParameters(vpImage<unsigned char> &I) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -697,7 +694,7 @@ vpServolens::getCameraParameters(vpImage<unsigned char> &I)
with Servolens.
*/
char
-vpServolens::wait()
+vpServolens::wait() const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -732,7 +729,7 @@ vpServolens::wait()
*/
void
-vpServolens::wait(vpServoType servo)
+vpServolens::wait(vpServoType servo) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -798,7 +795,7 @@ vpServolens::wait(vpServoType servo)
with Servolens.
*/
bool
-vpServolens::read(char *c, long timeout_s)
+vpServolens::read(char *c, long timeout_s) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -835,7 +832,7 @@ vpServolens::read(char *c, long timeout_s)
with Servolens.
*/
void
-vpServolens::write(const char *s)
+vpServolens::write(const char *s) const
{
if (!isinit) {
vpERROR_TRACE ("Cannot dial with Servolens.");
@@ -874,7 +871,7 @@ vpServolens::write(const char *s)
*/
bool
-vpServolens::clean(const char *in, char *out)
+vpServolens::clean(const char *in, char *out) const
{
short nb_car, i=0;
bool error = false;
diff --git a/src/robot/real-robot/afma4/vpServolens.h b/src/robot/real-robot/afma4/vpServolens.h
index f7e98de..fcf4e64 100644
--- a/src/robot/real-robot/afma4/vpServolens.h
+++ b/src/robot/real-robot/afma4/vpServolens.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServolens.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServolens.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -45,7 +45,7 @@
#include <visp/vpConfig.h>
-#if defined(UNIX)
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
/*!
@@ -120,39 +120,34 @@ class VISP_EXPORT vpServolens
void open(const char *port="/dev/ttyS0");
void close();
- void reset();
+ void reset() const;
- void setController(vpControllerType controller);
- void setAutoIris(bool enable);
- void setPosition(vpServoType servo, unsigned int position);
- bool getPosition(vpServoType servo, unsigned int &position);
- vpCameraParameters getCameraParameters(vpImage<unsigned char> &I);
+ void setController(vpControllerType controller) const;
+ void setAutoIris(bool enable) const;
+ void setPosition(vpServoType servo, unsigned int position) const;
+ bool getPosition(vpServoType servo, unsigned int &position) const;
+ vpCameraParameters getCameraParameters(vpImage<unsigned char> &I) const;
- void enablePrompt(bool active);
+ void enablePrompt(bool active) const;
private:
- void init();
+ void init() const;
- void enableCmdComplete(vpServoType servo, bool active);
+ void enableCmdComplete(vpServoType servo, bool active) const;
- char wait();
- void wait(vpServoType servo);
+ char wait() const;
+ void wait(vpServoType servo) const;
- bool read(char *c, long timeout_s);
- void write(const char *s);
+ bool read(char *c, long timeout_s) const;
+ void write(const char *s) const;
- bool clean(const char *in, char *out);
+ bool clean(const char *in, char *out) const;
int remfd; // file pointer of the host's tty
bool isinit;
};
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
#endif
#endif
diff --git a/src/robot/real-robot/afma6/vpAfma6.cpp b/src/robot/real-robot/afma6/vpAfma6.cpp
index 67879f2..38008ff 100644
--- a/src/robot/real-robot/afma6/vpAfma6.cpp
+++ b/src/robot/real-robot/afma6/vpAfma6.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAfma6.cpp 4210 2013-04-16 08:57:46Z fspindle $
+ * $Id: vpAfma6.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,70 +68,70 @@ static const char *opt_Afma6[] = {"JOINT_MAX","JOINT_MIN","LONG_56","COUPL_56",
NULL};
const char * const vpAfma6::CONST_AFMA6_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf";
#endif
const char * const vpAfma6::CONST_CAMERA_AFMA6_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_camera_Afma6.xml";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml";
@@ -154,6 +154,9 @@ const unsigned int vpAfma6::njoint = 6;
*/
vpAfma6::vpAfma6()
+ : _coupl_56(0), _long_56(0), _etc(), _erc(), _eMc(),
+ tool_current(vpAfma6::defaultTool),
+ projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
{
// Set the default parameters in case of the config files on the NAS
// at Inria are not available.
@@ -237,15 +240,15 @@ vpAfma6::init (const char * paramAfma6,
\param tool : Camera in use.
- \param projModel : Projection model of the camera.
+ \param proj_model : Projection model of the camera.
*/
void
vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
- vpCameraParameters::vpCameraParametersProjType projModel)
+ vpCameraParameters::vpCameraParametersProjType proj_model)
{
- this->projModel = projModel;
+ this->projModel = proj_model;
#ifdef VISP_HAVE_ACCESS_TO_NAS
// Read the robot parameters from files
@@ -254,19 +257,19 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
case vpAfma6::TOOL_CCMOP: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME);
#endif
@@ -277,19 +280,19 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
case vpAfma6::TOOL_GRIPPER: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME);
#endif
@@ -300,19 +303,19 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
case vpAfma6::TOOL_VACUUM: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME);
#endif
@@ -323,19 +326,19 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
case vpAfma6::TOOL_GENERIC_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
#endif
@@ -382,6 +385,7 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
_etc[2] = 0.2286; // tz
break;
}
+ break;
}
case vpAfma6::TOOL_GRIPPER: {
switch(projModel) {
@@ -402,6 +406,7 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
_etc[2] = 0.1642; // tz
break;
}
+ break;
}
case vpAfma6::TOOL_VACUUM: {
switch(projModel) {
@@ -422,6 +427,7 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
_etc[2] = 0.1658; // tz
break;
}
+ break;
}
case vpAfma6::TOOL_GENERIC_CAMERA: {
switch(projModel) {
@@ -436,6 +442,7 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
_etc[2] = 0; // tz
break;
}
+ break;
}
}
vpRotationMatrix eRc(_erc);
@@ -472,7 +479,7 @@ vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
*/
vpHomogeneousMatrix
-vpAfma6::getForwardKinematics(const vpColVector & q)
+vpAfma6::getForwardKinematics(const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
fMc = get_fMc(q);
@@ -555,7 +562,7 @@ int main()
*/
int
vpAfma6::getInverseKinematics(const vpHomogeneousMatrix & fMc,
- vpColVector & q, const bool &nearest, const bool &verbose)
+ vpColVector & q, const bool &nearest, const bool &verbose) const
{
vpHomogeneousMatrix fMe;
double q_[2][6],d[2],t;
@@ -735,7 +742,7 @@ vpAfma6::getInverseKinematics(const vpHomogeneousMatrix & fMc,
\sa getForwardKinematics(const vpColVector & q)
*/
vpHomogeneousMatrix
-vpAfma6::get_fMc (const vpColVector & q)
+vpAfma6::get_fMc (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
get_fMc(q, fMc);
@@ -763,7 +770,7 @@ vpAfma6::get_fMc (const vpColVector & q)
*/
void
-vpAfma6::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc)
+vpAfma6::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const
{
// Compute the direct geometric model: fMe = transformation between
@@ -797,7 +804,7 @@ vpAfma6::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc)
*/
void
-vpAfma6::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
+vpAfma6::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const
{
double q0 = q[0]; // meter
double q1 = q[1]; // meter
@@ -851,7 +858,7 @@ vpAfma6::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
*/
void
-vpAfma6::get_cMe(vpHomogeneousMatrix &cMe)
+vpAfma6::get_cMe(vpHomogeneousMatrix &cMe) const
{
cMe = this->_eMc.inverse();
}
@@ -866,7 +873,7 @@ vpAfma6::get_cMe(vpHomogeneousMatrix &cMe)
*/
void
-vpAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
+vpAfma6::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
@@ -889,40 +896,41 @@ vpAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpAfma6::get_eJe(const vpColVector &q, vpMatrix &eJe)
+vpAfma6::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{
eJe.resize(6,6) ;
- double s3,c3,s4,c4,s5,c5 ;
+ double s4,c4,s5,c5,s6,c6 ;
- s3=sin(q[3]); c3=cos(q[3]);
- s4=sin(q[4]); c4=cos(q[4]);
- s5=sin(q[5]); c5=cos(q[5]);
+ s4=sin(q[3]); c4=cos(q[3]);
+ s5=sin(q[4]); c5=cos(q[4]);
+ s6=sin(q[5]-this->_coupl_56*q[4]); c6=cos(q[5]-this->_coupl_56*q[4]);
eJe = 0;
- eJe[0][0] = s3*s4*c5+c3*s5;
- eJe[0][1] = -c3*s4*c5+s3*s5;
- eJe[0][2] = c4*c5;
- eJe[0][3] = - this->_long_56*s4*c5;
+ eJe[0][0] = s4*s5*c6+c4*s6;
+ eJe[0][1] = -c4*s5*c6+s4*s6;
+ eJe[0][2] = c5*c6;
+ eJe[0][3] = - this->_long_56*s5*c6;
- eJe[1][0] = -s3*s4*s5+c3*c5;
- eJe[1][1] = c3*s4*s5+s3*c5;
- eJe[1][2] = -c4*s5;
- eJe[1][3] = this->_long_56*s4*s5;
+ eJe[1][0] = -s4*s5*s6+c4*c6;
+ eJe[1][1] = c4*s5*s6+s4*c6;
+ eJe[1][2] = -c5*s6;
+ eJe[1][3] = this->_long_56*s5*s6;
- eJe[2][0] = -s3*c4;
- eJe[2][1] = c3*c4;
- eJe[2][2] = s4;
- eJe[2][3] = this->_long_56*c4;
+ eJe[2][0] = -s4*c5;
+ eJe[2][1] = c4*c5;
+ eJe[2][2] = s5;
+ eJe[2][3] = this->_long_56*c5;
- eJe[3][3] = c4*c5;
- eJe[3][4] = s5;
+ eJe[3][3] = c5*c6;
+ eJe[3][4] = s6;
- eJe[4][3] = -c4*s5;
- eJe[4][4] = c5;
+ eJe[4][3] = -c5*s6;
+ eJe[4][4] = c6;
- eJe[5][3] = s4;
+ eJe[5][3] = s5;
+ eJe[5][4] = -this->_coupl_56;
eJe[5][5] = 1;
return;
@@ -939,12 +947,13 @@ vpAfma6::get_eJe(const vpColVector &q, vpMatrix &eJe)
1 & 0 & 0 & -Ls4 & 0 & 0 \\
0 & 1 & 0 & Lc4 & 0 & 0 \\
0 & 0 & 1 & 0 & 0 & 0 \\
- 0 & 0 & 0 & 0 & c4 & -s4c5 \\
- 0 & 0 & 0 & 0 & s4 & c4c5 \\
- 0 & 0 & 0 & 1 & 0 & s5 \\
+ 0 & 0 & 0 & 0 & c4+\gamma s4c5 & -s4c5 \\
+ 0 & 0 & 0 & 0 & s4-\gamma c4c5 & c4c5 \\
+ 0 & 0 & 0 & 1 & -gamma s5 & s5 \\
\end{array}
\right)
\f]
+ where \f$\gamma\f$ is the coupling factor between join 5 and 6.
\param q : Articular joint position of the robot. q[0], q[1], q[2]
correspond to the first 3 translations expressed in meter, while
@@ -956,7 +965,7 @@ vpAfma6::get_eJe(const vpColVector &q, vpMatrix &eJe)
*/
void
-vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe)
+vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
fJe.resize(6,6) ;
@@ -964,8 +973,8 @@ vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe)
// block superieur gauche
fJe[0][0] = fJe[1][1] = fJe[2][2] = 1 ;
- double s4 = sin(q[4]) ;
- double c4 = cos(q[4]) ;
+ double s4 = sin(q[3]) ;
+ double c4 = cos(q[3]) ;
// block superieur droit
@@ -973,13 +982,18 @@ vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe)
fJe[1][3] = this->_long_56*c4 ;
- double s5 = sin(q[5]) ;
- double c5 = cos(q[5]) ;
+ double s5 = sin(q[4]) ;
+ double c5 = cos(q[4]) ;
// block inferieur droit
fJe[3][4] = c4 ; fJe[3][5] = -s4*c5 ;
fJe[4][4] = s4 ; fJe[4][5] = c4*c5 ;
fJe[5][3] = 1 ; fJe[5][5] = s5 ;
+ // coupling between joint 5 and 6
+ fJe[3][4] += this->_coupl_56*s4*c5;
+ fJe[4][4] += -this->_coupl_56*c4*c5;
+ fJe[5][4] += -this->_coupl_56*s5;
+
return;
}
@@ -993,7 +1007,7 @@ vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe)
*/
vpColVector
-vpAfma6::getJointMin()
+vpAfma6::getJointMin() const
{
vpColVector qmin(6);
for (unsigned int i=0; i < 6; i ++)
@@ -1010,7 +1024,7 @@ vpAfma6::getJointMin()
*/
vpColVector
-vpAfma6::getJointMax()
+vpAfma6::getJointMax() const
{
vpColVector qmax(6);
for (unsigned int i=0; i < 6; i ++)
@@ -1025,7 +1039,7 @@ vpAfma6::getJointMax()
\return Coupling factor between join 5 and 6.
*/
double
-vpAfma6::getCoupl56()
+vpAfma6::getCoupl56() const
{
return _coupl_56;
}
@@ -1037,7 +1051,7 @@ vpAfma6::getCoupl56()
\return Distance between join 5 and 6.
*/
double
-vpAfma6::getLong56()
+vpAfma6::getLong56() const
{
return _long_56;
}
@@ -1233,7 +1247,7 @@ int main()
void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
const unsigned int &image_width,
- const unsigned int &image_height)
+ const unsigned int &image_height) const
{
#if defined(VISP_HAVE_XML2) && defined (VISP_HAVE_ACCESS_TO_NAS)
vpXmlParserCamera parser;
@@ -1451,7 +1465,7 @@ int main()
*/
void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
- const vpImage<unsigned char> &I)
+ const vpImage<unsigned char> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
@@ -1500,7 +1514,7 @@ int main()
void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
- const vpImage<vpRGBa> &I)
+ const vpImage<vpRGBa> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
@@ -1515,7 +1529,7 @@ vpAfma6::getCameraParameters (vpCameraParameters &cam,
\param os : Output stream.
\param afma6 : Robot parameters.
*/
-std::ostream & operator << (std::ostream & os,
+VISP_EXPORT std::ostream & operator << (std::ostream & os,
const vpAfma6 & afma6)
{
vpRotationMatrix eRc;
@@ -1568,8 +1582,4 @@ std::ostream & operator << (std::ostream & os,
return os;
}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+
diff --git a/src/robot/real-robot/afma6/vpAfma6.h b/src/robot/real-robot/afma6/vpAfma6.h
index 4351f36..0b5f173 100644
--- a/src/robot/real-robot/afma6/vpAfma6.h
+++ b/src/robot/real-robot/afma6/vpAfma6.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAfma6.h 4191 2013-04-01 07:46:05Z fspindle $
+ * $Id: vpAfma6.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -118,6 +118,8 @@ class VISP_EXPORT vpAfma6
public:
vpAfma6();
+ /*! Destructor that does nothing. */
+ virtual ~vpAfma6() {};
void init (void);
#ifdef VISP_HAVE_ACCESS_TO_NAS
@@ -127,45 +129,45 @@ class VISP_EXPORT vpAfma6
vpCameraParameters::vpCameraParametersProjType projModel =
vpCameraParameters::perspectiveProjWithoutDistortion);
- vpHomogeneousMatrix getForwardKinematics(const vpColVector & q);
+ vpHomogeneousMatrix getForwardKinematics(const vpColVector & q) const;
int getInverseKinematics(const vpHomogeneousMatrix & fMc,
- vpColVector & q, const bool &nearest=true, const bool &verbose=false);
- vpHomogeneousMatrix get_fMc (const vpColVector & q);
- void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe);
- void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc);
+ vpColVector & q, const bool &nearest=true,
+ const bool &verbose=false) const;
+ vpHomogeneousMatrix get_fMc (const vpColVector & q) const;
+ void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const;
+ void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const;
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_eJe(const vpColVector &q, vpMatrix &eJe) ;
- void get_fJe(const vpColVector &q, vpMatrix &fJe) ;
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
+ void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
#ifdef VISP_HAVE_ACCESS_TO_NAS
void parseConfigFile (const char * filename);
#endif
//! Get the current tool type
- vpAfma6ToolType getToolType(){
+ vpAfma6ToolType getToolType() const {
return tool_current;
};
//! Get the current camera model projection type
- vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType(){
+ vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const{
return projModel;
};
void getCameraParameters(vpCameraParameters &cam,
- const unsigned int &image_width,
- const unsigned int &image_height);
+ const unsigned int &image_width,
+ const unsigned int &image_height) const;
void getCameraParameters(vpCameraParameters &cam,
- const vpImage<unsigned char> &I);
- void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I);
+ const vpImage<unsigned char> &I) const;
+ void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpAfma6 & afma6);
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpAfma6 & afma6);
- vpColVector getJointMin();
- vpColVector getJointMax();
- double getCoupl56();
- double getLong56();
+ vpColVector getJointMin() const;
+ vpColVector getJointMax() const;
+ double getCoupl56() const;
+ double getLong56() const;
protected:
//! Set the current tool type
diff --git a/src/robot/real-robot/afma6/vpRobotAfma6.cpp b/src/robot/real-robot/afma6/vpRobotAfma6.cpp
index 40479e3..ba60fa5 100644
--- a/src/robot/real-robot/afma6/vpRobotAfma6.cpp
+++ b/src/robot/real-robot/afma6/vpRobotAfma6.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotAfma6.cpp 4107 2013-02-06 10:04:49Z fspindle $
+ * $Id: vpRobotAfma6.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -649,7 +649,7 @@ vpRobotAfma6::getPowerState(void)
*/
void
-vpRobotAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
+vpRobotAfma6::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpAfma6::get_cMe(cMe) ;
@@ -668,7 +668,7 @@ vpRobotAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpRobotAfma6::get_cMe(vpHomogeneousMatrix &cMe)
+vpRobotAfma6::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpAfma6::get_cMe(cMe) ;
}
diff --git a/src/robot/real-robot/afma6/vpRobotAfma6.h b/src/robot/real-robot/afma6/vpRobotAfma6.h
index 6713b36..f7b48b0 100644
--- a/src/robot/real-robot/afma6/vpRobotAfma6.h
+++ b/src/robot/real-robot/afma6/vpRobotAfma6.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotAfma6.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotAfma6.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -294,10 +294,10 @@ public: /* Methode publiques */
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double ×tamp);
- void get_cMe(vpHomogeneousMatrix &_cMe) ;
- void get_cVe(vpVelocityTwistMatrix &_cVe) ;
- void get_eJe(vpMatrix &_eJe) ;
- void get_fJe(vpMatrix &_fJe) ;
+ void get_cMe(vpHomogeneousMatrix &_cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &_cVe) const;
+ void get_eJe(vpMatrix &_eJe);
+ void get_fJe(vpMatrix &_fJe);
void init (void);
void init (vpAfma6::vpAfma6ToolType tool,
diff --git a/src/robot/real-robot/biclops/vpBiclops.cpp b/src/robot/real-robot/biclops/vpBiclops.cpp
index b30fdbf..92a2bae 100644
--- a/src/robot/real-robot/biclops/vpBiclops.cpp
+++ b/src/robot/real-robot/biclops/vpBiclops.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBiclops.cpp 4321 2013-07-17 19:26:03Z fspindle $
+ * $Id: vpBiclops.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,7 +77,7 @@ const float vpBiclops::speedLimit = (float)(M_PI/3.0); /*!< Maximum speed (in ra
\sa get_fMc(const vpColVector &, vpHomogeneousMatrix &)
*/
void
-vpBiclops::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc)
+vpBiclops::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc) const
{
vpHomogeneousMatrix fMe = get_fMe(q);
fMc = fMe * cMe_.inverse();
@@ -98,7 +98,7 @@ vpBiclops::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc)
*/
void
-vpBiclops::get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc)
+vpBiclops::get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const
{
vpHomogeneousMatrix fMe = get_fMe(q);
fMc = fMe * cMe_.inverse();
@@ -123,7 +123,7 @@ vpBiclops::get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc)
\sa get_fMc(const vpColVector &)
*/
vpHomogeneousMatrix
-vpBiclops::computeMGD (const vpColVector & q)
+vpBiclops::computeMGD (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
@@ -143,7 +143,7 @@ vpBiclops::computeMGD (const vpColVector & q)
*/
vpHomogeneousMatrix
-vpBiclops::get_fMc (const vpColVector & q)
+vpBiclops::get_fMc (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
@@ -163,7 +163,7 @@ vpBiclops::get_fMc (const vpColVector & q)
*/
vpHomogeneousMatrix
-vpBiclops::get_fMe (const vpColVector & q)
+vpBiclops::get_fMe (const vpColVector & q) const
{
vpHomogeneousMatrix fMe;
@@ -243,7 +243,7 @@ vpBiclops::get_fMe (const vpColVector & q)
*/
void
-vpBiclops::computeMGD (const vpColVector &q, vpPoseVector &fvc)
+vpBiclops::computeMGD (const vpColVector &q, vpPoseVector &fvc) const
{
vpHomogeneousMatrix fMc;
@@ -264,7 +264,7 @@ vpBiclops::computeMGD (const vpColVector &q, vpPoseVector &fvc)
*/
void
-vpBiclops::get_fMc (const vpColVector &q, vpPoseVector &fvc)
+vpBiclops::get_fMc (const vpColVector &q, vpPoseVector &fvc) const
{
vpHomogeneousMatrix fMc;
@@ -285,6 +285,7 @@ vpBiclops::get_fMc (const vpColVector &q, vpPoseVector &fvc)
*/
vpBiclops::vpBiclops (void)
+ : dh_model_(DH1), cMe_()
{
init();
}
@@ -300,6 +301,7 @@ vpBiclops::vpBiclops (void)
void
vpBiclops::init ()
{
+ dh_model_ = DH1;
set_cMe();
return ;
}
@@ -309,10 +311,8 @@ vpBiclops::init ()
/* --- DISPLAY ----------------------------------------------------------- */
/* ----------------------------------------------------------------------- */
-std::ostream & operator << (std::ostream & os,
- const vpBiclops & /*constant*/)
+VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpBiclops & /*constant*/)
{
-
os
<< "Geometric parameters: " << std::endl
<< "h: "
@@ -333,7 +333,7 @@ std::ostream & operator << (std::ostream & os,
*/
void
-vpBiclops::get_cVe(vpVelocityTwistMatrix &cVe)
+vpBiclops::get_cVe(vpVelocityTwistMatrix &cVe) const
{
cVe.buildFrom(cMe_) ;
}
@@ -386,10 +386,8 @@ vpBiclops::set_cMe()
*/
void
-vpBiclops::get_eJe(const vpColVector &q, vpMatrix &eJe)
+vpBiclops::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{
-
-
eJe.resize(6,2) ;
if (q.getRows() != 2) {
@@ -428,9 +426,8 @@ vpBiclops::get_eJe(const vpColVector &q, vpMatrix &eJe)
*/
void
-vpBiclops::get_fJe(const vpColVector &q, vpMatrix &fJe)
+vpBiclops::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
-
if (q.getRows() != 2) {
vpERROR_TRACE("Bad dimension for biclops articular vector");
throw(vpException(vpException::dimensionError, "Bad dimension for biclops articular vector"));
@@ -456,4 +453,3 @@ vpBiclops::get_fJe(const vpColVector &q, vpMatrix &fJe)
fJe[5][0] = 1;
}
}
-
diff --git a/src/robot/real-robot/biclops/vpBiclops.h b/src/robot/real-robot/biclops/vpBiclops.h
index 2c6ee8d..2461b4d 100644
--- a/src/robot/real-robot/biclops/vpBiclops.h
+++ b/src/robot/real-robot/biclops/vpBiclops.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBiclops.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBiclops.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -140,12 +140,14 @@ protected:
public:
vpBiclops (void);
- void init (void);
+ /*! Destructor that does nothing. */
+ virtual ~vpBiclops() {};
- void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc);
+ void init (void);
- vpHomogeneousMatrix computeMGD (const vpColVector & q);
- void computeMGD (const vpColVector &q, vpPoseVector &fvc);
+ void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc) const;
+ vpHomogeneousMatrix computeMGD (const vpColVector & q) const;
+ void computeMGD (const vpColVector &q, vpPoseVector &fvc) const;
/*!
Return the tranformation \f${^c}{\bf M}_e\f$ between the camera frame and the end
@@ -156,20 +158,20 @@ public:
return cMe_;
}
- void get_cVe(vpVelocityTwistMatrix &_cVe) ;
- void get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc);
- void get_fMc (const vpColVector &q, vpPoseVector &fvc);
- vpHomogeneousMatrix get_fMc (const vpColVector &q);
- vpHomogeneousMatrix get_fMe (const vpColVector &q);
+ void get_cVe(vpVelocityTwistMatrix &_cVe) const;
+ void get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const;
+ void get_fMc (const vpColVector &q, vpPoseVector &fvc) const;
+ vpHomogeneousMatrix get_fMc (const vpColVector &q) const;
+ vpHomogeneousMatrix get_fMe (const vpColVector &q) const;
- void get_eJe(const vpColVector &q, vpMatrix &eJe);
- void get_fJe(const vpColVector &q, vpMatrix &fJe);
+ void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
+ void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
/*!
Return the Denavit Hartenberg representation used to model the head.
\sa vpBiclops::DenavitHartenbergModel
*/
- inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel()
+ inline vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel() const
{
return dh_model_;
}
@@ -192,8 +194,7 @@ public:
dh_model_ = m;
}
- friend std::ostream & operator << (std::ostream & os,
- const vpBiclops & constant);
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpBiclops & constant);
};
diff --git a/src/robot/real-robot/biclops/vpRobotBiclops.cpp b/src/robot/real-robot/biclops/vpRobotBiclops.cpp
index 5c58fe0..f1ef8fb 100644
--- a/src/robot/real-robot/biclops/vpRobotBiclops.cpp
+++ b/src/robot/real-robot/biclops/vpRobotBiclops.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotBiclops.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotBiclops.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -127,6 +127,8 @@ vpRobotBiclops::vpRobotBiclops ()
pthread_mutex_init (&vpShm_mutex, NULL);
pthread_mutex_init (&vpEndThread_mutex, NULL);
pthread_mutex_init (&vpMeasure_mutex, NULL);
+
+ positioningVelocity = defaultPositioningVelocity ;
}
/*!
@@ -175,8 +177,9 @@ vpRobotBiclops::vpRobotBiclops (const char * filename)
// Initialize the mutex dedicated to she shm protection
pthread_mutex_init (&vpShm_mutex, NULL);
pthread_mutex_init (&vpEndThread_mutex, NULL);
- pthread_mutex_init (&vpMeasure_mutex
-, NULL);
+ pthread_mutex_init (&vpMeasure_mutex, NULL);
+
+ positioningVelocity = defaultPositioningVelocity ;
init();
@@ -275,8 +278,6 @@ vpRobotBiclops::init ()
vpRobotBiclops::robotAlreadyCreated = true;
- positioningVelocity = defaultPositioningVelocity ;
-
// Initialize previous articular position to manage getDisplacement()
q_previous.resize(vpBiclops::ndof);
q_previous = 0;
@@ -670,7 +671,7 @@ vpRobotBiclops::stopMotion(void)
*/
void
-vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe)
+vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
cMe = vpBiclops::get_cMe() ;
@@ -688,7 +689,7 @@ vpRobotBiclops::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpRobotBiclops::get_cMe(vpHomogeneousMatrix &cMe)
+vpRobotBiclops::get_cMe(vpHomogeneousMatrix &cMe) const
{
cMe = vpBiclops::get_cMe() ;
}
@@ -1279,16 +1280,19 @@ vpRobotBiclops::readPositionFile(const char *filename, vpColVector &q)
// skip lines begining with # for comments
if (fgets (line, 100, pt_f) != NULL) {
if ( strncmp (line, "#", 1) != 0) {
- // this line is not a comment
- if ( fscanf (pt_f, "%s", line) != EOF) {
- if ( strcmp (line, head) == 0)
- end = true; // robot position was found
- }
- else
- return (false); // end of file without position
+ // this line is not a comment
+ if ( fscanf (pt_f, "%s", line) != EOF) {
+ if ( strcmp (line, head) == 0)
+ end = true; // robot position was found
+ }
+ else {
+ fclose(pt_f);
+ return (false); // end of file without position
+ }
}
}
else {
+ fclose(pt_f);
return (false);// end of file
}
@@ -1298,6 +1302,7 @@ vpRobotBiclops::readPositionFile(const char *filename, vpColVector &q)
double q1,q2;
// Read positions
if (fscanf(pt_f, "%lf %lf", &q1, &q2) == EOF) {
+ fclose(pt_f);
std::cout << "Cannot read joint positions." << std::endl;
return false;
}
diff --git a/src/robot/real-robot/biclops/vpRobotBiclops.h b/src/robot/real-robot/biclops/vpRobotBiclops.h
index c402d22..cc749a4 100644
--- a/src/robot/real-robot/biclops/vpRobotBiclops.h
+++ b/src/robot/real-robot/biclops/vpRobotBiclops.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotBiclops.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotBiclops.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -136,8 +136,8 @@ public:
void init (void);
- void get_cMe(vpHomogeneousMatrix &_cMe) ;
- void get_cVe(vpVelocityTwistMatrix &_cVe) ;
+ void get_cMe(vpHomogeneousMatrix &_cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &_cVe) const;
void get_eJe(vpMatrix &_eJe) ;
void get_fJe(vpMatrix &_fJe) ;
diff --git a/src/robot/real-robot/biclops/vpRobotBiclopsController.cpp b/src/robot/real-robot/biclops/vpRobotBiclopsController.cpp
index 57ac29c..1be2483 100644
--- a/src/robot/real-robot/biclops/vpRobotBiclopsController.cpp
+++ b/src/robot/real-robot/biclops/vpRobotBiclopsController.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotBiclopsController.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotBiclopsController.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -41,7 +41,7 @@
#include <signal.h>
#include <string.h>
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
#endif
#include <visp/vpConfig.h>
@@ -89,6 +89,7 @@ vpRobotBiclopsController::vpRobotBiclopsController()
shm.q_dot[i] = 0.;
shm.actual_q[i] = 0.;
shm.jointLimit[i] = false;
+ shm.status[i] = STOP;
}
}
diff --git a/src/robot/real-robot/biclops/vpRobotBiclopsController.h b/src/robot/real-robot/biclops/vpRobotBiclopsController.h
index f8236e6..b615ccf 100644
--- a/src/robot/real-robot/biclops/vpRobotBiclopsController.h
+++ b/src/robot/real-robot/biclops/vpRobotBiclopsController.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotBiclopsController.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotBiclopsController.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,7 +61,7 @@
#include "Biclops.h" // Contrib for Biclops robot
#include "PMDUtils.h" // Contrib for Biclops robot
-#ifdef WIN32
+#if defined(_WIN32)
class VISP_EXPORT Biclops; //needed for dll creation
#endif
diff --git a/src/robot/real-robot/cycab/vpRobotCycab.cpp b/src/robot/real-robot/cycab/vpRobotCycab.cpp
deleted file mode 100644
index 4d2b0ab..0000000
--- a/src/robot/real-robot/cycab/vpRobotCycab.cpp
+++ /dev/null
@@ -1,295 +0,0 @@
-/****************************************************************************
- *
- * $Id: vpRobotCycab.cpp 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Interface for the car-like Cycab mobile robot.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-
-#include <visp/vpConfig.h>
-#include <visp/vpRobotCycab.h>
-
-#ifdef VISP_HAVE_CYCAB
-
-/*!
- Initialize the client to be able to communicate with the Cycab server.
-
- By default, the steering mode is set such as only the front steering
- angle is controlled.
-
- To change this behavior, use setDualSteering(true) function.
-*/
-vpRobotCycab::vpRobotCycab()
-{
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- end = false;
- cycab = NULL;
- sprintf(servername, "cycab-hf1");
- cycab = new EtherCycab(servername, <R);
- if (!cycab->doInitialization(&end, 50, 0, false)) {
- printf("ERROR: Can't connect to %s\n", servername);
- exit(-1);
- }
- cycab->releaseSecurity();
- printf("Control limits : phi in [%f:%f], V in [%f:%f]\n",
- cycab->minAllowedSteering(),
- cycab->maxAllowedSteering(),
- cycab->minAllowedSpeed(),
- cycab->maxAllowedSpeed());
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- std::string name = "cycab";
- CycabCarCommand cycab_command;
- setDualSteering(false);
- store.connect();
- cycab_commandId = store.lookupVariable( name + cycabCarCommandSuffix );
- cycab_stateId = store.lookupVariable( name + cycabStateSuffix );
- store.writeVariable( cycab_commandId, cycab_command );
-#endif
-}
-
-/*!
- Close the connection with the Cycab server.
-*/
-vpRobotCycab::~vpRobotCycab()
-{
-#ifdef VISP_HAVE_CYCABTK_OLD
- if (cycab != NULL) delete cycab;
- cycab = NULL;
-#endif
-}
-
-/*!
- Set the steering mode.
-
- \param dual : If false, only the front steering angle is
- conntrolled. If true, front and read steering angles are controlled.
-
-*/
-void vpRobotCycab::setDualSteering(bool dual)
-{
- dualSteering = dual;
-}
-
-/*!
- Send the command to the cycab server.
-
- \param v : Velocity in m/s.
- \param phi : Front steering angle in rad.
- */
-void vpRobotCycab::setCommand(double v, double phi)
-{
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- cycab->sendCommands(v, phi);
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- CycabCarCommand cycab_command;
- store.readVariable( cycab_commandId, cycab_command );
- cycab_command.v = v;
- cycab_command.phi = phi;
- cycab_command.manualDriving = false;
- cycab_command.dualSteering = dualSteering;
- store.writeVariable( cycab_commandId, cycab_command );
-#endif
-}
-
-/*!
- Get measures from odometry.
-
- \param vmean : Measured mean velocity in m/s. This value is computed by considering
- the mean velocity between rear-left and rear-right wheel velocities.
-
- \param phi : Measured front steering angle in rad.
-
-*/
-void vpRobotCycab::getOdometry(double &vmean, double &phi)
-{
- double timestamp;
- getOdometry(vmean, phi, timestamp);
-}
-
-/*!
- Get measures from odometry.
-
- \param v : Measured mean velocity in m/s. This value is computed by considering
- the mean velocity between rear-left and rear-right wheel velocities.
-
- \param phi : Measured front steering angle in rad.
-
- \param timestamp : Time stamp in milli second associates to the measured
- values of \e vmean and \e phi.
-*/
-void vpRobotCycab::getOdometry(double &vmean, double &phi, double ×tamp)
-{
- vmean = 0.;
- phi=0.;
- timestamp=0.;
-
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- Record rec;
- double dsl,dsr,lphi,ltime;
- cycab->waitUpdate();
- cycab->getState(&rec, &dsl, &dsr, &lphi, <ime);
- // printf("Ktate %f : phi %f vl %f vr %f\n\t",ltime,
- // lphi,rec.vmsec[REAR][LEFT],rec.vmsec[REAR][RIGHT]);
- // calculate speed
- vmean = (rec.vmsec[REAR][LEFT] + rec.vmsec[REAR][RIGHT])*0.5;
- phi = lphi;
- timestamp = ltime;
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- CycabState cycab_state;
- store.readVariable(cycab_stateId, cycab_state);
- vmean = (cycab_state.v_rear_left + cycab_state.v_rear_right)*0.5;
- //printf("vl %f vr %f\n", cycab_state.v_rear_left, cycab_state.v_rear_right);
- phi = cycab_state.phi_front;
- timeval tp = store.getTimestamp(cycab_stateId);
- timestamp = 1000.0*tp.tv_sec + tp.tv_usec/1000.0;
-#endif
-}
-/*!
- Get measures from odometry.
-
- \param vfl : Measured front-left wheel velocity in m/s.
- \param vfr : Measured front-right wheel velocity in m/s.
- \param vrl : Measured rear-left wheel velocity in m/s.
- \param vrr : Measured rear-right wheel velocity in m/s.
-
- \param phi : Measured front steering angle in rad.
-
-*/
-void vpRobotCycab::getOdometry(double &vfl, double &vfr,
- double &vrl, double &vrr,
- double &phi)
-{
- double timestamp;
- getOdometry(vfl, vfr, vrl, vrr, phi, timestamp);
-}
-
-/*!
- Get measures from odometry.
-
- \param vfl : Measured front-left wheel velocity in m/s.
- \param vfr : Measured front-right wheel velocity in m/s.
- \param vrl : Measured rear-left wheel velocity in m/s.
- \param vrr : Measured rear-right wheel velocity in m/s.
-
- \param phi : Measured front steering angle in rad.
-
- \param timestamp : Time stamp in milli second associates to the measured
- values of \e vmean and \e phi.
-*/
-void vpRobotCycab::getOdometry(double &vfl, double &vfr,
- double &vrl, double &vrr,
- double &phi, double ×tamp)
-{
- vfr = vfr = vrl = vrr = 0.;
- phi=0.;
- timestamp=0.;
-
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- Record rec;
- double dsl,dsr,lphi,ltime;
- cycab->waitUpdate();
- cycab->getState(&rec, &dsl, &dsr, &lphi, <ime);
- // printf("Ktate %f : phi %f vl %f vr %f\n\t",ltime,
- // lphi,rec.vmsec[REAR][LEFT],rec.vmsec[REAR][RIGHT]);
- // calculate speed
- vfl = rec.vmsec[FRONT][LEFT];
- vfr = rec.vmsec[FRONT][RIGHT];
- vrl = rec.vmsec[REAR][LEFT];
- vrr = rec.vmsec[REAR][RIGHT];
- phi = lphi;
- timestamp = ltime;
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- CycabState cycab_state;
- store.readVariable(cycab_stateId, cycab_state);
- vfl = cycab_state.v_front_left;
- vfr = cycab_state.v_front_right;
- vrl = cycab_state.v_rear_left;
- vrr = cycab_state.v_rear_right;
-
- phi = cycab_state.phi_front;
- timeval tp = store.getTimestamp(cycab_stateId);
- timestamp = 1000.0*tp.tv_sec + tp.tv_usec/1000.0;
-#endif
-}
-
-/*!
- Get the joystick positions.
-
- \param x : Joystick left/right position.
- \param y : Joystick front/rear position.
- */
-void vpRobotCycab::getJoystickPosition(double &x, double &y)
-{
- double timestamp;
- getJoystickPosition(x, y, timestamp);
-}
-
-/*!
- Get the joystick positions.
-
- \param x : Joystick left/right position.
- \param y : Joystick front/rear position.
- \param timestamp : Time stamp in milli second associates to the measured
- values of \e x and \e y.
- */
-void vpRobotCycab::getJoystickPosition(double &x, double &y, double ×tamp)
-{
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- x = 0.;
- y = 0.;
- timestamp = 0.;
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- CycabState cycab_state;
- store.readVariable(cycab_stateId, cycab_state);
- x = cycab_state.joy_x;
- y = cycab_state.joy_y;
- timeval tp = store.getTimestamp(cycab_stateId);
- timestamp = 1000.0*tp.tv_sec + tp.tv_usec/1000.0;
-#endif
-}
-
-
-#endif
diff --git a/src/robot/real-robot/cycab/vpRobotCycab.h b/src/robot/real-robot/cycab/vpRobotCycab.h
deleted file mode 100644
index d83b32d..0000000
--- a/src/robot/real-robot/cycab/vpRobotCycab.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- * $Id: vpRobotCycab.h 4056 2013-01-05 13:04:42Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Interface for the car-like Cycab mobile robot.
- *
- * Authors:
- * Fabien Spindler
- *
- *****************************************************************************/
-#ifndef vpRobotCycab_h
-#define vpRobotCycab_h
-
-/*!
-
- \file vpRobotCycab.h
-
- Interface for the car-like Cycab mobile robot.
-
-*/
-
-/*!
-
- \class vpRobotCycab
-
- \ingroup Cycab RobotDriver
-
- \brief Interface for the car-like Cycab mobile robot.
-
-*/
-
-#include <visp/vpConfig.h>
-
-#ifdef VISP_HAVE_CYCAB
-
-#ifdef VISP_HAVE_CYCABTK_OLD
-// Old low level controller based on Syndex (obsolete)
-# include <EtherCycab/EtherCycab.hpp>
-#elif defined VISP_HAVE_CYCABTK
-// New low level controller based on Syndex (to use)
-# include <hugr.hpp>
-# include <CycabStructs.hpp>
-
-using namespace hugr;
-
-#endif //VISP_HAVE_CYCABTK_OLD
-
-class VISP_EXPORT vpRobotCycab
-{
- public:
- vpRobotCycab();
- virtual ~vpRobotCycab();
-
- void setDualSteering(bool dual);
- void setCommand(double v, double phi);
- void getOdometry(double &vmean, double &phi);
- void getOdometry(double &vmean, double &phi, double ×tamp);
- void getOdometry(double &vfl, double &vfr, double &vrl, double &vrr,
- double &phi);
- void getOdometry(double &vfl, double &vfr, double &vrl, double &vrr,
- double &phi, double ×tamp);
- void getJoystickPosition(double &x, double &y);
- void getJoystickPosition(double &x, double &y, double ×tamp);
-
- private:
- bool dualSteering;
-#ifdef VISP_HAVE_CYCABTK_OLD
- // Old low level controller based on Syndex (obsolete)
- bool end;
- LockedTimeReq LTR;
- char servername[1024];
- EtherCycab *cycab;
-#elif defined VISP_HAVE_CYCABTK
- // New low level controller based on Syndex (to use)
- Store store;
- VariableId cycab_stateId, cycab_commandId;
-#endif
-};
-
-#endif
-#endif
diff --git a/src/robot/real-robot/pioneer/vpPioneer.h b/src/robot/real-robot/pioneer/vpPioneer.h
index da99e50..9dc2727 100644
--- a/src/robot/real-robot/pioneer/vpPioneer.h
+++ b/src/robot/real-robot/pioneer/vpPioneer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPioneer.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPioneer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/real-robot/pioneer/vpPioneerPan.h b/src/robot/real-robot/pioneer/vpPioneerPan.h
index 969c9af..5d1f6d9 100644
--- a/src/robot/real-robot/pioneer/vpPioneerPan.h
+++ b/src/robot/real-robot/pioneer/vpPioneerPan.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPioneerPan.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPioneerPan.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -102,7 +102,7 @@ public:
/*!
Create a pioneer mobile robot equiped with a pan head.
*/
- vpPioneerPan() : vpUnicycle()
+ vpPioneerPan() : mMp_(), pMe_()
{
double q = 0; // Initial position of the pan axis
set_mMp();
diff --git a/src/robot/real-robot/pioneer/vpRobotPioneer.cpp b/src/robot/real-robot/pioneer/vpRobotPioneer.cpp
index 4d3888e..bd72577 100644
--- a/src/robot/real-robot/pioneer/vpRobotPioneer.cpp
+++ b/src/robot/real-robot/pioneer/vpRobotPioneer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotPioneer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotPioneer.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/real-robot/pioneer/vpRobotPioneer.h b/src/robot/real-robot/pioneer/vpRobotPioneer.h
index 77190e2..a18e198 100644
--- a/src/robot/real-robot/pioneer/vpRobotPioneer.h
+++ b/src/robot/real-robot/pioneer/vpRobotPioneer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotPioneer.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotPioneer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/real-robot/pioneer/vpUnicycle.h b/src/robot/real-robot/pioneer/vpUnicycle.h
index fb3012c..eb4328d 100644
--- a/src/robot/real-robot/pioneer/vpUnicycle.h
+++ b/src/robot/real-robot/pioneer/vpUnicycle.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpUnicycle.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpUnicycle.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,7 +63,7 @@ public:
/*!
Default constructor that does nothing.
*/
- vpUnicycle()
+ vpUnicycle() : cMe_(), eJe_()
{
};
/*!
diff --git a/src/robot/real-robot/ptu46/vpPtu46.cpp b/src/robot/real-robot/ptu46/vpPtu46.cpp
index 3b2fb96..2fea9f6 100644
--- a/src/robot/real-robot/ptu46/vpPtu46.cpp
+++ b/src/robot/real-robot/ptu46/vpPtu46.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPtu46.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPtu46.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,10 +55,6 @@
#include <math.h>
#include <visp/vpMath.h>
-
-
-
-
/* ------------------------------------------------------------------------ */
/* --- COMPUTE ------------------------------------------------------------ */
/* ------------------------------------------------------------------------ */
@@ -80,7 +76,7 @@ const float vpPtu46::h = 0.068f; /*<! Vertical offset from last joint to
*/
void
-vpPtu46::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc)
+vpPtu46::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc) const
{
if (q.getRows() != 2) {
vpERROR_TRACE("Bad dimension for ptu-46 articular vector");
@@ -131,7 +127,7 @@ vpPtu46::computeMGD (const vpColVector & q, vpHomogeneousMatrix & fMc)
*/
vpHomogeneousMatrix
-vpPtu46::computeMGD (const vpColVector & q)
+vpPtu46::computeMGD (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
@@ -150,7 +146,7 @@ vpPtu46::computeMGD (const vpColVector & q)
*/
void
-vpPtu46::computeMGD (const vpColVector & q, vpPoseVector & r)
+vpPtu46::computeMGD (const vpColVector & q, vpPoseVector & r) const
{
vpHomogeneousMatrix fMc;
@@ -195,10 +191,8 @@ vpPtu46::init ()
/* --- DISPLAY ----------------------------------------------------------- */
/* ----------------------------------------------------------------------- */
-std::ostream & operator << (std::ostream & os,
- const vpPtu46 & /* constant */)
+VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpPtu46 & /* constant */)
{
-
os
<< "Geometric parameters: " << std::endl
<< "L: "
@@ -221,7 +215,7 @@ std::ostream & operator << (std::ostream & os,
*/
void
-vpPtu46::get_cVe(vpVelocityTwistMatrix &cVe)
+vpPtu46::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
@@ -239,7 +233,7 @@ vpPtu46::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpPtu46::get_cMe(vpHomogeneousMatrix &cMe)
+vpPtu46::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpHomogeneousMatrix eMc ;
@@ -279,7 +273,7 @@ vpPtu46::get_cMe(vpHomogeneousMatrix &cMe)
*/
void
-vpPtu46::get_eJe(const vpColVector &q, vpMatrix &eJe)
+vpPtu46::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{
@@ -298,7 +292,6 @@ vpPtu46::get_eJe(const vpColVector &q, vpMatrix &eJe)
eJe[3][0] = c2;
eJe[4][1] = 1;
eJe[5][0] = s2;
-
}
/*!
@@ -311,7 +304,7 @@ vpPtu46::get_eJe(const vpColVector &q, vpMatrix &eJe)
*/
void
-vpPtu46::get_fJe(const vpColVector &q, vpMatrix &fJe)
+vpPtu46::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
if (q.getRows() != 2) {
@@ -330,12 +323,3 @@ vpPtu46::get_fJe(const vpColVector &q, vpMatrix &fJe)
fJe[4][1] = -c1;
fJe[5][0] = 1;
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
-
diff --git a/src/robot/real-robot/ptu46/vpPtu46.h b/src/robot/real-robot/ptu46/vpPtu46.h
index 076a506..554fe89 100644
--- a/src/robot/real-robot/ptu46/vpPtu46.h
+++ b/src/robot/real-robot/ptu46/vpPtu46.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPtu46.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPtu46.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -93,20 +93,21 @@ public: /* Constants */
public: /* Methodes publiques */
vpPtu46 (void);
- void init (void);
+ /*! Destructor that does nothing. */
+ virtual ~vpPtu46() {};
- void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc);
+ void init (void);
- vpHomogeneousMatrix computeMGD (const vpColVector & q);
- void computeMGD (const vpColVector & q, vpPoseVector & r);
+ void computeMGD (const vpColVector &q, vpHomogeneousMatrix & fMc) const;
+ vpHomogeneousMatrix computeMGD (const vpColVector & q) const;
+ void computeMGD (const vpColVector & q, vpPoseVector & r) const;
- void get_cMe(vpHomogeneousMatrix &_cMe) ;
- void get_cVe(vpVelocityTwistMatrix &_cVe) ;
- void get_eJe(const vpColVector &q, vpMatrix &eJe);
- void get_fJe(const vpColVector &q, vpMatrix &fJe);
+ void get_cMe(vpHomogeneousMatrix &_cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &_cVe) const;
+ void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
+ void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpPtu46 & constant);
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpPtu46 & constant);
};
diff --git a/src/robot/real-robot/ptu46/vpRobotPtu46.cpp b/src/robot/real-robot/ptu46/vpRobotPtu46.cpp
index 2f8d2fd..0edcb33 100644
--- a/src/robot/real-robot/ptu46/vpRobotPtu46.cpp
+++ b/src/robot/real-robot/ptu46/vpRobotPtu46.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotPtu46.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotPtu46.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -235,7 +235,7 @@ vpRobotPtu46::stopMotion(void)
*/
void
-vpRobotPtu46::get_cVe(vpVelocityTwistMatrix &cVe)
+vpRobotPtu46::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpPtu46::get_cMe(cMe) ;
@@ -253,7 +253,7 @@ vpRobotPtu46::get_cVe(vpVelocityTwistMatrix &cVe)
*/
void
-vpRobotPtu46::get_cMe(vpHomogeneousMatrix &cMe)
+vpRobotPtu46::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpPtu46::get_cMe(cMe) ;
}
diff --git a/src/robot/real-robot/ptu46/vpRobotPtu46.h b/src/robot/real-robot/ptu46/vpRobotPtu46.h
index 4f7ccbf..a5702d0 100644
--- a/src/robot/real-robot/ptu46/vpRobotPtu46.h
+++ b/src/robot/real-robot/ptu46/vpRobotPtu46.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotPtu46.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotPtu46.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -112,8 +112,8 @@ public:
vpRobotPtu46 (vpRobotPtu46 * pub);
virtual ~vpRobotPtu46 (void);
- void get_cMe(vpHomogeneousMatrix &_cMe) ;
- void get_cVe(vpVelocityTwistMatrix &_cVe) ;
+ void get_cMe(vpHomogeneousMatrix &_cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &_cVe) const;
void get_eJe(vpMatrix &_eJe);
void get_fJe(vpMatrix &_fJe);
diff --git a/src/robot/real-robot/viper/vpRobotViper650.cpp b/src/robot/real-robot/viper/vpRobotViper650.cpp
index 461f80e..f579544 100644
--- a/src/robot/real-robot/viper/vpRobotViper650.cpp
+++ b/src/robot/real-robot/viper/vpRobotViper650.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotViper650.cpp 4218 2013-04-17 09:55:47Z fspindle $
+ * $Id: vpRobotViper650.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -679,7 +679,7 @@ void
\sa powerOn(), powerOff()
*/
bool
- vpRobotViper650::getPowerState(void)
+ vpRobotViper650::getPowerState(void) const
{
InitTry;
bool status = false;
@@ -712,7 +712,7 @@ bool
*/
void
- vpRobotViper650::get_cVe(vpVelocityTwistMatrix &cVe)
+ vpRobotViper650::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpViper650::get_cMe(cMe) ;
@@ -732,7 +732,7 @@ void
*/
void
- vpRobotViper650::get_cMe(vpHomogeneousMatrix &cMe)
+ vpRobotViper650::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpViper650::get_cMe(cMe) ;
}
@@ -861,7 +861,7 @@ void
\sa setPositioningVelocity()
*/
double
- vpRobotViper650::getPositioningVelocity (void)
+ vpRobotViper650::getPositioningVelocity (void) const
{
return positioningVelocity;
}
@@ -1992,7 +1992,7 @@ bool
return false;
fprintf(fd, "\
-#Viper - Position - Version 1.0\n\
+#Viper650 - Position - Version 1.00\n\
#\n\
# R: A B C D E F\n\
# Joint position in degrees\n\
@@ -2167,7 +2167,7 @@ void
*/
void
- vpRobotViper650::biasForceTorqueSensor()
+ vpRobotViper650::biasForceTorqueSensor() const
{
InitTry;
@@ -2224,7 +2224,7 @@ int main()
*/
void
- vpRobotViper650::getForceTorque(vpColVector &H)
+ vpRobotViper650::getForceTorque(vpColVector &H) const
{
InitTry;
@@ -2245,7 +2245,7 @@ void
\sa disbleJoint6Limits()
*/
-void vpRobotViper650::enableJoint6Limits()
+void vpRobotViper650::enableJoint6Limits() const
{
InitTry;
Try( PrimitiveREMOVE_JOINT6_LIMITS_Viper650(0) );
@@ -2267,7 +2267,7 @@ void vpRobotViper650::enableJoint6Limits()
\sa enableJoint6Limits()
*/
-void vpRobotViper650::disableJoint6Limits()
+void vpRobotViper650::disableJoint6Limits() const
{
InitTry;
Try( PrimitiveREMOVE_JOINT6_LIMITS_Viper650(1) );
diff --git a/src/robot/real-robot/viper/vpRobotViper650.h b/src/robot/real-robot/viper/vpRobotViper650.h
index 3b363bb..c28f8b5 100644
--- a/src/robot/real-robot/viper/vpRobotViper650.h
+++ b/src/robot/real-robot/viper/vpRobotViper650.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotViper650.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotViper650.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -336,22 +336,22 @@ public: /* Methode publiques */
virtual ~vpRobotViper650 (void);
// Force/Torque control
- void biasForceTorqueSensor();
+ void biasForceTorqueSensor() const;
- void disableJoint6Limits();
- void enableJoint6Limits();
+ void disableJoint6Limits() const;
+ void enableJoint6Limits() const;
/*!
\return The control mode indicating if the robot is in automatic,
manual (usage of the dead man switch) or emergnecy stop mode.
*/
- vpControlModeType getControlMode() {
+ vpControlModeType getControlMode() const {
return controlMode;
}
void getDisplacement(vpRobot::vpControlFrameType frame,
vpColVector &displacement);
- void getForceTorque(vpColVector &H);
+ void getForceTorque(vpColVector &H) const;
void getPosition (const vpRobot::vpControlFrameType frame,
vpColVector &position);
@@ -364,8 +364,8 @@ public: /* Methode publiques */
vpPoseVector &position,
double ×tamp);
- double getPositioningVelocity (void);
- bool getPowerState();
+ double getPositioningVelocity (void) const;
+ bool getPowerState() const;
double getTime () const;
void getVelocity (const vpRobot::vpControlFrameType frame,
@@ -376,23 +376,23 @@ public: /* Methode publiques */
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double ×tamp);
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_eJe(vpMatrix &eJe) ;
- void get_fJe(vpMatrix &fJe) ;
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_eJe(vpMatrix &eJe);
+ void get_fJe(vpMatrix &fJe);
void init (void);
void init (vpViper650::vpToolType tool,
vpCameraParameters::vpCameraParametersProjType
projModel = vpCameraParameters::perspectiveProjWithoutDistortion);
- void move(const char *filename) ;
+ void move(const char *filename);
- void powerOn() ;
- void powerOff() ;
+ void powerOn();
+ void powerOff();
- static bool readPosFile(const char *filename, vpColVector &q) ;
- static bool savePosFile(const char *filename, const vpColVector &q) ;
+ static bool readPosFile(const char *filename, vpColVector &q);
+ static bool savePosFile(const char *filename, const vpColVector &q);
// Position control
void setPosition(const vpRobot::vpControlFrameType frame,
@@ -409,7 +409,7 @@ public: /* Methode publiques */
void setVelocity (const vpRobot::vpControlFrameType frame,
const vpColVector & velocity);
- void stopMotion() ;
+ void stopMotion();
private:
void getArticularDisplacement(vpColVector &displacement);
diff --git a/src/robot/real-robot/viper/vpRobotViper850.cpp b/src/robot/real-robot/viper/vpRobotViper850.cpp
index d422612..f68efb5 100644
--- a/src/robot/real-robot/viper/vpRobotViper850.cpp
+++ b/src/robot/real-robot/viper/vpRobotViper850.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotViper850.cpp 4218 2013-04-17 09:55:47Z fspindle $
+ * $Id: vpRobotViper850.cpp 4594 2014-01-20 15:08:07Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -218,6 +218,8 @@ vpRobotViper850::vpRobotViper850 (bool verbose)
}
positioningVelocity = defaultPositioningVelocity ;
+ maxRotationVelocity_joint6 = maxRotationVelocity;
+
vpRobotViper850::robotAlreadyCreated = true;
return ;
@@ -680,7 +682,7 @@ void
\sa powerOn(), powerOff()
*/
bool
- vpRobotViper850::getPowerState(void)
+ vpRobotViper850::getPowerState(void) const
{
InitTry;
bool status = false;
@@ -713,7 +715,7 @@ bool
*/
void
- vpRobotViper850::get_cVe(vpVelocityTwistMatrix &cVe)
+ vpRobotViper850::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
vpViper850::get_cMe(cMe) ;
@@ -733,7 +735,7 @@ void
*/
void
- vpRobotViper850::get_cMe(vpHomogeneousMatrix &cMe)
+ vpRobotViper850::get_cMe(vpHomogeneousMatrix &cMe) const
{
vpViper850::get_cMe(cMe) ;
}
@@ -862,7 +864,7 @@ void
\sa setPositioningVelocity()
*/
double
- vpRobotViper850::getPositioningVelocity (void)
+ vpRobotViper850::getPositioningVelocity (void) const
{
return positioningVelocity;
}
@@ -1537,8 +1539,15 @@ void vpRobotViper850::setVelocity(const vpRobot::vpControlFrameType frame,
case vpRobot::ARTICULAR_FRAME : {
vpColVector vel_max(6);
- for (unsigned int i=0; i<6; i++)
- vel_max[i] = getMaxRotationVelocity();
+ if (getMaxRotationVelocity() == getMaxRotationVelocityJoint6()) {
+ for (unsigned int i=0; i<6; i++)
+ vel_max[i] = getMaxRotationVelocity();
+ }
+ else {
+ for (unsigned int i=0; i<5; i++)
+ vel_max[i] = getMaxRotationVelocity();
+ vel_max[5] = getMaxRotationVelocityJoint6();
+ }
vel_sat = vpRobot::saturateVelocities(vel, vel_max, true);
}
@@ -2006,7 +2015,7 @@ bool
return false;
fprintf(fd, "\
-#Viper - Position - Version 1.0\n\
+#Viper850 - Position - Version 1.00\n\
#\n\
# R: A B C D E F\n\
# Joint position in degrees\n\
@@ -2181,7 +2190,7 @@ void
*/
void
- vpRobotViper850::biasForceTorqueSensor()
+ vpRobotViper850::biasForceTorqueSensor() const
{
InitTry;
@@ -2238,7 +2247,7 @@ int main()
*/
void
- vpRobotViper850::getForceTorque(vpColVector &H)
+ vpRobotViper850::getForceTorque(vpColVector &H) const
{
InitTry;
@@ -2280,7 +2289,7 @@ void
\sa openGripper()
*/
-void vpRobotViper850::closeGripper()
+void vpRobotViper850::closeGripper() const
{
InitTry;
Try( PrimitiveGripper_Viper850(0) );
@@ -2298,7 +2307,7 @@ void vpRobotViper850::closeGripper()
\sa disbleJoint6Limits()
*/
-void vpRobotViper850::enableJoint6Limits()
+void vpRobotViper850::enableJoint6Limits() const
{
InitTry;
Try( PrimitiveREMOVE_JOINT6_LIMITS_Viper850(0) );
@@ -2320,7 +2329,7 @@ void vpRobotViper850::enableJoint6Limits()
\sa enableJoint6Limits()
*/
-void vpRobotViper850::disableJoint6Limits()
+void vpRobotViper850::disableJoint6Limits() const
{
InitTry;
Try( PrimitiveREMOVE_JOINT6_LIMITS_Viper850(1) );
@@ -2333,5 +2342,59 @@ void vpRobotViper850::disableJoint6Limits()
}
}
+/*!
+
+ Set the maximal rotation velocity that can be sent to the robot during a velocity control.
+
+ \param w_max : Maximum rotation velocity expressed in rad/s.
+*/
+
+void
+vpRobotViper850::setMaxRotationVelocity (double w_max)
+{
+ vpRobot::setMaxRotationVelocity(w_max);
+ setMaxRotationVelocityJoint6(w_max);
+
+ return;
+}
+
+/*!
+
+ Set the maximal rotation velocity on joint 6 that is used only during velocity joint control.
+
+ This function affects only the velocities that are sent as joint velocities.
+
+ \code
+ vpRobotViper850 robot;
+ robot.setMaxRotationVelocity( vpMath::rad(20) );
+ robot.setMaxRotationVelocityJoint6( vpMath::rad(50) );
+
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
+ robot.setVelocity(ARTICULAR_FRAME, v);
+ \endcode
+
+
+ \param w6_max : Maximum rotation velocity expressed in rad/s on joint 6.
+*/
+
+void
+vpRobotViper850::setMaxRotationVelocityJoint6 (const double w6_max)
+{
+ maxRotationVelocity_joint6 = w6_max;
+ return;
+}
+
+/*!
+
+ Get the maximal rotation velocity on joint 6 that is used only during velocity joint control.
+
+ \return Maximum rotation velocity on joint 6 expressed in rad/s.
+*/
+double
+vpRobotViper850::getMaxRotationVelocityJoint6() const
+{
+ return maxRotationVelocity_joint6;
+}
+
#endif
diff --git a/src/robot/real-robot/viper/vpRobotViper850.h b/src/robot/real-robot/viper/vpRobotViper850.h
index 161f778..5d5d7d0 100644
--- a/src/robot/real-robot/viper/vpRobotViper850.h
+++ b/src/robot/real-robot/viper/vpRobotViper850.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotViper850.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpRobotViper850.h 4594 2014-01-20 15:08:07Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -336,12 +336,12 @@ public: /* Methode publiques */
virtual ~vpRobotViper850 (void);
// Force/Torque control
- void biasForceTorqueSensor();
+ void biasForceTorqueSensor() const;
- void closeGripper();
+ void closeGripper() const;
- void disableJoint6Limits();
- void enableJoint6Limits();
+ void disableJoint6Limits() const;
+ void enableJoint6Limits() const;
void getDisplacement(vpRobot::vpControlFrameType frame,
vpColVector &displacement);
@@ -349,12 +349,13 @@ public: /* Methode publiques */
\return The control mode indicating if the robot is in automatic,
manual (usage of the dead man switch) or emergnecy stop mode.
*/
- vpControlModeType getControlMode() {
+ vpControlModeType getControlMode() const {
return controlMode;
}
- void getForceTorque(vpColVector &H);
+ void getForceTorque(vpColVector &H) const;
+ double getMaxRotationVelocityJoint6() const;
void getPosition (const vpRobot::vpControlFrameType frame,
vpColVector &position);
void getPosition (const vpRobot::vpControlFrameType frame,
@@ -364,8 +365,8 @@ public: /* Methode publiques */
void getPosition (const vpRobot::vpControlFrameType frame,
vpPoseVector &position, double ×tamp);
- double getPositioningVelocity (void);
- bool getPowerState();
+ double getPositioningVelocity (void) const;
+ bool getPowerState() const;
void getVelocity (const vpRobot::vpControlFrameType frame,
vpColVector & velocity);
@@ -377,10 +378,10 @@ public: /* Methode publiques */
double getTime() const;
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_eJe(vpMatrix &eJe) ;
- void get_fJe(vpMatrix &fJe) ;
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_eJe(vpMatrix &eJe);
+ void get_fJe(vpMatrix &fJe);
void init (void);
void init (vpViper850::vpToolType tool,
@@ -397,6 +398,9 @@ public: /* Methode publiques */
static bool readPosFile(const char *filename, vpColVector &q) ;
static bool savePosFile(const char *filename, const vpColVector &q) ;
+ void setMaxRotationVelocity(double w_max);
+ void setMaxRotationVelocityJoint6(double w6_max);
+
// Position control
void setPosition(const vpRobot::vpControlFrameType frame,
const vpColVector &position) ;
@@ -418,6 +422,8 @@ public: /* Methode publiques */
private:
void getArticularDisplacement(vpColVector &displacement);
void getCameraDisplacement(vpColVector &displacement);
+
+ double maxRotationVelocity_joint6;
};
diff --git a/src/robot/real-robot/viper/vpViper.cpp b/src/robot/real-robot/viper/vpViper.cpp
index b3bbae7..250410c 100644
--- a/src/robot/real-robot/viper/vpViper.cpp
+++ b/src/robot/real-robot/viper/vpViper.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper.cpp 4206 2013-04-13 07:29:06Z fspindle $
+ * $Id: vpViper.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,6 +68,7 @@ const unsigned int vpViper::njoint = 6;
*/
vpViper::vpViper()
+ : eMc(), etc(), erc(), a1(0), d1(0), a2(), a3(), d4(0), d6(0), c56(0), joint_max(), joint_min()
{
// Default values are initialized
@@ -125,7 +126,7 @@ vpViper::vpViper()
*/
vpHomogeneousMatrix
-vpViper::getForwardKinematics(const vpColVector & q)
+vpViper::getForwardKinematics(const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
fMc = get_fMc(q);
@@ -148,7 +149,7 @@ vpViper::getForwardKinematics(const vpColVector & q)
\return true if the joint position is in the joint limits. false otherwise.
*/
bool
-vpViper::convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod, const bool &verbose)
+vpViper::convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod, const bool &verbose) const
{
double eps = 0.01;
if (q >= joint_min[joint]-eps && q <= joint_max[joint]+eps ) {
@@ -228,7 +229,7 @@ vpViper::convertJointPositionInLimits(unsigned int joint, const double &q, doubl
*/
unsigned int
-vpViper::getInverseKinematicsWrist(const vpHomogeneousMatrix & fMw, vpColVector & q, const bool &verbose)
+vpViper::getInverseKinematicsWrist(const vpHomogeneousMatrix & fMw, vpColVector & q, const bool &verbose) const
{
vpColVector q_sol[8];
@@ -573,14 +574,14 @@ vpViper::getInverseKinematicsWrist(const vpHomogeneousMatrix & fMw, vpColVector
*/
unsigned int
-vpViper::getInverseKinematics(const vpHomogeneousMatrix & fMc, vpColVector & q, const bool &verbose)
+vpViper::getInverseKinematics(const vpHomogeneousMatrix & fMc, vpColVector & q, const bool &verbose) const
{
vpHomogeneousMatrix fMw;
vpHomogeneousMatrix wMe;
- vpHomogeneousMatrix eMc;
+ vpHomogeneousMatrix eMc_;
this->get_wMe(wMe);
- this->get_eMc(eMc);
- fMw = fMc * eMc.inverse() * wMe.inverse();
+ this->get_eMc(eMc_);
+ fMw = fMc * eMc_.inverse() * wMe.inverse();
return (getInverseKinematicsWrist(fMw, q, verbose));
}
@@ -611,7 +612,7 @@ vpViper::getInverseKinematics(const vpHomogeneousMatrix & fMc, vpColVector & q,
*/
vpHomogeneousMatrix
-vpViper::get_fMc (const vpColVector & q)
+vpViper::get_fMc (const vpColVector & q) const
{
vpHomogeneousMatrix fMc;
get_fMc(q, fMc);
@@ -641,7 +642,7 @@ vpViper::get_fMc (const vpColVector & q)
\sa get_fMe(), get_eMc()
*/
void
-vpViper::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc)
+vpViper::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const
{
// Compute the direct geometric model: fMe = transformation between
@@ -728,7 +729,7 @@ int main()
*/
void
-vpViper::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
+vpViper::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const
{
double q1 = q[0];
double q2 = q[1];
@@ -824,7 +825,7 @@ vpViper::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe)
*/
void
-vpViper::get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw)
+vpViper::get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw) const
{
double q1 = q[0];
double q2 = q[1];
@@ -857,7 +858,6 @@ vpViper::get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw)
double c23 = cos(q2+q3);
double s23 = sin(q2+q3);
-
fMw[0][0] = c1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)-s1*(s4*c5*c6+c4*s6);
fMw[1][0] = -s1*(c23*(-c4*c5*c6+s4*s6)+s23*s5*c6)+c1*(s4*c5*c6+c4*s6);
fMw[2][0] = s23*(s4*s6-c4*c5*c6)-c23*s5*c6;
@@ -890,7 +890,7 @@ vpViper::get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw)
*/
void
-vpViper::get_wMe(vpHomogeneousMatrix & wMe)
+vpViper::get_wMe(vpHomogeneousMatrix & wMe) const
{
// Set the rotation as identity
wMe.setIdentity();
@@ -905,15 +905,15 @@ vpViper::get_wMe(vpHomogeneousMatrix & wMe)
the camera frame. This transformation is constant and correspond to
the extrinsic camera parameters estimated by calibration.
- \param eMc : Transformation between the the
+ \param eMc_ : Transformation between the the
end-effector frame and the camera frame.
\sa get_cMe()
*/
void
-vpViper::get_eMc(vpHomogeneousMatrix &eMc)
+vpViper::get_eMc(vpHomogeneousMatrix &eMc_) const
{
- eMc = this->eMc;
+ eMc_ = this->eMc;
}
/*!
@@ -928,7 +928,7 @@ vpViper::get_eMc(vpHomogeneousMatrix &eMc)
\sa get_eMc()
*/
void
-vpViper::get_cMe(vpHomogeneousMatrix &cMe)
+vpViper::get_cMe(vpHomogeneousMatrix &cMe) const
{
cMe = this->eMc.inverse();
}
@@ -949,7 +949,7 @@ vpViper::get_cMe(vpHomogeneousMatrix &cMe)
*/
void
-vpViper::get_cVe(vpVelocityTwistMatrix &cVe)
+vpViper::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpHomogeneousMatrix cMe ;
get_cMe(cMe) ;
@@ -982,7 +982,7 @@ vpViper::get_cVe(vpVelocityTwistMatrix &cVe)
\sa get_fJw()
*/
void
-vpViper::get_eJe(const vpColVector &q, vpMatrix &eJe)
+vpViper::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{
vpMatrix V(6,6);
V = 0;
@@ -1068,7 +1068,7 @@ vpViper::get_eJe(const vpColVector &q, vpMatrix &eJe)
*/
void
-vpViper::get_fJw(const vpColVector &q, vpMatrix &fJw)
+vpViper::get_fJw(const vpColVector &q, vpMatrix &fJw) const
{
double q1 = q[0];
double q2 = q[1];
@@ -1174,7 +1174,7 @@ vpViper::get_fJw(const vpColVector &q, vpMatrix &fJw)
\sa get_fJw
*/
void
-vpViper::get_fJe(const vpColVector &q, vpMatrix &fJe)
+vpViper::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
vpMatrix V(6,6);
V = 0;
@@ -1216,7 +1216,7 @@ vpViper::get_fJe(const vpColVector &q, vpMatrix &fJe)
*/
vpColVector
-vpViper::getJointMin()
+vpViper::getJointMin() const
{
return joint_min;
}
@@ -1229,7 +1229,7 @@ vpViper::getJointMin()
*/
vpColVector
-vpViper::getJointMax()
+vpViper::getJointMax() const
{
return joint_max;
}
@@ -1245,13 +1245,11 @@ vpViper::getJointMax()
*/
double
-vpViper::getCoupl56()
+vpViper::getCoupl56() const
{
return c56;
}
-
-
/*!
Print on the output stream \e os the robot parameters (joint
@@ -1261,7 +1259,7 @@ vpViper::getCoupl56()
\param os : Output stream.
\param viper : Robot parameters.
*/
-std::ostream & operator << (std::ostream & os, const vpViper & viper)
+VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpViper & viper)
{
vpRotationMatrix eRc;
viper.eMc.extract(eRc);
@@ -1302,8 +1300,3 @@ std::ostream & operator << (std::ostream & os, const vpViper & viper)
return os;
}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/robot/real-robot/viper/vpViper.h b/src/robot/real-robot/viper/vpViper.h
index a2b0a0f..e67984c 100644
--- a/src/robot/real-robot/viper/vpViper.h
+++ b/src/robot/real-robot/viper/vpViper.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper.h 4191 2013-04-01 07:46:05Z fspindle $
+ * $Id: vpViper.h 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -114,31 +114,30 @@ class VISP_EXPORT vpViper
vpViper();
virtual ~vpViper() {};
- vpHomogeneousMatrix getForwardKinematics(const vpColVector & q);
- unsigned int getInverseKinematicsWrist(const vpHomogeneousMatrix & fMw, vpColVector & q, const bool &verbose=false);
- unsigned int getInverseKinematics(const vpHomogeneousMatrix & fMc, vpColVector & q, const bool &verbose=false);
- vpHomogeneousMatrix get_fMc (const vpColVector & q);
- void get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw);
- void get_wMe(vpHomogeneousMatrix & wMe);
- void get_eMc(vpHomogeneousMatrix & eMc);
- void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe);
- void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc);
-
- void get_cMe(vpHomogeneousMatrix &cMe) ;
- void get_cVe(vpVelocityTwistMatrix &cVe) ;
- void get_fJw(const vpColVector &q, vpMatrix &fJw) ;
- void get_fJe(const vpColVector &q, vpMatrix &fJe) ;
- void get_eJe(const vpColVector &q, vpMatrix &eJe) ;
-
- friend VISP_EXPORT std::ostream & operator << (std::ostream & os,
- const vpViper & viper);
-
- vpColVector getJointMin();
- vpColVector getJointMax();
- double getCoupl56();
+ vpHomogeneousMatrix getForwardKinematics(const vpColVector & q) const;
+ unsigned int getInverseKinematicsWrist(const vpHomogeneousMatrix & fMw, vpColVector & q, const bool &verbose=false) const;
+ unsigned int getInverseKinematics(const vpHomogeneousMatrix & fMc, vpColVector & q, const bool &verbose=false) const;
+ vpHomogeneousMatrix get_fMc (const vpColVector & q) const;
+ void get_fMw(const vpColVector & q, vpHomogeneousMatrix & fMw) const;
+ void get_wMe(vpHomogeneousMatrix & wMe) const;
+ void get_eMc(vpHomogeneousMatrix & eMc) const;
+ void get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const;
+ void get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const;
+
+ void get_cMe(vpHomogeneousMatrix &cMe) const;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_fJw(const vpColVector &q, vpMatrix &fJw) const;
+ void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
+ void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
+
+ friend VISP_EXPORT std::ostream & operator << (std::ostream & os, const vpViper & viper);
+
+ vpColVector getJointMin() const;
+ vpColVector getJointMax() const;
+ double getCoupl56() const;
private:
- bool convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod, const bool &verbose=false);
+ bool convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod, const bool &verbose=false) const;
public:
static const unsigned int njoint; ///< Number of joint.
@@ -160,15 +159,7 @@ class VISP_EXPORT vpViper
// Software joint limits in radians
vpColVector joint_max; // Maximal value of the joints
vpColVector joint_min; // Minimal value of the joints
-
-
};
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
-
#endif
diff --git a/src/robot/real-robot/viper/vpViper650.cpp b/src/robot/real-robot/viper/vpViper650.cpp
index 0535055..0e8c2df 100644
--- a/src/robot/real-robot/viper/vpViper650.cpp
+++ b/src/robot/real-robot/viper/vpViper650.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper650.cpp 4210 2013-04-16 08:57:46Z fspindle $
+ * $Id: vpViper650.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,56 +57,56 @@ static const char *opt_viper650[] = {"CAMERA", "eMc_ROT_XYZ","eMc_TRANS_XYZ",
NULL};
const char * const vpViper650::CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_MarlinF033C_without_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_MarlinF033C_without_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_MarlinF033C_with_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_MarlinF033C_with_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_PTGreyFlea2_without_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_PTGreyFlea2_without_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_PTGreyFlea2_with_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_PTGreyFlea2_with_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_schunk_gripper_without_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_schunk_gripper_without_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_schunk_gripper_with_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_schunk_gripper_with_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_generic_without_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_generic_without_distortion_Viper650.cnf";
#endif
const char * const vpViper650::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_eMc_generic_with_distortion_Viper650.cnf";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_eMc_generic_with_distortion_Viper650.cnf";
@@ -114,7 +114,7 @@ const char * const vpViper650::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
const char * const vpViper650::CONST_CAMERA_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper650/current/include/const_camera_Viper650.xml";
#else
= "/udd/fspindle/robot/Viper650/current/include/const_camera_Viper650.xml";
@@ -139,6 +139,7 @@ const vpViper650::vpToolType vpViper650::defaultTool = vpViper650::TOOL_PTGREY_F
*/
vpViper650::vpViper650()
+ : tool_current(vpViper650::defaultTool), projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
{
// Denavit Hartenberg parameters
a1 = 0.075;
@@ -209,15 +210,15 @@ vpViper650::init (const char *camera_extrinsic_parameters)
\param tool : Camera in use.
- \param projModel : Projection model of the camera.
+ \param proj_model : Projection model of the camera.
*/
void
vpViper650::init (vpViper650::vpToolType tool,
- vpCameraParameters::vpCameraParametersProjType projModel)
+ vpCameraParameters::vpCameraParametersProjType proj_model)
{
- this->projModel = projModel;
+ this->projModel = proj_model;
#ifdef VISP_HAVE_ACCESS_TO_NAS
// Read the robot parameters from files
@@ -226,19 +227,19 @@ vpViper650::init (vpViper650::vpToolType tool,
case vpViper650::TOOL_MARLIN_F033C_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME);
#endif
@@ -249,19 +250,19 @@ vpViper650::init (vpViper650::vpToolType tool,
case vpViper650::TOOL_PTGREY_FLEA2_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME);
#endif
@@ -272,19 +273,19 @@ vpViper650::init (vpViper650::vpToolType tool,
case vpViper650::TOOL_SCHUNK_GRIPPER_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME);
#endif
@@ -295,19 +296,19 @@ vpViper650::init (vpViper650::vpToolType tool,
case vpViper650::TOOL_GENERIC_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
#endif
@@ -354,6 +355,7 @@ vpViper650::init (vpViper650::vpToolType tool,
etc[2] = 0.1022; // tz
break;
}
+ break;
}
case vpViper650::TOOL_PTGREY_FLEA2_CAMERA:
case vpViper650::TOOL_SCHUNK_GRIPPER_CAMERA: {
@@ -375,6 +377,7 @@ vpViper650::init (vpViper650::vpToolType tool,
etc[2] = 0.078; // tz
break;
}
+ break;
}
case vpViper650::TOOL_GENERIC_CAMERA: {
// Set eMc to identity
@@ -389,6 +392,7 @@ vpViper650::init (vpViper650::vpToolType tool,
etc[2] = 0; // tz
break;
}
+ break;
}
}
vpRotationMatrix eRc(erc);
@@ -574,7 +578,7 @@ int main()
void
vpViper650::getCameraParameters (vpCameraParameters &cam,
const unsigned int &image_width,
- const unsigned int &image_height)
+ const unsigned int &image_height) const
{
#if defined(VISP_HAVE_XML2) && defined (VISP_HAVE_ACCESS_TO_NAS)
vpXmlParserCamera parser;
@@ -796,7 +800,7 @@ int main()
*/
void
vpViper650::getCameraParameters (vpCameraParameters &cam,
- const vpImage<unsigned char> &I)
+ const vpImage<unsigned char> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
@@ -866,15 +870,7 @@ int main()
void
vpViper650::getCameraParameters (vpCameraParameters &cam,
- const vpImage<vpRGBa> &I)
+ const vpImage<vpRGBa> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/robot/real-robot/viper/vpViper650.h b/src/robot/real-robot/viper/vpViper650.h
index 883a663..b19a7aa 100644
--- a/src/robot/real-robot/viper/vpViper650.h
+++ b/src/robot/real-robot/viper/vpViper650.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper650.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpViper650.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -111,19 +111,19 @@ class VISP_EXPORT vpViper650: public vpViper
//! Get the current camera model projection type
- vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType(){
+ vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const {
return projModel;
};
void getCameraParameters(vpCameraParameters &cam,
const unsigned int &image_width,
- const unsigned int &image_height);
+ const unsigned int &image_height) const;
void getCameraParameters(vpCameraParameters &cam,
- const vpImage<unsigned char> &I);
- void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I);
+ const vpImage<unsigned char> &I) const;
+ void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
//! Get the current tool type
- vpToolType getToolType(){
+ vpToolType getToolType() const{
return tool_current;
};
diff --git a/src/robot/real-robot/viper/vpViper850.cpp b/src/robot/real-robot/viper/vpViper850.cpp
index f465ee8..3a29dc4 100644
--- a/src/robot/real-robot/viper/vpViper850.cpp
+++ b/src/robot/real-robot/viper/vpViper850.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper850.cpp 4210 2013-04-16 08:57:46Z fspindle $
+ * $Id: vpViper850.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,56 +57,56 @@ static const char *opt_viper850[] = {"CAMERA", "eMc_ROT_XYZ","eMc_TRANS_XYZ",
NULL};
const char * const vpViper850::CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_schunk_gripper_without_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_schunk_gripper_without_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_generic_without_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_generic_without_distortion_Viper850.cnf";
#endif
const char * const vpViper850::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_eMc_generic_with_distortion_Viper850.cnf";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_eMc_generic_with_distortion_Viper850.cnf";
@@ -114,7 +114,7 @@ const char * const vpViper850::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
const char * const vpViper850::CONST_CAMERA_FILENAME
-#ifdef WIN32
+#if defined(_WIN32)
= "Z:/robot/Viper850/current/include/const_camera_Viper850.xml";
#else
= "/udd/fspindle/robot/Viper850/current/include/const_camera_Viper850.xml";
@@ -139,6 +139,8 @@ const vpViper850::vpToolType vpViper850::defaultTool = vpViper850::TOOL_PTGREY_F
*/
vpViper850::vpViper850()
+ : tool_current(vpViper850::defaultTool), projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
+
{
// Denavit Hartenberg parameters
a1 = 0.075;
@@ -209,15 +211,15 @@ vpViper850::init (const char *camera_extrinsic_parameters)
\param tool : Camera in use.
- \param projModel : Projection model of the camera.
+ \param proj_model : Projection model of the camera.
*/
void
vpViper850::init (vpViper850::vpToolType tool,
- vpCameraParameters::vpCameraParametersProjType projModel)
+ vpCameraParameters::vpCameraParametersProjType proj_model)
{
- this->projModel = projModel;
+ this->projModel = proj_model;
#ifdef VISP_HAVE_ACCESS_TO_NAS
// Read the robot parameters from files
@@ -226,19 +228,19 @@ vpViper850::init (vpViper850::vpToolType tool,
case vpViper850::TOOL_MARLIN_F033C_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME);
#endif
@@ -249,19 +251,19 @@ vpViper850::init (vpViper850::vpToolType tool,
case vpViper850::TOOL_PTGREY_FLEA2_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME);
#endif
@@ -272,19 +274,19 @@ vpViper850::init (vpViper850::vpToolType tool,
case vpViper850::TOOL_SCHUNK_GRIPPER_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME);
#endif
@@ -295,19 +297,19 @@ vpViper850::init (vpViper850::vpToolType tool,
case vpViper850::TOOL_GENERIC_CAMERA: {
switch(projModel) {
case vpCameraParameters::perspectiveProjWithoutDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
#endif
break;
case vpCameraParameters::perspectiveProjWithDistortion :
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
-#else // WIN32
+#else // _WIN32
_snprintf(filename_eMc, FILENAME_MAX, "%s",
CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
#endif
@@ -354,6 +356,7 @@ vpViper850::init (vpViper850::vpToolType tool,
etc[2] = 0.1022; // tz
break;
}
+ break;
}
case vpViper850::TOOL_PTGREY_FLEA2_CAMERA:
case vpViper850::TOOL_SCHUNK_GRIPPER_CAMERA: {
@@ -375,6 +378,7 @@ vpViper850::init (vpViper850::vpToolType tool,
etc[2] = 0.078; // tz
break;
}
+ break;
}
case vpViper850::TOOL_GENERIC_CAMERA: {
// Set eMc to identity
@@ -389,6 +393,7 @@ vpViper850::init (vpViper850::vpToolType tool,
etc[2] = 0; // tz
break;
}
+ break;
}
}
vpRotationMatrix eRc(erc);
@@ -574,7 +579,7 @@ int main()
void
vpViper850::getCameraParameters (vpCameraParameters &cam,
const unsigned int &image_width,
- const unsigned int &image_height)
+ const unsigned int &image_height) const
{
#if defined(VISP_HAVE_XML2) && defined (VISP_HAVE_ACCESS_TO_NAS)
vpXmlParserCamera parser;
@@ -796,7 +801,7 @@ int main()
*/
void
vpViper850::getCameraParameters (vpCameraParameters &cam,
- const vpImage<unsigned char> &I)
+ const vpImage<unsigned char> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
@@ -866,15 +871,7 @@ int main()
void
vpViper850::getCameraParameters (vpCameraParameters &cam,
- const vpImage<vpRGBa> &I)
+ const vpImage<vpRGBa> &I) const
{
getCameraParameters(cam,I.getWidth(),I.getHeight());
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/robot/real-robot/viper/vpViper850.h b/src/robot/real-robot/viper/vpViper850.h
index a9d1a34..8418cf0 100644
--- a/src/robot/real-robot/viper/vpViper850.h
+++ b/src/robot/real-robot/viper/vpViper850.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViper850.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpViper850.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -111,19 +111,19 @@ class VISP_EXPORT vpViper850: public vpViper
//! Get the current camera model projection type
- vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType(){
+ vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const{
return projModel;
};
void getCameraParameters(vpCameraParameters &cam,
const unsigned int &image_width,
- const unsigned int &image_height);
+ const unsigned int &image_height) const;
void getCameraParameters(vpCameraParameters &cam,
- const vpImage<unsigned char> &I);
- void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I);
+ const vpImage<unsigned char> &I) const;
+ void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
//! Get the current tool type
- vpToolType getToolType(){
+ vpToolType getToolType() const {
return tool_current;
};
diff --git a/src/robot/robot/vpRobot.cpp b/src/robot/robot/vpRobot.cpp
index 9b1945c..1f331bc 100644
--- a/src/robot/robot/vpRobot.cpp
+++ b/src/robot/robot/vpRobot.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobot.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobot.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,14 +53,50 @@ const double vpRobot::maxRotationVelocityDefault = 0.7;
vpRobot::vpRobot (void)
:
+ stateRobot(vpRobot::STATE_STOP), frameRobot(vpRobot::CAMERA_FRAME),
maxTranslationVelocity (maxTranslationVelocityDefault),
- maxRotationVelocity (maxRotationVelocityDefault)
+ maxRotationVelocity (maxRotationVelocityDefault),
+ nDof(0),
+ eJe(), eJeAvailable(false), fJe(), fJeAvailable(false), areJointLimitsAvailable(false),
+ qmin(NULL), qmax(NULL), verbose_(true)
{
- frameRobot = vpRobot::CAMERA_FRAME;
- stateRobot = vpRobot::STATE_STOP ;
- verbose_ = true;
}
+vpRobot::vpRobot (const vpRobot &robot)
+ :
+ stateRobot(vpRobot::STATE_STOP), frameRobot(vpRobot::CAMERA_FRAME),
+ maxTranslationVelocity (maxTranslationVelocityDefault),
+ maxRotationVelocity (maxRotationVelocityDefault),
+ nDof(0),
+ eJe(), eJeAvailable(false), fJe(), fJeAvailable(false), areJointLimitsAvailable(false),
+ qmin(NULL), qmax(NULL), verbose_(true)
+{
+ *this = robot;
+}
+
+/*! Copy operator. */
+vpRobot & vpRobot::operator=(const vpRobot &robot)
+{
+ stateRobot = robot.stateRobot;
+ frameRobot = robot.frameRobot;
+ maxTranslationVelocity = robot.maxTranslationVelocity;
+ maxRotationVelocity = robot.maxRotationVelocity;
+ nDof = robot.nDof;
+ eJe = robot.eJe;
+ eJeAvailable = robot.eJeAvailable;
+ fJe= robot.fJe;
+ fJeAvailable = robot.fJeAvailable;
+ areJointLimitsAvailable = robot.areJointLimitsAvailable;
+ qmin = new double [nDof];
+ qmax = new double [nDof];
+ for (int i = 0; i< nDof; i++) {
+ qmin[i] = robot.qmin[i];
+ qmax[i] = robot.qmax[i];
+ }
+ verbose_ = robot.verbose_;
+
+ return (*this);
+}
/*!
Saturate velocities.
diff --git a/src/robot/robot/vpRobot.h b/src/robot/robot/vpRobot.h
index 70bbb1f..7839599 100644
--- a/src/robot/robot/vpRobot.h
+++ b/src/robot/robot/vpRobot.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobot.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobot.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -116,13 +116,14 @@ protected:
public:
vpRobot (void);
+ vpRobot (const vpRobot &robot);
virtual ~vpRobot() { ; }
//---------- Jacobian -----------------------------
//! Get the robot Jacobian expressed in the end-effector frame
- virtual void get_eJe(vpMatrix &_eJe) = 0 ;
+ virtual void get_eJe(vpMatrix &_eJe) = 0 ;
//! Get the robot Jacobian expressed in the robot reference (or world) frame.
- virtual void get_fJe(vpMatrix &_fJe) = 0 ;
+ virtual void get_fJe(vpMatrix &_fJe) = 0 ;
//! Get a displacement (frame as to ve specified) between two successive position control.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame,
@@ -136,10 +137,12 @@ public:
// Return the robot position (frame has to be specified).
vpColVector getPosition (const vpRobot::vpControlFrameType frame);
- virtual vpRobotStateType getRobotState (void) { return stateRobot ; }
+ virtual vpRobotStateType getRobotState (void) const { return stateRobot ; }
virtual void init() = 0 ;
+ vpRobot & operator=(const vpRobot &robot);
+
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false);
void setMaxRotationVelocity (const double maxVr);
@@ -156,7 +159,7 @@ public:
protected:
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame);
- vpControlFrameType getRobotFrame (void) { return frameRobot ; }
+ vpControlFrameType getRobotFrame (void) const { return frameRobot ; }
} ;
#endif
diff --git a/src/robot/robot/vpRobotException.h b/src/robot/robot/vpRobotException.h
index 969f385..7fb9a36 100644
--- a/src/robot/robot/vpRobotException.h
+++ b/src/robot/robot/vpRobotException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,85 +70,78 @@
*/
class VISP_EXPORT vpRobotException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpRobot member
*/
- enum errorRobotCodeEnum
+ enum errorRobotCodeEnum
{
- /** Erreur lancee par le constructor. */
- constructionError,
-
- /** Erreur lancee lors de la construction d'un objet CRobot
- * correspondant a un robot reel si l'objet de la classe en
- * question doit etre unique. */
- uniqueRobotError,
-
- /** Erreur lancee par les fonctions de commande si le
- * robot n'est pas dans le bon etat au moment du passage
- * d'ordre. */
- wrongStateError,
-
- /** Erreur lancee par les fonctions de changement d'etat
- * si le changement demandee n'est pas possible. */
- stateModificationError,
-
- /** Erreur generee lors d'un retour non nulle d'une fonction
- * de communication de la lib Afma6. */
- communicationError,
-
- /** Erreur lancee apres un appel a une fonction de la lib
- * bas-niveau de control de l'afma6 ayant renvoye une erreur. */
- lowLevelError,
-
- /** Erreur lancee par la fonction de parsing des parametres du
- * robot, si le fichier donne en entree n'est pas valide.
- */
- readingParametersError,
-
- /** Erreur lancee par les methodes d'une classe qui necessite
- * un appel a une fonction d'initialisation apres la
- * construction si l'init n'a pas ete fait. */
- notInitializedError,
-
- /** Erreur lancee par les fonctions decrites dans lAPI mais
- * pas completement implementee. Dans ce cas, la fonction
- * affiche simplement un message d'erreur avant de sortir
- * par le 'throw'.
- */
- notImplementedError,
- /** Position is out of range.
- */
- positionOutOfRangeError
+ /** Erreur lancee par le constructor. */
+ constructionError,
+
+ /** Erreur lancee lors de la construction d'un objet CRobot
+ * correspondant a un robot reel si l'objet de la classe en
+ * question doit etre unique. */
+ uniqueRobotError,
+
+ /** Erreur lancee par les fonctions de commande si le
+ * robot n'est pas dans le bon etat au moment du passage
+ * d'ordre. */
+ wrongStateError,
+
+ /** Erreur lancee par les fonctions de changement d'etat
+ * si le changement demandee n'est pas possible. */
+ stateModificationError,
+
+ /** Erreur generee lors d'un retour non nulle d'une fonction
+ * de communication de la lib Afma6. */
+ communicationError,
+
+ /** Erreur lancee apres un appel a une fonction de la lib
+ * bas-niveau de control de l'afma6 ayant renvoye une erreur. */
+ lowLevelError,
+
+ /** Erreur lancee par la fonction de parsing des parametres du
+ * robot, si le fichier donne en entree n'est pas valide.
+ */
+ readingParametersError,
+
+ /** Erreur lancee par les methodes d'une classe qui necessite
+ * un appel a une fonction d'initialisation apres la
+ * construction si l'init n'a pas ete fait. */
+ notInitializedError,
+
+ /** Erreur lancee par les fonctions decrites dans lAPI mais
+ * pas completement implementee. Dans ce cas, la fonction
+ * affiche simplement un message d'erreur avant de sortir
+ * par le 'throw'.
+ */
+ notImplementedError,
+ /** Position is out of range.
+ */
+ positionOutOfRangeError
} ;
-public:
- vpRobotException (const int code, const char * msg)
- : vpException(code, msg)
+ public:
+ vpRobotException (const int id, const char* format, ...)
{
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
}
- vpRobotException (const int code, const std::string & msg)
- : vpException(code, msg)
+ vpRobotException (const int id, const std::string & msg)
+ : vpException(id, msg)
+ {
+ }
+ vpRobotException (const int id)
+ : vpException(id)
{
}
- vpRobotException (const int code)
- : vpException(code)
- {
- }
-
-};
-
-
-
-
-
-#endif /* #ifndef __vpRobotException_H */
+};
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/robot/robot/vpRobotTemplate.cpp b/src/robot/robot/vpRobotTemplate.cpp
index 3a77f0e..441da22 100644
--- a/src/robot/robot/vpRobotTemplate.cpp
+++ b/src/robot/robot/vpRobotTemplate.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotTemplate.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotTemplate.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/robot/vpRobotTemplate.h b/src/robot/robot/vpRobotTemplate.h
index aac9e9e..8d527b8 100644
--- a/src/robot/robot/vpRobotTemplate.h
+++ b/src/robot/robot/vpRobotTemplate.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotTemplate.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotTemplate.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/simulator-robot/arms/CMakeRobotArmsList.cmake b/src/robot/simulator-robot/arms/CMakeRobotArmsList.cmake
index d4a4ca2..4cf0a10 100644
--- a/src/robot/simulator-robot/arms/CMakeRobotArmsList.cmake
+++ b/src/robot/simulator-robot/arms/CMakeRobotArmsList.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeRobotArmsList.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeRobotArmsList.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/src/robot/simulator-robot/vpRobotCamera.cpp b/src/robot/simulator-robot/vpRobotCamera.cpp
index a17d410..b9b206f 100644
--- a/src/robot/simulator-robot/vpRobotCamera.cpp
+++ b/src/robot/simulator-robot/vpRobotCamera.cpp
@@ -3,7 +3,7 @@
* $Id: vpRobotCamera.cpp 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -72,6 +72,7 @@
*/
vpRobotCamera::vpRobotCamera()
+ : cMw_()
{
init() ;
}
@@ -118,7 +119,7 @@ vpRobotCamera::~vpRobotCamera()
*/
void
-vpRobotCamera::get_cVe(vpVelocityTwistMatrix &cVe)
+vpRobotCamera::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpVelocityTwistMatrix cVe_;
cVe = cVe_;
@@ -128,13 +129,13 @@ vpRobotCamera::get_cVe(vpVelocityTwistMatrix &cVe)
Get the robot jacobian expressed in the end-effector frame.
For that simple robot the Jacobian is the identity.
- \param eJe : A 6 by 6 matrix representing the robot jacobian \f$ {^e}{\bf
+ \param eJe_ : A 6 by 6 matrix representing the robot jacobian \f$ {^e}{\bf
J}_e\f$ expressed in the end-effector frame.
*/
void
-vpRobotCamera::get_eJe(vpMatrix &eJe)
+vpRobotCamera::get_eJe(vpMatrix &eJe_)
{
- eJe = this->eJe ;
+ eJe_ = this->eJe ;
}
/*!
diff --git a/src/robot/simulator-robot/vpRobotCamera.h b/src/robot/simulator-robot/vpRobotCamera.h
index 3401610..4c34837 100644
--- a/src/robot/simulator-robot/vpRobotCamera.h
+++ b/src/robot/simulator-robot/vpRobotCamera.h
@@ -3,7 +3,7 @@
* $Id: vpRobotCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -116,8 +116,8 @@ public:
vpRobotCamera() ;
virtual ~vpRobotCamera() ;
- void get_cVe(vpVelocityTwistMatrix &cVe);
- void get_eJe(vpMatrix &eJe) ;
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
+ void get_eJe(vpMatrix &eJe);
void getPosition(vpHomogeneousMatrix &cMw) const ;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
diff --git a/src/robot/simulator-robot/vpRobotSimulator.cpp b/src/robot/simulator-robot/vpRobotSimulator.cpp
index 41c9069..92cf1ec 100644
--- a/src/robot/simulator-robot/vpRobotSimulator.cpp
+++ b/src/robot/simulator-robot/vpRobotSimulator.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotSimulator.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotSimulator.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,7 +46,6 @@
/*!
Basic constructor that sets the sampling time by default to 40ms.
*/
-vpRobotSimulator::vpRobotSimulator() : vpRobot()
+vpRobotSimulator::vpRobotSimulator() : vpRobot(), delta_t_(0.040f)
{
- setSamplingTime(0.040f);
}
diff --git a/src/robot/simulator-robot/vpRobotSimulator.h b/src/robot/simulator-robot/vpRobotSimulator.h
index 9b9663e..7c193b9 100644
--- a/src/robot/simulator-robot/vpRobotSimulator.h
+++ b/src/robot/simulator-robot/vpRobotSimulator.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRobotSimulator.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRobotSimulator.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/simulator-robot/vpRobotWireFrameSimulator.cpp b/src/robot/simulator-robot/vpRobotWireFrameSimulator.cpp
index ebce553..2749c10 100644
--- a/src/robot/simulator-robot/vpRobotWireFrameSimulator.cpp
+++ b/src/robot/simulator-robot/vpRobotWireFrameSimulator.cpp
@@ -3,7 +3,7 @@
* $Id: vpRobotWireFrameSimulator.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -43,14 +43,24 @@
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
#include <visp/vpRobotWireFrameSimulator.h>
#include <visp/vpSimulatorViper850.h>
/*!
Basic constructor
*/
-vpRobotWireFrameSimulator::vpRobotWireFrameSimulator():vpWireFrameSimulator(), vpRobotSimulator()
+vpRobotWireFrameSimulator::vpRobotWireFrameSimulator()
+ : vpWireFrameSimulator(), vpRobotSimulator(),
+ I(), tcur(0), tprev(0), robotArms(NULL), size_fMi(8), fMi(NULL), artCoord(), artVel(), velocity(),
+ /* thread(), attr(), */ mutex_fMi(), mutex_artVel(), mutex_artCoord(), mutex_velocity(), mutex_display(),
+ displayBusy(false), robotStop(false), jointLimit(false), jointLimitArt(false), singularityManagement(true),
+ cameraParam(),
+#if defined(VISP_HAVE_DISPLAY)
+ display(),
+#endif
+ displayType(MODEL_3D), displayAllowed(true), constantSamplingTimeMode(false),
+ setVelocityCalled(false), verbose_(false)
{
setSamplingTime(0.010);
velocity.resize(6);
@@ -59,48 +69,37 @@ vpRobotWireFrameSimulator::vpRobotWireFrameSimulator():vpWireFrameSimulator(), v
#if defined(VISP_HAVE_DISPLAY)
display.init(I, 0, 0,"The External view");
#endif
- robotStop = false;
- jointLimit = false;
- displayBusy = false;
- displayType = MODEL_3D;
- displayAllowed = true;
- singularityManagement = true;
- robotArms = NULL;
-
- constantSamplingTimeMode = false;
- setVelocityCalled = false;
-
- verbose_ = false;
+
//pid_t pid = getpid();
// setpriority (PRIO_PROCESS, pid, 19);
}
/*!
Default constructor.
- \param display : When true, enables the display of the external view.
+ \param do_display : When true, enables the display of the external view.
*/
-vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(bool display) : vpWireFrameSimulator(), vpRobotSimulator()
+vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(bool do_display)
+ : vpWireFrameSimulator(), vpRobotSimulator(),
+ I(), tcur(0), tprev(0), robotArms(NULL), size_fMi(8), fMi(NULL), artCoord(), artVel(), velocity(),
+ /* thread(), attr(), */ mutex_fMi(), mutex_artVel(), mutex_artCoord(), mutex_velocity(), mutex_display(),
+ displayBusy(false), robotStop(false), jointLimit(false), jointLimitArt(false), singularityManagement(true),
+ cameraParam(),
+#if defined(VISP_HAVE_DISPLAY)
+ display(),
+#endif
+ displayType(MODEL_3D), displayAllowed(do_display), constantSamplingTimeMode(false),
+ setVelocityCalled(false), verbose_(false)
{
setSamplingTime(0.010);
velocity.resize(6);
I.resize(480,640);
I = 255;
- displayAllowed = display;
#if defined(VISP_HAVE_DISPLAY)
- if (display)
+ if (do_display)
this->display.init(I, 0, 0,"The External view");
#endif
- robotStop = false;
- jointLimit = false;
- displayBusy = false;
- displayType = MODEL_3D;
- singularityManagement = true;
- robotArms = NULL;
-
- constantSamplingTimeMode = false;
- setVelocityCalled = false;
-
+
//pid_t pid = getpid();
// setpriority (PRIO_PROCESS, pid, 19);
}
@@ -121,15 +120,15 @@ vpRobotWireFrameSimulator::~vpRobotWireFrameSimulator()
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
\param obj : Type of scene used to display the object at the current position.
- \param desiredObject : Type of scene used to display the object at the desired pose (in the internal view).
+ \param desired_object : Type of scene used to display the object at the desired pose (in the internal view).
*/
void
-vpRobotWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
+vpRobotWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desired_object)
{
if(displayCamera){
free_Bound_scene (&(this->camera));
}
- vpWireFrameSimulator::initScene(obj, desiredObject);
+ vpWireFrameSimulator::initScene(obj, desired_object);
if(displayCamera){
free_Bound_scene (&(this->camera));
}
@@ -144,15 +143,15 @@ vpRobotWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesi
It is also possible to use a vrml (.wrl) file.
\param obj : Path to the scene file you want to use.
- \param desiredObject : Path to the scene file you want to use.
+ \param desired_object : Path to the scene file you want to use.
*/
void
-vpRobotWireFrameSimulator::initScene(const char* obj, const char* desiredObject)
+vpRobotWireFrameSimulator::initScene(const char* obj, const char* desired_object)
{
if(displayCamera){
free_Bound_scene (&(this->camera));
}
- vpWireFrameSimulator::initScene(obj, desiredObject);
+ vpWireFrameSimulator::initScene(obj, desired_object);
if(displayCamera){
free_Bound_scene (&(this->camera));
}
@@ -206,12 +205,12 @@ vpRobotWireFrameSimulator::initScene(const char* obj)
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
- \param I : The image where the internal view is displayed.
+ \param I_ : The image where the internal view is displayed.
\warning : The objects are displayed thanks to overlays. The image I is not modified.
*/
void
-vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I)
+vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I_)
{
if (!sceneInitialized)
@@ -224,13 +223,13 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I)
if( (std::fabs(px_int-1.) > vpMath::maximum(px_int,1.)*std::numeric_limits<double>::epsilon())
&& (std::fabs(py_int-1) > vpMath::maximum(py_int,1.)*std::numeric_limits<double>::epsilon()))
{
- u = (double)I.getWidth()/(2*px_int);
- v = (double)I.getHeight()/(2*py_int);
+ u = (double)I_.getWidth()/(2*px_int);
+ v = (double)I_.getHeight()/(2*py_int);
}
else
{
- u = (double)I.getWidth()/(vpMath::minimum(I.getWidth(),I.getHeight()));
- v = (double)I.getHeight()/(vpMath::minimum(I.getWidth(),I.getHeight()));
+ u = (double)I_.getWidth()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
+ v = (double)I_.getHeight()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
}
float o44c[4][4],o44cd[4][4],x,y,z;
@@ -255,7 +254,7 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I)
add_vwstack ("start","vup", o44c[1][0],o44c[1][1],o44c[1][2]);
add_vwstack ("start","window", -u, u, -v, v);
if (displayObject)
- display_scene(id,this->scene,I, curColor);
+ display_scene(id,this->scene,I_, curColor);
add_vwstack ("start","cop", o44cd[3][0],o44cd[3][1],o44cd[3][2]);
x = o44cd[2][0] + o44cd[3][0];
@@ -267,8 +266,8 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I)
add_vwstack ("start","window", -u, u, -v, v);
if (displayDesiredObject)
{
- if (desiredObject == D_TOOL) display_scene(o44cd,desiredScene,I, vpColor::red);
- else display_scene(id,desiredScene,I, desColor);
+ if (desiredObject == D_TOOL) display_scene(o44cd,desiredScene,I_, vpColor::red);
+ else display_scene(id,desiredScene,I_, desColor);
}
delete[] fMit;
set_displayBusy(false);
@@ -279,12 +278,12 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<vpRGBa> &I)
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
- \param I : The image where the internal view is displayed.
+ \param I_ : The image where the internal view is displayed.
\warning : The objects are displayed thanks to overlays. The image I is not modified.
*/
void
-vpRobotWireFrameSimulator::getInternalView(vpImage<unsigned char> &I)
+vpRobotWireFrameSimulator::getInternalView(vpImage<unsigned char> &I_)
{
if (!sceneInitialized)
@@ -302,8 +301,8 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<unsigned char> &I)
}
else
{
- u = (double)I.getWidth()/(vpMath::minimum(I.getWidth(),I.getHeight()));
- v = (double)I.getHeight()/(vpMath::minimum(I.getWidth(),I.getHeight()));
+ u = (double)I_.getWidth()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
+ v = (double)I_.getHeight()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
}
float o44c[4][4],o44cd[4][4],x,y,z;
@@ -329,7 +328,7 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<unsigned char> &I)
add_vwstack ("start","window", -u, u, -v, v);
if (displayObject)
{
- display_scene(id,this->scene,I, curColor);
+ display_scene(id,this->scene,I_, curColor);
}
add_vwstack ("start","cop", o44cd[3][0],o44cd[3][1],o44cd[3][2]);
@@ -342,8 +341,8 @@ vpRobotWireFrameSimulator::getInternalView(vpImage<unsigned char> &I)
add_vwstack ("start","window", -u, u, -v, v);
if (displayDesiredObject)
{
- if (desiredObject == D_TOOL) display_scene(o44cd,desiredScene,I, vpColor::red);
- else display_scene(id,desiredScene,I, desColor);
+ if (desiredObject == D_TOOL) display_scene(o44cd,desiredScene,I_, vpColor::red);
+ else display_scene(id,desiredScene,I_, desColor);
}
delete[] fMit;
set_displayBusy(false);
diff --git a/src/robot/simulator-robot/vpRobotWireFrameSimulator.h b/src/robot/simulator-robot/vpRobotWireFrameSimulator.h
index 106f7c6..7a4435e 100644
--- a/src/robot/simulator-robot/vpRobotWireFrameSimulator.h
+++ b/src/robot/simulator-robot/vpRobotWireFrameSimulator.h
@@ -3,7 +3,7 @@
* $Id: vpRobotWireFrameSimulator.h 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,10 +51,10 @@
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
#include <cmath> // std::fabs
#include <limits> // numeric_limits
-#if defined(WIN32)
+#if defined(_WIN32)
# include <windows.h>
#elif defined(VISP_HAVE_PTHREAD)
# include <pthread.h>
@@ -121,14 +121,14 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
/*! The velocity in the current frame (articular, camera or reference)*/
vpColVector velocity;
- #if defined(WIN32)
- HANDLE hThread;
- HANDLE mutex_fMi;
+#if defined(_WIN32)
+ HANDLE hThread;
+ HANDLE mutex_fMi;
HANDLE mutex_artVel;
HANDLE mutex_artCoord;
HANDLE mutex_velocity;
HANDLE mutex_display;
- #elif defined(VISP_HAVE_PTHREAD)
+#elif defined(VISP_HAVE_PTHREAD)
pthread_t thread;
pthread_attr_t attr;
pthread_mutex_t mutex_fMi;
@@ -136,7 +136,7 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
pthread_mutex_t mutex_artCoord;
pthread_mutex_t mutex_velocity;
pthread_mutex_t mutex_display;
- #endif
+#endif
bool displayBusy;
@@ -260,11 +260,11 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
/*!
Set the desired position of the robot's camera relative to the object.
- \param cdMo : The desired pose of the camera.
+ \param cdMo_ : The desired pose of the camera.
*/
- void setDesiredCameraPosition(const vpHomogeneousMatrix cdMo)
+ void setDesiredCameraPosition(const vpHomogeneousMatrix cdMo_)
{
- this->vpWireFrameSimulator::setDesiredCameraPosition(cdMo);
+ this->vpWireFrameSimulator::setDesiredCameraPosition(cdMo_);
}
/*!
@@ -276,11 +276,11 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
/*!
Set the external camera point of view.
- \param camMf : The pose of the external camera relative to the world reference frame.
+ \param camMf_ : The pose of the external camera relative to the world reference frame.
*/
- void setExternalCameraPosition(const vpHomogeneousMatrix camMf)
+ void setExternalCameraPosition(const vpHomogeneousMatrix camMf_)
{
- this->vpWireFrameSimulator::setExternalCameraPosition(camMf);
+ this->vpWireFrameSimulator::setExternalCameraPosition(camMf_);
}
/*!
Specify the thickness of the graphics drawings.
@@ -321,15 +321,15 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
/*!
Set the pose between the object and the fixed world frame.
- \param fMo : The pose between the object and the fixed world frame.
+ \param fMo_ : The pose between the object and the fixed world frame.
*/
- void set_fMo(const vpHomogeneousMatrix &fMo) {this->fMo = fMo;}
+ void set_fMo(const vpHomogeneousMatrix &fMo_) {this->fMo = fMo_;}
protected:
/*!
Function used to launch the thread which moves the robot.
*/
- #if defined(WIN32)
+ #if defined(_WIN32)
static DWORD WINAPI launcher( LPVOID lpParam )
{
((vpRobotWireFrameSimulator *)lpParam)->updateArticularPosition();
@@ -357,7 +357,7 @@ class VISP_EXPORT vpRobotWireFrameSimulator : protected vpWireFrameSimulator, pu
void initDisplay() {;}
virtual void initArms() = 0;
- #if defined(WIN32)
+ #if defined(_WIN32)
vpColVector get_artCoord() const {
WaitForSingleObject(mutex_artCoord,INFINITE);
vpColVector artCoordTmp (6);
diff --git a/src/robot/simulator-robot/vpSimulatorAfma6.cpp b/src/robot/simulator-robot/vpSimulatorAfma6.cpp
index b318cab..8283073 100644
--- a/src/robot/simulator-robot/vpSimulatorAfma6.cpp
+++ b/src/robot/simulator-robot/vpSimulatorAfma6.cpp
@@ -3,7 +3,7 @@
* $Id: vpSimulatorAfma6.cpp 2595 2010-06-02 08:50:59Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -42,7 +42,7 @@
#include <visp/vpConfig.h>
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
#include <visp/vpSimulatorAfma6.h>
#include <visp/vpTime.h>
#include <visp/vpImagePoint.h>
@@ -59,14 +59,17 @@ const double vpSimulatorAfma6::defaultPositioningVelocity = 25.0;
/*!
Basic constructor
*/
-vpSimulatorAfma6::vpSimulatorAfma6():vpRobotWireFrameSimulator(), vpAfma6()
+vpSimulatorAfma6::vpSimulatorAfma6()
+ : vpRobotWireFrameSimulator(), vpAfma6(),
+ q_prev_getdis(), first_time_getdis(true), positioningVelocity(defaultPositioningVelocity),
+ zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
init();
initDisplay();
tcur = vpTime::measureTimeMs();
- #if defined(WIN32)
+ #if defined(_WIN32)
mutex_fMi = CreateMutex(NULL,FALSE,NULL);
mutex_artVel = CreateMutex(NULL,FALSE,NULL);
mutex_artCoord = CreateMutex(NULL,FALSE,NULL);
@@ -101,17 +104,20 @@ vpSimulatorAfma6::vpSimulatorAfma6():vpRobotWireFrameSimulator(), vpAfma6()
/*!
Constructor used to enable or disable the external view of the robot.
- \param display : When true, enables the display of the external view.
+ \param do_display : When true, enables the display of the external view.
*/
-vpSimulatorAfma6::vpSimulatorAfma6(bool display):vpRobotWireFrameSimulator(display)
+vpSimulatorAfma6::vpSimulatorAfma6(bool do_display)
+ : vpRobotWireFrameSimulator(do_display),
+ q_prev_getdis(), first_time_getdis(true), positioningVelocity(defaultPositioningVelocity),
+ zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
init();
initDisplay();
tcur = vpTime::measureTimeMs();
- #if defined(WIN32)
+ #if defined(_WIN32)
mutex_fMi = CreateMutex(NULL,FALSE,NULL);
mutex_artVel = CreateMutex(NULL,FALSE,NULL);
mutex_artCoord = CreateMutex(NULL,FALSE,NULL);
@@ -150,7 +156,7 @@ vpSimulatorAfma6::~vpSimulatorAfma6()
{
robotStop = true;
- #if defined(WIN32)
+ #if defined(_WIN32)
WaitForSingleObject(hThread,INFINITE);
CloseHandle(hThread);
CloseHandle(mutex_fMi);
@@ -276,16 +282,22 @@ vpSimulatorAfma6::initDisplay()
\param tool : Tool to use. Note that the generic camera is not handled.
- \param projModel : Projection model associated to the camera.
+ \param proj_model : Projection model associated to the camera.
\sa vpCameraParameters, init()
*/
void
vpSimulatorAfma6::init (vpAfma6::vpAfma6ToolType tool,
- vpCameraParameters::vpCameraParametersProjType projModel)
+ vpCameraParameters::vpCameraParametersProjType proj_model)
{
- this->projModel = projModel;
-
+ this->projModel = proj_model;
+ unsigned int name_length = 30; // the size of this kind of string "/afma6_tool_vacuum.bnd"
+ if (arm_dir.size() > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+ unsigned int full_length = (unsigned int)arm_dir.size() + name_length;
+ if (full_length > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+
// Use here default values of the robot constant parameters.
switch (tool) {
case vpAfma6::TOOL_CCMOP: {
@@ -302,11 +314,12 @@ vpSimulatorAfma6::init (vpAfma6::vpAfma6ToolType tool,
{
while (get_displayBusy()) vpTime::wait(2);
free_Bound_scene (&(robotArms[5]));
- char name_arm[FILENAME_MAX];
+ char *name_arm = new char [full_length];
strcpy(name_arm, arm_dir.c_str());
strcat(name_arm,"/afma6_tool_ccmop.bnd");
set_scene(name_arm, robotArms+5, 1.0);
set_displayBusy(false);
+ delete [] name_arm;
}
break;
}
@@ -324,11 +337,12 @@ vpSimulatorAfma6::init (vpAfma6::vpAfma6ToolType tool,
{
while (get_displayBusy()) vpTime::wait(2);
free_Bound_scene (&(robotArms[5]));
- char name_arm[FILENAME_MAX];
+ char *name_arm = new char [full_length];
strcpy(name_arm, arm_dir.c_str());
strcat(name_arm,"/afma6_tool_gripper.bnd");
set_scene(name_arm, robotArms+5, 1.0);
set_displayBusy(false);
+ delete [] name_arm;
}
break;
}
@@ -346,11 +360,14 @@ vpSimulatorAfma6::init (vpAfma6::vpAfma6ToolType tool,
{
while (get_displayBusy()) vpTime::wait(2);
free_Bound_scene (&(robotArms[5]));
- char name_arm[FILENAME_MAX];
+
+ char *name_arm = new char [full_length];
+
strcpy(name_arm, arm_dir.c_str());
strcat(name_arm,"/afma6_tool_vacuum.bnd");
set_scene(name_arm, robotArms+5, 1.0);
set_displayBusy(false);
+ delete [] name_arm;
}
break;
}
@@ -412,6 +429,7 @@ vpSimulatorAfma6::getCameraParameters (vpCameraParameters &cam,
}
break;
}
+ case vpAfma6::TOOL_GENERIC_CAMERA:
case vpAfma6::TOOL_VACUUM: {
std::cout << "The generic camera is not handled in vpSimulatorAfma6.cpp" << std::endl;
break;
@@ -427,30 +445,30 @@ vpSimulatorAfma6::getCameraParameters (vpCameraParameters &cam,
Get the current intrinsic camera parameters obtained by calibration.
\param cam : In output, camera parameters to fill.
- \param I : A B&W image send by the current camera in use.
+ \param I_ : A B&W image send by the current camera in use.
\warning The image size must be : 640x480 !
*/
void
vpSimulatorAfma6::getCameraParameters (vpCameraParameters &cam,
- const vpImage<unsigned char> &I)
+ const vpImage<unsigned char> &I_)
{
- getCameraParameters(cam,I.getWidth(),I.getHeight());
+ getCameraParameters(cam,I_.getWidth(),I_.getHeight());
}
/*!
Get the current intrinsic camera parameters obtained by calibration.
\param cam : In output, camera parameters to fill.
- \param I : A B&W image send by the current camera in use.
+ \param I_ : A B&W image send by the current camera in use.
\warning The image size must be : 640x480 !
*/
void
vpSimulatorAfma6::getCameraParameters (vpCameraParameters &cam,
- const vpImage<vpRGBa> &I)
+ const vpImage<vpRGBa> &I_)
{
- getCameraParameters(cam,I.getWidth(),I.getHeight());
+ getCameraParameters(cam,I_.getWidth(),I_.getHeight());
}
@@ -722,7 +740,7 @@ vpSimulatorAfma6::compute_fMi()
// fMit[7] = fMit[6] * cMe;
vpAfma6::get_fMc(q,fMit[7]);
- #if defined(WIN32)
+ #if defined(_WIN32)
WaitForSingleObject(mutex_fMi,INFINITE);
for (int i = 0; i < 8; i++)
fMi[i] = fMit[i];
@@ -970,24 +988,24 @@ vpSimulatorAfma6::computeArticularVelocity()
{
case vpRobot::CAMERA_FRAME :
{
- vpMatrix eJe;
+ vpMatrix eJe_;
vpVelocityTwistMatrix eVc(_eMc);
- vpAfma6::get_eJe(articularCoordinates,eJe);
- eJe = eJe.pseudoInverse();
+ vpAfma6::get_eJe(articularCoordinates,eJe_);
+ eJe_ = eJe_.pseudoInverse();
if (singularityManagement)
- singularityTest(articularCoordinates,eJe);
- articularVelocity = eJe*eVc*velocityframe;
+ singularityTest(articularCoordinates,eJe_);
+ articularVelocity = eJe_*eVc*velocityframe;
set_artVel (articularVelocity);
break;
}
case vpRobot::REFERENCE_FRAME :
{
- vpMatrix fJe;
- vpAfma6::get_fJe(articularCoordinates,fJe);
- fJe = fJe.pseudoInverse();
+ vpMatrix fJe_;
+ vpAfma6::get_fJe(articularCoordinates,fJe_);
+ fJe_ = fJe_.pseudoInverse();
if (singularityManagement)
- singularityTest(articularCoordinates,fJe);
- articularVelocity = fJe*velocityframe;
+ singularityTest(articularCoordinates,fJe_);
+ articularVelocity = fJe_*velocityframe;
set_artVel (articularVelocity);
break;
}
@@ -1095,10 +1113,10 @@ vpSimulatorAfma6::getVelocity (const vpRobot::vpControlFrameType frame, vpColVec
{
case vpRobot::CAMERA_FRAME :
{
- vpMatrix eJe;
+ vpMatrix eJe_;
vpVelocityTwistMatrix cVe(_eMc);
- vpAfma6::get_eJe(articularCoordinates,eJe);
- vel = cVe*eJe*articularVelocity;
+ vpAfma6::get_eJe(articularCoordinates,eJe_);
+ vel = cVe*eJe_*articularVelocity;
break ;
}
case vpRobot::ARTICULAR_FRAME :
@@ -1108,9 +1126,9 @@ vpSimulatorAfma6::getVelocity (const vpRobot::vpControlFrameType frame, vpColVec
}
case vpRobot::REFERENCE_FRAME :
{
- vpMatrix fJe;
- vpAfma6::get_fJe(articularCoordinates,fJe);
- vel = fJe*articularVelocity;
+ vpMatrix fJe_;
+ vpAfma6::get_fJe(articularCoordinates,fJe_);
+ vel = fJe_*articularVelocity;
break ;
}
case vpRobot::MIXT_FRAME :
@@ -1127,6 +1145,29 @@ vpSimulatorAfma6::getVelocity (const vpRobot::vpControlFrameType frame, vpColVec
}
/*!
+ Get the robot time stamped velocities.
+
+ \param frame : Frame in wich velocities are mesured.
+
+ \param vel : Measured velocities. Translations are expressed in m/s
+ and rotations in rad/s.
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \warning In camera frame, reference frame and mixt frame, the representation
+ of the rotation is ThetaU. In that cases, \f$velocity = [\dot x, \dot y, \dot
+ z, \dot {\theta U}_x, \dot {\theta U}_y, \dot {\theta U}_z]\f$.
+
+ \sa getVelocity(const vpRobot::vpControlFrameType frame, vpColVector & vel)
+*/
+void
+vpSimulatorAfma6::getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & vel, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getVelocity(frame, vel);
+}
+
+/*!
Get the robot velocities.
\param frame : Frame in wich velocities are mesured.
@@ -1171,12 +1212,33 @@ int main()
vpColVector
vpSimulatorAfma6::getVelocity (vpRobot::vpControlFrameType frame)
{
- vpColVector velocity(6);
- getVelocity (frame, velocity);
+ vpColVector vel(6);
+ getVelocity (frame, vel);
- return velocity;
+ return vel;
}
+/*!
+ Get the time stamped robot velocities.
+
+ \param frame : Frame in wich velocities are mesured.
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \return Measured velocities. Translations are expressed in m/s
+ and rotations in rad/s.
+
+ \sa getVelocity(vpRobot::vpControlFrameType frame)
+*/
+vpColVector
+vpSimulatorAfma6::getVelocity (vpRobot::vpControlFrameType frame, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ vpColVector vel(6);
+ getVelocity (frame, vel);
+
+ return vel;
+}
void
vpSimulatorAfma6::findHighestPositioningSpeed(vpColVector &q)
@@ -1299,10 +1361,10 @@ vpSimulatorAfma6::setPosition(const vpRobot::vpControlFrameType frame,const vpCo
vpRotationMatrix cRc2(rxyz);
vpHomogeneousMatrix cMc2(txyz, cRc2);
- vpHomogeneousMatrix fMc;
- vpAfma6::get_fMc(articularCoordinates, fMc);
+ vpHomogeneousMatrix fMc_;
+ vpAfma6::get_fMc(articularCoordinates, fMc_);
- vpHomogeneousMatrix fMc2 = fMc * cMc2;
+ vpHomogeneousMatrix fMc2 = fMc_ * cMc2;
do
{
@@ -1372,13 +1434,13 @@ vpSimulatorAfma6::setPosition(const vpRobot::vpControlFrameType frame,const vpCo
}
vpRotationMatrix fRc(rxyz);
- vpHomogeneousMatrix fMc(txyz, fRc);
+ vpHomogeneousMatrix fMc_(txyz, fRc);
do
{
articularCoordinates = get_artCoord();
qdes = articularCoordinates;
- nbSol = getInverseKinematics(fMc, qdes, true, verbose_);
+ nbSol = getInverseKinematics(fMc_, qdes, true, verbose_);
setVelocityCalled = true;
if (nbSol > 0)
{
@@ -1606,8 +1668,8 @@ int main()
}
\endcode
- \sa setPosition(const vpRobot::vpControlFrameType frame, const
- vpColVector & r)
+ \sa getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp)
+ \sa setPosition(const vpRobot::vpControlFrameType frame, const vpColVector & r)
*/
void
@@ -1631,20 +1693,20 @@ vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVect
case vpRobot::REFERENCE_FRAME:
{
- vpHomogeneousMatrix fMc;
- vpAfma6::get_fMc (get_artCoord(), fMc);
+ vpHomogeneousMatrix fMc_;
+ vpAfma6::get_fMc (get_artCoord(), fMc_);
vpRotationMatrix fRc;
- fMc.extract(fRc);
+ fMc_.extract(fRc);
vpRxyzVector rxyz(fRc);
vpTranslationVector txyz;
- fMc.extract(txyz);
+ fMc_.extract(txyz);
for (unsigned int i=0; i <3; i++)
{
q[i] = txyz[i];
- q[i+3] = rxyz[i];
+ q[i+3] = rxyz[i];
}
break ;
}
@@ -1660,6 +1722,39 @@ vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVect
}
}
+/*!
+
+ Get the current time stamped position of the robot.
+
+ \param frame : Control frame type in which to get the position, either :
+ - in the camera cartesien frame,
+ - joint (articular) coordinates of each axes
+ - in a reference or fixed cartesien frame attached to the robot base
+ - in a mixt cartesien frame (translation in reference
+ frame, and rotation in camera frame)
+
+ \param q : Measured position of the robot:
+ - in camera cartesien frame, a 6 dimension vector, set to 0.
+
+ - in articular, a 6 dimension vector corresponding to the joint
+ position of each dof in radians.
+
+ - in reference frame, a 6 dimension vector, the first 3 values correspond to
+ the translation tx, ty, tz in meters (like a vpTranslationVector), and the
+ last 3 values to the rx, ry, rz rotation (like a vpRxyzVector). The code
+ below show how to convert this position into a vpHomogenousMatrix:
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \sa getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
+ */
+void
+vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getPosition(frame, q);
+}
+
/*!
Get the current position of the robot.
@@ -1672,8 +1767,7 @@ vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVect
\sa getPosition(const vpRobot::vpControlFrameType frame, vpColVector &)
*/
void
-vpSimulatorAfma6::getPosition (const vpRobot::vpControlFrameType frame,
- vpPoseVector &position)
+vpSimulatorAfma6::getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &position)
{
vpColVector posRxyz;
//recupere position en Rxyz
@@ -1691,6 +1785,24 @@ vpSimulatorAfma6::getPosition (const vpRobot::vpControlFrameType frame,
}
/*!
+
+ Get the current time stamped position of the robot.
+
+ Similar as getPosition(const vpRobot::vpControlFrameType frame, vpColVector &, double &)
+
+ The difference is here that the position is returned using a ThetaU
+ representation.
+
+ */
+void
+vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame,
+ vpPoseVector &position, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getPosition(frame, position);
+}
+
+/*!
This method enables to set the minimum and maximum joint limits for all the six axis of the robot. The three first values have to be given in meter and the others in radian.
\param limitMin : The minimum joint limits are given in a vector of size 6. The three first values have to be given in meter and the others in radian.
@@ -1943,7 +2055,6 @@ robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position
bool
vpSimulatorAfma6::readPosFile(const char *filename, vpColVector &q)
{
-
FILE * fd ;
fd = fopen(filename, "r") ;
if (fd == NULL)
@@ -1958,15 +2069,16 @@ vpSimulatorAfma6::readPosFile(const char *filename, vpColVector &q)
// Saut des lignes commencant par #
if (fgets (line, FILENAME_MAX, fd) != NULL) {
if ( strncmp (line, "#", 1) != 0) {
- // La ligne n'est pas un commentaire
- if ( strncmp (line, head, sizeof(head)-1) == 0) {
- sortie = true; // Position robot trouvee.
- }
-// else
-// return (false); // fin fichier sans position robot.
+ // La ligne n'est pas un commentaire
+ if ( strncmp (line, head, sizeof(head)-1) == 0) {
+ sortie = true; // Position robot trouvee.
+ }
+ // else
+ // return (false); // fin fichier sans position robot.
}
}
else {
+ fclose(fd) ;
return (false); /* fin fichier */
}
@@ -1975,10 +2087,14 @@ vpSimulatorAfma6::readPosFile(const char *filename, vpColVector &q)
// Lecture des positions
q.resize(njoint);
- sscanf(line, "%s %lf %lf %lf %lf %lf %lf",
- dummy,
- &q[0], &q[1], &q[2],
- &q[3], &q[4], &q[5]);
+ int ret = sscanf(line, "%s %lf %lf %lf %lf %lf %lf",
+ dummy,
+ &q[0], &q[1], &q[2], &q[3], &q[4], &q[5]);
+
+ if (ret != 7) {
+ fclose(fd) ;
+ return false;
+ }
// converts rotations from degrees into radians
//q.deg2rad();
@@ -2105,15 +2221,15 @@ vpSimulatorAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
To compute \f$^e{\bf J}_e\f$, we communicate with the low level
controller to get the joint position of the robot.
- \param eJe : Robot jacobian \f$^e{\bf J}_e\f$ expressed in the
+ \param eJe_ : Robot jacobian \f$^e{\bf J}_e\f$ expressed in the
end-effector frame.
*/
void
-vpSimulatorAfma6::get_eJe(vpMatrix &eJe)
+vpSimulatorAfma6::get_eJe(vpMatrix &eJe_)
{
try
{
- vpAfma6::get_eJe(get_artCoord(), eJe) ;
+ vpAfma6::get_eJe(get_artCoord(), eJe_) ;
}
catch(...)
{
@@ -2129,16 +2245,16 @@ vpSimulatorAfma6::get_eJe(vpMatrix &eJe)
To compute \f$^f{\bf J}_e\f$, we communicate with the low level
controller to get the joint position of the robot.
- \param fJe : Robot jacobian \f$^f{\bf J}_e\f$ expressed in the
+ \param fJe_ : Robot jacobian \f$^f{\bf J}_e\f$ expressed in the
reference frame.
*/
void
-vpSimulatorAfma6::get_fJe(vpMatrix &fJe)
+vpSimulatorAfma6::get_fJe(vpMatrix &fJe_)
{
try
{
vpColVector articularCoordinates = get_artCoord();
- vpAfma6::get_fJe(articularCoordinates, fJe) ;
+ vpAfma6::get_fJe(articularCoordinates, fJe_) ;
}
catch(...)
{
@@ -2182,26 +2298,39 @@ void
vpSimulatorAfma6::initArms()
{
// set scene_dir from #define VISP_SCENE_DIR if it exists
- std::string scene_dir;
+ std::string scene_dir_;
if (vpIoTools::checkDirectory(VISP_SCENES_DIR) == true) // directory exists
- scene_dir = VISP_SCENES_DIR;
+ scene_dir_ = VISP_SCENES_DIR;
else {
try {
- scene_dir = vpIoTools::getenv("VISP_SCENES_DIR");
- std::cout << "The simulator uses data from VISP_SCENES_DIR=" << scene_dir << std::endl;
+ scene_dir_ = vpIoTools::getenv("VISP_SCENES_DIR");
+ std::cout << "The simulator uses data from VISP_SCENES_DIR=" << scene_dir_ << std::endl;
}
catch (...) {
std::cout << "Cannot get VISP_SCENES_DIR environment variable" << std::endl;
}
}
- char name_cam[FILENAME_MAX];
+ unsigned int name_length = 30; // the size of this kind of string "/afma6_arm2.bnd"
+ if (scene_dir_.size() > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+ unsigned int full_length = (unsigned int)scene_dir_.size() + name_length;
+ if (full_length > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+
+ char *name_cam = new char [full_length];
- strcpy(name_cam, scene_dir.c_str());
+ strcpy(name_cam, scene_dir_.c_str());
strcat(name_cam,"/camera.bnd");
set_scene(name_cam,&camera,cameraFactor);
- char name_arm[FILENAME_MAX];
+ if (arm_dir.size() > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+ full_length = (unsigned int)arm_dir.size() + name_length;
+ if (full_length > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Afma6 simulator");
+
+ char *name_arm = new char [full_length];
strcpy(name_arm, arm_dir.c_str());
strcat(name_arm,"/afma6_gate.bnd");
set_scene(name_arm, robotArms, 1.0);
@@ -2250,14 +2379,17 @@ vpSimulatorAfma6::initArms()
// sceneInitialized = true;
// displayObject = true;
displayCamera = true;
+
+ delete [] name_cam;
+ delete [] name_arm;
}
void
-vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I)
+vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I_)
{
bool changed = false;
- vpHomogeneousMatrix displacement = navigation(I,changed);
+ vpHomogeneousMatrix displacement = navigation(I_,changed);
//if (displacement[2][3] != 0)
if (std::fabs(displacement[2][3]) > std::numeric_limits<double>::epsilon())
@@ -2274,13 +2406,13 @@ vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I)
if( (std::fabs(px_ext-1.) > vpMath::maximum(px_ext,1.)*std::numeric_limits<double>::epsilon())
&& (std::fabs(py_ext-1) > vpMath::maximum(py_ext,1.)*std::numeric_limits<double>::epsilon()))
{
- u = (double)I.getWidth()/(2*px_ext);
- v = (double)I.getHeight()/(2*py_ext);
+ u = (double)I_.getWidth()/(2*px_ext);
+ v = (double)I_.getHeight()/(2*py_ext);
}
else
{
- u = (double)I.getWidth()/(vpMath::minimum(I.getWidth(),I.getHeight()));
- v = (double)I.getHeight()/(vpMath::minimum(I.getWidth(),I.getHeight()));
+ u = (double)I_.getWidth()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
+ v = (double)I_.getHeight()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
}
float w44o[4][4],w44cext[4][4],x,y,z;
@@ -2300,22 +2432,22 @@ vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I)
get_fMi(fMit);
vp2jlc_matrix(vpHomogeneousMatrix(0,0,0,0,0,0),w44o);
- display_scene(w44o,robotArms[0],I, curColor);
+ display_scene(w44o,robotArms[0],I_, curColor);
vp2jlc_matrix(fMit[0],w44o);
- display_scene(w44o,robotArms[1],I, curColor);
+ display_scene(w44o,robotArms[1],I_, curColor);
vp2jlc_matrix(fMit[2],w44o);
- display_scene(w44o,robotArms[2],I, curColor);
+ display_scene(w44o,robotArms[2],I_, curColor);
vp2jlc_matrix(fMit[3],w44o);
- display_scene(w44o,robotArms[3],I, curColor);
+ display_scene(w44o,robotArms[3],I_, curColor);
vp2jlc_matrix(fMit[4],w44o);
- display_scene(w44o,robotArms[4],I, curColor);
+ display_scene(w44o,robotArms[4],I_, curColor);
vp2jlc_matrix(fMit[5],w44o);
- display_scene(w44o,robotArms[5],I, curColor);
+ display_scene(w44o,robotArms[5],I_, curColor);
if (displayCamera)
{
@@ -2324,13 +2456,13 @@ vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I)
cMe = cMe.inverse();
cMe = fMit[6] * cMe;
vp2jlc_matrix(cMe,w44o);
- display_scene(w44o,camera, I, camColor);
+ display_scene(w44o,camera, I_, camColor);
}
if (displayObject)
{
vp2jlc_matrix(fMo,w44o);
- display_scene(w44o,scene,I, curColor);
+ display_scene(w44o,scene,I_, curColor);
}
}
@@ -2345,24 +2477,24 @@ vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I)
\f${^f}{\bf M}_c = {^f}{\bf M}_o \; ({^c}{\bf M}_o)^{-1}\f$, and from the inverse kinematics
set the joint positions \f${\bf q}\f$ that corresponds to the \f${^f}{\bf M}_c\f$ transformation.
- \param cMo : the desired pose of the camera.
+ \param cMo_ : the desired pose of the camera.
\return false if the robot kinematics is not able to reach the cMo position.
*/
bool
-vpSimulatorAfma6::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo)
+vpSimulatorAfma6::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo_)
{
vpColVector stop(6);
bool status = true;
stop = 0;
set_artVel(stop);
set_velocity(stop);
- vpHomogeneousMatrix fMc;
- fMc = fMo * cMo.inverse();
+ vpHomogeneousMatrix fMc_;
+ fMc_ = fMo * cMo_.inverse();
vpColVector articularCoordinates = get_artCoord();
- int nbSol = getInverseKinematics(fMc, articularCoordinates, true, verbose_);
+ int nbSol = getInverseKinematics(fMc_, articularCoordinates, true, verbose_);
if (nbSol == 0) {
status = false;
@@ -2389,10 +2521,10 @@ vpSimulatorAfma6::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cM
\f${^f}{\bf M}_o = {^f}{\bf M}_c \; {^c}{\bf M}_o\f$ where \f$ {^f}{\bf M}_c = f({\bf q})\f$
with \f${\bf q}\f$ the robot joint position
- \param cMo : the desired pose of the camera.
+ \param cMo_ : the desired pose of the camera.
*/
void
-vpSimulatorAfma6::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo)
+vpSimulatorAfma6::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo_)
{
vpColVector stop(6);
stop = 0;
@@ -2400,21 +2532,21 @@ vpSimulatorAfma6::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cM
set_velocity(stop);
vpHomogeneousMatrix fMit[8];
get_fMi(fMit);
- fMo = fMit[7] * cMo;
+ fMo = fMit[7] * cMo_;
}
/*!
This method enable to move the robot with respect to the initialized object.
The robot trajectory is a straight line from the current position to the one corresponding to the desired pose (3D visual servoing).
- \param cdMo : the desired pose of the camera wrt. the object
+ \param cdMo_ : the desired pose of the camera wrt. the object
\param Iint : pointer to the image where the internal view is displayed
\param errMax : maximum error to consider the pose is reached
\return True is the pose is reached, False else
*/
bool
-vpSimulatorAfma6::setPosition(const vpHomogeneousMatrix &cdMo, vpImage<unsigned char> *Iint, const double &errMax)
+vpSimulatorAfma6::setPosition(const vpHomogeneousMatrix &cdMo_, vpImage<unsigned char> *Iint, const double &errMax)
{
// get rid of max velocity
double vMax = getMaxTranslationVelocity();
@@ -2430,7 +2562,6 @@ vpSimulatorAfma6::setPosition(const vpHomogeneousMatrix &cdMo, vpImage<unsigned
double t;
vpVelocityTwistMatrix cVe;
- vpMatrix eJe;
unsigned int i,iter=0;
while((iter++<300) & (err.euclideanNorm()>errMax))
@@ -2446,7 +2577,7 @@ vpSimulatorAfma6::setPosition(const vpHomogeneousMatrix &cdMo, vpImage<unsigned
}
// update pose error
- cdMc = cdMo*get_cMo().inverse();
+ cdMc = cdMo_*get_cMo().inverse();
cdMc.extract(cdRc);
cdMc.extract(cdTc);
cdTUc.buildFrom(cdRc);
diff --git a/src/robot/simulator-robot/vpSimulatorAfma6.h b/src/robot/simulator-robot/vpSimulatorAfma6.h
index f515bd4..c2e8681 100644
--- a/src/robot/simulator-robot/vpSimulatorAfma6.h
+++ b/src/robot/simulator-robot/vpSimulatorAfma6.h
@@ -3,7 +3,7 @@
* $Id: vpSimulatorAfma6.h 2598 2010-06-02 09:20:22Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,7 +52,7 @@
#include <string>
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
/*!
\class vpSimulatorAfma6
@@ -209,11 +209,14 @@ public:
void getDisplacement(const vpRobot::vpControlFrameType frame,
vpColVector &displacement);
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
- void getPosition (const vpRobot::vpControlFrameType frame,
- vpPoseVector &position);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double ×tamp);
double getPositioningVelocity (void){return positioningVelocity;}
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q);
+ void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
+ vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double ×tamp);
void get_cMe(vpHomogeneousMatrix &cMe);
void get_cVe(vpVelocityTwistMatrix &cVe);
@@ -240,7 +243,7 @@ public:
const double pos5,
const double pos6);
void setPosition(const char *filename);
- void setPositioningVelocity (const double velocity) {positioningVelocity = velocity;}
+ void setPositioningVelocity (const double vel) {positioningVelocity = vel;}
bool setPosition(const vpHomogeneousMatrix &cdMo, vpImage<unsigned char> *Iint=NULL, const double &errMax = 0.001);
vpRobot::vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState);
@@ -255,7 +258,7 @@ protected:
void findHighestPositioningSpeed(vpColVector &q);
void getExternalImage(vpImage<vpRGBa> &I);
inline void get_fMi(vpHomogeneousMatrix *fMit) {
-#if defined(WIN32)
+#if defined(_WIN32)
WaitForSingleObject(mutex_fMi,INFINITE);
for (int i = 0; i < 8; i++)
fMit[i] = fMi[i];
diff --git a/src/robot/simulator-robot/vpSimulatorCamera.cpp b/src/robot/simulator-robot/vpSimulatorCamera.cpp
index af70bb3..f88eda3 100644
--- a/src/robot/simulator-robot/vpSimulatorCamera.cpp
+++ b/src/robot/simulator-robot/vpSimulatorCamera.cpp
@@ -3,7 +3,7 @@
* $Id: vpSimulatorCamera.cpp 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,7 +57,7 @@
world frame and camera frame to identity.
*/
-vpSimulatorCamera::vpSimulatorCamera()
+vpSimulatorCamera::vpSimulatorCamera() : wMc_()
{
init() ;
}
@@ -104,7 +104,7 @@ vpSimulatorCamera::~vpSimulatorCamera()
*/
void
-vpSimulatorCamera::get_cVe(vpVelocityTwistMatrix &cVe)
+vpSimulatorCamera::get_cVe(vpVelocityTwistMatrix &cVe) const
{
vpVelocityTwistMatrix cVe_;
cVe = cVe_;
@@ -114,13 +114,13 @@ vpSimulatorCamera::get_cVe(vpVelocityTwistMatrix &cVe)
Get the robot jacobian expressed in the end-effector frame.
For that simple robot the Jacobian is the identity.
- \param eJe : A 6 by 6 matrix representing the robot jacobian \f$ {^e}{\bf
+ \param eJe_ : A 6 by 6 matrix representing the robot jacobian \f$ {^e}{\bf
J}_e\f$ expressed in the end-effector frame. Yhis matrix is equal to identity.
*/
void
-vpSimulatorCamera::get_eJe(vpMatrix &eJe)
+vpSimulatorCamera::get_eJe(vpMatrix &eJe_)
{
- eJe = this->eJe ;
+ eJe_ = this->eJe ;
}
/*!
diff --git a/src/robot/simulator-robot/vpSimulatorCamera.h b/src/robot/simulator-robot/vpSimulatorCamera.h
index 942cc32..70f22cf 100644
--- a/src/robot/simulator-robot/vpSimulatorCamera.h
+++ b/src/robot/simulator-robot/vpSimulatorCamera.h
@@ -3,7 +3,7 @@
* $Id: vpSimulatorCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -117,7 +117,7 @@ public:
virtual ~vpSimulatorCamera() ;
public:
- void get_cVe(vpVelocityTwistMatrix &cVe);
+ void get_cVe(vpVelocityTwistMatrix &cVe) const;
void get_eJe(vpMatrix &eJe);
void getPosition(vpHomogeneousMatrix &wMc) const;
diff --git a/src/robot/simulator-robot/vpSimulatorPioneer.cpp b/src/robot/simulator-robot/vpSimulatorPioneer.cpp
index a3b3e7c..eb66459 100644
--- a/src/robot/simulator-robot/vpSimulatorPioneer.cpp
+++ b/src/robot/simulator-robot/vpSimulatorPioneer.cpp
@@ -3,7 +3,7 @@
* $Id: vpSimulatorPioneer.cpp 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,6 +58,7 @@
*/
vpSimulatorPioneer::vpSimulatorPioneer()
+ : wMc_(), wMe_(), xm_(0), ym_(0), theta_(0)
{
init() ;
}
@@ -98,13 +99,13 @@ vpSimulatorPioneer::~vpSimulatorPioneer()
Get the robot jacobian expressed in the end-effector frame.
The jacobian expression is given in vpPioneer class.
- \param eJe : A 6 by 2 matrix representing the robot jacobian \f$ {^e}{\bf
+ \param _eJe : A 6 by 2 matrix representing the robot jacobian \f$ {^e}{\bf
J}_e\f$ expressed in the end-effector frame.
*/
void
-vpSimulatorPioneer::get_eJe(vpMatrix &eJe)
+vpSimulatorPioneer::get_eJe(vpMatrix &_eJe)
{
- eJe = vpUnicycle::get_eJe();
+ _eJe = vpUnicycle::get_eJe();
}
diff --git a/src/robot/simulator-robot/vpSimulatorPioneer.h b/src/robot/simulator-robot/vpSimulatorPioneer.h
index d785460..1357e2b 100644
--- a/src/robot/simulator-robot/vpSimulatorPioneer.h
+++ b/src/robot/simulator-robot/vpSimulatorPioneer.h
@@ -3,7 +3,7 @@
* $Id: vpSimulatorPioneer.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/simulator-robot/vpSimulatorPioneerPan.cpp b/src/robot/simulator-robot/vpSimulatorPioneerPan.cpp
index 791333f..25c8281 100644
--- a/src/robot/simulator-robot/vpSimulatorPioneerPan.cpp
+++ b/src/robot/simulator-robot/vpSimulatorPioneerPan.cpp
@@ -3,7 +3,7 @@
* $Id: vpSimulatorPioneerPan.cpp 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,7 +62,7 @@
setSamplingTime().
*/
-vpSimulatorPioneerPan::vpSimulatorPioneerPan()
+vpSimulatorPioneerPan::vpSimulatorPioneerPan() : wMc_(), wMm_(), xm_(0), ym_(0), theta_(0), q_pan_()
{
init() ;
}
@@ -107,13 +107,13 @@ vpSimulatorPioneerPan::~vpSimulatorPioneerPan()
Get the robot jacobian expressed in the end-effector frame.
The jacobian expression is given in vpPioneerPan class.
- \param eJe : A 6 by 3 matrix representing the robot jacobian \f$ {^e}{\bf
+ \param _eJe : A 6 by 3 matrix representing the robot jacobian \f$ {^e}{\bf
J}_e\f$ expressed in the end-effector frame.
*/
void
-vpSimulatorPioneerPan::get_eJe(vpMatrix &eJe)
+vpSimulatorPioneerPan::get_eJe(vpMatrix &_eJe)
{
- eJe = vpUnicycle::get_eJe();
+ _eJe = vpUnicycle::get_eJe();
}
/*!
diff --git a/src/robot/simulator-robot/vpSimulatorPioneerPan.h b/src/robot/simulator-robot/vpSimulatorPioneerPan.h
index c3facc8..d01e5d5 100644
--- a/src/robot/simulator-robot/vpSimulatorPioneerPan.h
+++ b/src/robot/simulator-robot/vpSimulatorPioneerPan.h
@@ -3,7 +3,7 @@
* $Id: vpSimulatorPioneerPan.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/robot/simulator-robot/vpSimulatorViper850.cpp b/src/robot/simulator-robot/vpSimulatorViper850.cpp
index 91c966c..364cea4 100644
--- a/src/robot/simulator-robot/vpSimulatorViper850.cpp
+++ b/src/robot/simulator-robot/vpSimulatorViper850.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSimulatorViper850.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpSimulatorViper850.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,21 +50,24 @@
#include <cmath> // std::fabs
#include <limits> // numeric_limits
#include <string>
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
const double vpSimulatorViper850::defaultPositioningVelocity = 25.0;
/*!
Basic constructor
*/
-vpSimulatorViper850::vpSimulatorViper850():vpRobotWireFrameSimulator(), vpViper850()
+vpSimulatorViper850::vpSimulatorViper850()
+ : vpRobotWireFrameSimulator(), vpViper850(),
+ q_prev_getdis(), first_time_getdis(true), positioningVelocity(defaultPositioningVelocity),
+ zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
init();
initDisplay();
tcur = vpTime::measureTimeMs();
- #if defined(WIN32)
+ #if defined(_WIN32)
mutex_fMi = CreateMutex(NULL,FALSE,NULL);
mutex_artVel = CreateMutex(NULL,FALSE,NULL);
mutex_artCoord = CreateMutex(NULL,FALSE,NULL);
@@ -99,17 +102,20 @@ vpSimulatorViper850::vpSimulatorViper850():vpRobotWireFrameSimulator(), vpViper8
/*!
Constructor used to enable or disable the external view of the robot.
- \param display : When true, enables the display of the external view.
+ \param do_display : When true, enables the display of the external view.
*/
-vpSimulatorViper850::vpSimulatorViper850(bool display):vpRobotWireFrameSimulator(display)
+vpSimulatorViper850::vpSimulatorViper850(bool do_display)
+ : vpRobotWireFrameSimulator(do_display),
+ q_prev_getdis(), first_time_getdis(true), positioningVelocity(defaultPositioningVelocity),
+ zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
init();
initDisplay();
tcur = vpTime::measureTimeMs();
- #if defined(WIN32)
+ #if defined(_WIN32)
mutex_fMi = CreateMutex(NULL,FALSE,NULL);
mutex_artVel = CreateMutex(NULL,FALSE,NULL);
mutex_artCoord = CreateMutex(NULL,FALSE,NULL);
@@ -148,7 +154,7 @@ vpSimulatorViper850::~vpSimulatorViper850()
{
robotStop = true;
- #if defined(WIN32)
+ #if defined(_WIN32)
WaitForSingleObject(hThread,INFINITE);
CloseHandle(hThread);
CloseHandle(mutex_fMi);
@@ -276,15 +282,15 @@ vpSimulatorViper850::initDisplay()
\param tool : Tool to use.
- \param projModel : Projection model associated to the camera.
+ \param proj_model : Projection model associated to the camera.
\sa vpCameraParameters, init()
*/
void
vpSimulatorViper850::init (vpViper850::vpToolType tool,
- vpCameraParameters::vpCameraParametersProjType projModel)
+ vpCameraParameters::vpCameraParametersProjType proj_model)
{
- this->projModel = projModel;
+ this->projModel = proj_model;
// Use here default values of the robot constant parameters.
switch (tool) {
@@ -383,30 +389,30 @@ vpSimulatorViper850::getCameraParameters (vpCameraParameters &cam,
Get the current intrinsic camera parameters obtained by calibration.
\param cam : In output, camera parameters to fill.
- \param I : A B&W image send by the current camera in use.
+ \param I_ : A B&W image send by the current camera in use.
\warning The image size must be : 640x480 !
*/
void
vpSimulatorViper850::getCameraParameters (vpCameraParameters &cam,
- const vpImage<unsigned char> &I)
+ const vpImage<unsigned char> &I_)
{
- getCameraParameters(cam,I.getWidth(),I.getHeight());
+ getCameraParameters(cam,I_.getWidth(),I_.getHeight());
}
/*!
Get the current intrinsic camera parameters obtained by calibration.
\param cam : In output, camera parameters to fill.
- \param I : A B&W image send by the current camera in use.
+ \param I_ : A B&W image send by the current camera in use.
\warning The image size must be : 640x480 !
*/
void
vpSimulatorViper850::getCameraParameters (vpCameraParameters &cam,
- const vpImage<vpRGBa> &I)
+ const vpImage<vpRGBa> &I_)
{
- getCameraParameters(cam,I.getWidth(),I.getHeight());
+ getCameraParameters(cam,I_.getWidth(),I_.getHeight());
}
@@ -689,7 +695,7 @@ vpSimulatorViper850::compute_fMi()
// fMit[7] = fMit[6] * cMe;
vpViper::get_fMc(q,fMit[7]);
- #if defined(WIN32)
+ #if defined(_WIN32)
WaitForSingleObject(mutex_fMi,INFINITE);
for (int i = 0; i < 8; i++)
fMi[i] = fMit[i];
@@ -937,24 +943,24 @@ vpSimulatorViper850::computeArticularVelocity()
{
case vpRobot::CAMERA_FRAME :
{
- vpMatrix eJe;
+ vpMatrix eJe_;
vpVelocityTwistMatrix eVc(eMc);
- vpViper850::get_eJe(articularCoordinates,eJe);
- eJe = eJe.pseudoInverse();
+ vpViper850::get_eJe(articularCoordinates,eJe_);
+ eJe_ = eJe_.pseudoInverse();
if (singularityManagement)
- singularityTest(articularCoordinates,eJe);
- articularVelocity = eJe*eVc*velocityframe;
+ singularityTest(articularCoordinates,eJe_);
+ articularVelocity = eJe_*eVc*velocityframe;
set_artVel (articularVelocity);
break;
}
case vpRobot::REFERENCE_FRAME :
{
- vpMatrix fJe;
- vpViper850::get_fJe(articularCoordinates,fJe);
- fJe = fJe.pseudoInverse();
+ vpMatrix fJe_;
+ vpViper850::get_fJe(articularCoordinates,fJe_);
+ fJe_ = fJe_.pseudoInverse();
if (singularityManagement)
- singularityTest(articularCoordinates,fJe);
- articularVelocity = fJe*velocityframe;
+ singularityTest(articularCoordinates,fJe_);
+ articularVelocity = fJe_*velocityframe;
set_artVel (articularVelocity);
break;
}
@@ -1062,10 +1068,10 @@ vpSimulatorViper850::getVelocity (const vpRobot::vpControlFrameType frame, vpCol
{
case vpRobot::CAMERA_FRAME :
{
- vpMatrix eJe;
+ vpMatrix eJe_;
vpVelocityTwistMatrix cVe(eMc);
- vpViper850::get_eJe(articularCoordinates,eJe);
- vel = cVe*eJe*articularVelocity;
+ vpViper850::get_eJe(articularCoordinates,eJe_);
+ vel = cVe*eJe_*articularVelocity;
break ;
}
case vpRobot::ARTICULAR_FRAME :
@@ -1075,9 +1081,9 @@ vpSimulatorViper850::getVelocity (const vpRobot::vpControlFrameType frame, vpCol
}
case vpRobot::REFERENCE_FRAME :
{
- vpMatrix fJe;
- vpViper850::get_fJe(articularCoordinates,fJe);
- vel = fJe*articularVelocity;
+ vpMatrix fJe_;
+ vpViper850::get_fJe(articularCoordinates,fJe_);
+ vel = fJe_*articularVelocity;
break ;
}
case vpRobot::MIXT_FRAME :
@@ -1094,6 +1100,29 @@ vpSimulatorViper850::getVelocity (const vpRobot::vpControlFrameType frame, vpCol
}
/*!
+ Get the robot time stamped velocities.
+
+ \param frame : Frame in wich velocities are mesured.
+
+ \param vel : Measured velocities. Translations are expressed in m/s
+ and rotations in rad/s.
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \warning In camera frame, reference frame and mixt frame, the representation
+ of the rotation is ThetaU. In that cases, \f$velocity = [\dot x, \dot y, \dot
+ z, \dot {\theta U}_x, \dot {\theta U}_y, \dot {\theta U}_z]\f$.
+
+ \sa getVelocity(const vpRobot::vpControlFrameType frame, vpColVector & vel)
+*/
+void
+vpSimulatorViper850::getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & vel, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getVelocity(frame, vel);
+}
+
+/*!
Get the robot velocities.
\param frame : Frame in wich velocities are mesured.
@@ -1138,12 +1167,33 @@ int main()
vpColVector
vpSimulatorViper850::getVelocity (vpRobot::vpControlFrameType frame)
{
- vpColVector velocity(6);
- getVelocity (frame, velocity);
+ vpColVector vel(6);
+ getVelocity (frame, vel);
- return velocity;
+ return vel;
}
+/*!
+ Get the time stamped robot velocities.
+
+ \param frame : Frame in wich velocities are mesured.
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \return Measured velocities. Translations are expressed in m/s
+ and rotations in rad/s.
+
+ \sa getVelocity(vpRobot::vpControlFrameType frame)
+*/
+vpColVector
+vpSimulatorViper850::getVelocity (vpRobot::vpControlFrameType frame, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ vpColVector vel(6);
+ getVelocity (frame, vel);
+
+ return vel;
+}
void
vpSimulatorViper850::findHighestPositioningSpeed(vpColVector &q)
@@ -1266,10 +1316,10 @@ vpSimulatorViper850::setPosition(const vpRobot::vpControlFrameType frame,const v
vpRotationMatrix cRc2(rxyz);
vpHomogeneousMatrix cMc2(txyz, cRc2);
- vpHomogeneousMatrix fMc;
- vpViper850::get_fMc(articularCoordinates, fMc);
+ vpHomogeneousMatrix fMc_;
+ vpViper850::get_fMc(articularCoordinates, fMc_);
- vpHomogeneousMatrix fMc2 = fMc * cMc2;
+ vpHomogeneousMatrix fMc2 = fMc_ * cMc2;
do
{
@@ -1339,13 +1389,13 @@ vpSimulatorViper850::setPosition(const vpRobot::vpControlFrameType frame,const v
}
vpRotationMatrix fRc(rxyz);
- vpHomogeneousMatrix fMc(txyz, fRc);
+ vpHomogeneousMatrix fMc_(txyz, fRc);
do
{
articularCoordinates = get_artCoord();
qdes = articularCoordinates;
- nbSol = getInverseKinematics(fMc, qdes, verbose_);
+ nbSol = getInverseKinematics(fMc_, qdes, verbose_);
if (nbSol > 0)
{
error = qdes - articularCoordinates;
@@ -1573,8 +1623,8 @@ int main()
}
\endcode
- \sa setPosition(const vpRobot::vpControlFrameType frame, const
- vpColVector & r)
+ \sa getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp)
+ \sa setPosition(const vpRobot::vpControlFrameType frame, const vpColVector & r)
*/
void
@@ -1598,15 +1648,15 @@ vpSimulatorViper850::getPosition(const vpRobot::vpControlFrameType frame, vpColV
case vpRobot::REFERENCE_FRAME:
{
- vpHomogeneousMatrix fMc;
- vpViper::get_fMc (get_artCoord(), fMc);
+ vpHomogeneousMatrix fMc_;
+ vpViper::get_fMc (get_artCoord(), fMc_);
vpRotationMatrix fRc;
- fMc.extract(fRc);
+ fMc_.extract(fRc);
vpRxyzVector rxyz(fRc);
vpTranslationVector txyz;
- fMc.extract(txyz);
+ fMc_.extract(txyz);
for (unsigned int i=0; i <3; i++)
{
@@ -1627,6 +1677,39 @@ vpSimulatorViper850::getPosition(const vpRobot::vpControlFrameType frame, vpColV
}
}
+/*!
+
+ Get the current time stamped position of the robot.
+
+ \param frame : Control frame type in which to get the position, either :
+ - in the camera cartesien frame,
+ - joint (articular) coordinates of each axes
+ - in a reference or fixed cartesien frame attached to the robot base
+ - in a mixt cartesien frame (translation in reference
+ frame, and rotation in camera frame)
+
+ \param q : Measured position of the robot:
+ - in camera cartesien frame, a 6 dimension vector, set to 0.
+
+ - in articular, a 6 dimension vector corresponding to the joint
+ position of each dof in radians.
+
+ - in reference frame, a 6 dimension vector, the first 3 values correspond to
+ the translation tx, ty, tz in meters (like a vpTranslationVector), and the
+ last 3 values to the rx, ry, rz rotation (like a vpRxyzVector). The code
+ below show how to convert this position into a vpHomogenousMatrix:
+
+ \param timestamp : Unix time in second since January 1st 1970.
+
+ \sa getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
+ */
+void
+vpSimulatorViper850::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getPosition(frame, q);
+}
+
/*!
Get the current position of the robot.
@@ -1640,7 +1723,7 @@ vpSimulatorViper850::getPosition(const vpRobot::vpControlFrameType frame, vpColV
*/
void
vpSimulatorViper850::getPosition (const vpRobot::vpControlFrameType frame,
- vpPoseVector &position)
+ vpPoseVector &position)
{
vpColVector posRxyz;
//recupere position en Rxyz
@@ -1658,6 +1741,24 @@ vpSimulatorViper850::getPosition (const vpRobot::vpControlFrameType frame,
}
/*!
+
+ Get the current time stamped position of the robot.
+
+ Similar as getPosition(const vpRobot::vpControlFrameType frame, vpColVector &, double &)
+
+ The difference is here that the position is returned using a ThetaU
+ representation.
+
+ */
+void
+vpSimulatorViper850::getPosition(const vpRobot::vpControlFrameType frame,
+ vpPoseVector &position, double ×tamp)
+{
+ timestamp = vpTime::measureTimeSecond();
+ getPosition(frame, position);
+}
+
+/*!
This method enables to set the minimum and maximum joint limits for all the six axis of the robot. All the values have to be given in radian.
\param limitMin : The minimum joint limits are given in a vector of size 6. All the value must be in radian.
@@ -1954,7 +2055,6 @@ int main()
bool
vpSimulatorViper850::readPosFile(const char *filename, vpColVector &q)
{
-
FILE * fd ;
fd = fopen(filename, "r") ;
if (fd == NULL)
@@ -1969,27 +2069,30 @@ vpSimulatorViper850::readPosFile(const char *filename, vpColVector &q)
// Saut des lignes commencant par #
if (fgets (line, FILENAME_MAX, fd) != NULL) {
if ( strncmp (line, "#", 1) != 0) {
- // La ligne n'est pas un commentaire
- if ( strncmp (line, head, sizeof(head)-1) == 0) {
- sortie = true; // Position robot trouvee.
- }
-// else
-// return (false); // fin fichier sans position robot.
+ // La ligne n'est pas un commentaire
+ if ( strncmp (line, head, sizeof(head)-1) == 0) {
+ sortie = true; // Position robot trouvee.
+ }
+ // else
+ // return (false); // fin fichier sans position robot.
}
}
else {
+ fclose(fd) ;
return (false); /* fin fichier */
}
-
}
while ( sortie != true );
// Lecture des positions
q.resize(njoint);
- sscanf(line, "%s %lf %lf %lf %lf %lf %lf",
- dummy,
- &q[0], &q[1], &q[2],
- &q[3], &q[4], &q[5]);
+ int ret = sscanf(line, "%s %lf %lf %lf %lf %lf %lf",
+ dummy,
+ &q[0], &q[1], &q[2], &q[3], &q[4], &q[5]);
+ if (ret != 7) {
+ fclose(fd) ;
+ return false;
+ }
// converts rotations from degrees into radians
q.deg2rad();
@@ -2110,15 +2213,15 @@ vpSimulatorViper850::get_cVe(vpVelocityTwistMatrix &cVe)
To compute \f$^e{\bf J}_e\f$, we communicate with the low level
controller to get the joint position of the robot.
- \param eJe : Robot jacobian \f$^e{\bf J}_e\f$ expressed in the
+ \param eJe_ : Robot jacobian \f$^e{\bf J}_e\f$ expressed in the
end-effector frame.
*/
void
-vpSimulatorViper850::get_eJe(vpMatrix &eJe)
+vpSimulatorViper850::get_eJe(vpMatrix &eJe_)
{
try
{
- vpViper850::get_eJe(get_artCoord(), eJe) ;
+ vpViper850::get_eJe(get_artCoord(), eJe_) ;
}
catch(...)
{
@@ -2134,16 +2237,16 @@ vpSimulatorViper850::get_eJe(vpMatrix &eJe)
To compute \f$^f{\bf J}_e\f$, we communicate with the low level
controller to get the joint position of the robot.
- \param fJe : Robot jacobian \f$^f{\bf J}_e\f$ expressed in the
+ \param fJe_ : Robot jacobian \f$^f{\bf J}_e\f$ expressed in the
reference frame.
*/
void
-vpSimulatorViper850::get_fJe(vpMatrix &fJe)
+vpSimulatorViper850::get_fJe(vpMatrix &fJe_)
{
try
{
vpColVector articularCoordinates = get_artCoord();
- vpViper850::get_fJe(articularCoordinates, fJe) ;
+ vpViper850::get_fJe(articularCoordinates, fJe_) ;
}
catch(...)
{
@@ -2187,26 +2290,40 @@ void
vpSimulatorViper850::initArms()
{
// set scene_dir from #define VISP_SCENE_DIR if it exists
- std::string scene_dir;
+ std::string scene_dir_;
if (vpIoTools::checkDirectory(VISP_SCENES_DIR) == true) // directory exists
- scene_dir = VISP_SCENES_DIR;
+ scene_dir_ = VISP_SCENES_DIR;
else {
try {
- scene_dir = vpIoTools::getenv("VISP_SCENES_DIR");
- std::cout << "The simulator uses data from VISP_SCENES_DIR=" << scene_dir << std::endl;
+ scene_dir_ = vpIoTools::getenv("VISP_SCENES_DIR");
+ std::cout << "The simulator uses data from VISP_SCENES_DIR=" << scene_dir_ << std::endl;
}
catch (...) {
std::cout << "Cannot get VISP_SCENES_DIR environment variable" << std::endl;
}
}
- char name_cam[FILENAME_MAX];
+ unsigned int name_length = 30; // the size of this kind of string "/viper850_arm2.bnd"
+ if (scene_dir_.size() > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Viper850 simulator");
- strcpy(name_cam, scene_dir.c_str());
+ unsigned int full_length = (unsigned int)scene_dir_.size() + name_length;
+ if (full_length > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Viper850 simulator");
+
+ char *name_cam = new char [full_length];
+
+ strcpy(name_cam, scene_dir_.c_str());
strcat(name_cam,"/camera.bnd");
set_scene(name_cam,&camera,cameraFactor);
- char name_arm[FILENAME_MAX];
+ if (arm_dir.size() > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Viper850 simulator");
+ full_length = (unsigned int)arm_dir.size() + name_length;
+ if (full_length > FILENAME_MAX)
+ throw vpException (vpException::dimensionError, "Cannot initialize Viper850 simulator");
+
+ char *name_arm = new char [full_length];
strcpy(name_arm, arm_dir.c_str());
strcat(name_arm,"/viper850_arm1.bnd");
set_scene(name_arm, robotArms, 1.0);
@@ -2241,14 +2358,17 @@ vpSimulatorViper850::initArms()
// sceneInitialized = true;
// displayObject = true;
displayCamera = true;
+
+ delete [] name_cam;
+ delete [] name_arm;
}
void
-vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I)
+vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I_)
{
bool changed = false;
- vpHomogeneousMatrix displacement = navigation(I,changed);
+ vpHomogeneousMatrix displacement = navigation(I_,changed);
//if (displacement[2][3] != 0)
if (std::fabs(displacement[2][3]) > std::numeric_limits<double>::epsilon())
@@ -2265,13 +2385,13 @@ vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I)
if( (std::fabs(px_ext-1.) > vpMath::maximum(px_ext,1.)*std::numeric_limits<double>::epsilon())
&& (std::fabs(py_ext-1) > vpMath::maximum(py_ext,1.)*std::numeric_limits<double>::epsilon()))
{
- u = (double)I.getWidth()/(2*px_ext);
- v = (double)I.getHeight()/(2*py_ext);
+ u = (double)I_.getWidth()/(2*px_ext);
+ v = (double)I_.getHeight()/(2*py_ext);
}
else
{
- u = (double)I.getWidth()/(vpMath::minimum(I.getWidth(),I.getHeight()));
- v = (double)I.getHeight()/(vpMath::minimum(I.getWidth(),I.getHeight()));
+ u = (double)I_.getWidth()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
+ v = (double)I_.getHeight()/(vpMath::minimum(I_.getWidth(),I_.getHeight()));
}
float w44o[4][4],w44cext[4][4],x,y,z;
@@ -2291,22 +2411,22 @@ vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I)
get_fMi(fMit);
vp2jlc_matrix(vpHomogeneousMatrix(0,0,0,0,0,0),w44o);
- display_scene(w44o,robotArms[0],I, curColor);
+ display_scene(w44o,robotArms[0],I_, curColor);
vp2jlc_matrix(fMit[0],w44o);
- display_scene(w44o,robotArms[1],I, curColor);
+ display_scene(w44o,robotArms[1],I_, curColor);
vp2jlc_matrix(fMit[1],w44o);
- display_scene(w44o,robotArms[2],I, curColor);
+ display_scene(w44o,robotArms[2],I_, curColor);
vp2jlc_matrix(fMit[2],w44o);
- display_scene(w44o,robotArms[3],I, curColor);
+ display_scene(w44o,robotArms[3],I_, curColor);
vp2jlc_matrix(fMit[3],w44o);
- display_scene(w44o,robotArms[4],I, curColor);
+ display_scene(w44o,robotArms[4],I_, curColor);
vp2jlc_matrix(fMit[6],w44o);
- display_scene(w44o,robotArms[5],I, curColor);
+ display_scene(w44o,robotArms[5],I_, curColor);
if (displayCamera)
{
@@ -2315,13 +2435,13 @@ vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I)
cMe = cMe.inverse();
cMe = fMit[6] * cMe;
vp2jlc_matrix(cMe,w44o);
- display_scene(w44o,camera, I, camColor);
+ display_scene(w44o,camera, I_, camColor);
}
if (displayObject)
{
vp2jlc_matrix(fMo,w44o);
- display_scene(w44o,scene,I, curColor);
+ display_scene(w44o,scene,I_, curColor);
}
}
@@ -2336,23 +2456,23 @@ vpSimulatorViper850::getExternalImage(vpImage<vpRGBa> &I)
\f${^f}{\bf M}_c = {^f}{\bf M}_o \; ({^c}{\bf M}{_o})^{-1}\f$, and from the inverse kinematics
set the joint positions \f${\bf q}\f$ that corresponds to the \f${^f}{\bf M}_c\f$ transformation.
- \param cMo : the desired pose of the camera.
+ \param cMo_ : the desired pose of the camera.
\return false if the robot kinematics is not able to reach the cMo position.
*/
bool
-vpSimulatorViper850::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo)
+vpSimulatorViper850::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo_)
{
vpColVector stop(6);
bool status = true;
stop = 0;
set_artVel(stop);
set_velocity(stop);
- vpHomogeneousMatrix fMc;
- fMc = fMo * cMo.inverse();
+ vpHomogeneousMatrix fMc_;
+ fMc_ = fMo * cMo_.inverse();
vpColVector articularCoordinates = get_artCoord();
- unsigned int nbSol = getInverseKinematics(fMc, articularCoordinates, verbose_);
+ unsigned int nbSol = getInverseKinematics(fMc_, articularCoordinates, verbose_);
if (nbSol == 0) {
status = false;
@@ -2379,10 +2499,10 @@ vpSimulatorViper850::initialiseCameraRelativeToObject(const vpHomogeneousMatrix
\f${^f}{\bf M}_o = {^f}{\bf M}_c \; {^c}{\bf M}_o\f$ where \f$ {^f}{\bf M}_c = f({\bf q})\f$
with \f${\bf q}\f$ the robot joint position
- \param cMo : the desired pose of the camera.
+ \param cMo_ : the desired pose of the camera.
*/
void
-vpSimulatorViper850::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo)
+vpSimulatorViper850::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo_)
{
vpColVector stop(6);
stop = 0;
@@ -2390,7 +2510,7 @@ vpSimulatorViper850::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix
set_velocity(stop);
vpHomogeneousMatrix fMit[8];
get_fMi(fMit);
- fMo = fMit[7] * cMo;
+ fMo = fMit[7] * cMo_;
}
#endif
diff --git a/src/robot/simulator-robot/vpSimulatorViper850.h b/src/robot/simulator-robot/vpSimulatorViper850.h
index c20c1a6..6cccdca 100644
--- a/src/robot/simulator-robot/vpSimulatorViper850.h
+++ b/src/robot/simulator-robot/vpSimulatorViper850.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSimulatorViper850.h 4252 2013-05-14 13:44:49Z fspindle $
+ * $Id: vpSimulatorViper850.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,7 +52,7 @@
#include <visp/vpRobotWireFrameSimulator.h>
#include <visp/vpViper850.h>
#include <string>
-#if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
+#if defined(_WIN32) || defined(VISP_HAVE_PTHREAD)
/*!
\class vpSimulatorViper850
@@ -236,13 +236,15 @@ class VISP_EXPORT vpSimulatorViper850 : public vpRobotWireFrameSimulator, public
vpColVector &displacement);
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
- void getPosition (const vpRobot::vpControlFrameType frame,
- vpPoseVector &position);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
+ void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double ×tamp);
double getPositioningVelocity (void){return positioningVelocity;}
-
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q);
+ void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q, double ×tamp);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
+ vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double ×tamp);
void get_cMe(vpHomogeneousMatrix &cMe);
void get_cVe(vpVelocityTwistMatrix &cVe);
@@ -269,7 +271,7 @@ class VISP_EXPORT vpSimulatorViper850 : public vpRobotWireFrameSimulator, public
const double pos5,
const double pos6);
void setPosition(const char *filename);
- void setPositioningVelocity (const double velocity) {positioningVelocity = velocity;}
+ void setPositioningVelocity (const double vel) {positioningVelocity = vel;}
vpRobot::vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState);
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector & velocity);
@@ -283,7 +285,7 @@ protected:
void getExternalImage(vpImage<vpRGBa> &I);
inline void get_fMi(vpHomogeneousMatrix *fMit) {
-#if defined(WIN32)
+#if defined(_WIN32)
WaitForSingleObject(mutex_fMi,INFINITE);
for (int i = 0; i < 8; i++)
fMit[i] = fMi[i];
diff --git a/src/servo/vpAdaptativeGain.cpp b/src/servo/vpAdaptativeGain.cpp
deleted file mode 100644
index 62918d4..0000000
--- a/src/servo/vpAdaptativeGain.cpp
+++ /dev/null
@@ -1,360 +0,0 @@
-/****************************************************************************
- *
- * $Id: vpAdaptativeGain.cpp 4317 2013-07-17 09:40:17Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Adaptative gain.
- *
- * Authors:
- * Nicolas Mansard
- *
- *****************************************************************************/
-/*!
- \file vpAdaptativeGain.cpp
-
- \brief Adaptative gain. The content of this file is deprecated. You
- should better use vpAdaptiveGain.
-
-*/
-
-#include <visp/vpConfig.h>
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-
-/* --- VISP --- */
-#include <visp/vpAdaptativeGain.h>
-#include <visp/vpColVector.h>
-#include <visp/vpDebug.h>
-
-#include <iostream>
-#include <cmath> // std::fabs
-#include <limits> // numeric_limits
-
-const double vpAdaptativeGain::DEFAULT_LAMBDA_ZERO = 1.666;
-const double vpAdaptativeGain::DEFAULT_LAMBDA_INFINI = 0.1666;
-const double vpAdaptativeGain::DEFAULT_LAMBDA_PENTE = 1.666;
-
-/* -------------------------------------------------------------------------- */
-/* --- CONSTRUCTION --------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-/*!
- \deprecated This class is deprecated. You should use
- vpAdaptive class instead.
- Basic constructor which initializes the parameters with a default value.
-*/
-vpAdaptativeGain::
-vpAdaptativeGain (void)
- :
- coeff_a (),
- coeff_b (),
- coeff_c ()
-{
- vpDEBUG_TRACE (10, "# Entree constructeur par default.");
- this ->initFromVoid ();
-
- vpDEBUG_TRACE (10, "# Sortie constructeur par default.");
- return;
-}
-
-/* -------------------------------------------------------------------------- */
-/* --- INIT ----------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-/*!
- Initializes the parameters to have a constant gain.
- Thus \f$ a = 0 \f$, \f$ b = 1 \f$ and \f$ c = lambda \f$
-
- \param lambda : the expected constant gain.
-*/
-void vpAdaptativeGain::
-initFromConstant (const double lambda)
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- this ->coeff_a = 0;
- this ->coeff_b = 1;
- this ->coeff_c = lambda;
-
- vpDEBUG_TRACE (10, "# Sortie.");
- return;
-}
-
-
-/*!
- Initializes the parameters with the default value :
- - \f$ lambda(0) = 1.666 \f$
- - \f$ lambda(inf) = 0.1666 \f$
- - \f$ lambda'(0) = 1.666 \f$
-*/
-void vpAdaptativeGain::
-initFromVoid (void)
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- this ->initStandard (vpAdaptativeGain::DEFAULT_LAMBDA_ZERO,
- vpAdaptativeGain::DEFAULT_LAMBDA_INFINI,
- vpAdaptativeGain::DEFAULT_LAMBDA_PENTE);
-
- vpDEBUG_TRACE (10, "# Sortie.");
- return;
-}
-
-
-/*!
- Computes the parameters thanks to the given \f$ lambda(0)\f$, \f$ lambda(inf)\f$ and \f$ lambda'(0)\f$.
-
- \f$ lambda(0)\f$ represents the gain in 0, \f$ lambda(inf)\f$ represents the gain to infinity and \f$ lambda'(0)\f$ represents the slope in 0.
-
- \param en_zero : the expected gain in 0.
- \param en_infini : the expected gain to infinity.
- \param pente_en_zero : the expected slope in 0.
-*/
-void vpAdaptativeGain::
-initStandard (const double en_zero,
- const double en_infini,
- const double pente_en_zero)
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- this ->coeff_a = en_zero - en_infini;
- //if (0 == this ->coeff_a)
- if (std::fabs(this ->coeff_a) <= std::numeric_limits<double>::epsilon())
- {
- this ->coeff_b = 0;
- }
- else
- {
- this ->coeff_b = pente_en_zero / ( this ->coeff_a);
- }
- this ->coeff_c = en_infini;
-
- vpDEBUG_TRACE (10, "# Sortie :a,b,c= %.3f,%.3f,%.3f.",
- this ->coeff_a, this ->coeff_b, this ->coeff_c);
- return;
-}
-
-
-
-/* -------------------------------------------------------------------------- */
-/* --- MODIFICATOR ---------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-/*!
- Sets the parameters in order to obtain a constant gain equal to the gain in 0.
-
- \return It returns the value of the computed constant gain.
-*/
-double vpAdaptativeGain::
-setConstant (void)
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- double res = this ->coeff_a + this ->coeff_c;
-
- this ->coeff_a = 0;
- this ->coeff_b = 1;
- this ->coeff_c = res;
-
- vpDEBUG_TRACE (10, "# Sortie: %.3f.", res);
- return res;
-}
-
-/* -------------------------------------------------------------------------- */
-/* --- VALEUR --------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-/*!
- Computes the value of the adaptive gain \f$\lambda\f$ corresponding to
- the norm of the task function. The formula is the following:
-
- \f[\lambda = a * exp(-b*val_e) + c\f]
-
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
-
- \return It returns the value of the computed gain.
-*/
-double vpAdaptativeGain::
-value_const (const double val_e) const
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- double res = this ->coeff_a * exp (- this ->coeff_b * val_e)
- + this ->coeff_c;
-
- vpDEBUG_TRACE (10, "# Sortie: %.3f.", res);
- return res;
-}
-
-/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$).
-
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
- */
-double vpAdaptativeGain::
-limitValue_const (void) const
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- double res = this ->coeff_c;
-
- vpDEBUG_TRACE (10, "# Sortie: %.3f.", res);
- return res;
-}
-
-
-
-/*!
- Computes the value of the adaptive gain \f$\lambda\f$ corresponding to
- the norm of the task function and stores it as a parameter of the class.
- The formula used for the gain computation is the following:
-
- \f[\lambda = a * exp(-b*val_e) + c\f]
-
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
-
- \return It returns the value of the computed gain.
-*/
-double vpAdaptativeGain::
-value (const double val_e) const
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- this ->lambda = this ->value_const (val_e);
-
- vpDEBUG_TRACE (10, "# Sortie: %.3f.", this ->lambda);
- return lambda;
-}
-
-
-/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$)and stores it
- as a parameter of the class.
-
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
- */
-double vpAdaptativeGain::
-limitValue (void) const
-{
- vpDEBUG_TRACE (10, "# Entree.");
-
- this ->lambda = this ->limitValue_const ();
-
- vpDEBUG_TRACE (10, "# Sortie: %.3f.", this ->lambda);
- return lambda;
-}
-
-/* -------------------------------------------------------------------------- */
-/* --- ACCESSORS ------------------------------------------------------------ */
-/* -------------------------------------------------------------------------- */
-
-
-
-// double vpAdaptativeGain::
-// getLastValue (void) const
-// {
-// return this ->lambda;
-// }
-
-/*!
- Operator which calls the value(double val_e) method with \e val_e in parameter in order
- to compute the adaptative gain corresponding to \e val_e.
-
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
-
- \return It returns the value of the computed gain.
-*/
-double vpAdaptativeGain::
-operator() (const double val_e) const
-{
- return this ->value (val_e);
-}
-
-/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$).
-
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
- */
-double vpAdaptativeGain::
-operator() (void) const
-{
- return this ->limitValue ();
-}
-
-/*!
- Operator which calls the value(double val_e) method with the infinity norm of \e e in parameter in order
- to compute the adaptative gain corresponding to \f$ |e| \f$.
-
- \param e : the task function \f$\mid s - s^*\mid\f$.
-
- \return It returns the value of the computed gain.
-*/
-double vpAdaptativeGain::
-operator() (const vpColVector & e) const
-{
- return this ->value (e .infinityNorm());
-}
-
-
-// double operator() (double val_e) const;
-// double operator() (const CColVector & e) const;
-
-/* -------------------------------------------------------------------------- */
-/* --- OUTPUT --------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-
-
-/*!
- Prints the adaptative gain coefficients. It prints the gain in 0,
- the gain to infinity and the slope in 0.
-
- \param os : The stream where to print the adaptative gain parameters.
- \param lambda : The adaptative gain containing the parameters to print.
-*/
-std::ostream&
-operator<< (std::ostream &os, const vpAdaptativeGain& lambda)
-{
- os << "Zero= " << lambda .coeff_a + lambda .coeff_c
- << "\tInf= " << lambda .coeff_c
- << "\tDeriv= " << lambda .coeff_a * lambda .coeff_b;
-
- return os;
-}
-
-#endif
-
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
diff --git a/src/servo/vpAdaptativeGain.h b/src/servo/vpAdaptativeGain.h
deleted file mode 100644
index 7b63891..0000000
--- a/src/servo/vpAdaptativeGain.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/****************************************************************************
- *
- * $Id: vpAdaptativeGain.h 4317 2013-07-17 09:40:17Z fspindle $
- *
- * This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
- * This software is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * ("GPL") version 2 as published by the Free Software Foundation.
- * See the file LICENSE.txt at the root directory of this source
- * distribution for additional information about the GNU GPL.
- *
- * For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
- * Edition License.
- *
- * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
- * This software was developed at:
- * INRIA Rennes - Bretagne Atlantique
- * Campus Universitaire de Beaulieu
- * 35042 Rennes Cedex
- * France
- * http://www.irisa.fr/lagadic
- *
- * If you have questions regarding the use of this file, please contact
- * INRIA at visp at inria.fr
- *
- * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
- * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
- *
- *
- * Description:
- * Adaptative gain.
- *
- * Authors:
- * Nicolas Mansard
- *
- *****************************************************************************/
-/*!
- \file vpAdaptativeGain.h
-
- \brief Adaptative gain. The content of this file is deprecated. You
- should better use vpAdaptiveGain.
-*/
-
-#ifndef __VP_ADAPTATIVE_GAIN_H
-#define __VP_ADAPTATIVE_GAIN_H
-
-#include <visp/vpConfig.h>
-#include <iostream>
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-
-class vpColVector;
-/*!
- \class vpAdaptativeGain
-
- \ingroup VsTask
-
- \brief Adaptative gain computation.
-
- \deprecated This class is deprecated. You should use
- vpAdaptive class instead.
-
- The formula used to compute the gain is the following :
-
- \f[ lambda (x) = a * exp (-b*x) + c \f]
-
- where \f$ a \f$, \f$ b \f$ and \f$ c \f$ are parameters which must be set
- and \f$ x \f$ is the vector error of the task.
-
- By default, the parameters are set with default values:
- \f[ a = lambda(0) - lambda(inf) \f]
- \f[ b = lambda'(0) / a \f]
- \f[ c = lambda(inf) \f]
-
- with \f$ lambda(0) = 1.666 \f$, \f$ lambda(inf) = 0.1666 \f$ and \f$ lambda'(0) = 1.666 \f$.
-
- \f$ lambda(0)\f$ represents the gain in 0, \f$ lambda(inf)\f$ represents the gain to infinity and \f$ lambda'(0)\f$ represents the slope in 0.
-
-*/
-
-class VISP_EXPORT vpAdaptativeGain
-{
-
-public: /* constantes */
-
- static const double DEFAULT_LAMBDA_ZERO;
- static const double DEFAULT_LAMBDA_INFINI;
- static const double DEFAULT_LAMBDA_PENTE;
-
-
-private: /* Attributs*/
- /* Coefficient de la fonction de calcul de lambda.
- * lambda (x) = a * exp (-b*x) + c. */
- double coeff_a;
- double coeff_b;
- double coeff_c;
-
- /* Derniere valeur calculee. */
- mutable double lambda;
-
-
-
-public: /* Methodes*/
-
- /* --- CONSTRUCTOR -------------------------------------------------------- */
-
- vp_deprecated vpAdaptativeGain (void);
-
- /* --- INIT --------------------------------------------------------------- */
- void initFromConstant (double lambda);
- void initFromVoid (void);
- void initStandard (double en_zero,
- double en_infini,
- double pente_en_zero);
-
-
- /* --- MODIFIORS ---------------------------------------------------------- */
- double setConstant (void);
-
-
- /* --- COMPUTE ------------------------------------------------------------ */
- /* \brief Calcule la valeur de lambda au point courrant.
- *
- * Determine la valeur du lambda adaptatif en fonction de la valeur
- * de la norme de la fonction de tache e par extrapolation exponentielle.
- * La fonction est : (en_infini - en_zero) * exp (-pente * ||e|| ) + en_infini.
- * On a bien :
- * - lambda(10^5) = en_infini ;
- * - lambda(0) = en_zero ;
- * - lambda(x ~ 0) ~ - pente * x + en_zero.
- * \param val_e: valeur de la norme de l'erreur.
- * \return: valeur de gain au point courrant.
- */
- double value_const (double val_e) const;
-
- /* \brief Calcule la valeur de lambda au point courrant et stockage du
- * resultat.
- *
- * La fonction calcule la valeur de lambda d'apres la valeur de la norme
- * de l'erreur, comme le fait la fonction valeur_const.
- * La fonction non constante stocke de plus le resultat dans this ->lambda.
- * \param val_e: valeur de la norme de l'erreur.
- * \return: valeur de gain au point courrant.
- */
- double value (double val_e) const;
-
- double limitValue_const (void) const;
-
- double limitValue (void) const;
-
- /* --- ACCESSORS ---------------------------------------------------------- */
-
- /*!
- Gets the last adaptative gain value which was stored in the class.
-
- \return It returns the last adaptative gain value which was stored in the class.
- */
- inline double getLastValue (void) const {return this ->lambda;}
-
- double operator() (double val_e) const;
-
- /* \brief Lance la fonction valeur avec la norme INFINIE du vecteur. */
- double operator() (const vpColVector & e) const;
-
- /* \brief Idem function limitValue. */
- double operator() (void) const;
-
-
- /* --- IOSTREAM ----------------------------------------------------------- */
-
- friend VISP_EXPORT std::ostream& operator<< (std::ostream &os,
- const vpAdaptativeGain& lambda);
-};
-
-#endif
-
-#endif /* __VP_ADAPTATIVE_GAIN_H */
-
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
diff --git a/src/servo/vpAdaptiveGain.cpp b/src/servo/vpAdaptiveGain.cpp
index 283fbf3..1e65445 100644
--- a/src/servo/vpAdaptiveGain.cpp
+++ b/src/servo/vpAdaptiveGain.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAdaptiveGain.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAdaptiveGain.cpp 4641 2014-02-05 12:42:03Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,22 +52,26 @@
#include <limits> // numeric_limits
const double vpAdaptiveGain::DEFAULT_LAMBDA_ZERO = 1.666;
-const double vpAdaptiveGain::DEFAULT_LAMBDA_INFINI = 0.1666;
-const double vpAdaptiveGain::DEFAULT_LAMBDA_PENTE = 1.666;
+const double vpAdaptiveGain::DEFAULT_LAMBDA_INFINITY = 0.1666;
+const double vpAdaptiveGain::DEFAULT_LAMBDA_SLOPE = 1.666;
/* -------------------------------------------------------------------------- */
/* --- CONSTRUCTION --------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
/*!
- Basic constructor which initializes the parameters with a default value.
+ Basic constructor which initializes all the parameters with their default value:
+ - \f$ \lambda(0) = 1.666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_ZERO
+ - \f$ \lambda(\infty) = 0.1666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_INFINITY
+ - \f$ {\dot \lambda}(0) = 1.666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_SLOPE
+
*/
-vpAdaptiveGain::
-vpAdaptiveGain (void)
+vpAdaptiveGain::vpAdaptiveGain ()
:
coeff_a (),
coeff_b (),
- coeff_c ()
+ coeff_c (),
+ lambda(1.)
{
vpDEBUG_TRACE (10, "# Entree constructeur par default.");
this ->initFromVoid ();
@@ -76,24 +80,45 @@ vpAdaptiveGain (void)
return;
}
+/*!
+ Constructor that initializes the gain as constant. In that case \f$\lambda(x) = c\f$.
+
+ \param c : Value of the constant gain.
+*/
+vpAdaptiveGain::vpAdaptiveGain (double c)
+{
+ initFromConstant(c);
+}
+
+/*!
+ Constructor that initializes the gain as adaptive.
+
+ \param gain_at_zero : the expected gain when \f$x=0\f$: \f$\lambda(0)\f$.
+ \param gain_at_infinity : the expected gain when \f$x=\infty\f$: \f$\lambda(\infty)\f$.
+ \param slope_at_zero : the expected slope of \f$\lambda(x)\f$ when \f$x=0\f$: \f${\dot \lambda}(0)\f$.
+
+*/
+vpAdaptiveGain::vpAdaptiveGain (double gain_at_zero, double gain_at_infinity, double slope_at_zero)
+{
+ initStandard(gain_at_zero, gain_at_infinity, slope_at_zero);
+}
+
/* -------------------------------------------------------------------------- */
/* --- INIT ----------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
/*!
- Initializes the parameters to have a constant gain.
- Thus \f$ a = 0 \f$, \f$ b = 1 \f$ and \f$ c = lambda \f$
-
- \param lambda : the expected constant gain.
+ Initializes the parameters to have a constant gain. In that case \f$\lambda(x) = c\f$.
+
+ \param c : Value of the constant gain.
*/
-void vpAdaptiveGain::
-initFromConstant (const double lambda)
+void vpAdaptiveGain::initFromConstant (const double c)
{
vpDEBUG_TRACE (10, "# Entree.");
this ->coeff_a = 0;
this ->coeff_b = 1;
- this ->coeff_c = lambda;
+ this ->coeff_c = c;
vpDEBUG_TRACE (10, "# Sortie.");
return;
@@ -102,18 +127,17 @@ initFromConstant (const double lambda)
/*!
Initializes the parameters with the default value :
- - \f$ lambda(0) = 1.666 \f$
- - \f$ lambda(inf) = 0.1666 \f$
- - \f$ lambda'(0) = 1.666 \f$
+ - \f$ \lambda(0) = 1.666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_ZERO
+ - \f$ \lambda(\infty) = 0.1666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_INFINITY
+ - \f$ {\dot \lambda}(0) = 1.666 \f$ using vpAdaptiveGain::DEFAULT_LAMBDA_SLOPE
*/
-void vpAdaptiveGain::
-initFromVoid (void)
+void vpAdaptiveGain::initFromVoid (void)
{
vpDEBUG_TRACE (10, "# Entree.");
this ->initStandard (vpAdaptiveGain::DEFAULT_LAMBDA_ZERO,
- vpAdaptiveGain::DEFAULT_LAMBDA_INFINI,
- vpAdaptiveGain::DEFAULT_LAMBDA_PENTE);
+ vpAdaptiveGain::DEFAULT_LAMBDA_INFINITY,
+ vpAdaptiveGain::DEFAULT_LAMBDA_SLOPE);
vpDEBUG_TRACE (10, "# Sortie.");
return;
@@ -121,22 +145,19 @@ initFromVoid (void)
/*!
- Computes the parameters thanks to the given \f$ lambda(0)\f$, \f$ lambda(inf)\f$ and \f$ lambda'(0)\f$.
-
- \f$ lambda(0)\f$ represents the gain in 0, \f$ lambda(inf)\f$ represents the gain to infinity and \f$ lambda'(0)\f$ represents the slope in 0.
+ Set the parameters \f$\lambda(0), \lambda(\infty), {\dot \lambda}(0)\f$ used to compute \f$\lambda(x)\f$.
- \param en_zero : the expected gain in 0.
- \param en_infini : the expected gain to infinity.
- \param pente_en_zero : the expected slope in 0.
+ \param gain_at_zero : the expected gain when \f$x=0\f$: \f$\lambda(0)\f$.
+ \param gain_at_infinity : the expected gain when \f$x=\infty\f$: \f$\lambda(\infty)\f$.
+ \param slope_at_zero : the expected slope of \f$\lambda(x)\f$ when \f$x=0\f$: \f${\dot \lambda}(0)\f$.
*/
-void vpAdaptiveGain::
-initStandard (const double en_zero,
- const double en_infini,
- const double pente_en_zero)
+void vpAdaptiveGain::initStandard (const double gain_at_zero,
+ const double gain_at_infinity,
+ const double slope_at_zero)
{
vpDEBUG_TRACE (10, "# Entree.");
- this ->coeff_a = en_zero - en_infini;
+ this ->coeff_a = gain_at_zero - gain_at_infinity;
//if (0 == this ->coeff_a)
if (std::fabs(this ->coeff_a) <= std::numeric_limits<double>::epsilon())
{
@@ -144,9 +165,9 @@ initStandard (const double en_zero,
}
else
{
- this ->coeff_b = pente_en_zero / ( this ->coeff_a);
+ this ->coeff_b = slope_at_zero / ( this ->coeff_a);
}
- this ->coeff_c = en_infini;
+ this ->coeff_c = gain_at_infinity;
vpDEBUG_TRACE (10, "# Sortie :a,b,c= %.3f,%.3f,%.3f.",
this ->coeff_a, this ->coeff_b, this ->coeff_c);
@@ -160,12 +181,12 @@ initStandard (const double en_zero,
/* -------------------------------------------------------------------------- */
/*!
- Sets the parameters in order to obtain a constant gain equal to the gain in 0.
+ Sets the internal parameters \f$a,b,c\f$ in order to obtain a constant gain equal to
+ the gain in 0 set through the parameter \f$\lambda(0)\f$.
- \return It returns the value of the computed constant gain.
+ \return It returns the value of the constant gain \f$\lambda(0)\f$.
*/
-double vpAdaptiveGain::
-setConstant (void)
+double vpAdaptiveGain::setConstant (void)
{
vpDEBUG_TRACE (10, "# Entree.");
@@ -184,34 +205,32 @@ setConstant (void)
/* -------------------------------------------------------------------------- */
/*!
- Computes the value of the adaptive gain \f$\lambda\f$ corresponding to
- the norm of the task function. The formula is the following:
+ Computes the value of the adaptive gain \f$\lambda(x)\f$ using:
- \f[\lambda = a * exp(-b*val_e) + c\f]
+ \f[\lambda(x) = a * exp(-b*x) + c\f]
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
+ \param x : Input value to consider. During a visual servo this value can be the euclidian
+ norm \f$||s - s^*||\f$ or the infinity norm \f$||s - s^*||_{\infty}\f$ of the task function.
\return It returns the value of the computed gain.
*/
-double vpAdaptiveGain::
-value_const (const double val_e) const
+double vpAdaptiveGain::value_const (const double x) const
{
vpDEBUG_TRACE (10, "# Entree.");
- double res = this ->coeff_a * exp (- this ->coeff_b * val_e)
- + this ->coeff_c;
+ double res = this ->coeff_a * exp (- this ->coeff_b * x) + this ->coeff_c;
vpDEBUG_TRACE (10, "# Sortie: %.3f.", res);
return res;
}
/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$).
+ Gets the value of the gain at infinity (ie the value of \f$ \lambda(\infty) = c \f$).
+ Similar to limitValue() except that here the value is not stored as a parameter of the class.
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
+ \return It returns the value of the gain at infinity.
*/
-double vpAdaptiveGain::
-limitValue_const (void) const
+double vpAdaptiveGain::limitValue_const (void) const
{
vpDEBUG_TRACE (10, "# Entree.");
@@ -221,25 +240,23 @@ limitValue_const (void) const
return res;
}
+/*!
+ Computes the value of the adaptive gain \f$\lambda(x)\f$ using:
+ \f[\lambda(x) = a * exp(-b*x) + c\f]
-/*!
- Computes the value of the adaptive gain \f$\lambda\f$ corresponding to
- the norm of the task function and stores it as a parameter of the class.
- The formula used for the gain computation is the following:
+ This value is stored as a parameter of the class.
- \f[\lambda = a * exp(-b*val_e) + c\f]
+ \param x : Input value to consider. During a visual servo this value can be the euclidian
+ norm \f$||s - s^*||\f$ or the infinity norm \f$||s - s^*||_{\infty}\f$ of the task function.
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
-
\return It returns the value of the computed gain.
-*/
-double vpAdaptiveGain::
-value (const double val_e) const
+ */
+double vpAdaptiveGain::value (const double x) const
{
vpDEBUG_TRACE (10, "# Entree.");
- this ->lambda = this ->value_const (val_e);
+ this ->lambda = this ->value_const (x);
vpDEBUG_TRACE (10, "# Sortie: %.3f.", this ->lambda);
return lambda;
@@ -247,13 +264,12 @@ value (const double val_e) const
/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$)and stores it
+ Gets the value of the gain at infinity (ie the value of \f$\lambda(\infty) = c \f$) and stores it
as a parameter of the class.
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
+ \return It returns the value of the gain at infinity.
*/
-double vpAdaptiveGain::
-limitValue (void) const
+double vpAdaptiveGain:: limitValue (void) const
{
vpDEBUG_TRACE (10, "# Entree.");
@@ -276,42 +292,42 @@ limitValue (void) const
// }
/*!
- Operator which calls the value(double val_e) method with \e val_e in parameter in order
- to compute the adaptive gain corresponding to \e val_e.
+ Operator that computes \f$\lambda(x)\f$.
- \param val_e : Norm of the task function \f$\mid s - s^*\mid\f$.
-
+ \param x : Input value to consider. During a visual servo this value can be the euclidian
+ norm \f$||s - s^*||\f$ or the infinity norm \f$||s - s^*||_{\infty}\f$ of the task function.
+
\return It returns the value of the computed gain.
+
+ \sa value()
*/
-double vpAdaptiveGain::
-operator() (const double val_e) const
+double vpAdaptiveGain::operator() (const double x) const
{
- return this ->value (val_e);
+ return this ->value (x);
}
/*!
- Gets the value of the gain at infinity (ie the value of \f$ c \f$).
+ Gets the value of the gain at infinity (ie the value of \f$\lambda(\infty) = c \f$).
- \return It returns the value of the gain at infinity (ie the value of \f$ c \f$).
+ \return It returns the value of the gain at infinity.
+
+ \sa limitValue()
*/
-double vpAdaptiveGain::
-operator() (void) const
+double vpAdaptiveGain::operator() (void) const
{
return this ->limitValue ();
}
/*!
- Operator which calls the value(double val_e) method with the infinity norm of \e e in parameter in order
- to compute the adaptive gain corresponding to \f$ |e| \f$.
+ Operator which computes \f$\lambda({||x||}_{\infty})\f$.
- \param e : the task function \f$\mid s - s^*\mid\f$.
+ \param x : Input vector to consider.
\return It returns the value of the computed gain.
*/
-double vpAdaptiveGain::
-operator() (const vpColVector & e) const
+double vpAdaptiveGain::operator() (const vpColVector & x) const
{
- return this ->value (e .infinityNorm());
+ return this ->value (x .infinityNorm());
}
@@ -325,14 +341,12 @@ operator() (const vpColVector & e) const
/*!
- Prints the adaptive gain coefficients. It prints the gain in 0,
- the gain to infinity and the slope in 0.
+ Prints the adaptive gain parameters \f$\lambda(0), \lambda(\infty), {\dot \lambda}(0)\f$.
\param os : The stream where to print the adaptive gain parameters.
\param lambda : The adaptive gain containing the parameters to print.
*/
-std::ostream&
-operator<< (std::ostream &os, const vpAdaptiveGain& lambda)
+VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpAdaptiveGain& lambda)
{
os << "Zero= " << lambda .coeff_a + lambda .coeff_c
<< "\tInf= " << lambda .coeff_c
@@ -340,11 +354,3 @@ operator<< (std::ostream &os, const vpAdaptiveGain& lambda)
return os;
}
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
diff --git a/src/servo/vpAdaptiveGain.h b/src/servo/vpAdaptiveGain.h
index aa28a12..766cc8d 100644
--- a/src/servo/vpAdaptiveGain.h
+++ b/src/servo/vpAdaptiveGain.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAdaptiveGain.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAdaptiveGain.h 4641 2014-02-05 12:42:03Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,19 +59,18 @@ class vpColVector;
The formula used to compute the gain is the following :
- \f[ lambda (x) = a * exp (-b*x) + c \f]
+ \f[ \lambda (x) = a * exp (-b*x) + c \f]
- where \f$ a \f$, \f$ b \f$ and \f$ c \f$ are parameters which must be set
- and \f$ x \f$ is the vector error of the task.
+ where \f$ a \f$, \f$ b \f$ and \f$ c \f$ are constant parameters and \f$ x \f$ is the entry to consider.
- By default, the parameters are set with default values:
- \f[ a = lambda(0) - lambda(inf) \f]
- \f[ b = lambda'(0) / a \f]
- \f[ c = lambda(inf) \f]
+ The parameters \f$a,b,c\f$ are not set directly. They are computed from three other parameters
+ \f$\lambda(0), \lambda(\infty), {\dot \lambda}(0)\f$ that are more intuitive to tune:
+ \f[ a = \lambda(0) - \lambda(\infty) \f]
+ \f[ b = {\dot \lambda}(0) / a \f]
+ \f[ c = \lambda(\infty) \f]
- with \f$ lambda(0) = 1.666 \f$, \f$ lambda(inf) = 0.1666 \f$ and \f$ lambda'(0) = 1.666 \f$.
-
- \f$ lambda(0)\f$ represents the gain in 0, \f$ lambda(inf)\f$ represents the gain to infinity and \f$ lambda'(0)\f$ represents the slope in 0.
+ where \f$ \lambda(0)\f$ represents the gain when \f$x=0\f$, \f$ \lambda(\infty)\f$ represents the gain when \f$x=\infty\f$
+ and \f$ {\dot \lambda}(0)\f$ represents the slope of \f$\lambda(x)\f$ when \f$x=0\f$.
*/
@@ -81,8 +80,8 @@ class VISP_EXPORT vpAdaptiveGain
public: /* constantes */
static const double DEFAULT_LAMBDA_ZERO;
- static const double DEFAULT_LAMBDA_INFINI;
- static const double DEFAULT_LAMBDA_PENTE;
+ static const double DEFAULT_LAMBDA_INFINITY;
+ static const double DEFAULT_LAMBDA_SLOPE;
private: /* Attributs*/
@@ -101,14 +100,19 @@ public: /* Methodes*/
/* --- CONSTRUCTOR -------------------------------------------------------- */
- vpAdaptiveGain (void);
+ vpAdaptiveGain ();
+ vpAdaptiveGain (double c);
+ vpAdaptiveGain (double gain_at_zero,
+ double gain_at_infinity,
+ double slope_at_zero);
+
/* --- INIT --------------------------------------------------------------- */
- void initFromConstant (double lambda);
+ void initFromConstant (double c);
void initFromVoid (void);
- void initStandard (double en_zero,
- double en_infini,
- double pente_en_zero);
+ void initStandard (double gain_at_zero,
+ double gain_at_infinity,
+ double slope_at_zero);
/* --- MODIFIORS ---------------------------------------------------------- */
@@ -128,7 +132,7 @@ public: /* Methodes*/
* \param val_e: valeur de la norme de l'erreur.
* \return: valeur de gain au point courrant.
*/
- double value_const (double val_e) const;
+ double value_const (double x) const;
/* \brief Calcule la valeur de lambda au point courrant et stockage du
* resultat.
@@ -139,7 +143,7 @@ public: /* Methodes*/
* \param val_e: valeur de la norme de l'erreur.
* \return: valeur de gain au point courrant.
*/
- double value (double val_e) const;
+ double value (double x) const;
double limitValue_const (void) const;
@@ -152,12 +156,12 @@ public: /* Methodes*/
\return It returns the last adaptive gain value which was stored in the class.
*/
- inline double getLastValue (void) const {return this ->lambda;}
+ inline double getLastValue (void) const {return this ->lambda;}
- double operator() (double val_e) const;
+ double operator() (double x) const;
/* \brief Lance la fonction valeur avec la norme INFINIE du vecteur. */
- double operator() (const vpColVector & e) const;
+ double operator() (const vpColVector & x) const;
/* \brief Idem function limitValue. */
double operator() (void) const;
@@ -165,17 +169,7 @@ public: /* Methodes*/
/* --- IOSTREAM ----------------------------------------------------------- */
- friend VISP_EXPORT std::ostream& operator<< (std::ostream &os,
- const vpAdaptiveGain& lambda);
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpAdaptiveGain& lambda);
};
#endif /* __VP_ADAPTIVE_GAIN_H */
-
-
-
-
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
diff --git a/src/servo/vpServo.cpp b/src/servo/vpServo.cpp
index 0e378b3..02127dd 100644
--- a/src/servo/vpServo.cpp
+++ b/src/servo/vpServo.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServo.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServo.cpp 4674 2014-02-17 15:34:41Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,30 +58,46 @@
/*!
- Default constructor.
-
- By default:
-
- - the interaction matrix \f$ L \f$ is computed with the desired
- features \f$ s^*\f$ (\f$ L=L_{s^*}\f$). With
- setInteractionMatrixType() you can also use the interaction matrix
- with the current visual features \f$L_s\f$, or the mean \f$(L_s /
- 2 + L_{s^*} / 2)\f$.
-
- - the control law is build from the pseudo inverse of the
- interaction matrix \f$ v = - \lambda \; L^+ \; e\f$. With
- setInteractionMatrixType() can also set the usage of the transpose
- \f$ v = \lambda \; L^t \; e\f$ .
+ Default constructor that initializes the following settings:
+ - No control law is specified. The user has to call setServo() to specify the control law.
+ - In the control law, the interaction matrix \f${\widehat {\bf L}}_e \f$ is computed with the desired
+ features \f${\bf s}^*\f$. Using setInteractionMatrixType() you can also compute the
+ interaction matrix with the current visual features, or from the mean
+ \f$\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2\f$.
+ - In the control law the pseudo inverse will be used. The method setInteractionMatrixType()
+ allows to use the transpose instead.
*/
vpServo::vpServo()
+ : L(), error(), J1(), J1p(), s(), sStar(), e1(), e(), q_dot(), v(), servoType(vpServo::NONE),
+ rankJ1(0), featureList(), desiredFeatureList(), featureSelectionList(), lambda(), signInteractionMatrix(1),
+ interactionMatrixType(DESIRED), inversionType(PSEUDO_INVERSE), cVe(), init_cVe(false),
+ cVf(), init_cVf(false), fVe(), init_fVe(false), eJe(), init_eJe(false), fJe(), init_fJe(false),
+ errorComputed(false), interactionMatrixComputed(false), dim_task(0), taskWasKilled(false),
+ forceInteractionMatrixComputation(false), WpW(), I_WpW(), sv(), mu(4.)
{
- init() ;
}
+/*!
+ Constructor that allows to choose the visual servoing control law.
+ \param servo_type : Visual servoing control law.
-vpServo::vpServo(vpServoType _servoType)
+ The other settings are the following:
+ - In the control law, the interaction matrix \f${\widehat {\bf L}}_e \f$ is computed with the desired
+ features \f${\bf s}^*\f$. Using setInteractionMatrixType() you can also compute the
+ interaction matrix with the current visual features, or from the mean
+ \f$\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2\f$.
+ - In the control law the pseudo inverse will be used. The method setInteractionMatrixType()
+ allows to use the transpose instead.
+
+ */
+vpServo::vpServo(vpServoType servo_type)
+ : L(), error(), J1(), J1p(), s(), sStar(), e1(), e(), q_dot(), v(), servoType(servo_type),
+ rankJ1(0), featureList(), desiredFeatureList(), featureSelectionList(), lambda(), signInteractionMatrix(1),
+ interactionMatrixType(DESIRED), inversionType(PSEUDO_INVERSE), cVe(), init_cVe(false),
+ cVf(), init_cVf(false), fVe(), init_fVe(false), eJe(), init_eJe(false), fJe(), init_fJe(false),
+ errorComputed(false), interactionMatrixComputed(false), dim_task(0), taskWasKilled(false),
+ forceInteractionMatrixComputation(false), WpW(), I_WpW(), sv(), mu(4)
{
- setServo(_servoType);
}
/*!
@@ -108,24 +124,19 @@ vpServo::~vpServo()
/*!
- Initialize the servo.
-
- By default:
+ Initialize the servo with the following settings:
- - the interaction matrix \f$ L \f$ is computed with the desired
- features \f$ s^*\f$ (\f$ L=L_{s^*}\f$). With
- setInteractionMatrixType() you can also use the interaction matrix
- with the current visual features \f$L_s\f$, or the mean \f$(L_s /
- 2 + L_{s^*} / 2)\f$.
+ - No control law is specified. The user has to call setServo() to specify the control law.
+ - In the control law, the interaction matrix \f${\widehat {\bf L}}_e \f$ is computed with the desired
+ features \f${\bf s}^*\f$. Using setInteractionMatrixType() you can also compute the
+ interaction matrix with the current visual features, or from the mean
+ \f$\left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2\f$.
+ - In the control law the pseudo inverse will be used. The method setInteractionMatrixType()
+ allows to use the transpose instead.
- - the control law is build from the pseudo inverse of the
- interaction matrix \f$ v = - \lambda \; L^+ \; e\f$. With
- setInteractionMatrixType() can also set the usage of the transpose
- \f$ v = \lambda \; L^t \; e\f$ .
*/
-void
- vpServo::init()
+void vpServo::init()
{
// type of visual servoing
servoType = vpServo::NONE ;
@@ -140,9 +151,9 @@ void
dim_task = 0 ;
- featureList.kill() ;
- desiredFeatureList.kill() ;
- featureSelectionList.kill();
+ featureList.clear() ;
+ desiredFeatureList.clear() ;
+ featureSelectionList.clear();
signInteractionMatrix = 1 ;
@@ -155,6 +166,8 @@ void
taskWasKilled = false;
forceInteractionMatrixComputation = false;
+
+ rankJ1 = 0;
}
/*!
@@ -173,56 +186,46 @@ void
\endcode
*/
-void
- vpServo::kill()
+void vpServo::kill()
{
if (taskWasKilled == false) {
// kill the current and desired feature lists
- featureList.front() ;
- desiredFeatureList.front() ;
- while (!featureList.outside()) {
- vpBasicFeature *s_ptr = NULL;
-
- // current list
- s_ptr= featureList.value() ;
- if (s_ptr->getDeallocate() == vpBasicFeature::vpServo)
- {
- delete s_ptr ;
- s_ptr = NULL ;
+ // current list
+ for(std::list<vpBasicFeature *>::iterator it = featureList.begin(); it != featureList.end(); ++it) {
+ if ((*it)->getDeallocate() == vpBasicFeature::vpServo) {
+ delete (*it) ;
+ (*it) = NULL ;
}
-
+ }
//desired list
- s_ptr= desiredFeatureList.value() ;
- if (s_ptr->getDeallocate() == vpBasicFeature::vpServo)
- {
- // s_ptr->print() ;
- delete s_ptr ;
- s_ptr = NULL ;
+ for(std::list<vpBasicFeature *>::iterator it = desiredFeatureList.begin(); it != desiredFeatureList.end(); ++it) {
+ if ((*it)->getDeallocate() == vpBasicFeature::vpServo) {
+ delete (*it) ;
+ (*it) = NULL ;
}
-
- desiredFeatureList.next() ;
- featureList.next() ;
}
- featureList.kill() ;
- desiredFeatureList.kill() ;
+
+ featureList.clear() ;
+ desiredFeatureList.clear() ;
taskWasKilled = true;
}
}
-void
- vpServo::setServo(vpServoType _servoType)
+/*!
+ Set the visual servoing control law.
+ \param servo_type : Control law that will be considered.
+ See vpServo::vpServoType to see the possible values.
+ */
+void vpServo::setServo(const vpServoType &servo_type)
{
-
- servoType = _servoType ;
+ this->servoType = servo_type ;
if ((servoType==EYEINHAND_CAMERA) ||(servoType==EYEINHAND_L_cVe_eJe))
signInteractionMatrix = 1 ;
else
signInteractionMatrix = -1 ;
-
-
// when the control is directly compute in the camera frame
// we relieve the end-user to initialize cVa and aJe
if (servoType==EYEINHAND_CAMERA)
@@ -233,7 +236,6 @@ void
_eJe.eye(6) ;
set_eJe(_eJe) ;
};
-
}
@@ -241,16 +243,7 @@ void
Prints on \e os stream information about the task:
- \param displayLevel : If vpServo::ALL prints
- - Type of control law (eye-in-hand, eye-to-hand)
- - Control frame (camera frame, joint space)
- - List of current visual features : s
- - List of desired visual features : s*
- - Interaction Matrix Ls
- - Error vector (s-s*)
- - Gain of the controller
-
- \param displayLevel : If vpServo::MINIMUM prints only the error vector (s-s*).
+ \param displayLevel : Indicates which are the task informations to print. See vpServo::vpServoPrintType for more details.
\param os : Output stream.
*/
@@ -259,11 +252,8 @@ void
{
switch (displayLevel)
{
-
case vpServo::ALL:
-
{
-
os << "Visual servoing task: " <<std::endl ;
os << "Type of control law " <<std::endl ;
@@ -295,30 +285,21 @@ void
}
os << "List of visual features : s" <<std::endl ;
- for (featureList.front(),
- featureSelectionList.front() ;
- !featureList.outside() ;
- featureList.next(),
- featureSelectionList.next() )
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<vpBasicFeature *>::const_iterator it_s_star;
+ std::list<unsigned int>::const_iterator it_select;
+
+ for (it_s = featureList.begin(), it_select = featureSelectionList.begin(); it_s != featureList.end(); ++it_s, ++it_select)
{
- vpBasicFeature *s ;
- s = featureList.value();
os << "" ;
- s->print(featureSelectionList.value()) ;
+ (*it_s)->print( (*it_select) ) ;
}
-
os << "List of desired visual features : s*" <<std::endl ;
- for (desiredFeatureList.front(),
- featureSelectionList.front() ;
- !desiredFeatureList.outside() ;
- desiredFeatureList.next(),
- featureSelectionList.next() )
+ for (it_s_star = desiredFeatureList.begin(), it_select = featureSelectionList.begin(); it_s_star != desiredFeatureList.end(); ++it_s_star, ++it_select)
{
- vpBasicFeature *s ;
- s = desiredFeatureList.value();
os << "" ;
- s->print(featureSelectionList.value()) ;
+ (*it_s_star)->print( (*it_select) ) ;
}
os <<"Interaction Matrix Ls "<<std::endl ;
@@ -327,7 +308,9 @@ void
os << L << std::endl;
}
else
- {os << "not yet computed "<<std::endl ;}
+ {
+ os << "not yet computed "<<std::endl ;
+ }
os <<"Error vector (s-s*) "<<std::endl ;
if (errorComputed)
@@ -335,7 +318,9 @@ void
os << error.t() << std::endl;
}
else
- {os << "not yet computed "<<std::endl ;}
+ {
+ os << "not yet computed "<<std::endl ;
+ }
os << "Gain : " << lambda <<std::endl ;
@@ -377,33 +362,28 @@ void
case vpServo::FEATURE_CURRENT:
{
os << "List of visual features : s" <<std::endl ;
- for (featureList.front(),
- featureSelectionList.front() ;
- !featureList.outside() ;
- featureList.next(),
- featureSelectionList.next() )
+
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<unsigned int>::const_iterator it_select;
+
+ for (it_s = featureList.begin(), it_select = featureSelectionList.begin(); it_s != featureList.end(); ++it_s, ++it_select)
{
- vpBasicFeature *s ;
- s = featureList.value();
os << "" ;
- s->print(featureSelectionList.value()) ;
+ (*it_s)->print( (*it_select) ) ;
}
-
break;
}
case vpServo::FEATURE_DESIRED:
{
os << "List of desired visual features : s*" <<std::endl ;
- for (desiredFeatureList.front(),
- featureSelectionList.front() ;
- !desiredFeatureList.outside() ;
- desiredFeatureList.next(),
- featureSelectionList.next() )
+
+ std::list<vpBasicFeature *>::const_iterator it_s_star;
+ std::list<unsigned int>::const_iterator it_select;
+
+ for (it_s_star = desiredFeatureList.begin(), it_select = featureSelectionList.begin(); it_s_star != desiredFeatureList.end(); ++it_s_star, ++it_select)
{
- vpBasicFeature *s ;
- s = desiredFeatureList.value();
os << "" ;
- s->print(featureSelectionList.value()) ;
+ (*it_s_star)->print( (*it_select) ) ;
}
break;
}
@@ -415,12 +395,12 @@ void
case vpServo::INTERACTION_MATRIX:
{
os <<"Interaction Matrix Ls "<<std::endl ;
- if (interactionMatrixComputed)
- {
+ if (interactionMatrixComputed) {
os << L << std::endl;
}
- else
- {os << "not yet computed "<<std::endl ;}
+ else {
+ os << "not yet computed "<<std::endl ;
+ }
break;
}
@@ -429,33 +409,76 @@ void
{
os <<"Error vector (s-s*) "<<std::endl ;
- if (errorComputed)
- { os << error.t() << std::endl; }
- else
- {os << "not yet computed "<<std::endl ;}
+ if (errorComputed) {
+ os << error.t() << std::endl;
+ }
+ else {
+ os << "not yet computed "<<std::endl ;
+ }
break;
}
}
}
-//! create a new set of 2 features in the task
-void
- vpServo::addFeature(vpBasicFeature& s, vpBasicFeature &s_star, unsigned int select)
+/*!
+ Add a new set of 2 features \f$\bf s\f$ and \f${\bf s}^*\f$ in the task.
+
+ \param s_cur : Current visual feature denoted \f$\bf s\f$.
+ \param s_star : Desired visual feature denoted \f${\bf s}^*\f$.
+ \param select : Feature selector. By default all the features in \e s and \e s_star are used,
+ but is is possible to specify which one is used in case of multiple features.
+
+ The following sample code explain how to use this method to add a visual feature point \f$(x,y)\f$:
+ \code
+ vpFeaturePoint s, s_star;
+ ...
+ vpServo task;
+ task.addFeature(s, s_star);
+ \endcode
+
+ For example to use only the \f$x\f$ visual feature, the previous code becomes:
+ \code
+ vpFeaturePoint s, s_star;
+ ...
+ vpServo task;
+ task.addFeature(s, s_star, vpFeaturePoint::selectX());
+ \endcode
+
+ */
+void vpServo::addFeature(vpBasicFeature& s_cur, vpBasicFeature &s_star, unsigned int select)
{
- featureList += &s ;
- desiredFeatureList += &s_star ;
- featureSelectionList+= select ;
+ featureList.push_back( &s_cur );
+ desiredFeatureList.push_back( &s_star );
+ featureSelectionList.push_back( select );
}
/*!
- \brief create a new visual features in the task
- (the desired feature is then null)
-*/
-void
- vpServo::addFeature(vpBasicFeature& s, unsigned int select)
+ Add a new features \f$\bf s\f$ in the task. The desired visual feature denoted \f${\bf s}^*\f$ is equal to zero.
+
+ \param s_cur : Current visual feature denoted \f$\bf s\f$.
+ \param select : Feature selector. By default all the features in \e s are used,
+ but is is possible to specify which one is used in case of multiple features.
+
+ The following sample code explain how to use this method to add a \f$\theta {\bf u} =(\theta u_x, \theta u_y, \theta u_z)\f$ feature:
+ \code
+ vpFeatureThetaU s(vpFeatureThetaU::cRcd);
+ ...
+ vpServo task;
+ task.addFeature(s);
+ \endcode
+
+ For example to use only the \f$\theta u_x\f$ feature, the previous code becomes:
+ \code
+ vpFeatureThetaU s(vpFeatureThetaU::cRcd);
+ ...
+ vpServo task;
+ task.addFeature(s, vpFeatureThetaU::selectTUx);
+ \endcode
+ */
+void vpServo::addFeature(vpBasicFeature& s_cur, unsigned int select)
{
- featureList += &s ;
+ featureList.push_back( &s_cur );
// in fact we have a problem with s_star that is not defined
// by the end user.
@@ -472,51 +495,41 @@ void
// vpServo must deallocate the memory (see ~vpServo and kill() )
vpBasicFeature *s_star ;
- s_star = s.duplicate() ;
+ s_star = s_cur.duplicate() ;
s_star->init() ;
s_star->setDeallocate(vpBasicFeature::vpServo) ;
- desiredFeatureList += s_star ;
- featureSelectionList+= select ;
+ desiredFeatureList.push_back( s_star );
+ featureSelectionList.push_back( select );
}
-//! get the task dimension
-unsigned int
- vpServo::getDimension()
+//! Return the task dimension.
+unsigned int vpServo::getDimension() const
{
+ unsigned int dim = 0 ;
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<unsigned int>::const_iterator it_select;
- featureList.front() ;
- featureSelectionList.front() ;
-
- dim_task =0 ;
- while (!featureList.outside())
+ for (it_s = featureList.begin(), it_select = featureSelectionList.begin(); it_s != featureList.end(); ++it_s, ++it_select)
{
- vpBasicFeature *s_ptr = NULL;
- s_ptr= featureList.value() ;
- unsigned int select = (unsigned int)featureSelectionList.value() ;
-
- dim_task += (unsigned int)s_ptr->getDimension(select) ;
-
- featureSelectionList.next() ;
- featureList.next() ;
+ dim += (*it_s)->getDimension(*it_select) ;
}
- return dim_task ;
+ return dim;
}
-void
- vpServo::setInteractionMatrixType(const vpServoIteractionMatrixType &_interactionMatrixType, const vpServoInversionType &_interactionMatrixInversion)
+void vpServo::setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrix_type,
+ const vpServoInversionType &interactionMatrixInversion)
{
- interactionMatrixType = _interactionMatrixType ;
- inversionType = _interactionMatrixInversion ;
+ this->interactionMatrixType = interactionMatrix_type ;
+ this->inversionType = interactionMatrixInversion ;
}
-static void
- computeInteractionMatrixFromList (/*const*/ vpList<vpBasicFeature *> & featureList,
- /*const*/ vpList<unsigned int> & featureSelectionList,
- vpMatrix & L)
+static void computeInteractionMatrixFromList (const std::list<vpBasicFeature *> & featureList,
+ const std::list<unsigned int> & featureSelectionList,
+ vpMatrix & L)
{
if (featureList.empty())
{
@@ -539,7 +552,10 @@ static void
* initialized to dim 1.*/
unsigned int rowL = L.getRows();
const unsigned int colL = 6;
- if (0 == rowL) { rowL = 1; L .resize(rowL, colL);}
+ if (0 == rowL) {
+ rowL = 1;
+ L .resize(rowL, colL);
+ }
/* vectTmp is used to store the return values of functions get_s() and
* error(). */
@@ -551,27 +567,29 @@ static void
* is out of the vector-array range.*/
unsigned int cursorL = 0;
- for (featureList.front() ,featureSelectionList.front() ;
- !featureList.outside();
- featureSelectionList.next(),featureList.next() )
- {
- vpBasicFeature * sPTR = featureList.value() ;
- const unsigned int select = featureSelectionList.value() ;
+ std::list<vpBasicFeature *>::const_iterator it;
+ std::list<unsigned int>::const_iterator it_select;
+ for (it = featureList.begin(), it_select = featureSelectionList.begin(); it != featureList.end(); ++it, ++it_select)
+ {
/* Get s. */
- matrixTmp = sPTR->interaction(select);
+ matrixTmp = (*it)->interaction( *it_select );
rowMatrixTmp = matrixTmp .getRows();
colMatrixTmp = matrixTmp .getCols();
/* Check the matrix L size, and realloc if needed. */
- while (rowMatrixTmp + cursorL > rowL)
- { rowL *= 2; L .resize (rowL,colL,false); vpDEBUG_TRACE(15,"Realloc!"); }
+ while (rowMatrixTmp + cursorL > rowL) {
+ rowL *= 2;
+ L.resize (rowL,colL,false);
+ vpDEBUG_TRACE(15,"Realloc!");
+ }
/* Copy the temporarily matrix into L. */
- for (unsigned int k = 0; k < rowMatrixTmp; ++k, ++cursorL)
- for (unsigned int j = 0; j < colMatrixTmp; ++j)
- { L[cursorL][j] = matrixTmp[k][j]; }
-
+ for (unsigned int k = 0; k < rowMatrixTmp; ++k, ++cursorL) {
+ for (unsigned int j = 0; j < colMatrixTmp; ++j) {
+ L[cursorL][j] = matrixTmp[k][j];
+ }
+ }
}
L.resize (cursorL,colL,false);
@@ -582,14 +600,12 @@ static void
/*!
- Compute the interaction matrix related to the set of visual features.
+ Compute and return the interaction matrix related to the set of visual features.
- \return Ls
+ \return The interaction matrix \f${\widehat {\bf L}}_e\f$ used in the control law specified using setServo().
*/
-vpMatrix
- vpServo::computeInteractionMatrix()
+vpMatrix vpServo::computeInteractionMatrix()
{
-
try {
switch (interactionMatrixType)
@@ -671,15 +687,13 @@ vpMatrix
/*!
- Compute the error \f$(s - s^*)\f$ between the current set of visual
- features \f$s\f$ and the desired set of visual features \f$s^*\f$.
+ Compute the error \f$\bf e =(s - s^*)\f$ between the current set of visual
+ features \f$\bf s\f$ and the desired set of visual features \f$\bf s^*\f$.
- \return The error \f$(s - s^*)\f$. To access to the computed error
- you can also use the public vpServo::error class member.
+ \return The error vector \f$\bf e\f$.
*/
-vpColVector
- vpServo::computeError()
+vpColVector vpServo::computeError()
{
if (featureList.empty())
{
@@ -732,19 +746,17 @@ vpColVector
unsigned int cursorError = 0;
/* For each cell of the list, copy value of s, s_star and error. */
- for (featureList.front(),
- desiredFeatureList.front(),
- featureSelectionList.front() ;
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<vpBasicFeature *>::const_iterator it_s_star;
+ std::list<unsigned int>::const_iterator it_select;
- !featureList.outside() ;
-
- featureList.next(),
- desiredFeatureList.next(),
- featureSelectionList.next() )
+ for (it_s = featureList.begin(), it_s_star = desiredFeatureList.begin(), it_select = featureSelectionList.begin();
+ it_s != featureList.end();
+ ++it_s, ++it_s_star, ++it_select)
{
- current_s = featureList.value() ;
- desired_s = desiredFeatureList.value() ;
- unsigned int select = featureSelectionList.value() ;
+ current_s = (*it_s);
+ desired_s = (*it_s_star);
+ unsigned int select = (*it_select);
/* Get s, and store it in the s vector. */
vectTmp = current_s->get_s(select);
@@ -753,22 +765,27 @@ vpColVector
{ dimS *= 2; s .resize (dimS,false); vpDEBUG_TRACE(15,"Realloc!"); }
for (unsigned int k = 0; k < dimVectTmp; ++k) { s[cursorS++] = vectTmp[k]; }
-
/* Get s_star, and store it in the s vector. */
vectTmp = desired_s->get_s(select);
dimVectTmp = vectTmp .getRows();
- while (dimVectTmp + cursorSStar > dimSStar)
- { dimSStar *= 2; sStar .resize (dimSStar,false); }
- for (unsigned int k = 0; k < dimVectTmp; ++k)
- { sStar[cursorSStar++] = vectTmp[k]; }
+ while (dimVectTmp + cursorSStar > dimSStar) {
+ dimSStar *= 2;
+ sStar.resize (dimSStar,false);
+ }
+ for (unsigned int k = 0; k < dimVectTmp; ++k) {
+ sStar[cursorSStar++] = vectTmp[k];
+ }
/* Get error, and store it in the s vector. */
vectTmp = current_s->error(*desired_s, select) ;
dimVectTmp = vectTmp .getRows();
- while (dimVectTmp + cursorError > dimError)
- { dimError *= 2; error .resize (dimError,false); }
- for (unsigned int k = 0; k < dimVectTmp; ++k)
- { error[cursorError++] = vectTmp[k]; }
+ while (dimVectTmp + cursorError > dimError) {
+ dimError *= 2;
+ error.resize (dimError,false);
+ }
+ for (unsigned int k = 0; k < dimVectTmp; ++k) {
+ error[cursorError++] = vectTmp[k];
+ }
}
/* If too much memory has been allocated, realloc. */
@@ -792,8 +809,7 @@ vpColVector
return error ;
}
-bool
- vpServo::testInitialization()
+bool vpServo::testInitialization()
{
switch (servoType)
{
@@ -827,8 +843,7 @@ bool
return false ;
}
-bool
- vpServo::testUpdated()
+bool vpServo::testUpdated()
{
switch (servoType)
{
@@ -863,26 +878,197 @@ bool
return false ;
}
/*!
- \brief compute the desired control law
- Compute the control law according to the equation:
+ Compute the control law specified using setServo(). See vpServo::vpServoType for more
+ details concerning the control laws that are available. The \ref tutorial-ibvs and \ref tutorial-boost-vs
+ are also useful to illustrate the usage of this function.
+
+ The general form of the control law is the following:
+
\f[
- -\lambda {\bf W^+W\widehat J_s^+(s-s^*)}
+ {\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e}
\f]
- or
+
+ where :
+ - \f${\bf \dot q}\f$ is the resulting velocity command to apply to the robot.
+ - the sign of the control law depends on the eye in hand or eye to hand configuration.
+ - \f$\bf J\f$ is the Jacobian of the task. It is function of the interaction matrix and of the robot
+ Jacobian.
+ - \f$\bf e = (s-s^*)\f$ is the error to regulate.
+
+ To ensure continuous sequencing the computeControlLaw(double) function can be used. It will ensure that
+ the velocities that are computed are continuous.
+*/
+vpColVector vpServo::computeControlLaw()
+{
+ static int iteration =0;
+
+ try
+ {
+ vpVelocityTwistMatrix cVa ; // Twist transformation matrix
+ vpMatrix aJe ; // Jacobian
+
+ if (iteration==0)
+ {
+ if (testInitialization() == false) {
+ vpERROR_TRACE("All the matrices are not correctly initialized") ;
+ throw(vpServoException(vpServoException::servoError,
+ "Cannot compute control law "
+ "All the matrices are not correctly"
+ "initialized")) ;
+ }
+ }
+ if (testUpdated() == false) {
+ vpERROR_TRACE("All the matrices are not correctly updated") ;
+ }
+
+ // test if all the required initialization have been done
+ switch (servoType)
+ {
+ case NONE :
+ vpERROR_TRACE("No control law have been yet defined") ;
+ throw(vpServoException(vpServoException::servoError,
+ "No control law have been yet defined")) ;
+ break ;
+ case EYEINHAND_CAMERA:
+ case EYEINHAND_L_cVe_eJe:
+ case EYETOHAND_L_cVe_eJe:
+
+ cVa = cVe ;
+ aJe = eJe ;
+
+ init_cVe = false ;
+ init_eJe = false ;
+ break ;
+ case EYETOHAND_L_cVf_fVe_eJe:
+ cVa = cVf*fVe ;
+ aJe = eJe ;
+ init_fVe = false ;
+ init_eJe = false ;
+ break ;
+ case EYETOHAND_L_cVf_fJe :
+ cVa = cVf ;
+ aJe = fJe ;
+ init_fJe = false ;
+ break ;
+ }
+
+ computeInteractionMatrix() ;
+ computeError() ;
+
+ // compute task Jacobian
+ J1 = L*cVa*aJe ;
+
+ // handle the eye-in-hand eye-to-hand case
+ J1 *= signInteractionMatrix ;
+
+ // pseudo inverse of the task Jacobian
+ // and rank of the task Jacobian
+ // the image of J1 is also computed to allows the computation
+ // of the projection operator
+ vpMatrix imJ1t, imJ1 ;
+ bool imageComputed = false ;
+
+ if (inversionType==PSEUDO_INVERSE)
+ {
+ rankJ1 = J1.pseudoInverse(J1p, sv, 1e-6, imJ1, imJ1t) ;
+
+ imageComputed = true ;
+ }
+ else
+ J1p = J1.t() ;
+
+ if (rankJ1 == L.getCols())
+ {
+ /* if no degrees of freedom remains (rank J1 = ndof)
+ WpW = I, multiply by WpW is useless
+ */
+ e1 = J1p*error ;// primary task
+
+ WpW.resize(J1.getCols(), J1.getCols()) ;
+ WpW.setIdentity() ;
+ }
+ else
+ {
+ if (imageComputed!=true)
+ {
+ vpMatrix Jtmp ;
+ // image of J1 is computed to allows the computation
+ // of the projection operator
+ rankJ1 = J1.pseudoInverse(Jtmp, sv, 1e-6, imJ1, imJ1t) ;
+ imageComputed = true ;
+ }
+ WpW = imJ1t*imJ1t.t() ;
+
+#ifdef DEBUG
+ std::cout << "rank J1 " << rankJ1 <<std::endl ;
+ std::cout << "imJ1t"<<std::endl << imJ1t ;
+ std::cout << "imJ1"<<std::endl << imJ1 ;
+
+ std::cout << "WpW" <<std::endl <<WpW ;
+ std::cout << "J1" <<std::endl <<J1 ;
+ std::cout << "J1p" <<std::endl <<J1p ;
+#endif
+ e1 = WpW*J1p*error ;
+ }
+ e = - lambda(e1) * e1 ;
+
+ vpMatrix I ;
+
+ I.resize(J1.getCols(),J1.getCols()) ;
+ I.setIdentity() ;
+
+ I_WpW = (I - WpW) ;
+ }
+ catch(vpMatrixException me)
+ {
+ vpERROR_TRACE("Caught a matrix related error") ;
+ std::cout << me << std::endl ;
+ throw me;
+ }
+ catch(vpException me)
+ {
+ vpERROR_TRACE("Error caught") ;
+ std::cout << me << std::endl ;
+ throw me ;
+ }
+
+ iteration++ ;
+ return e ;
+}
+
+/*!
+ Compute the control law specified using setServo(). See vpServo::vpServoType for more
+ details concerning the control laws that are available. The \ref tutorial-boost-vs is also useful to
+ illustrate the usage of this function.
+
+ To the general form of the control law given in computeControlLaw(), we add here an additional term that comes from
+ the task sequencing approach described in \cite Mansard07e equation (17). This additional term allows to compute
+ continuous velocities by avoiding abrupt changes in the command.
+
+ The form of the control law considered here is the following:
+
\f[
- -\lambda {\bf\widehat J_s^+(s-s^*)}
+ {\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e} \mp \lambda {{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)} \exp(-\mu t)
\f]
- if the dimension of the task is equal to number of available degrees of freedom (in that case \f${\bf W^+W = I}\f$)
- in this equation Js is function of the interaction matrix and of the robot
- Jacobian. It is also built according to the chosen configuration eye-in-hand
- or eye-to-hand (see vpServo::setServo method)
+ where :
+ - \f${\bf \dot q}\f$ is the resulting continuous velocity command to apply to the robot.
+ - the sign of the control law depends on the eye in hand or eye to hand configuration.
+ - \f$\bf J\f$ is the Jacobian of the task. It is function of the interaction matrix and of the robot
+ Jacobian.
+ - \f$\bf e = (s-s^*)\f$ is the error to regulate.
+ - \f$t\f$ is the time given as parameter of this method.
+ - \f$\mu\f$ is a gain that is set by default to 4 and that could be modified using setMu().
+ - \f${\bf \widehat J}_{e(0)}^+ {\bf e}(0)\f$ is the value of \f${\bf \widehat J}_e^+ {\bf e}\f$ when \f$t=0\f$.
+ This value is internally stored either at the first call of this method, or when \e t parameter is set to 0.
+
+ \param t : Time in second. When set to zero, \f${{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}\f$ is refreshed internally.
*/
-vpColVector
- vpServo::computeControlLaw()
+vpColVector vpServo::computeControlLaw(double t)
{
static int iteration =0;
+ static vpColVector e1_initial;
try
{
@@ -891,24 +1077,188 @@ vpColVector
if (iteration==0)
{
- if (testInitialization() == true)
- {
- }
- else
- {
- vpERROR_TRACE("All the matrices are not correctly initialized") ;
- throw(vpServoException(vpServoException::servoError,
+ if (testInitialization() == false) {
+ vpERROR_TRACE("All the matrices are not correctly initialized") ;
+ throw(vpServoException(vpServoException::servoError,
"Cannot compute control law "
"All the matrices are not correctly"
"initialized")) ;
- }
+ }
+ }
+ if (testUpdated() == false) {
+ vpERROR_TRACE("All the matrices are not correctly updated") ;
+ }
+
+ // test if all the required initialization have been done
+ switch (servoType)
+ {
+ case NONE :
+ vpERROR_TRACE("No control law have been yet defined") ;
+ throw(vpServoException(vpServoException::servoError,
+ "No control law have been yet defined")) ;
+ break ;
+ case EYEINHAND_CAMERA:
+ case EYEINHAND_L_cVe_eJe:
+ case EYETOHAND_L_cVe_eJe:
+
+ cVa = cVe ;
+ aJe = eJe ;
+
+ init_cVe = false ;
+ init_eJe = false ;
+ break ;
+ case EYETOHAND_L_cVf_fVe_eJe:
+ cVa = cVf*fVe ;
+ aJe = eJe ;
+ init_fVe = false ;
+ init_eJe = false ;
+ break ;
+ case EYETOHAND_L_cVf_fJe :
+ cVa = cVf ;
+ aJe = fJe ;
+ init_fJe = false ;
+ break ;
+ }
+
+ computeInteractionMatrix() ;
+ computeError() ;
+
+ // compute task Jacobian
+ J1 = L*cVa*aJe ;
+
+ // handle the eye-in-hand eye-to-hand case
+ J1 *= signInteractionMatrix ;
+
+ // pseudo inverse of the task Jacobian
+ // and rank of the task Jacobian
+ // the image of J1 is also computed to allows the computation
+ // of the projection operator
+ vpMatrix imJ1t, imJ1 ;
+ bool imageComputed = false ;
+
+ if (inversionType==PSEUDO_INVERSE)
+ {
+ rankJ1 = J1.pseudoInverse(J1p, sv, 1e-6, imJ1, imJ1t) ;
+
+ imageComputed = true ;
}
- if (testUpdated() == true)
+ else
+ J1p = J1.t() ;
+
+ if (rankJ1 == L.getCols())
{
- // os << " Init OK " << std::endl ;
+ /* if no degrees of freedom remains (rank J1 = ndof)
+ WpW = I, multiply by WpW is useless
+ */
+ e1 = J1p*error ;// primary task
+
+ WpW.resize(J1.getCols(), J1.getCols()) ;
+ WpW.setIdentity() ;
}
else
{
+ if (imageComputed!=true)
+ {
+ vpMatrix Jtmp ;
+ // image of J1 is computed to allows the computation
+ // of the projection operator
+ rankJ1 = J1.pseudoInverse(Jtmp, sv, 1e-6, imJ1, imJ1t) ;
+ imageComputed = true ;
+ }
+ WpW = imJ1t*imJ1t.t() ;
+
+#ifdef DEBUG
+ std::cout << "rank J1 " << rankJ1 <<std::endl ;
+ std::cout << "imJ1t"<<std::endl << imJ1t ;
+ std::cout << "imJ1"<<std::endl << imJ1 ;
+
+ std::cout << "WpW" <<std::endl <<WpW ;
+ std::cout << "J1" <<std::endl <<J1 ;
+ std::cout << "J1p" <<std::endl <<J1p ;
+#endif
+ e1 = WpW*J1p*error ;
+ }
+
+ // memorize the initial e1 value if the function is called the first time or if the time given as parameter is equal to 0.
+ if (iteration==0 || std::fabs(t) < std::numeric_limits<double>::epsilon()) {
+ e1_initial = e1;
+ }
+
+ e = - lambda(e1) * e1 + lambda(e1) * e1_initial*exp(-mu*t);
+
+ vpMatrix I ;
+
+ I.resize(J1.getCols(), J1.getCols()) ;
+ I.setIdentity() ;
+
+ I_WpW = (I - WpW) ;
+ }
+ catch(vpMatrixException me)
+ {
+ vpERROR_TRACE("Caught a matrix related error") ;
+ std::cout << me << std::endl ;
+ throw me;
+ }
+ catch(vpException me)
+ {
+ vpERROR_TRACE("Error caught") ;
+ std::cout << me << std::endl ;
+ throw me ;
+ }
+
+ iteration++ ;
+ return e ;
+}
+
+/*!
+ Compute the control law specified using setServo(). See vpServo::vpServoType for more
+ details concerning the control laws that are available.
+
+ To the general form of the control law given in computeControlLaw(), we add here an additional term that comes from
+ the task sequencing approach described in \cite Mansard07e equation (17). This additional term allows to compute
+ continuous velocities by avoiding abrupt changes in the command.
+
+ The form of the control law considered here is the following:
+
+ \f[
+ {\bf \dot q} = \pm \lambda {{\bf \widehat J}_e}^+ {\bf e} + \left({\bf \dot e}(0) \mp \lambda {{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}\right) \exp(-\mu t)
+ \f]
+
+ where :
+ - \f${\bf \dot q}\f$ is the resulting continuous velocity command to apply to the robot.
+ - the sign of the control law depends on the eye in hand or eye to hand configuration.
+ - \f$\bf J\f$ is the Jacobian of the task. It is function of the interaction matrix and of the robot
+ Jacobian.
+ - \f$\bf e = (s-s^*)\f$ is the error to regulate.
+ - \f$t\f$ is the time given as parameter of this method.
+ - \f$\mu\f$ is a gain that is set by default to 4 and that could be modified using setMu().
+ - \f${\bf \widehat J}_{e(0)}^+ {\bf e}(0)\f$ is the value of \f${\bf \widehat J}_e^+ {\bf e}\f$ when \f$t=0\f$.
+ This value is internally stored either at the first call of this method, or when \e t parameter is set to 0.
+
+ \param t : Time in second. When set to zero, \f${{\bf \widehat J}_{e(0)}}^+ {{\bf e}(0)}\f$ is refreshed internally.
+ \param e_dot_init : Initial value of \f${\bf \dot e}(0)\f$.
+*/
+vpColVector vpServo::computeControlLaw(double t, const vpColVector &e_dot_init)
+{
+ static int iteration =0;
+ static vpColVector e1_initial;
+
+ try
+ {
+ vpVelocityTwistMatrix cVa ; // Twist transformation matrix
+ vpMatrix aJe ; // Jacobian
+
+ if (iteration==0)
+ {
+ if (testInitialization() == false) {
+ vpERROR_TRACE("All the matrices are not correctly initialized") ;
+ throw(vpServoException(vpServoException::servoError,
+ "Cannot compute control law "
+ "All the matrices are not correctly"
+ "initialized")) ;
+ }
+ }
+ if (testUpdated() == false) {
vpERROR_TRACE("All the matrices are not correctly updated") ;
}
@@ -971,8 +1321,8 @@ vpColVector
if (rankJ1 == L.getCols())
{
/* if no degrees of freedom remains (rank J1 = ndof)
- WpW = I, multiply by WpW is useless
- */
+ WpW = I, multiply by WpW is useless
+ */
e1 = J1p*error ;// primary task
WpW.resize(J1.getCols(), J1.getCols()) ;
@@ -981,13 +1331,13 @@ vpColVector
else
{
if (imageComputed!=true)
- {
- vpMatrix Jtmp ;
- // image of J1 is computed to allows the computation
- // of the projection operator
+ {
+ vpMatrix Jtmp ;
+ // image of J1 is computed to allows the computation
+ // of the projection operator
rankJ1 = J1.pseudoInverse(Jtmp, sv, 1e-6, imJ1, imJ1t) ;
- imageComputed = true ;
- }
+ imageComputed = true ;
+ }
WpW = imJ1t*imJ1t.t() ;
#ifdef DEBUG
@@ -1001,11 +1351,17 @@ vpColVector
#endif
e1 = WpW*J1p*error ;
}
- e = - lambda(e1) * e1 ;
+
+ // memorize the initial e1 value if the function is called the first time or if the time given as parameter is equal to 0.
+ if (iteration==0 || std::fabs(t) < std::numeric_limits<double>::epsilon()) {
+ e1_initial = e1;
+ }
+
+ e = - lambda(e1) * e1 + (e_dot_init + lambda(e1) * e1_initial)*exp(-mu*t);
vpMatrix I ;
- I.resize(J1.getCols(),J1.getCols()) ;
+ I.resize(J1.getCols(), J1.getCols()) ;
I.setIdentity() ;
I_WpW = (I - WpW) ;
@@ -1029,28 +1385,35 @@ vpColVector
/*!
- Compute the secondary task according to the projection operator.
- See equation (7) of the IEEE RA magazine, dec 2005 paper.
+ Compute and return the secondary task vector according to the projection operator \f${\bf I-W^+W}\f$. For more details,
+ see equation(7) in the paper \cite Marchand05b.
- \warning computeControlLaw() must be call prior to this function.
+ \param de2dt : Value of \f$\frac{\partial {\bf e_2}}{\partial t}\f$ the derivative of the secondary task \f${\bf e}_2\f$.
- Compute the vector:
- \f[
- + ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}
+ \return The secondary task vector: \f[
+ ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}
\f]
- to be added to the primary task
+
+ Note that the secondary task vector need than to be added to the primary task which can be in the general case written as:
\f[
- -\lambda {\bf W^+W\widehat J_s^+(s-s^*)}
+ -\lambda {\bf W^+W {\widehat {\bf J}}_e^+({\bf s-s^*})}
\f]
- which is computed using the computeControlLaw() method.
- \warning The projection operator \f$ \bf W^+W \f$ is computed in
- computeControlLaw() which must be called prior to this function.
+ \warning computeControlLaw() must be call prior to this function since it updates the projection operator \f$ \bf W^+W \f$.
+
+ The following sample code shows how to use this method:
+ \code
+ vpColVector v; // Velocity applied to the robot
+ vpColVector de2dt;
+ vpServo task;
+ ...
+ v = task.computeControlLaw(); // Compute the primary task
+ v += task.secondaryTask(de2dt) // Compute and add the secondary task
+ \endcode
\sa computeControlLaw()
*/
-vpColVector
- vpServo::secondaryTask(vpColVector &de2dt)
+vpColVector vpServo::secondaryTask(const vpColVector &de2dt)
{
if (rankJ1 == L.getCols())
{
@@ -1077,28 +1440,38 @@ vpColVector
}
/*!
- Compute the secondary task according to the projection operator.
- See equation (7) of the IEEE RA magazine, dec 2005 paper.
+ Compute and return the secondary task vector according to the projection operator \f${\bf I-W^+W}\f$. For more details,
+ see equation(7) in the paper \cite Marchand05b.
- \warning computeControlLaw() must be call prior to this function.
+ \param e2 : Value of the secondary task \f${\bf e}_2\f$.
+ \param de2dt : Value of \f$\frac{\partial {\bf e_2}}{\partial t}\f$ the derivative of the secondary task \f${\bf e}_2\f$.
- Compute the vector:
+ \return The secondary task vector:
\f[
-\lambda ({\bf I-W^+W}) {\bf e_2} + ({\bf I-W^+W})\frac{\partial {\bf e_2}}{\partial t}
\f]
- to be added to the primary task
+
+ Note that the secondary task vector need than to be added to the primary task which can be in the general case written as:
\f[
- -\lambda {\bf W^+W\widehat J_s^+(s-s^*)}
+ -\lambda {\bf W^+W {\widehat {\bf J}}_e^+({\bf s-s^*})}
\f]
- which is computed using computeControlLaw() method
- \warning The projection operator \f$ \bf W^+W \f$ is computed in
- computeControlLaw() which must be called prior to this function.
+ \warning computeControlLaw() must be call prior to this function since it updates the projection operator \f$ \bf W^+W \f$.
+
+ The following sample code shows how to use this method:
+ \code
+ vpColVector v; // Velocity applied to the robot
+ vpColVector e2;
+ vpColVector de2dt;
+ vpServo task;
+ ...
+ v = task.computeControlLaw(); // Compute the primary task
+ v += task.secondaryTask(e2, de2dt) // Compute and add the secondary task
+ \endcode
\sa computeControlLaw()
*/
-vpColVector
- vpServo::secondaryTask(vpColVector &e2, vpColVector &de2dt)
+vpColVector vpServo::secondaryTask(const vpColVector &e2, const vpColVector &de2dt)
{
if (rankJ1 == L.getCols())
{
@@ -1127,9 +1500,91 @@ vpColVector
}
}
+/*!
+ Return the projection operator \f${\bf I}-{\bf W}^+{\bf W}\f$. This operator is updated
+ after a call of computeControlLaw().
+
+\code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ vpMatrix I_WpW = task.getI_WpW(); // Get the projection operator
+\endcode
+ \sa getWpW()
+ */
+vpMatrix vpServo::getI_WpW() const
+{
+ return I_WpW;
+}
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
+/*!
+ Return the task jacobian \f$J\f$. The task jacobian is updated after a call of computeControlLaw().
+
+ In the general case, the task jacobian is given by \f${\bf J} = {\widehat {\bf L}} {^c}{\bf V}_a {^a}{\bf J}_e\f$.
+\code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ vpMatrix J = task.getTaskJacobian(); // Get the task jacobian used to compute v
+\endcode
+ \sa getTaskJacobianPseudoInverse(), getInteractionMatrix()
*/
+vpMatrix vpServo::getTaskJacobian() const
+{
+ return J1;
+}
+/*!
+ Return the pseudo inverse of the task jacobian \f$J\f$.
+
+ In the general case, the task jacobian is given by \f${\bf J} = {\widehat {\bf L}} {^c}{\bf V}_a {^a}{\bf J}_e\f$.
+
+ The task jacobian and its pseudo inverse are updated after a call of computeControlLaw().
+
+ \return Pseudo inverse \f${J}^{+}\f$ of the task jacobian.
+\code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ vpMatrix Jp = task.getTaskJacobianPseudoInverse(); // Get the pseudo inverse of task jacobian used to compute v
+\endcode
+
+ \sa getTaskJacobian()
+ */
+vpMatrix vpServo::getTaskJacobianPseudoInverse() const
+{
+ return J1p;
+}
+/*!
+ Return the rank of the task jacobian. The rank is updated after a call of computeControlLaw().
+
+\code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ unsigned int rank = task.getTaskRank(); // Get the rank of the task jacobian
+\endcode
+ */
+unsigned int vpServo::getTaskRank() const
+{
+ return rankJ1;
+}
+
+/*!
+ Return the projection operator \f${\bf W}^+{\bf W}\f$. This operator is updated
+ after a call of computeControlLaw().
+
+ When the dimension of the task is equal to the number of degrees of freedom available
+ \f${\bf W^+W = I}\f$.
+
+\code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ vpMatrix WpW = task.getWpW(); // Get the projection operator
+\endcode
+ \sa getI_WpW()
+ */
+vpMatrix vpServo::getWpW() const
+{
+ return WpW;
+}
diff --git a/src/servo/vpServo.h b/src/servo/vpServo.h
index 38fb660..cb8720c 100644
--- a/src/servo/vpServo.h
+++ b/src/servo/vpServo.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServo.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpServo.h 4674 2014-02-17 15:34:41Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,12 +50,12 @@
\brief Class required to compute the visual servoing control law
*/
+#include <list>
+
#include <visp/vpMatrix.h>
#include <visp/vpVelocityTwistMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpServoException.h>
-
-#include <visp/vpList.h>
#include <visp/vpAdaptiveGain.h>
@@ -63,7 +63,7 @@
\class vpServo
\ingroup VsTask
- \brief Class required to compute the visual servoing control law descbribed
+ Class required to compute the visual servoing control law descbribed
in \cite Chaumette06a and \cite Chaumette07a.
\warning To avoid potential memory leaks, it is mendatory to call
@@ -72,6 +72,8 @@
vpServoException::notKilledProperly.
To learn how to use this class, we suggest first to follow the \ref tutorial-ibvs.
+ The \ref tutorial-simu-robot-pioneer and \ref tutorial-boost-vs are also useful
+ for advanced usage of this class.
The example below shows how to build a position-based visual servo
from 3D visual features \f$s=({^{c^*}}t_c,\theta u)\f$. In that
@@ -159,137 +161,91 @@ public:
typedef enum
{
NONE,
+ /*!< No control law is specified. */
EYEINHAND_CAMERA,
+ /*!< Eye in hand visual servoing with the following control law
+ \f[{\bf v}_c = -\lambda {\widehat {\bf L}}^{+}_{e} {\bf e}\f]
+ where camera velocities are computed. */
EYEINHAND_L_cVe_eJe,
+ /*!< Eye in hand visual servoing with the following control law
+ \f[{\dot {\bf q}} = -\lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}\f]
+ where joint velocities are computed. */
EYETOHAND_L_cVe_eJe,
+ /*!< Eye to hand visual servoing with the following control law
+ \f[{\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}\f]
+ where joint velocities are computed. */
EYETOHAND_L_cVf_fVe_eJe,
+ /*!< Eye to hand visual servoing with the following control law
+ \f[{\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_f {^f}{\bf V}_e {^e}{\bf J}_e} \right)^{+} {\bf e}\f]
+ where joint velocities are computed. */
EYETOHAND_L_cVf_fJe
+ /*!< Eye to hand visual servoing with the following control law
+ \f[{\dot {\bf q}} = \lambda \left( {{\widehat {\bf L}}_{e} {^c}{\bf V}_f {^f}{\bf J}_e} \right)^{+} {\bf e}\f]
+ where joint velocities are computed. */
} vpServoType;
typedef enum
{
CURRENT,
+ /*!< In the control law (see vpServo::vpServoType), uses the interaction matrix \f${\widehat {\bf L}}_s \f$computed using the current features \f$\bf s\f$. */
DESIRED,
+ /*!< In the control law (see vpServo::vpServoType), uses the interaction matrix \f${\widehat {\bf L}}_{s^*} \f$computed using the desired features \f${\bf s}^*\f$. */
MEAN,
+ /*!< In the control law (see vpServo::vpServoType), uses the interaction matrix \f${\widehat {\bf L}} = \left({\widehat {\bf L}}_s + {\widehat {\bf L}}_{s^*}\right)/2 \f$. */
USER_DEFINED
+ /*!< In the control law (see vpServo::vpServoType), uses an interaction matrix set by the user. */
} vpServoIteractionMatrixType;
typedef enum
{
- TRANSPOSE,
- PSEUDO_INVERSE
+ TRANSPOSE, /*!< In the control law (see vpServo::vpServoType), uses the transpose instead of the pseudo inverse. */
+ PSEUDO_INVERSE /*!< In the control law (see vpServo::vpServoType), uses the pseudo inverse. */
} vpServoInversionType;
typedef enum
{
ALL, /*!< Print all the task information. */
CONTROLLER, /*!< Print the type of controller law. */
- ERROR_VECTOR, /*!< Print the error vector \f$(s-s^*)\f$. */
- FEATURE_CURRENT, /*!< Print the current features \f$s\f$. */
- FEATURE_DESIRED, /*!< Print the desired features \f$s^*\f$. */
+ ERROR_VECTOR, /*!< Print the error vector \f$\bf e = (s-s^*)\f$. */
+ FEATURE_CURRENT, /*!< Print the current features \f$\bf s\f$. */
+ FEATURE_DESIRED, /*!< Print the desired features \f${\bf s}^*\f$. */
GAIN, /*!< Print the gain \f$\lambda\f$. */
INTERACTION_MATRIX, /*!< Print the interaction matrix. */
- MINIMUM /*!< Same as vpServoPrintType::ERROR_VECTOR. */
+ MINIMUM /*!< Same as vpServo::vpServoPrintType::ERROR_VECTOR. */
} vpServoPrintType;
public:
// default constructor
vpServo();
- //! constructor with Choice of the visual servoing control law
- vpServo(vpServoType _servoType) ;
- //! destructor
+ // constructor with Choice of the visual servoing control law
+ vpServo(vpServoType servoType) ;
+ // destructor
virtual ~vpServo() ;
- /*!
- Return the velocity twist matrix used to transform a velocity skew vector from end-effector frame into the camera frame.
- */
- vpVelocityTwistMatrix get_cVe() const { return cVe; }
- /*!
- Return the velocity twist matrix used to transform a velocity skew vector from robot fixed frame (also called world or base frame) into the camera frame.
- */
- vpVelocityTwistMatrix get_cVf() const { return cVf; }
- /*!
- Return the velocity twist matrix used to transform a velocity skew vector from robot end-effector frame into the fixed frame (also called world or base frame).
- */
- vpVelocityTwistMatrix set_fVe() const { return fVe; }
- /*!
- Return the robot jacobian expressed in the end-effector frame.
- */
- vpMatrix get_eJe() const { return eJe; }
- /*!
- Return the robot jacobian expressed in the robot fixed frame (also called world or base frame).
- */
- vpMatrix get_fJe() const { return fJe; }
-
- //! destruction (memory deallocation if required)
- void kill() ;
-
- //! Choice of the visual servoing control law
- void setServo(vpServoType _servo_type) ;
-
- void set_cVe(vpVelocityTwistMatrix &_cVe) { cVe = _cVe ; init_cVe = true ; }
- void set_cVf(vpVelocityTwistMatrix &_cVf) { cVf = _cVf ; init_cVf = true ; }
- void set_fVe(vpVelocityTwistMatrix &_fVe) { fVe = _fVe ; init_fVe = true ; }
-
- void set_cVe(vpHomogeneousMatrix &cMe) { cVe.buildFrom(cMe); init_cVe=true ;}
- void set_cVf(vpHomogeneousMatrix &cMf) { cVf.buildFrom(cMf); init_cVf=true ;}
- void set_fVe(vpHomogeneousMatrix &fMe) { fVe.buildFrom(fMe); init_fVe=true ;}
-
- void set_eJe(vpMatrix &_eJe) { eJe = _eJe ; init_eJe = true ; }
- void set_fJe(vpMatrix &_fJe) { fJe = _fJe ; init_fJe = true ; }
-
-
- //! Set the type of the interaction matrix (current, mean, desired, user).
- void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType,
- const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE) ;
-
- /*!
- Set a variable which enable to compute the interaction matrix for each iteration.
- \param forceInteractionMatrixComputation: If true it forces the interaction matrix computation even if it is already done.
- */
- void setForceInteractionMatrixComputation(bool forceInteractionMatrixComputation) {this->forceInteractionMatrixComputation = forceInteractionMatrixComputation;}
-
- //! set the gain lambda
- void setLambda(double _lambda) { lambda .initFromConstant (_lambda) ; }
- void setLambda(const double at_zero,
- const double at_infinity,
- const double deriv_at_zero)
- { lambda .initStandard (at_zero, at_infinity, deriv_at_zero) ; }
- void setLambda(const vpAdaptiveGain& _l){lambda=_l;}
-
- //! create a new ste of two visual features
+ // create a new ste of two visual features
void addFeature(vpBasicFeature& s, vpBasicFeature& s_star,
- const unsigned int select=vpBasicFeature::FEATURE_ALL) ;
- //! create a new ste of two visual features
+ const unsigned int select=vpBasicFeature::FEATURE_ALL) ;
+ // create a new ste of two visual features
void addFeature(vpBasicFeature& s,
- const unsigned int select=vpBasicFeature::FEATURE_ALL) ;
+ const unsigned int select=vpBasicFeature::FEATURE_ALL) ;
+
+ // compute the desired control law
+ vpColVector computeControlLaw() ;
+ // compute the desired control law
+ vpColVector computeControlLaw(double t) ;
+ vpColVector computeControlLaw(double t, const vpColVector &e_dot_init);
- //! compute the interaction matrix related to the set of visual features
- vpMatrix computeInteractionMatrix() ;
// compute the error between the current set of visual features and
// the desired set of visual features
vpColVector computeError() ;
- //! compute the desired control law
- vpColVector computeControlLaw() ;
- //! test if all the initialization are correct if true control law can
- //! be computed
- bool testInitialization() ;
- //! test if all the update are correct if true control law can
- //! be computed
- bool testUpdated() ;
-
-
- //! Add a secondary task.
- vpColVector secondaryTask(vpColVector &de2dt) ;
- //! Add a secondary task.
- vpColVector secondaryTask(vpColVector &e2, vpColVector &de2dt) ;
-
- //! Return the task dimension.
- unsigned int getDimension() ;
+ // compute the interaction matrix related to the set of visual features
+ vpMatrix computeInteractionMatrix() ;
+ // Return the task dimension.
+ unsigned int getDimension() const ;
/*!
- Return the error \f$(s - s^*)\f$ between the current set of visual features
- \f$s\f$ and the desired set of visual features \f$s^*\f$.
+ Return the error \f$\bf e = (s - s^*)\f$ between the current set of visual features
+ \f$\bf s\f$ and the desired set of visual features \f$\bf s^*\f$.
The error vector is updated after a call of computeError() or computeControlLaw().
\code
vpServo task;
@@ -303,129 +259,203 @@ public:
return error ;
}
/*
- Return the interaction matrix \f$L\f$ used to compute the task jacobian \f$J_1\f$.
- The interaction matrix is updated after a call to computeInteractionMatrix() or computeControlLaw().
-
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- vpMatrix L = task.getInteractionMatrix(); // Get the interaction matrix used to compute v
-\endcode
- \sa getTaskJacobian()
- */
- inline vpMatrix getInteractionMatrix()
+ Return the interaction matrix \f$L\f$ used to compute the task jacobian \f$J_1\f$.
+ The interaction matrix is updated after a call to computeInteractionMatrix() or computeControlLaw().
+
+ \code
+ vpServo task;
+ ...
+ vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
+ vpMatrix L = task.getInteractionMatrix(); // Get the interaction matrix used to compute v
+ \endcode
+ \sa getTaskJacobian()
+ */
+ inline vpMatrix getInteractionMatrix() const
{
return L;
}
+ vpMatrix getI_WpW() const;
/*!
- Return the projection operator \f${\bf I}-{\bf W}^+{\bf W}\f$. This operator is updated
- after a call of computeControlLaw().
-
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- vpMatrix I_WpW = task.getI_WpW(); // Get the projection operator
-\endcode
- \sa getWpW()
- */
- inline vpMatrix getI_WpW() const
- {
- return I_WpW;
- }
- /*!
- Return the visual servo type.
- */
+ Return the visual servo type.
+ */
inline vpServoType getServoType() const
{
return servoType;
}
+
+ vpMatrix getTaskJacobian() const;
+ vpMatrix getTaskJacobianPseudoInverse() const;
+ unsigned int getTaskRank() const;
+
/*!
- Return the task jacobian \f$J_1\f$. The task jacobian is updated after a call of computeControlLaw().
+ Get task singular values.
- In the general case, the task jacobian is given by \f$J_1 = L {^c}V_a {^a}J_e\f$.
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- vpMatrix J1 = task.getTaskJacobian(); // Get the task jacobian used to compute v
-\endcode
- \sa getTaskJacobianPseudoInverse(), getInteractionMatrix()
- */
- inline vpMatrix getTaskJacobian() const
+ \return Singular values that relies on the task jacobian pseudo inverse.
+ */
+ inline vpColVector getTaskSingularValues() const
{
- return J1;
+ return sv;
}
+
+ vpMatrix getWpW() const;
+
+ /*!
+ Return the velocity twist matrix used to transform a velocity skew vector from end-effector frame into the camera frame.
+ */
+ vpVelocityTwistMatrix get_cVe() const { return cVe; }
+ /*!
+ Return the velocity twist matrix used to transform a velocity skew vector from robot fixed frame (also called world or base frame) into the camera frame.
+ */
+ vpVelocityTwistMatrix get_cVf() const { return cVf; }
+ /*!
+ Return the velocity twist matrix used to transform a velocity skew vector from robot end-effector frame into the fixed frame (also called world or base frame).
+ */
+ vpVelocityTwistMatrix get_fVe() const { return fVe; }
+ /*!
+ Return the robot jacobian expressed in the end-effector frame.
+ */
+ vpMatrix get_eJe() const { return eJe; }
/*!
- Return the pseudo inverse of the task jacobian \f$J_1\f$. The task jacobian
- and its pseudo inverse are updated after a call of computeControlLaw().
+ Return the robot jacobian expressed in the robot fixed frame (also called world or base frame).
+ */
+ vpMatrix get_fJe() const { return fJe; }
- \return Pseudo inverse \f${J_1}^{+}\f$ of the task jacobian.
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- vpMatrix J1p = task.getTaskJacobianPseudoInverse(); // Get the pseudo inverse of task jacobian used to compute v
-\endcode
+ // destruction (memory deallocation if required)
+ void kill() ;
+
+ void print(const vpServo::vpServoPrintType display_level=ALL,
+ std::ostream &os = std::cout) ;
+
+ // Add a secondary task.
+ vpColVector secondaryTask(const vpColVector &de2dt) ;
+ // Add a secondary task.
+ vpColVector secondaryTask(const vpColVector &e2, const vpColVector &de2dt) ;
+
+ /*!
+ Set a variable which enables to compute the interaction matrix at each iteration.
+
+ When the interaction matrix is computed from the desired features \f${\bf s}^*\f$ which are in general constant,
+ the interaction matrix \f${\widehat {\bf L}}_{s^*}\f$ is computed just at the first iteration of the servo loop.
+ Sometimes, when the desired features are time dependent \f${{\bf s}(t)}^*\f$ or varying, the interaction matrix
+ need to be computed at each iteration of the servo loop. This method allows to force the computation of
+ \f${\widehat {\bf L}}\f$ in this particular case.
+
+ \param force_computation: If true it forces the interaction matrix computation even if it is already done.
- \sa getTaskJacobian()
*/
- inline vpMatrix getTaskJacobianPseudoInverse() const
+ void setForceInteractionMatrixComputation(bool force_computation)
{
- return J1p;
+ this->forceInteractionMatrixComputation = force_computation;
}
+
/*!
- Return the rank of the task jacobian. The rank is updated after a call of computeControlLaw().
+ Set the interaction matrix type (current, desired, mean or user defined) and how its inverse is computed.
+ \param interactionMatrixType : The interaction matrix type. See vpServo::vpServoIteractionMatrixType for
+ more details.
+ \param interactionMatrixInversion : How is the inverse computed. See vpServo::vpServoInversionType for
+ more details.
+ */
+ void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType,
+ const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE) ;
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- double rank = task.getTaskRank(); // Get the rank of the task jacobian
-\endcode
- */
- inline double getTaskRank() const
+ /*!
+ Set the gain \f$\lambda\f$ used in the control law (see vpServo::vpServoType) as constant.
+
+ The usage of an adaptive gain allows to reduce the convergence time, see setLambda(const vpAdaptiveGain&).
+
+ \param c : Constant gain. Values are in general between 0.1 and 1. Higher is the gain, higher are the velocities
+ that may be applied to the robot.
+ */
+ void setLambda(double c)
{
- return rankJ1;
+ lambda .initFromConstant (c) ;
}
/*!
- Get task singular values.
+ Set the gain \f$\lambda\f$ used in the control law (see vpServo::vpServoType) as adaptive.
+ Value of \f$\lambda\f$ that is used in computeControlLaw() depend on the infinity norm of the task Jacobian.
- \return Singular values that relies on the task jacobian pseudo inverse.
- */
- inline vpColVector getTaskSingularValues()
+ The usage of an adaptive gain rather than a constant gain allows to reduce the convergence time.
+
+ \param gain_at_zero : the expected gain when \f$x=0\f$: \f$\lambda(0)\f$.
+ \param gain_at_infinity : the expected gain when \f$x=\infty\f$: \f$\lambda(\infty)\f$.
+ \param slope_at_zero : the expected slope of \f$\lambda(x)\f$ when \f$x=0\f$: \f${\dot \lambda}(0)\f$.
+
+ For more details on these parameters see vpAdaptiveGain class.
+ */
+ void setLambda(const double gain_at_zero,
+ const double gain_at_infinity,
+ const double slope_at_zero)
{
- return sv;
+ lambda .initStandard (gain_at_zero, gain_at_infinity, slope_at_zero) ;
}
+ /*!
+ Set the gain \f$\lambda\f$ used in the control law (see vpServo::vpServoType) as adaptive.
+ Value of \f$\lambda\f$ that is used in computeControlLaw() depend on the infinity norm of the task Jacobian.
+ The usage of an adaptive gain rather than a constant gain allows to reduce the convergence time.
+ \sa vpAdaptiveGain
+ */
+ void setLambda(const vpAdaptiveGain& l){lambda=l;}
/*!
- Return the projection operator \f${\bf W}^+{\bf W}\f$. This operator is updated
- after a call of computeControlLaw().
+ Set the value of the parameter \f$\mu\f$ used to ensure the continuity of the velocities
+ computed using computeControlLaw(double).
-\code
- vpServo task;
- ...
- vpColVector v = task.computeControlLaw(); // Compute the velocity corresponding to the visual servoing
- vpMatrix WpW = task.getWpW(); // Get the projection operator
-\endcode
- \sa getI_WpW()
+ A recommended value is 4.
*/
- inline vpMatrix getWpW() const
- {
- return WpW;
- }
+ void setMu(double mu_){this->mu=mu_;}
+ // Choice of the visual servoing control law
+ void setServo(const vpServoType &servo_type) ;
+
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from end-effector frame into the camera frame.
+ */
+ void set_cVe(const vpVelocityTwistMatrix &cVe_) { this->cVe = cVe_ ; init_cVe = true ; }
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from end-effector frame into the camera frame.
+ */
+ void set_cVe(const vpHomogeneousMatrix &cMe) { cVe.buildFrom(cMe); init_cVe=true ;}
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from robot fixed frame (also called world or base frame) into the camera frame.
+ */
+ void set_cVf(const vpVelocityTwistMatrix &cVf_) { this->cVf = cVf_ ; init_cVf = true ; }
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from robot fixed frame (also called world or base frame) into the camera frame.
+ */
+ void set_cVf(const vpHomogeneousMatrix &cMf) { cVf.buildFrom(cMf); init_cVf=true ;}
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from robot end-effector frame into the fixed frame (also called world or base frame).
+ */
+ void set_fVe(const vpVelocityTwistMatrix &fVe_) { this->fVe = fVe_ ; init_fVe = true ; }
+ /*!
+ Set the velocity twist matrix used to transform a velocity skew vector from robot end-effector frame into the fixed frame (also called world or base frame).
+ */
+ void set_fVe(const vpHomogeneousMatrix &fMe) { fVe.buildFrom(fMe); init_fVe=true ;}
+ /*!
+ Set the robot jacobian expressed in the end-effector frame.
+ */
+ void set_eJe(const vpMatrix &eJe_) { this->eJe = eJe_ ; init_eJe = true ; }
+ /*!
+ Set the robot jacobian expressed in the robot fixed frame (also called world or base frame).
+ */
+ void set_fJe(const vpMatrix &fJe_) { this->fJe = fJe_ ; init_fJe = true ; }
- void print(const vpServo::vpServoPrintType display_level=ALL,
- std::ostream &os = std::cout) ;
-protected:
- //! basic initialization
+ /*!
+ Test if all the initialization are correct. If true, the control law can be computed.
+ */
+ bool testInitialization() ;
+ /*!
+ Test if all the update are correct. If true control law can be computed.
+ */
+ bool testUpdated() ;
+
+ protected:
+ //! Basic initialization.
void init() ;
-public:
+ public:
//! Interaction matrix
vpMatrix L ;
//! Error \f$(s - s^*)\f$ between the current set of visual features
@@ -449,7 +479,6 @@ public:
//! Task \f$e = e_1 + (I-{J_1}^{+} J_1) e_2\f$
vpColVector e ;
-
//! Articular velocity
vpColVector q_dot ;
//! Camera velocity
@@ -461,15 +490,15 @@ public:
//! Rank of the task Jacobian
unsigned int rankJ1 ;
- //! List of visual features (produce \f$s\f$)
- vpList<vpBasicFeature *> featureList ;
- //! List of desired visual features (produce \f$s^*\f$)
- vpList<vpBasicFeature *> desiredFeatureList ;
+ //! List of current visual features \f$\bf s\f$.
+ std::list<vpBasicFeature *> featureList ;
+ //! List of desired visual features \f$\bf s^*\f$.
+ std::list<vpBasicFeature *> desiredFeatureList ;
//! List of selection among visual features
- //! used for selection of a subset of each visual feature if required
- vpList<unsigned int> featureSelectionList ;
+ //! used for selection of a subset of each visual feature if required.
+ std::list<unsigned int> featureSelectionList ;
- //! Gain
+ //! Gain used in the control law.
vpAdaptiveGain lambda ;
//! Sign of the interaction +/- 1 (1 for eye-in-hand, -1 for
@@ -478,21 +507,21 @@ public:
//! Type of the interaction matrox (current, mean, desired, user)
vpServoIteractionMatrixType interactionMatrixType ;
//! Indicates if the transpose or the pseudo inverse of the
- //!interaction matrix should be used to compute the task
+ //! interaction matrix should be used to compute the task.
vpServoInversionType inversionType ;
-protected:
+ protected:
/*
Twist transformation matrix
*/
- //! Twist transformation matrix between Re and Rc
+ //! Twist transformation matrix between Re and Rc.
vpVelocityTwistMatrix cVe ;
bool init_cVe ;
- //! Twist transformation matrix between Rf and Rc
+ //! Twist transformation matrix between Rf and Rc.
vpVelocityTwistMatrix cVf ;
bool init_cVf ;
- //! Twist transformation matrix between Re and Rf
+ //! Twist transformation matrix between Re and Rf.
vpVelocityTwistMatrix fVe ;
bool init_fVe ;
@@ -511,29 +540,26 @@ protected:
Task building
*/
- //! true if the error has been computed
+ //! true if the error has been computed.
bool errorComputed ;
- //! true if the interaction matrix has been computed
+ //! true if the interaction matrix has been computed.
bool interactionMatrixComputed ;
- //! dimension of the task
+ //! Dimension of the task updated during computeControlLaw().
unsigned int dim_task ;
- bool taskWasKilled; // flag to indicate if the task was killed
+ //! Flag to indicate if the task was killed
+ bool taskWasKilled;
//! Force the interaction matrix computation even if it is already done.
bool forceInteractionMatrixComputation;
- //! projection operators WpW
+ //! Projection operators \f$\bf WpW\f$.
vpMatrix WpW ;
- //! projection operators I-WpW
+ //! Projection operators \f$\bf I-WpW\f$.
vpMatrix I_WpW ;
- vpColVector sv ; // singular values from the pseudo inverse
-} ;
+ //! Singular values from the pseudo inverse.
+ vpColVector sv ;
+ double mu;
+} ;
#endif
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/servo/vpServoData.cpp b/src/servo/vpServoData.cpp
index 9ec92ef..183bcc2 100644
--- a/src/servo/vpServoData.cpp
+++ b/src/servo/vpServoData.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServoData.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServoData.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/servo/vpServoData.h b/src/servo/vpServoData.h
index e0fd793..1f5ab8a 100644
--- a/src/servo/vpServoData.h
+++ b/src/servo/vpServoData.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServoData.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServoData.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,15 +81,17 @@ private:
public:
#ifndef DOXYGEN_SHOULD_SKIP_THIS
- vpServoData(const vpServoData &) {
- throw vpException(vpException::functionNotImplementedError,"Not implemented!");
+ vpServoData(const vpServoData &sd)
+ : velocityFile(), errorFile(), errorNormFile(), sFile(),
+ sStarFile(), vNormFile(), cmDeg(false) {
+ *this = sd;
}
- void operator=(const vpServoData &){
+ vpServoData & operator=(const vpServoData &) {
throw vpException(vpException::functionNotImplementedError,"Not implemented!");
}
#endif
- vpServoData() { ; }
+ vpServoData() : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false) { ; }
virtual ~vpServoData() { ; }
//! velocity output in cm and deg
diff --git a/src/servo/vpServoDisplay.cpp b/src/servo/vpServoDisplay.cpp
index 5178bec..b0f3960 100644
--- a/src/servo/vpServoDisplay.cpp
+++ b/src/servo/vpServoDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServoDisplay.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServoDisplay.cpp 4645 2014-02-05 17:44:06Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,34 +80,27 @@
\param thickness : Thickness of the feature representation.
*/
-void
-vpServoDisplay::display(vpServo &s,
- const vpCameraParameters &cam,
- vpImage<unsigned char> &I,
- vpColor currentColor,
- vpColor desiredColor,
- unsigned int thickness)
+void vpServoDisplay::display(const vpServo &s,
+ const vpCameraParameters &cam,
+ const vpImage<unsigned char> &I,
+ vpColor currentColor,
+ vpColor desiredColor,
+ unsigned int thickness)
{
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<vpBasicFeature *>::const_iterator it_s_star;
-
-
- for (s.featureList.front(),
- s.desiredFeatureList.front() ;
- !s.featureList.outside() ;
- s.featureList.next(),
- s.desiredFeatureList.next() )
+ for (it_s = s.featureList.begin(), it_s_star = s.desiredFeatureList.begin();
+ it_s != s.featureList.end();
+ ++it_s, ++it_s_star)
{
- vpBasicFeature *s_ptr = NULL;
-
if (desiredColor != vpColor::none) {
// desired list
- s_ptr = s.desiredFeatureList.value() ;
- s_ptr->display(cam, I, desiredColor, thickness ) ;
+ (*it_s_star)->display(cam, I, desiredColor, thickness ) ;
}
if (currentColor != vpColor::none) {
// current list
- s_ptr = s.featureList.value() ;
- s_ptr->display(cam, I, currentColor, thickness ) ;
+ (*it_s)->display(cam, I, currentColor, thickness ) ;
}
}
// vpDisplay::flush(I) ;
@@ -134,40 +127,28 @@ vpServoDisplay::display(vpServo &s,
*/
void
-vpServoDisplay::display(vpServo &s,
+vpServoDisplay::display(const vpServo &s,
const vpCameraParameters &cam,
- vpImage<vpRGBa> &I,
+ const vpImage<vpRGBa> &I,
vpColor currentColor,
vpColor desiredColor,
- unsigned int thickness)
+ unsigned int thickness)
{
+ std::list<vpBasicFeature *>::const_iterator it_s;
+ std::list<vpBasicFeature *>::const_iterator it_s_star;
-
-
- for (s.featureList.front(),
- s.desiredFeatureList.front() ;
- !s.featureList.outside() ;
- s.featureList.next(),
- s.desiredFeatureList.next() )
+ for (it_s = s.featureList.begin(), it_s_star = s.desiredFeatureList.begin();
+ it_s != s.featureList.end();
+ ++it_s, ++it_s_star)
{
- vpBasicFeature *s_ptr = NULL;
-
if (desiredColor != vpColor::none) {
// desired list
- s_ptr = s.desiredFeatureList.value() ;
- s_ptr->display(cam, I, desiredColor, thickness ) ;
+ (*it_s_star)->display(cam, I, desiredColor, thickness ) ;
}
if (currentColor != vpColor::none) {
// current list
- s_ptr = s.featureList.value() ;
- s_ptr->display(cam, I, currentColor, thickness ) ;
+ (*it_s)->display(cam, I, currentColor, thickness ) ;
}
}
// vpDisplay::flush(I) ;
}
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/src/servo/vpServoDisplay.h b/src/servo/vpServoDisplay.h
index eb4cd37..130f843 100644
--- a/src/servo/vpServoDisplay.h
+++ b/src/servo/vpServoDisplay.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServoDisplay.h 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpServoDisplay.h 4645 2014-02-05 17:44:06Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,15 +65,15 @@
class VISP_EXPORT vpServoDisplay
{
public:
- static void display(vpServo &s,
+ static void display(const vpServo &s,
const vpCameraParameters &cam,
- vpImage<unsigned char> &I,
+ const vpImage<unsigned char> &I,
vpColor currentColor = vpColor::green,
vpColor desiredColor = vpColor::red,
unsigned int thickness=1) ;
- static void display(vpServo &s,
+ static void display(const vpServo &s,
const vpCameraParameters &cam,
- vpImage<vpRGBa> &I,
+ const vpImage<vpRGBa> &I,
vpColor currentColor = vpColor::green,
vpColor desiredColor = vpColor::red,
unsigned int thickness=1) ;
diff --git a/src/servo/vpServoException.h b/src/servo/vpServoException.h
index 164d88c..f74fc67 100644
--- a/src/servo/vpServoException.h
+++ b/src/servo/vpServoException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpServoException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpServoException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,13 +64,13 @@
*/
class VISP_EXPORT vpServoException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpServo member
*/
- enum errorServoCodeEnum
+ enum errorServoCodeEnum
{
//! Current or desired feature list is empty
noFeatureError,
@@ -82,25 +82,20 @@ public:
servoError
} ;
-public:
- vpServoException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpServoException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpServoException (const int code)
- : vpException(code){ ; }
+ public:
+ vpServoException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpServoException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpServoException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpServoException_ERROR_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/simulator/coin-simulator/vpAR.cpp b/src/simulator/coin-simulator/vpAR.cpp
index 36dd881..48698e2 100644
--- a/src/simulator/coin-simulator/vpAR.cpp
+++ b/src/simulator/coin-simulator/vpAR.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAR.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAR.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/coin-simulator/vpAR.h b/src/simulator/coin-simulator/vpAR.h
index 6233e36..47ca360 100644
--- a/src/simulator/coin-simulator/vpAR.h
+++ b/src/simulator/coin-simulator/vpAR.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAR.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAR.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/coin-simulator/vpProjectionDisplay.cpp b/src/simulator/coin-simulator/vpProjectionDisplay.cpp
index 42035d6..b4fe61b 100644
--- a/src/simulator/coin-simulator/vpProjectionDisplay.cpp
+++ b/src/simulator/coin-simulator/vpProjectionDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpProjectionDisplay.cpp 4238 2013-05-06 13:29:30Z fspindle $
+ * $Id: vpProjectionDisplay.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/coin-simulator/vpProjectionDisplay.h b/src/simulator/coin-simulator/vpProjectionDisplay.h
index bbd645d..6c13769 100644
--- a/src/simulator/coin-simulator/vpProjectionDisplay.h
+++ b/src/simulator/coin-simulator/vpProjectionDisplay.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpProjectionDisplay.h 4238 2013-05-06 13:29:30Z fspindle $
+ * $Id: vpProjectionDisplay.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,8 +96,25 @@ public:
static int internalView() { return 0x01 ; }
static int externalView() { return 0x02 ; }
- vpProjectionDisplay() { init() ;}
- vpProjectionDisplay(int select) { init(select) ;}
+ /*! Default constructor. */
+ vpProjectionDisplay()
+ : Icam(), Iext(),
+#if defined (VISP_HAVE_DISPLAY)
+ dIcam(), dIext(),
+#endif
+ listFp(), o(), x(), y(), z(), traj()
+ {
+ init();
+ }
+ vpProjectionDisplay(int select)
+ : Icam(), Iext(),
+#if defined (VISP_HAVE_DISPLAY)
+ dIcam(), dIext(),
+#endif
+ listFp(), o(), x(), y(), z(), traj()
+ {
+ init(select) ;
+ }
void insert( vpForwardProjection &fp) ;
void display(vpImage<unsigned char> &I,
diff --git a/src/simulator/coin-simulator/vpSimulator.cpp b/src/simulator/coin-simulator/vpSimulator.cpp
index 68671f2..d5b031e 100644
--- a/src/simulator/coin-simulator/vpSimulator.cpp
+++ b/src/simulator/coin-simulator/vpSimulator.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSimulator.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpSimulator.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -291,6 +291,24 @@ vpSimulator::init()
offScreenRenderer = NULL ;
bufferView = NULL;
get = 1 ;
+ typeImage = grayImage;
+ mainThread = NULL;
+ scene = NULL;
+ internalRoot = NULL;
+ externalRoot = NULL;
+ internalCamera = NULL;
+ externalCamera = NULL;
+ internalCameraPosition = NULL;
+ extrenalCameraPosition = NULL;
+ internalCameraObject = NULL;
+#if defined(VISP_HAVE_SOWIN)
+ // mainWindow = ?;
+#elif defined(VISP_HAVE_SOQT)
+ mainWindow = NULL;
+#elif defined(VISP_HAVE_SOXT)
+ // mainWindow = ?;
+#endif
+
}
void
vpSimulator::kill()
diff --git a/src/simulator/coin-simulator/vpSimulator.h b/src/simulator/coin-simulator/vpSimulator.h
index bdc9d88..6f1c4d4 100644
--- a/src/simulator/coin-simulator/vpSimulator.h
+++ b/src/simulator/coin-simulator/vpSimulator.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSimulator.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSimulator.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/coin-simulator/vpSimulatorException.h b/src/simulator/coin-simulator/vpSimulatorException.h
index 5a97ef4..887b749 100644
--- a/src/simulator/coin-simulator/vpSimulatorException.h
+++ b/src/simulator/coin-simulator/vpSimulatorException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSimulatorException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSimulatorException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -73,12 +73,12 @@
*/
class VISP_EXPORT vpSimulatorException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpSimulator member
*/
- enum errorSimulatorCodeEnum
+ enum errorSimulatorCodeEnum
{
ioError,
noFileNameError,
@@ -87,25 +87,20 @@ public:
badInitializationError
} ;
-public:
- vpSimulatorException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpSimulatorException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpSimulatorException (const int code)
- : vpException(code){ ; }
+ public:
+ vpSimulatorException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpSimulatorException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpSimulatorException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpSimulatorException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/simulator/coin-simulator/vpViewer.cpp b/src/simulator/coin-simulator/vpViewer.cpp
index cd5b6d0..69e66e6 100644
--- a/src/simulator/coin-simulator/vpViewer.cpp
+++ b/src/simulator/coin-simulator/vpViewer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViewer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpViewer.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/coin-simulator/vpViewer.h b/src/simulator/coin-simulator/vpViewer.h
index 97ef358..c02bc4d 100644
--- a/src/simulator/coin-simulator/vpViewer.h
+++ b/src/simulator/coin-simulator/vpViewer.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViewer.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpViewer.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/image-simulator/vpImageSimulator.cpp b/src/simulator/image-simulator/vpImageSimulator.cpp
index 2c60c48..c9d56e8 100644
--- a/src/simulator/image-simulator/vpImageSimulator.cpp
+++ b/src/simulator/image-simulator/vpImageSimulator.cpp
@@ -3,7 +3,7 @@
* $Id: vpPose.h 2453 2010-01-07 10:01:10Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,6 +59,12 @@
By default the class uses colored images.
*/
vpImageSimulator::vpImageSimulator(const vpColorPlan &col)
+ : cMt(), interp(SIMPLE), normal_obj(), normal_Cam(), normal_Cam_optim(),
+ distance(1.), visible_result(1.), visible(false), X0_2_optim(NULL),
+ euclideanNorm_u(0.), euclideanNorm_v(0.), vbase_u(), vbase_v(),
+ vbase_u_optim(NULL), vbase_v_optim(NULL), Xinter_optim(NULL), T1(), T2(),
+ colorI(col), Ig(), Ic(), rect(), cleanPrevImage(false),
+ setBackgroundTexture(false), bgColor(vpColor::white), focal()
{
for(int i=0;i<4;i++)
X[i].resize(3);
@@ -84,12 +90,6 @@ vpImageSimulator::vpImageSimulator(const vpColorPlan &col)
vbase_u_optim = new double[3];
vbase_v_optim = new double[3];
Xinter_optim = new double[3];
-
- colorI = col;
- interp = SIMPLE;
- bgColor = vpColor::white;
- cleanPrevImage = false;
- setBackgroundTexture = false;
}
@@ -97,6 +97,12 @@ vpImageSimulator::vpImageSimulator(const vpColorPlan &col)
Copy constructor
*/
vpImageSimulator::vpImageSimulator(const vpImageSimulator &text)
+ : cMt(), interp(SIMPLE), normal_obj(), normal_Cam(), normal_Cam_optim(),
+ distance(1.), visible_result(1.), visible(false), X0_2_optim(NULL),
+ euclideanNorm_u(0.), euclideanNorm_v(0.), vbase_u(), vbase_v(),
+ vbase_u_optim(NULL), vbase_v_optim(NULL), Xinter_optim(NULL), T1(), T2(),
+ colorI(GRAY_SCALED), Ig(), Ic(), rect(), cleanPrevImage(false),
+ setBackgroundTexture(false), bgColor(vpColor::white), focal()
{
for(int i=0;i<4;i++)
{
@@ -1423,12 +1429,12 @@ vpImageSimulator::getImage(vpImage<vpRGBa> &I,
/*!
Enable to set the position of the 3D plane relative to the virtual camera.
- \param _cMt : The pose of the plane relative to the virtual camera.
+ \param cMt_ : The pose of the plane relative to the virtual camera.
*/
void
-vpImageSimulator::setCameraPosition(const vpHomogeneousMatrix &_cMt)
+vpImageSimulator::setCameraPosition(const vpHomogeneousMatrix &cMt_)
{
- cMt = _cMt;
+ cMt = cMt_;
vpRotationMatrix R;
cMt.extract(R);
@@ -1457,8 +1463,9 @@ vpImageSimulator::setCameraPosition(const vpHomogeneousMatrix &_cMt)
if (angle > 0)
visible=true;
- else
+ else {
visible=false;
+ }
if(visible)
{
@@ -1500,12 +1507,12 @@ vpImageSimulator::setCameraPosition(const vpHomogeneousMatrix &_cMt)
}
void
-vpImageSimulator::initPlan(vpColVector* _X)
+vpImageSimulator::initPlan(vpColVector* X_)
{
for (unsigned int i = 0; i < 4; i++)
{
- X[i]=_X[i];
- pt[i].setWorldCoordinates(_X[i][0],_X[i][1],_X[i][2]);
+ X[i]=X_[i];
+ pt[i].setWorldCoordinates(X_[i][0],X_[i][1],X_[i][2]);
}
normal_obj=vpColVector::crossProd(X[1]-X[0],X[3]-X[0]);
@@ -1526,14 +1533,14 @@ vpImageSimulator::initPlan(vpColVector* _X)
- \f$ X[3] \f$ :Bottom left corner.
\param I : The image which is projected.
- \param _X : table of the 3D coordinates corresponding to the image corners.
+ \param X_ : table of the 3D coordinates corresponding to the image corners.
*/
void
-vpImageSimulator::init(const vpImage<unsigned char> &I,vpColVector* _X)
+vpImageSimulator::init(const vpImage<unsigned char> &I,vpColVector* X_)
{
Ig = I;
vpImageConvert::convert(I,Ic);
- initPlan(_X);
+ initPlan(X_);
}
/*!
@@ -1547,14 +1554,14 @@ vpImageSimulator::init(const vpImage<unsigned char> &I,vpColVector* _X)
- \f$ X[3] \f$ :Bottom left corner.
\param I : The image which is projected.
- \param _X : table of the 3D coordinates corresponding to the image corners.
+ \param X_ : table of the 3D coordinates corresponding to the image corners.
*/
void
-vpImageSimulator::init(const vpImage<vpRGBa> &I,vpColVector* _X)
+vpImageSimulator::init(const vpImage<vpRGBa> &I,vpColVector* X_)
{
Ic = I;
vpImageConvert::convert(I,Ig);
- initPlan(_X);
+ initPlan(X_);
}
/*!
@@ -1568,14 +1575,14 @@ vpImageSimulator::init(const vpImage<vpRGBa> &I,vpColVector* _X)
- \f$ X[3] \f$ :Bottom left corner.
\param file_image : The adress of an image file.
- \param _X : table of the 3D coordinates corresponding to the image corners.
+ \param X_ : table of the 3D coordinates corresponding to the image corners.
*/
void
-vpImageSimulator::init(const char* file_image,vpColVector* _X)
+vpImageSimulator::init(const char* file_image,vpColVector* X_)
{
vpImageIo::read(Ig,file_image);
vpImageIo::read(Ic,file_image);
- initPlan(_X);
+ initPlan(X_);
}
/*!
@@ -1589,21 +1596,21 @@ vpImageSimulator::init(const char* file_image,vpColVector* _X)
- \f$ X[3] \f$ :Bottom left corner.
\param I : The image which is projected.
- \param _X : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
+ \param X_ : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
corresponding to the image corners.
*/
void
-vpImageSimulator::init(const vpImage<unsigned char> &I, const std::vector<vpPoint>& _X)
+vpImageSimulator::init(const vpImage<unsigned char> &I, const std::vector<vpPoint>& X_)
{
- if(_X.size() != 4){
+ if(X_.size() != 4){
throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
}
vpColVector Xvec[4];
for(unsigned int i=0; i<4; ++i){
Xvec[i].resize(3);
- Xvec[i][0] = _X[i].get_oX();
- Xvec[i][1] = _X[i].get_oY();
- Xvec[i][2] = _X[i].get_oZ();
+ Xvec[i][0] = X_[i].get_oX();
+ Xvec[i][1] = X_[i].get_oY();
+ Xvec[i][2] = X_[i].get_oZ();
}
Ig = I;
@@ -1613,7 +1620,7 @@ vpImageSimulator::init(const vpImage<unsigned char> &I, const std::vector<vpPoin
/*!
Initialise the image thanks to an image \f$ I \f$ and a table of vector containing the 3D coordinates of the image's corners.
- \throw vpException::dimensionError if the _X vector is not of size 4.
+ \throw vpException::dimensionError if the X_ vector is not of size 4.
- \f$ X[0] \f$ :Top left corner.
- \f$ X[1] \f$ :Top right corner.
@@ -1621,21 +1628,21 @@ vpImageSimulator::init(const vpImage<unsigned char> &I, const std::vector<vpPoin
- \f$ X[3] \f$ :Bottom left corner.
\param I : The image which is projected.
- \param _X : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
+ \param X_ : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
corresponding to the image corners.
*/
void
-vpImageSimulator::init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& _X)
+vpImageSimulator::init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& X_)
{
- if(_X.size() != 4){
+ if(X_.size() != 4){
throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
}
vpColVector Xvec[4];
for(unsigned int i=0; i<4; ++i){
Xvec[i].resize(3);
- Xvec[i][0] = _X[i].get_oX();
- Xvec[i][1] = _X[i].get_oY();
- Xvec[i][2] = _X[i].get_oZ();
+ Xvec[i][0] = X_[i].get_oX();
+ Xvec[i][1] = X_[i].get_oY();
+ Xvec[i][2] = X_[i].get_oZ();
}
Ic = I;
@@ -1645,7 +1652,7 @@ vpImageSimulator::init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& _X)
/*!
Initialise the image thanks to an image whose adress is given by \f$ file_image \f$ and a table of vector containing the 3D coordinates of the image's corners.
- \throw vpException::dimensionError if the _X vector is not of size 4.
+ \throw vpException::dimensionError if the X_ vector is not of size 4.
- \f$ X[0] \f$ :Top left corner.
- \f$ X[1] \f$ :Top right corner.
@@ -1653,21 +1660,21 @@ vpImageSimulator::init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& _X)
- \f$ X[3] \f$ :Bottom left corner.
\param file_image : The adress of an image file.
- \param _X : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
+ \param X_ : Vector of the 3D coordinates in the object frame (oX, oY, oZ)
corresponding to the image corners.
*/
void
-vpImageSimulator::init(const char* file_image, const std::vector<vpPoint>& _X)
+vpImageSimulator::init(const char* file_image, const std::vector<vpPoint>& X_)
{
- if(_X.size() != 4){
+ if(X_.size() != 4){
throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
}
vpColVector Xvec[4];
for(unsigned int i=0; i<4; ++i){
Xvec[i].resize(3);
- Xvec[i][0] = _X[i].get_oX();
- Xvec[i][1] = _X[i].get_oY();
- Xvec[i][2] = _X[i].get_oZ();
+ Xvec[i][0] = X_[i].get_oX();
+ Xvec[i][1] = X_[i].get_oY();
+ Xvec[i][2] = X_[i].get_oZ();
}
vpImageIo::read(Ig,file_image);
@@ -1951,3 +1958,18 @@ vpImageSimulator::getRoi(const unsigned int &Iwidth,
rectangle.setLeft(left);
rectangle.setRight(right);
}
+
+std::vector<vpColVector>
+vpImageSimulator::get3DcornersTextureRectangle()
+{
+ std::vector<vpColVector> X_;
+ for (int i=0; i<4; i++)
+ X_.push_back(X[i]);
+ return X_;
+}
+
+VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpImageSimulator& /*ip*/)
+{
+ os << "";
+ return os;
+}
diff --git a/src/simulator/image-simulator/vpImageSimulator.h b/src/simulator/image-simulator/vpImageSimulator.h
index d9357ef..01f99ea 100644
--- a/src/simulator/image-simulator/vpImageSimulator.h
+++ b/src/simulator/image-simulator/vpImageSimulator.h
@@ -3,7 +3,7 @@
* $Id: vpPose.h 2453 2010-01-07 10:01:10Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -210,17 +210,17 @@ class VISP_EXPORT vpImageSimulator
//creation du plan a partir de ses coordonnees 3D ds repere objet et de son image texture
- void init(const vpImage<unsigned char> &I,vpColVector* _X);
- void init(const vpImage<vpRGBa> &I,vpColVector* _X);
- void init(const char* file_image,vpColVector* _X);
- void init(const vpImage<unsigned char> &I, const std::vector<vpPoint>& _X);
- void init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& _X);
- void init(const char* file_image, const std::vector<vpPoint>& _X);
+ void init(const vpImage<unsigned char> &I,vpColVector* X);
+ void init(const vpImage<vpRGBa> &I,vpColVector* X);
+ void init(const char* file_image,vpColVector* X);
+ void init(const vpImage<unsigned char> &I, const std::vector<vpPoint>& X);
+ void init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& X);
+ void init(const char* file_image, const std::vector<vpPoint>& X);
//projection du plan par cMo => creation des deux triangles definissant projection du plan sur plan image (coord en metre)
- void setCameraPosition(const vpHomogeneousMatrix &_cMt);
+ void setCameraPosition(const vpHomogeneousMatrix &cMt);
- void setInterpolationType (const vpInterpolationType interp) {this->interp = interp;}
+ void setInterpolationType (const vpInterpolationType interplt) {this->interp = interplt;}
void getImage(vpImage<unsigned char> &I, const vpCameraParameters &cam);
void getImage(vpImage<vpRGBa> &I, const vpCameraParameters &cam);
@@ -242,6 +242,10 @@ class VISP_EXPORT vpImageSimulator
std::list <vpImageSimulator> &list,
const vpCameraParameters &cam);
+ std::vector<vpColVector> get3DcornersTextureRectangle();
+
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpImageSimulator& /*ip*/);
+
/*!
As it can be time consuming to reset all the image to a default baground value, this function enable to reset only the pixel which changed the previous time.
@@ -278,7 +282,7 @@ class VISP_EXPORT vpImageSimulator
#endif
private:
- void initPlan(vpColVector* _X);
+ void initPlan(vpColVector* X);
//result = plan est visible.
//ie: un plan est oriente dans si normal_plan.focal < 0 => plan est visible sinon invisible.
@@ -307,12 +311,6 @@ class VISP_EXPORT vpImageSimulator
const vpCameraParameters &cam, vpPoint* pt, vpRect &rect);
};
-VISP_EXPORT inline std::ostream& operator<< (std::ostream &os, const vpImageSimulator& /*ip*/)
-{
- os << "";
- return os;
-}
-
#endif
diff --git a/src/simulator/ogre-simulator/vpAROgre.cpp b/src/simulator/ogre-simulator/vpAROgre.cpp
index bcedcc3..79a2fc9 100644
--- a/src/simulator/ogre-simulator/vpAROgre.cpp
+++ b/src/simulator/ogre-simulator/vpAROgre.cpp
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpAROgre.cpp 4251 2013-05-14 12:19:56Z fspindle $
+ * $Id: vpAROgre.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,7 +26,7 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
@@ -72,8 +72,8 @@
telling Ogre where to look for renderer plugins.
*/
-vpAROgre::vpAROgre(const vpCameraParameters &cam,
- unsigned int width, unsigned int height,
+vpAROgre::vpAROgre(const vpCameraParameters &cam,
+ unsigned int width, unsigned int height,
const char *resourcePath, const char *pluginsPath)
: mRoot(0), mCamera(0), mSceneMgr(0), mWindow(0)
#ifdef VISP_HAVE_OIS
@@ -96,12 +96,16 @@ vpAROgre::vpAROgre(const vpCameraParameters &cam,
windowHidden = false;
mshowConfigDialog = true;
mOptionnalResourceLocation.clear();
-
+
name = "ViSP - Augmented Reality";
+
+ mBackground = NULL;
+ mBackgroundHeight = 0;
+ mBackgroundWidth = 0;
}
/*!
- Initialisation of Ogre with a grey level background.
+ Initialisation of Ogre with a grey level background.
Load the plugins that are specified in the plugins.cfg or
plugins_d.cfg files. These files are located in
@@ -109,27 +113,27 @@ vpAROgre::vpAROgre(const vpCameraParameters &cam,
Note that plugins.cfg file is always considered under Unix
platforms. The file plugins_d.cfg is only considered under Windows
when the build type is Debug.
-
+
Load also the resources that are defined in the resources.cfg
file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder
that is defined in vpConfig.h.
-
- Create also the grey level background used to display the image.
+
+ Create also the grey level background used to display the image.
\param I : Image that is displayed in the background.
\param bufferedKeys : If true, use of buffered input for the keyboard (see
Ogre documentation). Note that this parameter is only useful if OIS is used.
-
- \param hidden : If true, the created window will be hidden.
+
+ \param hidden : If true, the created window will be hidden.
Note that this functionnality requires Ogre3D 1.8.1 at least.
-
+
\exception vpException::ioError : If the required plugins.cfg /
plugins_d.cfg or resources.cfg files are not accessible.
*/
void vpAROgre::init(vpImage<unsigned char> &I,
- bool
+ bool
#ifdef VISP_HAVE_OIS
bufferedKeys
#endif
@@ -138,21 +142,21 @@ void vpAROgre::init(vpImage<unsigned char> &I,
{
mBackgroundWidth = I.getWidth();
mBackgroundHeight = I.getHeight();
-
+
init(
#ifdef VISP_HAVE_OIS
bufferedKeys,
#else
false,
#endif
- hidden
+ hidden
);
// Create the background image which will come from the grabber
createBackground(I);
}
/*!
- Initialisation of Ogre with a color background.
+ Initialisation of Ogre with a color background.
Load the plugins that are specified in the plugins.cfg or
plugins_d.cfg files. These files are located in
@@ -160,27 +164,27 @@ void vpAROgre::init(vpImage<unsigned char> &I,
Note that plugins.cfg file is always considered under Unix
platforms. The file plugins_d.cfg is only considered under Windows
when the build type is Debug.
-
+
Load also the resources that are defined in the resources.cfg
file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder
that is defined in vpConfig.h.
-
- Create also a color background used to display the image.
+
+ Create also a color background used to display the image.
\param I : Image that is displayed in the background.
\param bufferedKeys : If true, use of buffered input for the keyboard (see
Ogre documentation). Note that this parameter is only useful if OIS is used.
-
- \param hidden : If true, the created window will be hidden.
+
+ \param hidden : If true, the created window will be hidden.
Note that this functionnality requires Ogre3D 1.8.1 at least.
-
+
\exception vpException::ioError : If the required plugins.cfg /
plugins_d.cfg or resources.cfg files are not accessible.
*/
void vpAROgre::init(vpImage<vpRGBa> &I,
- bool
+ bool
#ifdef VISP_HAVE_OIS
bufferedKeys
#endif
@@ -189,7 +193,7 @@ void vpAROgre::init(vpImage<vpRGBa> &I,
{
mBackgroundWidth = I.getWidth();
mBackgroundHeight = I.getHeight();
-
+
init(
#ifdef VISP_HAVE_OIS
bufferedKeys,
@@ -203,7 +207,7 @@ void vpAROgre::init(vpImage<vpRGBa> &I,
}
/*!
- Initialisation of Ogre.
+ Initialisation of Ogre.
Load the plugins that are specified in the plugins.cfg or
plugins_d.cfg files. These files are located in
@@ -211,22 +215,22 @@ void vpAROgre::init(vpImage<vpRGBa> &I,
Note that plugins.cfg file is always considered under Unix
platforms. The file plugins_d.cfg is only considered under Windows
when the build type is Debug.
-
+
Load also the resources that are defined in the resources.cfg
file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder
that is defined in vpConfig.h.
-
+
\param bufferedKeys : If true, use of buffered input for the keyboard (see
Ogre documentation). Note that this parameter is only useful if OIS is used.
-
- \param hidden : If true, the created window will be hidden.
+
+ \param hidden : If true, the created window will be hidden.
Note that this functionnality requires Ogre3D 1.8.1 at least.
-
+
\exception vpException::ioError : If the required plugins.cfg /
plugins_d.cfg or resources.cfg files are not accessible.
*/
-void vpAROgre::init(bool
+void vpAROgre::init(bool
#ifdef VISP_HAVE_OIS
bufferedKeys
#endif
@@ -234,20 +238,20 @@ void vpAROgre::init(bool
)
{
// Create the root
-#if defined(NDEBUG) || !defined(WIN32)
+#if defined(NDEBUG) || !defined(_WIN32)
std::string pluginFile = mPluginsPath+"/plugins.cfg";
#else
std::string pluginFile = mPluginsPath+"/plugins_d.cfg";
#endif
if(!vpIoTools::checkFilename(pluginFile)){
- std::string errorMsg = "Error: the requested plugins file \""
+ std::string errorMsg = "Error: the requested plugins file \""
+ pluginFile + "\" doesn't exist.";
std::cout << errorMsg << std::endl;
throw (vpException(vpException::ioError, errorMsg));
}
std::cout << "######################### Load plugin file: " << pluginFile << std::endl;
-
+
if(Ogre::Root::getSingletonPtr() == NULL)
mRoot = new Ogre::Root(pluginFile, "ogre.cfg", "Ogre.log");
else
@@ -266,7 +270,7 @@ void vpAROgre::init(bool
Ogre::ConfigFile cf;
std::string resourceFile = mResourcePath+"/resources.cfg";
if(!vpIoTools::checkFilename(resourceFile)){
- std::string errorMsg = "Error: the requested resource file \""
+ std::string errorMsg = "Error: the requested resource file \""
+ resourceFile + "\" doesn't exist.";
std::cout << errorMsg << std::endl;
@@ -297,7 +301,7 @@ void vpAROgre::init(bool
for(std::list<std::string>::const_iterator iter = mOptionnalResourceLocation.begin(); iter != mOptionnalResourceLocation.end(); ++iter){
Ogre::ResourceGroupManager::getSingleton().addResourceLocation(*iter, "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
}
-
+
// Create the window
bool canInit = true;
if(mshowConfigDialog){
@@ -309,30 +313,30 @@ void vpAROgre::init(bool
if(!mRoot->restoreConfig())
canInit = false;
}
-
+
if(!mRoot->isInitialised()){
if(!canInit){ //We set the default renderer system
const Ogre::RenderSystemList& lRenderSystemList = mRoot->getAvailableRenderers();
if( lRenderSystemList.size() == 0 )
- throw "ConfigDialog aborted"; // Exit the application on cancel
-
+ throw "ConfigDialog aborted"; // Exit the application on cancel
+
Ogre::RenderSystem *lRenderSystem = lRenderSystemList.at(0);
std::cout << "Using " << lRenderSystem->getName() << " as renderer." << std::endl;
mRoot->setRenderSystem(lRenderSystem);
}
-
- mRoot->initialise(false);
+
+ mRoot->initialise(false);
}
-
- bool fullscreen = false;
+
+ bool fullscreen = false;
Ogre::NameValuePairList misc;
Ogre::ConfigOptionMap config = mRoot->getRenderSystem()->getConfigOptions();
Ogre::ConfigOptionMap::const_iterator it = config.begin();
-
+
while( it != config.end() ){
Ogre::String leftconf = (*it).first;
Ogre::String rightconf = (*it).second.currentValue;
-
+
if(leftconf == "Video Mode"){
if(canInit)
sscanf(rightconf.c_str(), "%d %*s %d", &mWindowWidth, &mWindowHeight);
@@ -350,19 +354,19 @@ void vpAROgre::init(bool
}
else
misc[leftconf] = rightconf;
-
+
it++;
}
-
+
// With Ogre version >= 1.8.1 we hide the window
- if( hidden && ((OGRE_VERSION_MAJOR << 16 | OGRE_VERSION_MINOR << 8 | OGRE_VERSION_PATCH) >= (1 << 16 | 8 << 8 | 1)) ){
+ if( hidden ){
+#if ( OGRE_VERSION >= (1 << 16 | 8 << 8 | 1) )
misc["hidden"] = "true";
windowHidden = true;
- mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
+#endif
}
- else
- mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
-
+ mWindow = mRoot->createRenderWindow(name, mWindowWidth, mWindowHeight, fullscreen, &misc);
+
// Initialise resources
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
//-----------------------------------------------------
@@ -374,12 +378,12 @@ void vpAROgre::init(bool
// ST_EXTERIOR_REAL_FAR = paging landscape
// ST_INTERIOR = Quake3 BSP
//-----------------------------------------------------
-
+
mSceneMgr = mRoot->createSceneManager(Ogre::ST_GENERIC);
-
+
// Create the camera
createCamera();
-
+
// Create a viewport
Ogre::Viewport* viewPort = mWindow->addViewport(mCamera);
// Ogre::Viewport* viewPort = mCamera->getViewport();
@@ -408,7 +412,7 @@ void vpAROgre::init(bool
windowHndStr << windowHnd;
pl.insert(std::make_pair(std::string("WINDOW"), windowHndStr.str()));
// Let the user use the keyboard elsewhere
-#if defined (UNIX)
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
pl.insert(std::make_pair(std::string("x11_keyboard_grab"), std::string("false")));
#endif
@@ -420,12 +424,12 @@ void vpAROgre::init(bool
if ( !bufferedKeys ) mKeyboard->setEventCallback ( this);
#endif
- // Initialise a render to texture to be able to retrieve a screenshot
+ // Initialise a render to texture to be able to retrieve a screenshot
Ogre::TexturePtr Texture = Ogre::TextureManager::getSingleton().createManual("rtf", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,Ogre::TEX_TYPE_2D,
mWindow->getWidth(),mWindow->getHeight(), 0, Ogre::PF_R8G8B8A8, Ogre::TU_RENDERTARGET);
-
-
-
+
+
+
// Ogre::TexturePtr Texture = Ogre::TextureManager::getSingleton().createManual("rtf", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,Ogre::TEX_TYPE_2D,
// 640,480, 0, Ogre::PF_R8G8B8A8, Ogre::TU_RENDERTARGET);
Ogre::RenderTexture* RTarget = Texture->getBuffer()->getRenderTarget();
@@ -507,7 +511,7 @@ bool vpAROgre::frameEnded(const Ogre::FrameEvent& evt)
else return result;
}
-/*!
+/*!
Function telling what to do before each frame. This method is called
before every frame rendered by Ogre.
@@ -558,7 +562,7 @@ void vpAROgre::windowClosed(Ogre::RenderWindow* rw)
\param I : Grey level image to show in background.
\param cMw : Camera pose as an homogeneous matrix.
*/
-bool vpAROgre::renderOneFrame(const vpImage<unsigned char> &I,
+bool vpAROgre::renderOneFrame(const vpImage<unsigned char> &I,
const vpHomogeneousMatrix &cMw)
{
// Update the background to match the situation
@@ -576,7 +580,7 @@ bool vpAROgre::renderOneFrame(const vpImage<unsigned char> &I,
\param I : RGBa image to show in background.
\param cMw : Camera pose as an homogeneous matrix.
*/
-bool vpAROgre::renderOneFrame(const vpImage<vpRGBa> &I,
+bool vpAROgre::renderOneFrame(const vpImage<vpRGBa> &I,
const vpHomogeneousMatrix &cMw)
{
// Update the background to match the situation
@@ -594,7 +598,7 @@ bool vpAROgre::renderOneFrame(const vpImage<vpRGBa> &I,
\param I : Grey level image to show in background.
\param cMw : Camera pose as an homogeneous matrix.
*/
-void vpAROgre::display(const vpImage<unsigned char> &I,
+void vpAROgre::display(const vpImage<unsigned char> &I,
const vpHomogeneousMatrix &cMw)
{
// Display on Ogre Window
@@ -635,7 +639,7 @@ bool vpAROgre::continueRendering(void)
Set the camera intrinsic parameters
*/
void vpAROgre::setCameraParameters(const vpCameraParameters &cameraP )
-{
+{
mcam = cameraP;
}
@@ -657,7 +661,7 @@ void vpAROgre::load(const std::string &name, const std::string &model)
\param wTo : New position of the node (translation between object frame and
world frame).
*/
-void vpAROgre::setPosition(const std::string &name,
+void vpAROgre::setPosition(const std::string &name,
const vpTranslationVector &wTo)
{
// Reset the position
@@ -686,7 +690,7 @@ void vpAROgre::setRotation(const std::string &name, const vpRotationMatrix &wRo)
// Get the node in its original position
mSceneMgr->getSceneNode(name)->resetOrientation();
// Apply the new rotation
- Ogre::Matrix3 rotationOgre
+ Ogre::Matrix3 rotationOgre
= Ogre::Matrix3( (Ogre::Real)wRo[0][0], (Ogre::Real)wRo[0][1], (Ogre::Real)wRo[0][2],
(Ogre::Real)wRo[1][0], (Ogre::Real)wRo[1][1], (Ogre::Real)wRo[1][2],
(Ogre::Real)wRo[2][0], (Ogre::Real)wRo[2][1], (Ogre::Real)wRo[2][2]);
@@ -699,18 +703,18 @@ void vpAROgre::setRotation(const std::string &name, const vpRotationMatrix &wRo)
\param name : Name of the SceneNode to rotate.
\param wRo : The rotation matrix representing the rotation to apply.
*/
-void vpAROgre::addRotation(const std::string &name,
+void vpAROgre::addRotation(const std::string &name,
const vpRotationMatrix &wRo)
{
- // Apply the new rotation
- Ogre::Matrix3 rotationOgre
+ // Apply the new rotation
+ Ogre::Matrix3 rotationOgre
= Ogre::Matrix3( (Ogre::Real)wRo[0][0], (Ogre::Real)wRo[0][1], (Ogre::Real)wRo[0][2],
(Ogre::Real)wRo[1][0], (Ogre::Real)wRo[1][1], (Ogre::Real)wRo[1][2],
(Ogre::Real)wRo[2][0], (Ogre::Real)wRo[2][1], (Ogre::Real)wRo[2][2]);
Ogre::Quaternion q(rotationOgre);
mSceneMgr->getSceneNode(name)->rotate(q);
-
-
+
+
}
/*!
@@ -721,7 +725,7 @@ void vpAROgre::addRotation(const std::string &name,
translation to apply.
*/
-void vpAROgre::setPosition(const std::string &name,
+void vpAROgre::setPosition(const std::string &name,
const vpHomogeneousMatrix &wMo)
{
// Extract the position and orientation data
@@ -808,14 +812,22 @@ void vpAROgre::createBackground(vpImage<unsigned char> & /* I */)
// Pointer to the dynamic texture
Ogre::TexturePtr dynTexPtr = Ogre::TextureManager::getSingleton().getByName("BackgroundTexture");
-
- // Get the pixel buffer
+//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
+// .dynamicCast<Ogre::Texture>();// Get the pixel buffer
+//#else
+// ;
+//#endif
mPixelBuffer = dynTexPtr->getBuffer();
// Material to apply the texture to the background
- Ogre::MaterialPtr Backgroundmaterial
+ Ogre::MaterialPtr Backgroundmaterial
= Ogre::MaterialManager::getSingleton().create("BackgroundMaterial",
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
+// .dynamicCast<Ogre::Material>();
+//#else
+// ;
+//#endif
Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
Backgroundtechnique->createPass();
Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
@@ -873,15 +885,26 @@ void vpAROgre::createBackground(vpImage<vpRGBa> & /* I */)
// Pointer to the dynamic texture
- Ogre::TexturePtr dynTexPtr = Ogre::TextureManager::getSingleton().getByName("BackgroundTexture");
+ Ogre::TexturePtr dynTexPtr =
+ Ogre::TextureManager::getSingleton().getByName("BackgroundTexture");
+//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
+// .dynamicCast<Ogre::Texture>();// Get the pixel buffer
+//#else
+// ;
+//#endif
// Get the pixel buffer
mPixelBuffer = dynTexPtr->getBuffer();
// Material to apply the texture to the background
- Ogre::MaterialPtr Backgroundmaterial
+ Ogre::MaterialPtr Backgroundmaterial
= Ogre::MaterialManager::getSingleton().create("BackgroundMaterial",
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
+// .dynamicCast<Ogre::Material>();
+//#else
+// ;
+//#endif
Ogre::Technique *Backgroundtechnique = Backgroundmaterial->createTechnique();
Backgroundtechnique->createPass();
Backgroundmaterial->getTechnique(0)->getPass(0)->setLightingEnabled(false);
@@ -930,8 +953,8 @@ void vpAROgre::updateCameraProjection(void)
py = (Ogre::Real)mcam.get_py();
u0 = (Ogre::Real)mcam.get_u0();
v0 = (Ogre::Real)mcam.get_v0();
- Ogre::Matrix4 Projection
- = Ogre::Matrix4( (Ogre::Real)(2.0*px/mBackgroundWidth), 0, (Ogre::Real)(2.0*(u0/mBackgroundWidth)-1.0), 0,
+ Ogre::Matrix4 Projection
+ = Ogre::Matrix4( (Ogre::Real)(2.0*px/mBackgroundWidth), 0, (Ogre::Real)(2.0*(u0/mBackgroundWidth)-1.0), 0,
0, (Ogre::Real)(2.0*py/mBackgroundHeight), (Ogre::Real)(2.0*(v0/mBackgroundHeight)-1.0),0,
0, 0, (Ogre::Real)(-1.0*f_p_n/f_m_n), (Ogre::Real)(-2.0*f*n/f_m_n),
0, 0, -1.0, 0);
@@ -944,7 +967,7 @@ void vpAROgre::updateCameraProjection(void)
void vpAROgre::updateBackgroundTexture(const vpImage<unsigned char> &I)
{
// Inspired from Ogre wiki : http://www.ogre3d.org/tikiwiki/Creating+dynamic+textures
- // Lock the pixel buffer and get a pixel box. HBL_DISCARD is to use for best
+ // Lock the pixel buffer and get a pixel box. HBL_DISCARD is to use for best
// performance than HBL_NORMAL
mPixelBuffer->lock(Ogre::HardwareBuffer::HBL_DISCARD); // Lock the buffer
const Ogre::PixelBox& pixelBox = mPixelBuffer->getCurrentLock();
@@ -963,7 +986,7 @@ void vpAROgre::updateBackgroundTexture(const vpImage<unsigned char> &I)
void vpAROgre::updateBackgroundTexture(const vpImage<vpRGBa> &I)
{
// Inspired from Ogre wiki : http://www.ogre3d.org/tikiwiki/Creating+dynamic+textures
- // Lock the pixel buffer and get a pixel box. HBL_DISCARD is to use for best
+ // Lock the pixel buffer and get a pixel box. HBL_DISCARD is to use for best
// performance than HBL_NORMAL
mPixelBuffer->lock(Ogre::HardwareBuffer::HBL_DISCARD); // Lock the buffer
const Ogre::PixelBox& pixelBox = mPixelBuffer->getCurrentLock();
@@ -977,18 +1000,18 @@ void vpAROgre::updateBackgroundTexture(const vpImage<vpRGBa> &I)
// *pDest++=I[i][mBackgroundWidth-j].B; // Blue component
// *pDest++=I[i][mBackgroundWidth-j].G; // Green component
// *pDest++=I[i][mBackgroundWidth-j].R; // Red component
-
+
*pDest++=I[i][j].B; // Blue component
*pDest++=I[i][j].G; // Green component
*pDest++=I[i][j].R; // Red component
-
+
*pDest++ = 255; // Alpha component
}
}
#else // if texture in RGBa format which is the format of the input image
memcpy(pDest, I.bitmap, mBackgroundHeight*mBackgroundWidth*sizeof(vpRGBa));
#endif
-
+
// Unlock the pixel buffer
mPixelBuffer->unlock();
}
@@ -999,7 +1022,7 @@ void vpAROgre::updateBackgroundTexture(const vpImage<vpRGBa> &I)
void vpAROgre::updateCameraParameters (const vpHomogeneousMatrix &cMw)
{
// The matrix is given to Ogre with some changes to fit with the world projection
- Ogre::Matrix4 ModelView
+ Ogre::Matrix4 ModelView
// = Ogre::Matrix4( (Ogre::Real)-cMo[0][0], (Ogre::Real)-cMo[0][1], (Ogre::Real)-cMo[0][2], (Ogre::Real)-cMo[0][3],
= Ogre::Matrix4( (Ogre::Real)cMw[0][0], (Ogre::Real)cMw[0][1], (Ogre::Real)cMw[0][2], (Ogre::Real)cMw[0][3],
(Ogre::Real)-cMw[1][0], (Ogre::Real)-cMw[1][1], (Ogre::Real)-cMw[1][2], (Ogre::Real)-cMw[1][3],
@@ -1018,6 +1041,11 @@ void vpAROgre::getRenderingOutput(vpImage<vpRGBa> &I, const vpHomogeneousMatrix
{
updateCameraParameters(cMo);
Ogre::TexturePtr dynTexPtr = Ogre::TextureManager::getSingleton().getByName("rtf");
+//#if ( OGRE_VERSION >= (1 << 16 | 9 << 8 | 0) )
+// .dynamicCast<Ogre::Texture>();
+//#else
+// ;
+//#endif
Ogre::RenderTexture* RTarget = dynTexPtr->getBuffer()->getRenderTarget();
mWindow->update();
RTarget->update();
@@ -1032,7 +1060,7 @@ void vpAROgre::getRenderingOutput(vpImage<vpRGBa> &I, const vpHomogeneousMatrix
#if 1 // if texture in BGRa format
for(unsigned int i=0; i<I.getHeight(); i++){
for(unsigned int j=0; j<I.getWidth(); j++){
- // Color Image
+ // Color Image
I[i][j].B = *pDest++; // Blue component
I[i][j].G = *pDest++; // Green component
I[i][j].R = *pDest++; // Red component
diff --git a/src/simulator/ogre-simulator/vpAROgre.h b/src/simulator/ogre-simulator/vpAROgre.h
index 1c1c5f0..42dd183 100644
--- a/src/simulator/ogre-simulator/vpAROgre.h
+++ b/src/simulator/ogre-simulator/vpAROgre.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAROgre.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpAROgre.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpArit.c b/src/simulator/wireframe-simulator/core/vpArit.c
index f804f4b..62f7f5f 100755
--- a/src/simulator/wireframe-simulator/core/vpArit.c
+++ b/src/simulator/wireframe-simulator/core/vpArit.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpArit.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpArit.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpArit.h b/src/simulator/wireframe-simulator/core/vpArit.h
index b0790fe..6424b1c 100755
--- a/src/simulator/wireframe-simulator/core/vpArit.h
+++ b/src/simulator/wireframe-simulator/core/vpArit.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpArit.h 4310 2013-07-08 08:48:34Z fspindle $
+ * $Id: vpArit.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpAritio.c b/src/simulator/wireframe-simulator/core/vpAritio.c
index efd96a9..80d9351 100755
--- a/src/simulator/wireframe-simulator/core/vpAritio.c
+++ b/src/simulator/wireframe-simulator/core/vpAritio.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpAritio.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpAritio.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpBound.c b/src/simulator/wireframe-simulator/core/vpBound.c
index 11904bd..2eb3980 100755
--- a/src/simulator/wireframe-simulator/core/vpBound.c
+++ b/src/simulator/wireframe-simulator/core/vpBound.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBound.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBound.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpBound.h b/src/simulator/wireframe-simulator/core/vpBound.h
index ae03f65..d05b2a9 100755
--- a/src/simulator/wireframe-simulator/core/vpBound.h
+++ b/src/simulator/wireframe-simulator/core/vpBound.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBound.h 4332 2013-07-22 14:23:46Z fspindle $
+ * $Id: vpBound.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpBoundio.c b/src/simulator/wireframe-simulator/core/vpBoundio.c
index 0f191a9..c27cc59 100755
--- a/src/simulator/wireframe-simulator/core/vpBoundio.c
+++ b/src/simulator/wireframe-simulator/core/vpBoundio.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBoundio.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBoundio.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpCgiconstants.h b/src/simulator/wireframe-simulator/core/vpCgiconstants.h
index f01ad4e..c4b9727 100755
--- a/src/simulator/wireframe-simulator/core/vpCgiconstants.h
+++ b/src/simulator/wireframe-simulator/core/vpCgiconstants.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCgiconstants.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCgiconstants.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpCgidefs.h b/src/simulator/wireframe-simulator/core/vpCgidefs.h
index b01bdc2..7ed5c3b 100755
--- a/src/simulator/wireframe-simulator/core/vpCgidefs.h
+++ b/src/simulator/wireframe-simulator/core/vpCgidefs.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCgidefs.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCgidefs.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpClipping.c b/src/simulator/wireframe-simulator/core/vpClipping.c
index ea7c833..b36a3c3 100755
--- a/src/simulator/wireframe-simulator/core/vpClipping.c
+++ b/src/simulator/wireframe-simulator/core/vpClipping.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpClipping.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpClipping.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpDisplay.c b/src/simulator/wireframe-simulator/core/vpDisplay.c
index a1458c7..ca80982 100755
--- a/src/simulator/wireframe-simulator/core/vpDisplay.c
+++ b/src/simulator/wireframe-simulator/core/vpDisplay.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDisplay.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDisplay.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpImstack.h b/src/simulator/wireframe-simulator/core/vpImstack.h
index 99eda92..1fa1061 100755
--- a/src/simulator/wireframe-simulator/core/vpImstack.h
+++ b/src/simulator/wireframe-simulator/core/vpImstack.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpImstack.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpImstack.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpKeyword.c b/src/simulator/wireframe-simulator/core/vpKeyword.c
index 72cdb7f..8337e57 100755
--- a/src/simulator/wireframe-simulator/core/vpKeyword.c
+++ b/src/simulator/wireframe-simulator/core/vpKeyword.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyword.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpKeyword.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpKeyword.h b/src/simulator/wireframe-simulator/core/vpKeyword.h
index 0cfd08f..f75bf11 100644
--- a/src/simulator/wireframe-simulator/core/vpKeyword.h
+++ b/src/simulator/wireframe-simulator/core/vpKeyword.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyword.h 4332 2013-07-22 14:23:46Z fspindle $
+ * $Id: vpKeyword.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpLex.c b/src/simulator/wireframe-simulator/core/vpLex.c
index 366dfc3..630570c 100755
--- a/src/simulator/wireframe-simulator/core/vpLex.c
+++ b/src/simulator/wireframe-simulator/core/vpLex.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLex.c 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpLex.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -239,9 +239,9 @@ void close_lex (void)
#define ECHO printf ("%c", *(mysptr))
-#define CURC (*mysptr) /* caractere courant */
-#define NEXTC (*(mysptr+1)) /* caractere suivant */
-#define PREVC (*(mysptr-1)) /* caractere precedent */
+#define CURC (*((signed char *)mysptr)) /* caractere courant */
+#define NEXTC (*((signed char *)mysptr+1)) /* caractere suivant */
+#define PREVC (*((signed char *)mysptr-1)) /* caractere precedent */
/*
@@ -341,6 +341,7 @@ printf("mytext %s, myfloat %f\n",mytext,myfloat);
*/
return (T_FLOAT);
}
+ break;
case 'E' : /* lecture exposant */
case 'e' :
mysptr++;
@@ -437,179 +438,180 @@ string :
int lexecho (FILE *f, int token)
{
lex_loop :
- for (; chtbl[(int)CURC] == SPCT; mysptr++) /* saute les espaces */
- fwrite (mysptr, 1, 1, f);
-
- switch (chtbl[(int)CURC]) {
-
- case NULT :
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
- if (token != *mytext)
- fwrite (mytext, 1, 1, f);
- return (*mytext);
- break;
- case EOBT :
- next_source ();
- goto lex_loop;
- break;
- case EOFT :
- mytext = mysptr; /* sauvegarde le jeton */
- return (T_EOF);
- break;
- case EOLT :
- fwrite (mysptr, 1, 1, f);
- if (mysptr == lastline) next_source ();
- else mysptr++;
- mylineno++;
- myline = mysptr;
- goto lex_loop;
- break;
- case CMTT :
- fwrite (mysptr, 1, 1, f);
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
- if (CURC != '*')
- return (*mytext);
- fwrite (mysptr, 1, 1, f);
- mysptr++;
+ for (; chtbl[(int)CURC] == SPCT; mysptr++) /* saute les espaces */
+ fwrite (mysptr, 1, 1, f);
+
+ switch (chtbl[(int)CURC]) {
+
+ case NULT :
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
+ if (token != *mytext)
+ fwrite (mytext, 1, 1, f);
+ return (*mytext);
+ break;
+ case EOBT :
+ next_source ();
+ goto lex_loop;
+ break;
+ case EOFT :
+ mytext = mysptr; /* sauvegarde le jeton */
+ return (T_EOF);
+ break;
+ case EOLT :
+ fwrite (mysptr, 1, 1, f);
+ if (mysptr == lastline) next_source ();
+ else mysptr++;
+ mylineno++;
+ myline = mysptr;
+ goto lex_loop;
+ break;
+ case CMTT :
+ fwrite (mysptr, 1, 1, f);
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
+ if (CURC != '*')
+ return (*mytext);
+ fwrite (mysptr, 1, 1, f);
+ mysptr++;
comment :
- for (; iscmtt((int)CURC); mysptr++)
- fwrite (mysptr, 1, 1, f);
- switch (chtbl[(int)CURC]) {
- case EOBT :
- next_source ();
- goto comment;
- break;
- case EOFT :
- lexerr ("start", lex_errtbl[E_CMT_EOF], NULL);
- return (T_EOF);
- break;
- case EOLT :
- fwrite (mysptr, 1, 1, f);
- if (mysptr == lastline) next_source ();
- else mysptr++;
- mylineno++;
- myline = mysptr;
- goto comment;
- break;
- case CMTT :
- fwrite (mysptr, 1, 1, f);
- if (PREVC == '*') { /* veritable fin */
- mysptr++;
- goto lex_loop;
- }
- mysptr++; /* pseudo fin */
- goto comment;
- break;
- }
- break;
- case IDNT :
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
- for (; isidnt((int)CURC); mysptr++);
- mylength = (int)(mysptr - mytext);
- if (token != get_symbol (mytext, mylength))
- fwrite (mytext, mylength, 1, f);
- return (get_symbol (mytext, mylength));
- break;
- case INTT :
- mytext = mysptr; /* sauvegarde le jeton */
+ for (; iscmtt((int)CURC); mysptr++)
+ fwrite (mysptr, 1, 1, f);
+ switch (chtbl[(int)CURC]) {
+ case EOBT :
+ next_source ();
+ goto comment;
+ break;
+ case EOFT :
+ lexerr ("start", lex_errtbl[E_CMT_EOF], NULL);
+ return (T_EOF);
+ break;
+ case EOLT :
+ fwrite (mysptr, 1, 1, f);
+ if (mysptr == lastline) next_source ();
+ else mysptr++;
+ mylineno++;
+ myline = mysptr;
+ goto comment;
+ break;
+ case CMTT :
+ fwrite (mysptr, 1, 1, f);
+ if (PREVC == '*') { /* veritable fin */
+ mysptr++;
+ goto lex_loop;
+ }
+ mysptr++; /* pseudo fin */
+ goto comment;
+ break;
+ }
+ break;
+ case IDNT :
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
+ for (; isidnt((int)CURC); mysptr++);
+ mylength = (int)(mysptr - mytext);
+ if (token != get_symbol (mytext, mylength))
+ fwrite (mytext, mylength, 1, f);
+ return (get_symbol (mytext, mylength));
+ break;
+ case INTT :
+ mytext = mysptr; /* sauvegarde le jeton */
int_part :
- mysptr++;
- for (; isintt((int)CURC); mysptr++);
- switch (CURC) {
- case '.' : /* lecture fraction */
+ mysptr++;
+ for (; isintt((int)CURC); mysptr++);
+ switch (CURC) {
+ case '.' : /* lecture fraction */
float_part :
- mysptr++;
- for (; isintt((int)CURC); mysptr++);
- if (CURC != 'E' && CURC != 'e') {
- if (token != T_FLOAT)
- fwrite (mytext, mysptr - mytext, 1, f);
- return (T_FLOAT);
- }
- case 'E' : /* lecture exposant */
- case 'e' :
- mysptr++;
- if (isintt((int)CURC)) mysptr++;
- else if (issgnt((int)CURC) && isintt((int)NEXTC)) mysptr +=2;
- else {
- mysptr--;
- if (token != T_FLOAT)
- fwrite (mytext, mysptr - mytext, 1, f);
- return (T_FLOAT);
- }
- for (; isintt((int)CURC); mysptr++);
- if (token != T_FLOAT)
- fwrite (mytext, mysptr - mytext, 1, f);
- return (T_FLOAT);
- break;
- default :
- if (token != T_INT)
- fwrite (mytext, mysptr - mytext, 1, f);
- return (T_INT);
- break;
- }
- break;
- case FPTT :
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
- if (! isintt((int)CURC)) { /* pas de fraction */
- if (token != *mytext)
- fwrite (mytext, 1, 1, f);
- return (*mytext);
- }
- goto float_part;
- break;
- case SGNT :
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
- if (isintt((int)CURC)) goto int_part;
- if (isfptt((int)CURC) && isintt((int)NEXTC)) goto float_part;
- if (token != *mytext)
- fwrite (mytext, 1, 1, f);
- return (*mytext);
- break;
- case STGT :
- fwrite (mysptr, 1, 1, f);
- mytext = mysptr; /* sauvegarde le jeton */
- mysptr++;
+ mysptr++;
+ for (; isintt((int)CURC); mysptr++);
+ if (CURC != 'E' && CURC != 'e') {
+ if (token != T_FLOAT)
+ fwrite (mytext, mysptr - mytext, 1, f);
+ return (T_FLOAT);
+ }
+ break;
+ case 'E' : /* lecture exposant */
+ case 'e' :
+ mysptr++;
+ if (isintt((int)CURC)) mysptr++;
+ else if (issgnt((int)CURC) && isintt((int)NEXTC)) mysptr +=2;
+ else {
+ mysptr--;
+ if (token != T_FLOAT)
+ fwrite (mytext, mysptr - mytext, 1, f);
+ return (T_FLOAT);
+ }
+ for (; isintt((int)CURC); mysptr++);
+ if (token != T_FLOAT)
+ fwrite (mytext, mysptr - mytext, 1, f);
+ return (T_FLOAT);
+ break;
+ default :
+ if (token != T_INT)
+ fwrite (mytext, mysptr - mytext, 1, f);
+ return (T_INT);
+ break;
+ }
+ break;
+ case FPTT :
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
+ if (! isintt((int)CURC)) { /* pas de fraction */
+ if (token != *mytext)
+ fwrite (mytext, 1, 1, f);
+ return (*mytext);
+ }
+ goto float_part;
+ break;
+ case SGNT :
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
+ if (isintt((int)CURC)) goto int_part;
+ if (isfptt((int)CURC) && isintt((int)NEXTC)) goto float_part;
+ if (token != *mytext)
+ fwrite (mytext, 1, 1, f);
+ return (*mytext);
+ break;
+ case STGT :
+ fwrite (mysptr, 1, 1, f);
+ mytext = mysptr; /* sauvegarde le jeton */
+ mysptr++;
string :
- for (; isstgt((int)CURC); mysptr++)
- fwrite (mysptr, 1, 1, f);
- switch (chtbl[(int)CURC]) {
- case EOBT :
- next_source ();
- goto comment;
- break;
- case EOFT :
- lexerr ("start", lex_errtbl[E_STG_EOF], NULL);
- return (T_EOF);
- break;
- case EOLT :
- lexerr ("start", lex_errtbl[E_STG_EOL], NULL);
- return ('\n');
- break;
- case STGT :
- fwrite (mysptr, 1, 1, f);
- if (PREVC != '\\') { /* veritable fin */
- mytext++;
- mylength = (int)(mysptr - mytext);
- mysptr++;
- return (T_STRING);
- }
- mysptr++; /* pseudo fin */
- goto string;
- break;
- }
- break;
- default :
- fwrite (mysptr, 1, 1, f);
- mysptr++;
- goto lex_loop;
- break;
- }
- return (T_EOF);
+ for (; isstgt((int)CURC); mysptr++)
+ fwrite (mysptr, 1, 1, f);
+ switch (chtbl[(int)CURC]) {
+ case EOBT :
+ next_source ();
+ goto comment;
+ break;
+ case EOFT :
+ lexerr ("start", lex_errtbl[E_STG_EOF], NULL);
+ return (T_EOF);
+ break;
+ case EOLT :
+ lexerr ("start", lex_errtbl[E_STG_EOL], NULL);
+ return ('\n');
+ break;
+ case STGT :
+ fwrite (mysptr, 1, 1, f);
+ if (PREVC != '\\') { /* veritable fin */
+ mytext++;
+ mylength = (int)(mysptr - mytext);
+ mysptr++;
+ return (T_STRING);
+ }
+ mysptr++; /* pseudo fin */
+ goto string;
+ break;
+ }
+ break;
+ default :
+ fwrite (mysptr, 1, 1, f);
+ mysptr++;
+ goto lex_loop;
+ break;
+ }
+ return (T_EOF);
}
@@ -689,11 +691,7 @@ static void next_source (void)
while ((*--bot = *--top) != EOL);
myline = mysptr = bot + 1;
- //if ((size = read (fds, buf, BUFSIZE)) < 0) {
- if ((size = fread (buf,sizeof (char), BUFSIZE,fds)) < 0) {
- perror (source);
- exit (1);
- }
+ size = fread (buf,sizeof (char), BUFSIZE,fds);
if (size == 0) {
topbuf = buf + 1;
*buf = EOF;
diff --git a/src/simulator/wireframe-simulator/core/vpLex.h b/src/simulator/wireframe-simulator/core/vpLex.h
index f213fa4..495ed73 100644
--- a/src/simulator/wireframe-simulator/core/vpLex.h
+++ b/src/simulator/wireframe-simulator/core/vpLex.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLex.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLex.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpMy.h b/src/simulator/wireframe-simulator/core/vpMy.h
index 941382c..ac303f7 100755
--- a/src/simulator/wireframe-simulator/core/vpMy.h
+++ b/src/simulator/wireframe-simulator/core/vpMy.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMy.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMy.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpMyio.c b/src/simulator/wireframe-simulator/core/vpMyio.c
index da4008c..986dcf4 100755
--- a/src/simulator/wireframe-simulator/core/vpMyio.c
+++ b/src/simulator/wireframe-simulator/core/vpMyio.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMyio.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMyio.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -107,7 +107,14 @@ void fscanf_string (char **str)
lexerr ("start", "string expected", NULL);
if (*str == NULL)
*str = (char *) malloc ((mylength + 1) * sizeof (char));
- else *str = (char *) realloc (*str, (mylength + 1) * sizeof (char));
+ else
+ *str = (char *) realloc (*str, (mylength + 1) * sizeof (char));
+
+ if (*str == NULL) {
+ printf("Unable to read the string: bad memory allocation");
+ return;
+ }
+
strncpy (*str, mytext, mylength);
}
diff --git a/src/simulator/wireframe-simulator/core/vpParser.c b/src/simulator/wireframe-simulator/core/vpParser.c
index 8682dad..6f0f28d 100755
--- a/src/simulator/wireframe-simulator/core/vpParser.c
+++ b/src/simulator/wireframe-simulator/core/vpParser.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpParser.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpParser.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpProjection.c b/src/simulator/wireframe-simulator/core/vpProjection.c
index f6c7f26..364971d 100755
--- a/src/simulator/wireframe-simulator/core/vpProjection.c
+++ b/src/simulator/wireframe-simulator/core/vpProjection.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpProjection.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpProjection.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpRfstack.c b/src/simulator/wireframe-simulator/core/vpRfstack.c
index d8b4ed5..77f4da5 100755
--- a/src/simulator/wireframe-simulator/core/vpRfstack.c
+++ b/src/simulator/wireframe-simulator/core/vpRfstack.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRfstack.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRfstack.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,7 +69,8 @@ static int *sp = stack; /* sommet */
void
fprintf_rfstack (FILE *fp)
{
- int flg = 0; /* nul si element unique */
+ int flg;
+ flg = 0; /* nul si element unique */
if (*sp == IS_INSIDE) {
fprintf (fp, "(null)\n");
@@ -77,28 +78,34 @@ fprintf_rfstack (FILE *fp)
}
fprintf (fp, "(");
if (*sp & IS_ABOVE) {
- if (flg++) fprintf (fp, " ");
+ if (flg) fprintf (fp, " ");
+ flg ++;
fprintf (fp, "above");
}
if (*sp & IS_BELOW) {
- if (flg++) fprintf (fp, " ");
- fprintf (fp, "below");
+ if (flg) fprintf (fp, " ");
+ flg ++;
+ fprintf (fp, "below");
}
if (*sp & IS_RIGHT) {
- if (flg++) fprintf (fp, " ");
- fprintf (fp, "right");
+ if (flg) fprintf (fp, " ");
+ flg ++;
+ fprintf (fp, "right");
}
if (*sp & IS_LEFT) {
- if (flg++) fprintf (fp, " ");
- fprintf (fp, "left");
+ if (flg) fprintf (fp, " ");
+ flg ++;
+ fprintf (fp, "left");
}
if (*sp & IS_BACK) {
- if (flg++) fprintf (fp, " ");
- fprintf (fp, "back");
+ if (flg) fprintf (fp, " ");
+ flg ++;
+ fprintf (fp, "back");
}
if (*sp & IS_FRONT) {
- if (flg++) fprintf (fp, " ");
- fprintf (fp, "front");
+ if (flg) fprintf (fp, " ");
+ flg ++;
+ fprintf (fp, "front");
}
fprintf (fp, ")\n");
}
diff --git a/src/simulator/wireframe-simulator/core/vpRfstack.h b/src/simulator/wireframe-simulator/core/vpRfstack.h
index a8ad1b2..80d6610 100755
--- a/src/simulator/wireframe-simulator/core/vpRfstack.h
+++ b/src/simulator/wireframe-simulator/core/vpRfstack.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRfstack.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRfstack.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpSkipio.c b/src/simulator/wireframe-simulator/core/vpSkipio.c
index c199659..81934ec 100755
--- a/src/simulator/wireframe-simulator/core/vpSkipio.c
+++ b/src/simulator/wireframe-simulator/core/vpSkipio.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSkipio.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSkipio.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpSkipio.h b/src/simulator/wireframe-simulator/core/vpSkipio.h
index eaffbc2..42171ab 100644
--- a/src/simulator/wireframe-simulator/core/vpSkipio.h
+++ b/src/simulator/wireframe-simulator/core/vpSkipio.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSkipio.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSkipio.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpTmstack.c b/src/simulator/wireframe-simulator/core/vpTmstack.c
index 1ed738a..ffe7660 100755
--- a/src/simulator/wireframe-simulator/core/vpTmstack.c
+++ b/src/simulator/wireframe-simulator/core/vpTmstack.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTmstack.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTmstack.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpTmstack.h b/src/simulator/wireframe-simulator/core/vpTmstack.h
index ae33445..af03b72 100755
--- a/src/simulator/wireframe-simulator/core/vpTmstack.h
+++ b/src/simulator/wireframe-simulator/core/vpTmstack.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTmstack.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTmstack.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpToken.c b/src/simulator/wireframe-simulator/core/vpToken.c
index ed815ae..b52f580 100755
--- a/src/simulator/wireframe-simulator/core/vpToken.c
+++ b/src/simulator/wireframe-simulator/core/vpToken.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpToken.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpToken.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpToken.h b/src/simulator/wireframe-simulator/core/vpToken.h
index b0188bf..b185f28 100755
--- a/src/simulator/wireframe-simulator/core/vpToken.h
+++ b/src/simulator/wireframe-simulator/core/vpToken.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpToken.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpToken.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpView.h b/src/simulator/wireframe-simulator/core/vpView.h
index b9b0555..8f95d20 100755
--- a/src/simulator/wireframe-simulator/core/vpView.h
+++ b/src/simulator/wireframe-simulator/core/vpView.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpView.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpView.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpViewio.c b/src/simulator/wireframe-simulator/core/vpViewio.c
index 1f0313c..6b01164 100755
--- a/src/simulator/wireframe-simulator/core/vpViewio.c
+++ b/src/simulator/wireframe-simulator/core/vpViewio.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpViewio.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpViewio.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpVwstack.c b/src/simulator/wireframe-simulator/core/vpVwstack.c
index 7a9b3db..9db5e9e 100644
--- a/src/simulator/wireframe-simulator/core/vpVwstack.c
+++ b/src/simulator/wireframe-simulator/core/vpVwstack.c
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpVwstack.c 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpVwstack.c 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/core/vpVwstack.h b/src/simulator/wireframe-simulator/core/vpVwstack.h
index ec7d760..83f2f74 100755
--- a/src/simulator/wireframe-simulator/core/vpVwstack.h
+++ b/src/simulator/wireframe-simulator/core/vpVwstack.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpVwstack.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpVwstack.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/scene/CMakeWireframeScenesList.cmake b/src/simulator/wireframe-simulator/scene/CMakeWireframeScenesList.cmake
index 9e54017..5b605fa 100644
--- a/src/simulator/wireframe-simulator/scene/CMakeWireframeScenesList.cmake
+++ b/src/simulator/wireframe-simulator/scene/CMakeWireframeScenesList.cmake
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeWireframeScenesList.cmake 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeWireframeScenesList.cmake 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/src/simulator/wireframe-simulator/vpWireFrameSimulator.cpp b/src/simulator/wireframe-simulator/vpWireFrameSimulator.cpp
index ad75582..5ecb517 100644
--- a/src/simulator/wireframe-simulator/vpWireFrameSimulator.cpp
+++ b/src/simulator/wireframe-simulator/vpWireFrameSimulator.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWireFrameSimulator.cpp 4227 2013-04-19 07:55:22Z fspindle $
+ * $Id: vpWireFrameSimulator.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,11 +57,6 @@
#include <visp/vpPoint.h>
#include <visp/vpIoTools.h>
-#if defined(WIN32)
-#define bcopy(b1,b2,len) (memmove((b2), (b1), (len)), (void) 0)
-#endif
-
-
//Inventor includes
#if defined(VISP_HAVE_COIN)
#include <Inventor/nodes/SoSeparator.h>
@@ -88,6 +83,9 @@ typedef enum
UNKNOWN_MODEL
} Model_3D;
+Model_3D getExtension(const char* file);
+void set_scene_wrl (const char* str, Bound_scene *sc, float factor);
+
/*
Get the extension of the file and return it
*/
@@ -127,11 +125,9 @@ void set_scene (const char* str, Bound_scene *sc, float factor)
//if ((fd = fopen (str, 0)) == -1)
if ((fd = fopen (str, "r")) == NULL)
{
- char strerr[80];
- strcpy (strerr,"The file ");
- strcat (strerr,str);
- strcat (strerr," can not be opened");
- throw(vpException(vpSimulatorException::ioError,strerr)) ;
+ std::string error = "The file " + std::string(str) + " can not be opened";
+
+ throw(vpException(vpSimulatorException::ioError, error.c_str())) ;
}
open_keyword (keyword_tbl);
open_lex ();
@@ -205,7 +201,10 @@ void set_scene_wrl (const char* str, Bound_scene *sc, float factor)
else
{
sceneGraphVRML2 = SoDB::readAllVRML(&in);
- if (sceneGraphVRML2 == NULL) { /*return -1;*/ }
+ if (sceneGraphVRML2 == NULL) {
+ /*return -1;*/
+ throw(vpException(vpException::notInitialized, "Cannot read VRML file"));
+ }
sceneGraphVRML2->ref();
}
@@ -463,7 +462,8 @@ vpWireFrameSimulator::display_scene(Matrix mat, Bound_scene &sc, const vpImage<u
Byte b = (Byte) *get_rfstack ();
Matrix m;
- bcopy ((char *) mat, (char *) m, sizeof (Matrix));
+ //bcopy ((char *) mat, (char *) m, sizeof (Matrix));
+ memmove((char *) m, (char *) mat, sizeof (Matrix));
View_to_Matrix (get_vwstack (), *(get_tmstack ()));
postmult_matrix (m, *(get_tmstack ()));
bp = sc.bound.ptr;
@@ -510,6 +510,15 @@ vpWireFrameSimulator::display_scene(Matrix mat, Bound_scene &sc, const vpImage<u
variable that the user has to set.
*/
vpWireFrameSimulator::vpWireFrameSimulator()
+ : scene(), desiredScene(), camera(), objectImage(), fMo(), fMc(), camMf(),
+ refMo(), cMo(), cdMo(), object(PLATE), desiredObject(D_STANDARD),
+ camColor(vpColor::green), camTrajColor(vpColor::green), curColor(vpColor::blue),
+ desColor(vpColor::red), sceneInitialized(false), displayCameraTrajectory(true),
+ cameraTrajectory(), poseList(), fMoList(), nbrPtLimit(1000), old_iPr(), old_iPz(),
+ old_iPt(), blockedr(false), blockedz(false), blockedt(false), blocked(false),
+ camMf2(), f2Mf(), px_int(1), py_int(1), px_ext(1), py_ext(1), displayObject(false),
+ displayDesiredObject(false), displayCamera(false), displayImageSimulator(false),
+ cameraFactor(1.), camTrajType(CT_LINE), extCamChanged(false), rotz(), thickness_(1), scene_dir()
{
// set scene_dir from #define VISP_SCENE_DIR if it exists
if (vpIoTools::checkDirectory(VISP_SCENES_DIR) == true) // directory exists
@@ -527,51 +536,23 @@ vpWireFrameSimulator::vpWireFrameSimulator()
open_display();
open_clipping();
- camColor = vpColor::green;
- camTrajColor = vpColor::green;
- curColor = vpColor::blue;
- desColor = vpColor::red;
-
- sceneInitialized = false;
-
- displayCameraTrajectory = true;
- cameraTrajectory.clear();
- poseList.clear();
- fMoList.clear();
-
- fMo.setIdentity();
-
old_iPr = vpImagePoint(-1,-1);
old_iPz = vpImagePoint(-1,-1);
old_iPt = vpImagePoint(-1,-1);
- blockedr = false;
- blockedz = false;
- blockedt = false;
- blocked = false;
-
- nbrPtLimit = 1000;
-
- px_int = 1;
- py_int = 1;
- px_ext = 1;
- py_ext = 1;
-
- displayObject = false;
- displayDesiredObject = false;
- displayCamera = false;
-
- cameraFactor = 1.0;
-
- camTrajType = CT_LINE;
-
- extCamChanged = false;
-
+
rotz.buildFrom(0,0,0,0,0,vpMath::rad(180));
- displayImageSimulator = false;
- objectImage.clear();
+ scene.name = NULL;
+ scene.bound.ptr = NULL;
+ scene.bound.nbr = 0;
- thickness_ = 1;
+ desiredScene.name = NULL;
+ desiredScene.bound.ptr = NULL;
+ desiredScene.bound.nbr = 0;
+
+ camera.name = NULL;
+ camera.bound.ptr = NULL;
+ camera.bound.nbr = 0;
}
@@ -606,18 +587,24 @@ vpWireFrameSimulator::~vpWireFrameSimulator()
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
\param obj : Type of scene used to display the object at the current position.
- \param desiredObject : Type of scene used to display the object at the desired pose (in the internal view).
+ \param desired_object : Type of scene used to display the object at the desired pose (in the internal view).
*/
void
-vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
+vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desired_object)
{
char name_cam[FILENAME_MAX];
char name[FILENAME_MAX];
object = obj;
- this->desiredObject = desiredObject;
+ this->desiredObject = desired_object;
+
+ const char *scene_dir_ = scene_dir.c_str();
+ if (strlen(scene_dir_) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the camera name"));
+ }
- strcpy(name_cam, scene_dir.c_str());
+ strcpy(name_cam, scene_dir_);
if (desiredObject != D_TOOL)
{
strcat(name_cam,"/camera.bnd");
@@ -629,7 +616,7 @@ vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredOb
set_scene(name_cam,&(this->camera),1.0);
}
- strcpy(name, scene_dir.c_str());
+ strcpy(name, scene_dir_);
switch (obj)
{
case THREE_PTS : {strcat(name,"/3pts.bnd"); break; }
@@ -652,19 +639,25 @@ vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredOb
}
set_scene(name,&(this->scene),1.0);
+ scene_dir_ = scene_dir.c_str();
+ if (strlen(scene_dir_) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the desired object name"));
+ }
+
switch (desiredObject)
{
case D_STANDARD : { break; }
case D_CIRCLE : {
- strcpy(name, scene_dir.c_str());
+ strcpy(name, scene_dir_);
strcat(name, "/circle_sq2.bnd");
break; }
case D_TOOL : {
- strcpy(name, scene_dir.c_str());
+ strcpy(name, scene_dir_);
strcat(name, "/tool.bnd");
break; }
}
- set_scene(name,&(this->desiredScene),1.0);
+ set_scene(name, &(this->desiredScene), 1.0);
if (obj == PIPE) load_rfstack(IS_INSIDE);
else add_rfstack(IS_BACK);
@@ -694,13 +687,13 @@ vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredOb
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
\param obj : Type of scene used to display the object at the current position.
- \param desiredObject : Type of scene used to display the object at the desired pose (in the internal view).
+ \param desired_object : Type of scene used to display the object at the desired pose (in the internal view).
\param imObj : A list of vpImageSimulator instances.
*/
void
-vpWireFrameSimulator::initScene(vpSceneObject obj, vpSceneDesiredObject desiredObject, vpList<vpImageSimulator> &imObj)
+vpWireFrameSimulator::initScene(vpSceneObject obj, vpSceneDesiredObject desired_object, vpList<vpImageSimulator> &imObj)
{
- initScene(obj, desiredObject);
+ initScene(obj, desired_object);
objectImage.clear();
for(imObj.front(); !imObj.outside(); imObj.next()){
objectImage.push_back(imObj.value());
@@ -718,13 +711,13 @@ vpWireFrameSimulator::initScene(vpSceneObject obj, vpSceneDesiredObject desiredO
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
\param obj : Type of scene used to display the object at the current position.
- \param desiredObject : Type of scene used to display the object at the desired pose (in the internal view).
+ \param desired_object : Type of scene used to display the object at the desired pose (in the internal view).
\param imObj : A list of vpImageSimulator instances.
*/
void
-vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list<vpImageSimulator> &imObj)
+vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desired_object, const std::list<vpImageSimulator> &imObj)
{
- initScene(obj, desiredObject);
+ initScene(obj, desired_object);
objectImage = imObj;
displayImageSimulator = true;
}
@@ -737,10 +730,10 @@ vpWireFrameSimulator::initScene(const vpSceneObject &obj, const vpSceneDesiredOb
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
\param obj : Path to the scene file you want to use.
- \param desiredObject : Path to the scene file you want to use.
+ \param desired_object : Path to the scene file you want to use.
*/
void
-vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject)
+vpWireFrameSimulator::initScene(const char* obj, const char* desired_object)
{
char name_cam[FILENAME_MAX];
char name[FILENAME_MAX];
@@ -748,10 +741,21 @@ vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject)
object = THREE_PTS;
this->desiredObject = D_STANDARD;
- strcpy(name_cam, scene_dir.c_str());
+ const char *scene_dir_ = scene_dir.c_str();
+ if (strlen(scene_dir_) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the camera name"));
+ }
+
+ strcpy(name_cam, scene_dir_);
strcat(name_cam,"/camera.bnd");
set_scene(name_cam,&camera,cameraFactor);
+ if (strlen(obj) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the name"));
+ }
+
strcpy(name,obj);
Model_3D model;
model = getExtension(obj);
@@ -764,8 +768,13 @@ vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject)
vpERROR_TRACE("Unknown file extension for the 3D model");
}
- strcpy(name,desiredObject);
- model = getExtension(desiredObject);
+ if (strlen(desired_object) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the camera name"));
+ }
+
+ strcpy(name,desired_object);
+ model = getExtension(desired_object);
if (model == BND_MODEL)
set_scene(name,&(this->desiredScene),1.0);
else if (model == WRL_MODEL)
@@ -800,13 +809,13 @@ vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject)
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
\param obj : Path to the scene file you want to use.
- \param desiredObject : Path to the scene file you want to use.
+ \param desired_object : Path to the scene file you want to use.
\param imObj : A list of vpImageSimulator instances.
*/
void
-vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject, vpList<vpImageSimulator> &imObj)
+vpWireFrameSimulator::initScene(const char* obj, const char* desired_object, vpList<vpImageSimulator> &imObj)
{
- initScene(obj, desiredObject);
+ initScene(obj, desired_object);
objectImage.clear();
for(imObj.front(); !imObj.outside(); imObj.next()){
objectImage.push_back(imObj.value());
@@ -824,13 +833,13 @@ vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject, vpLi
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
\param obj : Path to the scene file you want to use.
- \param desiredObject : Path to the scene file you want to use.
+ \param desired_object : Path to the scene file you want to use.
\param imObj : A list of vpImageSimulator instances.
*/
void
-vpWireFrameSimulator::initScene(const char* obj, const char* desiredObject, const std::list<vpImageSimulator> &imObj)
+vpWireFrameSimulator::initScene(const char* obj, const char* desired_object, const std::list<vpImageSimulator> &imObj)
{
- initScene(obj, desiredObject);
+ initScene(obj, desired_object);
objectImage = imObj;
displayImageSimulator = true;
}
@@ -851,11 +860,17 @@ vpWireFrameSimulator::initScene(const vpSceneObject &obj)
object = obj;
- strcpy(name_cam, scene_dir.c_str());
+ const char *scene_dir_ = scene_dir.c_str();
+ if (strlen(scene_dir_) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the camera name"));
+ }
+
+ strcpy(name_cam, scene_dir_);
strcat(name_cam,"/camera.bnd");
set_scene(name_cam,&camera,cameraFactor);
- strcpy(name, scene_dir.c_str());
+ strcpy(name, scene_dir_);
switch (obj)
{
case THREE_PTS : {strcat(name,"/3pts.bnd"); break; }
@@ -955,10 +970,21 @@ vpWireFrameSimulator::initScene(const char* obj)
object = THREE_PTS;
- strcpy(name_cam, scene_dir.c_str());
+ const char *scene_dir_ = scene_dir.c_str();
+ if (strlen(scene_dir_) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the camera name"));
+ }
+
+ strcpy(name_cam, scene_dir_);
strcat(name_cam,"/camera.bnd");
set_scene(name_cam,&camera,cameraFactor);
+ if (strlen(obj) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the name"));
+ }
+
strcpy(name,obj);
Model_3D model;
model = getExtension(obj);
@@ -1252,16 +1278,16 @@ vpWireFrameSimulator::getExternalImage(vpImage<vpRGBa> &I)
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
\param I : The image where the external view is displayed.
- \param camMf : The pose between the point of view and the fixed world frame.
+ \param cam_Mf : The pose between the point of view and the fixed world frame.
\warning : The objects are displayed thanks to overlays. The image I is not modified.
*/
void
-vpWireFrameSimulator::getExternalImage(vpImage<vpRGBa> &I, const vpHomogeneousMatrix &camMf)
+vpWireFrameSimulator::getExternalImage(vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cam_Mf)
{
float w44o[4][4],w44cext[4][4],w44c[4][4],x,y,z;
- vpHomogeneousMatrix camMft = rotz * camMf;
+ vpHomogeneousMatrix camMft = rotz * cam_Mf;
double u;
double v;
@@ -1298,7 +1324,7 @@ vpWireFrameSimulator::getExternalImage(vpImage<vpRGBa> &I, const vpHomogeneousMa
for(std::list<vpImageSimulator>::iterator it=objectImage.begin(); it!=objectImage.end(); ++it){
vpImageSimulator* imSim = &(*it);
- imSim->setCameraPosition(rotz*camMf*fMo);
+ imSim->setCameraPosition(rotz*cam_Mf*fMo);
imSim->getImage(I,getInternalCameraParameters(I));
}
@@ -1535,16 +1561,16 @@ vpWireFrameSimulator::getExternalImage(vpImage<unsigned char> &I)
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
\param I : The image where the external view is displayed.
- \param camMf : The pose between the point of view and the fixed world frame.
+ \param cam_Mf : The pose between the point of view and the fixed world frame.
\warning : The objects are displayed thanks to overlays. The image I is not modified.
*/
void
-vpWireFrameSimulator::getExternalImage(vpImage<unsigned char> &I, const vpHomogeneousMatrix &camMf)
+vpWireFrameSimulator::getExternalImage(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cam_Mf)
{
float w44o[4][4],w44cext[4][4],w44c[4][4],x,y,z;
- vpHomogeneousMatrix camMft = rotz * camMf;
+ vpHomogeneousMatrix camMft = rotz * cam_Mf;
double u;
double v;
@@ -1580,7 +1606,7 @@ vpWireFrameSimulator::getExternalImage(vpImage<unsigned char> &I, const vpHomoge
I = 255;
for(std::list<vpImageSimulator>::iterator it=objectImage.begin(); it!=objectImage.end(); ++it){
vpImageSimulator* imSim = &(*it);
- imSim->setCameraPosition(rotz*camMf*fMo);
+ imSim->setCameraPosition(rotz*cam_Mf*fMo);
imSim->getImage(I,getInternalCameraParameters(I));
}
if (I.display != NULL)
@@ -1954,12 +1980,13 @@ vpWireFrameSimulator::navigation(const vpImage<unsigned char> &I, bool &changed)
Project the center of the internal camera into the external camera view.
*/
vpImagePoint
-vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)
+vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo_,
+ const vpHomogeneousMatrix &fMo_)
{
vpPoint point;
point.setWorldCoordinates(0,0,0);
- point.track(rotz*(camMf*fMo*cMo.inverse())) ;
+ point.track(rotz*(camMf*fMo_*cMo_.inverse())) ;
vpImagePoint iP;
@@ -1972,12 +1999,14 @@ vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const v
Project the center of the internal camera into the external camera view.
*/
vpImagePoint
-vpWireFrameSimulator::projectCameraTrajectory (const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)
+vpWireFrameSimulator::projectCameraTrajectory (const vpImage<unsigned char> &I,
+ const vpHomogeneousMatrix &cMo_,
+ const vpHomogeneousMatrix &fMo_)
{
vpPoint point;
point.setWorldCoordinates(0,0,0);
- point.track(rotz*(camMf*fMo*cMo.inverse())) ;
+ point.track(rotz*(camMf*fMo_*cMo_.inverse())) ;
vpImagePoint iP;
@@ -1990,12 +2019,13 @@ vpWireFrameSimulator::projectCameraTrajectory (const vpImage<unsigned char> &I,
Project the center of the internal camera into the external camera view.
*/
vpImagePoint
-vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)
+vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo_,
+ const vpHomogeneousMatrix &fMo_, const vpHomogeneousMatrix &cMf)
{
vpPoint point;
point.setWorldCoordinates(0,0,0);
- point.track(rotz*(cMf*fMo*cMo.inverse())) ;
+ point.track(rotz*(cMf*fMo_*cMo_.inverse())) ;
vpImagePoint iP;
@@ -2008,12 +2038,13 @@ vpWireFrameSimulator::projectCameraTrajectory (const vpImage<vpRGBa> &I, const v
Project the center of the internal camera into the external camera view.
*/
vpImagePoint
-vpWireFrameSimulator::projectCameraTrajectory (const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)
+vpWireFrameSimulator::projectCameraTrajectory (const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo_,
+ const vpHomogeneousMatrix &fMo_, const vpHomogeneousMatrix &cMf)
{
vpPoint point;
point.setWorldCoordinates(0,0,0);
- point.track(rotz*(cMf*fMo*cMo.inverse())) ;
+ point.track(rotz*(cMf*fMo_*cMo_.inverse())) ;
vpImagePoint iP;
diff --git a/src/simulator/wireframe-simulator/vpWireFrameSimulator.h b/src/simulator/wireframe-simulator/vpWireFrameSimulator.h
index 6a8de15..8f0b06b 100644
--- a/src/simulator/wireframe-simulator/vpWireFrameSimulator.h
+++ b/src/simulator/wireframe-simulator/vpWireFrameSimulator.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpWireFrameSimulator.h 4334 2013-07-22 19:13:05Z fspindle $
+ * $Id: vpWireFrameSimulator.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -447,16 +447,16 @@ public:
/*!
Set the position of the camera relative to the object.
- \param cMo : The pose of the camera.
+ \param cMo_ : The pose of the camera.
*/
- void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo) {this->cMo = rotz * cMo; fMc = fMo*this->cMo.inverse();}
+ void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_) {this->cMo = rotz * cMo_; fMc = fMo*this->cMo.inverse();}
/*!
Set the position of the the world reference frame relative to the camera.
- \param fMc : The pose of the camera.
+ \param fMc_ : The pose of the camera.
*/
- void setCameraPositionRelWorld(const vpHomogeneousMatrix &fMc) {this->fMc = fMc*rotz; cMo = this->fMc.inverse()*fMo;}
+ void setCameraPositionRelWorld(const vpHomogeneousMatrix &fMc_) {this->fMc = fMc_*rotz; cMo = this->fMc.inverse()*fMo;}
/*!
Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.
@@ -475,9 +475,9 @@ public:
/*!
Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.
- \param camTrajType : The chosen way to display the camera trajectory.
+ \param camTraj_type : The chosen way to display the camera trajectory.
*/
- inline void setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTrajType) {this->camTrajType = camTrajType;}
+ inline void setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type) {this->camTrajType = camTraj_type;}
/*!
Set the color used to display the object at the current position.
@@ -488,9 +488,9 @@ public:
/*!
Set the desired position of the camera relative to the object.
- \param cdMo : The desired pose of the camera.
+ \param cdMo_ : The desired pose of the camera.
*/
- void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo) {this->cdMo = rotz * cdMo;}
+ void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_) {this->cdMo = rotz * cdMo_;}
/*!
Set the color used to display the object at the desired position.
@@ -502,9 +502,9 @@ public:
By default the trajectory is displayed.
- \param displayCameraTrajectory : Set to true to display the camera trajectory.
+ \param do_display : Set to true to display the camera trajectory.
*/
- void setDisplayCameraTrajectory (const bool &displayCameraTrajectory) {this->displayCameraTrajectory = displayCameraTrajectory;}
+ void setDisplayCameraTrajectory (const bool &do_display) {this->displayCameraTrajectory = do_display;}
/*!
Set the internal camera parameters.
@@ -518,11 +518,11 @@ public:
/*!
Set the external camera point of view.
- \param camMf : The pose of the external camera relative to the world reference frame.
+ \param cam_Mf : The pose of the external camera relative to the world reference frame.
*/
- void setExternalCameraPosition(const vpHomogeneousMatrix &camMf)
+ void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
{
- this->camMf = rotz * camMf;
+ this->camMf = rotz * cam_Mf;
vpTranslationVector T;
this->camMf.extract (T);
this->camMf2.buildFrom(0,0,T[2],0,0,0);
@@ -558,9 +558,9 @@ public:
/*!
Set the pose between the object and the fixed world frame.
- \param fMo : The pose between the object and the fixed world frame.
+ \param fMo_ : The pose between the object and the fixed world frame.
*/
- void set_fMo(const vpHomogeneousMatrix &fMo) {this->fMo = fMo;/*this->cMo = fMc.inverse()*fMo;*/}
+ void set_fMo(const vpHomogeneousMatrix &fMo_) {this->fMo = fMo_;/*this->cMo = fMc.inverse()*fMo;*/}
protected:
void display_scene(Matrix mat, Bound_scene &sc, const vpImage<vpRGBa> &I, const vpColor &color);
diff --git a/src/tools/geometry/vpPlane.cpp b/src/tools/geometry/vpPlane.cpp
index e44ffb6..84f6a29 100644
--- a/src/tools/geometry/vpPlane.cpp
+++ b/src/tools/geometry/vpPlane.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlane.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPlane.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,13 +68,7 @@ vpPlane::operator =(const vpPlane& p)
/*!
Basic constructor that set the plane parameters A, B, C, D to zero.
*/
-vpPlane::vpPlane()
-{
- setA(0) ;
- setB(0) ;
- setC(0) ;
- setD(0) ;
-}
+vpPlane::vpPlane() : A(0), B(0), C(0), D(0) {}
/*!
Plane constructor from A, B, C, D parameters.
@@ -83,21 +77,17 @@ vpPlane::vpPlane()
(x,y,z) are the coordinates of a point and \f$[A,B,C]^T\f$ is the normal
vector of the plane.
- \param A, B, C, D : Parameters of the plane.
+ \param a, b, c, d : Parameters of the plane.
*/
-vpPlane::vpPlane(const double A,const double B,const double C, const double D)
-{
- setA(A) ;
- setB(B) ;
- setC(C) ;
- setD(D) ;
-}
+vpPlane::vpPlane(const double a,const double b,const double c, const double d)
+ : A(a), B(b), C(c), D(d) {}
/*!
Copy constructor.
*/
vpPlane::vpPlane(const vpPlane& P)
+ : A(0), B(0), C(0), D(0)
{
setA(P.getA()) ;
setB(P.getB()) ;
@@ -120,6 +110,7 @@ vpPlane::vpPlane(const vpPlane& P)
*/
vpPlane::vpPlane(const vpPoint& P, const vpColVector &n)
+ : A(0), B(0), C(0), D(0)
{
//Equation of the plane is given by:
A = n[0];
@@ -211,6 +202,7 @@ vpPlane::init(const vpPoint &P, const vpPoint &Q, const vpPoint &R)
\sa init(const vpPoint &, const vpPoint &, const vpPoint &)
*/
vpPlane::vpPlane(const vpPoint &P, const vpPoint &Q, const vpPoint &R)
+ : A(0), B(0), C(0), D(0)
{
init(P,Q,R) ;
}
@@ -359,3 +351,14 @@ void vpPlane::changeFrame(const vpHomogeneousMatrix &cMo)
D = Do - (cMo[0][3]*A + cMo[1][3]*B + cMo[2][3]*C);
}
+/*!
+
+ Print the plane parameters as a stream like "(A,B,C,D) " where
+ A,B,C and D correspond to the parameters of the plane.
+
+*/
+VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpPlane& p)
+{
+ return (os << "("<<p.getA() << ","<<p.getB()
+ << ","<<p.getC()<< ","<<p.getD() <<") ") ;
+} ;
diff --git a/src/tools/geometry/vpPlane.h b/src/tools/geometry/vpPlane.h
index e41eebe..3a6907f 100644
--- a/src/tools/geometry/vpPlane.h
+++ b/src/tools/geometry/vpPlane.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlane.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPlane.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,7 +54,7 @@
\brief This class defines the container for a plane geometrical structure.
A plane is given by the equation \f$Ax + By + Cz + D = 0\f$ where
- (x,y,z) are the coordinates of a point and \f$[A,B,C]^T\f$ is normal
+ (x,y,z) are the coordinates of a point and where \f$[A,B,C]^T\f$ is a normal
vector of the plane.
*/
@@ -75,7 +75,6 @@ class VISP_EXPORT vpPlane
#endif
double A,B,C,D ;
-
public:
vpPlane() ;
vpPlane(const vpPlane& P) ;
@@ -88,21 +87,21 @@ public:
// SET the parameter
/*! Set plane parameter A. */
- inline void setA(const double A) { this->A = A ; }
+ inline void setA(const double a) { this->A = a ; }
/*! Set plane parameter B. */
- inline void setB(const double B) { this->B = B ; }
+ inline void setB(const double b) { this->B = b ; }
/*! Set plane parameter C. */
- inline void setC(const double C) { this->C = C ; }
+ inline void setC(const double c) { this->C = c ; }
/*! Set plane parameter D. */
- inline void setD(const double D) { this->D = D ; }
+ inline void setD(const double d) { this->D = d ; }
/*! Set plane parameters A, B, C, D. */
- inline void setABCD(const double A, const double B,
- const double C, const double D)
+ inline void setABCD(const double a, const double b,
+ const double c, const double d)
{
- this->A = A;
- this->B = B;
- this->C = C;
- this->D = D;
+ this->A = a;
+ this->B = b;
+ this->C = c;
+ this->D = d;
}
vpPlane& operator =(const vpPlane& f) ;
@@ -155,19 +154,7 @@ public:
vpColVector getNormal() const;
void getNormal(vpColVector &n) const;
-
- /*!
-
- Print the plane parameters as a stream like "(A,B,C,D) " where
- A,B,C and D correspond to the parameters of the plane.
-
- */
- friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpPlane& p)
- {
- return (os << "("<<p.getA() << ","<<p.getB()
- << ","<<p.getC()<< ","<<p.getD() <<") ") ;
- } ;
-
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpPlane& p);
// Operation with Plane
void projectionPointOnPlan(const vpPoint& P, vpPoint& Pproj) const ;
diff --git a/src/tools/geometry/vpPolygon.cpp b/src/tools/geometry/vpPolygon.cpp
index 71bc461..4cef509 100644
--- a/src/tools/geometry/vpPolygon.cpp
+++ b/src/tools/geometry/vpPolygon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPolygon.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPolygon.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,8 +57,8 @@
\f$ (0,0) \f$, \f$ (1,0) \f$ and \f$ (0,1) \f$.
*/
vpPolygon::vpPolygon()
+ : _corners(), _center(), _area(0.), _goodPoly(true), _bbox()
{
- _goodPoly = true;
std::vector<vpImagePoint> corners;
corners.push_back(vpImagePoint(0,0));
corners.push_back(vpImagePoint(1,0));
@@ -74,6 +74,7 @@ vpPolygon::vpPolygon()
\param corners : The Points defining the corners.
*/
vpPolygon::vpPolygon(const std::vector<vpImagePoint>& corners)
+ : _corners(), _center(), _area(0.), _goodPoly(true), _bbox()
{
if(corners.size() < 3){
_goodPoly = false;
@@ -87,11 +88,13 @@ vpPolygon::vpPolygon(const std::vector<vpImagePoint>& corners)
\param poly : The polygon used for the initialisation.
*/
vpPolygon::vpPolygon(const vpPolygon &poly)
+ : _corners(), _center(), _area(0.), _goodPoly(true), _bbox()
{
_corners = poly._corners;
_center = poly._center;
_area = poly._area;
_goodPoly = poly._goodPoly;
+ _bbox = poly._bbox;
}
/*!
@@ -165,8 +168,8 @@ vpPolygon::initClick(const vpImage<unsigned char>& I)
std::vector<vpImagePoint> cornersClick;
while(button == vpMouseButton::button1){
- vpDisplay::getClick(I, ip, button, true);
- if(button == vpMouseButton::button1){
+ bool ret = vpDisplay::getClick(I, ip, button, true);
+ if(ret && button == vpMouseButton::button1){
vpDisplay::displayCross(I, ip, 5, vpColor::red);
cornersClick.push_back(ip);
vpDisplay::flush(I);
diff --git a/src/tools/geometry/vpPolygon.h b/src/tools/geometry/vpPolygon.h
index ffa4dc4..13cf644 100644
--- a/src/tools/geometry/vpPolygon.h
+++ b/src/tools/geometry/vpPolygon.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPolygon.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPolygon.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/geometry/vpRect.cpp b/src/tools/geometry/vpRect.cpp
index 1fce405..1b51f46 100755
--- a/src/tools/geometry/vpRect.cpp
+++ b/src/tools/geometry/vpRect.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRect.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRect.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,13 +56,7 @@
*/
-vpRect::vpRect()
-{
- this->left = 0;
- this->top = 0;
- this->width = 0;
- this->height = 0;
-};
+vpRect::vpRect() : left(0), top(0), width(0), height(0) {};
/*!
@@ -70,12 +64,9 @@ vpRect::vpRect()
and \e height.
*/
-vpRect::vpRect(double left, double top, double width, double height)
+vpRect::vpRect(double l, double t, double w, double h)
+ : left(l), top(t), width(w), height(h)
{
- this->left = left;
- this->top = top;
- this->width = width;
- this->height = height;
};
/*!
@@ -84,12 +75,9 @@ vpRect::vpRect(double left, double top, double width, double height)
and \e width and \e height the rectangle size.
*/
-vpRect::vpRect(const vpImagePoint &topLeft, double width, double height)
+vpRect::vpRect(const vpImagePoint &topLeft, double w, double h)
+ : left(topLeft.get_u()), top(topLeft.get_v()), width(w), height(h)
{
- this->left = topLeft.get_u();
- this->top = topLeft.get_v();
- this->width = width;
- this->height = height;
};
/*!
@@ -99,6 +87,7 @@ vpRect::vpRect(const vpImagePoint &topLeft, double width, double height)
*/
vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
+ : left(topLeft.get_u()), top(topLeft.get_v()), width(0), height(0)
{
this->left = topLeft.get_u();
this->top = topLeft.get_v();
@@ -113,11 +102,9 @@ vpRect::vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight)
*/
vpRect::vpRect(const vpRect& r)
+ : left(0), top(0), width(0), height(0)
{
- this->left = r.left;
- this->top = r.top;
- this->width = r.width;
- this->height = r.height;
+ *this = r;
};
/*!
@@ -132,3 +119,66 @@ vpRect &vpRect::operator=(const vpRect& r)
this->height = r.height;
return *this;
};
+
+/*!
+
+ Create a rectangle as the bounding box of a vector of image points.
+ \param ip : Vector of image points. At least 1 points is mandatory,
+ otherwise an exception is thrown.
+*/
+vpRect::vpRect(const std::vector<vpImagePoint> &ip)
+ : left(0), top(0), width(0), height(0)
+{
+ set(ip);
+}
+
+/*!
+
+ Set the rectangle as the bounding box of a vector of image points.
+ \param ip : Vector of image points. At least 1 points is mandatory,
+ otherwise an exception is thrown.
+*/
+void vpRect::set(const std::vector<vpImagePoint> &ip)
+{
+ if (ip.size() < 1)
+ throw (vpException(vpException::dimensionError,
+ "At least 1 point is requested to build a rectangle"));
+ double minu, maxu;
+ double minv, maxv;
+ minu = maxu = ip[0].get_u();
+ minv = maxv = ip[0].get_v();
+
+ for(size_t i=1; i<ip.size(); i++) {
+ double u = ip[i].get_u();
+ double v = ip[i].get_v();
+ if ( u < minu ) minu = u;
+ else if (u > maxu) maxu = u;
+ if ( v < minv ) minv = v;
+ else if (v > maxv) maxv = v;
+ }
+
+ setLeft (minu);
+ setTop (minv);
+ setRight (maxu);
+ setBottom(maxv);
+};
+
+/*!
+
+ Check if an image point belongs to a rectangle.
+
+ \param ip : the image point.
+ \param rect : the rectangle.
+
+ \return Returns true if the point belongs to the rectangle.
+
+*/
+VISP_EXPORT bool inRectangle( const vpImagePoint &ip, const vpRect &rect ) {
+ return ( ip.get_i() <= rect.getBottom() && ip.get_i() >= rect.getTop() && ip.get_j() <= rect.getRight() && ip.get_j() >= rect.getLeft());
+}
+
+VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpRect& r)
+ {
+ os << r.getLeft() << ", " << r.getTop() << ", " << r.getWidth() << ", " << r.getHeight();
+ return os;
+}
diff --git a/src/tools/geometry/vpRect.h b/src/tools/geometry/vpRect.h
index dc88eb1..542986f 100755
--- a/src/tools/geometry/vpRect.h
+++ b/src/tools/geometry/vpRect.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpRect.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpRect.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,8 +77,11 @@
*/
+#include <vector>
+#include <visp/vpException.h>
#include <visp/vpImagePoint.h>
+
class VISP_EXPORT vpRect
{
public:
@@ -88,6 +91,8 @@ public:
vpRect(const vpImagePoint &topLeft, double width, double height);
vpRect(const vpImagePoint &topLeft, const vpImagePoint &bottomRight);
vpRect(const vpRect& r);
+ vpRect(const std::vector<vpImagePoint> &ip);
+
vpRect &operator=(const vpRect& r);
@@ -187,6 +192,10 @@ public:
*/
inline double getWidth() const { return this->width; };
+ friend VISP_EXPORT bool inRectangle( const vpImagePoint &ip, const vpRect &rect );
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpRect& r);
+ void set(const std::vector<vpImagePoint> &ip);
+
/*!
Sets the bottom edge position of the rectangle to pos. May change
@@ -230,12 +239,15 @@ public:
Sets the coordinates of the rectangle's top left corner to
(left, top), and its size to (width, height).
+ \param l,t : (left, top) corner position.
+ \param w,h : (width, height) rectangle size.
+
*/
- inline void setRect(double left, double top, double width, double height) {
- this->left = left;
- this->top = top;
- this->width = width;
- this->height = height;
+ inline void setRect(double l, double t, double w, double h) {
+ this->left = l;
+ this->top = t;
+ this->width = w;
+ this->height = h;
};
/*!
@@ -297,20 +309,4 @@ private:
double height; // Rectangle height
};
-
-/*!
-
- Check if an image point belongs to a rectangle.
-
- \param ip : the image point.
- \param rect : the rectangle.
-
- \return Returns true if the point belongs to the rectangle.
-
-*/
-VISP_EXPORT inline bool inRectangle( const vpImagePoint &ip, const vpRect &rect ) {
- return ( ip.get_i() <= rect.getBottom() && ip.get_i() >= rect.getTop() && ip.get_j() <= rect.getRight() && ip.get_j() >= rect.getLeft());
-}
-
-
#endif
diff --git a/src/tools/geometry/vpTriangle.cpp b/src/tools/geometry/vpTriangle.cpp
index 848eb59..8910371 100644
--- a/src/tools/geometry/vpTriangle.cpp
+++ b/src/tools/geometry/vpTriangle.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTriangle.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTriangle.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -49,8 +49,9 @@
By default, the three 2D points coordinates which define the triangle are \f$ (0,0) \f$, \f$ (1,0) \f$ and \f$ (0,1) \f$.
*/
vpTriangle::vpTriangle()
+ : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0),
+ ptempo0(0), ptempo1(0), area(0), apex1(), apex2(), apex3()
{
- goodTriange = true;
init (vpImagePoint(0,0),vpImagePoint(1,0),vpImagePoint(0,1));
}
@@ -62,9 +63,9 @@ vpTriangle::vpTriangle()
\param iP3 : The first apex of the triangle.
*/
vpTriangle::vpTriangle(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
+ : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0),
+ ptempo0(0), ptempo1(0), area(0), apex1(), apex2(), apex3()
{
- goodTriange = true;
-
init(iP1,iP2,iP3);
}
@@ -74,16 +75,10 @@ vpTriangle::vpTriangle(const vpImagePoint &iP1, const vpImagePoint &iP2, const v
\param tri : The triangle used for the initialisation.
*/
vpTriangle::vpTriangle(const vpTriangle &tri)
+ : goodTriange(true), S1(), uvinv00(0), uvinv01(0), uvinv10(0), uvinv11(0),
+ ptempo0(0), ptempo1(0), area(0), apex1(), apex2(), apex3()
{
- goodTriange = tri.goodTriange;
- S1 = tri.S1;
- uvinv00 = tri.uvinv00;
- uvinv01 = tri.uvinv01;
- uvinv10 = tri.uvinv10;
- uvinv11 = tri.uvinv11;
- ptempo0 = tri.ptempo0;
- ptempo1 = tri.ptempo1;
- area = tri.area;
+ *this = tri;
}
/*!
@@ -128,6 +123,7 @@ vpTriangle::buildFrom(const vpImagePoint &iP1, const vpImagePoint &iP2, const vp
void
vpTriangle::init(const vpImagePoint &iP1, const vpImagePoint &iP2, const vpImagePoint &iP3)
{
+ ptempo0 = ptempo1 = 0.;
apex1 = iP1;
apex2 = iP2;
apex3 = iP3;
diff --git a/src/tools/geometry/vpTriangle.h b/src/tools/geometry/vpTriangle.h
index e7cd0a0..98f1aa9 100644
--- a/src/tools/geometry/vpTriangle.h
+++ b/src/tools/geometry/vpTriangle.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTriangle.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTriangle.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/histogram/vpHistogram.cpp b/src/tools/histogram/vpHistogram.cpp
index 544c779..b45b37a 100644
--- a/src/tools/histogram/vpHistogram.cpp
+++ b/src/tools/histogram/vpHistogram.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogram.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpHistogram.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,6 +51,8 @@
#include <visp/vpHistogram.h>
#include <stdlib.h>
+bool compare_vpHistogramPeak (vpHistogramPeak first, vpHistogramPeak second);
+
// comparison,
bool compare_vpHistogramPeak (vpHistogramPeak first, vpHistogramPeak second)
{
@@ -63,20 +65,16 @@ bool compare_vpHistogramPeak (vpHistogramPeak first, vpHistogramPeak second)
/*!
Defaut constructor for a gray level histogram.
*/
-vpHistogram::vpHistogram()
+vpHistogram::vpHistogram() : histogram(NULL), size(256)
{
- histogram = NULL;
- size = 256;
init();
}
/*!
Copy constructor of a gray level histogram.
*/
-vpHistogram::vpHistogram(const vpHistogram &h)
+vpHistogram::vpHistogram(const vpHistogram &h) : histogram(NULL), size(256)
{
- // vpTRACE("copy");
- histogram = NULL;
init(h.size);
memcpy(histogram, h.histogram, size * sizeof(unsigned));
}
@@ -89,9 +87,8 @@ vpHistogram::vpHistogram(const vpHistogram &h)
\sa calculate()
*/
vpHistogram::vpHistogram(const vpImage<unsigned char> &I)
+ : histogram(NULL), size(256)
{
- histogram = NULL;
- size = 256;
init();
calculate(I);
@@ -138,14 +135,14 @@ vpHistogram::operator=(const vpHistogram &h)
- Initialise all the values to zero.
*/
void
-vpHistogram::init(unsigned size)
+vpHistogram::init(unsigned size_)
{
if (histogram != NULL) {
delete [] histogram;
histogram = NULL;
}
- this->size = size;
+ this->size = size_;
histogram = new unsigned [size];
memset(histogram, 0, size * sizeof(unsigned));
diff --git a/src/tools/histogram/vpHistogram.h b/src/tools/histogram/vpHistogram.h
index 68076c3..db90687 100644
--- a/src/tools/histogram/vpHistogram.h
+++ b/src/tools/histogram/vpHistogram.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogram.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHistogram.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/histogram/vpHistogramPeak.cpp b/src/tools/histogram/vpHistogramPeak.cpp
index 6ff7417..e7d2226 100644
--- a/src/tools/histogram/vpHistogramPeak.cpp
+++ b/src/tools/histogram/vpHistogramPeak.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogramPeak.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHistogramPeak.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,27 +52,21 @@
/*!
Defaut constructor for a gray level histogram peak.
*/
-vpHistogramPeak::vpHistogramPeak()
-{
- level = 0;
- value = 0;
-}
+vpHistogramPeak::vpHistogramPeak() : level(0), value(0) {}
/*!
Defaut constructor for a gray level histogram peak.
*/
-vpHistogramPeak::vpHistogramPeak(unsigned char level, unsigned value)
-{
- setLevel(level);
- setValue(value);
-}
+vpHistogramPeak::vpHistogramPeak(unsigned char lvl, unsigned val)
+ : level(lvl), value(val) {}
+
/*!
Copy constructor of a gray level histogram peak.
*/
vpHistogramPeak::vpHistogramPeak(const vpHistogramPeak &p)
+ : level(0), value(0)
{
- setLevel(p.level);
- setValue(p.value);
+ *this = p;
}
/*!
@@ -110,7 +104,7 @@ vpHistogramPeak::operator==(const vpHistogramPeak &p) const
/*!
\brief std::cout a peak
*/
-std::ostream &operator <<(std::ostream &s,const vpHistogramPeak &p)
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpHistogramPeak &p)
{
s << (int)p.getLevel() << " " << p.getValue();
diff --git a/src/tools/histogram/vpHistogramPeak.h b/src/tools/histogram/vpHistogramPeak.h
index 3ba1371..3b1e0ea 100644
--- a/src/tools/histogram/vpHistogramPeak.h
+++ b/src/tools/histogram/vpHistogramPeak.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogramPeak.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHistogramPeak.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -74,6 +74,9 @@ public :
vpHistogramPeak(unsigned char level, unsigned value);
vpHistogramPeak(const vpHistogramPeak & p);
+ /*! Destructor that does nothing. */
+ virtual ~vpHistogramPeak() {}
+
vpHistogramPeak & operator=(const vpHistogramPeak &p);
bool operator==(const vpHistogramPeak &p) const;
@@ -82,43 +85,43 @@ public :
Set the peak gray \e level. To set the number of pixels having this
gray level use setValue().
- \param level : Location of the peak or gray \e level.
+ \param lvl : Location of the peak or gray \e level.
\sa setValue(), set()
*/
- inline void setLevel(unsigned char level)
+ inline void setLevel(unsigned char lvl)
{
- this->level = level;
+ this->level = lvl;
};
/*!
Set the peak number of pixels having a same gray level. To set the
gray level of this peak use setLevel().
- \param value : Number of pixels having the same location or gray level.
+ \param val : Number of pixels having the same location or gray level.
\sa setLevel(), set()
*/
- inline void setValue(unsigned value)
+ inline void setValue(unsigned val)
{
- this->value = value;
+ this->value = val;
};
/*!
Set the peak gray \e level and number of pixels at this gray level.
- \param level : Location of the peak or gray level.
- \param value : Number of pixels having the same location or gray level.
+ \param lvl : Location of the peak or gray level.
+ \param val : Number of pixels having the same location or gray level.
\sa setLevel(), setValue()
*/
- inline void set(unsigned char level, unsigned value)
+ inline void set(unsigned char lvl, unsigned val)
{
- this->level = level;
- this->value = value;
+ this->level = lvl;
+ this->value = val;
};
/*!
@@ -153,8 +156,7 @@ public :
//---------------------------------
// Printing
//---------------------------------
- friend VISP_EXPORT std::ostream &operator << (std::ostream &s,
- const vpHistogramPeak &p);
+ friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpHistogramPeak &p);
protected :
diff --git a/src/tools/histogram/vpHistogramValey.cpp b/src/tools/histogram/vpHistogramValey.cpp
index bbf5562..cfffac7 100644
--- a/src/tools/histogram/vpHistogramValey.cpp
+++ b/src/tools/histogram/vpHistogramValey.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogramValey.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHistogramValey.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -83,7 +83,7 @@ vpHistogramValey::operator==(const vpHistogramValey &v) const
/*!
\brief std::cout a valey
*/
-std::ostream &operator <<(std::ostream &s,const vpHistogramValey &v)
+VISP_EXPORT std::ostream &operator <<(std::ostream &s,const vpHistogramValey &v)
{
s << (int)v.getLevel() << " " << v.getValue();
diff --git a/src/tools/histogram/vpHistogramValey.h b/src/tools/histogram/vpHistogramValey.h
index 5c83b21..2c950d1 100644
--- a/src/tools/histogram/vpHistogramValey.h
+++ b/src/tools/histogram/vpHistogramValey.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpHistogramValey.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpHistogramValey.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,12 +71,15 @@ class VISP_EXPORT vpHistogramValey : vpHistogramPeak
vpHistogramValey() :
vpHistogramPeak() {};
- vpHistogramValey(unsigned char level, unsigned value) :
- vpHistogramPeak(level, value) {};
+ vpHistogramValey(unsigned char lvl, unsigned val) :
+ vpHistogramPeak(lvl, val) {};
vpHistogramValey(const vpHistogramValey & v) :
vpHistogramPeak(v) {};
+ /*! Destructor that does nothing. */
+ virtual ~vpHistogramValey() {}
+
vpHistogramValey & operator=(const vpHistogramValey &v);
bool operator==(const vpHistogramValey &v) const;
@@ -85,43 +88,43 @@ class VISP_EXPORT vpHistogramValey : vpHistogramPeak
Set the valey gray \e level. To set the number of pixels having this
gray level use setValue().
- \param level : Location of the valey or gray level.
+ \param lvl : Location of the valey or gray level.
\sa setValue(), set()
*/
- inline void setLevel(unsigned char level)
+ inline void setLevel(unsigned char lvl)
{
- this->level = level;
+ this->level = lvl;
};
/*!
Set the valey number of pixels having a same gray level. To set the
gray level of this valey use setLevel().
- \param value : Number of pixels having the same location or gray level.
+ \param val : Number of pixels having the same location or gray level.
\sa setPosition(), set()
*/
- inline void setValue(unsigned value)
+ inline void setValue(unsigned val)
{
- this->value = value;
+ this->value = val;
};
/*!
Set the valey gray \e level and number of pixels at this location.
- \param level : Location of the valey or gray level.
- \param value : Number of pixels having the same location or gray level.
+ \param lvl : Location of the valey or gray level.
+ \param val : Number of pixels having the same location or gray level.
\sa setLevel(), setValue()
*/
- inline void set(unsigned char level, unsigned value)
+ inline void set(unsigned char lvl, unsigned val)
{
- this->level = level;
- this->value = value;
+ this->level = lvl;
+ this->value = val;
};
/*!
@@ -143,7 +146,7 @@ class VISP_EXPORT vpHistogramValey : vpHistogramPeak
Get the valey number of pixels having a same gray level. The
corresponding gray level is available through getLevel().
- \return : Number of pixels having the same location or gray level.
+ \return Number of pixels having the same location or gray level.
\sa getLevel()
@@ -156,8 +159,7 @@ class VISP_EXPORT vpHistogramValey : vpHistogramPeak
//---------------------------------
// Printing
//---------------------------------
- friend VISP_EXPORT std::ostream &operator << (std::ostream &s,
- const vpHistogramValey &v);
+ friend VISP_EXPORT std::ostream &operator << (std::ostream &s, const vpHistogramValey &v);
};
/*
diff --git a/src/tools/io/vpIoException.h b/src/tools/io/vpIoException.h
index a2aa32f..2c03ed7 100644
--- a/src/tools/io/vpIoException.h
+++ b/src/tools/io/vpIoException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpIoException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpIoException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,12 +71,12 @@
*/
class VISP_EXPORT vpIoException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpIo member.
*/
- enum error
+ enum error
{
invalidDirectoryName, /*! Directory name is invalid. */
cantCreateDirectory, /*! Unable to create a directory. */
@@ -84,25 +84,20 @@ public:
cantGetenv /*! Cannot get environment variable value. */
} ;
-public:
- vpIoException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpIoException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpIoException (const int code)
- : vpException(code){ ; }
+ public:
+ vpIoException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpIoException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpIoException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpIoException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/tools/io/vpIoTools.cpp b/src/tools/io/vpIoTools.cpp
index d3b154d..8f1f4eb 100644
--- a/src/tools/io/vpIoTools.cpp
+++ b/src/tools/io/vpIoTools.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpIoTools.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpIoTools.cpp 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,13 +55,13 @@
#include <fcntl.h>
#include <limits>
#include <cmath>
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
-#elif defined WIN32
+#elif defined(_WIN32)
# include <windows.h>
# include <direct.h>
#endif
-#ifndef WIN32
+#if !defined(_WIN32)
# include <wordexp.h>
#endif
@@ -92,8 +92,8 @@ std::vector<std::string> vpIoTools::configValues = std::vector<std::string>();
void
vpIoTools::getUserName(std::string &username)
{
- // With MinGW, UNIX and WIN32 are defined
-#if defined UNIX
+ // With MinGW, UNIX and _WIN32 are defined
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
// Get the user name.
char *_username = NULL;
_username = ::getenv("LOGNAME");
@@ -103,7 +103,7 @@ vpIoTools::getUserName(std::string &username)
"Cannot get the username")) ;
}
username = _username;
-#elif defined WIN32
+#elif defined(_WIN32)
unsigned int info_buffer_size = 1024;
TCHAR *infoBuf = new TCHAR [info_buffer_size];
DWORD bufCharCount = (DWORD) info_buffer_size;
@@ -140,7 +140,7 @@ std::string
vpIoTools::getUserName()
{
std::string username;
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
// Get the user name.
char *_username = NULL;
_username = ::getenv("LOGNAME");
@@ -150,7 +150,7 @@ vpIoTools::getUserName()
"Cannot get the username")) ;
}
username = _username;
-#elif defined WIN32
+#elif defined(_WIN32)
unsigned int info_buffer_size = 1024;
TCHAR *infoBuf = new TCHAR [info_buffer_size];
DWORD bufCharCount = (DWORD) info_buffer_size;
@@ -206,13 +206,13 @@ int main()
*/
std::string
vpIoTools::getenv(const char *
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
env
#endif
)
{
std::string value;
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
// Get the environment variable value.
char *_value = NULL;
_value = ::getenv(env);
@@ -224,7 +224,7 @@ vpIoTools::getenv(const char *
value = _value;
return value;
-#elif defined WIN32
+#elif defined(_WIN32)
vpERROR_TRACE( "Not implemented!" );
throw(vpIoException(vpException::notImplementedError,
@@ -334,9 +334,9 @@ vpIoTools::getVersion(const std::string &version, unsigned int &major, unsigned
bool
vpIoTools::checkDirectory(const char *dirname )
{
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
struct stat stbuf;
-#elif defined WIN32
+#elif defined(_WIN32)
struct _stat stbuf;
#endif
@@ -346,9 +346,9 @@ vpIoTools::checkDirectory(const char *dirname )
std::string _dirname = path(dirname);
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( stat( _dirname.c_str(), &stbuf ) != 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( _stat( _dirname.c_str(), &stbuf ) != 0 )
#endif
{
@@ -357,9 +357,9 @@ vpIoTools::checkDirectory(const char *dirname )
if ( (stbuf.st_mode & S_IFDIR) == 0 ) {
return false;
}
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( (stbuf.st_mode & S_IWUSR) == 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( (stbuf.st_mode & S_IWRITE) == 0 )
#endif
{
@@ -403,9 +403,9 @@ vpIoTools::checkDirectory(const std::string &dirname )
void
vpIoTools::makeDirectory(const char *dirname )
{
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
struct stat stbuf;
-#elif defined WIN32
+#elif defined(_WIN32)
struct _stat stbuf;
#endif
@@ -417,15 +417,15 @@ vpIoTools::makeDirectory(const char *dirname )
std::string _dirname = path(dirname);
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( stat( _dirname.c_str(), &stbuf ) != 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( _stat( _dirname.c_str(), &stbuf ) != 0 )
#endif
{
-#if ( defined(UNIX) && !defined(WIN32) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
if ( mkdir( _dirname.c_str(), (mode_t)0755 ) != 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( _mkdir( _dirname.c_str()) != 0 )
#endif
{
@@ -484,9 +484,9 @@ vpIoTools::makeDirectory(const std::string &dirname )
bool
vpIoTools::checkFilename(const char *filename)
{
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
struct stat stbuf;
-#elif defined WIN32
+#elif defined(_WIN32)
struct _stat stbuf;
#endif
@@ -495,9 +495,9 @@ vpIoTools::checkFilename(const char *filename)
}
std::string _filename = path(filename);
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( stat( _filename.c_str(), &stbuf ) != 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( _stat( _filename.c_str(), &stbuf ) != 0 )
#endif
{
@@ -506,9 +506,9 @@ vpIoTools::checkFilename(const char *filename)
if ( (stbuf.st_mode & S_IFREG) == 0 ) {
return false;
}
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if ( (stbuf.st_mode & S_IRUSR) == 0 )
-#elif defined WIN32
+#elif defined(_WIN32)
if ( (stbuf.st_mode & S_IREAD) == 0 )
#endif
{
@@ -555,9 +555,9 @@ vpIoTools::copy(const char *src, const char *dst)
// Check if we have to consider a file or a directory
if ( vpIoTools::checkFilename(src) ) {
//std::cout << "copy file: " << src << " in " << dst << std::endl;
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
sprintf(cmd, "cp -p %s %s", src, dst);
-#elif WIN32
+#elif defined(_WIN32)
std::string src_ = vpIoTools::path(src);
std::string dst_ = vpIoTools::path(dst);
sprintf(cmd, "copy %s %s", src_.c_str(), dst_.c_str());
@@ -568,9 +568,9 @@ vpIoTools::copy(const char *src, const char *dst)
}
else if ( vpIoTools::checkDirectory(src) ) {
//std::cout << "copy directory: " << src << " in " << dst << std::endl;
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
sprintf(cmd, "cp -p -r %s %s", src, dst);
-#elif WIN32
+#elif defined(_WIN32)
std::string src_ = vpIoTools::path(src);
std::string dst_ = vpIoTools::path(dst);
sprintf(cmd, "copy %s %s", src_.c_str(), dst_.c_str());
@@ -627,9 +627,9 @@ vpIoTools::remove(const char *file_or_dir)
else if ( vpIoTools::checkDirectory(file_or_dir) ) {
//std::cout << "remove directory: " << file_or_dir << std::endl;
char cmd[FILENAME_MAX];
-#ifdef UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
sprintf(cmd, "rm -rf %s", file_or_dir);
-#elif WIN32
+#elif defined(_WIN32)
std::string file_or_dir_ = vpIoTools::path(file_or_dir);
sprintf(cmd, "rmdir /S /Q %s", file_or_dir_.c_str());
#endif
@@ -716,7 +716,7 @@ vpIoTools::path(const char *pathname)
{
std::string path(pathname);
-#ifdef WIN32
+#if defined(_WIN32)
for(unsigned int i=0 ; i<path.length() ; i++)
if( path[i] == '/') path[i] = '\\';
#else
diff --git a/src/tools/io/vpIoTools.h b/src/tools/io/vpIoTools.h
index 1a3142f..51c7e9c 100644
--- a/src/tools/io/vpIoTools.h
+++ b/src/tools/io/vpIoTools.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpIoTools.h 4275 2013-06-25 12:35:42Z fspindle $
+ * $Id: vpIoTools.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/io/vpKeyboard.cpp b/src/tools/io/vpKeyboard.cpp
index da4fdc0..b18696e 100644
--- a/src/tools/io/vpKeyboard.cpp
+++ b/src/tools/io/vpKeyboard.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyboard.cpp 4267 2013-06-14 18:07:13Z fspindle $
+ * $Id: vpKeyboard.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -41,7 +41,7 @@
-#if ( defined(UNIX) && !defined(WIN32) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
# include <stdio.h>
# include <visp/vpKeyboard.h>
@@ -54,7 +54,7 @@
/*!
Activates the raw mode to read keys in an non blocking way.
*/
-vpKeyboard::vpKeyboard()
+vpKeyboard::vpKeyboard() : initial_settings(), new_settings()
{
init();
}
diff --git a/src/tools/io/vpKeyboard.h b/src/tools/io/vpKeyboard.h
index 844d86f..c1097ca 100644
--- a/src/tools/io/vpKeyboard.h
+++ b/src/tools/io/vpKeyboard.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyboard.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpKeyboard.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,7 +50,7 @@
#include <visp/vpConfig.h>
-#if ( defined(UNIX) && !defined(WIN32) )
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))
# include <iostream>
# include <termios.h>
diff --git a/src/tools/io/vpParallelPort.cpp b/src/tools/io/vpParallelPort.cpp
index ea1736b..7b8be9f 100644
--- a/src/tools/io/vpParallelPort.cpp
+++ b/src/tools/io/vpParallelPort.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpParallelPort.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpParallelPort.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/io/vpParallelPort.h b/src/tools/io/vpParallelPort.h
index 9dd8768..d778e40 100644
--- a/src/tools/io/vpParallelPort.h
+++ b/src/tools/io/vpParallelPort.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpParallelPort.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpParallelPort.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/io/vpParallelPortException.h b/src/tools/io/vpParallelPortException.h
index ef971f0..b1867e7 100644
--- a/src/tools/io/vpParallelPortException.h
+++ b/src/tools/io/vpParallelPortException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpParallelPortException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpParallelPortException.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -78,36 +78,31 @@
*/
class VISP_EXPORT vpParallelPortException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible errors than can be emmited while calling
vpParallelPort member
*/
- enum error
+ enum error
{
opening, /*!< Cannot access to the parallel port device. */
closing /*!< Cannot close the parallel port device. */
} ;
-public:
- vpParallelPortException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpParallelPortException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpParallelPortException (const int code)
- : vpException(code){ ; }
+ public:
+ vpParallelPortException (const int code, const char* format, ...)
+ {
+ this->code = code;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpParallelPortException (const int code, const std::string & msg)
+ : vpException(code, msg){ ; }
+ vpParallelPortException (const int code)
+ : vpException(code){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpParallelPortException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/tools/io/vpParseArgv.h b/src/tools/io/vpParseArgv.h
index 8b9e3e4..c466daa 100644
--- a/src/tools/io/vpParseArgv.h
+++ b/src/tools/io/vpParseArgv.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * $Id: vpParseArgv.h 2780 2010-09-08 08:37:15Z fspindle $
+ * $Id: vpParseArgv.h 4473 2013-09-27 16:50:44Z fspindle $
*
* Declarations for Tk-related things that are visible
* outside of the Tk module itself.
@@ -35,6 +35,7 @@
#include <visp/vpConfig.h>
+#include <visp/vpException.h>
/*!
\class vpParseArgv
diff --git a/src/tools/mutex/vpMutex.h b/src/tools/mutex/vpMutex.h
index 2dbb15e..812d2a3 100644
--- a/src/tools/mutex/vpMutex.h
+++ b/src/tools/mutex/vpMutex.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpMutex.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMutex.h 4574 2014-01-09 08:48:51Z fspindle $
*
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/plot/vpPlot.cpp b/src/tools/plot/vpPlot.cpp
index e458136..d65d4a5 100644
--- a/src/tools/plot/vpPlot.cpp
+++ b/src/tools/plot/vpPlot.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlot.cpp 4151 2013-03-11 06:52:18Z fspindle $
+ * $Id: vpPlot.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,13 +64,9 @@
Needs then a call to init().
*/
-vpPlot::vpPlot()
+vpPlot::vpPlot() : I(), display(NULL), graphNbr(1), graphList(NULL), margei(30), margej(40),
+ factori(1.f), factorj(1.)
{
- graphList = NULL;
- display = NULL;
-
- margei = 30;
- margej = 40;
}
/*!
This constructor creates a new window where the curves
@@ -82,23 +78,19 @@ vpPlot::vpPlot()
default font is set to "-adobe-times-medium-i-normal--10-100-75-75-p-52-iso8859-*".
Note that you can chose an other one using "xfontsel".
- \param graphNbr : The number of graph in the window.
+ \param graph_nbr : The number of graph in the window.
\param height : Height of the window.
\param width : Width of the window.
\param x,y : The window is set at position x,y (column index, row index).
\param title : Window title.
*/
-vpPlot::vpPlot(const unsigned int graphNbr,
+vpPlot::vpPlot(const unsigned int graph_nbr,
const unsigned int height, const unsigned int width,
const int x, const int y, const char *title)
-{
- graphList = NULL;
- display = NULL;
-
- margei = 30;
- margej = 40;
-
- init(graphNbr, height, width, x, y, title);
+ : I(), display(NULL), graphNbr(1), graphList(NULL), margei(30), margej(40),
+ factori(1.f), factorj(1.)
+{
+ init(graph_nbr, height, width, x, y, title);
}
/*!
@@ -107,13 +99,13 @@ vpPlot::vpPlot(const unsigned int graphNbr,
\warning You can modify the default window size, but this is not advised.
- \param graphNbr : The number of graph in the window.
+ \param graph_nbr : The number of graph in the window.
\param height : Height of the window.
\param width : Width of the window.
\param x,y : The window is set at position x,y (column index, row index).
\param title : Window title.
*/
-void vpPlot::init(const unsigned int graphNbr,
+void vpPlot::init(const unsigned int graph_nbr,
const unsigned int height, const unsigned int width,
const int x, const int y, const char *title)
{
@@ -138,7 +130,7 @@ void vpPlot::init(const unsigned int graphNbr,
factori = height/700.0f;
factorj = width/700.0f;
- initNbGraph(graphNbr);
+ initNbGraph(graph_nbr);
}
/*!
@@ -203,7 +195,6 @@ vpPlot::initNbGraph (unsigned int nbGraph)
strcpy(graphList[i].unitx, "");
strcpy(graphList[i].unity, "");
strcpy(graphList[i].unitz, "");
- graphList[i].textdispayed=false;
}
}
@@ -357,12 +348,11 @@ void vpPlot::plot(const unsigned int graphNum, const double x, const vpColVector
}
/*!
- This method unable to move the point of view if you have a 3D graphic.
+ This method allows to change the point of view with the mouse if you have a 3D graphic.
*/
void
vpPlot::navigate()
{
- vpImagePoint trash;
vpMouseButton::vpMouseButtonType b = vpMouseButton::button1;
bool blocked = false;
@@ -376,15 +366,15 @@ vpPlot::navigate()
vpDisplay::getPointerPosition(I,iP);
for (unsigned int i = 0; i < graphNbr ; i++)
{
- if (iP.inRectangle((graphList+i)->graphZone))
- {
- iblocked = i;
- break;
- }
+ if (iP.inRectangle((graphList+i)->graphZone))
+ {
+ iblocked = i;
+ break;
+ }
}
if ((graphList+iblocked)->move(I))
{
- (graphList+iblocked)->replot3D(I);
+ (graphList+iblocked)->replot3D(I);
}
blocked = (graphList+iblocked)->blocked;
@@ -393,7 +383,7 @@ vpPlot::navigate()
{
if ((graphList+iblocked)->move(I))
{
- (graphList+iblocked)->replot3D(I);
+ (graphList+iblocked)->replot3D(I);
}
blocked = (graphList+iblocked)->blocked;
}
diff --git a/src/tools/plot/vpPlot.h b/src/tools/plot/vpPlot.h
index 32668e3..f16bfc1 100644
--- a/src/tools/plot/vpPlot.h
+++ b/src/tools/plot/vpPlot.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlot.h 4233 2013-05-02 13:46:42Z fspindle $
+ * $Id: vpPlot.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/plot/vpPlotCurve.cpp b/src/tools/plot/vpPlotCurve.cpp
index 0106ef9..245fb40 100644
--- a/src/tools/plot/vpPlotCurve.cpp
+++ b/src/tools/plot/vpPlotCurve.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlotCurve.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPlotCurve.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,14 +50,10 @@
#include <visp/vpDisplayD3D.h>
#if defined(VISP_HAVE_DISPLAY)
-vpPlotCurve::vpPlotCurve()
+vpPlotCurve::vpPlotCurve() :
+ color(vpColor::red), curveStyle(point), thickness(1), nbPoint(0), lastPoint(),
+ pointListx(), pointListy(), pointListz(), xmin(0), xmax(0), ymin(0), ymax(0)
{
- color = vpColor::red;
- pointListx.clear();
- pointListy.clear();
- pointListz.clear();
- nbPoint = 0;
- thickness = 1 ;
}
vpPlotCurve::~vpPlotCurve()
diff --git a/src/tools/plot/vpPlotCurve.h b/src/tools/plot/vpPlotCurve.h
index 8fe6b8a..32f6eac 100644
--- a/src/tools/plot/vpPlotCurve.h
+++ b/src/tools/plot/vpPlotCurve.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlotCurve.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPlotCurve.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tools/plot/vpPlotGraph.cpp b/src/tools/plot/vpPlotGraph.cpp
index 30a8bab..cbe0d66 100644
--- a/src/tools/plot/vpPlotGraph.cpp
+++ b/src/tools/plot/vpPlotGraph.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPlotGraph.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpPlotGraph.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,41 +61,23 @@
#if defined(VISP_HAVE_DISPLAY)
+int laFonctionSansNom (const double delta);
+void getGrid3DPoint(const double pente, vpImagePoint &iPunit, vpImagePoint &ip1, vpImagePoint &ip2, vpImagePoint &ip3);
+
+
vpPlotGraph::vpPlotGraph()
+ : xorg(0.), yorg(0.), zoomx(1.), zoomy(1.), xmax(10), ymax(10), xmin(0), ymin(-10),
+ xdelt(1), ydelt(1), gridx(true), gridy(true), gridColor(), curveNbr(1), curveList(NULL),
+ scaleInitialized(false), firstPoint(true), nbDivisionx(10), nbDivisiony(10), topLeft(),
+ width(0), height(0), graphZone(), dTopLeft(), dWidth(0), dHeight(0), dGraphZone(),
+ dTopLeft3D(), dGraphZone3D(), cam(), cMo(), cMf(), w_xval(0), w_xsize(0), w_yval(0), w_ysize(0),
+ w_zval(0), w_zsize(0), ptXorg(0), ptYorg(0), ptZorg(0), zoomx_3D(1.), zoomy_3D(1.), zoomz_3D(1.),
+ nbDivisionz(10), zorg(1.), zoomz(1.), zmax(10), zmin(-10), zdelt(1), old_iPr(), old_iPz(),
+ blockedr(false), blockedz(false), blocked(false), epsi(5), epsj(6),
+ dispUnit(false), dispTitle(false), dispLegend(false), gridThickness(1)
{
- curveList = NULL;
-
gridColor.setColor(200,200,200);
- nbDivisionx = 10;
- nbDivisiony = 10;
- nbDivisionz = 10;
-
- xmax = 10;
- xmin = 0;
- ymax = 10;
- ymin = -10;
- zmax = 10;
- zmin = -10;
- xdelt = 1;
- ydelt = 1;
- zdelt = 1;
- gridx = true;
- gridy = true;
- scaleInitialized = false;
- firstPoint = true;
-
- dispUnit = false;
- dispTitle = false;
- dispLegend = false;
-
- blockedr = false;
- blockedz = false;
- blocked = false;
-
- epsi = 5;
- epsj = 6;
-
old_iPr = vpImagePoint(-1,-1);
old_iPz = vpImagePoint(-1,-1);
@@ -130,11 +112,11 @@ vpPlotGraph::initGraph (unsigned int nbCurve)
}
void
-vpPlotGraph::initSize (vpImagePoint topLeft, unsigned int width, unsigned int height, unsigned int margei, unsigned int margej)
+vpPlotGraph::initSize (vpImagePoint top_left, unsigned int w, unsigned int h, unsigned int margei, unsigned int margej)
{
- this->topLeft = topLeft;
- this->width = width;
- this->height = height;
+ this->topLeft = top_left;
+ this->width = w;
+ this->height = h;
graphZone.setTopLeft(topLeft);
graphZone.setWidth(width);
graphZone.setHeight(height);
@@ -237,36 +219,61 @@ vpPlotGraph::setCurveColor(const unsigned int curveNum, const vpColor color)
}
void
-vpPlotGraph::setTitle (const char *title)
+vpPlotGraph::setTitle (const char *title_)
{
- strcpy(this->title, title);
+ if (strlen(title_) >= 256) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the title"));
+ }
+
+ strcpy(this->title, title_);
dispTitle = true;
}
void
-vpPlotGraph::setUnitX (const char *unitx)
+vpPlotGraph::setUnitX (const char *unit_x)
{
- strcpy(this->unitx, unitx);
+ if (strlen(unit_x) >= 256) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the unit along x axis"));
+ }
+
+ strcpy(this->unitx, unit_x);
dispUnit = true;
}
void
-vpPlotGraph::setUnitY (const char *unity)
+vpPlotGraph::setUnitY (const char *unit_y)
{
- strcpy(this->unity, unity);
+ if (strlen(unit_y) >= 256) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the unit along y axis"));
+ }
+
+ strcpy(this->unity, unit_y);
dispUnit = true;
}
void
-vpPlotGraph::setUnitZ (const char *unitz)
+vpPlotGraph::setUnitZ (const char *unit_z)
{
- strcpy(this->unitz, unitz);
+ if (strlen(unit_z) >= 256) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the unit along z axis"));
+ }
+
+ strcpy(this->unitz, unit_z);
dispUnit = true;
}
void
vpPlotGraph::setLegend (const unsigned int curveNum, const char *legend)
{
+ if (strlen(legend) >= 256) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the legend"));
+ }
+
strcpy((curveList+curveNum)->legend,legend);
dispLegend = true;
}
@@ -480,12 +487,13 @@ vpPlotGraph::rescaley(unsigned int side, double extremity)
}
void
-vpPlotGraph::initScale(vpImage<unsigned char> &I, const double xmin, const double xmax, const int nbDivx, const double ymin, const double ymax, const int nbDivy, const bool gx, const bool gy)
+vpPlotGraph::initScale(vpImage<unsigned char> &I, const double x_min, const double x_max, const int nbDivx,
+ const double y_min, const double y_max, const int nbDivy, const bool gx, const bool gy)
{
- this->xmin = xmin;
- this->xmax = xmax;
- this->ymin = ymin;
- this->ymax = ymax;
+ this->xmin = x_min;
+ this->xmax = x_max;
+ this->ymin = y_min;
+ this->ymax = y_max;
this->gridx = gx;
this->gridy = gy;
this->nbDivisionx = nbDivx;
@@ -499,14 +507,16 @@ vpPlotGraph::initScale(vpImage<unsigned char> &I, const double xmin, const doubl
void
-vpPlotGraph::initScale(vpImage<unsigned char> &I, const double xmin, const double xmax, const int nbDivx, const double ymin, const double ymax, const int nbDivy, const double zmin, const double zmax, const int nbDivz, const bool gx, const bool gy)
+vpPlotGraph::initScale(vpImage<unsigned char> &I, const double x_min, const double x_max, const int nbDivx,
+ const double y_min, const double y_max, const int nbDivy,
+ const double z_min, const double z_max, const int nbDivz, const bool gx, const bool gy)
{
- this->xmin = xmin;
- this->xmax = xmax;
- this->ymin = ymin;
- this->ymax = ymax;
- this->zmin = zmin;
- this->zmax = zmax;
+ this->xmin = x_min;
+ this->xmax = x_max;
+ this->ymin = y_min;
+ this->ymax = y_max;
+ this->zmin = z_min;
+ this->zmax = z_max;
this->gridx = gx;
this->gridy = gy;
this->nbDivisionx = nbDivx;
@@ -881,7 +891,7 @@ vpPlotGraph::check3Dpoint(vpImagePoint &iP)
if (iP.get_j() <dTopLeft3D.get_j())
iP.set_j(dTopLeft3D.get_j());
else if (iP.get_j() > dTopLeft3D.get_j()+dWidth)
- iP.set_i(dTopLeft3D.get_j()+dWidth-1);
+ iP.set_j(dTopLeft3D.get_j()+dWidth-1);
return false;
}
return true;
@@ -1089,7 +1099,7 @@ vpPlotGraph::displayGrid3D (vpImage<unsigned char> &I)
vpDisplay::displayArrow(I,iP[0],iP[1], vpColor::black, gridThickness);
if (dispUnit)
{
- vpImagePoint iPunit(iP[1].get_i(),iP[1].get_j()-10*epsj);
+ iPunit.set_ij(iP[1].get_i(),iP[1].get_j()-10*epsj);
check3Dpoint (iPunit);
vpDisplay::displayCharString(I,iPunit,unitx, vpColor::black);
}
@@ -1099,7 +1109,7 @@ vpPlotGraph::displayGrid3D (vpImage<unsigned char> &I)
vpDisplay::displayArrow(I,iP[3],iP[2], vpColor::black, gridThickness);
if (dispUnit)
{
- vpImagePoint iPunit(iP[2].get_i(),iP[2].get_j()-10*epsj);
+ iPunit.set_ij(iP[2].get_i(),iP[2].get_j()-10*epsj);
check3Dpoint (iPunit);
vpDisplay::displayCharString(I,iPunit,unity, vpColor::black);
}
@@ -1109,7 +1119,7 @@ vpPlotGraph::displayGrid3D (vpImage<unsigned char> &I)
vpDisplay::displayArrow(I,iP[4],iP[5], vpColor::black, gridThickness);
if (dispUnit)
{
- vpImagePoint iPunit(iP[5].get_i(),iP[5].get_j()-10*epsj);
+ iPunit.set_ij(iP[5].get_i(),iP[5].get_j()-10*epsj);
check3Dpoint (iPunit);
vpDisplay::displayCharString(I,iPunit,unitz, vpColor::black);
}
@@ -1209,14 +1219,14 @@ vpPlotGraph::plot (vpImage<unsigned char> &I, const unsigned int curveNb, const
#if( defined VISP_HAVE_X11 || defined VISP_HAVE_GDI )
double top;
double left;
- double width;
- double height;
+ double width_;
+ double height_;
- if (iP.get_i() <= (curveList+curveNb)->lastPoint.get_i()) {top = iP.get_i()-5; height = (curveList+curveNb)->lastPoint.get_i() - top+10;}
- else {top = (curveList+curveNb)->lastPoint.get_i()-5; height = iP.get_i() - top+10;}
- if (iP.get_j() <= (curveList+curveNb)->lastPoint.get_j()) {left = iP.get_j()-5; width = (curveList+curveNb)->lastPoint.get_j() - left+10;}
- else {left = (curveList+curveNb)->lastPoint.get_j()-5; width = iP.get_j() - left+10;}
- vpDisplay::flushROI(I,vpRect(left,top,width,height));
+ if (iP.get_i() <= (curveList+curveNb)->lastPoint.get_i()) {top = iP.get_i()-5; height_ = (curveList+curveNb)->lastPoint.get_i() - top+10;}
+ else {top = (curveList+curveNb)->lastPoint.get_i()-5; height_ = iP.get_i() - top+10;}
+ if (iP.get_j() <= (curveList+curveNb)->lastPoint.get_j()) {left = iP.get_j()-5; width_ = (curveList+curveNb)->lastPoint.get_j() - left+10;}
+ else {left = (curveList+curveNb)->lastPoint.get_j()-5; width_ = iP.get_j() - left+10;}
+ vpDisplay::flushROI(I,vpRect(left,top,width_,height_));
#endif
(curveList+curveNb)->lastPoint = iP;
@@ -1368,13 +1378,13 @@ vpPlotGraph::navigation(const vpImage<unsigned char> &I, bool &changed)
if (old_iPr != vpImagePoint(-1,-1) && blockedr)
{
- double width = vpMath::minimum(I.getWidth(),I.getHeight());
+ double width_ = vpMath::minimum(I.getWidth(),I.getHeight());
double diffi = iP.get_i() - old_iPr.get_i();
double diffj = iP.get_j() - old_iPr.get_j();
- anglei = diffi*360/width;
- anglej = diffj*360/width;
+ anglei = diffi*360/width_;
+ anglej = diffj*360/width_;
mov.buildFrom(0,0,0,vpMath::rad(anglei),vpMath::rad(-anglej),0);
changed = true;
}
diff --git a/src/tools/plot/vpPlotGraph.h b/src/tools/plot/vpPlotGraph.h
index 88fb808..0e8af1e 100644
--- a/src/tools/plot/vpPlotGraph.h
+++ b/src/tools/plot/vpPlotGraph.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpPlotGraph.h 4151 2013-03-11 06:52:18Z fspindle $
+ * $Id: vpPlotGraph.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -79,7 +79,6 @@ class vpPlotGraph
char unity[256];
unsigned int curveNbr;
vpPlotCurve* curveList;
- bool textdispayed;
bool scaleInitialized;
bool firstPoint;
diff --git a/src/tools/time/vpTime.cpp b/src/tools/time/vpTime.cpp
index 8c2dcb1..e1d5adc 100644
--- a/src/tools/time/vpTime.cpp
+++ b/src/tools/time/vpTime.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTime.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTime.cpp 4622 2014-01-28 17:40:36Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,10 +56,10 @@
// Unix depend version
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <sys/time.h>
# include <unistd.h>
-#elif defined WIN32
+#elif defined(_WIN32)
# include <windows.h>
# include <winbase.h>
#endif
@@ -78,14 +78,14 @@ double vpTime::minTimeForUsleepCall = 4; /*! This time is in
/*!
- Return the time in milliseconds.
+ Return the time in milliseconds since January 1st 1970.
\sa measureTimeMicros(), measureTimeSecond()
*/
double
vpTime::measureTimeMs()
{
-#if defined(WIN32)
+#if defined(_WIN32)
LARGE_INTEGER time, frequency;
QueryPerformanceFrequency(&frequency);
if(frequency.QuadPart == 0){
@@ -95,7 +95,7 @@ vpTime::measureTimeMs()
QueryPerformanceCounter(&time);
return (double)(1000.0*time.QuadPart/frequency.QuadPart);
}
-#elif defined UNIX
+#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
struct timeval tp;
gettimeofday(&tp,0);
return(1000.0*tp.tv_sec + tp.tv_usec/1000.0);
@@ -104,14 +104,14 @@ vpTime::measureTimeMs()
/*!
- Return the time in microseconds.
+ Return the time in microseconds since January 1st 1970.
\sa measureTimeMs(), measureTimeSecond()
*/
double
vpTime::measureTimeMicros()
{
-#if defined(WIN32)
+#if defined(_WIN32)
LARGE_INTEGER time, frequency;
QueryPerformanceFrequency(&frequency);
if(frequency.QuadPart == 0){
@@ -156,11 +156,11 @@ vpTime::wait(double t0, double t)
if ( timeToWait <= 0. ) // no need to wait
return(1);
else {
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if (timeToWait > vpTime::minTimeForUsleepCall) {
usleep((unsigned long )((timeToWait-vpTime::minTimeForUsleepCall)*1000));
}
-#elif defined WIN32
+#elif defined(_WIN32)
if (timeToWait > vpTime::minTimeForUsleepCall) {
Sleep((DWORD)(timeToWait-vpTime::minTimeForUsleepCall));
}
@@ -196,11 +196,11 @@ void vpTime::wait(double t)
if ( timeToWait <= 0. ) // no need to wait
return;
else {
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
if (timeToWait > vpTime::minTimeForUsleepCall) {
usleep((unsigned long )((timeToWait-vpTime::minTimeForUsleepCall)*1000));
}
-#elif defined WIN32
+#elif defined(_WIN32)
if (timeToWait > vpTime::minTimeForUsleepCall) {
Sleep((DWORD)(timeToWait-vpTime::minTimeForUsleepCall));
}
@@ -218,7 +218,7 @@ void vpTime::wait(double t)
/*!
- Return the measured time in seconds.
+ Return the measured time in seconds since January 1st 1970.
\sa measureTimeMs()
*/
@@ -235,9 +235,9 @@ double vpTime::measureTimeSecond()
*/
void vpTime::sleepMs(double t)
{
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
usleep((unsigned long )(t*1000));
-#elif defined WIN32
+#elif defined(_WIN32)
Sleep((DWORD)(t));
#endif
}
diff --git a/src/tools/time/vpTime.h b/src/tools/time/vpTime.h
index 8460744..b21b2f1 100644
--- a/src/tools/time/vpTime.h
+++ b/src/tools/time/vpTime.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTime.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTime.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,6 +51,7 @@
*/
#include <visp/vpConfig.h>
+#include <visp/vpException.h>
/*!
\class vpTime
diff --git a/src/tools/trace/vpDebug.h b/src/tools/trace/vpDebug.h
index 03e061b..4f3970c 100644
--- a/src/tools/trace/vpDebug.h
+++ b/src/tools/trace/vpDebug.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDebug.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpDebug.h 4604 2014-01-21 14:15:23Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,7 +57,7 @@
#include <iostream>
-#ifdef WIN32
+#if defined(_WIN32)
# ifndef __FUNCTION__
# define __FUNCTION__ " "
# endif
@@ -82,21 +82,23 @@
This class is used to define the following macros:
- - Macros for tracing: vpTRACE() and vpERROR_TRACE() work like printf
- with carreer return at the end of the string. vpCERROR() et
- vpCTRACE() work like the C++ output streams std::cout and
+ - Macros for tracing: vpTRACE(), vpERROR_TRACE(), vpIN_FCT() and
+ vpOUT_FCT() work like printf
+ with carreer return at the end of the string, while vpCTRACE() and
+ vpCERROR() work like the C++ output streams std::cout and
std::cerr.
- - Macros for debuging: vpDEBUG_TRACE(niv) and vpDERROR_TRACE(niv)
- work like printf, but print only if the tracing level \e niv is
- greater than the debug level VP_DEBUG_MODE macro. vpCDEBUG(niv)
- work like the C++ output stream std::cout. vpDEBUG_ENABLE(niv) is
- equal to 1 if the debug level niv is greater than the debug mode
+ - Macros for debuging: vpDEBUG_TRACE(level) and vpDERROR_TRACE(level)
+ work like printf, but print only if the tracing level \e level is
+ greater than the debug level VP_DEBUG_MODE macro. vpCDEBUG(level)
+ work like the C++ output stream std::cout. vpDEBUG_ENABLE(level) is
+ equal to 1 if the debug level level is greater than the debug mode
VP_DEBUG_MODE, 0 else.
The example below shows how to use these macros.
\code
+#define VP_TRACE // Activate the trace mode
#define VP_DEBUG // Activate the debug mode
#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
@@ -123,7 +125,7 @@ int main()
vpDERROR_TRACE(2, "C-like error trace level 2"); // stderr
// C++-like debug printings
- vpCTRACE << "C++-like debug trace" << std::endl; // stdout
+ vpCTRACE << "C++-like trace" << std::endl; // stdout
vpCERROR << "C++-like error trace" << std::endl; // stderr
// Printing if VP_DEBUG defined and VP_DEBUG_MODE value >= 2
@@ -136,7 +138,7 @@ int main()
*/
class vpTraceOutput
{
-private:
+ private:
const char* currentFile; //Name of the file to use in the displays
const char* currentFunc; //Name of the function to use in the displays
int currentLine; //Line to use in the displays
@@ -146,7 +148,7 @@ private:
//string to display before anything else
const char* header;
-public:
+ public:
/*!
Constructor.
\param file Should be the name of the file where this constructor was called.
@@ -157,37 +159,37 @@ public:
\note Call the constructor with something like vpTraceOutput(__FILE__,__LINE__, __FUNCTION__).
*/
vpTraceOutput(const char* file, int line, const char* func, bool error=false, const char * s=NULL) :
- currentFile(file),
- currentFunc(func),
- currentLine(line),
- err(error),
- header(s)
+ currentFile(file),
+ currentFunc(func),
+ currentLine(line),
+ err(error),
+ header(s)
{}
/*!
Displays a string if the debug level is inferior to VP_DEBUG_MODE.
- \param niv Level of this message.
+ \param level Level of this message.
\param format Formating string.
*/
- void operator()(int niv, const char* format, ...)
+ void operator()(int level, const char* format, ...)
{
- //if the niv level is inferior to VP_DEBUG_MODE
- if(VP_DEBUG_MODE >= niv)
- {
- //gets the variable list of arguments
- va_list args;
- va_start(args, format);
-
- if (err)
- std::cerr << "(N" << niv << ") " ;
- else
- std::cout << "(N" << niv << ") " ;
-
- //calls display with it
- display(format, args);
-
- va_end(args);
- }
+ //if the level is inferior to VP_DEBUG_MODE
+ if(VP_DEBUG_MODE >= level)
+ {
+ //gets the variable list of arguments
+ va_list args;
+ va_start(args, format);
+
+ if (err)
+ std::cerr << "(L" << level << ") " ;
+ else
+ std::cout << "(L" << level << ") " ;
+
+ //calls display with it
+ display(format, args);
+
+ va_end(args);
+ }
}
/*!
@@ -196,18 +198,18 @@ public:
*/
void operator()(const char* format, ...)
{
- //gets the variable list of arguments
- va_list args;
- va_start(args, format);
+ //gets the variable list of arguments
+ va_list args;
+ va_start(args, format);
#ifdef VP_DEBUG
- std::cout<<"(N0) ";
+ std::cout<<"(L0) ";
#endif
- //calls display with it
- display(format, args);
+ //calls display with it
+ display(format, args);
- va_end(args);
+ va_end(args);
}
/*!
@@ -221,31 +223,31 @@ public:
*/
void display(const char* format, va_list args)
{
- //if we want to write to std::cerr/stderr
- if(err)
- {
- //first writes the header if there is one
- if(header != NULL) std::cerr<<header;
- //then writes the recorded namefile, function and line
- std::cerr << "!!\t" << currentFile << ": " <<currentFunc << "(#" << currentLine << ") :" ;
- //and finally writes the message passed to () operator.
- vfprintf (stderr, format, args);
- fprintf (stderr, "\n");
- //flushes the buffer
- fflush (stderr);
- }
- else
- {
- //first writes the header if there is one
- if(header != NULL) std::cout<<header;
- //then writes the recorded namefile, function and line
- std::cout <<currentFile << ": " << currentFunc << "(#" << currentLine << ") :" ;
- //and finally writes the message passed to () operator.
- vprintf (format, args);
- printf ("\n");
- //flushes the buffer
- fflush (stdout);
- }
+ //if we want to write to std::cerr/stderr
+ if(err)
+ {
+ //first writes the header if there is one
+ if(header != NULL) std::cerr<<header;
+ //then writes the recorded namefile, function and line
+ std::cerr << "!!\t" << currentFile << ": " <<currentFunc << "(#" << currentLine << ") : " ;
+ //and finally writes the message passed to () operator.
+ vfprintf (stderr, format, args);
+ fprintf (stderr, "\n");
+ //flushes the buffer
+ fflush (stderr);
+ }
+ else
+ {
+ //first writes the header if there is one
+ if(header != NULL) std::cout<<header;
+ //then writes the recorded namefile, function and line
+ std::cout <<currentFile << ": " << currentFunc << "(#" << currentLine << ") : " ;
+ //and finally writes the message passed to () operator.
+ vprintf (format, args);
+ printf ("\n");
+ //flushes the buffer
+ fflush (stdout);
+ }
}
};
@@ -255,11 +257,14 @@ public:
/* --- vpTRACE IN/OUT FONCTION --------------------------------------------- */
/* ------------------------------------------------------------------------- */
+#ifdef VP_TRACE // Activate the trace mode
+
/*!
\ingroup Debug
Works like vpTRACE() and should be used at the beginning of a function.
\code
+#define VP_TRACE // To activate the trace mode
#include <visp/vpDebug.h>
int main()
@@ -280,6 +285,7 @@ int main()
Works like vpTRACE() and should be used at the end of a function.
\code
+#define VP_TRACE // To activate the trace mode
#include <visp/vpDebug.h>
int main()
@@ -294,27 +300,35 @@ int main()
*/
#define vpOUT_FCT (vpTraceOutput(__FILE__,__LINE__, __FUNCTION__, false, "end "))
+#else // #ifdef VP_TRACE
+
+inline void vpIN_FCT (const char * /* a */, ...){}
+inline void vpOUT_FCT (const char * /* a */, ...){}
+#endif // #ifdef VP_TRACE
/* -------------------------------------------------------------------------- */
/* --- vpTRACE -------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
+#ifdef VP_TRACE
+
/*!
\ingroup Debug
Used to display trace messages on the standard stream (C++).
Use like this : vpCTRACE<<"my message"<<std::endl;
\code
-#define VP_DEBUG // Activate the debug mode
-#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
+#define VP_TRACE // To activate trace mode
+#define VP_DEBUG // To activate the debug mode
+#define VP_DEBUG_MODE 2 // To activate debug level 1 and 2
#include <visp/vpDebug.h>
int main()
{
// C++-like debug printings
- vpCTRACE << "C++-like debug trace" << std::endl; // stdout
+ vpCTRACE << "C++-like trace" << std::endl; // stdout
vpCERROR << "C++-like error trace" << std::endl; // stderr
// Printing if VP_DEBUG defined and VP_DEBUG_MODE value >= 2
@@ -324,7 +338,7 @@ int main()
\sa vpTRACE(), vpCERROR(), vpCDEBUG()
*/
-#define vpCTRACE std::cout << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
+#define vpCTRACE std::cout << "(L0) " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") : "
/*!
@@ -333,15 +347,16 @@ int main()
Use like this : vpCERROR<<"my message"<<std::endl;
\code
-#define VP_DEBUG // Activate the debug mode
-#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
+#define VP_TRACE // To activate trace mode
+#define VP_DEBUG // To activate the debug mode
+#define VP_DEBUG_MODE 2 // To activate debug level 1 and 2
#include <visp/vpDebug.h>
int main()
{
// C++-like debug printings
- vpCTRACE << "C++-like debug trace" << std::endl; // stdout
+ vpCTRACE << "C++-like trace" << std::endl; // stdout
vpCERROR << "C++-like error trace" << std::endl; // stderr
// Printing if VP_DEBUG defined and VP_DEBUG_MODE value >= 2
@@ -351,7 +366,7 @@ int main()
\sa vpCTRACE(), vpCDEBUG()
*/
-#define vpCERROR std::cerr << "!!\t" << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
+#define vpCERROR std::cerr << "(L0) " << "!!\t" << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") : "
/*!
\ingroup Debug
@@ -362,6 +377,7 @@ int main()
with any "printf" string.
\code
+#define VP_TRACE // To activate trace mode
#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
#include <visp/vpDebug.h>
@@ -387,6 +403,7 @@ int main()
with any "printf" string.
\code
+#define VP_TRACE // To activate trace mode
#include <visp/vpDebug.h>
int main()
@@ -400,6 +417,17 @@ int main()
*/
#define vpTRACE (vpTraceOutput( __FILE__,__LINE__, __FUNCTION__, false))
+#else // #ifdef VP_TRACE
+
+#define vpCTRACE if(false) std::cout // Warning C4127
+#define vpCERROR if(false) std::cerr // Warning C4127
+
+inline void vpERROR_TRACE (const char * /* a */, ...){}
+inline void vpERROR_TRACE (int /* level */, const char * /* a */, ...){}
+inline void vpTRACE (const char * /* a */, ...){}
+inline void vpTRACE (int /* level */, const char * /* a */, ...){}
+
+#endif // #ifdef VP_TRACE
/* ------------------------------------------------------------------------- */
/* --- VP_DEBUG ------------------------------------------------------------ */
@@ -410,7 +438,7 @@ int main()
/*!
\ingroup Debug
vpDERROR_TRACE works like printf, but prints only if the
- tracing level niv is greater than the debug level VP_DEBUG_MODE.
+ tracing level is smaller than the debug level VP_DEBUG_MODE.
\code
#define VP_DEBUG // Activate the debug mode
@@ -433,7 +461,7 @@ int main()
/*!
\ingroup Debug
vpDEBUG_TRACE works like printf, but prints only if the
- tracing level niv is greater than the debug level VP_DEBUG_MODE.
+ tracing level level is greater than the debug level VP_DEBUG_MODE.
\code
#define VP_DEBUG // Activate the debug mode
@@ -455,7 +483,7 @@ int main()
/*!
\ingroup Debug
- vpCDEBUG(niv) work like the C++ output stream std::cout.
+ vpCDEBUG(level) work like the C++ output stream std::cout.
\code
#define VP_DEBUG // Activate the debug mode
#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
@@ -465,7 +493,7 @@ int main()
int main()
{
// C++-like debug printings
- vpCTRACE << "C++-like debug trace" << std::endl; // stdout
+ vpCTRACE << "C++-like trace" << std::endl; // stdout
vpCERROR << "C++-like error trace" << std::endl; // stderr
// Printing if VP_DEBUG defined and VP_DEBUG_MODE value >= 2
@@ -475,13 +503,13 @@ int main()
\sa vpCTRACE(), vpCERROR()
*/
-#define vpCDEBUG(niv) if (VP_DEBUG_MODE < niv) ; else \
- std::cout << "(N" << niv << ") "<< __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
+#define vpCDEBUG(level) if (VP_DEBUG_MODE < level) ; else \
+ std::cout << "(L" << level << ") "<< __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") : "
/*!
\ingroup Debug
- vpDEBUG_ENABLE(niv) is equal to 1 if the debug level \e niv is greater than
+ vpDEBUG_ENABLE(level) is equal to 1 if the debug level \e level is greater than
the debug mode VP_DEBUG_MODE, 0 else.
\code
@@ -499,17 +527,19 @@ int main()
}
\endcode
*/
-#define vpDEBUG_ENABLE(niv) (VP_DEBUG_MODE >= niv)
+#define vpDEBUG_ENABLE(level) (VP_DEBUG_MODE >= level)
-#else
+#else // #ifdef VP_DEBUG
-inline void vpDERROR_TRACE(int /* niv */, const char * /* a */, ...){}
-inline void vpDEBUG_TRACE(int /* niv */, const char * /* a */, ...){}
+inline void vpDERROR_TRACE(const char * /* a */, ...){}
+inline void vpDEBUG_TRACE(const char * /* a */, ...){}
+inline void vpDERROR_TRACE(int /* level */, const char * /* a */, ...){}
+inline void vpDEBUG_TRACE(int /* level */, const char * /* a */, ...){}
-#define vpCDEBUG(niv) if(false) std::cout // Warning C4127
-#define vpDEBUG_ENABLE(niv) (false) // Warning C4127
+#define vpCDEBUG(level) if(false) std::cout // Warning C4127
+#define vpDEBUG_ENABLE(level) (false) // Warning C4127
-#endif
+#endif // #ifdef VP_DEBUG
/* -------------------------------------------------------------------------- */
/* --- DEFENSIF ------------------------------------------------------------- */
@@ -522,9 +552,3 @@ inline void vpDEBUG_TRACE(int /* niv */, const char * /* a */, ...){}
#endif /* #ifdef __DEBUG_HH */
-
-/*
- * Local variables:
- * c-basic-offset: 4
- * End:
- */
diff --git a/src/tools/xml/vpXmlParser.cpp b/src/tools/xml/vpXmlParser.cpp
index 086d9af..28a59ec 100755
--- a/src/tools/xml/vpXmlParser.cpp
+++ b/src/tools/xml/vpXmlParser.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpXmlParser.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpXmlParser.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,9 +58,8 @@
Initialise the main tag with default value.
*/
-vpXmlParser::vpXmlParser()
+vpXmlParser::vpXmlParser() : nodeMap(), main_tag("config")
{
- main_tag = "config";
}
/*!
@@ -88,6 +87,7 @@ vpXmlParser::~vpXmlParser()
\param _twin : The parser to copy.
*/
vpXmlParser::vpXmlParser(const vpXmlParser& _twin)
+ : nodeMap(), main_tag("config")
{
main_tag = _twin.main_tag;
nodeMap = _twin.nodeMap;
@@ -387,7 +387,9 @@ vpXmlParser::save(const std::string& filename, const bool append)
else{
if(!append){
xmlFreeDoc(doc);
- remove(filename.c_str());
+ if (remove(filename.c_str()) != 0)
+ throw vpException(vpException::ioError, "Cannot remove existing xml file");
+
doc = xmlNewDoc ((xmlChar*)"1.0");
root_node = xmlNewNode(NULL, (xmlChar*)main_tag.c_str());
xmlDocSetRootElement(doc, root_node);
diff --git a/src/tools/xml/vpXmlParser.h b/src/tools/xml/vpXmlParser.h
index 97c0b6e..76d6bff 100755
--- a/src/tools/xml/vpXmlParser.h
+++ b/src/tools/xml/vpXmlParser.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpXmlParser.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpXmlParser.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/dots/vpDot.cpp b/src/tracking/dots/vpDot.cpp
index b681392..1955089 100644
--- a/src/tracking/dots/vpDot.cpp
+++ b/src/tracking/dots/vpDot.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDot.cpp 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpDot.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,6 +55,10 @@
#include <visp/vpTrackingException.h>
#include <vector>
+#ifdef VISP_USE_MSVC
+# pragma comment(linker, "/STACK:256000000") // Increase max recursion depth
+#endif
+
/*
\class vpDot
\brief Track a white dot
@@ -95,9 +99,13 @@ void vpDot::init()
nbMaxPoint = 0;
}
-vpDot::vpDot() : vpTracker()
+vpDot::vpDot()
+ : m00(0.), m01(0.), m10(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), ip_connexities_list(), ip_edges_list(), connexityType(CONNEXITY_4),
+ cog(), u_min(0), u_max(0), v_min(0), v_max(0), graphics(false), thickness(1), maxDotSizePercentage(0.25),
+ gray_level_out(0), mean_gray_level(0), gray_level_min(128), gray_level_max(255), grayLevelPrecision(0.85),
+ gamma(1.5), compute_moment(false), nbMaxPoint(0)
{
- init() ;
}
/*!
@@ -105,17 +113,26 @@ vpDot::vpDot() : vpTracker()
\param ip : An image point with sub-pixel coordinates.
*/
-vpDot::vpDot(const vpImagePoint &ip) : vpTracker()
+vpDot::vpDot(const vpImagePoint &ip)
+ : m00(0.), m01(0.), m10(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), ip_connexities_list(), ip_edges_list(), connexityType(CONNEXITY_4),
+ cog(), u_min(0), u_max(0), v_min(0), v_max(0), graphics(false), thickness(1), maxDotSizePercentage(0.25),
+ gray_level_out(0), mean_gray_level(0), gray_level_min(128), gray_level_max(255), grayLevelPrecision(0.85),
+ gamma(1.5), compute_moment(false), nbMaxPoint(0)
{
- init() ;
-
cog = ip;
}
/*!
\brief Copy constructor.
*/
-vpDot::vpDot(const vpDot& d) : vpTracker()
+vpDot::vpDot(const vpDot& d)
+ : vpTracker(d),
+ m00(0.), m01(0.), m10(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), ip_connexities_list(), ip_edges_list(), connexityType(CONNEXITY_4),
+ cog(), u_min(0), u_max(0), v_min(0), v_max(0), graphics(false), thickness(1), maxDotSizePercentage(0.25),
+ gray_level_out(0), mean_gray_level(0), gray_level_min(128), gray_level_max(255), grayLevelPrecision(0.85),
+ gamma(1.5), compute_moment(false), nbMaxPoint(0)
{
*this = d ;
}
@@ -125,7 +142,6 @@ vpDot::vpDot(const vpDot& d) : vpTracker()
*/
vpDot::~vpDot()
{
-
ip_connexities_list.clear() ;
}
@@ -743,10 +759,10 @@ vpDot::initTracking(const vpImage<unsigned char>& I, const vpImagePoint &ip)
\param ip : Location of the starting point from which the dot will
be tracked in the image.
- \param gray_level_min : Minimum gray level threshold used to segment the dot;
+ \param level_min : Minimum gray level threshold used to segment the dot;
value comprised between 0 and 255.
- \param gray_level_max : Maximum gray level threshold used to segment the
+ \param level_max : Maximum gray level threshold used to segment the
dot; value comprised between 0 and 255. \e gray_level_max should be
greater than \e gray_level_min.
@@ -754,13 +770,13 @@ vpDot::initTracking(const vpImage<unsigned char>& I, const vpImagePoint &ip)
*/
void
vpDot::initTracking(const vpImage<unsigned char>& I, const vpImagePoint &ip,
- unsigned int gray_level_min, unsigned int gray_level_max)
+ unsigned int level_min, unsigned int level_max)
{
cog = ip ;
- this->gray_level_min = gray_level_min;
- this->gray_level_max = gray_level_max;
+ this->gray_level_min = level_min;
+ this->gray_level_max = level_max;
try {
track( I );
@@ -832,14 +848,14 @@ vpDot::track(const vpImage<unsigned char> &I)
\param I : Image to process.
- \param cog [out] : Sub pixel coordinate of the tracked dot.
+ \param ip [out] : Sub pixel coordinate of the tracked dot center of gravity.
*/
void
-vpDot::track(const vpImage<unsigned char> &I, vpImagePoint &cog)
+vpDot::track(const vpImage<unsigned char> &I, vpImagePoint &ip)
{
track( I ) ;
- cog = this->cog;
+ ip = this->cog;
}
/*!
@@ -847,12 +863,11 @@ vpDot::track(const vpImage<unsigned char> &I, vpImagePoint &cog)
\param I : Image.
\param color : The color used for the display.
- \param thickness : Thickness of the displayed cross located at the dot cog.
+ \param thick : Thickness of the displayed cross located at the dot cog.
*/
-void vpDot::display(const vpImage<unsigned char>& I, vpColor color,
- unsigned int thickness)
+void vpDot::display(const vpImage<unsigned char>& I, vpColor color, unsigned int thick) const
{
- vpDisplay::displayCross(I, cog, 3*thickness+8, color, thickness);
+ vpDisplay::displayCross(I, cog, 3*thickness+8, color, thick);
std::list<vpImagePoint>::const_iterator it;
for (it = ip_edges_list.begin(); it != ip_edges_list.end(); ++it)
@@ -865,7 +880,7 @@ void vpDot::display(const vpImage<unsigned char>& I, vpColor color,
Set the precision of the gray level of the dot.
- \param grayLevelPrecision : It is a double precision float which value is
+ \param precision : It is a double precision float which value is
in ]0,1]:
- 1 means full precision, whereas values close to 0 show a very bad accuracy.
- Values lower or equal to 0 are brought back to an epsion>0
@@ -878,7 +893,7 @@ void vpDot::display(const vpImage<unsigned char>& I, vpColor color,
\sa setWidth(), setHeight(), setGrayLevelMin(), setGrayLevelMax()
*/
-void vpDot::setGrayLevelPrecision( const double & grayLevelPrecision )
+void vpDot::setGrayLevelPrecision( const double & precision )
{
double epsilon = 0.05;
if( grayLevelPrecision<epsilon )
@@ -891,7 +906,7 @@ void vpDot::setGrayLevelPrecision( const double & grayLevelPrecision )
}
else
{
- this->grayLevelPrecision = grayLevelPrecision;
+ this->grayLevelPrecision = precision;
}
}
@@ -949,5 +964,13 @@ void vpDot::display(const vpImage<vpRGBa>& I,const vpImagePoint &cog,
}
}
+/*!
+ Writes the dot center of gravity coordinates in the frame (i,j) (For more details
+ about the orientation of the frame see the vpImagePoint documentation) to the stream \e os,
+ and returns a reference to the stream.
+*/
+VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot& d) {
+ return (os << "(" << d.getCog() << ")" ) ;
+} ;
diff --git a/src/tracking/dots/vpDot.h b/src/tracking/dots/vpDot.h
index bd4debb..96d0864 100644
--- a/src/tracking/dots/vpDot.h
+++ b/src/tracking/dots/vpDot.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpDot.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpDot.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,10 +54,6 @@
#include <visp/vpRect.h>
#include <visp/vpImagePoint.h>
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-# include <visp/vpList.h>
-#endif
-
#include <math.h>
#include <fstream>
#include <list>
@@ -200,7 +196,7 @@ public :
virtual ~vpDot() ;
void display(const vpImage<unsigned char>& I, vpColor color = vpColor::red,
- unsigned int thickness=1);
+ unsigned int thickness=1) const;
/*!
@@ -209,7 +205,7 @@ public :
\sa getWidth(), getHeight()
*/
- inline vpRect getBBox() {
+ inline vpRect getBBox() const {
vpRect bbox;
bbox.setRect(this->u_min,
@@ -233,7 +229,7 @@ public :
\warning Doesn't return the image points inside the dot anymore. To get those points see getConnexities().
*/
- inline std::list<vpImagePoint> getEdges() {
+ inline std::list<vpImagePoint> getEdges() const {
return this->ip_edges_list;
};
@@ -245,11 +241,11 @@ public :
This list is updated after a call to track().
*/
- inline std::list<vpImagePoint> getConnexities() {
+ inline std::list<vpImagePoint> getConnexities() const {
return this->ip_connexities_list;
};
- inline double getGamma() {return this->gamma;};
+ inline double getGamma() const {return this->gamma;};
/*!
Return the precision of the gray level of the dot. It is a double
@@ -258,13 +254,13 @@ public :
*/
double getGrayLevelPrecision() const {return grayLevelPrecision;}
- double getMaxDotSize(){
+ double getMaxDotSize() const {
return this->maxDotSizePercentage;
}
/*!
Return the mean gray level value of the dot.
*/
- double getMeanGrayLevel() {
+ double getMeanGrayLevel() const {
return (this->mean_gray_level);
};
@@ -298,22 +294,15 @@ public :
vpDot& operator =(const vpDot& d) ;
bool operator ==(const vpDot& d);
bool operator !=(const vpDot& d);
- /*!
- Writes the dot center of gravity coordinates in the frame (i,j) (For more details
- about the orientation of the frame see the vpImagePoint documentation) to the stream \e os,
- and returns a reference to the stream.
- */
- friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot& d) {
- return (os << "(" << d.getCog() << ")" ) ;
- } ;
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot& d);
void print(std::ostream& os) { os << *this << std::endl ; }
/*!
- Initialize the dot coordinates with \e cog.
+ Initialize the dot coordinates with \e ip.
*/
- inline void setCog(const vpImagePoint &cog) {
- this->cog = cog;
+ inline void setCog(const vpImagePoint &ip) {
+ this->cog = ip;
}
/*!
@@ -335,13 +324,13 @@ public :
/*!
Set the type of connexity: 4 or 8.
*/
- void setConnexity(vpConnexityType connexityType) {this->connexityType = connexityType; };
+ void setConnexity(vpConnexityType type) {this->connexityType = type; };
void setMaxDotSize(double percentage) ;
- void setGrayLevelMin( const unsigned int &gray_level_min ) {
- this->gray_level_min = gray_level_min;
+ void setGrayLevelMin( const unsigned int &level_min ) {
+ this->gray_level_min = level_min;
};
- void setGrayLevelMax( const unsigned int &gray_level_max ) {
- this->gray_level_max = gray_level_max;
+ void setGrayLevelMax( const unsigned int &level_max ) {
+ this->gray_level_max = level_max;
};
void setGrayLevelPrecision( const double & grayLevelPrecision );
@@ -364,7 +353,7 @@ public :
\sa setGraphics()
*/
- void setGraphicsThickness(unsigned int thickness) {this->thickness = thickness;};
+ void setGraphicsThickness(unsigned int t) {this->thickness = t;};
void track(const vpImage<unsigned char> & I) ;
void track(const vpImage<unsigned char> & I, vpImagePoint &ip) ;
@@ -423,45 +412,6 @@ public:
static void display(const vpImage<vpRGBa>& I,const vpImagePoint &cog,
const std::list<vpImagePoint> &edges_list, vpColor color = vpColor::red,
unsigned int thickness=1);
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- /*!
- @name Deprecated functions
- */
- /*!
-
- \deprecated This method is deprecated since the naming is not representative regarding to its functionality. \n
- Previously it returned all the points inside the dot. To get the equivalent, use getConnexities(). \n \n
- If you rather want to get the points on the dot border use getEdges().
-
- \param edges_list : The list of all the images points on the dot
- border. This list is update after a call to track().
-
- */
- vp_deprecated void getEdges(std::list<vpImagePoint> &edges_list) {
- edges_list = this->ip_edges_list;
- };
-
- /*!
-
- \deprecated This method is deprecated. You should use
- getEdges(std::list<vpImagePoint> &) instead.\n \n
- Return the list of all the image points on the dot
- border.
-
- \param connexities_list : The list of all the images points on the dot
- border. This list is update after a call to track().
-
- */
- vp_deprecated void getConnexities(vpList<vpImagePoint> &connexities_list) {
- // convert a vpList in a std::list
- connexities_list.kill();
- std::list<vpImagePoint>::const_iterator it;
- for (it = ip_connexities_list.begin(); it != ip_connexities_list.end(); ++it) {
- connexities_list += *it;
- }
- };
-#endif
} ;
#endif
diff --git a/src/tracking/dots/vpDot2.cpp b/src/tracking/dots/vpDot2.cpp
index a2bf66a..ece7b13 100644
--- a/src/tracking/dots/vpDot2.cpp
+++ b/src/tracking/dots/vpDot2.cpp
@@ -3,7 +3,7 @@
* $Id: vpDot2.cpp 2135 2009-04-29 13:51:31Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -89,7 +89,8 @@ void vpDot2::init()
ellipsoidShapePrecision = 0.65;
maxSizeSearchDistancePrecision = 0.65;
setEllipsoidBadPointsPercentage();
- m00 = m11 = m02 = m20 = m10 = m01 = 0 ;
+ m00 = m11 = m02 = m20 = m10 = m01 = 0.;
+ mu11 = mu02 = mu20 = 0.;
bbox_u_min = bbox_u_max = bbox_v_min = bbox_v_max = 0;
@@ -104,9 +105,15 @@ void vpDot2::init()
/*!
Default constructor. Just do basic default initialization.
*/
-vpDot2::vpDot2() : vpTracker()
+vpDot2::vpDot2()
+ : m00(0.), m10(0.), m01(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), cog(), width(0), height(0), surface(0),
+ gray_level_min(128), gray_level_max(255), mean_gray_level(0), grayLevelPrecision(0.8), gamma(1.5),
+ sizePrecision(0.65), ellipsoidShapePrecision(0.65), maxSizeSearchDistancePrecision(0.65),
+ allowedBadPointsPercentage_(0.), area(), direction_list(), ip_edges_list(), compute_moment(false),
+ graphics(false), thickness(1), bbox_u_min(0), bbox_u_max(0), bbox_v_min(0), bbox_v_max(0),
+ firstBorder_u(0), firstBorder_v()
{
- init();
}
/*!
@@ -117,17 +124,30 @@ vpDot2::vpDot2() : vpTracker()
\param ip : An image point with sub-pixel coordinates.
*/
-vpDot2::vpDot2(const vpImagePoint &ip) : vpTracker()
+vpDot2::vpDot2(const vpImagePoint &ip)
+ : m00(0.), m10(0.), m01(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), cog(), width(0), height(0), surface(0),
+ gray_level_min(128), gray_level_max(255), mean_gray_level(0), grayLevelPrecision(0.8), gamma(1.5),
+ sizePrecision(0.65), ellipsoidShapePrecision(0.65), maxSizeSearchDistancePrecision(0.65),
+ allowedBadPointsPercentage_(0.), area(), direction_list(), ip_edges_list(), compute_moment(false),
+ graphics(false), thickness(1), bbox_u_min(0), bbox_u_max(0), bbox_v_min(0), bbox_v_max(0),
+ firstBorder_u(0), firstBorder_v()
{
- init() ;
-
cog = ip;
}
/*!
Copy constructor.
*/
-vpDot2::vpDot2(const vpDot2& twinDot ) : vpTracker()
+vpDot2::vpDot2(const vpDot2& twinDot )
+ : vpTracker(twinDot),
+ m00(0.), m10(0.), m01(0.), m11(0.), m20(0.), m02(0.),
+ mu11(0.), mu20(0.), mu02(0.), cog(), width(0), height(0), surface(0),
+ gray_level_min(128), gray_level_max(255), mean_gray_level(0), grayLevelPrecision(0.8), gamma(1.5),
+ sizePrecision(0.65), ellipsoidShapePrecision(0.65), maxSizeSearchDistancePrecision(0.65),
+ allowedBadPointsPercentage_(0.), area(), direction_list(), ip_edges_list(), compute_moment(false),
+ graphics(false), thickness(1), bbox_u_min(0), bbox_u_max(0), bbox_v_min(0), bbox_v_max(0),
+ firstBorder_u(0), firstBorder_v()
{
*this = twinDot;
}
@@ -135,7 +155,7 @@ vpDot2::vpDot2(const vpDot2& twinDot ) : vpTracker()
/*!
= operator.
*/
-void vpDot2::operator=(const vpDot2& twinDot )
+vpDot2& vpDot2::operator=(const vpDot2& twinDot )
{
cog = twinDot.cog;
@@ -178,6 +198,8 @@ void vpDot2::operator=(const vpDot2& twinDot )
mu11 = twinDot.mu11;
mu20 = twinDot.mu20;
mu02 = twinDot.mu02;
+
+ return (*this);
}
/*!
@@ -196,12 +218,11 @@ vpDot2::~vpDot2(){}
\param I : Image.
\param color : The color used for the display.
- \param thickness : Thickness of the displayed cross located at the dot cog.
+ \param t : Thickness of the displayed cross located at the dot cog.
*/
-void vpDot2::display(const vpImage<unsigned char>& I, vpColor color,
- unsigned int thickness)
+void vpDot2::display(const vpImage<unsigned char>& I, vpColor color, unsigned int t) const
{
- vpDisplay::displayCross(I, cog, 3*thickness+8, color, thickness);
+ vpDisplay::displayCross(I, cog, 3*t+8, color, t);
std::list<vpImagePoint>::const_iterator it;
for (it = ip_edges_list.begin(); it != ip_edges_list.end(); ++it)
@@ -353,10 +374,10 @@ void vpDot2::initTracking(const vpImage<unsigned char>& I,
\param ip : Location of the starting point from which the dot will
be tracked in the image.
- \param gray_level_min : Minimum gray level threshold used to segment the dot;
+ \param gray_lvl_min : Minimum gray level threshold used to segment the dot;
value comprised between 0 and 255.
- \param gray_level_max : Maximum gray level threshold used to segment the
+ \param gray_lvl_max : Maximum gray level threshold used to segment the
dot; value comprised between 0 and 255. \e gray_level_max should be
greater than \e gray_level_min.
@@ -379,14 +400,14 @@ void vpDot2::initTracking(const vpImage<unsigned char>& I,
*/
void vpDot2::initTracking(const vpImage<unsigned char>& I,
const vpImagePoint &ip,
- unsigned int gray_level_min,
- unsigned int gray_level_max,
+ unsigned int gray_lvl_min,
+ unsigned int gray_lvl_max,
unsigned int size)
{
cog = ip ;
- this->gray_level_min = gray_level_min;
- this->gray_level_max = gray_level_max;
+ this->gray_level_min = gray_lvl_min;
+ this->gray_level_max = gray_lvl_max;
setWidth(size);
setHeight(size);
@@ -598,7 +619,7 @@ void vpDot2::track(const vpImage<unsigned char> &I)
\param I : Image to process.
- \param cog [out] : Sub pixel coordinate of the tracked dot.
+ \param ip [out] : Sub pixel coordinate of the tracked dot center of gravity.
The behavior of this method is similar to the following code:
\code
@@ -610,11 +631,11 @@ void vpDot2::track(const vpImage<unsigned char> &I)
\sa track()
*/
void
-vpDot2::track(const vpImage<unsigned char> &I, vpImagePoint &cog)
+vpDot2::track(const vpImage<unsigned char> &I, vpImagePoint &ip)
{
track(I);
- cog = this->cog;
+ ip = this->cog;
}
///// GET METHODS /////////////////////////////////////////////////////////////
@@ -642,20 +663,6 @@ double vpDot2::getHeight() const
/*!
Return the area of the dot.
- \warning This function is deprecated since it is mis named. Surface means here area.
- You should rather use getArea().
-
- The area of the dot is also given by \f$|m00|\f$.
-
- \sa getArea()
-*/
-double vpDot2::getSurface() const
-{
- return fabs(surface);
-}
-/*!
- Return the area of the dot.
-
The area of the dot is also given by \f$|m00|\f$.
*/
double vpDot2::getArea() const
@@ -724,13 +731,13 @@ double vpDot2::getDistance( const vpDot2& distantDot ) const
Set the width of the dot. This is meant to be used to search a dot in an
area.
- \param width : Width of a dot to search in a region of interest.
+ \param w : Width of a dot to search in a region of interest.
\sa setHeight(), setArea(), setSizePrecision()
*/
-void vpDot2::setWidth( const double & width )
+void vpDot2::setWidth( const double & w )
{
- this->width = width;
+ this->width = w;
}
/*!
@@ -738,50 +745,35 @@ void vpDot2::setWidth( const double & width )
Set the height of the dot. This is meant to be used to search a dot in an
area.
- \param height : Height of a dot to search in a region of interest.
+ \param h : Height of a dot to search in a region of interest.
\sa setWidth(), setArea(), setSizePrecision()
*/
-void vpDot2::setHeight( const double & height )
+void vpDot2::setHeight( const double & h )
{
- this->height = height;
+ this->height = h;
}
/*!
- Set the surface of the dot. This is meant to be used to search a dot in a region of interest.
-
- \warning This function is deprecated since it is mis named. You should rather use setArea()
-
- \param surface : Here surface means area. Area of a dot to search in a region of interest.
-
- \sa setWidth(), setHeight(), setArea(), setSizePrecision()
-
-*/
-void vpDot2::setSurface( const double & surface )
-{
- this->surface = surface;
-}
-/*!
-
Set the area of the dot. This is meant to be used to search a dot in a region of interest.
- \param area : Area of a dot to search in a region of interest.
+ \param a : Area of a dot to search in a region of interest.
\sa setWidth(), setHeight(), setSizePrecision()
*/
-void vpDot2::setArea( const double & area )
+void vpDot2::setArea( const double & a )
{
- this->surface = area;
+ this->surface = a;
}
/*!
Set the precision of the gray level of the dot.
- \param grayLevelPrecision : It is a double precision float which value is in ]0,1]:
+ \param precision : It is a double precision float which value is in ]0,1]:
- 1 means full precision, whereas values close to 0 show a very bad accuracy.
- Values lower or equal to 0 are brought back to an epsilon>0
- Values higher than 1 are brought back to 1
@@ -793,7 +785,7 @@ void vpDot2::setArea( const double & area )
\sa setGrayLevelMin(), setGrayLevelMax()
*/
-void vpDot2::setGrayLevelPrecision( const double & grayLevelPrecision )
+void vpDot2::setGrayLevelPrecision( const double & precision )
{
double epsilon = 0.05;
if( grayLevelPrecision<epsilon )
@@ -806,14 +798,14 @@ void vpDot2::setGrayLevelPrecision( const double & grayLevelPrecision )
}
else
{
- this->grayLevelPrecision = grayLevelPrecision;
+ this->grayLevelPrecision = precision;
}
}
/*!
Set the precision of the size of the dot. Used to test the validity of the dot
- \param sizePrecision : It is a double precision float which value is in [0,1]:
+ \param precision : It is a double precision float which value is in [0,1]:
- this is the limit ratio between the tested parameter and the measured one.
minSize = sizePrecision*originalSize ; maxSize = originalSize/sizePrecision ;
- 1 means full precision, whereas values close to 0 show a very bad accuracy.
@@ -823,7 +815,7 @@ void vpDot2::setGrayLevelPrecision( const double & grayLevelPrecision )
\sa setWidth(), setHeight(), setArea()
*/
-void vpDot2::setSizePrecision( const double & sizePrecision )
+void vpDot2::setSizePrecision( const double & precision )
{
if( sizePrecision<0 )
{
@@ -835,13 +827,13 @@ void vpDot2::setSizePrecision( const double & sizePrecision )
}
else
{
- this->sizePrecision = sizePrecision;
+ this->sizePrecision = precision;
}
}
/*!
Indicates if the dot should have an ellipsoid shape to be valid.
- \param ellipsoidShapePrecision : It is a double precision float which value is in [0,1]:
+ \param precision : It is a double precision float which value is in [0,1]:
- 1 means full precision, whereas values close to 0 show a very bad accuracy.
- Values lower or equal to 0 are brought back to 0.
@@ -868,7 +860,7 @@ void vpDot2::setSizePrecision( const double & sizePrecision )
\sa getEllipsoidShapePrecision()
*/
-void vpDot2::setEllipsoidShapePrecision(const double & ellipsoidShapePrecision) {
+void vpDot2::setEllipsoidShapePrecision(const double & precision) {
if( ellipsoidShapePrecision<0 )
{
@@ -880,7 +872,7 @@ void vpDot2::setEllipsoidShapePrecision(const double & ellipsoidShapePrecision)
}
else
{
- this->ellipsoidShapePrecision = ellipsoidShapePrecision;
+ this->ellipsoidShapePrecision = precision;
}
}
@@ -889,7 +881,7 @@ void vpDot2::setEllipsoidShapePrecision(const double & ellipsoidShapePrecision)
Set the precision of the search maximum distance to get the starting point on a dot border. A too low value
mean a large search area.
- \param maxSizeSearchDistancePrecision : It is a double precision float which value is in [0.05,1]:
+ \param precision : It is a double precision float which value is in [0.05,1]:
- this is the limit ratio between the tested parameter and the measured one.
distance < getWidth()/(getSizePrecision()+epsilon);
- 1 means full precision, whereas values close to 0 show a very bad accuracy.
@@ -897,7 +889,7 @@ void vpDot2::setEllipsoidShapePrecision(const double & ellipsoidShapePrecision)
- Values higher than 1 are brought back to 1.
*/
-void vpDot2::setMaxSizeSearchDistancePrecision( const double & maxSizeSearchDistancePrecision )
+void vpDot2::setMaxSizeSearchDistancePrecision( const double & precision )
{
double epsilon = 0.05;
if( maxSizeSearchDistancePrecision<epsilon )
@@ -910,7 +902,7 @@ void vpDot2::setMaxSizeSearchDistancePrecision( const double & maxSizeSearchDist
}
else
{
- this->maxSizeSearchDistancePrecision = maxSizeSearchDistancePrecision;
+ this->maxSizeSearchDistancePrecision = precision;
}
}
@@ -975,572 +967,6 @@ void
///// CLASS FUNCTIONALITY ////////////////////////////////////////////////////
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-/*!
-
- \deprecated This method is deprecated. You should use
- searchDotsInArea(vpImage<unsigned char>&, std::list<vpDot2> &) instead.\n \n
- Look for a list of dot matching this dot parameters within the entire
- image.
-
- \warning Allocates memory for the list of dots returned by this method.
- Desallocation has to be done by yourself.
-
- \param I : Image.
-
- Before calling this method, dot characteristics to found have to be set like:
-
- \code
- vpDot2 d;
-
- // Set dot characteristics for the auto detection
- d.setWidth(15.0);
- d.setHeight(12.0);
- d.setArea(124);
- d.setGrayLevelMin(164);
- d.setGrayLevelMax(255);
- d.setAccuracy(0.65);
- \endcode
-
- To search dots in the whole image:
- \code
- vpList<vpDot2> * list_d;
- list_d = d.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight()) ;
- \endcode
-
- The number of dots found in the area is given by:
- \code
- std::cout << list_d->nbElement();
- \endcode
-
- To parse all the dots:
- \code
- list_d->front();
- while (! list_d->outside()) {
- vpDot2 tmp_d;
- tmp_d = list_d->value() ; // A matching dot found in the image
- list_d->next() ;
- }
- \endcode
-
- To free memory associated to the list of dots:
- \code
- list_d->kill();
- delete list_d;
- \endcode
-
-*/
-vpList<vpDot2>* vpDot2::searchDotsInArea(const vpImage<unsigned char>& I)
-{
- vpList<vpDot2>* niceDotsVector = new vpList<vpDot2>();
-
- // To avoid a warning due to the usage of the following deprecated function
- // we duplicate the code
- {
- // niceDotsVector = searchDotsInArea( I, 0, 0, I.getWidth(), I.getHeight());
- }
- {
- // Fit the input area in the image; we keep only the common part between this
- // area and the image.
- int area_u = 0;
- int area_v = 0;
- unsigned int area_w = I.getWidth();
- unsigned int area_h = I.getHeight();
- setArea(I, area_u, area_v, area_w, area_h);
-
- // compute the size of the search grid
- unsigned int gridWidth;
- unsigned int gridHeight;
- getGridSize( gridWidth, gridHeight );
-
- if (graphics) {
- // Display the area were the dot is search
- vpDisplay::displayRectangle(I, area, vpColor::blue, false, thickness);
- //vpDisplay::flush(I);
- }
-
- // start the search loop; for all points of the search grid,
- // test if the pixel belongs to a valid dot.
- // if it is so eventually add it to the vector of valid dots.
- // vpList<vpDot2>* niceDotsVector = new vpList<vpDot2>();
- vpList<vpDot2>* badDotsVector = new vpList<vpDot2>();
-
- vpDot2* dotToTest = NULL;
- vpDot2 tmpDot;
-
- unsigned int area_u_min = (unsigned int) area.getLeft();
- unsigned int area_u_max = (unsigned int) area.getRight();
- unsigned int area_v_min = (unsigned int) area.getTop();
- unsigned int area_v_max = (unsigned int) area.getBottom();
-
- unsigned int u, v;
- vpImagePoint cogTmpDot;
-
- for( v=area_v_min ; v<area_v_max ; v=v+gridHeight )
- {
- for( u=area_u_min ; u<area_u_max ; u=u+gridWidth )
- {
- // if the pixel we're in doesn't have the right color (outside the
- // graylevel interval), no need to check futher, just get to the
- // next grid intersection.
- if( !hasGoodLevel(I, u, v) ) continue;
-
- // Test if an other germ is inside the bounding box of a dot previously
- // detected
- bool good_germ = true;
- niceDotsVector->front();
- while( !niceDotsVector->outside() && good_germ == true) {
- tmpDot = niceDotsVector->value();
-
- cogTmpDot = tmpDot.getCog();
- double u0 = cogTmpDot.get_u();
- double v0 = cogTmpDot.get_v();
- double half_w = tmpDot.getWidth() / 2.;
- double half_h = tmpDot.getHeight() / 2.;
-
- if ( u >= (u0-half_w) && u <= (u0+half_w) &&
- v >= (v0-half_h) && v <= (v0+half_h) ) {
- // Germ is in a previously detected dot
- good_germ = false;
- }
- niceDotsVector->next();
- }
-
- if (! good_germ)
- continue;
-
- // Compute the right border position for this possible germ
- unsigned int border_u;
- unsigned int border_v;
- if(findFirstBorder(I, u, v, border_u, border_v) == false){
- // germ is not good.
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- badDotsVector->front();
- #define vpBAD_DOT_VALUE (badDotsVector->value())
- vpImagePoint cogBadDot;
-
- std::list<vpImagePoint>::const_iterator it_edges;
- while( !badDotsVector->outside() && good_germ == true)
- {
- if( (double)u >= vpBAD_DOT_VALUE.bbox_u_min
- && (double)u <= vpBAD_DOT_VALUE.bbox_u_max &&
- (double)v >= vpBAD_DOT_VALUE.bbox_v_min
- && (double)v <= vpBAD_DOT_VALUE.bbox_v_max)
- {
-
- it_edges = ip_edges_list.begin();
- while (it_edges != ip_edges_list.end() && good_germ == true)
- {
- // Test if the germ belong to a previously detected dot:
- // - from the germ go right to the border and compare this
- // position to the list of pixels of previously detected dots
- cogBadDot = *it_edges;
- //if( border_u == cogBadDot.get_u() && v == cogBadDot.get_v()) {
- if( (std::fabs(border_u - cogBadDot.get_u()) <= vpMath::maximum(std::fabs((double)border_u), std::fabs(cogBadDot.get_u()))*std::numeric_limits<double>::epsilon() )
- &&
- (std::fabs(v - cogBadDot.get_v()) <= vpMath::maximum(std::fabs((double)v), std::fabs(cogBadDot.get_v()))*std::numeric_limits<double>::epsilon() ))
- {
- good_germ = false;
- }
- ++ it_edges;
- }
- }
- badDotsVector->next();
- }
- #undef vpBAD_DOT_VALUE
-
- if (! good_germ) {
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- vpTRACE(4, "Try germ (%d, %d)", u, v);
-
- vpImagePoint germ;
- germ.set_u( u );
- germ.set_v( v );
-
- // otherwise estimate the width, height and surface of the dot we
- // created, and test it.
- if( dotToTest != NULL ) delete dotToTest;
- dotToTest = getInstance();
- dotToTest->setCog( germ );
- dotToTest->setGrayLevelMin ( getGrayLevelMin() );
- dotToTest->setGrayLevelMax ( getGrayLevelMax() );
- dotToTest->setGrayLevelPrecision( getGrayLevelPrecision() );
- dotToTest->setSizePrecision( getSizePrecision() );
- dotToTest->setGraphics( graphics );
- dotToTest->setGraphicsThickness( thickness );
- dotToTest->setComputeMoments( true );
- dotToTest->setArea( area );
- dotToTest->setEllipsoidShapePrecision( ellipsoidShapePrecision );
-
- // first compute the parameters of the dot.
- // if for some reasons this caused an error tracking
- // (dot partially out of the image...), check the next intersection
- if( dotToTest->computeParameters( I ) == false ) {
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
- // if the dot to test is valid,
- if( dotToTest->isValid( I, *this ) )
- {
- vpImagePoint cogDotToTest = dotToTest->getCog();
- // Compute the distance to the center. The center used here is not the
- // area center available by area.getCenter(area_center_u,
- // area_center_v) but the center of the input area which may be
- // partially outside the image.
-
- double area_center_u = area_u + area_w/2.0 - 0.5;
- double area_center_v = area_v + area_h/2.0 - 0.5;
-
- double thisDiff_u = cogDotToTest.get_u() - area_center_u;
- double thisDiff_v = cogDotToTest.get_v() - area_center_v;
- double thisDist = sqrt( thisDiff_u*thisDiff_u + thisDiff_v*thisDiff_v);
-
- bool stopLoop = false;
- niceDotsVector->front();
-
- while( !niceDotsVector->outside() && stopLoop == false )
- {
- vpDot2 tmpDot = niceDotsVector->value();
-
- //double epsilon = 0.001; // detecte +sieurs points
- double epsilon = 3.0;
- // if the center of the dot is the same than the current
- // don't add it, test the next point of the grid
- cogTmpDot = tmpDot.getCog();
-
- if( fabs( cogTmpDot.get_u() - cogDotToTest.get_u() ) < epsilon &&
- fabs( cogTmpDot.get_v() - cogDotToTest.get_v() ) < epsilon )
- {
- stopLoop = true;
- // Jump all the pixels between v,u and v, tmpDot->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- double otherDiff_u = cogTmpDot.get_u() - area_center_u;
- double otherDiff_v = cogTmpDot.get_v() - area_center_v;
- double otherDist = sqrt( otherDiff_u*otherDiff_u +
- otherDiff_v*otherDiff_v );
-
-
- // if the distance of the curent vector element to the center
- // is greater than the distance of this dot to the center,
- // then add this dot before the current vector element.
- if( otherDist > thisDist )
- {
- niceDotsVector->addLeft( *dotToTest );
- niceDotsVector->next();
- stopLoop = true;
- // Jump all the pixels between v,u and v, tmpDot->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
- niceDotsVector->next();
- }
- vpTRACE(4, "End while (%d, %d)", u, v);
-
- // if we reached the end of the vector without finding the dot
- // or inserting it, insert it now.
- if( niceDotsVector->outside() && stopLoop == false )
- {
- niceDotsVector->end();
- niceDotsVector->addRight( *dotToTest );
- }
- }
- else {
- // Store bad dots
- badDotsVector->front();
- badDotsVector->addRight( *dotToTest );
- }
- }
- }
- if( dotToTest != NULL ) delete dotToTest;
-
- delete badDotsVector;
-
- //return niceDotsVector;
- }
-
-
- return niceDotsVector;
-
-}
-
-/*!
-
- \deprecated This method is deprecated. You should use
- searchDotsInArea(vpImage<unsigned char>&, int, int, unsigned int, unsigned int, std::list<vpDot2> &) instead.\n \n
- Look for a list of dot matching this dot parameters within a rectangle
- search area in the image. The rectangle upper-left coordinates are given by
- (\e area_u, \e area_v). The size of the rectangle is given by \e area_w and
- \e area_h.
-
- \param I : Image to process.
- \param area_u : Coordinate (column) of the upper-left area corner.
- \param area_v : Coordinate (row) of the upper-left area corner.
-
- \param area_w : Width or the area in which a dot is searched.
- \param area_h : Height or the area in which a dot is searched.
-
- \warning Allocates memory for the list of vpDot2 returned by this method.
- Desallocation has to be done by yourself, see searchDotsInArea()
-
- \sa searchDotsInArea(vpImage<unsigned char>& I)
-*/
-vpList<vpDot2>*
-vpDot2::searchDotsInArea(const vpImage<unsigned char>& I,
- int area_u,
- int area_v,
- unsigned int area_w,
- unsigned int area_h)
-
-{
- // Fit the input area in the image; we keep only the common part between this
- // area and the image.
- setArea(I, area_u, area_v, area_w, area_h);
-
- // compute the size of the search grid
- unsigned int gridWidth;
- unsigned int gridHeight;
- getGridSize( gridWidth, gridHeight );
-
- if (graphics) {
- // Display the area were the dot is search
- vpDisplay::displayRectangle(I, area, vpColor::blue, false, thickness);
- //vpDisplay::flush(I);
- }
-
- // start the search loop; for all points of the search grid,
- // test if the pixel belongs to a valid dot.
- // if it is so eventually add it to the vector of valid dots.
- vpList<vpDot2>* niceDotsVector = new vpList<vpDot2>();
- vpList<vpDot2>* badDotsVector = new vpList<vpDot2>();
-
- vpDot2* dotToTest = NULL;
- vpDot2 tmpDot;
-
- unsigned int area_u_min = (unsigned int) area.getLeft();
- unsigned int area_u_max = (unsigned int) area.getRight();
- unsigned int area_v_min = (unsigned int) area.getTop();
- unsigned int area_v_max = (unsigned int) area.getBottom();
-
- unsigned int u, v;
- vpImagePoint cogTmpDot;
-
- for( v=area_v_min ; v<area_v_max ; v=v+gridHeight )
- {
- for( u=area_u_min ; u<area_u_max ; u=u+gridWidth )
- {
- // if the pixel we're in doesn't have the right color (outside the
- // graylevel interval), no need to check futher, just get to the
- // next grid intersection.
- if( !hasGoodLevel(I, u, v) ) continue;
-
- // Test if an other germ is inside the bounding box of a dot previoulsy
- // detected
- bool good_germ = true;
- niceDotsVector->front();
- while( !niceDotsVector->outside() && good_germ == true) {
- tmpDot = niceDotsVector->value();
-
- cogTmpDot = tmpDot.getCog();
- double u0 = cogTmpDot.get_u();
- double v0 = cogTmpDot.get_v();
- double half_w = tmpDot.getWidth() / 2.;
- double half_h = tmpDot.getHeight() / 2.;
-
- if ( u >= (u0-half_w) && u <= (u0+half_w) &&
- v >= (v0-half_h) && v <= (v0+half_h) ) {
- // Germ is in a previously detected dot
- good_germ = false;
- }
- niceDotsVector->next();
- }
-
- if (! good_germ)
- continue;
-
- // Compute the right border position for this possible germ
- unsigned int border_u;
- unsigned int border_v;
- if(findFirstBorder(I, u, v, border_u, border_v) == false){
- // germ is not good.
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- badDotsVector->front();
-#define vpBAD_DOT_VALUE (badDotsVector->value())
- vpImagePoint cogBadDot;
-
- std::list<vpImagePoint>::const_iterator it_edges;
- while( !badDotsVector->outside() && good_germ == true)
- {
- if( (double)u >= vpBAD_DOT_VALUE.bbox_u_min
- && (double)u <= vpBAD_DOT_VALUE.bbox_u_max &&
- (double)v >= vpBAD_DOT_VALUE.bbox_v_min
- && (double)v <= vpBAD_DOT_VALUE.bbox_v_max)
- {
-
- it_edges = ip_edges_list.begin();
- while (it_edges != ip_edges_list.end() && good_germ == true)
- {
- // Test if the germ belong to a previously detected dot:
- // - from the germ go right to the border and compare this
- // position to the list of pixels of previously detected dots
- cogBadDot = *it_edges;
- //if( border_u == cogBadDot.get_u() && v == cogBadDot.get_v()) {
- if( (std::fabs(border_u - cogBadDot.get_u()) <= vpMath::maximum(std::fabs((double)border_u), std::fabs(cogBadDot.get_u()))*std::numeric_limits<double>::epsilon() )
- &&
- (std::fabs(v - cogBadDot.get_v()) <= vpMath::maximum(std::fabs((double)v), std::fabs(cogBadDot.get_v()))*std::numeric_limits<double>::epsilon() ))
- {
- good_germ = false;
- }
- ++ it_edges;
- }
- }
- badDotsVector->next();
- }
-#undef vpBAD_DOT_VALUE
-
- if (! good_germ) {
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- vpTRACE(4, "Try germ (%d, %d)", u, v);
-
- vpImagePoint germ;
- germ.set_u( u );
- germ.set_v( v );
-
- // otherwise estimate the width, height and surface of the dot we
- // created, and test it.
- if( dotToTest != NULL ) delete dotToTest;
- dotToTest = getInstance();
- dotToTest->setCog( germ );
- dotToTest->setGrayLevelMin ( getGrayLevelMin() );
- dotToTest->setGrayLevelMax ( getGrayLevelMax() );
- dotToTest->setGrayLevelPrecision( getGrayLevelPrecision() );
- dotToTest->setSizePrecision( getSizePrecision() );
- dotToTest->setGraphics( graphics );
- dotToTest->setGraphicsThickness( thickness );
- dotToTest->setComputeMoments( true );
- dotToTest->setArea( area );
- dotToTest->setEllipsoidShapePrecision( ellipsoidShapePrecision );
-
- // first compute the parameters of the dot.
- // if for some reasons this caused an error tracking
- // (dot partially out of the image...), check the next intersection
- if( dotToTest->computeParameters( I ) == false ) {
- // Jump all the pixels between v,u and v, dotToTest->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
- // if the dot to test is valid,
- if( dotToTest->isValid( I, *this ) )
- {
- vpImagePoint cogDotToTest = dotToTest->getCog();
- // Compute the distance to the center. The center used here is not the
- // area center available by area.getCenter(area_center_u,
- // area_center_v) but the center of the input area which may be
- // partially outside the image.
-
- double area_center_u = area_u + area_w/2.0 - 0.5;
- double area_center_v = area_v + area_h/2.0 - 0.5;
-
- double thisDiff_u = cogDotToTest.get_u() - area_center_u;
- double thisDiff_v = cogDotToTest.get_v() - area_center_v;
- double thisDist = sqrt( thisDiff_u*thisDiff_u + thisDiff_v*thisDiff_v);
-
- bool stopLoop = false;
- niceDotsVector->front();
-
- while( !niceDotsVector->outside() && stopLoop == false )
- {
- vpDot2 tmpDot = niceDotsVector->value();
-
- //double epsilon = 0.001; // detecte +sieurs points
- double epsilon = 3.0;
- // if the center of the dot is the same than the current
- // don't add it, test the next point of the grid
- cogTmpDot = tmpDot.getCog();
-
- if( fabs( cogTmpDot.get_u() - cogDotToTest.get_u() ) < epsilon &&
- fabs( cogTmpDot.get_v() - cogDotToTest.get_v() ) < epsilon )
- {
- stopLoop = true;
- // Jump all the pixels between v,u and v, tmpDot->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
-
- double otherDiff_u = cogTmpDot.get_u() - area_center_u;
- double otherDiff_v = cogTmpDot.get_v() - area_center_v;
- double otherDist = sqrt( otherDiff_u*otherDiff_u +
- otherDiff_v*otherDiff_v );
-
-
- // if the distance of the curent vector element to the center
- // is greater than the distance of this dot to the center,
- // then add this dot before the current vector element.
- if( otherDist > thisDist )
- {
- niceDotsVector->addLeft( *dotToTest );
- niceDotsVector->next();
- stopLoop = true;
- // Jump all the pixels between v,u and v, tmpDot->getFirstBorder_u()
- u = border_u;
- v = border_v;
- continue;
- }
- niceDotsVector->next();
- }
- vpTRACE(4, "End while (%d, %d)", u, v);
-
- // if we reached the end of the vector without finding the dot
- // or inserting it, insert it now.
- if( niceDotsVector->outside() && stopLoop == false )
- {
- niceDotsVector->end();
- niceDotsVector->addRight( *dotToTest );
- }
- }
- else {
- // Store bad dots
- badDotsVector->front();
- badDotsVector->addRight( *dotToTest );
- }
- }
- }
- if( dotToTest != NULL ) delete dotToTest;
-
- delete badDotsVector;
-
- return niceDotsVector;
-}
-#endif // VISP_BUILD_DEPRECATED_FUNCTIONS
-
/*!
Look for a list of dot matching this dot parameters within the entire
@@ -1795,7 +1221,7 @@ void vpDot2::searchDotsInArea(const vpImage<unsigned char>& I,
while( itnice != niceDots.end() && stopLoop == false )
{
- vpDot2 tmpDot = *itnice;
+ tmpDot = *itnice;
//double epsilon = 0.001; // detecte +sieurs points
double epsilon = 3.0;
@@ -1874,8 +1300,8 @@ void vpDot2::searchDotsInArea(const vpImage<unsigned char>& I,
*/
bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
{
- double sizePrecision = wantedDot.getSizePrecision();
- double ellipsoidShapePrecision = wantedDot.getEllipsoidShapePrecision();
+ double size_precision = wantedDot.getSizePrecision();
+ double ellipsoidShape_precision = wantedDot.getEllipsoidShapePrecision();
double epsilon = 0.001;
//
@@ -1890,20 +1316,20 @@ bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
(std::fabs(wantedDot.getHeight()) > std::numeric_limits<double>::epsilon())
&&
(std::fabs(wantedDot.getArea()) > std::numeric_limits<double>::epsilon()) )
- // if (sizePrecision!=0){
- if (std::fabs(sizePrecision) > std::numeric_limits<double>::epsilon()){
+ // if (size_precision!=0){
+ if (std::fabs(size_precision) > std::numeric_limits<double>::epsilon()){
#ifdef DEBUG
std::cout << "test size precision......................\n";
std::cout << "wanted dot: " << "w=" << wantedDot.getWidth()
<< " h=" << wantedDot.getHeight()
<< " s=" << wantedDot.getArea()
- << " precision=" << sizePrecision
+ << " precision=" << size_precision
<< " epsilon=" << epsilon << std::endl;
std::cout << "dot found: " << "w=" << getWidth()
<< " h=" << getHeight()
<< " s=" << getArea() << std::endl;
#endif
- if( ( wantedDot.getWidth()*sizePrecision-epsilon < getWidth() ) == false )
+ if( ( wantedDot.getWidth()*size_precision-epsilon < getWidth() ) == false )
{
vpDEBUG_TRACE(3, "Bad width > for dot (%g, %g)",
cog.get_u(), cog.get_v());
@@ -1913,62 +1339,62 @@ bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
return false;
}
- if( ( getWidth() < wantedDot.getWidth()/(sizePrecision+epsilon ) )== false )
+ if( ( getWidth() < wantedDot.getWidth()/(size_precision+epsilon ) )== false )
{
vpDEBUG_TRACE(3, "Bad width > for dot (%g, %g)",
cog.get_u(), cog.get_v());
#ifdef DEBUG
printf("Bad width %g > %g for dot (%g, %g)\n",
- getWidth(), wantedDot.getWidth()/(sizePrecision+epsilon),
+ getWidth(), wantedDot.getWidth()/(size_precision+epsilon),
cog.get_u(), cog.get_v());
#endif
return false;
}
- if( ( wantedDot.getHeight()*sizePrecision-epsilon < getHeight() ) == false )
+ if( ( wantedDot.getHeight()*size_precision-epsilon < getHeight() ) == false )
{
vpDEBUG_TRACE(3, "Bad height > for dot (%g, %g)",
cog.get_u(), cog.get_v());
#ifdef DEBUG
printf("Bad height %g > %g for dot (%g, %g)\n",
- wantedDot.getHeight()*sizePrecision-epsilon, getHeight(),
+ wantedDot.getHeight()*size_precision-epsilon, getHeight(),
cog.get_u(), cog.get_v());
#endif
return false;
}
- if( ( getHeight() < wantedDot.getHeight()/(sizePrecision+epsilon )) == false )
+ if( ( getHeight() < wantedDot.getHeight()/(size_precision+epsilon )) == false )
{
vpDEBUG_TRACE(3, "Bad height > for dot (%g, %g)",
cog.get_u(), cog.get_v());
#ifdef DEBUG
printf("Bad height %g > %g for dot (%g, %g)\n",
- getHeight(), wantedDot.getHeight()/(sizePrecision+epsilon),
+ getHeight(), wantedDot.getHeight()/(size_precision+epsilon),
cog.get_u(), cog.get_v());
#endif
return false;
}
- if( ( wantedDot.getArea()*(sizePrecision*sizePrecision)-epsilon < getArea() ) == false )
+ if( ( wantedDot.getArea()*(size_precision*size_precision)-epsilon < getArea() ) == false )
{
vpDEBUG_TRACE(3, "Bad surface > for dot (%g, %g)",
cog.get_u(), cog.get_v());
#ifdef DEBUG
printf("Bad surface %g > %g for dot (%g, %g)\n",
- wantedDot.getArea()*(sizePrecision*sizePrecision)-epsilon,
+ wantedDot.getArea()*(size_precision*size_precision)-epsilon,
getArea(),
cog.get_u(), cog.get_v());
#endif
return false;
}
- if( ( getArea() < wantedDot.getArea()/(sizePrecision*sizePrecision+epsilon )) == false )
+ if( ( getArea() < wantedDot.getArea()/(size_precision*size_precision+epsilon )) == false )
{
vpDEBUG_TRACE(3, "Bad surface > for dot (%g, %g)",
cog.get_u(), cog.get_v());
#ifdef DEBUG
printf("Bad surface %g < %g for dot (%g, %g)\n",
- getArea(), wantedDot.getArea()/(sizePrecision*sizePrecision+epsilon),
+ getArea(), wantedDot.getArea()/(size_precision*size_precision+epsilon),
cog.get_u(), cog.get_v());
#endif
return false;
@@ -1984,11 +1410,11 @@ bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
int nb_max_bad_points = (int)(nb_point_to_test*allowedBadPointsPercentage_);
double step_angle = 2*M_PI / nb_point_to_test;
- // if (ellipsoidShapePrecision != 0 && compute_moment) {
- if (std::fabs(ellipsoidShapePrecision) > std::numeric_limits<double>::epsilon() && compute_moment) {
+ // if (ellipsoidShape_precision != 0 && compute_moment) {
+ if (std::fabs(ellipsoidShape_precision) > std::numeric_limits<double>::epsilon() && compute_moment) {
// std::cout << "test shape precision......................\n";
// See F. Chaumette. Image moments: a general and useful set of features
- // for visual servoing. IEEE Trans. on Robotics, 20(4):713-723, Ao�t 2004.
+ // for visual servoing. IEEE Trans. on Robotics, 20(4):713-723, August 2004.
// mu11 = m11 - m00 * xg * yg = m11 - m00 * m10/m00 * m01/m00
// = m11 - m10 * m01 / m00
@@ -2015,7 +1441,7 @@ bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
a1 -= 1.0;
a2 -= 1.0;
- double innerCoef = ellipsoidShapePrecision ;
+ double innerCoef = ellipsoidShape_precision ;
unsigned int u, v;
double cog_u = this->cog.get_u();
double cog_v = this->cog.get_v();
@@ -2060,7 +1486,7 @@ bool vpDot2::isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot )
a1 += 2.0;
a2 += 2.0;
- double outCoef = 2-ellipsoidShapePrecision; //1.6;
+ double outCoef = 2-ellipsoidShape_precision; //1.6;
nb_bad_points = 0;
for( double theta=0. ; theta<2*M_PI ; theta+= step_angle ) {
u = (unsigned int) (cog_u + outCoef*(a1*cos(alpha)*cos(theta)-a2*sin(alpha)*sin(theta)));
@@ -2188,12 +1614,8 @@ vpDot2* vpDot2::getInstance()
return new vpDot2();
}
-
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
- \deprecated This method is deprecated. You should use
- getFreemanChain(std::list<unsigned int> &) instead.\n \n
Returns the list of Freeman chain code used to turn around the dot
counterclockwise.
@@ -2207,32 +1629,7 @@ vpDot2* vpDot2::getInstance()
- 6 : down
- 7 : down right
*/
-void vpDot2::getFreemanChain(vpList<unsigned int> &freeman_chain)
-{
- std::list<unsigned int>::const_iterator it;
- freeman_chain.kill();
- for (it = direction_list.begin(); it != direction_list.end(); ++it) {
- freeman_chain += *it;
- }
-}
-#endif
-
-/*!
-
- Returns the list of Freeman chain code used to turn around the dot
- counterclockwise.
-
- \return List of Freeman chain list [0, ..., 7]
- - 0 : right
- - 1 : top right
- - 2 : top
- - 3 : top left
- - 4 : left
- - 5 : down left
- - 6 : down
- - 7 : down right
-*/
-void vpDot2::getFreemanChain(std::list<unsigned int> &freeman_chain)
+void vpDot2::getFreemanChain(std::list<unsigned int> &freeman_chain) const
{
freeman_chain = direction_list;
}
@@ -2583,59 +1980,59 @@ bool
element = (element + 2) % 8; // turn right
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 1) %8 );
+ unsigned int _u1 = u;
+ unsigned int _v1 = v;
+ updateFreemanPosition( _u1, _v1, (element + 1) %8 );
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u1, _v1 )) {
element = (element + 1) % 8; // turn diag right
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, element ); // same direction
+ unsigned int _u2 = u;
+ unsigned int _v2 = v;
+ updateFreemanPosition( _u2, _v2, element ); // same direction
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u2, _v2 )) {
//element = element; // keep same dir
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 7) %8 ); // diag left
+ unsigned int _u3 = u;
+ unsigned int _v3 = v;
+ updateFreemanPosition( _u3, _v3, (element + 7) %8 ); // diag left
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u3, _v3 )) {
element = (element + 7) %8; // turn diag left
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 6) %8 ); // left
+ unsigned int _u4 = u;
+ unsigned int _v4 = v;
+ updateFreemanPosition( _u4, _v4, (element + 6) %8 ); // left
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u4, _v4 )) {
element = (element + 6) %8 ; // turn left
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 5) %8 ); // left
+ unsigned int _u5 = u;
+ unsigned int _v5 = v;
+ updateFreemanPosition( _u5, _v5, (element + 5) %8 ); // left
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u5, _v5 )) {
element = (element + 5) %8 ; // turn diag down
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 4) %8 ); // left
+ unsigned int _u6 = u;
+ unsigned int _v6 = v;
+ updateFreemanPosition( _u6, _v6, (element + 4) %8 ); // left
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u6, _v6 )) {
element = (element + 4) %8 ; // turn down
}
else {
- unsigned int _u = u;
- unsigned int _v = v;
- updateFreemanPosition( _u, _v, (element + 3) %8 ); // diag
+ unsigned int _u7 = u;
+ unsigned int _v7 = v;
+ updateFreemanPosition( _u7, _v7, (element + 3) %8 ); // diag
- if ( hasGoodLevel( I, _u, _v )) {
+ if ( hasGoodLevel( I, _u7, _v7 )) {
element = (element + 3) %8 ; // turn diag right down
}
else {
@@ -2879,16 +2276,15 @@ bool vpDot2::isInImage(const vpImage<unsigned char> &I) const
\return true if the image point \e ip is in the image and false
otherwise.
*/
-bool vpDot2::isInImage(const vpImage<unsigned char> &I,
- const vpImagePoint &ip) const
+bool vpDot2::isInImage(const vpImage<unsigned char> &I, const vpImagePoint &ip) const
{
- unsigned int height = I.getHeight();
- unsigned int width = I.getWidth();
+ unsigned int h = I.getHeight();
+ unsigned int w = I.getWidth();
double u = ip.get_u();
double v = ip.get_v();
- if( u < 0 || u >= width ) return false;
- if( v < 0 || v >= height ) return false;
+ if( u < 0 || u >= w ) return false;
+ if( v < 0 || v >= h ) return false;
return true;
}
@@ -3224,3 +2620,45 @@ void vpDot2::display(const vpImage<vpRGBa>& I,const vpImagePoint &cog,
vpDisplay::displayPoint(I, *it, color);
}
}
+
+/*!
+ Writes the dot center of gravity coordinates in the frame (i,j) (For more details
+ about the orientation of the frame see the vpImagePoint documentation) to the stream \e os,
+ and returns a reference to the stream.
+*/
+VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot2& d) {
+ return (os << "(" << d.getCog() << ")" ) ;
+} ;
+
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+/*!
+ \deprecated Return the area of the dot.
+
+ This function is deprecated since it is mis named. Surface means here area.
+ You should rather use getArea().
+
+ The area of the dot is also given by \f$|m00|\f$.
+
+ \sa getArea()
+*/
+double vpDot2::getSurface() const
+{
+ return fabs(surface);
+}
+
+/*!
+
+ \deprecated Set the surface of the dot. This is meant to be used to search a dot in a region of interest.
+
+ This function is deprecated since it is mis named. You should rather use setArea()
+
+ \param s : Here surface means area. Area of a dot to search in a region of interest.
+
+ \sa setWidth(), setHeight(), setArea(), setSizePrecision()
+
+*/
+void vpDot2::setSurface( const double & s )
+{
+ this->surface = s;
+}
+#endif
diff --git a/src/tracking/dots/vpDot2.h b/src/tracking/dots/vpDot2.h
index 6e68be8..4989a78 100644
--- a/src/tracking/dots/vpDot2.h
+++ b/src/tracking/dots/vpDot2.h
@@ -3,7 +3,7 @@
* $Id: vpDot2.h 2135 2009-04-29 13:51:31Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,10 +53,6 @@
#include <visp/vpColor.h>
#include <visp/vpImagePoint.h>
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
-# include <visp/vpList.h>
-#endif
-
#include <vector>
#include <list>
@@ -139,7 +135,7 @@ public:
static vpMatrix defineDots(vpDot2 dot[], const unsigned int &n, const std::string &dotFile, vpImage<unsigned char> &I, vpColor col = vpColor::blue, bool trackDot = true);
void display(const vpImage<unsigned char>& I, vpColor color = vpColor::red,
- unsigned int thickness=1);
+ unsigned int thickness=1) const;
double getArea() const;
/*!
@@ -149,7 +145,7 @@ public:
\sa getWidth(), getHeight()
*/
- inline vpRect getBBox() {
+ inline vpRect getBBox() const {
vpRect bbox;
bbox.setRect(this->bbox_u_min,
@@ -178,24 +174,36 @@ public:
border. This list is update after a call to track().
*/
- void getEdges(std::list<vpImagePoint> &edges_list) {
+ void getEdges(std::list<vpImagePoint> &edges_list) const {
edges_list = this->ip_edges_list;
};
/*!
+
+ Return the list of all the image points on the dot
+ border.
+
+ \return The list of all the images points on the dot
+ border. This list is update after a call to track().
+
+ */
+ std::list<vpImagePoint> getEdges() const {
+ return(this->ip_edges_list);
+ };
+ /*!
Get the percentage of sampled points that are considered non conform
in terms of the gray level on the inner and the ouside ellipses.
\sa setEllipsoidBadPointsPercentage()
*/
- double getEllipsoidBadPointsPercentage()
+ double getEllipsoidBadPointsPercentage() const
{
return allowedBadPointsPercentage_;
}
double getEllipsoidShapePrecision() const;
- void getFreemanChain(std::list<unsigned int> &freeman_chain) ;
+ void getFreemanChain(std::list<unsigned int> &freeman_chain) const;
- inline double getGamma() {return this->gamma;};
+ inline double getGamma() const {return this->gamma;};
/*!
Return the color level of pixels inside the dot.
@@ -219,29 +227,21 @@ public:
/*!
\return The mean gray level value of the dot.
*/
- double getMeanGrayLevel() {
+ double getMeanGrayLevel() const {
return (this->mean_gray_level);
};
double getSizePrecision() const;
- double getSurface() const;
double getWidth() const;
void initTracking(const vpImage<unsigned char>& I, unsigned int size = 0);
void initTracking(const vpImage<unsigned char>& I, const vpImagePoint &ip,
- unsigned int size = 0);
+ unsigned int size = 0);
void initTracking(const vpImage<unsigned char>& I, const vpImagePoint &ip,
- unsigned int gray_level_min, unsigned int gray_level_max,
- unsigned int size = 0 );
+ unsigned int gray_lvl_min, unsigned int gray_lvl_max,
+ unsigned int size = 0 );
- void operator=(const vpDot2& twinDot );
- /*!
- Writes the dot center of gravity coordinates in the frame (i,j) (For more details
- about the orientation of the frame see the vpImagePoint documentation) to the stream \e os,
- and returns a reference to the stream.
- */
- friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot2& d) {
- return (os << "(" << d.getCog() << ")" ) ;
- } ;
+ vpDot2& operator=(const vpDot2& twinDot );
+ friend VISP_EXPORT std::ostream& operator<< (std::ostream& os, vpDot2& d);
void print(std::ostream& os) { os << *this << std::endl ; }
void searchDotsInArea(const vpImage<unsigned char>& I,
@@ -252,10 +252,10 @@ public:
void setArea( const double & area );
/*!
- Initialize the dot coordinates with \e cog.
+ Initialize the dot coordinates with \e ip.
*/
- inline void setCog(const vpImagePoint &cog) {
- this->cog = cog;
+ inline void setCog(const vpImagePoint &ip) {
+ this->cog = ip;
}
/*!
@@ -315,7 +315,7 @@ public:
\sa setGraphics()
*/
- void setGraphicsThickness(unsigned int thickness) {this->thickness = thickness;};
+ void setGraphicsThickness(unsigned int t) {this->thickness = t;};
/*!
Set the color level of the dot to search a dot in a region of interest. This level will be
@@ -354,7 +354,6 @@ public:
void setHeight( const double & height );
void setMaxSizeSearchDistancePrecision(const double & maxSizeSearchDistancePrecision);
void setSizePrecision( const double & sizePrecision );
- void setSurface( const double & surface );
void setWidth( const double & width );
void track(const vpImage<unsigned char> &I);
@@ -363,6 +362,14 @@ public:
static void trackAndDisplay(vpDot2 dot[], const unsigned int &n, vpImage<unsigned char> &I,
std::vector<vpImagePoint> &cogs, vpImagePoint* cogStar = NULL);
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ /*!
+ @name Deprecated functions
+ */
+ vp_deprecated double getSurface() const;
+ vp_deprecated void setSurface( const double & surface );
+#endif
+
public:
double m00; /*!< Considering the general distribution moments for \f$ N \f$
points defined by the relation \f$ m_{ij} = \sum_{h=0}^{N}
@@ -429,37 +436,6 @@ public:
\sa setComputeMoments()
*/
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- /*!
- @name Deprecated functions
- */
- /*!
-
- \deprecated This method is deprecated. You should use
- getEdges(std::list<vpImagePoint> &) instead.\n \n
- Return the list of all the image points on the dot
- border.
-
- \param edges_list : The list of all the images points on the dot
- border. This list is update after a call to track().
-
- */
- vp_deprecated void getEdges(vpList<vpImagePoint> &edges_list) {
- // convert a vpList in a std::list
- edges_list.kill();
- std::list<vpImagePoint>::const_iterator it;
- for (it = ip_edges_list.begin(); it != ip_edges_list.end(); ++it) {
- edges_list += *it;
- }
- };
- vp_deprecated void getFreemanChain(vpList<unsigned int> &freeman_chain) ;
- vp_deprecated vpList<vpDot2>* searchDotsInArea(const vpImage<unsigned char>& I,
- int area_u, int area_v,
- unsigned int area_w, unsigned int area_h );
-
- /* vp_deprecated */ vpList<vpDot2>* searchDotsInArea(const vpImage<unsigned char>& I );
-#endif
-
private:
virtual bool isValid(const vpImage<unsigned char>& I, const vpDot2& wantedDot);
diff --git a/src/tracking/feature-builder/vpFeatureBuilder.h b/src/tracking/feature-builder/vpFeatureBuilder.h
index 0364483..004bc7b 100644
--- a/src/tracking/feature-builder/vpFeatureBuilder.h
+++ b/src/tracking/feature-builder/vpFeatureBuilder.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilder.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilder.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderEllipse.cpp b/src/tracking/feature-builder/vpFeatureBuilderEllipse.cpp
index 5618cfd..e85ad42 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderEllipse.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderEllipse.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderEllipse.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilderEllipse.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderLine.cpp b/src/tracking/feature-builder/vpFeatureBuilderLine.cpp
index dd33f74..5093da2 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderLine.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderLine.cpp 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpFeatureBuilderLine.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -184,13 +184,13 @@ void vpFeatureBuilder::create(vpFeatureLine &s,
The code below shows how to initialize a vpFeatureLine visual
feature. First, we initialize the \f$(\rho,\theta)\f$, and lastly we
- set the parameters of on equation plan which is generally the result
+ set the parameters of the plane which is generally the result
of a pose estimation.
\code
vpImage<unsigned char> I; // Image container
vpCameraParameters cam; // Default intrinsic camera parameters
- vpMeLine line; // Dot tracker
+ vpMeLine line; // Moving-edges line tracker
vpFeatureLine s; // Point feature
...
@@ -247,8 +247,8 @@ vpFeatureBuilder::create(vpFeatureLine &s,
// vpTRACE("pixel %f %f",rhop, thetap) ;
vpPixelMeterConversion::convertLine(cam,rhop,thetap, rho,theta) ;
- while (theta > M_PI) { thetap -= 2*M_PI ; }
- while (theta < -M_PI) { thetap += 2*M_PI ; }
+ while (theta > M_PI) { theta -= 2*M_PI ; }
+ while (theta < -M_PI) { theta += 2*M_PI ; }
// vpTRACE("meter %f %f",rho, theta) ;
/*
diff --git a/src/tracking/feature-builder/vpFeatureBuilderPoint.cpp b/src/tracking/feature-builder/vpFeatureBuilderPoint.cpp
index 4cb2be3..815376d 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderPoint.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilderPoint.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderPoint3D.cpp b/src/tracking/feature-builder/vpFeatureBuilderPoint3D.cpp
index 4344455..2367d43 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderPoint3D.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderPoint3D.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderPoint3D.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilderPoint3D.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderPointPolar.cpp b/src/tracking/feature-builder/vpFeatureBuilderPointPolar.cpp
index 03bc582..fddd389 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderPointPolar.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderPointPolar.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderPointPolar.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilderPointPolar.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderSegment.cpp b/src/tracking/feature-builder/vpFeatureBuilderSegment.cpp
index 22eeb27..7901bf7 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderSegment.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderSegment.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureBuilderLine.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/feature-builder/vpFeatureBuilderVanishingPoint.cpp b/src/tracking/feature-builder/vpFeatureBuilderVanishingPoint.cpp
index 135cbbf..d3d8dbb 100644
--- a/src/tracking/feature-builder/vpFeatureBuilderVanishingPoint.cpp
+++ b/src/tracking/feature-builder/vpFeatureBuilderVanishingPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureBuilderVanishingPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureBuilderVanishingPoint.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -116,8 +116,9 @@ vpFeatureBuilder::create(vpFeatureVanishingPoint &s, const vpFeatureLine &L1, co
if(fabs(theta_r-theta_l)<min || fabs(fabs(theta_r-theta_l)-M_PI)<min \
|| fabs(fabs(theta_r-theta_l)-2*M_PI)<min)
{
- vpCERROR<<"there is no vanishing point : the lines are parallel in the image plane"<<std::endl;
- throw(" ");
+ vpCERROR<<"There is no vanishing point : the lines are parallel in the image plane"<<std::endl;
+ throw(vpFeatureException(vpFeatureException::badInitializationError,
+ "There is no vanishing point : the lines are parallel in the image plane")) ;
}
y = (rho_r *c_l - rho_l * c_r) / (-s_l * c_r + s_r * c_l );
diff --git a/src/tracking/forward-projection/vpCircle.cpp b/src/tracking/forward-projection/vpCircle.cpp
index b6bebc6..f0b5fe8 100644
--- a/src/tracking/forward-projection/vpCircle.cpp
+++ b/src/tracking/forward-projection/vpCircle.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCircle.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCircle.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,14 +58,14 @@ vpCircle::init()
Set the world coordinates of the circle from the intersection of a plane and a sphere.
We mean here the coordinates of the circle in the object frame
- \param oP : oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0.
+ \param oP_ : oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0.
oP[3], oP[4], oP[5] correspond to X, Y, Z the coordinates of the center of the sphere.
oP[6] corresponds to the radius of the sphere.
*/
void
-vpCircle::setWorldCoordinates(const vpColVector& oP)
+vpCircle::setWorldCoordinates(const vpColVector& oP_)
{
- this->oP = oP ;
+ this->oP = oP_ ;
}
/*!
@@ -106,16 +106,16 @@ vpCircle::vpCircle()
/*!
Construct the circle from the intersection of a plane and a sphere.
- \param oP : oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0.
+ \param oP_ : oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0.
oP[3], oP[4], oP[5] correspond to X, Y, Z the coordinates of the center of the sphere.
oP[6] corresponds to the radius of the sphere.
\sa setWorldCoordinates()
*/
-vpCircle::vpCircle(const vpColVector& oP)
+vpCircle::vpCircle(const vpColVector& oP_)
{
init() ;
- setWorldCoordinates(oP) ;
+ setWorldCoordinates(oP_) ;
}
/*!
@@ -157,23 +157,21 @@ vpCircle::projection()
projection(cP,p) ;
}
-//! perspective projection of the circle
+//! Perspective projection of the circle.
void
-vpCircle::projection(const vpColVector &cP, vpColVector &p)
+vpCircle::projection(const vpColVector &cP_, vpColVector &p_)
{
-
vpColVector K(6) ;
-
{
- double A = cP[0] ;
- double B = cP[1] ;
- double C = cP[2] ;
+ double A = cP_[0] ;
+ double B = cP_[1] ;
+ double C = cP_[2] ;
- double X0 = cP[3] ;
- double Y0 = cP[4] ;
- double Z0 = cP[5] ;
+ double X0 = cP_[3] ;
+ double Y0 = cP_[4] ;
+ double Z0 = cP_[5] ;
- double r = cP[6];
+ double r = cP_[6];
// projection
double s = X0*X0 + Y0*Y0 + Z0*Z0 - r*r ;
@@ -196,10 +194,8 @@ vpCircle::projection(const vpColVector &cP, vpColVector &p)
vpERROR_TRACE("division par 0") ;
throw(vpException(vpException::divideByZeroError,
"division par 0")) ;
-
}
-
double xc = (K[1]*K[3]-K[2]*K[4])/det;
double yc = (K[0]*K[4]-K[2]*K[3])/det;
@@ -243,16 +239,16 @@ vpCircle::projection(const vpColVector &cP, vpColVector &p)
double m11 = (vpMath::sqr(A) - vpMath::sqr(B)) *E / det ;
double m02 = (vpMath::sqr(B) + vpMath::sqr(A*E)) / det ;
- p[0] = xc ;
- p[1] = yc ;
- p[2] = m20 ;
- p[3] = m11 ;
- p[4] = m02 ;
+ p_[0] = xc ;
+ p_[1] = yc ;
+ p_[2] = m20 ;
+ p_[3] = m11 ;
+ p_[4] = m02 ;
}
//! perspective projection of the circle
void
-vpCircle::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
+vpCircle::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP_)
{
double A,B,C ;
@@ -266,15 +262,15 @@ vpCircle::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
Z0 = cMo[2][3] + cMo[2][0]*oP[3] + cMo[2][1]*oP[4] + cMo[2][2]*oP[5];
double R = oP[6] ;
- cP[0] = A ;
- cP[1] = B ;
- cP[2] = C ;
+ cP_[0] = A ;
+ cP_[1] = B ;
+ cP_[2] = C ;
- cP[3] = X0 ;
- cP[4] = Y0 ;
- cP[5] = Z0 ;
+ cP_[3] = X0 ;
+ cP_[4] = Y0 ;
+ cP_[5] = Z0 ;
- cP[6] = R ;
+ cP_[6] = R ;
// vpTRACE("_cP :") ; std::cout << _cP.t() ;
diff --git a/src/tracking/forward-projection/vpCircle.h b/src/tracking/forward-projection/vpCircle.h
index 523bd66..3dbba40 100644
--- a/src/tracking/forward-projection/vpCircle.h
+++ b/src/tracking/forward-projection/vpCircle.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCircle.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCircle.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/forward-projection/vpCylinder.cpp b/src/tracking/forward-projection/vpCylinder.cpp
index 057b9dd..6fe38e5 100644
--- a/src/tracking/forward-projection/vpCylinder.cpp
+++ b/src/tracking/forward-projection/vpCylinder.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCylinder.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCylinder.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,7 +58,7 @@ vpCylinder::init()
Set the cylinder parameters \f$^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)\f$
expressed in the world frame.
- \param oP : Vector of parameters \f$^{o}{\bf P}\f$.
+ \param o_P : Vector of parameters \f$^{o}{\bf P}\f$.
\code
vpCylinder cylinder;
@@ -74,9 +74,9 @@ vpCylinder::init()
\endcode
*/
void
-vpCylinder::setWorldCoordinates(const vpColVector& oP)
+vpCylinder::setWorldCoordinates(const vpColVector& o_P)
{
- this->oP = oP ;
+ this->oP = o_P ;
}
/*!
@@ -115,7 +115,7 @@ vpCylinder::vpCylinder()
Create and initialize a cylinder with parameters \f$^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)\f$
expressed in the world frame.
- \param oP : Vector of parameters \f$^{o}{\bf P}\f$.
+ \param o_P : Vector of parameters \f$^{o}{\bf P}\f$.
\code
vpCylinder cylinder;
@@ -131,10 +131,10 @@ vpCylinder::vpCylinder()
\endcode
\sa setWorldCoordinates(const vpColVector&)
*/
-vpCylinder::vpCylinder(const vpColVector& oP)
+vpCylinder::vpCylinder(const vpColVector& o_P)
{
init() ;
- setWorldCoordinates(oP) ;
+ setWorldCoordinates(o_P) ;
}
/*!
@@ -198,8 +198,8 @@ vpCylinder::projection()
From the parameters of the cylinder in the camera frame \f$c{\bf P}\f$, compute the perspective
projection of the cylinder in the image plane.
- \param cP [in] : Cylinder parameters in the camera frame.
- \param p [out] : Parameters of the cylinder in the image plane obtained by perspective projection.
+ \param cP_ [in] : Cylinder parameters in the camera frame.
+ \param p_ [out] : Parameters of the cylinder in the image plane obtained by perspective projection.
\exception vpException::fatalError : The camera is inside the cylinder.
@@ -220,7 +220,7 @@ vpCylinder::projection()
\sa projection()
*/
void
-vpCylinder::projection(const vpColVector &cP, vpColVector &p)
+vpCylinder::projection(const vpColVector &cP_, vpColVector &p_)
{
//calcul de la scene 2-D
@@ -228,13 +228,13 @@ vpCylinder::projection(const vpColVector &cP, vpColVector &p)
double A,B,C, X0, Y0, Z0, R ;
double s, a, b, c, zero;
- A = cP[0] ;
- B = cP[1] ;
- C = cP[2] ;
- X0 = cP[3] ;
- Y0 = cP[4] ;
- Z0 = cP[5] ;
- R= cP[6] ;
+ A = cP_[0] ;
+ B = cP_[1] ;
+ C = cP_[2] ;
+ X0 = cP_[3] ;
+ Y0 = cP_[4] ;
+ Z0 = cP_[5] ;
+ R= cP_[6] ;
zero = A*X0 + B*Y0 + C*Z0; // should be zero for a good reprensetation of the cylinder
s = X0*X0 + Y0*Y0 + Z0*Z0 - R*R - zero*zero;
@@ -255,8 +255,8 @@ vpCylinder::projection(const vpColVector &cP, vpColVector &p)
co = R*a*s-x0;
si = R*b*s-y0;
e = sqrt(co*co + si*si);
- p[0] = -(R*c*s-z0)/e ; // rho1
- p[1] = atan2(si,co) ; // theta 1
+ p_[0] = -(R*c*s-z0)/e ; // rho1
+ p_[1] = atan2(si,co) ; // theta 1
// while (p[1] > M_PI/2) { p[1] -= M_PI ; p[0] *= -1 ; }
// while (p[1] < -M_PI/2) { p[1] += M_PI ; p[0] *= -1 ; }
@@ -265,8 +265,8 @@ vpCylinder::projection(const vpColVector &cP, vpColVector &p)
co = R*a*s+x0;
si = R*b*s+y0;
e = sqrt(co*co + si*si);
- p[2] = -( R*c*s+z0 )/e ; //rho2
- p[3] = atan2( si,co ) ; //theta2
+ p_[2] = -( R*c*s+z0 )/e ; //rho2
+ p_[3] = atan2( si,co ) ; //theta2
// while (p[3] > M_PI/2) { p[3] -= M_PI ; p[2] *= -1 ; }
@@ -294,12 +294,12 @@ vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo)
the cylinder parameters \f$^{c}{\bf P}\f$ expressed in the camera frame.
\param cMo : Camera to world frame transformation.
- \param cP [out] : Parameters \f$^{c}{\bf P}\f$ expressed in the camera frame.
+ \param cP_ [out] : Parameters \f$^{c}{\bf P}\f$ expressed in the camera frame.
\sa changeFrame(const vpHomogeneousMatrix &)
*/
void
-vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
+vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP_)
{
double X1, Y1, Z1;
double X2, Y2, Z2;
@@ -322,9 +322,9 @@ vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
c = Z1 / s;
// set axis coordinates in camera frame
- cP[0] = a ;
- cP[1] = b ;
- cP[2] = c ;
+ cP_[0] = a ;
+ cP_[1] = b ;
+ cP_[2] = c ;
X2 = cMo[0][3] + cMo[0][0]*oX0 + cMo[0][1]*oY0 + cMo[0][2]*oZ0;
Y2 = cMo[1][3] + cMo[1][0]*oX0 + cMo[1][1]*oY0 + cMo[1][2]*oZ0;
@@ -332,9 +332,9 @@ vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
// adding the constraint X0 is the nearest point to the origin (A^T . X0 = 0)
// using the projection operator (I - AA^T) orthogonal to A
- cP[3] = (1-a*a)*X2 - a*b*Y2 - a*c*Z2;
- cP[4] = -a*b*X2 + (1-b*b)*Y2 - b*c*Z2;
- cP[5] = -a*c*X2 - b*c*Y2 + (1-c*c)*Z2;
+ cP_[3] = (1-a*a)*X2 - a*b*Y2 - a*c*Z2;
+ cP_[4] = -a*b*X2 + (1-b*b)*Y2 - b*c*Z2;
+ cP_[5] = -a*c*X2 - b*c*Y2 + (1-c*c)*Z2;
/* old version for the same onstraint
if ( fabs(a) > 0.25 )
@@ -385,7 +385,7 @@ vpCylinder::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
}
*/
//radius
- cP[6] = oP[6] ;
+ cP_[6] = oP[6] ;
}
diff --git a/src/tracking/forward-projection/vpCylinder.h b/src/tracking/forward-projection/vpCylinder.h
index 384f33c..e8f0ebb 100644
--- a/src/tracking/forward-projection/vpCylinder.h
+++ b/src/tracking/forward-projection/vpCylinder.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpCylinder.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpCylinder.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/forward-projection/vpForwardProjection.cpp b/src/tracking/forward-projection/vpForwardProjection.cpp
index b276704..d1c30f3 100644
--- a/src/tracking/forward-projection/vpForwardProjection.cpp
+++ b/src/tracking/forward-projection/vpForwardProjection.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpForwardProjection.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpForwardProjection.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/forward-projection/vpForwardProjection.h b/src/tracking/forward-projection/vpForwardProjection.h
index e030c05..6b4a8ea 100644
--- a/src/tracking/forward-projection/vpForwardProjection.h
+++ b/src/tracking/forward-projection/vpForwardProjection.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpForwardProjection.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpForwardProjection.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -225,6 +225,8 @@ public:
private:
vpForwardProjectionDeallocatorType deallocate ;
public:
+ vpForwardProjection() : oP(), deallocate(user) {}
+
void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d ; }
vpForwardProjectionDeallocatorType getDeallocate() { return deallocate ; }
} ;
diff --git a/src/tracking/forward-projection/vpLine.cpp b/src/tracking/forward-projection/vpLine.cpp
index f4e0825..1b10384 100644
--- a/src/tracking/forward-projection/vpLine.cpp
+++ b/src/tracking/forward-projection/vpLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLine.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLine.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -124,19 +124,19 @@ vpLine::setWorldCoordinates(const double &A1, const double &B1,
\f[ A2 X + B2 Y + C2 Z +D2 = 0 \f]
Here \f$ (X, Y, Z) \f$ are the 3D coordinates in the object frame.
- \param oP : The column vector which contains the eight parameters
+ \param oP_ : The column vector which contains the eight parameters
needed to define the equations of the two planes in the object
frame. \f[ oP = \left[\begin{array}{c}A1 \\ B1 \\ C1 \\ D1 \\ A2 \\
B2 \\ C2 \\ D2 \end{array}\right] \f]
*/
void
-vpLine::setWorldCoordinates(const vpColVector &oP)
+vpLine::setWorldCoordinates(const vpColVector &oP_)
{
- if (oP.getRows() != 8)
+ if (oP_.getRows() != 8)
throw vpException(vpException::dimensionError, "Size of oP is not equal to 8 as it should be");
- this->oP = oP ;
+ this->oP = oP_ ;
}
@@ -226,18 +226,18 @@ vpLine::projection()
image plane parameters \f$p=(\rho , \theta)\f$ are updated in
output.
- \param cP : The vector containing the line features relative to the
+ \param cP_ : The vector containing the line features relative to the
camera frame. \f[ cP = \left[\begin{array}{c}A1 \\ B1 \\ C1 \\ D1
\\ A2 \\ B2 \\ C2 \\ D2 \end{array}\right] \f]
- \param p : The vector which contains the 2D line features expressed
+ \param p_ : The vector which contains the 2D line features expressed
in the image plane. \f[ p = \left[\begin{array}{c} \rho \\ \theta
\end{array}\right] \f]
\exception vpException::fatalError : Degenerate case, the image of the straight line is a point.
*/
void
-vpLine::projection(const vpColVector &cP, vpColVector &p)
+vpLine::projection(const vpColVector &cP_, vpColVector &p_)
{
//projection
@@ -246,15 +246,15 @@ vpLine::projection(const vpColVector &cP, vpColVector &p)
double A1, A2, B1, B2, C1, C2, D1, D2;
- A1=cP[0] ;
- B1=cP[1] ;
- C1=cP[2] ;
- D1=cP[3] ;
+ A1=cP_[0] ;
+ B1=cP_[1] ;
+ C1=cP_[2] ;
+ D1=cP_[3] ;
- A2=cP[4] ;
- B2=cP[5] ;
- C2=cP[6] ;
- D2=cP[7] ;
+ A2=cP_[4] ;
+ B2=cP_[5] ;
+ C2=cP_[6] ;
+ D2=cP_[7] ;
double a, b, c, s;
a = A2*D1 - A1*D2;
@@ -274,8 +274,8 @@ vpLine::projection(const vpColVector &cP, vpColVector &p)
if (p.getRows() != 2)
p.resize(2);
- p[0] = rho ;
- p[1] = theta ;
+ p_[0] = rho ;
+ p_[1] = theta ;
}
@@ -336,7 +336,7 @@ vpLine::changeFrame(const vpHomogeneousMatrix &cMo)
\param cMo : The homogeneous matrix relative to the pose
between the desired frame and the object frame.
- \param cP : The vector which will contain the parameters of the two
+ \param cP_ : The vector which will contain the parameters of the two
planes in the camera frame. \f[ cP =
\left[\begin{array}{c}A1 \\ B1 \\ C1 \\ D1 \\ A2 \\ B2 \\ C2 \\ D2
\end{array}\right] \f]
@@ -363,7 +363,7 @@ vpLine::changeFrame(const vpHomogeneousMatrix &cMo)
*/
void
-vpLine::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
+vpLine::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP_)
{
double a1, a2, b1, b2, c1, c2, d1, d2;
@@ -424,10 +424,10 @@ vpLine::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
// Constraint A1^2 + B1^2 + C1^2 = 1
d1 = 1.0/sqrt(a1*a1 + b1*b1 + c1*c1);
- cP[0] = A1 = a1*d1 ;
- cP[1] = B1 = b1*d1 ;
- cP[2] = C1 = c1*d1 ;
- cP[3] = D1 = 0 ;
+ cP_[0] = A1 = a1*d1 ;
+ cP_[1] = B1 = b1*d1 ;
+ cP_[2] = C1 = c1*d1 ;
+ cP_[3] = D1 = 0 ;
// Constraint A1 A2 + B1 B2 + C1 C2 = 0 (P2 orthogonal to P1)
// N2_new = (N1 x N2) x N1_new
@@ -458,10 +458,10 @@ vpLine::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
// vpERROR_TRACE("A1 B1 C1 D1 %f %f %f %f ", A1, B1, C1, D1) ;
// vpERROR_TRACE("A2 B2 C2 D2 %f %f %f %f ", A2, B2, C2, D2) ;
- cP[4] = A2;
- cP[5] = B2;
- cP[6] = C2;
- cP[7] = D2;
+ cP_[4] = A2;
+ cP_[5] = B2;
+ cP_[6] = C2;
+ cP_[7] = D2;
// in case of verification
/*
diff --git a/src/tracking/forward-projection/vpLine.h b/src/tracking/forward-projection/vpLine.h
index 3c81a28..780a1a0 100644
--- a/src/tracking/forward-projection/vpLine.h
+++ b/src/tracking/forward-projection/vpLine.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpLine.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpLine.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/forward-projection/vpPoint.cpp b/src/tracking/forward-projection/vpPoint.cpp
index 800a936..5c7e2dc 100644
--- a/src/tracking/forward-projection/vpPoint.cpp
+++ b/src/tracking/forward-projection/vpPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpPoint.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -286,7 +286,7 @@ vpPoint::display(const vpImage<vpRGBa> &I,
vpFeatureDisplay::displayPoint(_p[0],_p[1], cam, I, color, thickness) ;
}
-std::ostream& operator<<(std::ostream& os, vpPoint& /* vpp */)
+VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpPoint& /* vpp */)
{
return( os<<"vpPoint" );
}
diff --git a/src/tracking/forward-projection/vpPoint.h b/src/tracking/forward-projection/vpPoint.h
index 064d3fc..ebe0a83 100644
--- a/src/tracking/forward-projection/vpPoint.h
+++ b/src/tracking/forward-projection/vpPoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpPoint.h 4089 2013-02-04 08:17:31Z fspindle $
+ * $Id: vpPoint.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/forward-projection/vpSphere.cpp b/src/tracking/forward-projection/vpSphere.cpp
index 4d08a87..4e380e4 100644
--- a/src/tracking/forward-projection/vpSphere.cpp
+++ b/src/tracking/forward-projection/vpSphere.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSphere.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSphere.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,9 +55,9 @@ vpSphere::init()
}
void
-vpSphere::setWorldCoordinates(const vpColVector& oP)
+vpSphere::setWorldCoordinates(const vpColVector& oP_)
{
- this->oP = oP ;
+ this->oP = oP_ ;
}
void
@@ -78,10 +78,10 @@ vpSphere::vpSphere()
}
-vpSphere::vpSphere(const vpColVector& oP)
+vpSphere::vpSphere(const vpColVector& oP_)
{
init() ;
- setWorldCoordinates(oP) ;
+ setWorldCoordinates(oP_) ;
}
vpSphere::vpSphere(const double X0, const double Y0,
@@ -103,9 +103,9 @@ vpSphere::projection()
projection(cP,p) ;
}
-//! perspective projection of the circle
+//! Perspective projection of the circle.
void
-vpSphere::projection(const vpColVector &cP, vpColVector &p)
+vpSphere::projection(const vpColVector &cP_, vpColVector &p_)
{
double x0, y0, z0; //variables intermediaires
// double k0, k1, k2, k3, k4; //variables intermediaires
@@ -113,12 +113,11 @@ vpSphere::projection(const vpColVector &cP, vpColVector &p)
//calcul des parametres M20, M11, M02 de l'ellipse
double s, a, b, r, e; //variables intermediaires
- r = cP[3];
-
- x0 = cP[0] ;
- y0 = cP[1] ;
- z0 = cP[2] ;
+ r = cP_[3];
+ x0 = cP_[0] ;
+ y0 = cP_[1] ;
+ z0 = cP_[2] ;
s = r*r - y0*y0 -z0*z0;
@@ -133,8 +132,8 @@ vpSphere::projection(const vpColVector &cP, vpColVector &p)
vpERROR_TRACE("sphere derriere le plan image\n");
}
- p[0] = x0*z0/s ; //x
- p[1] = y0*z0/s ; //y
+ p_[0] = x0*z0/s ; //x
+ p_[1] = y0*z0/s ; //y
if (fabs(x0) > 1e-6)
{
@@ -167,14 +166,13 @@ vpSphere::projection(const vpColVector &cP, vpColVector &p)
B = r*sqrt(y0*y0+z0*z0-r*r)/s;
}
- p[2] = ( A*A + B*B * E*E) / (1.0 + E*E); // mu20
- p[3] = ( A*A - B*B) * E / (1.0 + E*E); // mu11
- p[4] = ( B*B + A*A * E*E) / (1.0 + E*E); // mu02
+ p_[2] = ( A*A + B*B * E*E) / (1.0 + E*E); // mu20
+ p_[3] = ( A*A - B*B) * E / (1.0 + E*E); // mu11
+ p_[4] = ( B*B + A*A * E*E) / (1.0 + E*E); // mu02
// vpERROR_TRACE(" %f",r) ;
// std::cout << p.t() ;
-
}
//! perspective projection of the circle
void
@@ -183,25 +181,21 @@ vpSphere::changeFrame(const vpHomogeneousMatrix &cMo)
changeFrame(cMo,cP) ;
}
-//! perspective projection of the circle
+//! Perspective projection of the circle.
void
-vpSphere::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
+vpSphere::changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP_)
{
-
double x0, y0, z0; //variables intermediaires
-
x0 = cMo[0][0]*oP[0] + cMo[0][1]*oP[1] + cMo[0][2]*oP[2] + cMo[0][3];
y0 = cMo[1][0]*oP[0] + cMo[1][1]*oP[1] + cMo[1][2]*oP[2] + cMo[1][3];
z0 = cMo[2][0]*oP[0] + cMo[2][1]*oP[1] + cMo[2][2]*oP[2] + cMo[2][3];
- cP[3] = oP[3];
-
- cP[0] = x0 ;
- cP[1] = y0 ;
- cP[2] = z0 ;
-
+ cP_[3] = oP[3];
+ cP_[0] = x0 ;
+ cP_[1] = y0 ;
+ cP_[2] = z0 ;
}
//! for memory issue (used by the vpServo class only)
diff --git a/src/tracking/forward-projection/vpSphere.h b/src/tracking/forward-projection/vpSphere.h
index 7eb51a8..dfef7c9 100644
--- a/src/tracking/forward-projection/vpSphere.h
+++ b/src/tracking/forward-projection/vpSphere.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpSphere.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpSphere.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/general-tracking-issues/vpTracker.cpp b/src/tracking/general-tracking-issues/vpTracker.cpp
index 3e90e10..4e37571 100644
--- a/src/tracking/general-tracking-issues/vpTracker.cpp
+++ b/src/tracking/general-tracking-issues/vpTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTracker.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTracker.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,12 +58,9 @@ vpTracker::init()
-vpTracker::vpTracker()
-{
- init() ;
-}
+vpTracker::vpTracker() : p(), cP(), cPAvailable(false) {}
-vpTracker::vpTracker(const vpTracker &tracker)
+vpTracker::vpTracker(const vpTracker &tracker) : p(), cP(), cPAvailable(false)
{
*this = tracker;
}
diff --git a/src/tracking/general-tracking-issues/vpTracker.h b/src/tracking/general-tracking-issues/vpTracker.h
index 147136e..3acc3b7 100644
--- a/src/tracking/general-tracking-issues/vpTracker.h
+++ b/src/tracking/general-tracking-issues/vpTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTracker.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTracker.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/general-tracking-issues/vpTrackingException.h b/src/tracking/general-tracking-issues/vpTrackingException.h
index fab9ca3..4528593 100644
--- a/src/tracking/general-tracking-issues/vpTrackingException.h
+++ b/src/tracking/general-tracking-issues/vpTrackingException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpTrackingException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTrackingException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,12 +68,12 @@
*/
class VISP_EXPORT vpTrackingException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpTracking member
*/
- enum errorTrackingCodeEnum
+ enum errorTrackingCodeEnum
{
featureLostError,
@@ -83,25 +83,20 @@ public:
fatalError
} ;
-public:
- vpTrackingException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpTrackingException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpTrackingException (const int code)
- : vpException(code){ ; }
+ public:
+ vpTrackingException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpTrackingException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpTrackingException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpTrackingException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/tracking/klt/vpKltOpencv.cpp b/src/tracking/klt/vpKltOpencv.cpp
index c1e8e33..db5ac8e 100644
--- a/src/tracking/klt/vpKltOpencv.cpp
+++ b/src/tracking/klt/vpKltOpencv.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKltOpencv.cpp 4198 2013-04-05 12:13:23Z fspindle $
+ * $Id: vpKltOpencv.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,12 +63,12 @@ void vpKltOpencv::clean()
if (pyramid) cvReleaseImage(&pyramid);
if (prev_pyramid) cvReleaseImage(&prev_pyramid);
- image = 0;
- prev_image = 0;
- pyramid = 0;
- prev_pyramid = 0;
+ image = NULL;
+ prev_image = NULL;
+ pyramid = NULL;
+ prev_pyramid = NULL;
- swap_temp = 0;
+ swap_temp = NULL;
countFeatures = 0;
countPrevFeatures = 0;
flags = 0;
@@ -85,12 +85,12 @@ void vpKltOpencv::cleanAll()
if (lostDuringTrack) cvFree(&lostDuringTrack);
if (featuresid) cvFree(&featuresid);
if (prev_featuresid) cvFree(&prev_featuresid);
- features = 0;
- prev_features = 0;
- status = 0;
+ features = NULL;
+ prev_features = NULL;
+ status = NULL;
lostDuringTrack = 0;
- featuresid = 0;
- prev_featuresid = 0;
+ featuresid = NULL;
+ prev_featuresid = NULL;
}
void vpKltOpencv::reset()
@@ -99,54 +99,45 @@ void vpKltOpencv::reset()
}
+/*!
+ Default constructor.
+ */
vpKltOpencv::vpKltOpencv()
+ : initialized(0), maxFeatures(50), globalcountFeatures(0), win_size(10), quality(0.01),
+ min_distance(10), harris_free_parameter(0.04), block_size(3), use_harris(1),
+ pyramid_level(3), _tid(-1), image(NULL), prev_image(NULL), pyramid(NULL),
+ prev_pyramid(NULL), swap_temp(NULL), countFeatures(0), countPrevFeatures(0),
+ features(NULL), prev_features(NULL), featuresid(NULL), prev_featuresid(NULL),
+ flags(0), initial_guess(false), lostDuringTrack(0), status(0), OnInitialize(0),
+ OnFeatureLost(0), OnNewFeature(0), OnMeasureFeature(0), IsFeatureValid(0)
{
- //Valeurs par d�faut pour le KLT
- initialized = 0;
- maxFeatures = 50;
- countFeatures = 0;
- countPrevFeatures = 0;
- globalcountFeatures = 0;
- win_size = 10;
- quality = 0.01;
- min_distance = 10;
- block_size = 3;
- use_harris = 1;
- pyramid_level = 3;
- harris_free_parameter = 0.04;
-
- //Zeroing pointers
- image = 0;
- prev_image = 0;
- pyramid = 0;
- prev_pyramid = 0;
- swap_temp = 0;
- features = 0;
- prev_features = 0;
- flags = 0;
- status = 0;
- lostDuringTrack = 0;
- featuresid = 0;
- prev_featuresid = 0;
- OnInitialize = 0;
- OnFeatureLost = 0;
- OnNewFeature = 0;
- OnMeasureFeature = 0;
- IsFeatureValid = 0;
- initial_guess = false;
-
features = (CvPoint2D32f*)cvAlloc((unsigned int)maxFeatures*sizeof(features[0]));
prev_features = (CvPoint2D32f*)cvAlloc((unsigned int)maxFeatures*sizeof(prev_features[0]));
status = (char*)cvAlloc((size_t)maxFeatures);
lostDuringTrack = (bool*)cvAlloc((size_t)maxFeatures);
featuresid = (long*)cvAlloc((unsigned int)maxFeatures*sizeof(long));
prev_featuresid = (long*)cvAlloc((unsigned int)maxFeatures*sizeof(long));
-
-
- _tid = -1;
}
+/*!
+ Copy constructor.
+ */
vpKltOpencv::vpKltOpencv(const vpKltOpencv& copy)
+ : initialized(0), maxFeatures(50), globalcountFeatures(0), win_size(10), quality(0.01),
+ min_distance(10), harris_free_parameter(0.04), block_size(3), use_harris(1),
+ pyramid_level(3), _tid(-1), image(NULL), prev_image(NULL), pyramid(NULL),
+ prev_pyramid(NULL), swap_temp(NULL), countFeatures(0), countPrevFeatures(0),
+ features(NULL), prev_features(NULL), featuresid(NULL), prev_featuresid(NULL),
+ flags(0), initial_guess(false), lostDuringTrack(0), status(0), OnInitialize(0),
+ OnFeatureLost(0), OnNewFeature(0), OnMeasureFeature(0), IsFeatureValid(0)
+{
+ *this = copy;
+}
+
+/*!
+ Copy operator.
+ */
+vpKltOpencv & vpKltOpencv::operator=(const vpKltOpencv& copy)
{
//Shallow copy of primitives
initialized = copy.initialized;
@@ -170,18 +161,12 @@ vpKltOpencv::vpKltOpencv(const vpKltOpencv& copy)
OnMeasureFeature = copy.OnMeasureFeature;
IsFeatureValid = copy.IsFeatureValid;
+ initial_guess = copy.initial_guess;
+ lostDuringTrack = copy.lostDuringTrack;
+
if (!initialized) {
- image = 0;
- prev_image = 0;
- pyramid = 0;
- prev_pyramid = 0;
- features = 0;
- prev_features = 0;
status = 0;
lostDuringTrack = 0;
- featuresid = 0;
- prev_featuresid = 0;
- swap_temp = 0;
countFeatures = 0;
countPrevFeatures = 0;
flags = 0;
@@ -189,72 +174,74 @@ vpKltOpencv::vpKltOpencv(const vpKltOpencv& copy)
globalcountFeatures = 0;
}
- if (copy.image)
- {
- image = cvCreateImage(cvGetSize(copy.image), 8, 1);
- // /*IplImage **/cvCopyImage(copy.image,image);
- cvCopy(copy.image, image, 0);
- }
-
- if (copy.prev_image)
- {
- prev_image = cvCreateImage(cvGetSize(copy.prev_image), IPL_DEPTH_8U, 1);
- // /*IplImage **/ cvCopyImage(copy.prev_image,prev_image);
- cvCopy(copy.prev_image, prev_image, 0);
- }
-
- if (copy.pyramid)
- {
- pyramid = cvCreateImage(cvGetSize(copy.pyramid), IPL_DEPTH_8U, 1);
- // /*IplImage **/cvCopyImage(copy.pyramid,pyramid);
- cvCopy(copy.pyramid, pyramid, 0);
- }
-
- if (copy.prev_pyramid)
- {
- prev_pyramid = cvCreateImage(cvGetSize(copy.prev_pyramid), IPL_DEPTH_8U, 1);
- // /*IplImage **/cvCopyImage(copy.prev_pyramid,prev_pyramid);
- cvCopy(copy.prev_pyramid, prev_pyramid, 0);
- }
+ if (copy.image)
+ {
+ image = cvCreateImage(cvGetSize(copy.image), 8, 1);
+ // /*IplImage **/cvCopyImage(copy.image,image);
+ cvCopy(copy.image, image, 0);
+ }
+
+ if (copy.prev_image)
+ {
+ prev_image = cvCreateImage(cvGetSize(copy.prev_image), IPL_DEPTH_8U, 1);
+ // /*IplImage **/ cvCopyImage(copy.prev_image,prev_image);
+ cvCopy(copy.prev_image, prev_image, 0);
+ }
+
+ if (copy.pyramid)
+ {
+ pyramid = cvCreateImage(cvGetSize(copy.pyramid), IPL_DEPTH_8U, 1);
+ // /*IplImage **/cvCopyImage(copy.pyramid,pyramid);
+ cvCopy(copy.pyramid, pyramid, 0);
+ }
+
+ if (copy.prev_pyramid)
+ {
+ prev_pyramid = cvCreateImage(cvGetSize(copy.prev_pyramid), IPL_DEPTH_8U, 1);
+ // /*IplImage **/cvCopyImage(copy.prev_pyramid,prev_pyramid);
+ cvCopy(copy.prev_pyramid, prev_pyramid, 0);
+ }
//Deep copy of arrays
if (copy.features) {
- /*CvPoint2D32f **/features =
- (CvPoint2D32f*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(CvPoint2D32f));
- for (int i = 0; i < copy.maxFeatures; i++)
- features[i] = copy.features[i];
- }
+ /*CvPoint2D32f **/features =
+ (CvPoint2D32f*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(CvPoint2D32f));
+ for (int i = 0; i < copy.maxFeatures; i++)
+ features[i] = copy.features[i];
+ }
if (copy.prev_features) {
- /*CvPoint2D32f **/prev_features =
- (CvPoint2D32f*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(CvPoint2D32f));
- for (int i = 0; i < copy.maxFeatures; i++)
- prev_features[i] = copy.prev_features[i];
- }
+ /*CvPoint2D32f **/prev_features =
+ (CvPoint2D32f*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(CvPoint2D32f));
+ for (int i = 0; i < copy.maxFeatures; i++)
+ prev_features[i] = copy.prev_features[i];
+ }
if (copy.featuresid) {
- /*long **/featuresid = (long*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(long));
- for (int i = 0; i < copy.maxFeatures; i++)
- featuresid[i] = copy.featuresid[i];
- }
+ /*long **/featuresid = (long*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(long));
+ for (int i = 0; i < copy.maxFeatures; i++)
+ featuresid[i] = copy.featuresid[i];
+ }
if (copy.prev_featuresid) {
- /*long **/prev_featuresid = (long*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(long));
- for (int i = 0; i < copy.maxFeatures; i++)
- prev_featuresid[i] = copy.prev_featuresid[i];
- }
+ /*long **/prev_featuresid = (long*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(long));
+ for (int i = 0; i < copy.maxFeatures; i++)
+ prev_featuresid[i] = copy.prev_featuresid[i];
+ }
if (copy.status) {
- /*char **/status = (char*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(char));
- for (int i = 0; i < copy.maxFeatures; i++)
- status[i] = copy.status[i];
- }
+ /*char **/status = (char*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(char));
+ for (int i = 0; i < copy.maxFeatures; i++)
+ status[i] = copy.status[i];
+ }
if (copy.lostDuringTrack) {
/*bool **/lostDuringTrack = (bool*)cvAlloc((unsigned int)copy.maxFeatures*sizeof(bool));
for (int i = 0; i < copy.maxFeatures; i++)
lostDuringTrack[i] = copy.lostDuringTrack[i];
}
+
+ return *this;
}
vpKltOpencv::~vpKltOpencv()
diff --git a/src/tracking/klt/vpKltOpencv.h b/src/tracking/klt/vpKltOpencv.h
index b6e0cd8..ba7eb36 100644
--- a/src/tracking/klt/vpKltOpencv.h
+++ b/src/tracking/klt/vpKltOpencv.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKltOpencv.h 4231 2013-04-29 16:26:28Z fspindle $
+ * $Id: vpKltOpencv.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -202,6 +202,7 @@ class VISP_EXPORT vpKltOpencv
//Detect corners in the image. Initialize the tracker
void initTracking(const IplImage *I, const IplImage *mask = NULL);
+ vpKltOpencv & operator=(const vpKltOpencv& copy);
//Track !
void track(const IplImage *I);
diff --git a/src/tracking/mbt/edge/vpMbEdgeTracker.cpp b/src/tracking/mbt/edge/vpMbEdgeTracker.cpp
index 8e474fb..ab7c736 100644
--- a/src/tracking/mbt/edge/vpMbEdgeTracker.cpp
+++ b/src/tracking/mbt/edge/vpMbEdgeTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbEdgeTracker.cpp 4337 2013-07-23 13:57:53Z ayol $
+ * $Id: vpMbEdgeTracker.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,8 +46,6 @@
\brief Make the complete tracking of an object by using its CAD model.
*/
-
-
#include <visp/vpDebug.h>
#include <visp/vpPose.h>
#include <visp/vpExponentialMap.h>
@@ -71,36 +69,23 @@
#include <sstream>
#include <float.h>
+bool samePoint(const vpPoint &P1, const vpPoint &P2, double threshold);
+
/*!
Basic constructor
*/
vpMbEdgeTracker::vpMbEdgeTracker()
+ : compute_interaction(1), lambda(1), me(), lines(1), cylinders(1), nline(0), ncylinder(0),
+ index_polygon(0), faces(), nbvisiblepolygone(0), percentageGdPt(0.4), scales(1),
+ Ipyramid(0), scaleLevel(0), useOgre(false),
+ angleAppears( vpMath::rad(89) ), angleDisappears( vpMath::rad(89) ),
+ distNearClip(0.001), distFarClip(100), clippingFlag(vpMbtPolygon::NO_CLIPPING)
{
- index_polygon =0;
- compute_interaction=1;
- nline = 0;
- ncylinder = 0;
- lambda = 1;
- nbvisiblepolygone = 0;
- percentageGdPt = 0.4;
- computeCovariance = false;
-
- lines.resize(1);
- cylinders.resize(1);
- scales.resize(1);
scales[0] = true;
- lines[0].clear();
- cylinders[0].clear();
- Ipyramid.resize(0);
#ifdef VISP_HAVE_OGRE
faces.getOgreContext()->setWindowName("MBT Edge");
#endif
- useOgre = false;
-
- angleAppears = vpMath::rad(95);
- angleDisappears = vpMath::rad(95);
- clippingFlag = vpMbtPolygon::NO_CLIPPING;
}
/*!
@@ -139,12 +124,12 @@ vpMbEdgeTracker::~vpMbEdgeTracker()
/*!
Set the moving edge parameters.
- \param me : an instance of vpMe containing all the desired parameters
+ \param p_me : an instance of vpMe containing all the desired parameters
*/
void
-vpMbEdgeTracker::setMovingEdge(const vpMe &me)
+vpMbEdgeTracker::setMovingEdge(const vpMe &p_me)
{
- this->me = me;
+ this->me = p_me;
for (unsigned int i = 0; i < scales.size(); i += 1){
if(scales[i]){
@@ -268,8 +253,8 @@ vpMbEdgeTracker::computeVVS(const vpImage<unsigned char>& _I)
double fac = 1;
if (iter == 0)
{
- for(std::list<int>::const_iterator it = l->Lindex_polygon.begin(); it!=l->Lindex_polygon.end(); ++it){
- int index = *it;
+ for(std::list<int>::const_iterator itindex = l->Lindex_polygon.begin(); itindex!=l->Lindex_polygon.end(); ++itindex){
+ int index = *itindex;
if (l->hiddenface->isAppearing((unsigned int)index))
{
fac = 0.2;
@@ -740,8 +725,8 @@ vpMbEdgeTracker::testTracking()
if (l->isVisible() && l->meline != NULL)
{
nbExpectedPoint += (int)l->meline->expecteddensity;
- for(std::list<vpMeSite>::const_iterator it=l->meline->getMeList().begin(); it!=l->meline->getMeList().end(); ++it){
- vpMeSite pix = *it;
+ for(std::list<vpMeSite>::const_iterator itme=l->meline->getMeList().begin(); itme!=l->meline->getMeList().end(); ++itme){
+ vpMeSite pix = *itme;
if (pix.getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoint++;
else nbBadPoint++;
}
@@ -755,14 +740,14 @@ vpMbEdgeTracker::testTracking()
if (cy->meline1 !=NULL && cy->meline2 != NULL)
{
nbExpectedPoint += (int)cy->meline1->expecteddensity;
- for(std::list<vpMeSite>::const_iterator it=cy->meline1->getMeList().begin(); it!=cy->meline1->getMeList().end(); ++it){
- vpMeSite pix = *it;
+ for(std::list<vpMeSite>::const_iterator itme1=cy->meline1->getMeList().begin(); itme1!=cy->meline1->getMeList().end(); ++itme1){
+ vpMeSite pix = *itme1;
if (pix.getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoint++;
else nbBadPoint++;
}
nbExpectedPoint += (int)cy->meline2->expecteddensity;
- for(std::list<vpMeSite>::const_iterator it=cy->meline2->getMeList().begin(); it!=cy->meline2->getMeList().end(); ++it){
- vpMeSite pix = *it;
+ for(std::list<vpMeSite>::const_iterator itme2=cy->meline2->getMeList().begin(); itme2!=cy->meline2->getMeList().end(); ++itme2){
+ vpMeSite pix = *itme2;
if (pix.getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoint++;
else nbBadPoint++;
}
@@ -1018,8 +1003,6 @@ vpMbEdgeTracker::loadConfigFile(const std::string& configFile)
<fov_clipping>1</fov_clipping>
</face>
<camera>
- <width>640</width>
- <height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
@@ -1037,10 +1020,10 @@ vpMbEdgeTracker::loadConfigFile(const char* configFile)
vpMbtXmlParser xmlp;
xmlp.setCameraParameters(cam);
- xmlp.setMovingEdge(me);
xmlp.setAngleAppear(vpMath::deg(angleAppears));
xmlp.setAngleDisappear(vpMath::deg(angleDisappears));
-
+ xmlp.setMovingEdge(me);
+
try{
std::cout << " *********** Parsing XML for Mb Edge Tracker ************ " << std::endl;
xmlp.parse(configFile);
@@ -1067,7 +1050,8 @@ vpMbEdgeTracker::loadConfigFile(const char* configFile)
setFarClippingDistance(xmlp.getFarClippingDistance());
if(xmlp.getFovClipping())
- clippingFlag = clippingFlag | vpMbtPolygon::FOV_CLIPPING;
+ setClipping(clippingFlag | vpMbtPolygon::FOV_CLIPPING);
+
#else
vpTRACE("You need the libXML2 to read the config file %s", configFile);
#endif
@@ -1078,16 +1062,16 @@ vpMbEdgeTracker::loadConfigFile(const char* configFile)
Display the 3D model from a given position of the camera.
\param I : The image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : If true, the full model is displayed (even the non visible surfaces).
*/
void
-vpMbEdgeTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
- const vpColor& col,
- const unsigned int thickness, const bool displayFullModel)
+vpMbEdgeTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo_,
+ const vpCameraParameters &camera, const vpColor& col,
+ const unsigned int thickness, const bool displayFullModel)
{
vpMbtDistanceLine *l ;
@@ -1095,11 +1079,11 @@ vpMbEdgeTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMat
if(scales[i]){
for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[scaleLevel].begin(); it!=lines[scaleLevel].end(); ++it){
l = *it;
- l->display(I,cMo, cam, col, thickness, displayFullModel);
+ l->display(I,cMo_, camera, col, thickness, displayFullModel);
}
for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[scaleLevel].begin(); it!=cylinders[scaleLevel].end(); ++it){
- (*it)->display(I, cMo, cam, col, thickness);
+ (*it)->display(I, cMo_, camera, col, thickness);
}
break ; //displaying model on one scale only
@@ -1108,7 +1092,7 @@ vpMbEdgeTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMat
#ifdef VISP_HAVE_OGRE
if(useOgre)
- faces.displayOgre(cMo);
+ faces.displayOgre(cMo_);
#endif
}
@@ -1116,16 +1100,16 @@ vpMbEdgeTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMat
Display the 3D model from a given position of the camera.
\param I : The image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : If true, the full model is displayed (even the non visible surfaces).
*/
void
-vpMbEdgeTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
- const vpColor& col,
- const unsigned int thickness, const bool displayFullModel)
+vpMbEdgeTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo_,
+ const vpCameraParameters &camera, const vpColor& col,
+ const unsigned int thickness, const bool displayFullModel)
{
vpMbtDistanceLine *l ;
@@ -1133,11 +1117,11 @@ vpMbEdgeTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cM
if(scales[i]){
for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[scaleLevel].begin(); it!=lines[scaleLevel].end(); ++it){
l = *it;
- l->display(I, cMo, cam, col, thickness, displayFullModel) ;
+ l->display(I, cMo_, camera, col, thickness, displayFullModel) ;
}
for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[scaleLevel].begin(); it!=cylinders[scaleLevel].end(); ++it){
- (*it)->display(I, cMo, cam, col, thickness) ;
+ (*it)->display(I, cMo_, camera, col, thickness) ;
}
break ; //displaying model on one scale only
@@ -1146,7 +1130,7 @@ vpMbEdgeTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cM
#ifdef VISP_HAVE_OGRE
if(useOgre)
- faces.displayOgre(cMo);
+ faces.displayOgre(cMo_);
#endif
}
@@ -1168,8 +1152,8 @@ vpMbEdgeTracker::initMovingEdge(const vpImage<unsigned char> &I, const vpHomogen
l = *it;
bool isvisible = false ;
- for(std::list<int>::const_iterator it=l->Lindex_polygon.begin(); it!=l->Lindex_polygon.end(); ++it){
- int index = *it;
+ for(std::list<int>::const_iterator itindex=l->Lindex_polygon.begin(); itindex!=l->Lindex_polygon.end(); ++itindex){
+ int index = *itindex;
if (index ==-1) isvisible =true ;
else
{
@@ -1545,13 +1529,15 @@ vpMbEdgeTracker::visibleFace(const vpImage<unsigned char> & _I,
unsigned int n ;
bool changed = false;
- if(!useOgre)
- n = faces.setVisible(_I, cam, _cMo, vpMath::rad(89), vpMath::rad(89), changed) ;
+ if(!useOgre) {
+ //n = faces.setVisible(_I, cam, _cMo, vpMath::rad(89), vpMath::rad(89), changed) ;
+ n = faces.setVisible(_I, cam, _cMo, angleAppears, angleDisappears, changed) ;
+ }
else{
#ifdef VISP_HAVE_OGRE
n = faces.setVisibleOgre(_I, cam, _cMo, angleAppears, angleDisappears, changed);
#else
- n = faces.setVisible(_I, cam, _cMo, vpMath::rad(89), vpMath::rad(89), changed) ;
+ n = faces.setVisible(_I, cam, _cMo, angleAppears, angleDisappears, changed) ;
#endif
}
@@ -1625,18 +1611,18 @@ vpMbEdgeTracker::initFaceFromCorners(const std::vector<vpPoint>& _corners, const
Add a cylinder to track from tow points on the axis (defining the length of
the cylinder) and its radius.
- \param _p1 : First point on the axis.
- \param _p2 : Second point on the axis.
- \param _radius : Radius of the cylinder.
- \param _indexCylinder : Index of the cylinder.
+ \param p1 : First point on the axis.
+ \param p2 : Second point on the axis.
+ \param radius : Radius of the cylinder.
+ \param indexCylinder : Index of the cylinder.
*/
void
-vpMbEdgeTracker::initCylinder(const vpPoint& _p1, const vpPoint _p2, const double _radius, const unsigned int _indexCylinder)
+vpMbEdgeTracker::initCylinder(const vpPoint& p1, const vpPoint &p2, const double radius, const unsigned int indexCylinder)
{
- if(_indexCylinder != 0){
- ncylinder = _indexCylinder;
+ if(indexCylinder != 0){
+ ncylinder = indexCylinder;
}
- addCylinder(_p1, _p2, _radius);
+ addCylinder(p1, p2, radius);
}
/*!
@@ -1679,10 +1665,10 @@ vpMbEdgeTracker::resetTracker()
nbvisiblepolygone = 0;
percentageGdPt = 0.4;
- angleAppears = vpMath::rad(95);
- angleDisappears = vpMath::rad(95);
+ angleAppears = vpMath::rad(89);
+ angleDisappears = vpMath::rad(89);
clippingFlag = vpMbtPolygon::NO_CLIPPING;
-
+
// reinitialization of the scales.
this->setScales(scales);
}
@@ -1694,14 +1680,45 @@ vpMbEdgeTracker::resetTracker()
\param I : The image containing the object to initialize.
\param cad_name : Path to the file containing the 3D model description.
- \param cMo : The new vpHomogeneousMatrix between the camera and the new model
+ \param cMo_ : The new vpHomogeneousMatrix between the camera and the new model
*/
void
-vpMbEdgeTracker::reInitModel(const vpImage<unsigned char>& I, const char* cad_name, const vpHomogeneousMatrix& cMo)
+vpMbEdgeTracker::reInitModel(const vpImage<unsigned char>& I, const char* cad_name,
+ const vpHomogeneousMatrix& cMo_)
{
- resetTracker();
+ this->cMo.setIdentity();
+ vpMbtDistanceLine *l;
+ vpMbtDistanceCylinder *cy;
+
+ for (unsigned int i = 0; i < scales.size(); i += 1){
+ if(scales[i]){
+ for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[i].begin(); it!=lines[i].end(); ++it){
+ l = *it;
+ if (l!=NULL) delete l ;
+ l = NULL ;
+ }
+
+ for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[i].begin(); it!=cylinders[i].end(); ++it){
+ cy = *it;
+ if (cy!=NULL) delete cy;
+ cy = NULL;
+ }
+ lines[i].clear();
+ cylinders[i].clear();
+ }
+ }
+
+ faces.reset();
+
+ index_polygon =0;
+ //compute_interaction=1;
+ nline = 0;
+ ncylinder = 0;
+ //lambda = 1;
+ nbvisiblepolygone = 0;
+
loadModel(cad_name);
- initFromPose(I, cMo);
+ initFromPose(I, cMo_);
}
/*!
@@ -1727,8 +1744,8 @@ vpMbEdgeTracker::getNbPoints(const unsigned int level) const
l = *it;
if (l->isVisible() && l->meline != NULL)
{
- for(std::list<vpMeSite>::const_iterator it=l->meline->getMeList().begin(); it!=l->meline->getMeList().end(); ++it){
- if (it->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
+ for(std::list<vpMeSite>::const_iterator itme=l->meline->getMeList().begin(); itme!=l->meline->getMeList().end(); ++itme){
+ if (itme->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
}
}
}
@@ -1738,11 +1755,11 @@ vpMbEdgeTracker::getNbPoints(const unsigned int level) const
cy = *it;
if (cy->meline1 != NULL || cy->meline2 != NULL)
{
- for(std::list<vpMeSite>::const_iterator it=cy->meline1->getMeList().begin(); it!=cy->meline1->getMeList().end(); ++it){
- if (it->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
+ for(std::list<vpMeSite>::const_iterator itme1=cy->meline1->getMeList().begin(); itme1!=cy->meline1->getMeList().end(); ++itme1){
+ if (itme1->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
}
- for(std::list<vpMeSite>::const_iterator it=cy->meline2->getMeList().begin(); it!=cy->meline2->getMeList().end(); ++it){
- if (it->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
+ for(std::list<vpMeSite>::const_iterator itme2=cy->meline2->getMeList().begin(); itme2!=cy->meline2->getMeList().end(); ++itme2){
+ if (itme2->getState() == vpMeSite::NO_SUPPRESSION) nbGoodPoints++;
}
}
}
@@ -1799,18 +1816,18 @@ vpMbEdgeTracker::getNbPolygon() const
\warning At least one level must be activated.
- \param scales : The vector describing the levels to use.
+ \param scale : The vector describing the levels to use.
*/
void
-vpMbEdgeTracker::setScales(const std::vector<bool>& scales)
+vpMbEdgeTracker::setScales(const std::vector<bool>& scale)
{
unsigned int nbActivatedLevels = 0;
- for (unsigned int i = 0; i < scales.size(); i += 1){
- if(scales[i]){
+ for (unsigned int i = 0; i < scale.size(); i += 1){
+ if(scale[i]){
nbActivatedLevels++;
}
}
- if((scales.size() < 1) || (nbActivatedLevels == 0)){
+ if((scale.size() < 1) || (nbActivatedLevels == 0)){
vpERROR_TRACE(" !! WARNING : must use at least one level for the tracking. Use the global one");
this->scales.resize(0);
this->scales.push_back(true);
@@ -1820,9 +1837,9 @@ vpMbEdgeTracker::setScales(const std::vector<bool>& scales)
cylinders[0].clear();
}
else{
- this->scales = scales;
- lines.resize(scales.size());
- cylinders.resize(scales.size());
+ this->scales = scale;
+ lines.resize(scale.size());
+ cylinders.resize(scale.size());
for (unsigned int i = 0; i < lines.size(); i += 1){
lines[i].clear();
cylinders[i].clear();
diff --git a/src/tracking/mbt/edge/vpMbEdgeTracker.h b/src/tracking/mbt/edge/vpMbEdgeTracker.h
index ca5c29d..6935b6d 100644
--- a/src/tracking/mbt/edge/vpMbEdgeTracker.h
+++ b/src/tracking/mbt/edge/vpMbEdgeTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbEdgeTracker.h 4338 2013-07-23 14:29:30Z fspindle $
+ * $Id: vpMbEdgeTracker.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -380,7 +380,7 @@ public:
\return an instance of the moving edge parameters used by the tracker.
*/
- inline void getMovingEdge(vpMe &me ) const { me = this->me;}
+ inline void getMovingEdge(vpMe &p_me ) const { p_me = this->me;}
/*!
Get the near distance for clipping.
@@ -439,10 +439,10 @@ public:
/*!
Set the camera parameters.
- \param cam : the new camera parameters
+ \param camera : the new camera parameters
*/
- virtual void setCameraParameters(const vpCameraParameters& cam) {
- this->cam = cam;
+ virtual void setCameraParameters(const vpCameraParameters& camera) {
+ this->cam = camera;
for (unsigned int i = 0; i < scales.size(); i += 1){
if(scales[i]){
@@ -487,9 +487,9 @@ public:
/*!
Set the value of the gain used to compute the control law.
- \param lambda : the desired value for the gain.
+ \param gain : the desired value for the gain.
*/
- virtual inline void setLambda(const double lambda) {this->lambda = lambda;}
+ virtual inline void setLambda(const double gain) {this->lambda = gain;}
void setMovingEdge(const vpMe &me);
@@ -511,7 +511,7 @@ protected:
void computeVVS(const vpImage<unsigned char>& _I);
void downScale(const unsigned int _scale);
void init(const vpImage<unsigned char>& I);
- virtual void initCylinder(const vpPoint& _p1, const vpPoint _p2, const double _radius, const unsigned int _indexCylinder=0);
+ virtual void initCylinder(const vpPoint& p1, const vpPoint &p2, const double radius, const unsigned int indexCylinder=0);
virtual void initFaceFromCorners(const std::vector<vpPoint>& _corners, const unsigned int _indexFace = -1);
void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo) ;
void initPyramid(const vpImage<unsigned char>& _I, std::vector<const vpImage<unsigned char>* >& _pyramid);
diff --git a/src/tracking/mbt/edge/vpMbtDistanceCylinder.cpp b/src/tracking/mbt/edge/vpMbtDistanceCylinder.cpp
index d7d08dc..ec401b7 100755
--- a/src/tracking/mbt/edge/vpMbtDistanceCylinder.cpp
+++ b/src/tracking/mbt/edge/vpMbtDistanceCylinder.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtDistanceCylinder.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpMbtDistanceCylinder.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,22 +64,12 @@
Basic constructor
*/
vpMbtDistanceCylinder::vpMbtDistanceCylinder()
+ : name(), index(0), cam(), me(NULL), alpha(0), wmean1(1), wmean2(1),
+ featureline1(), featureline2(), meline1(NULL), meline2(NULL),
+ cercle1(NULL), cercle2(NULL), radius(0), p1(NULL), p2(NULL), L(),
+ error(), nbFeature(0), nbFeaturel1(0), nbFeaturel2(0), Reinit(false),
+ c(NULL)
{
- name = "";
- p1 = NULL ;
- p2 = NULL ;
- c = NULL ;
- meline1 = NULL ;
- meline2 = NULL ;
- wmean1 = 1 ;
- wmean2 = 1 ;
- nbFeaturel1 =0 ;
- nbFeaturel2 =0 ;
- nbFeature =0 ;
- Reinit = false;
-
- cercle1 = NULL;
- cercle2 = NULL;
}
/*!
@@ -497,12 +487,13 @@ vpMbtDistanceCylinder::reinitMovingEdge(const vpImage<unsigned char> &I, const v
\param I : The image.
\param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
*/
void
-vpMbtDistanceCylinder::display(const vpImage<unsigned char>&I, const vpHomogeneousMatrix &cMo, const vpCameraParameters&cam, const vpColor col, const unsigned int thickness)
+vpMbtDistanceCylinder::display(const vpImage<unsigned char>&I, const vpHomogeneousMatrix &cMo,
+ const vpCameraParameters&camera, const vpColor col, const unsigned int thickness)
{
// Perspective projection
p1->changeFrame(cMo);
@@ -527,8 +518,8 @@ vpMbtDistanceCylinder::display(const vpImage<unsigned char>&I, const vpHomogeneo
double rho2,theta2;
// Meters to pixels conversion
- vpMeterPixelConversion::convertLine(cam,c->getRho1(),c->getTheta1(),rho1,theta1);
- vpMeterPixelConversion::convertLine(cam,c->getRho2(),c->getTheta2(),rho2,theta2);
+ vpMeterPixelConversion::convertLine(camera,c->getRho1(),c->getTheta1(),rho1,theta1);
+ vpMeterPixelConversion::convertLine(camera,c->getRho2(),c->getTheta2(),rho2,theta2);
// Determine intersections between circles and limbos
double i11,i12,i21,i22,j11,j12,j21,j22;
@@ -556,12 +547,13 @@ vpMbtDistanceCylinder::display(const vpImage<unsigned char>&I, const vpHomogeneo
\param I : The image.
\param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
*/
void
-vpMbtDistanceCylinder::display(const vpImage<vpRGBa>&I, const vpHomogeneousMatrix &cMo, const vpCameraParameters&cam, const vpColor col, const unsigned int thickness)
+vpMbtDistanceCylinder::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
+ const vpCameraParameters &camera, const vpColor col, const unsigned int thickness)
{
// Perspective projection
p1->changeFrame(cMo);
@@ -586,8 +578,8 @@ vpMbtDistanceCylinder::display(const vpImage<vpRGBa>&I, const vpHomogeneousMatri
double rho2,theta2;
// Meters to pixels conversion
- vpMeterPixelConversion::convertLine(cam,c->getRho1(),c->getTheta1(),rho1,theta1);
- vpMeterPixelConversion::convertLine(cam,c->getRho2(),c->getTheta2(),rho2,theta2);
+ vpMeterPixelConversion::convertLine(camera,c->getRho1(),c->getTheta1(),rho1,theta1);
+ vpMeterPixelConversion::convertLine(camera,c->getRho2(),c->getTheta2(),rho2,theta2);
// Determine intersections between circles and limbos
double i11,i12,i21,i22,j11,j12,j21,j22;
diff --git a/src/tracking/mbt/edge/vpMbtDistanceCylinder.h b/src/tracking/mbt/edge/vpMbtDistanceCylinder.h
index fe94231..ec448b7 100755
--- a/src/tracking/mbt/edge/vpMbtDistanceCylinder.h
+++ b/src/tracking/mbt/edge/vpMbtDistanceCylinder.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtDistanceCylinder.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMbtDistanceCylinder.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -126,9 +126,9 @@ class VISP_EXPORT vpMbtDistanceCylinder
/*!
Get the camera paramters.
- \param cam : The vpCameraParameters used to store the camera parameters.
+ \param camera : The vpCameraParameters used to store the camera parameters.
*/
- inline void getCameraParameters(vpCameraParameters& cam) {cam = this->cam;}
+ inline void getCameraParameters(vpCameraParameters& camera) {camera = this->cam;}
/*!
Get the index of the cylinder.
@@ -168,9 +168,9 @@ class VISP_EXPORT vpMbtDistanceCylinder
/*!
Set the camera paramters.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
*/
- inline void setCameraParameters(const vpCameraParameters& cam) {this->cam = cam;}
+ inline void setCameraParameters(const vpCameraParameters& camera) {this->cam = camera;}
/*!
Set the index of the cylinder.
@@ -198,18 +198,17 @@ class VISP_EXPORT vpMbtDistanceCylinder
/*!
Set the name of the cylinder.
- \param name : The name of the cylinder.
+ \param cyl_name : The name of the cylinder.
*/
- inline void setName(const std::string& name) {this->name = name;}
+ inline void setName(const std::string& cyl_name) {this->name = cyl_name;}
/*!
Set the name of the cylinder.
- \param name : The name of the cylinder
+ \param cyl_name : The name of the cylinder
*/
- inline void setName(const char* name) {this->name = name;}
+ inline void setName(const char* cyl_name) {this->name = std::string(cyl_name);}
-
void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
diff --git a/src/tracking/mbt/edge/vpMbtDistanceLine.cpp b/src/tracking/mbt/edge/vpMbtDistanceLine.cpp
index afa9fc6..876b32b 100644
--- a/src/tracking/mbt/edge/vpMbtDistanceLine.cpp
+++ b/src/tracking/mbt/edge/vpMbtDistanceLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtDistanceLine.cpp 4311 2013-07-16 15:02:57Z ayol $
+ * $Id: vpMbtDistanceLine.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,21 +53,18 @@
#include <visp/vpFeatureBuilder.h>
#include <stdlib.h>
+void buildPlane(vpPoint &P, vpPoint &Q, vpPoint &R, vpPlane &plane);
+void buildLine(vpPoint &P1, vpPoint &P2, vpPoint &P3, vpPoint &P4, vpLine &L);
+
/*!
Basic constructor
*/
vpMbtDistanceLine::vpMbtDistanceLine()
+ : name(), index(0), cam(), me(NULL), alpha(0), wmean(1),
+ featureline(), poly(), meline(NULL), line(NULL), p1(NULL), p2(NULL), L(),
+ error(), nbFeature(0), Reinit(false), hiddenface(NULL), Lindex_polygon(),
+ isvisible(false)
{
- name = "";
- p1 = NULL ;
- p2 = NULL ;
- line = NULL ;
- meline = NULL ;
- hiddenface = NULL ;
- wmean = 1 ;
- nbFeature =0 ;
- Reinit = false;
- isvisible = false;
}
/*!
@@ -430,20 +427,21 @@ vpMbtDistanceLine::reinitMovingEdge(const vpImage<unsigned char> &I, const vpHom
\param I : The image.
\param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the line.
\param displayFullModel : If true, the line is displayed even if it is not visible.
*/
void
-vpMbtDistanceLine::display(const vpImage<unsigned char>&I, const vpHomogeneousMatrix &cMo, const vpCameraParameters&cam, const vpColor col, const unsigned int thickness, const bool displayFullModel)
+vpMbtDistanceLine::display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
+ const vpCameraParameters &camera, const vpColor col, const unsigned int thickness, const bool displayFullModel)
{
p1->changeFrame(cMo);
p2->changeFrame(cMo);
if(isvisible || displayFullModel){
vpImagePoint ip1, ip2;
- vpCameraParameters c = cam;
+ vpCameraParameters c = camera;
if(poly.getClipping() > 3) // Contains at least one FOV constraint
c.computeFov(I.getWidth(), I.getHeight());
@@ -470,20 +468,22 @@ vpMbtDistanceLine::display(const vpImage<unsigned char>&I, const vpHomogeneousMa
\param I : The image.
\param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the line.
\param displayFullModel : If true, the line is displayed even if it is not visible.
*/
void
-vpMbtDistanceLine::display(const vpImage<vpRGBa>&I, const vpHomogeneousMatrix &cMo, const vpCameraParameters&cam, const vpColor col, const unsigned int thickness, const bool displayFullModel)
+vpMbtDistanceLine::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
+ const vpCameraParameters &camera, const vpColor col,
+ const unsigned int thickness, const bool displayFullModel)
{
p1->changeFrame(cMo);
p2->changeFrame(cMo);
if(isvisible || displayFullModel){
vpImagePoint ip1, ip2;
- vpCameraParameters c = cam;
+ vpCameraParameters c = camera;
if(poly.getClipping() > 3) // Contains at least one FOV constraint
c.computeFov(I.getWidth(), I.getHeight());
@@ -566,7 +566,7 @@ vpMbtDistanceLine::computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
double xc = cam.get_u0() ;
double yc = cam.get_v0() ;
- double alpha ;
+ double alpha_ ;
vpMatrix H ;
H = featureline.interaction() ;
@@ -580,14 +580,14 @@ vpMbtDistanceLine::computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
x = (x-xc)*mx ;
y = (y-yc)*my ;
- alpha = x*si - y*co;
+ alpha_ = x*si - y*co;
double *Lrho = H[0] ;
double *Ltheta = H[1] ;
// Calculate interaction matrix for a distance
for (unsigned int k=0 ; k < 6 ; k++)
{
- L[j][k] = (Lrho[k] + alpha*Ltheta[k]);
+ L[j][k] = (Lrho[k] + alpha_*Ltheta[k]);
}
error[j] = rho - ( x*co + y*si) ;
j++;
diff --git a/src/tracking/mbt/edge/vpMbtDistanceLine.h b/src/tracking/mbt/edge/vpMbtDistanceLine.h
index 925504b..ad0d2af 100644
--- a/src/tracking/mbt/edge/vpMbtDistanceLine.h
+++ b/src/tracking/mbt/edge/vpMbtDistanceLine.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtDistanceLine.h 4337 2013-07-23 13:57:53Z ayol $
+ * $Id: vpMbtDistanceLine.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -119,9 +119,9 @@ class VISP_EXPORT vpMbtDistanceLine
/*!
Get the camera paramters.
- \param cam : The vpCameraParameters used to store the camera parameters.
+ \param camera : The vpCameraParameters used to store the camera parameters.
*/
- inline void getCameraParameters(vpCameraParameters& cam) const {cam = this->cam;}
+ inline void getCameraParameters(vpCameraParameters& camera) const {camera = this->cam;}
/*!
Get the index of the line.
@@ -167,9 +167,9 @@ class VISP_EXPORT vpMbtDistanceLine
/*!
Set the camera paramters.
- \param cam : The camera parameters.
+ \param camera : The camera parameters.
*/
- inline void setCameraParameters(const vpCameraParameters& cam) {this->cam = cam;}
+ inline void setCameraParameters(const vpCameraParameters& camera) {this->cam = camera;}
/*!
Set the index of the line.
@@ -181,25 +181,25 @@ class VISP_EXPORT vpMbtDistanceLine
/*!
Set the mean weight of the line.
- \param wmean : The mean weight of the line.
+ \param w_mean : The mean weight of the line.
*/
- inline void setMeanWeight(const double wmean) {this->wmean = wmean;}
+ inline void setMeanWeight(const double w_mean) {this->wmean = w_mean;}
void setMovingEdge(vpMe *Me);
/*!
Set the name of the line.
- \param name : The name of the line.
+ \param line_name : The name of the line.
*/
- inline void setName(const std::string name) {this->name = name;}
+ inline void setName(const std::string line_name) {this->name = line_name;}
/*!
Set the name of the line.
- \param name : The name of the line.
+ \param line_name : The name of the line.
*/
- inline void setName(const char* name) {this->name = name;}
+ inline void setName(const char* line_name) {this->name = std::string(line_name);}
/*!
Set a boolean parameter to indicates if the line is visible in the image or not.
@@ -213,7 +213,7 @@ class VISP_EXPORT vpMbtDistanceLine
void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
private:
- void belongToPolygon(int index) { Lindex_polygon.push_back(index); }
+ void belongToPolygon(int index_) { Lindex_polygon.push_back(index_); }
void project(const vpHomogeneousMatrix &cMo);
void setFace( vpMbHiddenFaces<vpMbtPolygon> *_hiddenface) { hiddenface = _hiddenface ; }
diff --git a/src/tracking/mbt/edge/vpMbtMeLine.cpp b/src/tracking/mbt/edge/vpMbtMeLine.cpp
index 9754263..7c2cea1 100644
--- a/src/tracking/mbt/edge/vpMbtMeLine.cpp
+++ b/src/tracking/mbt/edge/vpMbtMeLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtMeLine.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpMbtMeLine.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,10 +66,11 @@ normalizeAngle(double &delta)
/*!
Basic constructor that calls the constructor of the class vpMeTracker.
*/
-vpMbtMeLine::vpMbtMeLine():vpMeTracker()
+vpMbtMeLine::vpMbtMeLine()
+ : rho(0.), theta(0.), theta_1(M_PI/2), delta(0.), delta_1(0), sign(1),
+ a(0.), b(0.), c(0.), imin(0), imax(0), jmin(0), jmax(0),
+ expecteddensity(0.)
{
- sign = 1;
- theta_1 = M_PI/2;
}
/*!
@@ -89,11 +90,12 @@ vpMbtMeLine::~vpMbtMeLine()
\param I : Image in which the line appears.
\param ip1 : Coordinates of the first point.
\param ip2 : Coordinates of the second point.
- \param rho : The \f$\rho\f$ parameter
- \param theta : The \f$\theta\f$ parameter
+ \param rho_ : The \f$\rho\f$ parameter
+ \param theta_ : The \f$\theta\f$ parameter
*/
void
-vpMbtMeLine::initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, double rho, double theta)
+vpMbtMeLine::initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2,
+ double rho_, double theta_)
{
vpCDEBUG(1) <<" begin vpMeLine::initTracking()"<<std::endl ;
@@ -106,8 +108,8 @@ vpMbtMeLine::initTracking(const vpImage<unsigned char> &I, const vpImagePoint &i
PExt[1].ifloat = (float)ip2.get_i() ;
PExt[1].jfloat = (float)ip2.get_j() ;
- this->rho = rho;
- this->theta = theta;
+ this->rho = rho_;
+ this->theta = theta_;
a = cos(theta);
b = sin(theta);
@@ -287,7 +289,7 @@ vpMbtMeLine::seekExtremities(const vpImage<unsigned char> &I)
// number of samples along line_p
n_sample = length_p/(double)me->getSampleStep();
- double sample = (double)me->getSampleStep();
+ double sample_step = (double)me->getSampleStep();
vpMeSite P ;
P.init((int) PExt[0].ifloat, (int)PExt[0].jfloat, delta_1, 0, sign) ;
@@ -298,8 +300,8 @@ vpMbtMeLine::seekExtremities(const vpImage<unsigned char> &I)
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat + di*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat + dj*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat + di*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat + dj*sample_step ; P.j = (int)P.jfloat ;
if ((P.i < imin) ||(P.i > imax) || (P.j < jmin) || (P.j > jmax) )
@@ -325,8 +327,8 @@ vpMbtMeLine::seekExtremities(const vpImage<unsigned char> &I)
P.setDisplay(selectDisplay) ;
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat - di*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat - dj*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat - di*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat - dj*sample_step ; P.j = (int)P.jfloat ;
if ((P.i < imin) ||(P.i > imax) || (P.j < jmin) || (P.j > jmax) )
@@ -371,9 +373,9 @@ vpMbtMeLine::reSample(const vpImage<unsigned char> &I)
double d = sqrt(vpMath::sqr(PExt[0].ifloat-PExt[1].ifloat)+vpMath::sqr(PExt[0].jfloat-PExt[1].jfloat)) ;
unsigned int n = numberOfSignal() ;
- double expecteddensity = d / (double)me->getSampleStep();
+ double expected_density = d / (double)me->getSampleStep();
- if ((double)n<0.5*expecteddensity && n > 0)
+ if ((double)n<0.5*expected_density && n > 0)
{
double delta_new = delta;
delta = delta_1;
@@ -427,7 +429,7 @@ vpMbtMeLine::reSample(const vpImage<unsigned char> &I, vpImagePoint ip1, vpImage
void
vpMbtMeLine::updateDelta()
{
- vpMeSite p ;
+ vpMeSite p_me ;
double diff = 0;
@@ -447,10 +449,10 @@ vpMbtMeLine::updateDelta()
normalizeAngle(delta);
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- p.alpha = delta ;
- p.mask_sign = sign;
- *it = p;
+ p_me = *it;
+ p_me.alpha = delta ;
+ p_me.mask_sign = sign;
+ *it = p_me;
}
delta_1 = delta;
}
@@ -483,14 +485,14 @@ vpMbtMeLine::track(const vpImage<unsigned char> &I)
Update the moving edges parameters after the virtual visual servoing.
\param I : The image.
- \param rho : The \f$\rho\f$ parameter used in the line's polar equation.
- \param theta : The \f$\theta\f$ parameter used in the line's polar equation.
+ \param rho_ : The \f$\rho\f$ parameter used in the line's polar equation.
+ \param theta_ : The \f$\theta\f$ parameter used in the line's polar equation.
*/
void
-vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, double rho, double theta)
+vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, double rho_, double theta_)
{
- this->rho = rho;
- this->theta = theta;
+ this->rho = rho_;
+ this->theta = theta_;
a = cos(theta);
b = sin(theta);
c = -rho;
@@ -514,14 +516,15 @@ vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, double rho, doubl
\param I : The image.
\param ip1 : The first extremity of the line.
\param ip2 : The second extremity of the line.
- \param rho : The \f$\rho\f$ parameter used in the line's polar equation.
- \param theta : The \f$\theta\f$ parameter used in the line's polar equation.
+ \param rho_ : The \f$\rho\f$ parameter used in the line's polar equation.
+ \param theta_ : The \f$\theta\f$ parameter used in the line's polar equation.
*/
void
-vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, vpImagePoint ip1, vpImagePoint ip2, double rho, double theta)
+vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, vpImagePoint ip1, vpImagePoint ip2,
+ double rho_, double theta_)
{
- this->rho = rho;
- this->theta = theta;
+ this->rho = rho_;
+ this->theta = theta_;
a = cos(theta);
b = sin(theta);
c = -rho;
@@ -545,58 +548,58 @@ vpMbtMeLine::updateParameters(const vpImage<unsigned char> &I, vpImagePoint ip1,
void
vpMbtMeLine::setExtremities()
{
- double imin = +1e6 ;
- double jmin = +1e6;
- double imax = -1 ;
- double jmax = -1 ;
+ double i_min = +1e6 ;
+ double j_min = +1e6;
+ double i_max = -1 ;
+ double j_max = -1 ;
// Loop through list of sites to track
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
vpMeSite s = *it;//current reference pixel
- if (s.ifloat < imin)
+ if (s.ifloat < i_min)
{
- imin = s.ifloat ;
- jmin = s.jfloat ;
+ i_min = s.ifloat ;
+ j_min = s.jfloat ;
}
- if (s.ifloat > imax)
+ if (s.ifloat > i_max)
{
- imax = s.ifloat ;
- jmax = s.jfloat ;
+ i_max = s.ifloat ;
+ j_max = s.jfloat ;
}
}
if ( ! list.empty() )
{
- PExt[0].ifloat = imin ;
- PExt[0].jfloat = jmin ;
- PExt[1].ifloat = imax ;
- PExt[1].jfloat = jmax ;
+ PExt[0].ifloat = i_min ;
+ PExt[0].jfloat = j_min ;
+ PExt[1].ifloat = i_max ;
+ PExt[1].jfloat = j_max ;
}
- if (fabs(imin-imax) < 25)
+ if (fabs(i_min-i_max) < 25)
{
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
vpMeSite s = *it;//current reference pixel
- if (s.jfloat < jmin)
+ if (s.jfloat < j_min)
{
- imin = s.ifloat ;
- jmin = s.jfloat ;
+ i_min = s.ifloat ;
+ j_min = s.jfloat ;
}
- if (s.jfloat > jmax)
+ if (s.jfloat > j_max)
{
- imax = s.ifloat ;
- jmax = s.jfloat ;
+ i_max = s.ifloat ;
+ j_max = s.jfloat ;
}
}
if (! list.empty())
{
- PExt[0].ifloat = imin ;
- PExt[0].jfloat = jmin ;
- PExt[1].ifloat = imax ;
- PExt[1].jfloat = jmax ;
+ PExt[0].ifloat = i_min ;
+ PExt[0].jfloat = j_min ;
+ PExt[1].ifloat = i_max ;
+ PExt[1].jfloat = j_max ;
}
bubbleSortJ();
}
@@ -661,7 +664,7 @@ vpMbtMeLine::bubbleSortJ()
void
-vpMbtMeLine::findSignal(const vpImage<unsigned char>& I, const vpMe *me, double *conv)
+vpMbtMeLine::findSignal(const vpImage<unsigned char>& I, const vpMe *p_me, double *conv)
{
vpImagePoint itest(PExt[0].ifloat+(PExt[1].ifloat-PExt[0].ifloat)/2, PExt[0].jfloat+(PExt[1].jfloat-PExt[0].jfloat)/2);
@@ -670,7 +673,7 @@ vpMbtMeLine::findSignal(const vpImage<unsigned char>& I, const vpMe *me, double
vpMeSite *list_query_pixels;
// double convolution = 0;
- unsigned int range = me->getRange();
+ unsigned int range = p_me->getRange();
list_query_pixels = pix.getQueryList(I, (int)range);
@@ -680,7 +683,7 @@ vpMbtMeLine::findSignal(const vpImage<unsigned char>& I, const vpMe *me, double
for(unsigned int n = 0 ; n < 2 * range + 1 ; n++)
{
- conv[n] = list_query_pixels[n].convolution(I, me);
+ conv[n] = list_query_pixels[n].convolution(I, p_me);
}
delete [] list_query_pixels;
}
diff --git a/src/tracking/mbt/edge/vpMbtMeLine.h b/src/tracking/mbt/edge/vpMbtMeLine.h
index a3ebfcb..8cdaaa0 100644
--- a/src/tracking/mbt/edge/vpMbtMeLine.h
+++ b/src/tracking/mbt/edge/vpMbtMeLine.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtMeLine.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMbtMeLine.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/mbt/edge/vpMbtPolygon.cpp b/src/tracking/mbt/edge/vpMbtPolygon.cpp
index d605fa8..c5c87c8 100644
--- a/src/tracking/mbt/edge/vpMbtPolygon.cpp
+++ b/src/tracking/mbt/edge/vpMbtPolygon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtPolygon.cpp 4319 2013-07-17 10:04:09Z ayol $
+ * $Id: vpMbtPolygon.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,17 +56,37 @@
Basic constructor.
*/
vpMbtPolygon::vpMbtPolygon()
+ : index(-1), nbpt(0), nbCornersInsidePrev(0), isvisible(false), isappearing(false),
+ p(NULL), roiPointsClip(), clippingFlag(vpMbtPolygon::NO_CLIPPING),
+ distNearClip(0.001), distFarClip(100.)
{
- nbpt = 0 ;
- p = NULL ;
- isappearing = false;
- isvisible = false;
- nbCornersInsidePrev = 0;
-
- distNearClip = 0.001;
- distFarClip = 100.0;
-
- clippingFlag = vpMbtPolygon::NO_CLIPPING;
+}
+
+vpMbtPolygon::vpMbtPolygon(const vpMbtPolygon& mbtp)
+ : index(-1), nbpt(0), nbCornersInsidePrev(0), isvisible(false), isappearing(false),
+ p(NULL), roiPointsClip(), clippingFlag(vpMbtPolygon::NO_CLIPPING),
+ distNearClip(0.001), distFarClip(100.)
+{
+ *this = mbtp;
+}
+
+vpMbtPolygon& vpMbtPolygon::operator=(const vpMbtPolygon& mbtp)
+{
+ index = mbtp.index;
+ nbpt = mbtp.nbpt;
+ nbCornersInsidePrev = mbtp.nbCornersInsidePrev;
+ isvisible = mbtp.isvisible;
+ isappearing = mbtp.isappearing;
+ roiPointsClip = mbtp.roiPointsClip;
+ clippingFlag = mbtp.clippingFlag;
+ distNearClip = mbtp.distFarClip;
+
+ if (p) delete [] p;
+ p = new vpPoint [nbpt];
+ for(unsigned int i = 0; i < nbpt; i++)
+ p[i] = mbtp.p[i];
+
+ return (*this);
}
/*!
diff --git a/src/tracking/mbt/edge/vpMbtPolygon.h b/src/tracking/mbt/edge/vpMbtPolygon.h
index 1109ac6..75283e9 100644
--- a/src/tracking/mbt/edge/vpMbtPolygon.h
+++ b/src/tracking/mbt/edge/vpMbtPolygon.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtPolygon.h 4331 2013-07-22 12:37:11Z ayol $
+ * $Id: vpMbtPolygon.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,7 +81,7 @@ public:
} vpMbtPolygonClippingType;
public:
- //! Index of the polygon. Cannot be unsigned int because deafult value is -1.
+ //! Index of the polygon. Cannot be unsigned int because default value is -1.
int index;
//! Number of points used to define the polygon.
unsigned int nbpt;
@@ -115,7 +115,8 @@ private:
const vpCameraParameters &cam, const std::vector<vpColVector> &fovNormals);
public:
- vpMbtPolygon() ;
+ vpMbtPolygon() ;
+ vpMbtPolygon(const vpMbtPolygon& mbtp) ;
virtual ~vpMbtPolygon() ;
void addPoint(const unsigned int n, const vpPoint &P) ;
@@ -187,7 +188,9 @@ public:
inline bool isAppearing() const {return isappearing;}
virtual bool isVisible(const vpHomogeneousMatrix &cMo, const double alpha, const bool &modulo = false) ;
bool isVisible() const {return isvisible;}
-
+
+ vpMbtPolygon& operator=(const vpMbtPolygon& mbtp) ;
+
/*!
Specify which clipping to use.
diff --git a/src/tracking/mbt/edge/vpMbtXmlParser.cpp b/src/tracking/mbt/edge/vpMbtXmlParser.cpp
index ace2eff..8dd9cf2 100644
--- a/src/tracking/mbt/edge/vpMbtXmlParser.cpp
+++ b/src/tracking/mbt/edge/vpMbtXmlParser.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtXmlParser.cpp 4320 2013-07-17 15:37:27Z ayol $
+ * $Id: vpMbtXmlParser.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,12 +32,13 @@
*
*
* Description:
- * Make the complete tracking of an object by using its CAD model
+ * Load XML parameters of the Model based tracker (using edges).
*
* Authors:
* Nicolas Melchior
* Romain Tallonneau
* Eric Marchand
+ * Aurelien Yol
*
*****************************************************************************/
#include <visp/vpConfig.h>
@@ -57,11 +58,8 @@
Default constructor.
*/
-vpMbtXmlParser::vpMbtXmlParser()
+vpMbtXmlParser::vpMbtXmlParser() : m_ecm()
{
- hasNearClipping = false;
- hasFarClipping = false;
- fovClipping = false;
init();
}
@@ -78,9 +76,8 @@ vpMbtXmlParser::~vpMbtXmlParser()
void
vpMbtXmlParser::init()
{
- setMainTag("conf");
+ vpMbXmlParser::init();
- nodeMap["conf"] = conf;
nodeMap["ecm"] = ecm;
nodeMap["mask"] = mask;
nodeMap["size"] = size;
@@ -94,20 +91,6 @@ vpMbtXmlParser::init()
nodeMap["sample"] = sample;
nodeMap["step"] = step;
nodeMap["nb_sample"] = nb_sample;
- nodeMap["face"] = face;
- nodeMap["angle_appear"] = angle_appear;
- nodeMap["angle_disappear"] = angle_disappear;
- nodeMap["near_clipping"] = near_clipping;
- nodeMap["far_clipping"] = far_clipping;
- nodeMap["fov_clipping"] = fov_clipping;
- nodeMap["camera"] = camera;
- nodeMap["height"] = height;
- nodeMap["width"] = width;
- nodeMap["u0"] = u0;
- nodeMap["v0"] = v0;
- nodeMap["px"] = px;
- nodeMap["py"] = py;
-
}
/*!
@@ -144,24 +127,16 @@ vpMbtXmlParser::writeMainClass(xmlNodePtr /*node*/)
void
vpMbtXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
- bool ecm_node = false;
- bool sample_node = false;
bool camera_node = false;
bool face_node = false;
+ bool ecm_node = false;
+ bool sample_node = false;
for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
if(dataNode->type == XML_ELEMENT_NODE){
std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
if(iter_data != nodeMap.end()){
switch (iter_data->second){
- case ecm:{
- this->read_ecm (doc, dataNode);
- ecm_node = true;
- }break;
- case sample:{
- this->read_sample (doc, dataNode);
- sample_node = true;
- }break;
case camera:{
this->read_camera (doc, dataNode);
camera_node = true;
@@ -170,6 +145,14 @@ vpMbtXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
this->read_face(doc, dataNode);
face_node = true;
}break;
+ case ecm:{
+ this->read_ecm (doc, dataNode);
+ ecm_node = true;
+ }break;
+ case sample:{
+ this->read_sample (doc, dataNode);
+ sample_node = true;
+ }break;
default:{
// vpTRACE("unknown tag in read_sample : %d, %s", iter_data->second, (iter_data->first).c_str());
}break;
@@ -178,17 +161,31 @@ vpMbtXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
}
}
- if(!ecm_node)
- std::cout << "WARNING: ECM Node not specified, default values used" << std::endl;
-
- if(!sample_node)
- std::cout << "WARNING: SAMPLE Node not specified, default values used" << std::endl;
-
- if(!camera_node)
- std::cout << "WARNING: CAMERA Node not specified, default values used" << std::endl;
+ if(!camera_node) {
+ std::cout << "camera : u0 : "<< this->cam.get_u0() << " (default)" <<std::endl;
+ std::cout << "camera : v0 : "<< this->cam.get_v0() << " (default)" <<std::endl;
+ std::cout << "camera : px : "<< this->cam.get_px() << " (default)" <<std::endl;
+ std::cout << "camera : py : "<< this->cam.get_py() << " (default)" <<std::endl;
+ }
+
+ if(!face_node) {
+ std::cout << "face : Angle Appear : "<< angleAppear <<" (default)" <<std::endl;
+ std::cout << "face : Angle Disappear : "<< angleDisappear <<" (default)" <<std::endl;
+ }
+
+ if(!ecm_node) {
+ std::cout << "ecm : mask : size : "<< this->m_ecm.getMaskSize() << " (default)" <<std::endl;
+ std::cout << "ecm : mask : nb_mask : "<< this->m_ecm.getMaskNumber() << " (default)" <<std::endl;
+ std::cout <<"ecm : range : tracking : "<< this->m_ecm.getRange()<< " (default)" <<std::endl;
+ std::cout <<"ecm : contrast : threshold : " << this->m_ecm.getThreshold()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu1 : " << this->m_ecm.getMu1()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu2 : " << this->m_ecm.getMu2()<<" (default)" <<std::endl;
+ }
- if(!face_node)
- std::cout << "WARNING: FACE Node not specified, default values used" << std::endl;
+ if(!sample_node) {
+ std::cout <<"sample : sample_step : "<< this->m_ecm.getSampleStep()<< " (default)" << std::endl;
+ std::cout <<"sample : n_total_sample : "<< this->m_ecm.getNbTotalSample()<< " (default)"<<std::endl;
+ }
}
@@ -232,14 +229,20 @@ vpMbtXmlParser::read_ecm (xmlDocPtr doc, xmlNodePtr node)
}
}
- if(!mask_node)
- std::cout << "WARNING: In ECM Node, MASK Node not specified, default values used" << std::endl;
+ if(!mask_node) {
+ std::cout << "ecm : mask : size : "<< this->m_ecm.getMaskSize() << " (default)" <<std::endl;
+ std::cout << "ecm : mask : nb_mask : "<< this->m_ecm.getMaskNumber() << " (default)" <<std::endl;
+ }
- if(!range_node)
- std::cout << "WARNING: In ECM Node, RANGE Node not specified, default values used" << std::endl;
+ if(!range_node) {
+ std::cout <<"ecm : range : tracking : "<< this->m_ecm.getRange()<< " (default)" <<std::endl;
+ }
- if(!contrast_node)
- std::cout << "WARNING: In ECM Node, CONTRAST Node not specified, default values used" << std::endl;
+ if(!contrast_node) {
+ std::cout <<"ecm : contrast : threshold " << this->m_ecm.getThreshold()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu1 " << this->m_ecm.getMu1()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu2 " << this->m_ecm.getMu2()<<" (default)" <<std::endl;
+ }
}
/*!
@@ -285,188 +288,14 @@ vpMbtXmlParser::read_sample (xmlDocPtr doc, xmlNodePtr node)
this->m_ecm.setNbTotalSample(d_nb_sample);
if(!step_node)
- std::cout << "WARNING: In SAMPLE Node, STEP Node not specified, default value used : " << this->m_ecm.getSampleStep() << std::endl;
+ std::cout <<"sample : sample_step : "<< this->m_ecm.getSampleStep()<< " (default)" << std::endl;
else
- std::cout <<"sample : sample_step "<< this->m_ecm.getSampleStep()<<std::endl;
+ std::cout <<"sample : sample_step : "<< this->m_ecm.getSampleStep()<<std::endl;
if(!nb_sample_node)
- std::cout << "WARNING: In SAMPLE Node, NB_SAMPLE Node not specified, default value used : " << this->m_ecm.getNbTotalSample() << std::endl;
- else
- std::cout <<"sample : n_total_sample "<< this->m_ecm.getNbTotalSample()<<std::endl;
-}
-
-/*!
- Read camera information.
-
- \throw vpException::fatalError if there was an unexpected number of data.
-
- \param doc : Pointer to the document.
- \param node : Pointer to the node of the camera information.
-*/
-void
-vpMbtXmlParser::read_camera (xmlDocPtr doc, xmlNodePtr node)
-{
- bool height_node = false;
- bool width_node = false;
- bool u0_node = false;
- bool v0_node = false;
- bool px_node = false;
- bool py_node = false;
-
- // current data values.
-// int d_height=0 ;
-// int d_width= 0 ;
- double d_u0 = this->cam.get_u0();
- double d_v0 = this->cam.get_v0();
- double d_px = this->cam.get_px();
- double d_py = this->cam.get_py();
-
- for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
- if(dataNode->type == XML_ELEMENT_NODE){
- std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
- if(iter_data != nodeMap.end()){
- switch (iter_data->second){
- case height:{
- /* d_height = */ xmlReadIntChild(doc, dataNode);
- height_node = true;
- }break;
- case width:{
- /* d_width = */ xmlReadIntChild(doc, dataNode);
- width_node = true;
- }break;
- case u0:{
- d_u0 = xmlReadDoubleChild(doc, dataNode);
- u0_node = true;
- }break;
- case v0:{
- d_v0 = xmlReadDoubleChild(doc, dataNode);
- v0_node = true;
- }break;
- case px:{
- d_px = xmlReadDoubleChild(doc, dataNode);
- px_node = true;
- }break;
- case py:{
- d_py = xmlReadDoubleChild(doc, dataNode);
- py_node = true;
- }break;
- default:{
-// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
- }break;
- }
- }
- }
- }
-
- this->cam.initPersProjWithoutDistortion(d_px, d_py, d_u0, d_v0) ;
-
- if(!height_node)
- std::cout << "WARNING: In CAMERA Node, HEIGHT Node not specified, default value used" << std::endl;
-
- if(!width_node)
- std::cout << "WARNING: In CAMERA Node, WIDTH Node not specified, default value used" << std::endl;
-
- if(!u0_node)
- std::cout << "WARNING: In CAMERA Node, u0 Node not specified, default value used : " << this->cam.get_u0() << std::endl;
- else
- std::cout << "camera : u0 "<< this->cam.get_u0() <<std::endl;
-
- if(!v0_node)
- std::cout << "WARNING: In CAMERA Node, v0 Node not specified, default value used : " << this->cam.get_v0() << std::endl;
- else
- std::cout << "camera : v0 "<< this->cam.get_v0() <<std::endl;
-
- if(!px_node)
- std::cout << "WARNING: In CAMERA Node, px Node not specified, default value used : " << this->cam.get_px() << std::endl;
- else
- std::cout << "camera : px "<< this->cam.get_px() <<std::endl;
-
- if(!py_node)
- std::cout << "WARNING: In CAMERA Node, py Node not specified, default value used : " << this->cam.get_py() << std::endl;
- else
- std::cout << "camera : py "<< this->cam.get_py() <<std::endl;
-}
-
-/*!
- Read face information.
-
- \throw vpException::fatalError if there was an unexpected number of data.
-
- \param doc : Pointer to the document.
- \param node : Pointer to the node of the camera information.
-*/
-void
-vpMbtXmlParser::read_face(xmlDocPtr doc, xmlNodePtr node)
-{
- bool angle_appear_node = false;
- bool angle_disappear_node = false;
- bool near_clipping_node = false;
- bool far_clipping_node = false;
- bool fov_clipping_node = false;
-
- for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
- if(dataNode->type == XML_ELEMENT_NODE){
- std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
- if(iter_data != nodeMap.end()){
- switch (iter_data->second){
- case angle_appear:{
- angleAppear = xmlReadDoubleChild(doc, dataNode);
- angle_appear_node = true;
- }break;
- case angle_disappear:{
- angleDisappear = xmlReadDoubleChild(doc, dataNode);
- angle_disappear_node = true;
- }break;
- case near_clipping:{
- nearClipping = xmlReadDoubleChild(doc, dataNode);
- near_clipping_node = true;
- hasNearClipping = true;
- }break;
- case far_clipping:{
- farClipping = xmlReadDoubleChild(doc, dataNode);
- far_clipping_node = true;
- hasFarClipping = true;
- }break;
- case fov_clipping:{
- fovClipping = (bool)xmlReadIntChild(doc, dataNode);
- fov_clipping_node = true;
- }break;
- default:{
-// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
- }break;
- }
- }
- }
- }
-
- if(!angle_appear_node)
- std::cout << "WARNING: In FACE Node, ANGLE_APPEAR Node not specified, default value used : " << angleAppear << std::endl;
- else
- std::cout << "face : Angle Appear "<< angleAppear <<std::endl;
-
- if(!angle_disappear_node)
- std::cout << "WARNING: In FACE Node, ANGLE_DESAPPEAR Node not specified, default value used : " << angleDisappear << std::endl;
+ std::cout <<"sample : n_total_sample : "<< this->m_ecm.getNbTotalSample()<< " (default)"<<std::endl;
else
- std::cout << "face : Angle Disappear : "<< angleDisappear <<std::endl;
-
- if(!near_clipping_node)
- std::cout << "WARNING: In FACE Node, NEAR_CLIPPING Node not specified, no near clipping used" << std::endl;
- else
- std::cout << "face : Near Clipping : "<< nearClipping <<std::endl;
-
- if(!far_clipping_node)
- std::cout << "WARNING: In FACE Node, FAR_CLIPPING Node not specified, no far clipping used" << std::endl;
- else
- std::cout << "face : Far Clipping : "<< farClipping <<std::endl;
-
- if(!fov_clipping_node)
- std::cout << "WARNING: In FACE Node, FOV_CLIPPING Node not specified, no fov clipping used" << std::endl;
- else{
- if(fovClipping)
- std::cout << "face : Fov Clipping : True" <<std::endl;
- else
- std::cout << "face : Fov Clipping : False" <<std::endl;
- }
+ std::cout <<"sample : n_total_sample : "<< this->m_ecm.getNbTotalSample()<<std::endl;
}
/*!
@@ -512,14 +341,14 @@ vpMbtXmlParser::read_mask (xmlDocPtr doc, xmlNodePtr node)
this->m_ecm.setMaskNumber(d_nb_mask);
if(!size_node)
- std::cout << "WARNING: In MASK Node, SIZE Node not specified, default value used : " << this->m_ecm.getMaskSize() << std::endl;
- else
- std::cout << "ecm : mask : size "<< this->m_ecm.getMaskSize() <<std::endl;
+ std::cout << "ecm : mask : size : "<< this->m_ecm.getMaskSize() << " (default)" <<std::endl;
+ else
+ std::cout << "ecm : mask : size : "<< this->m_ecm.getMaskSize() <<std::endl;
if(!nb_mask_node)
- std::cout << "WARNING: In MASK Node, NB_MASK Node not specified, default value used : " << this->m_ecm.getMaskNumber() << std::endl;
+ std::cout << "ecm : mask : nb_mask : "<< this->m_ecm.getMaskNumber() << " (default)" <<std::endl;
else
- std::cout << "ecm : mask : nb_mask "<< this->m_ecm.getMaskNumber() <<std::endl;
+ std::cout << "ecm : mask : nb_mask : "<< this->m_ecm.getMaskNumber() <<std::endl;
}
/*!
@@ -558,9 +387,9 @@ vpMbtXmlParser::read_range (xmlDocPtr doc, xmlNodePtr node)
this->m_ecm.setRange(m_range_tracking);
if(!tracking_node)
- std::cout << "WARNING: In RANGE Node, TRACKING Node not specified, default value used : " << this->m_ecm.getRange() << std::endl;
+ std::cout <<"ecm : range : tracking : "<< this->m_ecm.getRange()<< " (default)" <<std::endl;
else
- std::cout <<"ecm : range : tracking "<< this->m_ecm.getRange()<<std::endl;
+ std::cout <<"ecm : range : tracking : "<< this->m_ecm.getRange()<<std::endl;
}
@@ -614,17 +443,17 @@ vpMbtXmlParser::read_contrast (xmlDocPtr doc, xmlNodePtr node)
this->m_ecm.setThreshold(d_edge_threshold);
if(!edge_threshold_node)
- std::cout << "WARNING: In CONTRAST Node, EDGE_THRESHOLD Node not specified, default value used : " << this->m_ecm.getThreshold() << std::endl;
+ std::cout <<"ecm : contrast : threshold " << this->m_ecm.getThreshold()<<" (default)" <<std::endl;
else
std::cout <<"ecm : contrast : threshold " << this->m_ecm.getThreshold()<<std::endl;
if(!mu1_node)
- std::cout << "WARNING: In CONTRAST Node, mu1 Node not specified, default value used : " << this->m_ecm.getMu1() << std::endl;
+ std::cout <<"ecm : contrast : mu1 " << this->m_ecm.getMu1()<<" (default)" <<std::endl;
else
std::cout <<"ecm : contrast : mu1 " << this->m_ecm.getMu1()<<std::endl;
if(!mu2_node)
- std::cout << "WARNING: In CONTRAST Node, mu2 Node not specified, default value used : " << this->m_ecm.getMu2() << std::endl;
+ std::cout <<"ecm : contrast : mu2 " << this->m_ecm.getMu2()<<" (default)" <<std::endl;
else
std::cout <<"ecm : contrast : mu2 " << this->m_ecm.getMu2()<<std::endl;
}
diff --git a/src/tracking/mbt/edge/vpMbtXmlParser.h b/src/tracking/mbt/edge/vpMbtXmlParser.h
index 9431ad0..ed870fe 100644
--- a/src/tracking/mbt/edge/vpMbtXmlParser.h
+++ b/src/tracking/mbt/edge/vpMbtXmlParser.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtXmlParser.h 4320 2013-07-17 15:37:27Z ayol $
+ * $Id: vpMbtXmlParser.h 4582 2014-01-14 14:02:46Z ayol $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,12 +32,13 @@
*
*
* Description:
- * Make the complete tracking of an object by using its CAD model
+ * Load XML parameters of the Model based tracker (using edges).
*
* Authors:
* Nicolas Melchior
* Romain Tallonneau
* Eric Marchand
+ * Aurelien Yol
*
*****************************************************************************/
@@ -55,11 +56,8 @@
#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
-#include <visp/vpXmlParser.h>
+#include <visp/vpMbXmlParser.h>
#include <visp/vpMe.h>
-#include <visp/vpCameraParameters.h>
-
-
/*!
\class vpMbtXmlParser
@@ -69,31 +67,14 @@
Data parser for the model based tracker.
*/
-class VISP_EXPORT vpMbtXmlParser: public vpXmlParser
+class VISP_EXPORT vpMbtXmlParser: virtual public vpMbXmlParser
{
protected:
//! Moving edges parameters.
vpMe m_ecm;
- //! Camera parameters.
- vpCameraParameters cam;
- //! Angle to determine if a face appeared
- double angleAppear;
- //! Angle to determine if a face disappeared
- double angleDisappear;
- //! Is near clipping distance specified?
- bool hasNearClipping;
- //! Near clipping distance
- double nearClipping;
- //! Is far clipping distance specified?
- bool hasFarClipping;
- //! Near clipping distance
- double farClipping;
- //! Fov Clipping
- bool fovClipping;
-
+
typedef enum{
- conf,
- ecm,
+ ecm = vpMbXmlParser::last,
mask,
size,
nb_mask,
@@ -106,20 +87,8 @@ protected:
sample,
step,
nb_sample,
- face,
- angle_appear,
- angle_disappear,
- near_clipping,
- far_clipping,
- fov_clipping,
- camera,
- height,
- width,
- u0,
- v0,
- px,
- py
- } dataToParse;
+ last
+ } dataToParseMb;
public:
@@ -127,101 +96,19 @@ public:
vpMbtXmlParser();
virtual ~vpMbtXmlParser();
- /*!
- Get the angle to determine if a face appeared.
-
- \return angleAppear
- */
- inline double getAngleAppear() const {return angleAppear;}
-
- /*!
- Get the angle to determine if a face disappeared.
-
- \return angleDisappear
- */
- inline double getAngleDisappear() const {return angleDisappear;}
-
- void getCameraParameters(vpCameraParameters& _cam) const { _cam = this->cam;}
-
- /*!
- Get the far clipping distance.
-
- \return farClipping
- */
- inline double getFarClippingDistance() const {return farClipping;}
-
- /*!
- Use FOV clipping
-
- \return True if yes, False otherwise.
- */
- inline bool getFovClipping() const {return fovClipping;}
-
void getMe(vpMe& _ecm) const { _ecm = this->m_ecm;}
- /*!
- Get the near clipping distance.
- \return nearClipping
- */
- inline double getNearClippingDistance() const {return nearClipping;}
-
- /*!
- Has Far clipping been specified?
+ void parse(const char * filename);
- \return True if yes, False otherwise.
- */
- inline bool hasFarClippingDistance() const {return hasFarClipping;}
-
- /*!
- Has Near clipping been specified?
-
- \return True if yes, False otherwise.
- */
- inline bool hasNearClippingDistance() const {return hasNearClipping;}
-
- void parse(const char * filename);
-
- void readMainClass(xmlDocPtr doc, xmlNodePtr node);
- void read_ecm (xmlDocPtr doc, xmlNodePtr node);
- void read_sample (xmlDocPtr doc, xmlNodePtr node);
- void read_camera (xmlDocPtr doc, xmlNodePtr node);
- void read_mask (xmlDocPtr doc, xmlNodePtr node);
- void read_range (xmlDocPtr doc, xmlNodePtr node);
- void read_contrast (xmlDocPtr doc, xmlNodePtr node);
- void read_face(xmlDocPtr doc, xmlNodePtr node);
-
- /*!
- Set the angle to determine if a face appeared.
-
- \param aappear : New angleAppear
- */
- inline void setAngleAppear(const double &aappear) {angleAppear = aappear;}
-
- /*!
- Set the angle to determine if a face disappeared.
-
- \param adisappear : New angleDisappear
- */
- inline void setAngleDisappear(const double &adisappear) {angleDisappear = adisappear;}
-
- void setCameraParameters(const vpCameraParameters &_cam){ cam = _cam; }
-
- /*!
- Set the far clipping distance.
-
- \param fclip : New farClipping
- */
- inline void setFarClippingDistance(const double &fclip) {farClipping = fclip;}
+ virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
+ void read_ecm (xmlDocPtr doc, xmlNodePtr node);
+ void read_sample (xmlDocPtr doc, xmlNodePtr node);
+ void read_mask (xmlDocPtr doc, xmlNodePtr node);
+ void read_range (xmlDocPtr doc, xmlNodePtr node);
+ void read_contrast (xmlDocPtr doc, xmlNodePtr node);
void setMovingEdge(const vpMe &_ecm){ m_ecm = _ecm; }
-
- /*!
- Set the near clipping distance.
-
- \param nclip : New nearClipping
- */
- inline void setNearClippingDistance(const double &nclip) {nearClipping = nclip;}
void writeMainClass(xmlNodePtr node);
diff --git a/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.cpp b/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.cpp
index 11bb67f..6c9c284 100644
--- a/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.cpp
+++ b/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbEdgeKltTracker.cpp 4327 2013-07-19 14:08:01Z fspindle $
+ * $Id: vpMbEdgeKltTracker.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,14 +44,10 @@
#ifdef VISP_HAVE_OPENCV
vpMbEdgeKltTracker::vpMbEdgeKltTracker()
+ : compute_interaction(true), lambda(0.8), thresholdKLT(2.), thresholdMBT(2.), maxIter(200)
{
- compute_interaction = true;
computeCovariance = false;
- lambda = 0.8;
- thresholdKLT = 2.0;
- thresholdMBT = 2.0;
- maxIter = 200;
vpMbKltTracker::setMaxIter(30);
#ifdef VISP_HAVE_OGRE
@@ -278,8 +274,64 @@ void
vpMbEdgeKltTracker::loadConfigFile(const char* configFile)
{
#ifdef VISP_HAVE_XML2
- vpMbEdgeTracker::loadConfigFile(configFile);
- vpMbKltTracker::loadConfigFile(configFile);
+ vpMbtEdgeKltXmlParser xmlp;
+
+ xmlp.setCameraParameters(cam);
+ xmlp.setAngleAppear(vpMath::deg(vpMbKltTracker::angleAppears));
+ xmlp.setAngleDisappear(vpMath::deg(vpMbKltTracker::angleDisappears));
+
+ xmlp.setMovingEdge(me);
+
+ xmlp.setMaxFeatures(10000);
+ xmlp.setWindowSize(5);
+ xmlp.setQuality(0.01);
+ xmlp.setMinDistance(5);
+ xmlp.setHarrisParam(0.01);
+ xmlp.setBlockSize(3);
+ xmlp.setPyramidLevels(3);
+ xmlp.setMaskBorder(maskBorder);
+
+ try{
+ std::cout << " *********** Parsing XML for Mb Edge Tracker ************ " << std::endl;
+ xmlp.parse(configFile);
+ }
+ catch(...){
+ vpERROR_TRACE("Can't open XML file \"%s\"\n ", configFile);
+ throw vpException(vpException::ioError, "problem to parse configuration file.");
+ }
+
+ vpCameraParameters camera;
+ xmlp.getCameraParameters(camera);
+ setCameraParameters(camera);
+
+ vpMbEdgeTracker::angleAppears = vpMath::rad(xmlp.getAngleAppear());
+ vpMbEdgeTracker::angleDisappears = vpMath::rad(xmlp.getAngleDisappear());
+ vpMbKltTracker::angleAppears = vpMath::rad(xmlp.getAngleAppear());
+ vpMbKltTracker::angleDisappears = vpMath::rad(xmlp.getAngleDisappear());
+
+ if(xmlp.hasNearClippingDistance())
+ setNearClippingDistance(xmlp.getNearClippingDistance());
+
+ if(xmlp.hasFarClippingDistance())
+ setFarClippingDistance(xmlp.getFarClippingDistance());
+
+ if(xmlp.getFovClipping()){
+ vpMbEdgeTracker::setClipping(vpMbEdgeTracker::clippingFlag | vpMbtPolygon::FOV_CLIPPING);
+ vpMbKltTracker::setClipping(vpMbKltTracker::clippingFlag | vpMbtPolygon::FOV_CLIPPING);
+ }
+
+ vpMe meParser;
+ xmlp.getMe(meParser);
+ vpMbEdgeTracker::setMovingEdge(meParser);
+
+ tracker.setMaxFeatures((int)xmlp.getMaxFeatures());
+ tracker.setWindowSize((int)xmlp.getWindowSize());
+ tracker.setQuality(xmlp.getQuality());
+ tracker.setMinDistance(xmlp.getMinDistance());
+ tracker.setHarrisFreeParameter(xmlp.getHarrisParam());
+ tracker.setBlockSize((int)xmlp.getBlockSize());
+ tracker.setPyramidLevels((int)xmlp.getPyramidLevels());
+ maskBorder = xmlp.getMaskBorder();
#else
vpTRACE("You need the libXML2 to read the config file %s", configFile);
#endif
@@ -731,8 +783,8 @@ vpMbEdgeKltTracker::trackFirstLoop(const vpImage<unsigned char>& I, vpColVector
l->computeInteractionMatrixError(cMo);
double fac = 1;
- for(std::list<int>::const_iterator it = l->Lindex_polygon.begin(); it!=l->Lindex_polygon.end(); ++it){
- int index = *it;
+ for(std::list<int>::const_iterator itindex = l->Lindex_polygon.begin(); itindex!=l->Lindex_polygon.end(); ++itindex){
+ int index = *itindex;
if (l->hiddenface->isAppearing((unsigned int)index)) {
fac = 0.2;
break;
@@ -790,7 +842,7 @@ vpMbEdgeKltTracker::trackFirstLoop(const vpImage<unsigned char>& I, vpColVector
void
vpMbEdgeKltTracker::trackSecondLoop(const vpImage<unsigned char>& I, vpMatrix &L, vpColVector &error,
- vpHomogeneousMatrix& cMo, const unsigned int lvl)
+ vpHomogeneousMatrix& cMo_, const unsigned int lvl)
{
vpMbtDistanceLine* l;
vpMbtDistanceCylinder *cy ;
@@ -798,7 +850,7 @@ vpMbEdgeKltTracker::trackSecondLoop(const vpImage<unsigned char>& I, vpMatrix &
unsigned int n = 0 ;
for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[lvl].begin(); it!=lines[lvl].end(); ++it){
l = *it;
- l->computeInteractionMatrixError(cMo) ;
+ l->computeInteractionMatrixError(cMo_) ;
for (unsigned int i=0 ; i < l->nbFeature ; i++){
for (unsigned int j=0; j < 6 ; j++){
L[n+i][j] = l->L[i][j];
@@ -810,7 +862,7 @@ vpMbEdgeKltTracker::trackSecondLoop(const vpImage<unsigned char>& I, vpMatrix &
for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[lvl].begin(); it!=cylinders[lvl].end(); ++it){
cy = *it;
- cy->computeInteractionMatrixError(cMo, I) ;
+ cy->computeInteractionMatrixError(cMo_, I) ;
for(unsigned int i=0 ; i < cy->nbFeature ; i++){
for(unsigned int j=0; j < 6 ; j++){
L[n+i][j] = cy->L[i][j];
@@ -825,12 +877,12 @@ vpMbEdgeKltTracker::trackSecondLoop(const vpImage<unsigned char>& I, vpMatrix &
/*!
Set the camera parameters
- \param cam : the new camera parameters
+ \param camera : the new camera parameters
*/
void
-vpMbEdgeKltTracker::setCameraParameters(const vpCameraParameters& cam)
+vpMbEdgeKltTracker::setCameraParameters(const vpCameraParameters& camera)
{
- this->cam = cam;
+ this->cam = camera;
vpMbEdgeTracker::setCameraParameters(cam);
vpMbKltTracker::setCameraParameters(cam);
@@ -853,30 +905,30 @@ vpMbEdgeKltTracker::initFaceFromCorners(const std::vector<vpPoint>& corners, con
Add a cylinder to track from tow points on the axis (defining the length of
the cylinder) and its radius.
- \param _p1 : First point on the axis.
- \param _p2 : Second point on the axis.
- \param _radius : Radius of the cylinder.
- \param _indexCylinder : Index of the cylinder.
+ \param p1 : First point on the axis.
+ \param p2 : Second point on the axis.
+ \param radius : Radius of the cylinder.
+ \param indexCylinder : Index of the cylinder.
*/
void
-vpMbEdgeKltTracker::initCylinder(const vpPoint& _p1, const vpPoint _p2, const double _radius, const unsigned int _indexCylinder)
+vpMbEdgeKltTracker::initCylinder(const vpPoint& p1, const vpPoint &p2, const double radius, const unsigned int indexCylinder)
{
- vpMbEdgeTracker::initCylinder(_p1, _p2, _radius, _indexCylinder);
+ vpMbEdgeTracker::initCylinder(p1, p2, radius, indexCylinder);
}
/*!
Display the 3D model at a given position using the given camera parameters
\param I : The image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : boolean to say if all the model has to be displayed.
*/
void
-vpMbEdgeKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters & cam,
- const vpColor& col , const unsigned int thickness, const bool displayFullModel)
+vpMbEdgeKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &camera,
+ const vpColor& col, const unsigned int thickness, const bool displayFullModel)
{
vpMbtDistanceLine *l ;
@@ -884,11 +936,11 @@ vpMbEdgeKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneous
if(scales[i]){
for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[scaleLevel].begin(); it!=lines[scaleLevel].end(); ++it){
l = *it;
- l->display(I,cMo, cam, col, thickness, displayFullModel);
+ l->display(I,cMo_, camera, col, thickness, displayFullModel);
}
for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[scaleLevel].begin(); it!=cylinders[scaleLevel].end(); ++it){
- (*it)->display(I, cMo, cam, col, thickness);
+ (*it)->display(I, cMo_, camera, col, thickness);
}
break ; //displaying model on one scale only
@@ -903,7 +955,7 @@ vpMbEdgeKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneous
#ifdef VISP_HAVE_OGRE
if(vpMbKltTracker::useOgre)
- vpMbKltTracker::faces.displayOgre(cMo);
+ vpMbKltTracker::faces.displayOgre(cMo_);
#endif
}
@@ -911,14 +963,14 @@ vpMbEdgeKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneous
Display the 3D model at a given position using the given camera parameters
\param I : The color image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : boolean to say if all the model has to be displayed.
*/
void
-vpMbEdgeKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters & cam,
+vpMbEdgeKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &camera,
const vpColor& col , const unsigned int thickness, const bool displayFullModel)
{
vpMbtDistanceLine *l ;
@@ -927,11 +979,11 @@ vpMbEdgeKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix
if(scales[i]){
for(std::list<vpMbtDistanceLine*>::const_iterator it=lines[scaleLevel].begin(); it!=lines[scaleLevel].end(); ++it){
l = *it;
- l->display(I,cMo, cam, col, thickness, displayFullModel);
+ l->display(I,cMo_, camera, col, thickness, displayFullModel);
}
for(std::list<vpMbtDistanceCylinder*>::const_iterator it=cylinders[scaleLevel].begin(); it!=cylinders[scaleLevel].end(); ++it){
- (*it)->display(I, cMo, cam, col, thickness);
+ (*it)->display(I, cMo_, camera, col, thickness);
}
break ; //displaying model on one scale only
@@ -946,7 +998,7 @@ vpMbEdgeKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix
#ifdef VISP_HAVE_OGRE
if(vpMbKltTracker::useOgre)
- vpMbKltTracker::faces.displayOgre(cMo);
+ vpMbKltTracker::faces.displayOgre(cMo_);
#endif
}
diff --git a/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.h b/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.h
index fe6830f..8f1c270 100644
--- a/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.h
+++ b/src/tracking/mbt/hybrid/vpMbEdgeKltTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbEdgeKltTracker.h 4338 2013-07-23 14:29:30Z fspindle $
+ * $Id: vpMbEdgeKltTracker.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,11 +55,11 @@
#include <visp/vpSubMatrix.h>
#include <visp/vpSubColVector.h>
#include <visp/vpExponentialMap.h>
-#include <visp/vpMbtXmlParser.h>
#include <visp/vpMbTracker.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpPoseVector.h>
+#include <visp/vpMbtEdgeKltXmlParser.h>
#include <visp/vpMbKltTracker.h>
/*!
@@ -308,7 +308,7 @@ public:
\param a : new angle in radian.
*/
- virtual inline void setAngleAppear(const double &a) { vpMbKltTracker::setAngleAppear(a); }
+ virtual inline void setAngleAppear(const double &a) { vpMbKltTracker::setAngleAppear(a); vpMbEdgeTracker::setAngleAppear(a);}
/*!
Set the angle used to test polygons disappearance.
@@ -319,7 +319,7 @@ public:
\param a : new angle in radian.
*/
- virtual inline void setAngleDisappear(const double &a) { vpMbKltTracker::setAngleDisappear(a); }
+ virtual inline void setAngleDisappear(const double &a) { vpMbKltTracker::setAngleDisappear(a); vpMbEdgeTracker::setAngleDisappear(a);}
virtual void setCameraParameters(const vpCameraParameters& cam);
@@ -342,9 +342,9 @@ public:
/*!
Set the value of the gain used to compute the control law.
- \param lambda : the desired value for the gain.
+ \param gain : the desired value for the gain.
*/
- virtual inline void setLambda(const double lambda) {this->lambda = lambda; vpMbEdgeTracker::setLambda(lambda); vpMbKltTracker::setLambda(lambda);}
+ virtual inline void setLambda(const double gain) {this->lambda = gain; vpMbEdgeTracker::setLambda(lambda); vpMbKltTracker::setLambda(lambda);}
/*!
Set the maximum iteration of the virtual visual servoing stage.
@@ -379,7 +379,7 @@ protected:
vpColVector &w_klt, const unsigned int lvl=0);
virtual void init(const vpImage<unsigned char>& I);
- virtual void initCylinder(const vpPoint& , const vpPoint , const double , const unsigned int );
+ virtual void initCylinder(const vpPoint& , const vpPoint &, const double , const unsigned int );
virtual void initFaceFromCorners(const std::vector<vpPoint>& corners, const unsigned int indexFace = -1);
unsigned int initMbtTracking(const unsigned int level=0);
diff --git a/src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.cpp b/src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.cpp
new file mode 100644
index 0000000..a61e627
--- /dev/null
+++ b/src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.cpp
@@ -0,0 +1,198 @@
+/****************************************************************************
+ *
+ * $Id: vpMbtEdgeKltXmlParser.cpp 4577 2014-01-10 16:19:41Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ *
+ * Description:
+ * Load XML parameters of the Model based tracker (using edges and point features).
+ *
+ * Authors:
+ * Aurelien Yol
+ *
+ *****************************************************************************/
+#include <visp/vpConfig.h>
+
+
+#ifdef VISP_HAVE_XML2
+
+#include <iostream>
+#include <map>
+
+#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
+
+#include <visp/vpMbtEdgeKltXmlParser.h>
+
+
+/*!
+ Default constructor.
+
+*/
+vpMbtEdgeKltXmlParser::vpMbtEdgeKltXmlParser()
+{
+ init();
+}
+
+/*!
+ Default destructor.
+*/
+vpMbtEdgeKltXmlParser::~vpMbtEdgeKltXmlParser()
+{
+}
+
+/*!
+ Initialise internal variables (including the map).
+*/
+void
+vpMbtEdgeKltXmlParser::init()
+{
+ vpMbtXmlParser::init();
+ vpMbtKltXmlParser::init();
+
+ nodeMap["camera"] = vpMbtEdgeKltXmlParser::camera;
+ nodeMap["face"] = vpMbtEdgeKltXmlParser::face;
+ nodeMap["klt"] = vpMbtEdgeKltXmlParser::klt;
+ nodeMap["ecm"] = vpMbtEdgeKltXmlParser::ecm;
+ nodeMap["sample"] = vpMbtEdgeKltXmlParser::sample;
+}
+
+/*!
+ Parse the file in parameters.
+ This method is deprecated, use parse() instead.
+
+ \param filename : File to parse.
+*/
+void
+vpMbtEdgeKltXmlParser::parse(const char * filename)
+{
+ std::string file = filename;
+ vpXmlParser::parse(file);
+}
+
+/*!
+ Write info to file.
+
+ \warning Useless, so not yet implemented => Throw exception.
+*/
+void
+vpMbtEdgeKltXmlParser::writeMainClass(xmlNodePtr /*node*/)
+{
+ throw vpException(vpException::notImplementedError, "Not yet implemented." );
+}
+
+/*!
+ Read the parameters of the class from the file given by its document pointer
+ and by its root node.
+
+ \param doc : Document to parse.
+ \param node : Root node.
+*/
+void
+vpMbtEdgeKltXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
+{
+ bool camera_node = false;
+ bool face_node = false;
+ bool ecm_node = false;
+ bool sample_node = false;
+ bool klt_node = false;
+
+ for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
+ if(dataNode->type == XML_ELEMENT_NODE){
+ std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
+ if(iter_data != nodeMap.end()){
+ switch (iter_data->second){
+ case vpMbtEdgeKltXmlParser::camera:{
+ this->read_camera (doc, dataNode);
+ camera_node = true;
+ }break;
+ case vpMbtEdgeKltXmlParser::face:{
+ this->read_face(doc, dataNode);
+ face_node = true;
+ }break;
+ case vpMbtEdgeKltXmlParser::klt:{
+ this->read_klt(doc, dataNode);
+ klt_node = true;
+ }break;
+ case vpMbtEdgeKltXmlParser::ecm:{
+ this->read_ecm (doc, dataNode);
+ ecm_node = true;
+ }break;
+ case vpMbtEdgeKltXmlParser::sample:{
+ this->read_sample (doc, dataNode);
+ sample_node = true;
+ }break;
+ default:{
+// vpTRACE("unknown tag in read_sample : %d, %s", iter_data->second, (iter_data->first).c_str());
+ }break;
+ }
+ }
+ }
+ }
+
+ if(!camera_node) {
+ std::cout << "camera : u0 : "<< this->cam.get_u0() << " (default)" <<std::endl;
+ std::cout << "camera : v0 : "<< this->cam.get_v0() << " (default)" <<std::endl;
+ std::cout << "camera : px : "<< this->cam.get_px() << " (default)" <<std::endl;
+ std::cout << "camera : py : "<< this->cam.get_py() << " (default)" <<std::endl;
+ }
+
+ if(!face_node) {
+ std::cout << "face : Angle Appear : "<< angleAppear <<" (default)" <<std::endl;
+ std::cout << "face : Angle Disappear : "<< angleDisappear <<" (default)" <<std::endl;
+ }
+
+ if(!klt_node) {
+ std::cout << "klt : Mask Border : "<< maskBorder <<" (default)" <<std::endl;
+ std::cout << "klt : Max Features : "<< maxFeatures <<" (default)" <<std::endl;
+ std::cout << "klt : Windows Size : "<< winSize <<" (default)" <<std::endl;
+ std::cout << "klt : Quality : "<< qualityValue <<" (default)" <<std::endl;
+ std::cout << "klt : Min Distance : "<< minDist <<" (default)" <<std::endl;
+ std::cout << "klt : Harris Parameter : "<< harrisParam <<" (default)" <<std::endl;
+ std::cout << "klt : Block Size : "<< blockSize <<" (default)" <<std::endl;
+ std::cout << "klt : Pyramid Levels : "<< pyramidLevels <<" (default)" <<std::endl;
+ }
+
+ if(!ecm_node) {
+ std::cout << "ecm : mask : size : "<< this->m_ecm.getMaskSize() << " (default)" <<std::endl;
+ std::cout << "ecm : mask : nb_mask : "<< this->m_ecm.getMaskNumber() << " (default)" <<std::endl;
+ std::cout <<"ecm : range : tracking : "<< this->m_ecm.getRange()<< " (default)" <<std::endl;
+ std::cout <<"ecm : contrast : threshold : " << this->m_ecm.getThreshold()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu1 : " << this->m_ecm.getMu1()<<" (default)" <<std::endl;
+ std::cout <<"ecm : contrast : mu2 : " << this->m_ecm.getMu2()<<" (default)" <<std::endl;
+ }
+
+ if(!sample_node) {
+ std::cout <<"sample : sample_step : "<< this->m_ecm.getSampleStep()<< " (default)" << std::endl;
+ std::cout <<"sample : n_total_sample : "<< this->m_ecm.getNbTotalSample()<< " (default)"<<std::endl;
+ }
+}
+
+#endif
+
diff --git a/src/tools/io/vpKeyboard.h b/src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.h
similarity index 51%
copy from src/tools/io/vpKeyboard.h
copy to src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.h
index 844d86f..06208be 100644
--- a/src/tools/io/vpKeyboard.h
+++ b/src/tracking/mbt/hybrid/vpMbtEdgeKltXmlParser.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpKeyboard.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMbtEdgeKltXmlParser.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,76 +32,67 @@
*
*
* Description:
- * Keybord management.
+ * Load XML parameters of the Model based tracker (using edges and point features).
*
* Authors:
- * Fabien Spindler
+ * Aurelien Yol
*
*****************************************************************************/
-
-#ifndef vpKeyboard_h
-#define vpKeyboard_h
-
/*!
- \file vpKeyboard.h
- \brief Keybord management under unix.
+ * \file vpMbtEdgeKltXmlParser.h
+ * \brief Parse an Xml file to extract configuration parameters of a mbtConfig object.
*/
+#ifndef vpMbtEdgeKltXmlParser_HH
+#define vpMbtEdgeKltXmlParser_HH
+
#include <visp/vpConfig.h>
-#if ( defined(UNIX) && !defined(WIN32) )
+#ifdef VISP_HAVE_XML2
-# include <iostream>
-# include <termios.h>
-# include <unistd.h>
-# include <stdlib.h>
+#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
+#include <visp/vpMbtXmlParser.h>
+#include <visp/vpMbtKltXmlParser.h>
/*!
+ \class vpMbtEdgeKltXmlParser
+ \brief Parse an Xml file to extract configuration parameters of a mbtConfig object.
+ \ingroup ModelBasedTracking
- \class vpKeyboard
- \ingroup Keyboard
- \brief Keybord management under unix.
-
- Gets a key from the keyboard without waiting for the enter key.
-
- \code
- vpKeyboard keyboard; // Turn on keyboard raw mode
- int c;
- while (...) {
- ...
- if (keyboard.kbhit()) { // Detect if a key was pressed
- c = keyboard.getchar (void); // Get the pressed key
- if (c == 'q' || c == 'Q') {
- break; // Quit the while()
- }
- ...
- }
- }
-
- // Keyboard raw mode is turned off by the vpKeyboard destructor
- \endcode
+ Data parser for the model based tracker.
-*/
-class VISP_EXPORT vpKeyboard
+ */
+class VISP_EXPORT vpMbtEdgeKltXmlParser: public vpMbtXmlParser, public vpMbtKltXmlParser
{
-
+protected:
+ typedef enum{
+ camera,
+ face,
+ klt,
+ ecm,
+ sample
+ } dataToParseMbtEdgeKlt;
public:
- vpKeyboard();
- ~vpKeyboard();
- int kbhit();
- int getchar();
-private:
- void init();
- void end();
+ vpMbtEdgeKltXmlParser();
+ virtual ~vpMbtEdgeKltXmlParser();
- void setRawMode(bool active);
+ void parse(const char * filename);
- struct termios initial_settings, new_settings;
-} ;
+ virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
-#endif // defined UNIX
+ void writeMainClass(xmlNodePtr node);
+
+protected:
+ void init();
+
+};
#endif
+
+#endif /* NMBTEDGEKLTXMLPARSER_H_ */
+
+
+
diff --git a/src/tracking/mbt/klt/vpMbKltTracker.cpp b/src/tracking/mbt/klt/vpMbKltTracker.cpp
index 0dd96ef..542405c 100644
--- a/src/tracking/mbt/klt/vpMbKltTracker.cpp
+++ b/src/tracking/mbt/klt/vpMbKltTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbKltTracker.cpp 4337 2013-07-23 13:57:53Z ayol $
+ * $Id: vpMbKltTracker.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,14 +44,11 @@
#ifdef VISP_HAVE_OPENCV
vpMbKltTracker::vpMbKltTracker()
-{
-
- cur = NULL;
- compute_interaction = true;
- firstInitialisation = true;
- computeCovariance = false;
- firstTrack = false;
-
+ : cur(NULL), c0Mo(), angleAppears(0), angleDisappears(0), compute_interaction(true),
+ firstInitialisation(true), maskBorder(5), lambda(0.8), maxIter(200), threshold_outlier(0.5),
+ percentGood(0.6), useOgre(false), ctTc0(), tracker(), faces(), firstTrack(false),
+ distNearClip(0.01), distFarClip(100), clippingFlag(vpMbtPolygon::NO_CLIPPING)
+{
tracker.setTrackerId(1);
tracker.setUseHarris(1);
@@ -65,21 +62,10 @@ vpMbKltTracker::vpMbKltTracker()
angleAppears = vpMath::rad(65);
angleDisappears = vpMath::rad(75);
-
- clippingFlag = vpMbtPolygon::NO_CLIPPING;
-
- maskBorder = 5;
- threshold_outlier = 0.5;
- percentGood = 0.6;
-
- lambda = 0.8;
- maxIter = 200;
-
+
#ifdef VISP_HAVE_OGRE
faces.getOgreContext()->setWindowName("MBT KLT");
#endif
-
- useOgre = false;
}
/*!
@@ -134,9 +120,10 @@ vpMbKltTracker::reinit(const vpImage<unsigned char>& I)
IplImage* mask = cvCreateImage(cvSize((int)I.getWidth(), (int)I.getHeight()), IPL_DEPTH_8U, 1);
cvZero(mask);
+ unsigned char val = 255/* - i*15*/;
for (unsigned int i = 0; i < faces.size(); i += 1){
if(faces[i]->isVisible())
- faces[i]->updateMask(mask, 255/* - i*15*/, maskBorder);
+ faces[i]->updateMask(mask, val, maskBorder);
}
tracker.initTracking(cur, mask);
@@ -260,15 +247,15 @@ vpMbKltTracker::setKltOpencv(const vpKltOpencv& t){
/*!
Set the camera parameters.
- \param cam : the new camera parameters.
+ \param camera : the new camera parameters.
*/
void
-vpMbKltTracker::setCameraParameters(const vpCameraParameters& cam)
+vpMbKltTracker::setCameraParameters(const vpCameraParameters& camera)
{
for (unsigned int i = 0; i < faces.size(); i += 1){
- faces[i]->setCameraParameters(cam);
+ faces[i]->setCameraParameters(camera);
}
- this->cam = cam;
+ this->cam = camera;
}
/*!
@@ -344,7 +331,7 @@ vpMbKltTracker::setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatr
double invDc = 1.0 / plan.getD();
//Create the homography
- vpHomography cdHc;
+ vpMatrix cdHc;
vpGEMM(cdtc, Nc, -invDc, cdRc, 1.0, cdHc, VP_GEMM_B_T);
cdHc /= cdHc[2][2];
@@ -764,7 +751,6 @@ vpMbKltTracker::loadConfigFile(const char* configFile)
try{
std::cout << " *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
-
xmlp.parse(configFile);
}
catch(...){
@@ -794,7 +780,8 @@ vpMbKltTracker::loadConfigFile(const char* configFile)
setFarClippingDistance(xmlp.getFarClippingDistance());
if(xmlp.getFovClipping())
- clippingFlag = clippingFlag | vpMbtPolygon::FOV_CLIPPING;
+ setClipping(clippingFlag = clippingFlag | vpMbtPolygon::FOV_CLIPPING);
+
#else
vpTRACE("You need the libXML2 to read the config file %s", configFile);
#endif
@@ -804,17 +791,17 @@ vpMbKltTracker::loadConfigFile(const char* configFile)
Display the 3D model at a given position using the given camera parameters
\param I : The image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : Boolean to say if all the model has to be displayed.
*/
void
-vpMbKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters & cam,
- const vpColor& col , const unsigned int thickness, const bool displayFullModel)
+vpMbKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters & camera,
+ const vpColor& col, const unsigned int thickness, const bool displayFullModel)
{
- vpCameraParameters c = cam;
+ vpCameraParameters c = camera;
if(clippingFlag > 3) // Contains at least one FOV constraint
c.computeFov(I.getWidth(), I.getHeight());
@@ -822,7 +809,7 @@ vpMbKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatr
for (unsigned int i = 0; i < faces.size(); i += 1){
if(displayFullModel || faces[i]->isVisible())
{
- faces[i]->changeFrame(cMo);
+ faces[i]->changeFrame(cMo_);
faces[i]->computeRoiClipped(c);
std::vector<std::pair<vpImagePoint,unsigned int> > roi;
faces[i]->getRoiClipped(c, roi);
@@ -850,7 +837,7 @@ vpMbKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatr
#ifdef VISP_HAVE_OGRE
if(useOgre)
- faces.displayOgre(cMo);
+ faces.displayOgre(cMo_);
#endif
}
@@ -858,17 +845,17 @@ vpMbKltTracker::display(const vpImage<unsigned char>& I, const vpHomogeneousMatr
Display the 3D model at a given position using the given camera parameters
\param I : The color image.
- \param cMo : Pose used to project the 3D model into the image.
- \param cam : The camera parameters.
+ \param cMo_ : Pose used to project the 3D model into the image.
+ \param camera : The camera parameters.
\param col : The desired color.
\param thickness : The thickness of the lines.
\param displayFullModel : Boolean to say if all the model has to be displayed.
*/
void
-vpMbKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters & cam,
+vpMbKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters & camera,
const vpColor& col , const unsigned int thickness, const bool displayFullModel)
{
- vpCameraParameters c = cam;
+ vpCameraParameters c = camera;
if(clippingFlag > 3) // Contains at least one FOV constraint
c.computeFov(I.getWidth(), I.getHeight());
@@ -876,7 +863,7 @@ vpMbKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo
for (unsigned int i = 0; i < faces.size(); i += 1){
if(displayFullModel || faces[i]->isVisible())
{
- faces[i]->changeFrame(cMo);
+ faces[i]->changeFrame(cMo_);
faces[i]->computeRoiClipped(c);
std::vector<std::pair<vpImagePoint,unsigned int> > roi;
faces[i]->getRoiClipped(c, roi);
@@ -904,7 +891,7 @@ vpMbKltTracker::display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo
#ifdef VISP_HAVE_OGRE
if(useOgre)
- faces.displayOgre(cMo);
+ faces.displayOgre(cMo_);
#endif
}
diff --git a/src/tracking/mbt/klt/vpMbKltTracker.h b/src/tracking/mbt/klt/vpMbKltTracker.h
index 80060b8..b51a97f 100644
--- a/src/tracking/mbt/klt/vpMbKltTracker.h
+++ b/src/tracking/mbt/klt/vpMbKltTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbKltTracker.h 4338 2013-07-23 14:29:30Z fspindle $
+ * $Id: vpMbKltTracker.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -405,9 +405,9 @@ public:
/*!
Set the value of the gain used to compute the control law.
- \param lambda : the desired value for the gain.
+ \param gain : the desired value for the gain.
*/
- virtual inline void setLambda(const double lambda) {this->lambda = lambda;}
+ virtual inline void setLambda(const double gain) {this->lambda = gain;}
/*!
Set the erosion of the mask used on the Model faces.
@@ -443,7 +443,7 @@ protected:
void computeVVS(const unsigned int &nbInfos, vpColVector &w);
virtual void initFaceFromCorners(const std::vector<vpPoint>& corners, const unsigned int indexFace = -1);
- virtual void initCylinder(const vpPoint& , const vpPoint , const double , const unsigned int ){};
+ virtual void initCylinder(const vpPoint&, const vpPoint &, const double, const unsigned int ){};
void preTracking(const vpImage<unsigned char>& I, unsigned int &nbInfos, unsigned int &nbFaceUsed);
bool postTracking(const vpImage<unsigned char>& I, vpColVector &w);
diff --git a/src/tracking/mbt/klt/vpMbtKltPolygon.cpp b/src/tracking/mbt/klt/vpMbtKltPolygon.cpp
index 9d02cab..6e88f16 100644
--- a/src/tracking/mbt/klt/vpMbtKltPolygon.cpp
+++ b/src/tracking/mbt/klt/vpMbtKltPolygon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtKltPolygon.cpp 4318 2013-07-17 09:47:51Z fspindle $
+ * $Id: vpMbtKltPolygon.cpp 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -49,12 +49,9 @@
*/
vpMbtKltPolygon::vpMbtKltPolygon()
+ : H(), N(), N_cur(), invd0(1.), cRc0_0n(), initPoints(), curPoints(), curPointsInd(),
+ nbPointsCur(0), nbPointsInit(0), minNbPoint(4), enoughPoints(false), dt(1.), d0(1.), cam()
{
- minNbPoint = 4;
- enoughPoints = false;
-
- nbPointsInit = 0;
- nbPointsCur = 0;
initPoints = std::map<int, vpImagePoint>();
curPoints = std::map<int, vpImagePoint>();
curPointsInd = std::map<int, int>();
@@ -157,7 +154,7 @@ vpMbtKltPolygon::computeNbDetectedCurrent(const vpKltOpencv& _tracker)
void
vpMbtKltPolygon::computeInteractionMatrixAndResidu(vpColVector& _R, vpMatrix& _J)
{
- unsigned int index = 0;
+ unsigned int index_ = 0;
std::map<int, vpImagePoint>::const_iterator iter = curPoints.begin();
for( ; iter != curPoints.end(); iter++){
@@ -176,23 +173,23 @@ vpMbtKltPolygon::computeInteractionMatrixAndResidu(vpColVector& _R, vpMatrix& _J
double invZ = compute_1_over_Z(x_cur, y_cur);
- _J[2*index][0] = - invZ;
- _J[2*index][1] = 0;
- _J[2*index][2] = x_cur * invZ;
- _J[2*index][3] = x_cur * y_cur;
- _J[2*index][4] = -(1+x_cur*x_cur);
- _J[2*index][5] = y_cur;
+ _J[2*index_][0] = - invZ;
+ _J[2*index_][1] = 0;
+ _J[2*index_][2] = x_cur * invZ;
+ _J[2*index_][3] = x_cur * y_cur;
+ _J[2*index_][4] = -(1+x_cur*x_cur);
+ _J[2*index_][5] = y_cur;
- _J[2*index+1][0] = 0;
- _J[2*index+1][1] = - invZ;
- _J[2*index+1][2] = y_cur * invZ;
- _J[2*index+1][3] = (1+y_cur*y_cur);
- _J[2*index+1][4] = - y_cur * x_cur;
- _J[2*index+1][5] = - x_cur;
-
- _R[2*index] = (x0_transform - x_cur);
- _R[2*index+1] = (y0_transform - y_cur);
- index++;
+ _J[2*index_+1][0] = 0;
+ _J[2*index_+1][1] = - invZ;
+ _J[2*index_+1][2] = y_cur * invZ;
+ _J[2*index_+1][3] = (1+y_cur*y_cur);
+ _J[2*index_+1][4] = - y_cur * x_cur;
+ _J[2*index_+1][5] = - x_cur;
+
+ _R[2*index_] = (x0_transform - x_cur);
+ _R[2*index_+1] = (y0_transform - y_cur);
+ index_++;
}
}
@@ -251,12 +248,13 @@ vpMbtKltPolygon::computeHomography(const vpHomogeneousMatrix& _cTc0, vpHomograph
_cTc0.extract(cRc0);
_cTc0.extract(ctransc0);
-
+ vpMatrix cHc0(_cHc0);
+
// vpGEMM(cRc0, 1.0, invd0, cRc0, -1.0, _cHc0, VP_GEMM_A_T);
- vpGEMM(ctransc0, N, -invd0, cRc0, 1.0, _cHc0, VP_GEMM_B_T);
- _cHc0 /= _cHc0[2][2];
+ vpGEMM(ctransc0, N, -invd0, cRc0, 1.0, cHc0, VP_GEMM_B_T);
+ cHc0 /= cHc0[2][2];
- H = _cHc0;
+ H = cHc0;
// vpQuaternionVector NQuat(N[0], N[1], N[2], 0.0);
// vpQuaternionVector RotQuat(cRc0);
@@ -315,7 +313,7 @@ vpMbtKltPolygon::isTrackedFeature(const int _id)
\param _shiftBorder : Optionnal shift for the border in pixel (sort of built-in erosion) to avoid to consider pixels near the limits of the face.
*/
void
-vpMbtKltPolygon::updateMask(IplImage* _mask, unsigned int _nb, unsigned int _shiftBorder)
+vpMbtKltPolygon::updateMask(IplImage* _mask, unsigned char _nb, unsigned int _shiftBorder)
{
int width = _mask->width;
int i_min, i_max, j_min, j_max;
@@ -340,7 +338,7 @@ vpMbtKltPolygon::updateMask(IplImage* _mask, unsigned int _nb, unsigned int _shi
}
double shiftBorder_d = (double) _shiftBorder;
- char* ptrData = _mask->imageData + i_min*width+j_min;
+ unsigned char* ptrData = (unsigned char*)_mask->imageData + i_min*width+j_min;
for(int i=i_min; i< i_max; i++){
double i_d = (double) i;
for(int j=j_min; j< j_max; j++){
@@ -477,7 +475,8 @@ bool vpMbtKltPolygon::intersect(const vpImagePoint& p1, const vpImagePoint& p2,
double den = dx * ey - dy * ex;
double t = 0, u = 0;
- if(den != 0){
+ //if(den != 0){
+ if(std::fabs(den) > std::fabs(den)*std::numeric_limits<double>::epsilon()){
t = -( ey * ( p1.get_j() - j_test ) + ex * ( -p1.get_i() + i_test ) ) / den;
u = -( dx * ( -p1.get_i() + i_test ) + dy * ( p1.get_j() - j_test ) ) / den;
}
diff --git a/src/tracking/mbt/klt/vpMbtKltPolygon.h b/src/tracking/mbt/klt/vpMbtKltPolygon.h
index 7c1c868..ba8fe2a 100644
--- a/src/tracking/mbt/klt/vpMbtKltPolygon.h
+++ b/src/tracking/mbt/klt/vpMbtKltPolygon.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtKltPolygon.h 4339 2013-07-23 15:24:42Z ayol $
+ * $Id: vpMbtKltPolygon.h 4661 2014-02-10 19:34:58Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -157,7 +157,7 @@ public:
*/
virtual inline void setCameraParameters(const vpCameraParameters& _cam){ cam = _cam; }
- void updateMask(IplImage* _mask, unsigned int _nb = 255, unsigned int _shiftBorder = 0);
+ void updateMask(IplImage* _mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
//###################
// Static Functions
diff --git a/src/tracking/mbt/klt/vpMbtKltXmlParser.cpp b/src/tracking/mbt/klt/vpMbtKltXmlParser.cpp
index 554ddd6..5b81b53 100644
--- a/src/tracking/mbt/klt/vpMbtKltXmlParser.cpp
+++ b/src/tracking/mbt/klt/vpMbtKltXmlParser.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtKltXmlParser.cpp 4320 2013-07-17 15:37:27Z ayol $
+ * $Id: vpMbtKltXmlParser.cpp 4582 2014-01-14 14:02:46Z ayol $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,7 +32,7 @@
*
*
* Description:
- * Read MBT KLT Tracker information in an XML file
+ * Load XML parameters of the Model based tracker (using point features).
*
* Authors:
* Aurelien Yol
@@ -56,9 +56,8 @@
*/
vpMbtKltXmlParser::vpMbtKltXmlParser()
{
- hasNearClipping = false;
- hasFarClipping = false;
- fovClipping = false;
+ maskBorder = maxFeatures = winSize = blockSize = pyramidLevels = 0;
+ qualityValue = minDist = harrisParam = 0.;
init();
}
@@ -75,9 +74,8 @@ vpMbtKltXmlParser::~vpMbtKltXmlParser()
void
vpMbtKltXmlParser::init()
{
- setMainTag("conf");
+ vpMbXmlParser::init();
- nodeMap["conf"] = conf;
nodeMap["klt"] = klt;
nodeMap["mask_border"] = mask_border;
nodeMap["max_features"] = max_features;
@@ -87,19 +85,6 @@ vpMbtKltXmlParser::init()
nodeMap["harris"] = harris;
nodeMap["size_block"] = size_block;
nodeMap["pyramid_lvl"] = pyramid_lvl;
- nodeMap["face"] = face;
- nodeMap["angle_appear"] = angle_appear;
- nodeMap["angle_disappear"] = angle_disappear;
- nodeMap["near_clipping"] = near_clipping;
- nodeMap["far_clipping"] = far_clipping;
- nodeMap["fov_clipping"] = fov_clipping;
- nodeMap["camera"] = camera;
- nodeMap["height"] = height;
- nodeMap["width"] = width;
- nodeMap["u0"] = u0;
- nodeMap["v0"] = v0;
- nodeMap["px"] = px;
- nodeMap["py"] = py;
}
/*!
@@ -136,27 +121,27 @@ vpMbtKltXmlParser::writeMainClass(xmlNodePtr /*node*/)
void
vpMbtKltXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
- bool klt_node = false;
bool camera_node = false;
bool face_node = false;
+ bool klt_node = false;
for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
if(dataNode->type == XML_ELEMENT_NODE){
std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
if(iter_data != nodeMap.end()){
switch (iter_data->second){
- case klt:{
- this->read_klt(doc, dataNode);
- klt_node = true;
- }break;
case camera:{
- this->read_camera(doc, dataNode);
+ this->read_camera (doc, dataNode);
camera_node = true;
}break;
case face:{
this->read_face(doc, dataNode);
face_node = true;
}break;
+ case klt:{
+ this->read_klt(doc, dataNode);
+ klt_node = true;
+ }break;
default:{
// vpTRACE("unknown tag in read_sample : %d, %s", iter_data->second, (iter_data->first).c_str());
}break;
@@ -165,95 +150,27 @@ vpMbtKltXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
}
}
- if(!klt_node)
- std::cout << "WARNING: KLT Node not specified, default values used" << std::endl;
-
- if(!camera_node)
- std::cout << "WARNING: CAMERA Node not specified, default values used" << std::endl;
-
- if(!face_node)
- std::cout << "WARNING: FACE Node not specified, default values used" << std::endl;
-}
+ if(!camera_node) {
+ std::cout << "camera : u0 : "<< this->cam.get_u0() << " (default)" <<std::endl;
+ std::cout << "camera : v0 : "<< this->cam.get_v0() << " (default)" <<std::endl;
+ std::cout << "camera : px : "<< this->cam.get_px() << " (default)" <<std::endl;
+ std::cout << "camera : py : "<< this->cam.get_py() << " (default)" <<std::endl;
+ }
-/*!
- Read face information.
-
- \throw vpException::fatalError if there was an unexpected number of data.
-
- \param doc : Pointer to the document.
- \param node : Pointer to the node of the camera information.
-*/
-void
-vpMbtKltXmlParser::read_face(xmlDocPtr doc, xmlNodePtr node)
-{
- bool angle_appear_node = false;
- bool angle_disappear_node = false;
- bool near_clipping_node = false;
- bool far_clipping_node = false;
- bool fov_clipping_node = false;
-
- for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
- if(dataNode->type == XML_ELEMENT_NODE){
- std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
- if(iter_data != nodeMap.end()){
- switch (iter_data->second){
- case angle_appear:{
- angleAppear = xmlReadDoubleChild(doc, dataNode);
- angle_appear_node = true;
- }break;
- case angle_disappear:{
- angleDisappear = xmlReadDoubleChild(doc, dataNode);
- angle_disappear_node = true;
- }break;
- case near_clipping:{
- nearClipping = xmlReadDoubleChild(doc, dataNode);
- near_clipping_node = true;
- hasNearClipping = true;
- }break;
- case far_clipping:{
- farClipping = xmlReadDoubleChild(doc, dataNode);
- far_clipping_node = true;
- hasFarClipping = true;
- }break;
- case fov_clipping:{
- fovClipping = (bool)xmlReadIntChild(doc, dataNode);
- fov_clipping_node = true;
- }break;
- default:{
-// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
- }break;
- }
- }
- }
+ if(!face_node) {
+ std::cout << "face : Angle Appear : "<< angleAppear <<" (default)" <<std::endl;
+ std::cout << "face : Angle Disappear : "<< angleDisappear <<" (default)" <<std::endl;
}
-
- if(!angle_appear_node)
- std::cout << "WARNING: In FACE Node, ANGLE_APPEAR Node not specified, default value used : " << angleAppear << std::endl;
- else
- std::cout << "face : Angle Appear "<< angleAppear <<std::endl;
-
- if(!angle_disappear_node)
- std::cout << "WARNING: In FACE Node, ANGLE_DESAPPEAR Node not specified, default value used : " << angleDisappear << std::endl;
- else
- std::cout << "face : Angle Disappear : "<< angleDisappear <<std::endl;
-
- if(!near_clipping_node)
- std::cout << "WARNING: In FACE Node, NEAR_CLIPPING Node not specified, no near clipping used" << std::endl;
- else
- std::cout << "face : Near Clipping : "<< nearClipping <<std::endl;
-
- if(!far_clipping_node)
- std::cout << "WARNING: In FACE Node, FAR_CLIPPING Node not specified, no far clipping used" << std::endl;
- else
- std::cout << "face : Far Clipping : "<< farClipping <<std::endl;
-
- if(!fov_clipping_node)
- std::cout << "WARNING: In FACE Node, FOV_CLIPPING Node not specified, no fov clipping used" << std::endl;
- else{
- if(fovClipping)
- std::cout << "face : Fov Clipping : True" <<std::endl;
- else
- std::cout << "face : Fov Clipping : False" <<std::endl;
+
+ if(!klt_node) {
+ std::cout << "klt : Mask Border : "<< maskBorder <<" (default)" <<std::endl;
+ std::cout << "klt : Max Features : "<< maxFeatures <<" (default)" <<std::endl;
+ std::cout << "klt : Windows Size : "<< winSize <<" (default)" <<std::endl;
+ std::cout << "klt : Quality : "<< qualityValue <<" (default)" <<std::endl;
+ std::cout << "klt : Min Distance : "<< minDist <<" (default)" <<std::endl;
+ std::cout << "klt : Harris Parameter : "<< harrisParam <<" (default)" <<std::endl;
+ std::cout << "klt : Block Size : "<< blockSize <<" (default)" <<std::endl;
+ std::cout << "klt : Pyramid Levels : "<< pyramidLevels <<" (default)" <<std::endl;
}
}
@@ -268,7 +185,7 @@ vpMbtKltXmlParser::read_face(xmlDocPtr doc, xmlNodePtr node)
void
vpMbtKltXmlParser::read_klt(xmlDocPtr doc, xmlNodePtr node)
{
- bool mask_border_node = false;
+ bool mask_border_node = false;
bool max_features_node = false;
bool window_size_node = false;
bool quality_node = false;
@@ -323,138 +240,45 @@ vpMbtKltXmlParser::read_klt(xmlDocPtr doc, xmlNodePtr node)
}
if(!mask_border_node)
- std::cout << "WARNING: In KLT Node, MASK_BORDER Node not specified, default value used : " << maskBorder << std::endl;
+ std::cout << "klt : Mask Border : "<< maskBorder <<" (default)" <<std::endl;
else
std::cout << "klt : Mask Border : "<< maskBorder <<std::endl;
if(!max_features_node)
- std::cout << "WARNING: In KLT Node, MAX_FEATURES Node not specified, default value used : " << maxFeatures << std::endl;
+ std::cout << "klt : Max Features : "<< maxFeatures <<" (default)" <<std::endl;
else
std::cout << "klt : Max Features : "<< maxFeatures <<std::endl;
if(!window_size_node)
- std::cout << "WARNING: In KLT Node, WINDOW_SIZE Node not specified, default value used : " << winSize << std::endl;
+ std::cout << "klt : Windows Size : "<< winSize <<" (default)" <<std::endl;
else
std::cout << "klt : Windows Size : "<< winSize <<std::endl;
if(!quality_node)
- std::cout << "WARNING: In KLT Node, QUALITY Node not specified, default value used : " << qualityValue << std::endl;
+ std::cout << "klt : Quality : "<< qualityValue <<" (default)" <<std::endl;
else
std::cout << "klt : Quality : "<< qualityValue <<std::endl;
if(!min_distance_node)
- std::cout << "WARNING: In KLT Node, MIN_DISTANCE Node not specified, default value used : " << minDist << std::endl;
+ std::cout << "klt : Min Distance : "<< minDist <<" (default)" <<std::endl;
else
std::cout << "klt : Min Distance : "<< minDist <<std::endl;
if(!harris_node)
- std::cout << "WARNING: In KLT Node, HARRIS Node not specified, default value used : " << harrisParam << std::endl;
+ std::cout << "klt : Harris Parameter : "<< harrisParam <<" (default)" <<std::endl;
else
std::cout << "klt : Harris Parameter : "<< harrisParam <<std::endl;
if(!size_block_node)
- std::cout << "WARNING: In KLT Node, SIZE_BLOCK Node not specified, default value used : " << blockSize << std::endl;
+ std::cout << "klt : Block Size : "<< blockSize <<" (default)" <<std::endl;
else
std::cout << "klt : Block Size : "<< blockSize <<std::endl;
if(!pyramid_lvl_node)
- std::cout << "WARNING: In KLT Node, PYRAMID_LVL Node not specified, default value used : " << pyramidLevels << std::endl;
+ std::cout << "klt : Pyramid Levels : "<< pyramidLevels <<" (default)" <<std::endl;
else
std::cout << "klt : Pyramid Levels : "<< pyramidLevels <<std::endl;
}
-/*!
- Read camera information.
-
- \throw vpException::fatalError if there was an unexpected number of data.
-
- \param doc : Pointer to the document.
- \param node : Pointer to the node of the camera information.
-*/
-void
-vpMbtKltXmlParser::read_camera (xmlDocPtr doc, xmlNodePtr node)
-{
- bool height_node = false;
- bool width_node = false;
- bool u0_node = false;
- bool v0_node = false;
- bool px_node = false;
- bool py_node = false;
-
- // current data values.
-// int d_height=0 ;
-// int d_width= 0 ;
- double d_u0 = this->cam.get_u0();
- double d_v0 = this->cam.get_v0();
- double d_px = this->cam.get_px();
- double d_py = this->cam.get_py();
-
- for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
- if(dataNode->type == XML_ELEMENT_NODE){
- std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
- if(iter_data != nodeMap.end()){
- switch (iter_data->second){
- case height:{
- /* d_height = */ xmlReadIntChild(doc, dataNode);
- height_node = true;
- }break;
- case width:{
- /* d_width = */ xmlReadIntChild(doc, dataNode);
- width_node = true;
- }break;
- case u0:{
- d_u0 = xmlReadDoubleChild(doc, dataNode);
- u0_node = true;
- }break;
- case v0:{
- d_v0 = xmlReadDoubleChild(doc, dataNode);
- v0_node = true;
- }break;
- case px:{
- d_px = xmlReadDoubleChild(doc, dataNode);
- px_node = true;
- }break;
- case py:{
- d_py = xmlReadDoubleChild(doc, dataNode);
- py_node = true;
- }break;
- default:{
-// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
- }break;
- }
- }
- }
- }
-
- this->cam.initPersProjWithoutDistortion(d_px, d_py, d_u0, d_v0) ;
-
- if(!height_node)
- std::cout << "WARNING: In CAMERA Node, HEIGHT Node not specified, default value used" << std::endl;
-
- if(!width_node)
- std::cout << "WARNING: In CAMERA Node, WIDTH Node not specified, default value used" << std::endl;
-
- if(!u0_node)
- std::cout << "WARNING: In CAMERA Node, u0 Node not specified, default value used : " << this->cam.get_u0() << std::endl;
- else
- std::cout << "camera : u0 "<< this->cam.get_u0() <<std::endl;
-
- if(!v0_node)
- std::cout << "WARNING: In CAMERA Node, v0 Node not specified, default value used : " << this->cam.get_v0() << std::endl;
- else
- std::cout << "camera : v0 "<< this->cam.get_v0() <<std::endl;
-
- if(!px_node)
- std::cout << "WARNING: In CAMERA Node, px Node not specified, default value used : " << this->cam.get_px() << std::endl;
- else
- std::cout << "camera : px "<< this->cam.get_px() <<std::endl;
-
- if(!py_node)
- std::cout << "WARNING: In CAMERA Node, py Node not specified, default value used : " << this->cam.get_py() << std::endl;
- else
- std::cout << "camera : py "<< this->cam.get_py() <<std::endl;
-}
-
-
#endif
diff --git a/src/tracking/mbt/klt/vpMbtKltXmlParser.h b/src/tracking/mbt/klt/vpMbtKltXmlParser.h
index ee260f2..0de55c7 100644
--- a/src/tracking/mbt/klt/vpMbtKltXmlParser.h
+++ b/src/tracking/mbt/klt/vpMbtKltXmlParser.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtKltXmlParser.h 4320 2013-07-17 15:37:27Z ayol $
+ * $Id: vpMbtKltXmlParser.h 4582 2014-01-14 14:02:46Z ayol $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,7 +32,7 @@
*
*
* Description:
- * Read MBT KLT Tracker information in an XML file
+ * Load XML parameters of the Model based tracker (using point features).
*
* Authors:
* Aurelien Yol
@@ -52,8 +52,7 @@
#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
-#include <visp/vpXmlParser.h>
-#include <visp/vpCameraParameters.h>
+#include <visp/vpMbXmlParser.h>
/*!
\class vpMbtKltXmlParser
@@ -63,7 +62,7 @@
Data parser for the KLT model based tracker.
*/
-class VISP_EXPORT vpMbtKltXmlParser: public vpXmlParser
+class VISP_EXPORT vpMbtKltXmlParser: virtual public vpMbXmlParser
{
protected:
//! Border of the mask used on Klt points
@@ -82,26 +81,9 @@ protected:
unsigned int blockSize;
//! Number of pyramid levels
unsigned int pyramidLevels;
- //! Angle to determine if a face appeared
- double angleAppear;
- //! Angle to determine if a face disappeared
- double angleDisappear;
- //! Is near clipping distance specified?
- bool hasNearClipping;
- //! Near clipping distance
- double nearClipping;
- //! Is far clipping distance specified?
- bool hasFarClipping;
- //! Near clipping distance
- double farClipping;
- //! Fov Clipping
- bool fovClipping;
- //! Camera parameters.
- vpCameraParameters cam;
typedef enum{
- conf,
- klt,
+ klt = vpMbXmlParser::last,
mask_border,
max_features,
window_size,
@@ -110,20 +92,8 @@ protected:
harris,
size_block,
pyramid_lvl,
- face,
- angle_appear,
- angle_disappear,
- near_clipping,
- far_clipping,
- fov_clipping,
- camera,
- height,
- width,
- u0,
- v0,
- px,
- py
- } dataToParse;
+ last
+ } dataToParseMbKlt;
public:
@@ -132,20 +102,6 @@ public:
virtual ~vpMbtKltXmlParser();
/*!
- Get the angle to determine if a face appeared.
-
- \return angleAppear
- */
- inline double getAngleAppear() const {return angleAppear;}
-
- /*!
- Get the angle to determine if a face disappeared.
-
- \return angleDisappear
- */
- inline double getAngleDisappear() const {return angleDisappear;}
-
- /*!
Get the size of a block.
\return blockSize
@@ -153,27 +109,6 @@ public:
inline unsigned int getBlockSize() const {return blockSize;}
/*!
- Get the camera parameters.
-
- \return cam
- */
- void getCameraParameters(vpCameraParameters& _cam) const { _cam = cam;}
-
- /*!
- Get the far clipping distance.
-
- \return farClipping
- */
- inline double getFarClippingDistance() const {return farClipping;}
-
- /*!
- Use FOV clipping
-
- \return True if yes, False otherwise.
- */
- inline bool getFovClipping() const {return fovClipping;}
-
- /*!
Get the Harris free parameter.
\return harrisParam
@@ -202,13 +137,6 @@ public:
inline double getMinDistance() const {return minDist;}
/*!
- Get the near clipping distance.
-
- \return nearClipping
- */
- inline double getNearClippingDistance() const {return nearClipping;}
-
- /*!
Get the number of pyramid levels
\return pyramidLevels
@@ -229,40 +157,10 @@ public:
*/
inline unsigned int getWindowSize() const {return winSize;}
- /*!
- Has Far clipping been specified?
-
- \return True if yes, False otherwise.
- */
- inline bool hasFarClippingDistance() const {return hasFarClipping;}
-
- /*!
- Has Near clipping been specified?
-
- \return True if yes, False otherwise.
- */
- inline bool hasNearClippingDistance() const {return hasNearClipping;}
-
void parse(const char * filename);
- void readMainClass(xmlDocPtr doc, xmlNodePtr node);
- void read_camera (xmlDocPtr doc, xmlNodePtr node);
+ virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
void read_klt(xmlDocPtr doc, xmlNodePtr node);
- void read_face(xmlDocPtr doc, xmlNodePtr node);
-
- /*!
- Set the angle to determine if a face appeared.
-
- \param aappear : New angleAppear
- */
- inline void setAngleAppear(const double &aappear) {angleAppear = aappear;}
-
- /*!
- Set the angle to determine if a face disappeared.
-
- \param adisappear : New angleDisappear
- */
- inline void setAngleDisappear(const double &adisappear) {angleDisappear = adisappear;}
/*!
Set the size of a block.
@@ -272,20 +170,6 @@ public:
inline void setBlockSize(const unsigned int &bs) {blockSize = bs;}
/*!
- Set the camera parameters.
-
- \param _cam : New cam
- */
- void setCameraParameters(const vpCameraParameters& _cam) {cam = _cam;}
-
- /*!
- Set the far clipping distance.
-
- \param fclip : New farClipping
- */
- inline void setFarClippingDistance(const double &fclip) {farClipping = fclip;}
-
- /*!
Set the Harris free parameter.
\param hp : New harrisParam
@@ -312,14 +196,7 @@ public:
\param mD : New minDist
*/
inline void setMinDistance(const double &mD) {minDist = mD;}
-
- /*!
- Set the near clipping distance.
- \param nclip : New nearClipping
- */
- inline void setNearClippingDistance(const double &nclip) {nearClipping = nclip;}
-
/*!
Set the number of pyramid levels
diff --git a/src/tracking/mbt/vpMbHiddenFaces.h b/src/tracking/mbt/vpMbHiddenFaces.h
index 60b4e91..0fecbd1 100644
--- a/src/tracking/mbt/vpMbHiddenFaces.h
+++ b/src/tracking/mbt/vpMbHiddenFaces.h
@@ -3,7 +3,7 @@
* $Id: vpMbTracker.h 4004 2012-11-23 17:34:44Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,6 +54,7 @@
#endif
#include <vector>
+#include <limits>
/*!
\class vpMbHiddenFaces
@@ -79,11 +80,11 @@ class vpMbHiddenFaces
std::vector< Ogre::ManualObject* > lOgrePolygons;
#endif
- unsigned int setVisiblePrivate(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears,
+ unsigned int setVisiblePrivate(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears,
bool &changed,
bool useOgre = false, bool testRoi = false,
- const vpImage<unsigned char> &_I = vpImage<unsigned char>(),
- const vpCameraParameters &_cam = vpCameraParameters()
+ const vpImage<unsigned char> &I = vpImage<unsigned char>(),
+ const vpCameraParameters &cam = vpCameraParameters()
) ;
@@ -94,7 +95,7 @@ class vpMbHiddenFaces
void addPolygon(PolygonType *p) ;
#ifdef VISP_HAVE_OGRE
- void displayOgre(const vpHomogeneousMatrix &_cMo);
+ void displayOgre(const vpHomogeneousMatrix &cMo);
#endif
/*!
@@ -105,7 +106,7 @@ class vpMbHiddenFaces
std::vector<PolygonType*>& getPolygon() {return Lpol;}
#ifdef VISP_HAVE_OGRE
- void initOgre(vpCameraParameters _cam = vpCameraParameters());
+ void initOgre(const vpCameraParameters &cam = vpCameraParameters());
#endif
/*!
@@ -169,13 +170,13 @@ class vpMbHiddenFaces
void setBackgroundSizeOgre(const unsigned int &h, const unsigned int &w) { ogreBackground.resize(h,w); }
#endif
- unsigned int setVisible(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angle, bool &changed) ;
- unsigned int setVisible(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
- unsigned int setVisible(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
+ unsigned int setVisible(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed) ;
+ unsigned int setVisible(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
+ unsigned int setVisible(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
#ifdef VISP_HAVE_OGRE
- unsigned int setVisibleOgre(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
- unsigned int setVisibleOgre(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
+ unsigned int setVisibleOgre(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
+ unsigned int setVisibleOgre(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed) ;
#endif
/*!
Get the number of polygons.
@@ -207,7 +208,7 @@ class vpMbHiddenFaces
\param d : New value.
*/
vp_deprecated void setDepthTest(const bool &d){depthTest = d;}
- unsigned int setVisible(const vpHomogeneousMatrix &_cMo) ;
+ unsigned int setVisible(const vpHomogeneousMatrix &cMo) ;
#endif
} ;
@@ -215,7 +216,12 @@ class vpMbHiddenFaces
Basic constructor.
*/
template<class PolygonType>
-vpMbHiddenFaces<PolygonType>::vpMbHiddenFaces(): nbVisiblePolygon(0)
+vpMbHiddenFaces<PolygonType>::vpMbHiddenFaces()
+ : Lpol(), nbVisiblePolygon(0)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , depthTest(false)
+#endif
+
{
#ifdef VISP_HAVE_OGRE
ogreInitialised = false;
@@ -223,9 +229,6 @@ vpMbHiddenFaces<PolygonType>::vpMbHiddenFaces(): nbVisiblePolygon(0)
ogre->setShowConfigDialog(false);
ogreBackground = vpImage<unsigned char>(480, 640);
#endif
-#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- depthTest = false;
-#endif
}
@@ -286,23 +289,23 @@ vpMbHiddenFaces<PolygonType>::reset()
/*!
Compute the number of visible polygons.
- \param _cMo : The pose of the camera
+ \param cMo : The pose of the camera
\param angleAppears : Angle used to test the appearance of a face
\param angleDisappears : Angle used to test the disappearance of a face
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
\param useOgre : True if a Ogre is used to test the visibility, False otherwise
\param testRoi : True if a face have to be entirely in the image False otherwise
- \param _I : Image used to test if a face is entirely projected in the image.
- \param _cam : Camera parameters.
+ \param I : Image used to test if a face is entirely projected in the image.
+ \param cam : Camera parameters.
\return Return the number of visible polygons
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears,
+vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears,
bool &changed, bool useOgre, bool testRoi,
- const vpImage<unsigned char> &_I,
- const vpCameraParameters &_cam
+ const vpImage<unsigned char> &I,
+ const vpCameraParameters &cam
)
{
nbVisiblePolygon = 0;
@@ -312,15 +315,15 @@ vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo,
if(useOgre){
#ifdef VISP_HAVE_OGRE
- _cMo.inverse().extract(cameraPos);
- ogre->renderOneFrame(ogreBackground, _cMo);
+ cMo.inverse().extract(cameraPos);
+ ogre->renderOneFrame(ogreBackground, cMo);
#else
vpTRACE("ViSP doesn't have Ogre3D, simple visibility test used");
#endif
}
for (unsigned int i = 0; i < Lpol.size(); i += 1){
- Lpol[i]->changeFrame(_cMo);
+ Lpol[i]->changeFrame(cMo);
Lpol[i]->isappearing = false;
if(Lpol[i]->isVisible())
@@ -330,19 +333,19 @@ vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo,
if(testRoi){
nbCornerInsidePrev = Lpol[i]->getNbCornerInsidePrevImage();
- if(Lpol[i]->getNbCornerInsideImage(_I, _cam) == 0)
+ if(Lpol[i]->getNbCornerInsideImage(I, cam) == 0)
testDisappear = true;
}
if(!testDisappear){
if(useOgre)
#ifdef VISP_HAVE_OGRE
- testDisappear = ((!Lpol[i]->isVisible(_cMo, angleDisappears, true)) || !isVisibleOgre(cameraPos,i));
+ testDisappear = ((!Lpol[i]->isVisible(cMo, angleDisappears, true)) || !isVisibleOgre(cameraPos,i));
#else
- testDisappear = (!Lpol[i]->isVisible(_cMo, angleDisappears));
+ testDisappear = (!Lpol[i]->isVisible(cMo, angleDisappears));
#endif
else
- testDisappear = (!Lpol[i]->isVisible(_cMo, angleDisappears));
+ testDisappear = (!Lpol[i]->isVisible(cMo, angleDisappears));
}
// test if the face is still visible
@@ -363,18 +366,18 @@ vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo,
{
bool testAppear = true;
- if(testRoi && Lpol[i]->getNbCornerInsideImage(_I, _cam) == 0)
+ if(testRoi && Lpol[i]->getNbCornerInsideImage(I, cam) == 0)
testAppear = false;
if(testAppear){
if(useOgre)
#ifdef VISP_HAVE_OGRE
- testAppear = ((Lpol[i]->isVisible(_cMo, angleAppears, true)) && isVisibleOgre(cameraPos,i));
+ testAppear = ((Lpol[i]->isVisible(cMo, angleAppears, true)) && isVisibleOgre(cameraPos,i));
#else
- testAppear = (Lpol[i]->isVisible(_cMo, angleAppears));
+ testAppear = (Lpol[i]->isVisible(cMo, angleAppears));
#endif
else
- testAppear = (Lpol[i]->isVisible(_cMo, angleAppears));
+ testAppear = (Lpol[i]->isVisible(cMo, angleAppears));
}
if(testAppear){
@@ -395,9 +398,9 @@ vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo,
/*!
Compute the number of visible polygons.
- \param _I : Image used to check if the region of interest is inside the image.
- \param _cam : Camera parameters.
- \param _cMo : The pose of the camera.
+ \param I : Image used to check if the region of interest is inside the image.
+ \param cam : Camera parameters.
+ \param cMo : The pose of the camera.
\param angle : Angle used to test the appearance and disappearance of a face.
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
@@ -405,17 +408,17 @@ vpMbHiddenFaces<PolygonType>::setVisiblePrivate(const vpHomogeneousMatrix &_cMo,
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angle, bool &changed)
+vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed)
{
- return setVisible(_I, _cam, _cMo, angle, angle, changed);
+ return setVisible(I, cam, cMo, angle, angle, changed);
}
/*!
Compute the number of visible polygons.
- \param _I : Image used to check if the region of interest is inside the image.
- \param _cam : Camera parameters.
- \param _cMo : The pose of the camera
+ \param I : Image used to check if the region of interest is inside the image.
+ \param cam : Camera parameters.
+ \param cMo : The pose of the camera
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
\param angleAppears : Angle used to test the appearance of a face
\param angleDisappears : Angle used to test the disappearance of a face
@@ -424,15 +427,15 @@ vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& _I, const
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
+vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
{
- return setVisiblePrivate(_cMo,angleAppears,angleDisappears,changed,false,true,_I,_cam);
+ return setVisiblePrivate(cMo,angleAppears,angleDisappears,changed,false,true,I,cam);
}
/*!
Compute the number of visible polygons.
- \param _cMo : The pose of the camera
+ \param cMo : The pose of the camera
\param angleAppears : Angle used to test the appearance of a face
\param angleDisappears : Angle used to test the disappearance of a face
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
@@ -441,23 +444,23 @@ vpMbHiddenFaces<PolygonType>::setVisible(const vpImage<unsigned char>& _I, const
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisible(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
+vpMbHiddenFaces<PolygonType>::setVisible(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
{
- return setVisiblePrivate(_cMo,angleAppears,angleDisappears,changed,false);
+ return setVisiblePrivate(cMo,angleAppears,angleDisappears,changed,false);
}
#ifdef VISP_HAVE_OGRE
/*!
Initialise the ogre context for face visibility tests.
- \param _cam : Camera parameters.
+ \param cam : Camera parameters.
*/
template<class PolygonType>
void
-vpMbHiddenFaces<PolygonType>::initOgre(vpCameraParameters _cam)
+vpMbHiddenFaces<PolygonType>::initOgre(const vpCameraParameters &cam)
{
ogreInitialised = true;
- ogre->setCameraParameters(_cam);
+ ogre->setCameraParameters(cam);
ogre->init(ogreBackground, false, true);
for(unsigned int n = 0 ; n < Lpol.size(); n++){
@@ -482,11 +485,11 @@ vpMbHiddenFaces<PolygonType>::initOgre(vpCameraParameters _cam)
/*!
Update the display in Ogre Window.
- \param _cMo : Pose used to display.
+ \param cMo : Pose used to display.
*/
template<class PolygonType>
void
-vpMbHiddenFaces<PolygonType>::displayOgre(const vpHomogeneousMatrix &_cMo)
+vpMbHiddenFaces<PolygonType>::displayOgre(const vpHomogeneousMatrix &cMo)
{
if(ogreInitialised && !ogre->isWindowHidden()){
for(unsigned int i = 0 ; i < Lpol.size() ; i++){
@@ -496,16 +499,16 @@ vpMbHiddenFaces<PolygonType>::displayOgre(const vpHomogeneousMatrix &_cMo)
else
lOgrePolygons[i]->setVisible(false);
}
- ogre->display(ogreBackground, _cMo);
+ ogre->display(ogreBackground, cMo);
}
}
/*!
Compute the number of visible polygons through Ogre3D.
- \param _I : Image used to check if the region of interest is inside the image.
- \param _cam : Camera parameters.
- \param _cMo : The pose of the camera
+ \param I : Image used to check if the region of interest is inside the image.
+ \param cam : Camera parameters.
+ \param cMo : The pose of the camera
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
\param angleAppears : Angle used to test the appearance of a face
\param angleDisappears : Angle used to test the disappearance of a face
@@ -514,15 +517,15 @@ vpMbHiddenFaces<PolygonType>::displayOgre(const vpHomogeneousMatrix &_cMo)
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisibleOgre(const vpImage<unsigned char>& _I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
+vpMbHiddenFaces<PolygonType>::setVisibleOgre(const vpImage<unsigned char>& I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
{
- return setVisiblePrivate(_cMo,angleAppears,angleDisappears,changed,true,true,_I,_cam);
+ return setVisiblePrivate(cMo,angleAppears,angleDisappears,changed,true,true,I,cam);
}
/*!
Compute the number of visible polygons through Ogre3D.
- \param _cMo : The pose of the camera
+ \param cMo : The pose of the camera
\param angleAppears : Angle used to test the appearance of a face
\param angleDisappears : Angle used to test the disappearance of a face
\param changed : True if a face appeared, disappeared or too many points have been lost. False otherwise
@@ -531,9 +534,9 @@ vpMbHiddenFaces<PolygonType>::setVisibleOgre(const vpImage<unsigned char>& _I, c
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisibleOgre(const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
+vpMbHiddenFaces<PolygonType>::setVisibleOgre(const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
{
- return setVisiblePrivate(_cMo,angleAppears,angleDisappears,changed,true);
+ return setVisiblePrivate(cMo,angleAppears,angleDisappears,changed,true);
}
/*!
@@ -594,7 +597,8 @@ vpMbHiddenFaces<PolygonType>::isVisibleOgre(const vpTranslationVector &cameraPos
it++;
while(!visible && it != result.end()){
distance = it->distance;
- if(distance == distancePrev){
+ //if(distance == distancePrev){
+ if(std::fabs(distance - distancePrev) < distance * std::numeric_limits<double>::epsilon()){
if(it->movable->getName() == Ogre::StringConverter::toString(index)){
visible = true;
break;
@@ -630,18 +634,18 @@ vpMbHiddenFaces<PolygonType>::isVisibleOgre(const vpTranslationVector &cameraPos
Compute the number of visible polygons.
- \param _cMo : The pose of the camera
+ \param cMo : The pose of the camera
\return Return the number of visible polygons
*/
template<class PolygonType>
unsigned int
-vpMbHiddenFaces<PolygonType>::setVisible(const vpHomogeneousMatrix &_cMo)
+vpMbHiddenFaces<PolygonType>::setVisible(const vpHomogeneousMatrix &cMo)
{
nbVisiblePolygon = 0 ;
for(unsigned int i = 0 ; i < Lpol.size() ; i++){
- if (Lpol[i]->isVisible(_cMo, depthTest)){
+ if (Lpol[i]->isVisible(cMo, depthTest)){
nbVisiblePolygon++;
}
}
diff --git a/src/tracking/mbt/vpMbTracker.cpp b/src/tracking/mbt/vpMbTracker.cpp
index 44ce185..1752bea 100755
--- a/src/tracking/mbt/vpMbTracker.cpp
+++ b/src/tracking/mbt/vpMbTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbTracker.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: vpMbTracker.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -93,10 +93,9 @@
*/
vpMbTracker::vpMbTracker()
+ : cam(), cMo(), modelFileName(), modelInitialised(false),
+ poseSavingFilename(), computeCovariance(false), covarianceMatrix(), displayFeatures(false)
{
- modelInitialised = false;
- computeCovariance = false;
- displayFeatures = false;
}
/*!
@@ -251,6 +250,11 @@ vpMbTracker::initClick(const vpImage<unsigned char>& I, const std::string& initF
unsigned int n ;
finit >> n ;
std::cout << "number of points " << n << std::endl ;
+ if (n > 100000) {
+ throw vpException(vpException::badValue,
+ "Exceed the max number of points.");
+ }
+
vpPoint *P = new vpPoint [n] ;
for (unsigned int i=0 ; i < n ; i++){
finit >> X ;
@@ -305,7 +309,7 @@ vpMbTracker::initClick(const vpImage<unsigned char>& I, const std::string& initF
vpDisplay::flush(I) ;
- vpMouseButton::vpMouseButtonType button = vpMouseButton::button1;
+ button = vpMouseButton::button1;
while (!vpDisplay::getClick(I, ip, button)) ;
@@ -486,6 +490,12 @@ void vpMbTracker::initFromPoints( const vpImage<unsigned char>& I, const std::st
double X, Y, Z;
finit >> size ;
std::cout << "number of points " << size << std::endl ;
+
+ if (size > 100000) {
+ throw vpException(vpException::badValue,
+ "Exceed the max number of points.");
+ }
+
vpPoint *P = new vpPoint [size];
vpPose pose ;
@@ -629,11 +639,11 @@ void vpMbTracker::initFromPose(const vpImage<unsigned char>& I, const std::strin
Initialise the tracking thanks to the pose.
\param I : Input image
- \param cMo : Pose matrix.
+ \param cMo_ : Pose matrix.
*/
-void vpMbTracker::initFromPose(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo)
+void vpMbTracker::initFromPose(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo_)
{
- this->cMo = cMo;
+ this->cMo = cMo_;
init(I);
}
@@ -839,7 +849,13 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
char c;
// Extraction of the version (remove empty line and commented ones (comment
// line begin with the #)).
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n');
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ }
fileId.unget();
int caoVersion;
@@ -848,22 +864,42 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
fileId >> caoVersion;
}
else{
- std::cout <<"in vpMbEdgeTracker::loadCAOModel -> Bad parameter header file : use V0, V1, ...";
+ std::cout <<"in vpMbTracker::loadCAOModel() -> Bad parameter header file : use V0, V1, ...";
throw vpException(vpException::badValue,
- "in vpMbEdgeTracker::loadCAOModel -> Bad parameter header file : use V0, V1, ...");
+ "in vpMbTracker::loadCAOModel() -> Bad parameter header file : use V0, V1, ...");
}
- while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n') ;
+ //while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
+ fileId.get(c);
+ while (!fileId.fail() && (c != '\n'))
+ {
+ fileId.get(c);
+ }
+
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ }
fileId.unget();
//Read the points
unsigned int caoNbrPoint;
fileId >> caoNbrPoint;
std::cout << "> " << caoNbrPoint << " points" << std::endl;
- vpPoint *caoPoints = NULL;
- if (caoNbrPoint > 0)
- caoPoints = new vpPoint[caoNbrPoint];
+ if (caoNbrPoint > 100000) {
+ throw vpException(vpException::badValue,
+ "Exceed the max number of points in the CAO model.");
+ }
+
+ if (caoNbrPoint == 0) {
+ throw vpException(vpException::badValue,
+ "in vpMbTracker::loadCAOModel() -> no points are defined");
+
+ }
+ vpPoint *caoPoints = new vpPoint[caoNbrPoint];
double x ; // 3D coordinates
double y ;
@@ -872,7 +908,6 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
int i ; // image coordinate (used for matching)
int j ;
-
for(unsigned int k=0; k < caoNbrPoint; k++){
fileId >> x ;
fileId >> y ;
@@ -888,8 +923,20 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
caoPoints[k].setWorldCoordinates(x, y, z) ;
}
- while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n');
+ //while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
+ fileId.get(c);
+ while (!fileId.fail() && (c != '\n'))
+ {
+ fileId.get(c);
+ }
+
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ }
fileId.unget();
//Read the lines
@@ -897,6 +944,13 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
fileId >> caoNbrLine;
unsigned int *caoLinePoints = NULL;
std::cout << "> " << caoNbrLine << " lines" << std::endl;
+
+ if (caoNbrLine > 100000) {
+ delete [] caoPoints;
+ throw vpException(vpException::badValue,
+ "Exceed the max number of lines in the CAO model.");
+ }
+
if (caoNbrLine > 0)
caoLinePoints = new unsigned int[2*caoNbrLine];
@@ -924,23 +978,48 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
}
}
- while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n');
- fileId.unget();
+ //while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
+ fileId.get(c);
+ while (!fileId.fail() && (c != '\n'))
+ {
+ fileId.get(c);
+ }
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ }
+ fileId.unget();
- /* Load polygon from the lines extracted earlier
+ /* Load polygon from the lines extracted earlier
(the first point of the line is used)*/
unsigned int caoNbrPolygonLine;
fileId >> caoNbrPolygonLine;
std::cout << "> " << caoNbrPolygonLine << " polygon line" << std::endl;
+ if (caoNbrPolygonLine > 100000) {
+ delete [] caoPoints;
+ delete [] caoLinePoints;
+ throw vpException(vpException::badValue, "Exceed the max number of polygon lines.");
+ }
+
unsigned int index;
for(unsigned int k = 0;k < caoNbrPolygonLine; k++){
unsigned int nbLinePol;
fileId >> nbLinePol;
std::vector<vpPoint> corners;
- for(unsigned int i = 0; i < nbLinePol; i++){
+ if (nbLinePol > 100000) {
+ throw vpException(vpException::badValue, "Exceed the max number of lines.");
+ }
+
+ for(unsigned int n = 0; n < nbLinePol; n++){
fileId >> index;
+ if (2*index > 2*caoNbrLine-1) {
+ throw vpException(vpException::badValue, "Exceed the max number of lines.");
+ }
+
corners.push_back(caoPoints[caoLinePoints[2*index]]);
}
if(k != caoNbrPolygonLine-1){// the rest of the line is removed (not the last one due to the need to remove possible comments).
@@ -949,20 +1028,44 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
initFaceFromCorners(corners, k);
}
- while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n');
+ //while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
+ fileId.get(c);
+ while (!fileId.fail() && (c != '\n'))
+ {
+ fileId.get(c);
+ }
+
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ }
fileId.unget();
- /* Extract the polygon using the point coordinates (top of the file) */
+ /* Extract the polygon using the point coordinates (top of the file) */
unsigned int caoNbrPolygonPoint;
fileId >> caoNbrPolygonPoint;
std::cout << "> " << caoNbrPolygonPoint << " polygon point" << std::endl;
+
+ if (caoNbrPolygonPoint > 100000) {
+ throw vpException(vpException::badValue, "Exceed the max number of polygon point.");
+ }
+
for(unsigned int k = 0;k < caoNbrPolygonPoint; k++){
- int nbPointPol;
+ unsigned int nbPointPol;
fileId >> nbPointPol;
+ if (nbPointPol > 100000) {
+ throw vpException(vpException::badValue, "Exceed the max number of points.");
+ }
+
std::vector<vpPoint> corners;
- for(int i = 0; i < nbPointPol; i++){
+ for(unsigned int n = 0; n < nbPointPol; n++){
fileId >> index;
+ if (index > caoNbrPoint-1) {
+ throw vpException(vpException::badValue, "Exceed the max number of points.");
+ }
corners.push_back(caoPoints[index]);
}
if(k != caoNbrPolygonPoint-1){// the rest of the line is removed (not the last one due to the need to remove possible comments).
@@ -973,9 +1076,20 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
unsigned int caoNbCylinder;
try{
- while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
- while( (fileId.get(c)!=NULL)&&(c == '#')) fileId.ignore(256,'\n');
- fileId.unget();
+ //while( (fileId.get(c)!=NULL)&&(c!='\n')) ;
+ fileId.get(c);
+ while (!fileId.fail() && (c != '\n'))
+ {
+ fileId.get(c);
+ }
+
+ //while ((fileId.get(c) != NULL) && (c == '#')) fileId.ignore(256, '\n');
+ fileId.get(c);
+ while (!fileId.fail() && (c == '#'))
+ {
+ fileId.ignore(256, '\n');
+ fileId.get(c);
+ } fileId.unget();
if(fileId.eof()){// check if not at the end of the file (for old style files)
delete[] caoPoints;
@@ -988,6 +1102,10 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
fileId >> caoNbCylinder;
std::cout << "> " << caoNbCylinder << " cylinder" << std::endl;
+ if (caoNbCylinder > 100000) {
+ throw vpException(vpException::badValue, "Exceed the max number of cylinders.");
+ }
+
for(unsigned int k=0; k<caoNbCylinder; ++k){
double radius;
unsigned int indexP1, indexP2;
@@ -1011,9 +1129,6 @@ vpMbTracker::loadCAOModel(const std::string& modelFile)
}
-
-
-
#ifdef VISP_HAVE_COIN
/*!
Extract a VRML object Group.
diff --git a/src/tracking/mbt/vpMbTracker.h b/src/tracking/mbt/vpMbTracker.h
index e25d4b9..4e8e49a 100755
--- a/src/tracking/mbt/vpMbTracker.h
+++ b/src/tracking/mbt/vpMbTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbTracker.h 4317 2013-07-17 09:40:17Z fspindle $
+ * $Id: vpMbTracker.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,7 +60,7 @@
#ifdef VISP_HAVE_COIN
//Work around to avoid type redefinition int8_t with Coin
-// #if defined(WIN32) && defined(VISP_HAVE_OGRE) && (_MSC_VER >= 1600) // Visual Studio 2010
+// #if defined(_WIN32) && defined(VISP_HAVE_OGRE) && (_MSC_VER >= 1600) // Visual Studio 2010
// #define HAVE_INT8_T 1
// #endif
@@ -153,9 +153,9 @@ public:
/*!
Get the camera parameters.
- \param cam : copy of the camera parameters used by the tracker.
+ \param camera : copy of the camera parameters used by the tracker.
*/
- virtual void getCameraParameters(vpCameraParameters& cam) const { cam = this->cam;}
+ virtual void getCameraParameters(vpCameraParameters& camera) const { camera = this->cam;}
/*!
Get the covariance matrix.
@@ -172,9 +172,9 @@ public:
cMo is the matrix which can be used to express
coordinates from the object frame to camera frame.
- \param cMo : the pose
+ \param cMo_ : the pose
*/
- inline void getPose(vpHomogeneousMatrix& cMo) const {cMo = this->cMo;}
+ inline void getPose(vpHomogeneousMatrix& cMo_) const {cMo_ = this->cMo;}
/*!
Get the current pose between the object and the camera.
@@ -228,9 +228,9 @@ public:
/*!
Set the camera parameters.
- \param cam : the new camera parameters
+ \param camera : the new camera parameters
*/
- virtual void setCameraParameters(const vpCameraParameters& cam) {this->cam = cam;}
+ virtual void setCameraParameters(const vpCameraParameters& camera) {this->cam = camera;}
/*!
Set if the covaraince matrix has to be computed.
@@ -305,7 +305,7 @@ protected:
\param radius : Radius of the cylinder.
\param indexCylinder : Index of the cylinder.
*/
- virtual void initCylinder(const vpPoint& p1, const vpPoint p2, const double radius, const unsigned int indexCylinder=0)=0;
+ virtual void initCylinder(const vpPoint& p1, const vpPoint &p2, const double radius, const unsigned int indexCylinder=0)=0;
/*!
Add a face to track from its corners (in the object frame). This method is
diff --git a/src/tracking/mbt/vpMbXmlParser.cpp b/src/tracking/mbt/vpMbXmlParser.cpp
new file mode 100644
index 0000000..84b450b
--- /dev/null
+++ b/src/tracking/mbt/vpMbXmlParser.cpp
@@ -0,0 +1,323 @@
+/****************************************************************************
+ *
+ * $Id: vpMbXmlParser.cpp 4577 2014-01-10 16:19:41Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ *
+ * Description:
+ * Load XML Parameter for Model Based Tracker.
+ *
+ * Authors:
+ * Aurelien Yol
+ *
+ *****************************************************************************/
+#include <visp/vpConfig.h>
+
+
+#ifdef VISP_HAVE_XML2
+
+#include <iostream>
+#include <map>
+
+#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
+
+#include <visp/vpMbXmlParser.h>
+
+
+/*!
+ Default constructor.
+
+*/
+vpMbXmlParser::vpMbXmlParser()
+ : cam(), angleAppear(70), angleDisappear(80),
+ hasNearClipping(false), nearClipping(false),
+ hasFarClipping(false), farClipping(false), fovClipping(false)
+
+{
+ init();
+}
+
+/*!
+ Default destructor.
+*/
+vpMbXmlParser::~vpMbXmlParser()
+{
+}
+
+/*!
+ Initialise internal variables (including the map).
+*/
+void
+vpMbXmlParser::init()
+{
+ setMainTag("conf");
+
+ nodeMap["conf"] = conf;
+ nodeMap["face"] = face;
+ nodeMap["angle_appear"] = angle_appear;
+ nodeMap["angle_disappear"] = angle_disappear;
+ nodeMap["near_clipping"] = near_clipping;
+ nodeMap["far_clipping"] = far_clipping;
+ nodeMap["fov_clipping"] = fov_clipping;
+ nodeMap["camera"] = camera;
+ nodeMap["height"] = height;
+ nodeMap["width"] = width;
+ nodeMap["u0"] = u0;
+ nodeMap["v0"] = v0;
+ nodeMap["px"] = px;
+ nodeMap["py"] = py;
+}
+
+/*!
+ Parse the file in parameters.
+ This method is deprecated, use parse() instead.
+
+ \param filename : File to parse.
+*/
+void
+vpMbXmlParser::parse(const char * filename)
+{
+ std::string file = filename;
+ vpXmlParser::parse(file);
+}
+
+/*!
+ Write info to file.
+
+ \warning Useless, so not yet implemented => Throw exception.
+*/
+void
+vpMbXmlParser::writeMainClass(xmlNodePtr /*node*/)
+{
+ throw vpException(vpException::notImplementedError, "Not yet implemented." );
+}
+
+/*!
+ Read the parameters of the class from the file given by its document pointer
+ and by its root node.
+
+ \param doc : Document to parse.
+ \param node : Root node.
+*/
+void
+vpMbXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
+{
+ bool camera_node = false;
+ bool face_node = false;
+
+ for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
+ if(dataNode->type == XML_ELEMENT_NODE){
+ std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
+ if(iter_data != nodeMap.end()){
+ switch (iter_data->second){
+ case camera:{
+ this->read_camera (doc, dataNode);
+ camera_node = true;
+ }break;
+ case face:{
+ this->read_face(doc, dataNode);
+ face_node = true;
+ }break;
+ default:{
+// vpTRACE("unknown tag in read_sample : %d, %s", iter_data->second, (iter_data->first).c_str());
+ }break;
+ }
+ }
+ }
+ }
+
+ if(!camera_node) {
+ std::cout << "camera : u0 : "<< this->cam.get_u0() << " (default)" <<std::endl;
+ std::cout << "camera : v0 : "<< this->cam.get_v0() << " (default)" <<std::endl;
+ std::cout << "camera : px : "<< this->cam.get_px() << " (default)" <<std::endl;
+ std::cout << "camera : py : "<< this->cam.get_py() << " (default)" <<std::endl;
+ }
+
+ if(!face_node) {
+ std::cout << "face : Angle Appear : "<< angleAppear <<" (default)" <<std::endl;
+ std::cout << "face : Angle Disappear : "<< angleDisappear <<" (default)" <<std::endl;
+ }
+}
+
+/*!
+ Read camera information.
+
+ \throw vpException::fatalError if there was an unexpected number of data.
+
+ \param doc : Pointer to the document.
+ \param node : Pointer to the node of the camera information.
+*/
+void
+vpMbXmlParser::read_camera (xmlDocPtr doc, xmlNodePtr node)
+{
+ bool u0_node = false;
+ bool v0_node = false;
+ bool px_node = false;
+ bool py_node = false;
+
+ // current data values.
+ double d_u0 = this->cam.get_u0();
+ double d_v0 = this->cam.get_v0();
+ double d_px = this->cam.get_px();
+ double d_py = this->cam.get_py();
+
+ for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
+ if(dataNode->type == XML_ELEMENT_NODE){
+ std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
+ if(iter_data != nodeMap.end()){
+ switch (iter_data->second){
+ case u0:{
+ d_u0 = xmlReadDoubleChild(doc, dataNode);
+ u0_node = true;
+ }break;
+ case v0:{
+ d_v0 = xmlReadDoubleChild(doc, dataNode);
+ v0_node = true;
+ }break;
+ case px:{
+ d_px = xmlReadDoubleChild(doc, dataNode);
+ px_node = true;
+ }break;
+ case py:{
+ d_py = xmlReadDoubleChild(doc, dataNode);
+ py_node = true;
+ }break;
+ default:{
+// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
+ }break;
+ }
+ }
+ }
+ }
+
+ this->cam.initPersProjWithoutDistortion(d_px, d_py, d_u0, d_v0) ;
+
+ if(!u0_node)
+ std::cout << "camera : u0 : "<< this->cam.get_u0() << " (default)" <<std::endl;
+ else
+ std::cout << "camera : u0 : "<< this->cam.get_u0() <<std::endl;
+
+ if(!v0_node)
+ std::cout << "camera : v0 : "<< this->cam.get_v0() << " (default)" <<std::endl;
+ else
+ std::cout << "camera : v0 : "<< this->cam.get_v0() <<std::endl;
+
+ if(!px_node)
+ std::cout << "camera : px : "<< this->cam.get_px() << " (default)" <<std::endl;
+ else
+ std::cout << "camera : px : "<< this->cam.get_px() <<std::endl;
+
+ if(!py_node)
+ std::cout << "camera : py : "<< this->cam.get_py() << " (default)" <<std::endl;
+ else
+ std::cout << "camera : py : "<< this->cam.get_py() <<std::endl;
+}
+
+/*!
+ Read face information.
+
+ \throw vpException::fatalError if there was an unexpected number of data.
+
+ \param doc : Pointer to the document.
+ \param node : Pointer to the node of the camera information.
+*/
+void
+vpMbXmlParser::read_face(xmlDocPtr doc, xmlNodePtr node)
+{
+ bool angle_appear_node = false;
+ bool angle_disappear_node = false;
+ bool near_clipping_node = false;
+ bool far_clipping_node = false;
+ bool fov_clipping_node = false;
+
+ for(xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
+ if(dataNode->type == XML_ELEMENT_NODE){
+ std::map<std::string, int>::iterator iter_data= this->nodeMap.find((char*)dataNode->name);
+ if(iter_data != nodeMap.end()){
+ switch (iter_data->second){
+ case angle_appear:{
+ angleAppear = xmlReadDoubleChild(doc, dataNode);
+ angle_appear_node = true;
+ }break;
+ case angle_disappear:{
+ angleDisappear = xmlReadDoubleChild(doc, dataNode);
+ angle_disappear_node = true;
+ }break;
+ case near_clipping:{
+ nearClipping = xmlReadDoubleChild(doc, dataNode);
+ near_clipping_node = true;
+ hasNearClipping = true;
+ }break;
+ case far_clipping:{
+ farClipping = xmlReadDoubleChild(doc, dataNode);
+ far_clipping_node = true;
+ hasFarClipping = true;
+ }break;
+ case fov_clipping:{
+ if (xmlReadIntChild(doc, dataNode))
+ fovClipping = true;
+ else
+ fovClipping = false;
+ fov_clipping_node = true;
+ }break;
+ default:{
+// vpTRACE("unknown tag in read_camera : %d, %s", iter_data->second, (iter_data->first).c_str());
+ }break;
+ }
+ }
+ }
+ }
+
+ if(!angle_appear_node)
+ std::cout << "face : Angle Appear : "<< angleAppear << " (default)" <<std::endl;
+ else
+ std::cout << "face : Angle Appear : "<< angleAppear <<std::endl;
+
+ if(!angle_disappear_node)
+ std::cout << "face : Angle Disappear : "<< angleDisappear << " (default)" <<std::endl;
+ else
+ std::cout << "face : Angle Disappear : "<< angleDisappear <<std::endl;
+
+ if(near_clipping_node)
+ std::cout << "face : Near Clipping : "<< nearClipping <<std::endl;
+
+ if(far_clipping_node)
+ std::cout << "face : Far Clipping : "<< farClipping <<std::endl;
+
+ if(fov_clipping_node) {
+ if(fovClipping)
+ std::cout << "face : Fov Clipping : True" <<std::endl;
+ else
+ std::cout << "face : Fov Clipping : False" <<std::endl;
+ }
+}
+
+#endif
+
diff --git a/src/tracking/mbt/edge/vpMbtXmlParser.h b/src/tracking/mbt/vpMbXmlParser.h
similarity index 78%
copy from src/tracking/mbt/edge/vpMbtXmlParser.h
copy to src/tracking/mbt/vpMbXmlParser.h
index 9431ad0..198d70b 100644
--- a/src/tracking/mbt/edge/vpMbtXmlParser.h
+++ b/src/tracking/mbt/vpMbXmlParser.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMbtXmlParser.h 4320 2013-07-17 15:37:27Z ayol $
+ * $Id: vpMbXmlParser.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -32,22 +32,20 @@
*
*
* Description:
- * Make the complete tracking of an object by using its CAD model
+ * Load XML Parameter for Model Based Tracker.
*
* Authors:
- * Nicolas Melchior
- * Romain Tallonneau
- * Eric Marchand
+ * Aurelien Yol
*
*****************************************************************************/
/*!
- * \file vpMbtXmlParser.h
+ * \file vpMbXmlParser.h
* \brief Parse an Xml file to extract configuration parameters of a mbtConfig object.
*/
-#ifndef vpMbtXmlParser_HH
-#define vpMbtXmlParser_HH
+#ifndef vpMbXmlParser_HH
+#define vpMbXmlParser_HH
#include <visp/vpConfig.h>
@@ -56,24 +54,19 @@
#include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
#include <visp/vpXmlParser.h>
-#include <visp/vpMe.h>
#include <visp/vpCameraParameters.h>
-
-
/*!
- \class vpMbtXmlParser
+ \class vpMbXmlParser
\brief Parse an Xml file to extract configuration parameters of a mbtConfig object.
\ingroup ModelBasedTracking
Data parser for the model based tracker.
*/
-class VISP_EXPORT vpMbtXmlParser: public vpXmlParser
+class VISP_EXPORT vpMbXmlParser: public vpXmlParser
{
protected:
- //! Moving edges parameters.
- vpMe m_ecm;
//! Camera parameters.
vpCameraParameters cam;
//! Angle to determine if a face appeared
@@ -93,19 +86,6 @@ protected:
typedef enum{
conf,
- ecm,
- mask,
- size,
- nb_mask,
- range,
- tracking,
- contrast,
- edge_threshold,
- mu1,
- mu2,
- sample,
- step,
- nb_sample,
face,
angle_appear,
angle_disappear,
@@ -118,14 +98,15 @@ protected:
u0,
v0,
px,
- py
- } dataToParse;
+ py,
+ last
+ } dataToParseMb;
public:
- vpMbtXmlParser();
- virtual ~vpMbtXmlParser();
+ vpMbXmlParser();
+ virtual ~vpMbXmlParser();
/*!
Get the angle to determine if a face appeared.
@@ -157,8 +138,6 @@ public:
*/
inline bool getFovClipping() const {return fovClipping;}
- void getMe(vpMe& _ecm) const { _ecm = this->m_ecm;}
-
/*!
Get the near clipping distance.
@@ -182,13 +161,8 @@ public:
void parse(const char * filename);
- void readMainClass(xmlDocPtr doc, xmlNodePtr node);
- void read_ecm (xmlDocPtr doc, xmlNodePtr node);
- void read_sample (xmlDocPtr doc, xmlNodePtr node);
- void read_camera (xmlDocPtr doc, xmlNodePtr node);
- void read_mask (xmlDocPtr doc, xmlNodePtr node);
- void read_range (xmlDocPtr doc, xmlNodePtr node);
- void read_contrast (xmlDocPtr doc, xmlNodePtr node);
+ virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
+ void read_camera (xmlDocPtr doc, xmlNodePtr node);
void read_face(xmlDocPtr doc, xmlNodePtr node);
/*!
@@ -213,9 +187,7 @@ public:
\param fclip : New farClipping
*/
inline void setFarClippingDistance(const double &fclip) {farClipping = fclip;}
-
- void setMovingEdge(const vpMe &_ecm){ m_ecm = _ecm; }
-
+
/*!
Set the near clipping distance.
@@ -232,7 +204,7 @@ protected:
#endif
-#endif /* NMBTXMLPARSER_H_ */
+#endif /* NMBXMLPARSER_H_ */
diff --git a/src/tracking/moments/vpMoment.cpp b/src/tracking/moments/vpMoment.cpp
index e1c7a0a..e681b38 100644
--- a/src/tracking/moments/vpMoment.cpp
+++ b/src/tracking/moments/vpMoment.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMoment.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMoment.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,8 +52,7 @@
/*!
Default constructor
*/
-vpMoment::vpMoment(): object(NULL),moments(NULL) {
-}
+vpMoment::vpMoment(): object(NULL), moments(NULL), values() {}
/*!
@@ -99,23 +98,27 @@ int main()
\endcode
- \param moments : database of moment primitives.
+ \param data_base : database of moment primitives.
*/
-void vpMoment::linkTo(vpMomentDatabase& moments){
- std::strcpy(_name,name());
- this->moments=&moments;
+void vpMoment::linkTo(vpMomentDatabase& data_base){
+ if (strlen( name() ) >= 255) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the moment name"));
+ }
+ std::strcpy(_name,name());
+ this->moments=&data_base;
- moments.add(*this,_name);
+ data_base.add(*this,_name);
}
/*!
Updates the moment with the current object. This does not compute any values.
- \param object : object descriptor of the current camera vision.
+ \param moment_object : object descriptor of the current camera vision.
*/
-void vpMoment::update(vpMomentObject& object){
- this->object=&object;
+void vpMoment::update(vpMomentObject& moment_object){
+ this->object=&moment_object;
}
/*!
@@ -123,7 +126,7 @@ void vpMoment::update(vpMomentObject& object){
\param os : a std::stream.
\param m : a moment instance.
*/
-std::ostream & operator<<(std::ostream & os, const vpMoment& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMoment& m){
for(std::vector<double>::const_iterator i = m.values.begin();i!=m.values.end();i++)
os << *i << ",";
diff --git a/src/tracking/moments/vpMoment.h b/src/tracking/moments/vpMoment.h
index 02ec5b9..470c9cc 100644
--- a/src/tracking/moments/vpMoment.h
+++ b/src/tracking/moments/vpMoment.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMoment.h 4219 2013-04-17 10:00:56Z mbakthav $
+ * $Id: vpMoment.h 4583 2014-01-14 17:06:37Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -87,19 +87,23 @@ class vpMomentObject;
Some moments can be computed only if they are linked to a a database containing their dependencies.
Linking to a database is done using the vpMoment::linkTo(...) method.
- There are no constraints about format of the array returned by vpMoment::get: any implementation is fine.
+ There are no constraints about format of the array returned by vpMoment::get(); any implementation is fine.
Each moment must have a string name by implementing the char* vpMoment::name() method which allows to identify the moment in the database.
Each moment must also implement a compute method describing how to obtain its values from the object.
- \attention Order of moment computation DOES matter: when you compute (vpMoment::compute call) a moment, all moment dependencies must be computed.
- Moments pre-implementes dans ViSP:
+ \attention Order of moment computation DOES matter: when you compute a moment using vpMoment::compute(),
+ all moment dependencies must be computed.
+ We recall that implemented moments are:
- vpMomentAlpha
+ - vpMomentArea
+ - vpMomentAreaNormalized
- vpMomentBasic
- vpMomentCentered
- vpMomentCInvariant
- - vpMomentSInvariant
- - vpMomentAreaNormalized
+ - vpMomentGravityCenter
+ - vpMomentGravityCenterNormalized
+
*/
class VISP_EXPORT vpMoment{
private:
@@ -116,17 +120,17 @@ class VISP_EXPORT vpMoment{
public:
- inline vpMomentObject& getObject() const { return *object;}
+ inline const vpMomentObject& getObject() const { return *object;}
vpMoment();
/*!
Returns all values computed by the moment.
\return vector of values
*/
- std::vector<double>& get(){ return values;}
+ const std::vector<double>& get() const { return values;}
void linkTo(vpMomentDatabase& moments);
void update(vpMomentObject& object);
virtual void compute()=0;
- virtual const char* name() = 0;
+ virtual const char* name() const = 0;
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMoment& m);
/*!
diff --git a/src/tracking/moments/vpMomentAlpha.cpp b/src/tracking/moments/vpMomentAlpha.cpp
index 0a1b9ca..e6370ff 100644
--- a/src/tracking/moments/vpMomentAlpha.cpp
+++ b/src/tracking/moments/vpMomentAlpha.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentAlpha.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentAlpha.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -48,8 +48,8 @@
Empty constructor. Initializes alpha moment as a reference alpha. A default-constructed alpha moment may be used as a reference for other alphas.
A reference alpha is class harbouring an alpha value computed for a \f$[-\pi/2..\pi/2]\f$ portion of the circle. Not setting a reference alpha will prevent you
from doing more than 180deg rotation with moments.
-*/
-vpMomentAlpha::vpMomentAlpha() : vpMoment(),isRef(true), symmetric(false){
+ */
+vpMomentAlpha::vpMomentAlpha() : isRef(true), symmetric(false), ref(), alphaRef(0.) {
values.resize(1);
}
@@ -57,102 +57,99 @@ vpMomentAlpha::vpMomentAlpha() : vpMoment(),isRef(true), symmetric(false){
Common constructor. Initializes alpha moment as a non-reference alpha. A default-constructed alpha moment must be used as a reference for other this alpha.
A reference alpha is class harbouring an alpha value computed for a \f$[0..\pi]\f$ portion of the circle. Not having a reference alpha will prevent you
from doing more than 180deg rotation with moments.
-
- \param ref : vector of 3rd order centered moments corresponding to the reference alpha in the following order: \f$\mu_{03},\mu_{12},\mu_{21},\mu_{30}\f$.
- \param alphaRef : value of the reference alpha.
+ \param ref_ : vector of 3rd order centered moments corresponding to the reference alpha in the following order: \f$\mu_{03},\mu_{12},\mu_{21},\mu_{30}\f$.
+ \param alpha_ref : value of the reference alpha.
*/
-vpMomentAlpha::vpMomentAlpha(std::vector<double>& ref,double alphaRef) : vpMoment(),isRef(false),symmetric(false),ref(ref),alphaRef(alphaRef){
- for (std::vector<double>::iterator it = ref.begin(); it!=ref.end(); it++)
- if (*it<=1e-4)
- symmetric = true;
-
- values.resize(1);
+vpMomentAlpha::vpMomentAlpha(std::vector<double>& ref_, double alpha_ref)
+ : vpMoment(),isRef(false),symmetric(false),ref(ref_),alphaRef(alpha_ref)
+{
+ for (std::vector<double>::iterator it = ref_.begin(); it!=ref_.end(); it++)
+ if (*it<=1e-4)
+ symmetric = true;
+
+ values.resize(1);
}
/*!
Compute the value of the alpha-moment.
Depends on vpMomentCentered.
-*/
+ */
void vpMomentAlpha::compute(){
//symmetric = symmetric | this->getObject().isSymmetric();
- bool found_moment_centered;
-
- vpMomentCentered& momentCentered = (static_cast<vpMomentCentered&> (getMoments().get("vpMomentCentered",
- found_moment_centered)));
-
- if (!found_moment_centered)
- throw vpException(vpException::notInitialized, "vpMomentCentered not found");
-
- double alpha = 0.5 * atan2(2.0 * momentCentered.get(1, 1), (momentCentered.get(2, 0) - momentCentered.get(0, 2)));
-
- unsigned int order = 4;
- std::vector<double> rotMu(4);
- std::vector<double> realMu(4);
-
- if (isRef)
- {
- alphaRef = alpha;
- }
- else
- {
- if (!symmetric)
- {
- double r11 = cos(alpha - alphaRef);
- double r12 = sin(alpha - alphaRef);
- double r21 = -sin(alpha - alphaRef);
- double r22 = cos(alpha - alphaRef);
- unsigned int idx = 0;
- for (register unsigned int c = 0; c < (order) * (order); c++)
- {
- unsigned int i = c % order;
- unsigned int j = c / order;
-
- if (i + j == 3)
- {
- double r11_k = 1.;
- for (register unsigned int k = 0; k <= i; k++)
- {
- double r12_i_k = pow(r12, (int)(i - k));
- double comb_i_k = static_cast<double> (vpMath::comb(i, k));
- for (register unsigned int l = 0; l <= j; l++)
- {
- rotMu[idx] += static_cast<double> (comb_i_k * vpMath::comb(j, l) * r11_k * pow(r21, (int)l) * r12_i_k
- * pow(r22, (int)(j - l)) * momentCentered.get(k + l, (unsigned int)(int)(i + j - k - l)));
- }
- r11_k *= r11;
- }
- realMu[idx] = momentCentered.get(i, j);
- idx++;
- }
- }
-
- double sum = 0.;
- bool signChange = true;
- for (register unsigned int i = 0; i < 4; i++)
- {
- if (std::abs(rotMu[i]) > 1e10 * std::numeric_limits<double>::epsilon() && std::abs(ref[i]) > 1e10
- * std::numeric_limits<double>::epsilon() && rotMu[i] * ref[i] > 0)
- signChange = false;
- sum += std::abs(rotMu[i] * ref[i]);
- }
-
- if (sum < 1e4 * std::numeric_limits<double>::epsilon())
- signChange = false;
- if (signChange)
- alpha = alpha + M_PI;
- }
- }
- values[0] = alpha;
+ bool found_moment_centered;
+
+ const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&> (getMoments().get("vpMomentCentered",
+ found_moment_centered)));
+
+ if (!found_moment_centered)
+ throw vpException(vpException::notInitialized, "vpMomentCentered not found");
+
+ double alpha = 0.5 * atan2(2.0 * momentCentered.get(1, 1), (momentCentered.get(2, 0) - momentCentered.get(0, 2)));
+
+ unsigned int order = 4;
+ std::vector<double> rotMu(4);
+ std::vector<double> realMu(4);
+
+ if (isRef)
+ {
+ alphaRef = alpha;
+ }
+ else
+ {
+ if (!symmetric)
+ {
+ double r11 = cos(alpha - alphaRef);
+ double r12 = sin(alpha - alphaRef);
+ double r21 = -sin(alpha - alphaRef);
+ double r22 = cos(alpha - alphaRef);
+ unsigned int idx = 0;
+ for (register unsigned int c = 0; c < (order) * (order); c++)
+ {
+ unsigned int i = c % order;
+ unsigned int j = c / order;
+
+ if (i + j == 3)
+ {
+ double r11_k = 1.;
+ for (register unsigned int k = 0; k <= i; k++)
+ {
+ double r12_i_k = pow(r12, (int)(i - k));
+ double comb_i_k = static_cast<double> (vpMath::comb(i, k));
+ for (register unsigned int l = 0; l <= j; l++)
+ {
+ rotMu[idx] += static_cast<double> (comb_i_k * vpMath::comb(j, l) * r11_k * pow(r21, (int)l) * r12_i_k
+ * pow(r22, (int)(j - l)) * momentCentered.get(k + l, (unsigned int)(int)(i + j - k - l)));
+ }
+ r11_k *= r11;
+ }
+ realMu[idx] = momentCentered.get(i, j);
+ idx++;
+ }
+ }
+
+ double sum = 0.;
+ bool signChange = true;
+ for (register unsigned int i = 0; i < 4; i++)
+ {
+ if (std::abs(rotMu[i]) > 1e10 * std::numeric_limits<double>::epsilon() && std::abs(ref[i]) > 1e10
+ * std::numeric_limits<double>::epsilon() && rotMu[i] * ref[i] > 0)
+ signChange = false;
+ sum += std::abs(rotMu[i] * ref[i]);
+ }
+
+ if (sum < 1e4 * std::numeric_limits<double>::epsilon())
+ signChange = false;
+ if (signChange)
+ alpha = alpha + M_PI;
+ }
+ }
+ values[0] = alpha;
}
/*!
Prints the value of the orientation.
-*/
-std::ostream & operator<<(std::ostream & os, const vpMomentAlpha& c){
- os << c.values[0] ;
- return os;
+ */
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentAlpha& c){
+ os << c.values[0] ;
+ return os;
}
-
-
-
-
diff --git a/src/tracking/moments/vpMomentAlpha.h b/src/tracking/moments/vpMomentAlpha.h
index eed0d6a..821c8e6 100644
--- a/src/tracking/moments/vpMomentAlpha.h
+++ b/src/tracking/moments/vpMomentAlpha.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentAlpha.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentAlpha.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -210,11 +210,27 @@ class VISP_EXPORT vpMomentAlpha : public vpMoment {
/*!
Retrieve the orientation of the object as a single double value.
*/
- double get(){ return values[0]; }
+ double get() const { return values[0]; }
/*!
Moment name.
*/
- const char* name(){return "vpMomentAlpha";}
+ const char* name() const {return "vpMomentAlpha";}
+
+ inline bool is_ref() const
+ {
+ if (isRef)
+ return true;
+ else
+ return false;
+ }
+
+ inline bool is_symmetric() const
+ {
+ if (symmetric)
+ return true;
+ else
+ return false;
+ }
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentAlpha& v);
diff --git a/src/tracking/moments/vpMomentArea.cpp b/src/tracking/moments/vpMomentArea.cpp
index 5e23f60..679aca1 100644
--- a/src/tracking/moments/vpMomentArea.cpp
+++ b/src/tracking/moments/vpMomentArea.cpp
@@ -3,7 +3,7 @@
* $Id: vpMomentArea.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,7 +55,7 @@ void vpMomentArea::compute(){
/* getMoments() returns a reference to a vpMomentDatabase. It is a protected member of and is inherited from vpMoment
* .get() is a member function of vpMomentDatabase that returns a specific moment which is linked to it
*/
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
values[0] = momentCentered.get(2,0) + momentCentered.get(0,2);
}
@@ -74,7 +74,7 @@ vpMomentArea::vpMomentArea() : vpMoment(){
/*!
Outputs the moment's values to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentArea& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentArea& m){
os << "Area a:" << m.values[0];
return os;
}
diff --git a/src/tracking/moments/vpMomentArea.h b/src/tracking/moments/vpMomentArea.h
index f70783f..b14ebd3 100644
--- a/src/tracking/moments/vpMomentArea.h
+++ b/src/tracking/moments/vpMomentArea.h
@@ -3,7 +3,7 @@
* $Id: vpMomentArea.h 3530 2012-01-03 10:52:12Z mbakthav $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,7 +61,7 @@ class VISP_EXPORT vpMomentArea : public vpMoment {
/*!
Moment name.
*/
- const char* name(){return "vpMomentArea";}
+ const char* name() const {return "vpMomentArea";}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentArea& m);
};
diff --git a/src/tracking/moments/vpMomentAreaNormalized.cpp b/src/tracking/moments/vpMomentAreaNormalized.cpp
index 12b8113..2c141de 100644
--- a/src/tracking/moments/vpMomentAreaNormalized.cpp
+++ b/src/tracking/moments/vpMomentAreaNormalized.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentAreaNormalized.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentAreaNormalized.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,7 +54,7 @@ void vpMomentAreaNormalized::compute(){
/* getMoments() returns a reference to a vpMomentDatabase. (a protected member inherited from vpMoment)
.get() is a member function of vpMomentDatabase that returns a specific moment which is linked to it*/
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
@@ -71,17 +71,19 @@ void vpMomentAreaNormalized::compute(){
/*!
Default constructor.
- \param desiredSurface : desired area \e a* when the visual servoing converges.
- \param desiredDepth : desired depth \e Z* when the visual servoing converges.
+ \param desired_surface : desired area \e a* when the visual servoing converges.
+ \param desired_depth : desired depth \e Z* when the visual servoing converges.
*/
-vpMomentAreaNormalized::vpMomentAreaNormalized(double desiredSurface, double desiredDepth) : vpMoment(),desiredSurface(desiredSurface),desiredDepth(desiredDepth){
+vpMomentAreaNormalized::vpMomentAreaNormalized(double desired_surface, double desired_depth)
+ : vpMoment(),desiredSurface(desired_surface),desiredDepth(desired_depth)
+{
values.resize(1);
}
/*!
Outputs the moment's values to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentAreaNormalized& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentAreaNormalized& m){
os << "An:" << m.values[0] ;
return os;
diff --git a/src/tracking/moments/vpMomentAreaNormalized.h b/src/tracking/moments/vpMomentAreaNormalized.h
index f6ac39f..b61a510 100644
--- a/src/tracking/moments/vpMomentAreaNormalized.h
+++ b/src/tracking/moments/vpMomentAreaNormalized.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentAreaNormalized.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpMomentAreaNormalized.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -139,16 +139,16 @@ class VISP_EXPORT vpMomentAreaNormalized : public vpMoment {
/*!
Retrieves the desired depth \e Z* as specified in the constructor.
*/
- double getDesiredDepth(){ return desiredDepth; }
+ double getDesiredDepth() const { return desiredDepth; }
/*!
Retrieves the desired surface \e a* as specified in the constructor.
*/
- double getDesiredSurface(){ return desiredSurface; }
+ double getDesiredSurface() const { return desiredSurface; }
/*!
Moment name.
*/
- const char* name(){return "vpMomentAreaNormalized";}
+ const char* name() const {return "vpMomentAreaNormalized";}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentAreaNormalized& v);
};
diff --git a/src/tracking/moments/vpMomentBasic.cpp b/src/tracking/moments/vpMomentBasic.cpp
index 37db4a4..50b1d37 100644
--- a/src/tracking/moments/vpMomentBasic.cpp
+++ b/src/tracking/moments/vpMomentBasic.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentBasic.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentBasic.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -54,7 +54,7 @@ vpMomentBasic::vpMomentBasic() : vpMoment(){
Same behaviour as vpMomentObject.
*/
-std::vector<double>& vpMomentBasic::get(){
+const std::vector<double>& vpMomentBasic::get() const{
return getObject().get();
}
@@ -66,7 +66,7 @@ std::vector<double>& vpMomentBasic::get(){
Same behaviour as vpMomentObject.
*/
-double vpMomentBasic::get(unsigned int i,unsigned int j){
+double vpMomentBasic::get(unsigned int i,unsigned int j) const{
return getObject().get(i,j);
}
diff --git a/src/tracking/moments/vpMomentBasic.h b/src/tracking/moments/vpMomentBasic.h
index 26fd96c..d16290d 100644
--- a/src/tracking/moments/vpMomentBasic.h
+++ b/src/tracking/moments/vpMomentBasic.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentBasic.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentBasic.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -76,12 +76,12 @@ class VISP_EXPORT vpMomentBasic : public vpMoment {
vpMomentBasic();
void compute();
- std::vector<double>& get();
- double get(unsigned int i,unsigned int j);
+ const std::vector<double>& get() const;
+ double get (unsigned int i,unsigned int j) const;
/*!
Moment name.
*/
- const char* name(){ return "vpMomentBasic";}
+ const char* name() const { return "vpMomentBasic";}
};
std::ostream & operator<<(std::ostream & os, vpMomentBasic& v);
diff --git a/src/tracking/moments/vpMomentCInvariant.cpp b/src/tracking/moments/vpMomentCInvariant.cpp
index 4bda5b7..3513467 100644
--- a/src/tracking/moments/vpMomentCInvariant.cpp
+++ b/src/tracking/moments/vpMomentCInvariant.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCInvariant.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentCInvariant.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -45,9 +45,12 @@
/*!
Default constructor.
+ (option to use a different calculation mode for sx and sy)
*/
-vpMomentCInvariant::vpMomentCInvariant() : vpMoment(),I(16),II(4),c(4),s(4){
- values.resize(14);
+vpMomentCInvariant::vpMomentCInvariant(bool flg_sxsynormalization)
+ : I(16),II(4),c(4),s(4), K(0.0), cn(4),sn(4), In1(0.0), flg_sxsynormalization_(flg_sxsynormalization)
+{
+ values.resize(14);
}
/*!
@@ -55,9 +58,11 @@ vpMomentCInvariant::vpMomentCInvariant() : vpMoment(),I(16),II(4),c(4),s(4){
\param momentCentered : centered moments
\param I : invariant output values
*/
-void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<double>& I){
+void vpMomentCInvariant::computeI(const vpMomentCentered& momentCentered, std::vector<double>& I_val){
+
double mu30 = momentCentered.get(3,0);
double mu30_2 = mu30*mu30;
+ double mu30_3 = mu30_2*mu30;
double mu03 = momentCentered.get(0,3);
double mu03_2 = mu03*mu03;
@@ -80,7 +85,6 @@ void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<
double mu12 = momentCentered.get(1,2);
double mu11 = momentCentered.get(1,1);
-
double mu11_2 = mu11*mu11;
double mu12_2 = mu12*mu12;
double mu21_2 = mu21*mu21;
@@ -94,8 +98,7 @@ void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<
double mu12_4 = mu12_3*mu12;
double mu21_4 = mu21_2*mu21_2;
-
- double kappa = mu30_2+mu03_2-3*mu21_2+6*mu21*mu03;
+ //double kappa = mu30_2+mu03_2-3*mu21_2+6*mu21*mu03; //Used in I8 calculation but simplified with MAPLE and found it to be wrong
double zeta = mu20-mu02;
double zeta_2 = zeta * zeta;
double omicron = (mu03_2+3*mu03*mu21+mu30*(mu30+3*mu12));
@@ -113,23 +116,23 @@ void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<
double delta_2 = delta*delta;
double phi_2 = phi*phi;
- I[1]=-mu20*mu02+mu11_2;
- I[2]=zeta_2+4*mu11_2;
- I[3]=(mu30-3*mu12)*(mu30-3*mu12)+(mu03-3*mu21)*(mu03-3*mu21);
- I[4]=(mu30+mu12)*(mu30+mu12)+(mu21+mu03)*(mu21+mu03);
- I[5]=-mu30_2*mu03_2+(-4*mu12_3+6*mu21*mu12*mu03)*mu30-4*mu21_3*mu03+3*mu21_2*mu12_2;
- I[6]=3*mu12_4+2*mu30*mu12_3+(3*mu30_2-6*mu03*mu21)*mu12_2-6*mu30*mu21*(mu21+mu03)*mu12+2*mu30_2*mu03_2+2*mu21_3*mu03+3*mu21_2*mu03_2+3*mu21_4;
-
- I[7]=(3*mu21+2*mu03)*mu12_3+3*mu30*(mu03+2*mu21)*mu12_2-3*mu21*(mu30+mu03+mu21)*(-mu30+mu03+mu21)*mu12+mu30*(-mu30_2*mu03-2*mu21_3-3*mu03*mu21_2+mu03_3);
- I[8]=3*mu21_4-3*mu21_3*mu03+(3*mu03_2+kappa-6*mu12_2)*mu21_2-mu03*(-15*mu12_2+kappa)*mu21-(-3*mu12_2*mu30+(2*kappa-3*mu03_2)*mu12+kappa*mu30)*mu12;
- I[9]=omicron*omicron;
-
- I[10]=mu40*mu04-4*mu31*mu13+3*mu22_2;
- I[11]=3*mu13_2+2*mu31*mu13+(-3*mu40-3*mu04)*mu22-2*mu40*mu04+3*mu31_2;
- I[12]=3*mu04_2+(2*mu40+12*mu22)*mu04+3*mu40_2+12*mu40*mu22+16*mu31*mu13;
- I[13]=omega_2+nu_2;
- I[14]=ro_2+gamma_2;
- I[15]=delta_2+phi_2;
+ I_val[1]=-mu20*mu02+mu11_2;
+ I_val[2]=zeta_2+4*mu11_2;
+ I_val[3]=(mu30-3*mu12)*(mu30-3*mu12)+(mu03-3*mu21)*(mu03-3*mu21);
+ I_val[4]=(mu30+mu12)*(mu30+mu12)+(mu21+mu03)*(mu21+mu03);
+ I_val[5]=-mu30_2*mu03_2+(-4*mu12_3+6*mu21*mu12*mu03)*mu30-4*mu21_3*mu03+3*mu21_2*mu12_2;
+ I_val[6]=3*mu12_4+2*mu30*mu12_3+(3*mu30_2-6*mu03*mu21)*mu12_2-6*mu30*mu21*(mu21+mu03)*mu12+2*mu30_2*mu03_2+2*mu21_3*mu03+3*mu21_2*mu03_2+3*mu21_4;
+ I_val[7]=(3*mu21+2*mu03)*mu12_3+3*mu30*(mu03+2*mu21)*mu12_2-3*mu21*(mu30+mu03+mu21)*(-mu30+mu03+mu21)*mu12+mu30*(-mu30_2*mu03-2*mu21_3-3*mu03*mu21_2+mu03_3);
+ //I_val[8]=3*mu21_4-3*mu21_3*mu03+(3*mu03_2+kappa-6*mu12_2)*mu21_2-mu03*(-15*mu12_2+kappa)*mu21-(-3*mu12_2*mu30+(2*kappa-3*mu03_2)*mu12+kappa*mu30)*mu12;
+ I_val[8] = 3*mu03*mu21_3-2*mu03_2*mu21_2+mu21_2*mu30_2+3*mu12_2*mu03*mu21-mu03*mu21*mu30_2-mu03_3*mu21+3*mu12_3*mu30-2*mu12_2*mu30_2+mu12_2*mu03_2-mu12*mu30_3-mu12*mu30*mu03_2+3*mu12*mu30*mu21_2-6*mu12*mu30*mu03*mu21;
+ I_val[9]=omicron*omicron;
+
+ I_val[10]=mu40*mu04-4*mu31*mu13+3*mu22_2;
+ I_val[11]=3*mu13_2+2*mu31*mu13+(-3*mu40-3*mu04)*mu22-2*mu40*mu04+3*mu31_2;
+ I_val[12]=3*mu04_2+(2*mu40+12*mu22)*mu04+3*mu40_2+12*mu40*mu22+16*mu31*mu13;
+ I_val[13]=omega_2+nu_2;
+ I_val[14]=ro_2+gamma_2;
+ I_val[15]=delta_2+phi_2;
double a;
if(getObject().getType()==vpMomentObject::DISCRETE)
@@ -148,10 +151,31 @@ void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<
II[2]=c[2]*c[2]+s[2]*s[2];
II[3]=momentCentered.get(2,0)+momentCentered.get(0,2);
- K=(II[1]*(II[3]*sqrt(II[3])))/sqrt(a);
+ K=(II[1]*(II[3]*sqrt(std::abs(II[3]))))/sqrt(std::abs(a));
+ /*
+ * Intermediate quantities required for calculation of normalized version of Sx and Sy
+ * The pij doubles below are the respective centered moment values mu_ij scaled by mu20 + mu02
+ */
+ double p20 = momentCentered.get(2,0)/II[3]; // II[3] is the normalization factor for the 2nd order moments
+ double p11 = momentCentered.get(1,1)/II[3];
+ double p02 = momentCentered.get(0,2)/II[3];
+ double d = sqrt(std::abs(a))/(II[3]*sqrt(std::abs(II[3]))); // d is the normalization factor for 3rd order moments
+ double p30 = momentCentered.get(3,0)*d;
+ double p21 = momentCentered.get(2,1)*d;
+ double p12 = momentCentered.get(1,2)*d;
+ double p03 = momentCentered.get(0,3)*d;
+ cn[1] = p20 - p02;
+ sn[1] = 2.0*p11;
+ sn[2] = p30 - 3.0*p12;
+ cn[2] = p03 - 3.0*p21;
+
+ cn[3] = cn[1]*cn[1]-sn[1]*sn[1];
+ sn[3] = 2.0*sn[1]*cn[1];
+
+ In1 = cn[1]*cn[1]+sn[1]*sn[1];
}
/*!
@@ -162,7 +186,7 @@ void vpMomentCInvariant::computeI(vpMomentCentered& momentCentered, std::vector<
void vpMomentCInvariant::compute(){
if(getObject().getOrder()<5) throw vpException(vpException::notInitialized,"Order is not high enough for vpMomentCInvariant. Specify at least order 5.");
bool found_moment_centered;
- vpMomentCentered& momentCentered = (static_cast<vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered)));
+ const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(getMoments().get("vpMomentCentered",found_moment_centered)));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
@@ -195,11 +219,30 @@ void vpMomentCInvariant::compute(){
values[9] = I[14]/I[15];
- values[10] = (c[2]*c[3]+s[2]*s[3])/K;
- values[11] = (s[2]*c[3]-c[2]*s[3])/K;
+ if (flg_sxsynormalization_)
+ calcSxSyNormalized(values[10], values[11]);
+ else
+ calcSxSy(values[10], values[11]);
+
+ values[12] = II[1]/(II3_2); // Px
+ values[13] = a*II[2]/(II3_3); // Py
+}
- values[12] = II[1]/(II3_2);
- values[13] = a*II[2]/(II3_3);
+/*!
+ Sx and Sy as it was inside compute()
+ */
+void vpMomentCInvariant::calcSxSy(double& sx, double& sy) const{
+ sx = (c[2]*c[3]+s[2]*s[3])/K;
+ sy = (s[2]*c[3]-c[2]*s[3])/K;
+}
+
+/*!
+ * Sx and Sy from normalized 2nd and 3rd order moments
+ * Numerically better (than in the usual Sx,Sy when K appears in the denominator)
+ */
+void vpMomentCInvariant::calcSxSyNormalized(double& sx, double& sy) const{
+ sx = (cn[2]*cn[3] + sn[2]*sn[3]) / In1;
+ sy = (sn[2]*cn[3] - cn[2]*sn[3]) / In1;
}
/*!
@@ -213,14 +256,10 @@ void vpMomentCInvariant::printI(unsigned int index){
/*!
Outputs the moment's values to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentCInvariant& c){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentCInvariant& c){
for(unsigned int i = 0;i<c.values.size();i++){
os << c.values[i] << "," << std::endl;
}
return os;
}
-
-
-
-
diff --git a/src/tracking/moments/vpMomentCInvariant.h b/src/tracking/moments/vpMomentCInvariant.h
index 41898c5..7aef762 100644
--- a/src/tracking/moments/vpMomentCInvariant.h
+++ b/src/tracking/moments/vpMomentCInvariant.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCInvariant.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpMomentCInvariant.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -56,10 +56,10 @@ class vpMomentBasic;
\ingroup TrackingMoments
- \brief This class defines several 2D (translation+rotation+scale) invariants for both symmetric and non-symmetric objects.
+ This class defines several 2D (translation+rotation+scale) invariants for both symmetric and non-symmetric objects.
These moment-based invariants are described in the following papers \cite Chaumette04a, \cite Tahri05z.
- The descriptions for the invariants \f$C_1\f$ to \f$C_{10}\f$ can be found in [1] and for invariants \f$P_x\f$,\f$P_y\f$,\f$S_x\f$,\f$S_y\f$ in [2].
+ The descriptions for the invariants \f$C_1\f$ to \f$C_{10}\f$ can be found in \cite Chaumette04a and for invariants \f$P_x\f$,\f$P_y\f$,\f$S_x\f$,\f$S_y\f$ in \cite Tahri05z.
These invariants are classicaly used in visual servoing to control the out-of-plane rotations.
The C-type or P-type invariants are used for non-symmetric objects whereas the S-type invariants are used for symmetric objects.
@@ -103,7 +103,7 @@ int main()
db.updateAll(obj); // Update AND compute all moments
//get C-invariant
- vpMomentCInvariant& C = static_cast<vpMomentCInvariant&>(db.get("vpMomentCInvariant",success));
+ const vpMomentCInvariant& C = static_cast<const vpMomentCInvariant&>(db.get("vpMomentCInvariant",success));
if(success)
std::cout << C.get(1) << std:: endl; // print C2 invariant
else
@@ -121,89 +121,97 @@ class VISP_EXPORT vpMomentCInvariant : public vpMoment {
std::vector<double> II;
std::vector<double> c;
std::vector<double> s;
- double K;
+ double K;
+ void computeI(const vpMomentCentered& momentCentered, std::vector<double>& I);
+
+ /* To calculate Sx and Sy from normalized moments */
+ void calcSxSy(double& sx, double& sy) const;
+ void calcSxSyNormalized(double& sx, double& sy) const;
+ std::vector<double> cn; // same as s above but calculated from normalized moments
+ std::vector<double> sn; // same as c above but calculated from normalized moments
+ double In1; // same as I1 in Sx,Sy formulae but calculated from normalized moments
+ bool flg_sxsynormalization_;
- void computeI(vpMomentCentered& momentCentered, std::vector<double>& I);
public:
- vpMomentCInvariant();
+ vpMomentCInvariant(bool flg_sxsynormalization = false);
/*!
Shorcut for getting the value of \f$C_1\f$.
*/
- double C1(){ return values[0]; }
+ double C1() const { return values[0]; }
/*!
Shorcut for getting the value of \f$C_2\f$.
*/
- double C2(){ return values[1]; }
+ double C2() const { return values[1]; }
/*!
Shorcut for getting the value of \f$C_3\f$.
*/
- double C3(){ return values[2]; }
+ double C3() const { return values[2]; }
/*!
Shorcut for getting the value of \f$C_4\f$.
*/
- double C4(){ return values[3]; }
+ double C4() const { return values[3]; }
/*!
Shorcut for getting the value of \f$C_5\f$.
*/
- double C5(){ return values[4]; }
+ double C5() const { return values[4]; }
/*!
Shorcut for getting the value of \f$C_6\f$.
*/
- double C6(){ return values[5]; }
+ double C6() const { return values[5]; }
/*!
Shorcut for getting the value of \f$C_7\f$.
*/
- double C7(){ return values[6]; }
+ double C7() const { return values[6]; }
/*!
Shorcut for getting the value of \f$C_8\f$.
*/
- double C8(){ return values[7]; }
+ double C8() const { return values[7]; }
/*!
Shorcut for getting the value of \f$C_9\f$.
*/
- double C9(){ return values[8]; }
+ double C9() const { return values[8]; }
/*!
Shorcut for getting the value of \f$C_{10}\f$.
*/
- double C10(){ return values[9]; }
+ double C10() const { return values[9]; }
- void compute();
+ void compute();
/*!
Gets the desired invariant.
\param i given index. For invariants from C1 to C10 the corresponding index is from 0 to 9. For \f$S_x\f$,\f$S_y\f$ the indexes are 10,11 and for \f$P_x\f$,\f$P_y\f$ they are 12,13.
*/
- double get(unsigned int i){ return values[i]; }
+ double get(unsigned int i) const { return values[i]; }
/*!
Access to partial invariant c (see [2]).
*/
- double getC(unsigned int i){return c[i];}
+ double getC(unsigned int i) const {return c[i];}
/*!
Access to partial invariants. The index convention is the same as in [1].
*/
- double getI(unsigned int index){return I[index];}
+ double getI(unsigned int index) const {return I[index];}
/*!
Access to partial invariant I (see [2]).
*/
- double getII(unsigned int i){return II[i];}
+ double getII(unsigned int i) const {return II[i];}
/*!
Access to partial invariant K (see [2]).
*/
- double getK(){return K;}
+ double getK() const {return K;}
/*!
Access to partial invariant S (see [2]).
*/
- double getS(unsigned int i){return s[i];}
+ double getS(unsigned int i) const {return s[i];}
/*!
Moment name.
*/
- const char* name(){return "vpMomentCInvariant";}
+ const char* name() const {return "vpMomentCInvariant";}
/*!
Print partial invariant.
@@ -222,13 +230,40 @@ class VISP_EXPORT vpMomentCInvariant : public vpMoment {
/*!
Shorcut for getting the value of \f$S_x\f$.
*/
- double Sx(){ return values[10]; }
+ double Sx() const { return values[10]; }
/*!
Shorcut for getting the value of \f$S_y\f$.
*/
- double Sy(){ return values[11]; }
+ double Sy() const { return values[11]; }
+
+ /*!
+ * Getters for I
+ * (calculated from normalized 2nd and 3ord order moments)
+ */
+ double getIn1() const {return In1;}
+
+ /*!
+ * Getter for c
+ * (calculated from normalized 2nd and 3ord order moments)
+ */
+ double getCN(unsigned int i) const {return cn[i];}
+
+ /*!
+ * Getter for s
+ * (calculated from normalized 2nd and 3ord order moments)
+ */
+ double getSN(unsigned int i) const {return sn[i];}
+
+ /*!
+ * To know if Sx and Sy were calculated from normalized moments or not
+ */
+ bool isSxSyfromNormalizedMoments() const {return flg_sxsynormalization_;};
+
+ /*!
+ * To get all the invariant values as a whole.
+ */
+ inline const std::vector<double>& getMomentVector() const { return values; }
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentCInvariant& v);
};
-
#endif
diff --git a/src/tracking/moments/vpMomentCentered.cpp b/src/tracking/moments/vpMomentCentered.cpp
index 6ba7b52..94c8fd0 100644
--- a/src/tracking/moments/vpMomentCentered.cpp
+++ b/src/tracking/moments/vpMomentCentered.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCentered.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentCentered.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -46,6 +46,19 @@
#include <cassert>
/*!
+ To set the values of centred moments. Required when normalizing the moment values.
+ @param i : first index of the 2D moment.
+ @param j : second index of the 2D moment.
+ @param value : value of the moment.
+*/
+void vpMomentCentered::set(unsigned int i, unsigned int j, double value){
+ vpMomentObject mobj = getObject();
+ assert(i+j<=mobj.getOrder());
+ if(i+j>mobj.getOrder()) throw vpException(vpException::badValue,"You cannot set that value.");
+ values[j*(mobj.getOrder()+1)+i] = value;
+}
+
+/*!
Computes centered moments of all available orders.
Depends on vpMomentGravityCenter.
*/
@@ -53,8 +66,9 @@ void vpMomentCentered::compute(){
bool found_moment_gravity;
values.resize((getObject().getOrder()+1)*(getObject().getOrder()+1));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
+
unsigned int order = getObject().getOrder()+1;
for(register unsigned int j=0;j<(order);j++){
for(register unsigned int i=0;i<order-j;i++){
@@ -87,11 +101,12 @@ vpMomentCentered::vpMomentCentered() : vpMoment(){
\param j : second index of the centered moment.
\return \f$\mu_{ij}\f$ moment.
*/
-double vpMomentCentered::get(unsigned int i,unsigned int j){
- assert(i+j<=getObject().getOrder());
- if(i+j>getObject().getOrder()) throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
+double vpMomentCentered::get(unsigned int i,unsigned int j) const {
+ unsigned int order = getObject().getOrder();
+ assert(i+j<=order);
+ if(i+j>order) throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
- return values[j*(getObject().getOrder()+1)+i];
+ return values[j*(order+1)+i];
}
/*!
@@ -109,7 +124,7 @@ u30 x x x
\endcode
*/
-std::ostream & operator<<(std::ostream & os, vpMomentCentered& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, vpMomentCentered& m){
for(unsigned int i = 0;i<m.values.size();i++){
if(i%(m.getObject().getOrder()+1)==0)
os << std::endl;
diff --git a/src/tracking/moments/vpMomentCentered.h b/src/tracking/moments/vpMomentCentered.h
index bed1e1a..c081584 100644
--- a/src/tracking/moments/vpMomentCentered.h
+++ b/src/tracking/moments/vpMomentCentered.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCentered.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentCentered.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,16 +81,21 @@ public:
vpMomentCentered();
- void compute();
- double get(unsigned int i,unsigned int j);
+ void compute();
+ double get(unsigned int i,unsigned int j) const;
- inline std::vector<double>& get();
+ inline const std::vector<double>& get() const;
/*!
Moment name.
*/
- inline const char* name(){return "vpMomentCentered";}
+ inline const char* name() const {return "vpMomentCentered";}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, vpMomentCentered& v);
+
+protected:
+
+ void set(unsigned int i, unsigned int j, double value);
+
};
/*!
@@ -120,7 +125,7 @@ mu12 = mc.get()[2*(obj.getOrder()+1)+1]; // i=1 and j=2
mu12 = mc.get(1,2); // the same
\endcode
*/
-inline std::vector<double>& vpMomentCentered::get()
+inline const std::vector<double>& vpMomentCentered::get() const
{
return vpMoment::get();
}
diff --git a/src/tracking/moments/vpMomentCommon.cpp b/src/tracking/moments/vpMomentCommon.cpp
index 11f507a..9c67fcd 100644
--- a/src/tracking/moments/vpMomentCommon.cpp
+++ b/src/tracking/moments/vpMomentCommon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCommon.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentCommon.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,13 +44,14 @@
/*!
Default constructor. Initializes the common database with the following moments:
- basic, gravity,centered,centered+normalized,normalized gravity,normalized surface, scale-plane-rotation-translation invariant,alpha, symmetric invariant.
- \param dstSurface : destination surface. You may use vpMomentCommon::getSurface.
- \param ref : reference 3rd order moments (see vpMomentAlpha). You may use vpMomentCommon::getMu3.
- \param refAlpha : reference alpha (see vpMomentAlpha). You may use vpMomentCommon::getAlpha.
+ basic, gravity,centered,centered+normalized,normalized gravity,normalized surface, scale-plane-rotation-translation invariant, alpha, symmetric invariant.
+ \param dstSurface : destination surface. You may use vpMomentCommon::getSurface().
+ \param ref : reference 3rd order moments (see vpMomentAlpha). You may use vpMomentCommon::getMu3().
+ \param refAlpha : reference alpha (see vpMomentAlpha). You may use vpMomentCommon::getAlpha().
\param dstZ : destination depth.
+ \param flg_sxsyfromnormalized : flag to enable calculation of sx,sy from normalized moments.
*/
-vpMomentCommon::vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ):
+vpMomentCommon::vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ, bool flg_sxsyfromnormalized):
momentBasic(),
momentGravity(),
momentCentered(),
@@ -60,12 +61,14 @@ vpMomentCommon::vpMomentCommon(double dstSurface,std::vector<double> ref,double
momentAlpha(ref,refAlpha),
momentArea()
{
+ momentCInvariant = new vpMomentCInvariant(flg_sxsyfromnormalized);
+
momentBasic.linkTo(*this);
momentGravity.linkTo(*this);
momentCentered.linkTo(*this);
momentGravityNormalized.linkTo(*this);
momentSurfaceNormalized.linkTo(*this);
- momentCInvariant.linkTo(*this);
+ momentCInvariant->linkTo(*this);
momentAlpha.linkTo(*this);
momentArea.linkTo(*this);
}
@@ -130,7 +133,7 @@ void vpMomentCommon::updateAll(vpMomentObject& object){
momentGravity.compute();
momentCentered.compute();
momentAlpha.compute();
- momentCInvariant.compute();
+ momentCInvariant->compute();
momentSurfaceNormalized.compute();
momentGravityNormalized.compute();
@@ -140,14 +143,13 @@ void vpMomentCommon::updateAll(vpMomentObject& object){
std::cout << "exception:" << ex <<std::endl;
}
-
}
/*!
Gets the surface of an object
\param object : moment object
*/
-double vpMomentCommon::getSurface(vpMomentObject& object){
+double vpMomentCommon::getSurface(vpMomentObject& object) {
vpMomentDatabase moments;
vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
@@ -165,14 +167,13 @@ double vpMomentCommon::getSurface(vpMomentObject& object){
a = object.get(0,0);
return a;
-
}
/*!
Gets a reference alpha of an object.
\param object : Moment object.
*/
-double vpMomentCommon::getAlpha(vpMomentObject& object){
+double vpMomentCommon::getAlpha(vpMomentObject& object) {
vpMomentDatabase moments;
vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
@@ -191,7 +192,7 @@ double vpMomentCommon::getAlpha(vpMomentObject& object){
Gets the reference 3rd order moments of an object.
\param object : Moment object.
*/
-std::vector<double> vpMomentCommon::getMu3(vpMomentObject& object){
+std::vector<double> vpMomentCommon::getMu3(vpMomentObject& object) {
vpMomentDatabase moments;
vpMomentGravityCenter momentGravity;momentGravity.linkTo(moments);
@@ -204,13 +205,18 @@ std::vector<double> vpMomentCommon::getMu3(vpMomentObject& object){
std::vector<double> mu(4);
unsigned int idx=0;
- for (unsigned int i=0; i<4; i++) {
- for (unsigned int j=0; j<4; j++) {
+ for (unsigned int j=0; j<4; j++) {
+ for (unsigned int i=0; i<4; i++) {
if (i+j==3){
- mu[idx] = momentCentered.get(j,i);
+ mu[idx] = momentCentered.get(i,j);
idx++;
}
}
}
return mu;
}
+
+vpMomentCommon::~vpMomentCommon(){
+ if (momentCInvariant)
+ delete momentCInvariant;
+}
diff --git a/src/tracking/moments/vpMomentCommon.h b/src/tracking/moments/vpMomentCommon.h
index 5cce98c..beb17c3 100644
--- a/src/tracking/moments/vpMomentCommon.h
+++ b/src/tracking/moments/vpMomentCommon.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentCommon.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpMomentCommon.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,14 +70,15 @@ class vpMomentObject;
- vpMomentBasic
- vpMomentGravityCenter
- vpMomentCentered
- - vpMomentCenteredNormalized
+ - vpMomentGravityCenterNormalized
- vpMomentAreaNormalized
- vpMomentCInvariant
- vpMomentAlpha
+ - vpMomentArea
There is no need to do the linkTo operations manually nor is it necessary to care about the order of moment computation.
- This class carries an vpMomentCommon::updateAll method capable of updating AND computing moments from an object (see 4-step process in vpMoment).
+ This class carries an vpMomentCommon::updateAll() method capable of updating AND computing moments from an object (see 4-step process in vpMoment).
The moments computed by this class are classical moments used in moment-based visual servoing.
For more information see \cite Tahri05z.
@@ -88,7 +89,8 @@ class vpMomentObject;
- the surface of the destination object in the end of the visual servoing process.
- the reference alpha: angular position of the object used to obtain the Mu3 set.
- Shortcuts for each of these prerequisites are provided by this class except depth (methods vpMomentCommon::getMu3, vpMomentCommon::getSurface,vpMomentCommon::getAlpha).
+ Shortcuts for each of these prerequisites are provided by this class except depth (methods
+ vpMomentCommon::getMu3(), vpMomentCommon::getSurface(), vpMomentCommon::getAlpha()).
\attention Make sure your object is at least of order 5 when using this pre-filled database.
@@ -100,18 +102,17 @@ private:
vpMomentCentered momentCentered;
vpMomentGravityCenterNormalized momentGravityNormalized;
vpMomentAreaNormalized momentSurfaceNormalized;
- vpMomentCInvariant momentCInvariant;
+ vpMomentCInvariant* momentCInvariant;
vpMomentAlpha momentAlpha;
vpMomentArea momentArea;
public:
- vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ=1.0);
+ vpMomentCommon(double dstSurface,std::vector<double> ref,double refAlpha,double dstZ=1.0, bool flg_sxsyfromnormalized=false);
- static double getAlpha(vpMomentObject& objec);
+ static double getAlpha(vpMomentObject& object);
static std::vector<double> getMu3(vpMomentObject& object);
static double getSurface(vpMomentObject& object);
void updateAll(vpMomentObject& object);
+ ~vpMomentCommon();
};
-
-
#endif // VPCOMMONMOMENTS_H
diff --git a/src/tracking/moments/vpMomentDatabase.cpp b/src/tracking/moments/vpMomentDatabase.cpp
index ee96c18..f0c6f15 100644
--- a/src/tracking/moments/vpMomentDatabase.cpp
+++ b/src/tracking/moments/vpMomentDatabase.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentDatabase.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentDatabase.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,7 +62,7 @@ void vpMomentDatabase::add(vpMoment& moment,const char* name){
\param found : true if the moment's type exists in the database, false otherwise.
\return Moment corresponding to \e type.
*/
-vpMoment& vpMomentDatabase::get(const char* type, bool& found){
+const vpMoment& vpMomentDatabase::get(const char* type, bool& found) const {
std::map<const char*,vpMoment*,vpMomentDatabase::cmp_str>::const_iterator it = moments.find(type);
found = (it!=moments.end());
@@ -86,7 +86,7 @@ void vpMomentDatabase::updateAll(vpMomentObject& object){
/*!
Outputs all the moments values in the database to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentDatabase& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentDatabase& m){
std::map<const char*,vpMoment*,vpMomentDatabase::cmp_str>::const_iterator itr;
os << "{";
diff --git a/src/tracking/moments/vpMomentDatabase.h b/src/tracking/moments/vpMomentDatabase.h
index efbd293..733574c 100644
--- a/src/tracking/moments/vpMomentDatabase.h
+++ b/src/tracking/moments/vpMomentDatabase.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentDatabase.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentDatabase.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -136,9 +136,10 @@ class VISP_EXPORT vpMomentDatabase{
std::map<const char*,vpMoment*,cmp_str> moments;
void add(vpMoment& moment, const char* name);
public:
+ vpMomentDatabase() : moments() {}
virtual ~vpMomentDatabase() {}
- vpMoment& get(const char* type, bool& found);
+ const vpMoment& get(const char* type, bool& found) const;
/*!
Get the first element in the database.
May be useful in case an unnamed object is present but is the only element in the database.
diff --git a/src/tracking/moments/vpMomentGravityCenter.cpp b/src/tracking/moments/vpMomentGravityCenter.cpp
index d782bba..5e0d00f 100644
--- a/src/tracking/moments/vpMomentGravityCenter.cpp
+++ b/src/tracking/moments/vpMomentGravityCenter.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentGravityCenter.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentGravityCenter.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,14 +60,14 @@ vpMomentGravityCenter::vpMomentGravityCenter() : vpMoment(){
Returns a vector of the two gravity center coordinates.
\return Coordinates in the following moment: \f$(x_g,y_g)\f$.
*/
-std::vector<double>& vpMomentGravityCenter::get(){
+const std::vector<double>& vpMomentGravityCenter::get() const{
return values;
}
/*!
Outputs the moment's values to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenter& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenter& m){
os << "Xg=" << m.values[0] << ", Yg=" << m.values[1];
return os;
diff --git a/src/tracking/moments/vpMomentGravityCenter.h b/src/tracking/moments/vpMomentGravityCenter.h
index cf65cb7..3e391f7 100644
--- a/src/tracking/moments/vpMomentGravityCenter.h
+++ b/src/tracking/moments/vpMomentGravityCenter.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentGravityCenter.h 4220 2013-04-17 10:03:36Z mbakthav $
+ * $Id: vpMomentGravityCenter.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -115,7 +115,7 @@ class VISP_EXPORT vpMomentGravityCenter : public vpMoment {
vpMomentGravityCenter();
void compute();
- std::vector<double>& get();
+ const std::vector<double>& get() const;
/*!
Shortcut function to retrieve \f$x_g\f$.
\return The first gravity center coordinate.
@@ -129,7 +129,7 @@ class VISP_EXPORT vpMomentGravityCenter : public vpMoment {
/*!
The class's string name.
*/
- const char* name(){return "vpMomentGravityCenter";}
+ const char* name() const {return "vpMomentGravityCenter";}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenter& v);
};
diff --git a/src/tracking/moments/vpMomentGravityCenterNormalized.cpp b/src/tracking/moments/vpMomentGravityCenterNormalized.cpp
index d668b12..c18ff89 100644
--- a/src/tracking/moments/vpMomentGravityCenterNormalized.cpp
+++ b/src/tracking/moments/vpMomentGravityCenterNormalized.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentGravityCenterNormalized.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentGravityCenterNormalized.cpp 4620 2014-01-27 21:28:32Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,8 +52,8 @@ void vpMomentGravityCenterNormalized::compute(){
bool found_moment_gravity;
bool found_moment_surface_normalized;
- vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(getMoments().get("vpMomentAreaNormalized",found_moment_surface_normalized));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(getMoments().get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
@@ -74,7 +74,7 @@ vpMomentGravityCenterNormalized::vpMomentGravityCenterNormalized() : vpMomentGra
/*!
Outputs the moment's values to a stream.
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenterNormalized& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenterNormalized& m){
os << "Xn:" << m.values[0] << ",Yn=" << m.values[1];
return os;
diff --git a/src/tracking/moments/vpMomentGravityCenterNormalized.h b/src/tracking/moments/vpMomentGravityCenterNormalized.h
index 96488c2..64b8923 100644
--- a/src/tracking/moments/vpMomentGravityCenterNormalized.h
+++ b/src/tracking/moments/vpMomentGravityCenterNormalized.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentGravityCenterNormalized.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentGravityCenterNormalized.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,7 +68,7 @@ class VISP_EXPORT vpMomentGravityCenterNormalized : public vpMomentGravityCenter
/*!
Moment name.
*/
- const char* name(){return "vpMomentGravityCenterNormalized";}
+ const char* name() const {return "vpMomentGravityCenterNormalized";}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentGravityCenterNormalized& v);
};
diff --git a/src/tracking/moments/vpMomentObject.cpp b/src/tracking/moments/vpMomentObject.cpp
index 7b3d20f..c92a6eb 100644
--- a/src/tracking/moments/vpMomentObject.cpp
+++ b/src/tracking/moments/vpMomentObject.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentObject.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentObject.cpp 4653 2014-02-07 15:38:09Z mbakthav $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -44,8 +44,11 @@
#include <visp/vpCameraParameters.h>
#include <visp/vpPixelMeterConversion.h>
#include <visp/vpConfig.h>
+#include <stdexcept>
+
#include <cmath>
#include <limits>
+
#ifdef VISP_HAVE_OPENMP
#include <omp.h>
#endif
@@ -135,6 +138,32 @@ void vpMomentObject::cacheValues(std::vector<double>& cache,double x, double y){
}
/*!
+ * Manikandan.B
+ * Need to cache intensity along with the coordinates for photometric moments
+ */
+void vpMomentObject::cacheValues(std::vector<double>& cache,double x, double y, double IntensityNormalized) {
+
+ cache[0]=IntensityNormalized;
+
+ double invIntensityNormalized = 0.;
+ if (std::fabs(IntensityNormalized)>=std::numeric_limits<double>::epsilon())
+ invIntensityNormalized = 1.0/IntensityNormalized;
+
+ for(register unsigned int i=1;i<order;i++)
+ cache[i]=cache[i-1]*x;
+
+ for(register unsigned int j=order;j<order*order;j+=order)
+ cache[j]=cache[j-order]*y;
+
+ for(register unsigned int j=1;j<order;j++){
+ for(register unsigned int i=1;i<order-j;i++){
+ cache[j*order+i] = cache[j*order]*cache[i]*invIntensityNormalized;
+ }
+ }
+}
+
+
+/*!
Computes basic moments from a vector of points.
There are two cases:
-# Dense case specified by setType(vpMomentObject::DENSE_POLYGON):
@@ -262,10 +291,10 @@ int main()
*/
void vpMomentObject::fromImage(const vpImage<unsigned char>& image, unsigned char threshold, const vpCameraParameters& cam){
-#ifdef VISP_HAVE_OPENMP
+#ifdef VISP_HAVE_OPENMP
#pragma omp parallel shared(threshold)
- {
- std::vector<double> curvals(order*order);
+ {
+ std::vector<double> curvals(order*order);
curvals.assign(order*order,0.);
unsigned int i_, j_;
@@ -281,36 +310,35 @@ void vpMomentObject::fromImage(const vpImage<unsigned char>& image, unsigned cha
double xval=1.;
double yval=1.;
- for(register unsigned int k=0;k<order;k++){
+ for(register unsigned int k=0;k<order;k++){
xval=1.;
for(register unsigned int l=0;l<order-k;l++){
curvals[(k*order+l)]+=(xval*yval);
xval*=x;
}
yval*=y;
- }
+ }
}
}
- }
-
+ }
+
#pragma omp master //only set this variable in master thread
- {
- values.assign(order*order, 0.);
+ {
+ values.assign(order*order, 0.);
}
#pragma omp barrier
-
- for(register unsigned int k=0;k<order;k++){
+
+ for(register unsigned int k=0;k<order;k++){
for(register unsigned int l=0;l<order-k;l++){
#pragma omp atomic
values[k*order+l]+= curvals[k*order+l];
}
}
-
- }
-
+
+ }
#else
- std::vector<double> cache(order*order,0.);
+ std::vector<double> cache(order*order,0.);
values.assign(order*order,0);
for(register unsigned int i=0;i<image.getCols();i++){
for(register unsigned int j=0;j<image.getRows();j++){
@@ -328,9 +356,128 @@ void vpMomentObject::fromImage(const vpImage<unsigned char>& image, unsigned cha
}
}
#endif
+
+ //Normalisation equivalent to sampling interval/pixel size delX x delY
+ double norm_factor = 1./(cam.get_px()*cam.get_py());
+ for (std::vector<double>::iterator it = values.begin(); it!=values.end(); it++) {
+ *it = (*it) * norm_factor;
+ }
+}
+
+/*!
+ * Manikandan. B
+ * Photometric moments v2
+ * Intended to be used by 'vpMomentObject's of type DENSE_FULL_OBJECT
+ * @param image : Grayscale image
+ * @param cam : Camera parameters (to change to )
+ * @param bg_type : White/Black background surrounding the image
+ * @param normalize_with_pix_size : This flag if SET, the moments, after calculation are normalized w.r.t pixel size
+ * available from camera parameters
+ */
+void vpMomentObject::fromImage(const vpImage<unsigned char>& image, const vpCameraParameters& cam,
+ vpCameraImgBckGrndType bg_type, bool normalize_with_pix_size)
+{
+ std::vector<double> cache(order*order,0.);
+ values.assign(order*order,0);
+
+ // (x,y) - Pixel co-ordinates in metres
+ double x=0;
+ double y=0;
+ //for indexing into cache[] and values[]
+ unsigned int idx = 0;
+ unsigned int kidx = 0;
+
+ double intensity = 0;
+ double intensity_white = 0;
+
+ //double Imax = static_cast<double>(image.getMaxValue());
+ double Imax = 255.; // To check the effect of gray level change. ISR Coimbra
+
+ double iscale = 1.0;
+ if (flg_normalize_intensity) // This makes the image a probability density function
+ iscale = 1.0/Imax;
+
+ if (bg_type == vpMomentObject::WHITE) {
+ /////////// WHITE BACKGROUND ///////////
+ for(register unsigned int j=0;j<image.getRows();j++){
+ for(register unsigned int i=0;i<image.getCols();i++){
+ x = 0;
+ y = 0;
+ intensity = (double)(image[j][i])*iscale;
+ intensity_white = 1. - intensity;
+
+ vpPixelMeterConversion::convertPoint(cam,i,j,x,y);
+ cacheValues(cache,x,y, intensity_white); // Modify 'cache' which has x^p*y^q to x^p*y^q*(1 - I(x,y))
+
+ // Copy to "values"
+ for(register unsigned int k=0;k<order;k++){
+ kidx = k*order;
+ for(register unsigned int l=0;l<order-k;l++){
+ idx = kidx+l;
+ values[idx]+= cache[idx];
+ }
+ }
+ }
+ }
+ }
+ else {
+ /////////// BLACK BACKGROUND ///////////
+ for(register unsigned int j=0;j<image.getRows();j++){
+ for(register unsigned int i=0;i<image.getCols();i++){
+ x = 0;
+ y = 0;
+ intensity = (double)(image[j][i])*iscale;
+ vpPixelMeterConversion::convertPoint(cam,i,j,x,y);
+
+ // Cache values for fast moment calculation
+ cacheValues(cache,x,y, intensity); // Modify 'cache' which has x^p*y^q to x^p*y^q*I(x,y)
+
+ // Copy to moments array 'values'
+ for(register unsigned int k=0;k<order;k++){
+ kidx = k*order;
+ for(register unsigned int l=0;l<order-k;l++){
+ idx = kidx+l;
+ values[idx]+= cache[idx];
+ }
+ }
+
+ }
+ }
+ }
+
+ if (normalize_with_pix_size){
+ // Normalisation equivalent to sampling interval/pixel size delX x delY
+ double norm_factor = 1./(cam.get_px()*cam.get_py());
+ for (std::vector<double>::iterator it = values.begin(); it!=values.end(); it++) {
+ *it = (*it) * norm_factor;
+ }
+ }
}
+/*!
+ Does exactly the work of the default constructor as it existed in the very
+ first version of vpMomentObject
+ */
+void
+vpMomentObject::init(unsigned int orderinp) {
+ order = orderinp + 1;
+ type = vpMomentObject::DENSE_FULL_OBJECT;
+ flg_normalize_intensity = true; // By default, the intensity values are normalized
+ values.resize((order+1)*(order+1));
+ values.assign((order+1)*(order+1),0);
+}
+/*!
+ Helper to copy constructor
+ */
+void
+vpMomentObject::init(const vpMomentObject& objin){
+ order = objin.getOrder()+1;
+ type = objin.getType();
+ flg_normalize_intensity = objin.flg_normalize_intensity;
+ values.resize(objin.values.size());
+ values = objin.values;
+}
/*!
Default constructor.
@@ -338,14 +485,28 @@ void vpMomentObject::fromImage(const vpImage<unsigned char>& image, unsigned cha
The parameter specified is the highest desired included order.
All orders up to this values will be computed. In other words, a vpMomentObject will compute all \f$ m_{ij} \f$ moments with \f$ i+j \in [0..order] \f$.
- \param order : Maximum reached order (i+j) to be used. All
+ \param max_order : Maximum reached order (i+j) to be used. All
considered i+j will be of order smaller or equal than this
parameter. For example if this parameter is 5, all moment values of
order 0 to 5 included will be computed.
+
+ Mani : outsourced the constructor work to void init (unsigned int orderinp);
*/
-vpMomentObject::vpMomentObject(unsigned int order) : order(order+1),type(DENSE_FULL_OBJECT){
- values.resize((order+1)*(order+1)*12);
- values.assign((order+1)*(order+1)*12,0);
+vpMomentObject::vpMomentObject(unsigned int max_order)
+ : flg_normalize_intensity(true), order(max_order+1), type(vpMomentObject::DENSE_FULL_OBJECT),
+ values()
+{
+ init(max_order);
+}
+
+/*!
+ Copy constructor
+ */
+vpMomentObject::vpMomentObject(const vpMomentObject& srcobj)
+ : flg_normalize_intensity(true), order(order+1), type(vpMomentObject::DENSE_FULL_OBJECT),
+ values()
+{
+ init(srcobj);
}
/*!
@@ -367,7 +528,7 @@ double m12;
m12 = mij[2*(obj.getOrder()+1)+1]; // i=1 and j=2
\endcode
*/
-std::vector<double>& vpMomentObject::get() {
+const std::vector<double>& vpMomentObject::get() const {
return values;
}
@@ -386,6 +547,18 @@ double vpMomentObject::get(unsigned int i, unsigned int j) const {
}
/*!
+ Sets the basic moment value \f$m_{ij}\f$ corresponding to i,j indexes
+ \param i : First moment index, with \f$i+j \leq order\f$.
+ \param j : Second moment index, with \f$i+j \leq order\f$.
+ \param value_ij : Moment value.
+*/
+void vpMomentObject::set(unsigned int i, unsigned int j, const double& value_ij){
+ assert(i+j<=getOrder());
+ if(i+j>=order) throw vpException(vpException::badValue,"The requested value cannot be set, you should specify a higher order for the moment object.");
+ values[j*order+i] = value_ij;
+}
+
+/*!
Outputs the basic moment's values \f$m_{ij}\f$ to a stream presented as a matrix.
The first line corresponds to \f$m_{0[0:order]}\f$, the second one to \f$m_{1[0:order]}\f$
Values in table corresponding to a higher order are marked with an "x" and not computed.
@@ -400,7 +573,7 @@ double vpMomentObject::get(unsigned int i, unsigned int j) const {
\endcode
*/
-std::ostream & operator<<(std::ostream & os, const vpMomentObject& m){
+VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentObject& m){
for(unsigned int i = 0;i<m.values.size();i++){
if(i%(m.order)==0)
diff --git a/src/tracking/moments/vpMomentObject.h b/src/tracking/moments/vpMomentObject.h
index cd6d348..14eedb5 100644
--- a/src/tracking/moments/vpMomentObject.h
+++ b/src/tracking/moments/vpMomentObject.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMomentObject.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMomentObject.h 4650 2014-02-07 15:30:36Z mbakthav $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -48,7 +48,8 @@
#include <visp/vpImage.h>
#include <visp/vpMoment.h>
#include <visp/vpPoint.h>
-
+#include <visp/vpMath.h>
+#include <cstdlib>
#include <utility>
class vpCameraParameters;
@@ -212,6 +213,7 @@ Centered moments (mu03, mu12, mu21, mu30): 0.003375 0.0045625 -0.00228125 -0.000
*/
class VISP_EXPORT vpMomentObject{
public:
+
/*!
Type of object that will be considered.
*/
@@ -220,32 +222,57 @@ public:
DENSE_POLYGON = 1, /*!< A set of points (stored in clockwise order) describing a polygon. It will be treated as dense. */
DISCRETE = 2, /*!< A cloud of points. Treated as discrete. */
} vpObjectType;
+
+ /*!
+ Type of camera image background.
+ */
+ typedef enum{
+ BLACK = 0, /*! Black background */
+ WHITE = 1, /*! No functionality as of now */
+ } vpCameraImgBckGrndType;
+
+ bool flg_normalize_intensity; // To scale the intensity of each individual pixel in the image by the maximum intensity value present in it
+
+ // Constructor helpers
+ void init(unsigned int orderinp);
+ void init(const vpMomentObject& objin);
+ // Constructors
vpMomentObject(unsigned int order);
- void fromImage(const vpImage<unsigned char>& image,unsigned char threshold, const vpCameraParameters& cam);
+ vpMomentObject(const vpMomentObject& srcobj);
+
+ void fromImage(const vpImage<unsigned char>& image,unsigned char threshold, const vpCameraParameters& cam); // Binary version
+ void fromImage(const vpImage<unsigned char>& image, const vpCameraParameters& cam, vpCameraImgBckGrndType bg_type, bool normalize_with_pix_size = true); // Photometric version
+
void fromVector(std::vector<vpPoint>& points);
- std::vector<double>& get();
+ const std::vector<double>& get() const;
double get(unsigned int i,unsigned int j) const;
+
/*!
\return The type of object that is considered.
*/
vpObjectType getType() const {return type;}
+
/*!
\return The maximal order. The basic moments \f$m_{ij}\f$ that will be computed
are for \f$i+j \in [0:\mbox{order}]\f$.
*/
unsigned int getOrder() const {return order-1;}
+
/*!
Specifies the type of the input data.
- \param type : An input type.
+ \param input_type : An input type.
*/
- void setType(vpObjectType type){this->type=type;}
+ void setType(vpObjectType input_type){this->type=input_type;}
friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentObject& v);
-private:
+protected:
unsigned int order;
vpObjectType type;
std::vector<double> values;
+ void set(unsigned int i, unsigned int j, const double& value_ij);
void cacheValues(std::vector<double>& cache,double x, double y);
+private:
+ void cacheValues(std::vector<double>& cache,double x, double y, double IntensityNormalized);
double calc_mom_polygon(unsigned int p, unsigned int q, const std::vector<vpPoint>& points);
};
diff --git a/src/tracking/moving-edges/vpMe.cpp b/src/tracking/moving-edges/vpMe.cpp
index 4b18788..5c86afd 100644
--- a/src/tracking/moving-edges/vpMe.cpp
+++ b/src/tracking/moving-edges/vpMe.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMe.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMe.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -411,34 +411,28 @@ vpMe::print( )
}
vpMe::vpMe()
+ : threshold(1500), mu1(0.5), mu2(0.5), min_samplestep(4), anglestep(1), mask_sign(0),
+ range(4), sample_step(10), ntotal_sample(0), points_to_track(500), mask_size(5),
+ n_mask(180), strip(2), mask(NULL)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , aberration(2), init_aberration(5.)
+#endif
{
- mask = NULL ;
- threshold = 1500 ;
- mu1 = 0.5 ;
- mu2 = 0.5 ;
- sample_step = 10 ;
- range = 4 ;
- mask_size = 5 ;
- n_mask = 180 ;
- mask_sign = 0 ;
- ntotal_sample = 0; // not sure that it is used
- points_to_track = 500; // not sure that it is used
+ //ntotal_sample = 0; // not sure that it is used
+ //points_to_track = 500; // not sure that it is used
anglestep = (180 / n_mask) ;
- strip = 2 ;
- min_samplestep = 4 ;
-
- #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- aberration = 2.0 ;
- init_aberration = 5.0 ;
- #endif
-
+
initMask() ;
}
vpMe::vpMe(const vpMe &me)
+ : threshold(1500), mu1(0.5), mu2(0.5), min_samplestep(4), anglestep(1), mask_sign(0),
+ range(4), sample_step(10), ntotal_sample(0), points_to_track(500), mask_size(5),
+ n_mask(180), strip(2), mask(NULL)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , aberration(2), init_aberration(5.)
+#endif
{
- mask = NULL ;
-
*this = me;
}
diff --git a/src/tracking/moving-edges/vpMe.h b/src/tracking/moving-edges/vpMe.h
index c94d317..d51f7f4 100644
--- a/src/tracking/moving-edges/vpMe.h
+++ b/src/tracking/moving-edges/vpMe.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMe.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMe.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -166,9 +166,9 @@ public:
/*!
Set the minimum image contrast allowed to detect a contour.
- \param mu1 : new mu1.
+ \param mu_1 : new mu1.
*/
- void setMu1(const double &mu1) { this->mu1 = mu1 ; }
+ void setMu1(const double &mu_1) { this->mu1 = mu_1 ; }
/*!
Get the minimum image contrast allowed to detect a contour.
@@ -180,9 +180,9 @@ public:
/*!
Set the maximum image contrast allowed to detect a contour.
- \param mu2 : new mu2.
+ \param mu_2 : new mu2.
*/
- void setMu2(const double &mu2) { this->mu2 = mu2 ; }
+ void setMu2(const double &mu_2) { this->mu2 = mu_2 ; }
/*!
Get the maximum image contrast allowed to detect a contour.
diff --git a/src/tracking/moving-edges/vpMeEllipse.cpp b/src/tracking/moving-edges/vpMeEllipse.cpp
index 38ea843..0496655 100644
--- a/src/tracking/moving-edges/vpMeEllipse.cpp
+++ b/src/tracking/moving-edges/vpMeEllipse.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeEllipse.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpMeEllipse.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,6 +51,8 @@
#include <cmath> // std::fabs
#include <limits> // numeric_limits
+
+void computeTheta(double &theta, vpColVector &K, vpImagePoint iP);
/*!
Computes the \f$ \theta \f$ angle which represents the angle between the tangente to the curve and the i axis.
@@ -78,36 +80,34 @@ computeTheta(double &theta, vpColVector &K, vpImagePoint iP)
/*!
Basic constructor that calls the constructor of the class vpMeTracker.
*/
-vpMeEllipse::vpMeEllipse():vpMeTracker()
+vpMeEllipse::vpMeEllipse()
+ : K(), iPc(), a(0.), b(0.), e(0.), iP1(), iP2(), alpha1(0), alpha2(2*M_PI),
+ ce(0.), se(0.), angle(), m00(0.), mu11(0.), mu20(0.), mu02(0.),
+ m10(0.), m01(0.), m11(0.), m02(0.), m20(0.), thresholdWeight(0.2), circle(false)
{
vpCDEBUG(1) << "begin vpMeEllipse::vpMeEllipse() " << std::endl ;
// redimensionnement du vecteur de parametre
// i^2 + K0 j^2 + 2 K1 i j + 2 K2 i + 2 K3 j + K4
- circle = false ;
K.resize(5) ;
- alpha1 = 0 ;
- alpha2 = 2*M_PI ;
-
//j1 = j2 = i1 = i2 = 0 ;
iP1.set_i(0);
iP1.set_j(0);
iP2.set_i(0);
iP2.set_j(0);
- m00 = m01 = m10 = m11 = m20 = m02 = mu11 = mu20 = mu02 = 0;
-
- thresholdWeight = 0.2;
-
vpCDEBUG(1) << "end vpMeEllipse::vpMeEllipse() " << std::endl ;
}
/*!
Copy constructor.
*/
-vpMeEllipse::vpMeEllipse(const vpMeEllipse &meellipse):vpMeTracker(meellipse)
+vpMeEllipse::vpMeEllipse(const vpMeEllipse &meellipse)
+ : vpMeTracker(meellipse), K(), iPc(), a(0.), b(0.), e(0.), iP1(), iP2(), alpha1(0), alpha2(2*M_PI),
+ ce(0.), se(0.), angle(), m00(0.), mu11(0.), mu20(0.), mu02(0.),
+ m10(0.), m01(0.), m11(0.), m02(0.), m20(0.), thresholdWeight(0.2), circle(false)
{
K = meellipse.K;
iPc = meellipse.iPc;
@@ -134,6 +134,8 @@ vpMeEllipse::vpMeEllipse(const vpMeEllipse &meellipse):vpMeTracker(meellipse)
m02 = meellipse.m02;
m20 = meellipse.m20;
thresholdWeight = meellipse.thresholdWeight;
+
+ circle = meellipse.circle;
}
/*!
@@ -416,16 +418,16 @@ vpMeEllipse::computeAngle(vpImagePoint pt1, vpImagePoint pt2)
void
vpMeEllipse::updateTheta()
{
- vpMeSite p;
+ vpMeSite p_me;
double theta;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
+ p_me = *it;
vpImagePoint iP;
- iP.set_i(p.ifloat);
- iP.set_j(p.jfloat);
+ iP.set_i(p_me.ifloat);
+ iP.set_j(p_me.jfloat);
computeTheta(theta, K, iP) ;
- p.alpha = theta ;
- *it = p;
+ p_me.alpha = theta ;
+ *it = p_me;
}
}
@@ -629,10 +631,10 @@ vpMeEllipse::leastSquare()
// A = (j^2 2ij 2i 2j 1) x = (K0 K1 K2 K3 K4)^T b = (-i^2 )
unsigned int i ;
- vpMeSite p ;
+ vpMeSite p_me ;
unsigned int iter =0 ;
- vpColVector b(numberOfSignal()) ;
+ vpColVector b_(numberOfSignal()) ;
vpRobust r(numberOfSignal()) ;
r.setThreshold(2);
r.setIteration(0) ;
@@ -658,17 +660,16 @@ vpMeEllipse::leastSquare()
unsigned int k =0 ;
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
-
- A[k][0] = vpMath::sqr(p.jfloat) ;
- A[k][1] = 2 * p.ifloat * p.jfloat ;
- A[k][2] = 2 * p.ifloat ;
- A[k][3] = 2 * p.jfloat ;
+ A[k][0] = vpMath::sqr(p_me.jfloat) ;
+ A[k][1] = 2 * p_me.ifloat * p_me.jfloat ;
+ A[k][2] = 2 * p_me.ifloat ;
+ A[k][3] = 2 * p_me.jfloat ;
A[k][4] = 1 ;
- b[k] = - vpMath::sqr(p.ifloat) ;
+ b_[k] = - vpMath::sqr(p_me.ifloat) ;
k++ ;
}
}
@@ -678,10 +679,10 @@ vpMeEllipse::leastSquare()
DA = D*A ;
vpMatrix DAp ;
- x = DA.pseudoInverse(1e-26) *D*b ;
+ x = DA.pseudoInverse(1e-26) *D*b_ ;
vpColVector residu(nos_1);
- residu = b - A*x;
+ residu = b_ - A*x;
r.setIteration(iter) ;
r.MEstimator(vpRobust::TUKEY,residu,w) ;
@@ -696,14 +697,14 @@ vpMeEllipse::leastSquare()
k =0 ;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
if (w[k] < thresholdWeight)
{
- p.setState(vpMeSite::M_ESTIMATOR);
+ p_me.setState(vpMeSite::M_ESTIMATOR);
- *it = p;
+ *it = p_me;
}
k++ ;
}
@@ -719,15 +720,14 @@ vpMeEllipse::leastSquare()
unsigned int k =0 ;
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
-
- A[k][0] = 2* p.ifloat ;
- A[k][1] = 2 * p.jfloat ;
+ A[k][0] = 2* p_me.ifloat ;
+ A[k][1] = 2 * p_me.jfloat ;
A[k][2] = 1 ;
- b[k] = - vpMath::sqr(p.ifloat) - vpMath::sqr(p.jfloat) ;
+ b_[k] = - vpMath::sqr(p_me.ifloat) - vpMath::sqr(p_me.jfloat) ;
k++ ;
}
}
@@ -737,10 +737,10 @@ vpMeEllipse::leastSquare()
DA = D*A ;
vpMatrix DAp ;
- x = DA.pseudoInverse(1e-26) *D*b ;
+ x = DA.pseudoInverse(1e-26) *D*b_ ;
vpColVector residu(nos_1);
- residu = b - A*x;
+ residu = b_ - A*x;
r.setIteration(iter) ;
r.MEstimator(vpRobust::TUKEY,residu,w) ;
@@ -755,14 +755,14 @@ vpMeEllipse::leastSquare()
k =0 ;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
if (w[k] < thresholdWeight)
{
- p.setState(vpMeSite::M_ESTIMATOR);
+ p_me.setState(vpMeSite::M_ESTIMATOR);
- *it = p;
+ *it = p_me;
}
k++ ;
}
@@ -840,7 +840,7 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
if (circle==false)
{
vpMatrix A(n,5) ;
- vpColVector b(n) ;
+ vpColVector b_(n) ;
vpColVector x(5) ;
// Construction du systeme Ax=b
@@ -855,16 +855,16 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
A[k][3] = 2* iP[k].get_j() ;
A[k][4] = 1 ;
- b[k] = - vpMath::sqr(iP[k].get_i()) ;
+ b_[k] = - vpMath::sqr(iP[k].get_i()) ;
}
- K = A.pseudoInverse(1e-26)*b ;
+ K = A.pseudoInverse(1e-26)*b_ ;
std::cout << K << std::endl;
}
else
{
vpMatrix A(n,3) ;
- vpColVector b(n) ;
+ vpColVector b_(n) ;
vpColVector x(3) ;
vpColVector Kc(3) ;
@@ -874,10 +874,10 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
A[k][1] = 2* iP[k].get_j() ;
A[k][2] = 1 ;
- b[k] = - vpMath::sqr(iP[k].get_i()) - vpMath::sqr(iP[k].get_j()) ;
+ b_[k] = - vpMath::sqr(iP[k].get_i()) - vpMath::sqr(iP[k].get_j()) ;
}
- Kc = A.pseudoInverse(1e-26)*b ;
+ Kc = A.pseudoInverse(1e-26)*b_ ;
K[0] = 1 ;
K[1] = 0 ;
K[2] = Kc[0] ;
@@ -901,7 +901,6 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
vpMeTracker::initTracking(I) ;
}
-
try{
track(I) ;
}
@@ -1130,7 +1129,7 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
if (circle==false)
{
vpMatrix A(n,5) ;
- vpColVector b(n) ;
+ vpColVector b_(n) ;
vpColVector x(5) ;
// Construction du systeme Ax=b
@@ -1145,16 +1144,16 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
A[k][3] = 2* j[k] ;
A[k][4] = 1 ;
- b[k] = - vpMath::sqr(i[k]) ;
+ b_[k] = - vpMath::sqr(i[k]) ;
}
- K = A.pseudoInverse(1e-26)*b ;
+ K = A.pseudoInverse(1e-26)*b_ ;
std::cout << K << std::endl;
}
else
{
vpMatrix A(n,3) ;
- vpColVector b(n) ;
+ vpColVector b_(n) ;
vpColVector x(3) ;
vpColVector Kc(3) ;
@@ -1164,10 +1163,10 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
A[k][1] = 2* j[k] ;
A[k][2] = 1 ;
- b[k] = - vpMath::sqr(i[k]) - vpMath::sqr(j[k]) ;
+ b_[k] = - vpMath::sqr(i[k]) - vpMath::sqr(j[k]) ;
}
- Kc = A.pseudoInverse(1e-26)*b ;
+ Kc = A.pseudoInverse(1e-26)*b_ ;
K[0] = 1 ;
K[1] = 0 ;
K[2] = Kc[0] ;
@@ -1192,7 +1191,6 @@ vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
vpMeTracker::initTracking(I) ;
}
-
try{
track(I) ;
}
diff --git a/src/tracking/moving-edges/vpMeEllipse.h b/src/tracking/moving-edges/vpMeEllipse.h
index 8aa7196..741d60e 100644
--- a/src/tracking/moving-edges/vpMeEllipse.h
+++ b/src/tracking/moving-edges/vpMeEllipse.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeEllipse.h 4231 2013-04-29 16:26:28Z fspindle $
+ * $Id: vpMeEllipse.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -175,9 +175,9 @@ public:
Compared to the classical equation of an ellipse, \f$ K_0 \f$ is equal to 1 and \f$ K_1 \f$ is equal to 0.
- \param circle : Set to true if you want to track a circle.
+ \param is_circle : Set to true if you want to track a circle.
*/
- void setCircle(bool circle) { this->circle = circle ; }
+ void setCircle(bool is_circle) { this->circle = is_circle ; }
/*!
Gets the 0 order moment \f$ m_{00} \f$ which represents the area of the ellipse.
diff --git a/src/tracking/moving-edges/vpMeLine.cpp b/src/tracking/moving-edges/vpMeLine.cpp
index fa562e9..338fea3 100644
--- a/src/tracking/moving-edges/vpMeLine.cpp
+++ b/src/tracking/moving-edges/vpMeLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeLine.cpp 4140 2013-02-21 10:50:22Z fspindle $
+ * $Id: vpMeLine.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,8 +58,12 @@
#include <stdlib.h>
#include <cmath> // std::fabs
#include <limits> // numeric_limits
+#include <algorithm> // std::min
+
#define INCR_MIN 1
+void computeDelta(double &delta, int i1, int j1, int i2, int j2);
+
static void
normalizeAngle(double &delta)
{
@@ -101,18 +105,21 @@ project(double a, double b, double c,
Basic constructor that calls the constructor of the class vpMeTracker.
*/
-vpMeLine::vpMeLine():vpMeTracker()
+vpMeLine::vpMeLine()
+ : rho(0.), theta(0.), delta(0.), delta_1(0.), angle(0.), angle_1(90), sign(1),
+ _useIntensityForRho(true), a(0.), b(0.), c(0.)
{
- sign = 1;
- angle_1 = 90;
- _useIntensityForRho = true;
}
/*!
Copy constructor.
*/
-vpMeLine::vpMeLine(const vpMeLine &meline):vpMeTracker(meline)
+vpMeLine::vpMeLine(const vpMeLine &meline)
+ : vpMeTracker(meline),
+ rho(0.), theta(0.), delta(0.), delta_1(0.), angle(0.), angle_1(90), sign(1),
+ _useIntensityForRho(true), a(0.), b(0.), c(0.)
+
{
rho = meline.rho;
theta = meline.theta;
@@ -300,7 +307,7 @@ vpMeLine::leastSquare()
vpColVector w(numberOfSignal()) ;
vpColVector B(numberOfSignal()) ;
w =1 ;
- vpMeSite p ;
+ vpMeSite p_me ;
unsigned int iter =0 ;
unsigned int nos_1 = 0 ;
double distance = 100;
@@ -320,12 +327,12 @@ vpMeLine::leastSquare()
nos_1 = numberOfSignal() ;
unsigned int k =0 ;
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
- A[k][0] = p.ifloat ;
+ A[k][0] = p_me.ifloat ;
A[k][1] = 1 ;
- B[k] = -p.jfloat ;
+ B[k] = -p_me.jfloat ;
k++ ;
}
}
@@ -353,14 +360,14 @@ vpMeLine::leastSquare()
k =0 ;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
if (w[k] < 0.2)
{
- p.setState(vpMeSite::M_ESTIMATOR);
+ p_me.setState(vpMeSite::M_ESTIMATOR);
- *it = p;
+ *it = p_me;
}
k++ ;
}
@@ -385,12 +392,12 @@ vpMeLine::leastSquare()
nos_1 = numberOfSignal() ;
unsigned int k =0 ;
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
- A[k][0] = p.jfloat ;
+ A[k][0] = p_me.jfloat ;
A[k][1] = 1 ;
- B[k] = -p.ifloat ;
+ B[k] = -p_me.ifloat ;
k++ ;
}
}
@@ -416,17 +423,16 @@ vpMeLine::leastSquare()
x_1 = x;
}
-
k =0 ;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- if (p.getState() == vpMeSite::NO_SUPPRESSION)
+ p_me = *it;
+ if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
{
if (w[k] < 0.2)
{
- p.setState(vpMeSite::M_ESTIMATOR);
+ p_me.setState(vpMeSite::M_ESTIMATOR);
- *it = p;
+ *it = p_me;
}
k++ ;
}
@@ -482,9 +488,9 @@ vpMeLine::initTracking(const vpImage<unsigned char> &I,
PExt[1].ifloat = (float)ip2.get_i() ;
PExt[1].jfloat = (float)ip2.get_j() ;
- double angle = atan2((double)(i1s-i2s),(double)(j1s-j2s)) ;
- a = cos(angle) ;
- b = sin(angle) ;
+ double angle_ = atan2((double)(i1s-i2s),(double)(j1s-j2s)) ;
+ a = cos(angle_) ;
+ b = sin(angle_) ;
// Real values of a, b can have an other sign. So to get the good values
// of a and b in order to initialise then c, we call track(I) just below
@@ -634,7 +640,7 @@ vpMeLine::seekExtremities(const vpImage<unsigned char> &I)
// number of samples along line_p
n_sample = length_p/(double)me->getSampleStep();
- double sample = (double)me->getSampleStep();
+ double sample_step = (double)me->getSampleStep();
vpMeSite P ;
P.init((int) PExt[0].ifloat, (int)PExt[0].jfloat, delta_1, 0, sign) ;
@@ -647,8 +653,8 @@ vpMeLine::seekExtremities(const vpImage<unsigned char> &I)
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat + di*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat + dj*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat + di*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat + dj*sample_step ; P.j = (int)P.jfloat ;
if(!outOfImage(P.i, P.j, 5, rows, cols))
{
@@ -678,8 +684,8 @@ vpMeLine::seekExtremities(const vpImage<unsigned char> &I)
P.setDisplay(selectDisplay) ;
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat - di*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat - dj*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat - di*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat - dj*sample_step ; P.j = (int)P.jfloat ;
if(!outOfImage(P.i, P.j, 5, rows, cols))
{
@@ -767,34 +773,34 @@ vpMeLine::reSample(const vpImage<unsigned char> &I)
void
vpMeLine::updateDelta()
{
- vpMeSite p ;
+ vpMeSite p_me ;
- double angle = delta + M_PI/2;
+ double angle_ = delta + M_PI/2;
double diff = 0;
- while (angle<0) angle += M_PI;
- while (angle>M_PI) angle -= M_PI;
+ while (angle_<0) angle_ += M_PI;
+ while (angle_>M_PI) angle_ -= M_PI;
- angle = vpMath::round(angle * 180 / M_PI) ;
+ angle_ = vpMath::round(angle_ * 180 / M_PI) ;
- //if(fabs(angle) == 180 )
- if(std::fabs(std::fabs(angle) - 180) <= std::numeric_limits<double>::epsilon())
+ //if(fabs(angle_) == 180 )
+ if(std::fabs(std::fabs(angle_) - 180) <= std::numeric_limits<double>::epsilon())
{
- angle= 0 ;
+ angle_= 0 ;
}
//std::cout << "angle theta : " << theta << std::endl ;
- diff = fabs(angle - angle_1);
+ diff = fabs(angle_ - angle_1);
if (diff > 90)
sign *= -1;
- angle_1 = angle;
+ angle_1 = angle_;
for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
- p = *it;
- p.alpha = delta ;
- p.mask_sign = sign;
- *it = p;
+ p_me = *it;
+ p_me.alpha = delta ;
+ p_me.mask_sign = sign;
+ *it = p_me;
}
delta_1 = delta;
}
diff --git a/src/tracking/moving-edges/vpMeLine.h b/src/tracking/moving-edges/vpMeLine.h
index 6f7897d..3d51add 100644
--- a/src/tracking/moving-edges/vpMeLine.h
+++ b/src/tracking/moving-edges/vpMeLine.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeLine.h 4231 2013-04-29 16:26:28Z fspindle $
+ * $Id: vpMeLine.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/moving-edges/vpMeNurbs.cpp b/src/tracking/moving-edges/vpMeNurbs.cpp
index 389b917..1ea3292 100644
--- a/src/tracking/moving-edges/vpMeNurbs.cpp
+++ b/src/tracking/moving-edges/vpMeNurbs.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeNurbs.cpp 4135 2013-02-13 16:48:19Z fspindle $
+ * $Id: vpMeNurbs.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,6 +68,15 @@
# endif
#endif
+double computeDelta(double deltai, double deltaj);
+void findAngle(const vpImage<unsigned char> &I, const vpImagePoint &iP,
+ vpMe* me, double &angle, double &convlt);
+vpImagePoint findFirstBorder(const vpImage<unsigned char>& Isub, const vpImagePoint &iP);
+bool findCenterPoint(std::list<vpImagePoint> *ip_edges_list);
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+vp_deprecated bool findCenterPoint(vpList<vpImagePoint> *ip_edges_list);
+#endif
+
//Compute the angle delta = arctan(deltai/deltaj)
//and normalize it between 0 and pi
double
@@ -220,20 +229,19 @@ bool findCenterPoint(std::list<vpImagePoint> *ip_edges_list)
/*!
Basic constructor that calls the constructor of the class vpMeTracker.
*/
-vpMeNurbs::vpMeNurbs():vpMeTracker()
+vpMeNurbs::vpMeNurbs()
+ : nurbs(), dist(0.), nbControlPoints(20), beginPtFound(0), endPtFound(0), enableCannyDetection(false),
+ cannyTh1(100.), cannyTh2(200.)
{
- nbControlPoints = 20;
- beginPtFound = 0;
- endPtFound =0;
- enableCannyDetection = false;
- cannyTh1 = 100.0;
- cannyTh2 = 200.0;
}
/*!
Copy constructor.
*/
-vpMeNurbs::vpMeNurbs(const vpMeNurbs &menurbs):vpMeTracker(menurbs)
+vpMeNurbs::vpMeNurbs(const vpMeNurbs &menurbs)
+ : vpMeTracker(menurbs),
+ nurbs(), dist(0.), nbControlPoints(20), beginPtFound(0), endPtFound(0), enableCannyDetection(false),
+ cannyTh1(100.), cannyTh2(200.)
{
nurbs = menurbs.nurbs;
dist = menurbs.dist;
@@ -459,7 +467,7 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
//Check if the two extremities are not to close to eachother.
double d = vpImagePoint::distance(begin[0],end[0]);
double threshold = 3*me->getSampleStep();
- double sample = me->getSampleStep();
+ double sample_step = me->getSampleStep();
vpImagePoint pt;
if ( d > threshold /*|| (list.firstValue()).mask_sign != (list.lastValue()).mask_sign*/)
{
@@ -483,8 +491,8 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
si = si * vpMath::sign(begin[1].get_i());
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat - si*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat - co*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat - si*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat - co*sample_step ; P.j = (int)P.jfloat ;
pt.set_ij(P.ifloat,P.jfloat);
if (vpImagePoint::distance(end[0],pt) < threshold) break;
if(!outOfImage(P.i, P.j, 5, rows, cols))
@@ -501,9 +509,9 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
}
}
else {
- if (vpDEBUG_ENABLE(3)) {
- vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
- }
+ if (vpDEBUG_ENABLE(3)) {
+ vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
+ }
}
}
}
@@ -521,8 +529,8 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
si = si * vpMath::sign(end[1].get_i());
for (int i=0 ; i < 3 ; i++)
{
- P.ifloat = P.ifloat + si*sample ; P.i = (int)P.ifloat ;
- P.jfloat = P.jfloat + co*sample ; P.j = (int)P.jfloat ;
+ P.ifloat = P.ifloat + si*sample_step ; P.i = (int)P.ifloat ;
+ P.jfloat = P.jfloat + co*sample_step ; P.j = (int)P.jfloat ;
pt.set_ij(P.ifloat,P.jfloat);
if (vpImagePoint::distance(begin[0],pt) < threshold) break;
if(!outOfImage(P.i, P.j, 5, rows, cols))
@@ -538,9 +546,9 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
}
}
else {
- if (vpDEBUG_ENABLE(3)) {
- vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
- }
+ if (vpDEBUG_ENABLE(3)) {
+ vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
+ }
}
}
}
@@ -551,8 +559,8 @@ vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
{
list.pop_front();
}
- if(begin != NULL) delete[] begin;
- if(end != NULL) delete[] end;
+ /*if(begin != NULL)*/ delete[] begin;
+ /*if(end != NULL) */ delete[] end;
}
@@ -709,7 +717,7 @@ vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> & /* I */)
me->setRange(memory_range);
}
- if (begin != NULL) delete[] begin;
+ /* if (begin != NULL) */ delete[] begin;
beginPtFound = 0;
}
@@ -806,6 +814,7 @@ vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> & /* I */)
}
std::list<vpMeSite>::iterator itList = list.end();
+ --itList; // Move on the last element
double convlt;
double delta;
int nbr = 0;
@@ -839,17 +848,18 @@ vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> & /* I */)
unsigned int memory_range = me->getRange();
me->setRange(3);
std::list<vpMeSite>::iterator itList2 = list.end();
+ --itList2; // Move to the last element
for (int j = 0; j < nbr; j++)
{
- vpMeSite s = *itList2;
- s.track(I,me,false);
- *itList2 = s;
+ vpMeSite me_s = *itList2;
+ me_s.track(I,me,false);
+ *itList2 = me_s;
--itList2;
}
me->setRange(memory_range);
}
- if (end != NULL) delete[] end;
+ /* if (end != NULL) */ delete[] end;
endPtFound = 0;
}
#else
@@ -944,14 +954,14 @@ vpMeNurbs::localReSample(const vpImage<unsigned char> &I)
//if(( u != 1.0 || uend != 1.0)
if( (std::fabs(u-1.0) > std::fabs(vpMath::maximum(u, 1.0))*std::numeric_limits<double>::epsilon())
- || (std::fabs(uend-1.0) > std::fabs(vpMath::maximum(u, 1.0))*std::numeric_limits<double>::epsilon()))
+ || (std::fabs(uend-1.0) > std::fabs(vpMath::maximum(uend, 1.0))*std::numeric_limits<double>::epsilon()))
{
iP = nurbs.computeCurveDersPoint(u, 1);
while (vpImagePoint::sqrDistance(iP[0],iPend) > vpMath::sqr(me->getSampleStep()) && u < uend)
{
u+=0.01;
- if (iP!=NULL) {
+ /*if (iP!=NULL)*/ {
delete[] iP;
iP = NULL;
}
@@ -970,7 +980,7 @@ vpMeNurbs::localReSample(const vpImage<unsigned char> &I)
}
}
}
- if (iP!=NULL) {
+ /*if (iP!=NULL)*/ {
delete[] iP;
iP = NULL;
}
diff --git a/src/tracking/moving-edges/vpMeNurbs.h b/src/tracking/moving-edges/vpMeNurbs.h
index 7372812..242a99e 100644
--- a/src/tracking/moving-edges/vpMeNurbs.h
+++ b/src/tracking/moving-edges/vpMeNurbs.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeNurbs.h 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpMeNurbs.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -160,16 +160,16 @@ class VISP_EXPORT vpMeNurbs : public vpMeTracker
/*!
Sets the number of control points used to compute the Nurbs.
- \param nbControlPoints : The number of control points used to compute the Nurbs.
+ \param nb_point : The number of control points used to compute the Nurbs.
*/
- void setNbControlPoints(const unsigned int nbControlPoints) {this->nbControlPoints = nbControlPoints;}
+ void setNbControlPoints(const unsigned int nb_point) {this->nbControlPoints = nb_point;}
/*!
Enables or disables the canny detection used during the extremities search.
- \param enableCannyDetection : if true it enables the canny detection.
+ \param enable_canny : if true it enables the canny detection.
*/
- void setEnableCannyDetection(const bool enableCannyDetection) {this->enableCannyDetection =enableCannyDetection;}
+ void setEnableCannyDetection(const bool enable_canny) {this->enableCannyDetection =enable_canny;}
/*!
Enables to set the two thresholds use by the canny detection.
diff --git a/src/tracking/moving-edges/vpMeSite.cpp b/src/tracking/moving-edges/vpMeSite.cpp
index 31a8af8..5b87a50 100644
--- a/src/tracking/moving-edges/vpMeSite.cpp
+++ b/src/tracking/moving-edges/vpMeSite.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeSite.cpp 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpMeSite.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -100,15 +100,21 @@ vpMeSite::init()
}
vpMeSite::vpMeSite()
+ : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
+ convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , suppress(0)
+#endif
{
- init() ;
}
vpMeSite::vpMeSite(double ip, double jp)
+ : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
+ convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , suppress(0)
+#endif
{
- init() ;
-
- selectDisplay = NONE ;
i = vpMath::round(ip) ;
j = vpMath::round(jp) ;
ifloat = ip ;
@@ -119,6 +125,11 @@ vpMeSite::vpMeSite(double ip, double jp)
Copy constructor.
*/
vpMeSite::vpMeSite (const vpMeSite &mesite)
+ : i(0), j(0), i_1(0), j_1(0), ifloat(0), jfloat(0), v(0), mask_sign(1), alpha(0.),
+ convlt(0.), normGradient(0), weight(1), selectDisplay(NONE), state(NO_SUPPRESSION)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , suppress(0)
+#endif
{
*this = mesite;
}
@@ -497,7 +508,7 @@ vpMeSite::track(const vpImage<unsigned char>& I,
int max_rank =-1 ;
// int max_rank1=-1 ;
// int max_rank2 = -1;
- double convolution = 0 ;
+ double convolution_ = 0 ;
double max_convolution = 0 ;
double max = 0 ;
double contraste = 0;
@@ -530,21 +541,21 @@ vpMeSite::track(const vpImage<unsigned char>& I,
for(unsigned int n = 0 ; n < 2 * range + 1 ; n++)
{
// convolution results
- convolution = list_query_pixels[n].convolution(I, me) ;
+ convolution_ = list_query_pixels[n].convolution(I, me) ;
// luminance ratio of reference pixel to potential correspondent pixel
// the luminance must be similar, hence the ratio value should
// lay between, for instance, 0.5 and 1.5 (parameter tolerance)
if( test_contraste )
{
- likelihood[n] = fabs(convolution + convlt );
+ likelihood[n] = fabs(convolution_ + convlt );
if (likelihood[n]> threshold)
{
- contraste = convolution / convlt;
+ contraste = convolution_ / convlt;
if((contraste > contraste_min) && (contraste < contraste_max) && fabs(1-contraste) < diff)
{
diff = fabs(1-contraste);
- max_convolution= convolution;
+ max_convolution= convolution_;
max = likelihood[n] ;
max_rank = (int)n ;
// max_rank2 = max_rank1;
@@ -555,10 +566,10 @@ vpMeSite::track(const vpImage<unsigned char>& I,
else
{
- likelihood[n] = fabs(2*convolution) ;
+ likelihood[n] = fabs(2*convolution_) ;
if (likelihood[n] > max && likelihood[n] > threshold)
{
- max_convolution= convolution;
+ max_convolution= convolution_;
max = likelihood[n] ;
max_rank = (int)n ;
// max_rank2 = max_rank1;
@@ -617,18 +628,18 @@ int vpMeSite::operator!=(const vpMeSite &m)
}
-std::ostream& operator<<(std::ostream& os, vpMeSite& vpMeS)
+VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpMeSite& vpMeS)
{
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
return (os << "Alpha: " << vpMeS.alpha
<< " Convolution: " << vpMeS.convlt
<< " Flag: " << vpMeS.suppress
<< " Weight: " << vpMeS.weight );
-#endif
-
+#else
return (os << "Alpha: " << vpMeS.alpha
<< " Convolution: " << vpMeS.convlt
<< " Weight: " << vpMeS.weight );
+#endif
}
void vpMeSite::display(const vpImage<unsigned char>& I)
@@ -675,6 +686,7 @@ void vpMeSite::display(const vpImage<unsigned char>& I, const double &i, const d
case TOO_NEAR:
vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::cyan,1);
+ break;
default:
vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::yellow,1);
@@ -718,6 +730,7 @@ void vpMeSite::display(const vpImage<vpRGBa>& I, const double &i, const double &
case TOO_NEAR:
vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::cyan,1);
+ break;
default:
vpDisplay::displayCross(I,vpImagePoint(i,j),3,vpColor::yellow,1);
diff --git a/src/tracking/moving-edges/vpMeSite.h b/src/tracking/moving-edges/vpMeSite.h
index d1c70b0..bac0bba 100644
--- a/src/tracking/moving-edges/vpMeSite.h
+++ b/src/tracking/moving-edges/vpMeSite.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeSite.h 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpMeSite.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/tracking/moving-edges/vpMeTracker.cpp b/src/tracking/moving-edges/vpMeTracker.cpp
index 1d7c911..f043857 100644
--- a/src/tracking/moving-edges/vpMeTracker.cpp
+++ b/src/tracking/moving-edges/vpMeTracker.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpMeTracker.cpp 4303 2013-07-04 14:14:00Z fspindle $
+* $Id: vpMeTracker.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,19 +66,20 @@ vpMeTracker::init()
}
vpMeTracker::vpMeTracker()
+ : list(), me(NULL), init_range(1), nGoodElement(0), selectDisplay(vpMeSite::NONE)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , query_range (0), display_point(false)
+#endif
{
init();
- me = NULL ;
- nGoodElement = 0;
- init_range = 1;
-
- #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
- query_range = 0;
- display_point = false ;
- #endif
}
-vpMeTracker::vpMeTracker(const vpMeTracker& meTracker):vpTracker(meTracker)
+vpMeTracker::vpMeTracker(const vpMeTracker& meTracker)
+ : vpTracker(meTracker),
+ list(), me(NULL), init_range(1), nGoodElement(0), selectDisplay(vpMeSite::NONE)
+#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
+ , query_range (0), display_point(false)
+#endif
{
init();
@@ -100,11 +101,11 @@ vpMeTracker::~vpMeTracker()
}
vpMeTracker&
-vpMeTracker::operator = (vpMeTracker& p)
+vpMeTracker::operator = (vpMeTracker& p_me)
{
- list = p.list;
- me = p.me;
- selectDisplay = p.selectDisplay ;
+ list = p_me.list;
+ me = p_me.me;
+ selectDisplay = p_me.selectDisplay ;
return *this;
}
@@ -331,8 +332,8 @@ vpMeTracker::display(const vpImage<unsigned char>& I)
}
#endif
for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
- vpMeSite p = *it;
- p.display(I);
+ vpMeSite p_me = *it;
+ p_me.display(I);
}
}
diff --git a/src/tracking/moving-edges/vpMeTracker.h b/src/tracking/moving-edges/vpMeTracker.h
index de23ef7..ecc60da 100644
--- a/src/tracking/moving-edges/vpMeTracker.h
+++ b/src/tracking/moving-edges/vpMeTracker.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpMeTracker.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpMeTracker.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -135,9 +135,9 @@ public:
/*!
Set the moving edges initialisation parameters
- \param me : Moving Edges.
+ \param p_me : Moving Edges.
*/
- void setMe(vpMe *me) { this->me = me ; }
+ void setMe(vpMe *p_me) { this->me = p_me ; }
/*!
Return the moving edges initialisation parameters
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.cpp
new file mode 100644
index 0000000..b7dcbb9
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.cpp
@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSD.cpp 4666 2014-02-16 16:21:33Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+
+#include <visp/vpTemplateTrackerSSD.h>
+
+vpTemplateTrackerSSD::vpTemplateTrackerSSD(vpTemplateTrackerWarp *warp)
+ : vpTemplateTracker(warp), DI(), temp()
+{
+ dW.resize(2,nbParam);
+ G.resize(nbParam);
+ H.resize(nbParam,nbParam);
+ HLM.resize(nbParam,nbParam);
+
+ temp.resize(nbParam);
+
+ X1.resize(2);
+ X2.resize(2);
+ DI.resize(2);
+}
+
+double vpTemplateTrackerSSD::getCost(const vpImage<unsigned char> &I,vpColVector &tp)
+{
+ double erreur=0;
+ double IW,Tij;
+ int i,j;
+ double i2,j2;
+ int Nbpoint=0;
+
+ Warp->computeCoeff(tp);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,tp);
+ Warp->warpX(X1,X2,tp);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ //IW=getSubPixBspline4(I,i2,j2);
+ erreur+=((double)Tij-IW)*((double)Tij-IW);
+ Nbpoint++;
+ }
+ }
+ ratioPixelIn=(double)Nbpoint/(double)templateSize;
+
+ if(Nbpoint==0)return 10e10;
+ return erreur/Nbpoint;
+}
+
+
+double vpTemplateTrackerSSD::getSSD(vpImage<unsigned char> &I,vpColVector &tp)
+{
+ double erreur=0;
+ double IW,Tij;
+ int i,j;
+ double i2,j2;
+ int Nbpoint=0;
+
+ if(pyrInitialised)
+ {
+ templateSize=templateSizePyr[0];
+ ptTemplate=ptTemplatePyr[0];
+ }
+
+ Warp->computeCoeff(tp);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,tp);
+ Warp->warpX(X1,X2,tp);
+
+ j2=X2[0];i2=X2[1];
+ if((j2<I.getWidth()-1)&&(i2<I.getHeight()-1)&&(i2>0)&&(j2>0))
+ {
+ Tij=ptTemplate[point].val;
+ IW=I.getValue(i2,j2);
+ //IW=getSubPixBspline4(I,i2,j2);
+ erreur+=((double)Tij-IW)*((double)Tij-IW);
+ Nbpoint++;
+ }
+ }
+ if(Nbpoint==0)return 10e10;
+ return erreur/Nbpoint;
+}
diff --git a/src/image/vpImagePoint.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.h
similarity index 51%
copy from src/image/vpImagePoint.cpp
copy to src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.h
index 6bffc2e..00c6a92 100644
--- a/src/image/vpImagePoint.cpp
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSD.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpImagePoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerSSD.h 4666 2014-02-16 16:21:33Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,63 +26,59 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * 2D point useful for image processing
+ * Template tracker.
*
* Authors:
- * Nicolas Melchior
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
+/*!
+ \file vpTemplateTrackerSSD.h
+ \brief
+*/
+#ifndef vpTemplateTrackerSSD_hh
+#define vpTemplateTrackerSSD_hh
-#include <visp/vpConfig.h>
-#include <visp/vpImagePoint.h>
-#include <visp/vpRect.h>
-#include <visp/vpHomography.h>
-
-/*!
+#include <math.h>
- Check if an image point belongs to a rectangle.
-
- \param rect : the rectangle.
-
- \return Returns true if the point belongs to the rectangle.
+#include <visp/vpTemplateTracker.h>
+#include <visp/vpImage.h>
+#include <visp/vpDisplay.h>
+#include <visp/vpImageTools.h>
+#include <visp/vpImageIo.h>
+#include <visp/vpIoTools.h>
+#include <visp/vpImageTools.h>
+#include <visp/vpImageFilter.h>
+#include <visp/vpMath.h>
+#include <visp/vpList.h>
+#include <visp/vpHomography.h>
-*/
-bool vpImagePoint::inRectangle( const vpRect &rect ) const
+class VISP_EXPORT vpTemplateTrackerSSD: public vpTemplateTracker
{
- return ( this->i <= rect.getBottom() &&
- this->i >= rect.getTop() &&
- this->j <= rect.getRight() &&
- this->j >= rect.getLeft());
-}
+ protected:
+ vpRowVector DI;
+ vpRowVector temp;
-/*!
- Project the current image point (in frame b) into the frame a using the
- homography aHb.
+ protected:
+ double getCost(const vpImage<unsigned char> &I, vpColVector &tp);
+ double getCost(const vpImage<unsigned char> &I){ return getCost(I,p); }
+ virtual void initHessienDesired(const vpImage<unsigned char> &I) = 0;
+ virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
- \param aHb : Homography defining the relation between frame a and frame b.
- \return The projected image point in the frame a.
-*/
-vpImagePoint
-vpImagePoint::projection(const vpHomography& aHb)
-{
- vpImagePoint ap;
+ public:
+ vpTemplateTrackerSSD(vpTemplateTrackerWarp *warp);
- double i_a = aHb[0][0] * i + aHb[0][1] * j + aHb[0][2];
- double j_a = aHb[1][0] * i + aHb[1][1] * j + aHb[1][2];
- double k_a = aHb[2][0] * i + aHb[2][1] * j + aHb[2][2];
+ double getSSD(vpImage<unsigned char> &I,vpColVector &tp);
+ void setGain(double g){ gain=g; }
+};
- if(std::fabs(k_a) > std::numeric_limits<double>::epsilon()){
- ap.set_i(i_a / k_a);
- ap.set_j(j_a / k_a);
- }
+#endif
- return ap;
-}
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.cpp
new file mode 100644
index 0000000..343680b
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.cpp
@@ -0,0 +1,332 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSDESM.cpp 4632 2014-02-03 17:06:40Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerSSDESM.h>
+#include <visp/vpImageFilter.h>
+
+vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(vpTemplateTrackerWarp *warp)
+ : vpTemplateTrackerSSD(warp), compoInitialised(false), HDir(), HInv(),
+ HLMDir(), HLMInv(), GDir(), GInv()
+{
+ useCompositionnal=false;
+ useInverse=false;
+
+ if(!Warp->isESMcompatible())
+ std::cerr<<"The selected warp function is not appropriate for the ESM algorithm..."<<std::endl;
+
+ HInv.resize(nbParam,nbParam);
+ HDir.resize(nbParam,nbParam);
+ HLMInv.resize(nbParam,nbParam);
+ HLMDir.resize(nbParam,nbParam);
+ GInv.resize(nbParam);
+ GDir.resize(nbParam);
+}
+
+void vpTemplateTrackerSSDESM::initHessienDesired(const vpImage<unsigned char> &I)
+{
+ initCompInverse(I);
+}
+
+void vpTemplateTrackerSSDESM::initCompInverse(const vpImage<unsigned char> &/*I*/)
+{
+ //std::cout<<"Initialise precomputed value of ESM with templateSize: "<< templateSize<<std::endl;
+ ptTemplateCompo=new vpTemplateTrackerPointCompo[templateSize];
+ int i,j;
+ //direct
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ ptTemplateCompo[point].dW=new double[2*nbParam];
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ Warp->getdWdp0(i,j,ptTemplateCompo[point].dW);
+
+ }
+
+ //inverse
+ HInv=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ ptTemplate[point].dW=new double[nbParam];
+ Warp->getdW0(i,j,ptTemplate[point].dy,ptTemplate[point].dx,ptTemplate[point].dW);
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ HInv[it][jt]+=ptTemplate[point].dW[it]*ptTemplate[point].dW[jt];
+ }
+ vpMatrix::computeHLM(HInv,lambdaDep,HLMInv);
+
+compoInitialised=true;
+}
+
+void vpTemplateTrackerSSDESM::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ double erreur=0;
+ int Nbpoint=0;
+
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ double IW,dIWx,dIWy;
+ double Tij;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ double alpha=2.;
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ dp=0;
+ HDir=0;
+ GDir=0;
+ GInv=0;
+ Warp->computeCoeff(p);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ //INVERSE
+ Tij=ptTemplate[point].val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ Nbpoint++;
+ double er=(Tij-IW);
+ for(unsigned int it=0;it<nbParam;it++)
+ GInv[it]+=er*ptTemplate[point].dW[it];
+
+ erreur+=er*er;
+
+ //DIRECT
+ //dIWx=dIx.getValue(i2,j2);
+ //dIWy=dIy.getValue(i2,j2);
+
+ dIWx=dIx.getValue(i2,j2)+ptTemplate[point].dx;
+ dIWy=dIy.getValue(i2,j2)+ptTemplate[point].dy;
+
+ //Calcul du Hessien
+ //Warp->dWarp(X1,X2,p,dW);
+ Warp->dWarpCompo(X1,X2,p,ptTemplateCompo[point].dW,dW);
+
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ HDir[it][jt]+=tempt[it]*tempt[jt];
+
+ for(unsigned int it=0;it<nbParam;it++)
+ GDir[it]+=er*tempt[it];
+ delete[] tempt;
+ }
+
+
+ }
+ vpMatrix::computeHLM(HDir,lambdaDep,HLMDir);
+ //if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+ try
+ {
+ //dp=(HLMInv+HLMDir).inverseByLU()*(GInv+GDir);
+ //dp=HLMInv.inverseByLU()*GInv+HLMDir.inverseByLU()*GDir;
+ //dp=HLMInv.inverseByLU()*GInv;
+ dp=(HLMDir).inverseByLU()*(GDir);
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ dp=gain*dp;
+ if(useBrent)
+ {
+ if(! Nbpoint) {
+ throw(vpException(vpException::divideByZeroError,
+ "Cannot compute optimal Brent gain: size = 0")) ;
+ }
+
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur/Nbpoint,dp,alpha);
+ dp=alpha*dp;
+ }
+
+ //Warp->pRondp(p,dp,p);
+ p+=dp;
+ iteration++;
+
+ }
+ while( (iteration < iterationMax));
+
+ nbIteration=iteration;
+}
+
+
+/*void vpTemplateTrackerSSDESM::InitCompInverse(vpImage<unsigned char> &I)
+{
+ ptTempateCompo=new vpTemplateTrackerPointCompo[taille_template];
+ int i,j;
+ for(int point=0;point<taille_template;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ ptTempateCompo[point].dW=new double[2*nbParam];
+ Warp->getdWdp0(i,j,ptTempateCompo[point].dW);
+ }
+
+}
+
+void vpTemplateTrackerSSDESM::track(vpImage<unsigned char> &I)
+{
+ double erreur=0,erreur_prec=1e38;
+ int Nbpoint=0;
+
+ int taillefiltre=taille_filtre_dgaussien;
+ double *fg=new double[taillefiltre+1] ;
+ getGaussianDerivativeKernel(fg, taillefiltre) ;
+ getGradX(I, dIx,fg,taillefiltre);
+ getGradY(I, dIy,fg,taillefiltre);
+ delete[] fg;
+
+ vpColVector dpinv(nbParam);
+ double lambda=lambdaDep;
+ double IW,dIWx,dIWy;
+ double Tij;
+ int iteration=0;
+ int i,j;
+ double i2,j2;
+ vpTemplateTrackerPoint *pt;
+ do
+ {
+ Nbpoint=0;
+ erreur_prec=erreur;
+ erreur=0;
+ dp=0;
+ HDir=0;
+ GDir=0;
+ GInv=0;
+ Warp->ComputeCoeff(p);
+ for(int point=0;point<taille_template;point++)
+ {
+ pt=&ptTemplate[point];
+ i=pt->y;
+ j=pt->x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->ComputeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((j2<I.getWidth())&&(i2<I.getHeight())&&(i2>0)&&(j2>0))
+ {
+ //INVERSE
+ Tij=pt->val;
+ IW=I.getPixelBI(j2,i2);
+ Nbpoint++;
+ double er=(Tij-IW);
+ for(int it=0;it<nbParam;it++)
+ GInv[it]+=er*ptTemplate[point].dW[it];
+
+ erreur+=er*er;
+
+ //DIRECT COMPO
+ Tij=ptTemplate[point].val;
+ IW=I.getPixelBI(j2,i2);
+ dIWx=dIx.getPixelBI(j2,i2);
+ dIWy=dIy.getPixelBI(j2,i2);
+ Nbpoint++;
+ Warp->dWarpCompo(X1,X2,p,ptTempateCompo[point].dW,dW);
+ double *tempt=new double[nbParam];
+ for(int it=0;it<nbParam;it++)
+ tempt[it] =dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+ for(int it=0;it<nbParam;it++)
+ for(int jt=0;jt<nbParam;jt++)
+ HDir[it][jt]+=tempt[it]*tempt[jt];
+
+ for(int it=0;it<nbParam;it++)
+ GDir[it]+=er*tempt[it];
+
+ delete[] tempt;
+ }
+
+
+ }
+ if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+ try
+ {
+ dp=(HInv+HDir).inverseByLU()*(GInv+GDir);
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ if(Compare)write_infos(p,erreur/Nbpoint);
+
+ p+=Gain*dp;
+ iteration++;
+
+ }
+ while( (iteration < IterationMax));
+
+ NbIteration=iteration;
+}*/
+
diff --git a/test/servo-afma4/testRobotAfma4.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.h
similarity index 59%
copy from test/servo-afma4/testRobotAfma4.cpp
copy to src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.h
index 60f1919..3ab98a1 100644
--- a/test/servo-afma4/testRobotAfma4.cpp
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDESM.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: testRobotAfma4.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerSSDESM.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,58 +26,46 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Test for Afma 4 dof robot.
+ * Template tracker.
*
* Authors:
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
-
/*!
- \example testRobotAfma4.cpp
-
- Example of a real robot control, the Afma4 robot (cylindrical robot, with 4
- degrees of freedom).
+ \file vpTemplateTrackerSSDESM.h
+ \brief
*/
-#include <visp/vpRobotAfma4.h>
-#include <visp/vpDebug.h>
-#include <visp/vpCameraParameters.h>
-
-#include <iostream>
-
-
-#ifdef VISP_HAVE_AFMA4
-
-int main()
-{
- try {
-
- std::cout << "a test for vpRobotAfma4 class..." << std::endl;
-
- vpRobotAfma4 afma4;
-
- std::cout << afma4 << std::endl;
+#ifndef vpTemplateTrackerSSDESM_hh
+#define vpTemplateTrackerSSDESM_hh
- return 0;
- }
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
- }
+#include <visp/vpTemplateTrackerSSD.h>
-}
-#else
-int main()
+class VISP_EXPORT vpTemplateTrackerSSDESM: public vpTemplateTrackerSSD
{
- std::cout << "The real Afma4 robot controller is not available." << std::endl;
- return 0;
-}
+ protected:
+ bool compoInitialised;
+ vpMatrix HDir;
+ vpMatrix HInv;
+ vpMatrix HLMDir;
+ vpMatrix HLMInv;
+ vpColVector GDir;
+ vpColVector GInv;
+
+ protected:
+ void initHessienDesired(const vpImage<unsigned char> &I);
+ void initCompInverse(const vpImage<unsigned char> &I);
+ void trackNoPyr(const vpImage<unsigned char> &I);
+ public:
+ vpTemplateTrackerSSDESM(vpTemplateTrackerWarp *warp);
+};
#endif
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.cpp
new file mode 100644
index 0000000..510ab35
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.cpp
@@ -0,0 +1,211 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSDForwardAdditional.cpp 4661 2014-02-10 19:34:58Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+
+#include <limits> // numeric_limits
+
+#include <visp/vpTemplateTrackerSSDForwardAdditional.h>
+#include <visp/vpImageTools.h>
+
+vpTemplateTrackerSSDForwardAdditional::vpTemplateTrackerSSDForwardAdditional(vpTemplateTrackerWarp *warp)
+ : vpTemplateTrackerSSD(warp), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
+{
+ useCompositionnal=false;
+}
+
+void vpTemplateTrackerSSDForwardAdditional::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ double erreur=0;
+ int Nbpoint=0;
+
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ dW=0;
+
+ double lambda=lambdaDep;
+ double IW,dIWx,dIWy;
+ double Tij;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ double alpha=2.;
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ G=0;
+ H=0 ;
+ Warp->computeCoeff(p);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+
+ dIWx=dIx.getValue(i2,j2);
+ dIWy=dIy.getValue(i2,j2);
+ Nbpoint++;
+ //Calcul du Hessien
+ Warp->dWarp(X1,X2,p,dW);
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ H[it][jt]+=tempt[it]*tempt[jt];
+
+ double er=(Tij-IW);
+ for(unsigned int it=0;it<nbParam;it++)
+ G[it]+=er*tempt[it];
+
+ erreur+=(er*er);
+ delete[] tempt;
+ }
+
+
+ }
+ if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+
+ vpMatrix::computeHLM(H,lambda,HLM);
+ try
+ {
+ dp=1.*HLM.inverseByLU()*G;
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ switch(minimizationMethod)
+ {
+ case vpTemplateTrackerSSDForwardAdditional::USE_LMA:
+ {
+ vpColVector p_test_LMA(nbParam);
+ p_test_LMA=p+1.*dp;
+ erreur=-getCost(I,p);
+ double erreur_LMA=-getCost(I,p_test_LMA);
+ if(erreur_LMA<erreur)
+ {
+ p=p_test_LMA;
+ lambda=(lambda/10.<1e-6)?lambda/10.:1e-6;
+ }
+ else
+ {
+ lambda=(lambda*10.<1e6)?1e6:lambda*10.;
+ }
+ }
+ break;
+ case vpTemplateTrackerSSDForwardAdditional::USE_GRADIENT:
+ {
+ dp=gain*0.000001*G;
+ if(useBrent)
+ {
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur,dp,alpha);
+ dp=alpha*dp;
+ }
+ p+=1.*dp;
+ break;
+ }
+
+ case vpTemplateTrackerSSDForwardAdditional::USE_QUASINEWTON:
+ {
+ double s_scal_y;
+ if(iterationGlobale!=0)
+ {
+ vpColVector s_quasi=p-p_prec;
+ vpColVector y_quasi=G-G_prec;
+ s_scal_y=s_quasi.t()*y_quasi;
+ //if(s_scal_y!=0)//BFGS
+ // KQuasiNewton=KQuasiNewton-(s_quasi*y_quasi.t()*KQuasiNewton+KQuasiNewton*y_quasi*s_quasi.t())/s_scal_y+(1.+y_quasi.t()*(KQuasiNewton*y_quasi)/s_scal_y)*s_quasi*s_quasi.t()/s_scal_y;
+ //if(s_scal_y!=0.0)//DFP
+ if(std::fabs(s_scal_y) > std::numeric_limits<double>::epsilon()) //DFP
+ KQuasiNewton=KQuasiNewton+0.001*(s_quasi*s_quasi.t()/s_scal_y-KQuasiNewton*y_quasi*y_quasi.t()*KQuasiNewton/(y_quasi.t()*KQuasiNewton*y_quasi));
+ }
+ dp=-KQuasiNewton*G;
+ p_prec=p;
+ G_prec=G;
+ p-=1.01*dp;
+ }
+ break;
+
+ case vpTemplateTrackerSSDForwardAdditional::USE_NEWTON:
+ default:
+ {
+ if(useBrent)
+ {
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur,dp,alpha);
+ dp=alpha*dp;
+ }
+
+ p+=1.*dp;
+ break;
+ }
+ }
+
+ iteration++;
+ iterationGlobale++;
+ }
+ while( /*( erreur_prec-erreur<50) && */(iteration < iterationMax));
+
+ //std::cout<<"erreur "<<erreur<<std::endl;
+ nbIteration=iteration;
+}
+
diff --git a/src/device/laserscanner/vpLaserScanner.h b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.h
similarity index 50%
copy from src/device/laserscanner/vpLaserScanner.h
copy to src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.h
index 5c986f4..4d57db0 100644
--- a/src/device/laserscanner/vpLaserScanner.h
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardAdditional.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpLaserScanner.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerSSDForwardAdditional.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,66 +26,58 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Generic laser scanner.
+ * Template tracker.
*
* Authors:
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
-#ifndef vpLaserScanner_h
-#define vpLaserScanner_h
+/*!
+ \file vpTemplateTrackerSSDForwardAdditional.h
+ \brief
+*/
+#ifndef vpTemplateTrackerSSDForwardAdditional_hh
+#define vpTemplateTrackerSSDForwardAdditional_hh
-#include "visp/vpConfig.h"
+#include <visp/vpTemplateTrackerSSD.h>
/*!
-
- \file vpLaserScanner.h
-
- \brief Implements a generic laser scanner.
+ The algorithm implemented in this class is described in \cite Baker04a.
*/
+class VISP_EXPORT vpTemplateTrackerSSDForwardAdditional: public vpTemplateTrackerSSD
+{
+ public:
+ /*! Minimization method. */
+ typedef enum {
+ USE_NEWTON,
+ USE_LMA,
+ USE_GRADIENT,
+ USE_QUASINEWTON
+ } vpMinimizationTypeSSDForwardAdditional;
-/*!
+ private:
+ vpMinimizationTypeSSDForwardAdditional minimizationMethod;
+ //valeur pour calculer Quasi_Newton
+ vpColVector p_prec;
+ vpColVector G_prec;
+ vpMatrix KQuasiNewton;
- \class vpLaserScanner
+ protected:
+ void initHessienDesired(const vpImage<unsigned char> &/*I*/){}
+ void trackNoPyr(const vpImage<unsigned char> &I);
- \brief Class that defines a generic laser scanner.
- */
-class VISP_EXPORT vpLaserScanner
-{
- public:
- /*! Default constructor that initialize all the internal variable to zero. */
- vpLaserScanner() {
- ip = "null";
- port = 0;
- };
- /*! Copy constructor. */
- vpLaserScanner(const vpLaserScanner &scanner) {
- ip = scanner.ip;
- port = scanner.port;
- };
- /*! Default destructor that does nothing. */
- virtual ~vpLaserScanner() {};
+ public:
+ vpTemplateTrackerSSDForwardAdditional(vpTemplateTrackerWarp *warp);
- /*! Set the Ethernet address of the laser. */
- void setIpAddress(std::string ip) {
- this->ip = ip;
- };
-
- /*! Set the communication port. */
- void setPort(int port) {
- this->port = port;
- };
-
- protected:
- std::string ip;
- int port;
+ void setMinimizationMethod(vpMinimizationTypeSSDForwardAdditional method){minimizationMethod=method;}
};
-
#endif
+
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.cpp
new file mode 100644
index 0000000..53655fe
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.cpp
@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSDForwardCompositional.cpp 4632 2014-02-03 17:06:40Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerSSDForwardCompositional.h>
+#include <visp/vpImageFilter.h>
+
+vpTemplateTrackerSSDForwardCompositional::vpTemplateTrackerSSDForwardCompositional(vpTemplateTrackerWarp *warp)
+ : vpTemplateTrackerSSD(warp), compoInitialised(false)
+{
+}
+
+void vpTemplateTrackerSSDForwardCompositional::initCompo(const vpImage<unsigned char> &/*I*/)
+{
+ // std::cout<<"Initialise precomputed value of Compositionnal Direct"<<std::endl;
+ int i,j;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ ptTemplate[point].dW=new double[2*nbParam];
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ Warp->getdWdp0(i,j,ptTemplate[point].dW);
+
+ }
+ compoInitialised=true;
+}
+
+void vpTemplateTrackerSSDForwardCompositional::initHessienDesired(const vpImage<unsigned char> &I)
+{
+ initCompo(I);
+}
+
+void vpTemplateTrackerSSDForwardCompositional::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ if(!compoInitialised)
+ std::cout<<"Compositionnal tracking no initialised\nUse InitCompo(vpImage<unsigned char> &I) function"<<std::endl;
+ double erreur=0;
+ int Nbpoint=0;
+
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ dW=0;
+
+ double lambda=lambdaDep;
+ double IW,dIWx,dIWy;
+ double Tij;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ double alpha=2.;
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ G=0;
+ H=0 ;
+ Warp->computeCoeff(p);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ dIWx=dIx.getValue(i2,j2);
+ dIWy=dIy.getValue(i2,j2);
+ Nbpoint++;
+ //Calcul du Hessien
+ /*Warp->dWarp(X1,X2,p,dW);
+ double *tempt=new double[nbParam];
+ for(int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;*/
+
+ Warp->dWarpCompo(X1,X2,p,ptTemplate[point].dW,dW);
+
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it] =dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ H[it][jt]+=tempt[it]*tempt[jt];
+
+ double er=(Tij-IW);
+ for(unsigned int it=0;it<nbParam;it++)
+ G[it]+=er*tempt[it];
+
+ erreur+=(er*er);
+ delete[] tempt;
+ }
+
+
+ }
+ if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+
+ vpMatrix::computeHLM(H,lambda,HLM);
+
+ try
+ {
+ dp=1.*HLM.inverseByLU()*G;
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ dp=gain*dp;
+ if(useBrent)
+ {
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur/Nbpoint,dp,alpha);
+ dp=alpha*dp;
+ }
+ Warp->pRondp(p,dp,p);
+ //p+=Gain*dp;
+ iteration++;
+ }
+ while( /*( erreur_prec-erreur<50) &&*/ (iteration < iterationMax));
+
+ nbIteration=iteration;
+}
+
diff --git a/example/manual/image-manipulation/manGrabV4l2.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.h
similarity index 59%
copy from example/manual/image-manipulation/manGrabV4l2.cpp
copy to src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.h
index de32fd5..76134fe 100644
--- a/example/manual/image-manipulation/manGrabV4l2.cpp
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDForwardCompositional.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: manGrabV4l2.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerSSDForwardCompositional.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,50 +26,43 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Images grabbing example.
+ * Template tracker.
*
* Authors:
- * Anthony Saunier
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
/*!
- \file manGrabV4l2.cpp
-
- \brief Images grabbing example with the vpV4l2Grabber class.
+ \file vpTemplateTrackerSSDForwardCompositional.h
+ \brief
+*/
- */
-/*!
- \example manGrabV4l2.cpp
+#ifndef vpTemplateTrackerSSDForwardCompositional_hh
+#define vpTemplateTrackerSSDForwardCompositional_hh
- \brief Images grabbing example with the vpV4l2Grabber class.
+#include <visp/vpTemplateTrackerSSD.h>
+/*!
+ The algorithm implemented in this class is described in \cite Baker04a.
*/
-
-#include <visp/vpImage.h>
-#include <visp/vpV4l2Grabber.h>
-
-int main()
+class VISP_EXPORT vpTemplateTrackerSSDForwardCompositional: public vpTemplateTrackerSSD
{
+ protected:
+ bool compoInitialised;
- vpImage<unsigned char> I; // Grey level image
-
-#ifdef VISP_HAVE_V4L2
- vpV4l2Grabber g;
- g.setInput(2); // Input 2 on the board
- g.setWidth(768); // Acquired images are 768 width
- g.setHeight(576); // Acquired images are 576 height
- g.setNBuffers(3); // 3 ring buffers to ensure real-time acquisition
- g.open(I); // Open the grabber
- for ( ; ; )
- g.acquire(I); // Acquire a 768x576 grey image
-#endif
+ protected:
+ void initHessienDesired(const vpImage<unsigned char> &I);
+ void initCompo(const vpImage<unsigned char> &I);
+ void trackNoPyr(const vpImage<unsigned char> &I);
- return 0;
-}
+ public:
+ vpTemplateTrackerSSDForwardCompositional(vpTemplateTrackerWarp *warp);
+};
+#endif
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.cpp b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.cpp
new file mode 100644
index 0000000..4b1aa28
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.cpp
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSDInverseCompositional.cpp 4672 2014-02-17 09:01:17Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpImageTools.h>
+
+vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional(vpTemplateTrackerWarp *warp)
+ : vpTemplateTrackerSSD(warp), compoInitialised(false), HInv(), HCompInverse(), useTemplateSelect(false),
+ evolRMS(0), x_pos(), y_pos(), threshold_RMS(1e-8)
+{
+ useInverse=true;
+ HInv.resize(nbParam,nbParam);
+ HCompInverse.resize(nbParam,nbParam);
+}
+
+void vpTemplateTrackerSSDInverseCompositional::initCompInverse(const vpImage<unsigned char> &/*I*/)
+{
+
+ H=0;
+ int i,j;
+
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ if((!useTemplateSelect)||(ptTemplateSelect[point]))
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ ptTemplate[point].dW=new double[nbParam];
+
+ Warp->getdW0(i,j,ptTemplate[point].dy,ptTemplate[point].dx,ptTemplate[point].dW);
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ H[it][jt]+=ptTemplate[point].dW[it]*ptTemplate[point].dW[jt];
+ }
+
+ }
+ HInv=H;
+ vpMatrix HLMtemp(nbParam,nbParam);
+ vpMatrix::computeHLM(H,lambdaDep,HLMtemp);
+
+ HCompInverse.resize(nbParam,nbParam);
+ HCompInverse=HLMtemp.inverseByLU();
+ //std::cout<<Hinverse<<std::endl;
+ vpColVector dWtemp(nbParam);
+ vpColVector HiGtemp(nbParam);
+
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ if((!useTemplateSelect)||(ptTemplateSelect[point]))
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ for(unsigned int it=0;it<nbParam;it++)
+ dWtemp[it]=ptTemplate[point].dW[it];
+
+ HiGtemp = -1.*HCompInverse*dWtemp;
+ ptTemplate[point].HiG=new double[nbParam];
+
+ for(unsigned int it=0;it<nbParam;it++)
+ ptTemplate[point].HiG[it]=HiGtemp[it];
+ }
+ }
+ compoInitialised=true;
+}
+
+void vpTemplateTrackerSSDInverseCompositional::initHessienDesired(const vpImage<unsigned char> &I)
+{
+ initCompInverse(I);
+}
+
+void vpTemplateTrackerSSDInverseCompositional::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ double erreur=0;
+ int Nbpoint=0;
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+
+ vpColVector dpinv(nbParam);
+ double IW;
+ double Tij;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ double alpha=2.;
+ //vpTemplateTrackerPointtest *pt;
+ initPosEvalRMS(p);
+
+ vpTemplateTrackerPoint *pt;
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ dp=0;
+ Warp->computeCoeff(p);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ if((!useTemplateSelect)||(ptTemplateSelect[point]))
+ {
+ //pt=&ptTemplatetest[point];
+ pt=&ptTemplate[point];
+ i=pt->y;
+ j=pt->x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+ j2=X2[0];i2=X2[1];
+
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=pt->val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ Nbpoint++;
+ double er=(Tij-IW);
+ for(unsigned int it=0;it<nbParam;it++)
+ dp[it]+=er*pt->HiG[it];
+
+ erreur+=er*er;
+ }
+ }
+ }
+ if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+ dp=gain*dp;
+ //std::cout<<erreur/Nbpoint<<","<<GetCost(I,p)<<std::endl;
+ if(useBrent)
+ {
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur/Nbpoint,dp,alpha);
+ dp=alpha*dp;
+ }
+ Warp->getParamInverse(dp,dpinv);
+ Warp->pRondp(p,dpinv,p);
+ iteration++;
+
+ computeEvalRMS(p);
+ }
+ while(/*( erreur_prec-erreur<50) &&*/ (iteration < iterationMax)&&(evolRMS>threshold_RMS));
+
+ nbIteration=iteration;
+ deletePosEvalRMS();
+}
+
+void vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(vpColVector &p_)
+{
+ unsigned int nb_corners = zoneTracked->getNbTriangle() * 3;
+ x_pos.resize(nb_corners);
+ y_pos.resize(nb_corners);
+
+ Warp->computeCoeff(p_);
+ vpTemplateTrackerTriangle triangle;
+
+ for(unsigned int i=0;i<zoneTracked->getNbTriangle();i++)
+ {
+ zoneTracked->getTriangle(i, triangle);
+ for (unsigned int j=0; j<3; j++) {
+ triangle.getCorner(j, X1[0], X1[1]);
+
+ Warp->computeDenom(X1,p_);
+ Warp->warpX(X1,X2,p_);
+ x_pos[i*3+j]=X2[0];
+ y_pos[i*3+j]=X2[1];
+ }
+ }
+}
+
+void vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(const vpColVector &p_)
+{
+ unsigned int nb_corners = zoneTracked->getNbTriangle() * 3;
+
+ Warp->computeCoeff(p_);
+ evolRMS=0;
+ vpTemplateTrackerTriangle triangle;
+
+ for(unsigned int i=0;i<zoneTracked->getNbTriangle();i++)
+ {
+ zoneTracked->getTriangle(i, triangle);
+ for (unsigned int j=0; j<3; j++) {
+ triangle.getCorner(j, X1[0], X1[1]);
+
+ Warp->computeDenom(X1,p_);
+ Warp->warpX(X1,X2,p_);
+ evolRMS+=(x_pos[i*3+j]-X2[0])*(x_pos[i*3+j]-X2[0])+(y_pos[i*3+j]-X2[1])*(y_pos[i*3+j]-X2[1]);
+ x_pos[i*3+j]=X2[0];
+ y_pos[i*3+j]=X2[1];
+ }
+ }
+ evolRMS=evolRMS/nb_corners;
+}
+
+void vpTemplateTrackerSSDInverseCompositional::deletePosEvalRMS()
+{
+}
diff --git a/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.h b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.h
new file mode 100644
index 0000000..c2c39e1
--- /dev/null
+++ b/src/tracking/template-tracker/ssd/vpTemplateTrackerSSDInverseCompositional.h
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerSSDInverseCompositional.h 4672 2014-02-17 09:01:17Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerSSDInverseCompositional.h
+ \brief
+*/
+#ifndef vpTemplateTrackerSSDInverseCompositional_hh
+#define vpTemplateTrackerSSDInverseCompositional_hh
+
+#include <vector>
+
+#include <visp/vpTemplateTrackerSSD.h>
+
+/*!
+ The algorithm implemented in this class is described in \cite Baker04a.
+ */
+class VISP_EXPORT vpTemplateTrackerSSDInverseCompositional: public vpTemplateTrackerSSD
+{
+ protected:
+ bool compoInitialised;
+ vpMatrix HInv;
+ vpMatrix HCompInverse;
+ bool useTemplateSelect;//use only the strong gradient pixels to compute the Jabocian
+ //pour eval evolRMS
+ double evolRMS;
+ std::vector<double> x_pos;
+ std::vector<double> y_pos;
+ double threshold_RMS;
+
+ protected:
+ void initHessienDesired(const vpImage<unsigned char> &I);
+ void initCompInverse(const vpImage<unsigned char> &I);
+ void trackNoPyr(const vpImage<unsigned char> &I);
+ void deletePosEvalRMS();
+ void computeEvalRMS(const vpColVector &p);
+ void initPosEvalRMS(vpColVector &p);
+
+ public:
+ vpTemplateTrackerSSDInverseCompositional(vpTemplateTrackerWarp *warp);
+
+ /*! Use only the strong gradient pixels to compute the Jabobian. By default this feature is disabled. */
+ void setUseTemplateSelect(bool b) {useTemplateSelect = b;}
+ void setThresholdRMS(double threshold){threshold_RMS=threshold;}
+};
+#endif
+
diff --git a/example/tools/keyboard.cpp b/src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.cpp
similarity index 53%
copy from example/tools/keyboard.cpp
copy to src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.cpp
index d12a13b..7e3c336 100644
--- a/example/tools/keyboard.cpp
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.cpp
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: keyboard.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerBSpline.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,73 +26,57 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Example of keyboard management.
+ * Template tracker.
*
- * Author:
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
+#include <visp/vpTemplateTrackerBSpline.h>
-/*!
- \example keyboard.cpp
-
- Keyboard example.
-*/
-
-#include <visp/vpConfig.h>
-#include <visp/vpDebug.h>
-
-#if ( defined(UNIX) && ( ! defined(WIN32) ) )
-#include <stdio.h>
-#include <iostream>
-#include <signal.h>
-
-#include <visp/vpKeyboard.h>
-
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
-int
-main()
+double vpTemplateTrackerBSpline::getSubPixBspline4(const vpImage<double> &I, double r, double t)
{
- int c;
+ double res=0;
+ int cr=(int)(r);
+ int ct=(int)(t);
+ double er=(double)r-cr;
+ double et=(double)t-ct;
+ int height=(int)I.getHeight();//r
+ int width=(int)I.getWidth();//t
+ int tr,tt;
+ for(int ir=-1;ir<=2;ir++)
{
- std::cout << "Push some characters on the keyboard..." << std::endl;
- printf("Hit 'q' or 'Q' to stop the loop ...\n");
- vpKeyboard keyboard;
-
- std::cout << "Start the keyboard scrutation..." << std::endl;
- for ( ; ; ) {
-
- if (keyboard.kbhit()) {
- c = keyboard.getchar () ;
- printf("You hit key: %d '%c'\n", c, c);
- if (c == 'q' || c == 'Q') {
- printf("You hit key: %d %c we stop the loop\n", c, c);
- break ;
- }
- }
-
- // My job is here
-
+ tr=ir+cr;
+ for(int it=-1;it<=2;it++)
+ {
+ tt=it+ct;
+ if(tr>=0 && tr <height && tt>=0 && tt <width)
+ res+=Bspline4((double)ir-er)*Bspline4((double)it-et)*I[tr][tt];
}
}
-
- std::cout << "Enter an integer: ";
- int myvalue;
- std::cin >> myvalue;
-
- return 0;
+ return res;
}
-#else
-int
-main()
+
+double vpTemplateTrackerBSpline::Bspline4(double diff)
{
- vpTRACE("Sorry, for the moment, vpKeyboard class works only on unix...");
- return 0;
+ //double result;
+ double aDiff=vpMath::abs(diff);
+ if(aDiff<1.)
+ return (aDiff*aDiff*aDiff/2.-aDiff*aDiff+4./6.);
+ //return (0.5*(1.-aDiff)*(1.-aDiff)*(1.-aDiff)+0.5*(1.-aDiff)*(1.-aDiff)-0.5*(1.-aDiff)+1./6.);
+ else if(aDiff<2.)
+ return ((2.-aDiff)*(2.-aDiff)*(2.-aDiff)/6.);
+ else
+ return 0;
}
+
#endif
diff --git a/src/simulator/wireframe-simulator/core/vpKeyword.h b/src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.h
similarity index 70%
copy from src/simulator/wireframe-simulator/core/vpKeyword.h
copy to src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.h
index 0cfd08f..7a372d3 100644
--- a/src/simulator/wireframe-simulator/core/vpKeyword.h
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerBSpline.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: vpKeyword.h 4332 2013-07-22 14:23:46Z fspindle $
+ * $Id: vpTemplateTrackerBSpline.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,29 +26,39 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Le module "keyword.c" contient les procedures de gestion
- * des mots cles retournes par l'analyseur lexical "lex".
+ * Template tracker.
*
* Authors:
- * Jean-Luc CORRE
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
*
*****************************************************************************/
+/*!
+ \file vpTemplateTrackerBSpline.h
+ \brief
+*/
-#ifndef vpKeyword_H
-#define vpKeyword_H
+#ifndef vpTemplateTrackerBSpline_hh
+#define vpTemplateTrackerBSpline_hh
#include <visp/vpConfig.h>
-#include <visp/vpMy.h>
+#include <visp/vpImage.h>
+#include <visp/vpMath.h>
#ifndef DOXYGEN_SHOULD_SKIP_THIS
-extern Index get_symbol (char *ident, int length);
+class VISP_EXPORT vpTemplateTrackerBSpline
+{
+public:
+ static double Bspline4(double diff);
+ static double getSubPixBspline4(const vpImage<double> &I, double r, double t);
+};
#endif
#endif
diff --git a/example/tools/keyboard.cpp b/src/tracking/template-tracker/tools/vpTemplateTrackerHeader.h
similarity index 53%
copy from example/tools/keyboard.cpp
copy to src/tracking/template-tracker/tools/vpTemplateTrackerHeader.h
index d12a13b..339ff92 100644
--- a/example/tools/keyboard.cpp
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerHeader.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: keyboard.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerHeader.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,73 +26,66 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Example of keyboard management.
+ * Template tracker.
*
- * Author:
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
-
/*!
- \example keyboard.cpp
-
- Keyboard example.
+ \file vpTemplateTrackerHeader.h
+ \brief
*/
-#include <visp/vpConfig.h>
-#include <visp/vpDebug.h>
+#ifndef vpTemplateTrackerHeader_hh
+#define vpTemplateTrackerHeader_hh
-#if ( defined(UNIX) && ( ! defined(WIN32) ) )
#include <stdio.h>
-#include <iostream>
-#include <signal.h>
-
-#include <visp/vpKeyboard.h>
-
-
-int
-main()
-{
- int c;
- {
- std::cout << "Push some characters on the keyboard..." << std::endl;
- printf("Hit 'q' or 'Q' to stop the loop ...\n");
- vpKeyboard keyboard;
- std::cout << "Start the keyboard scrutation..." << std::endl;
- for ( ; ; ) {
+struct vpTemplateTrackerZPoint {
+ int x,y;
- if (keyboard.kbhit()) {
- c = keyboard.getchar () ;
- printf("You hit key: %d '%c'\n", c, c);
- if (c == 'q' || c == 'Q') {
- printf("You hit key: %d %c we stop the loop\n", c, c);
- break ;
- }
- }
+ vpTemplateTrackerZPoint() : x(0), y(0) {}
+};
+struct vpTemplateTrackerDPoint {
+ double x,y;
- // My job is here
+ vpTemplateTrackerDPoint() : x(0), y(0) {}
+};
+struct vpTemplateTrackerPoint {
+ int x,y;
+ double dx,dy;
+ double val;
+ double *dW;
+ double *HiG;
- }
- }
+ vpTemplateTrackerPoint() : x(0), y(0), dx(0), dy(0), val(0), dW(NULL), HiG(NULL) {}
+};
+struct vpTemplateTrackerPointCompo {
+ double *dW;
+ vpTemplateTrackerPointCompo() : dW(NULL) {}
+};
- std::cout << "Enter an integer: ";
- int myvalue;
- std::cin >> myvalue;
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+struct vpTemplateTrackerPointSuppMIInv {
+ double et;
+ int ct;
+ double *BtInit;
+ double *Bt;
+ double *dBt;
+ double *d2W;
+ double *d2Wx;
+ double *d2Wy;
+ vpTemplateTrackerPointSuppMIInv() : et(0), ct(0), BtInit(NULL), Bt(NULL), dBt(NULL),
+ d2W(NULL), d2Wx(NULL), d2Wy(NULL) {}
+};
+#endif // DOXYGEN_SHOULD_SKIP_THIS
- return 0;
-}
-#else
-int
-main()
-{
- vpTRACE("Sorry, for the moment, vpKeyboard class works only on unix...");
- return 0;
-}
#endif
diff --git a/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.cpp b/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.cpp
new file mode 100644
index 0000000..5292864
--- /dev/null
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.cpp
@@ -0,0 +1,436 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerTriangle.cpp 4636 2014-02-04 08:17:58Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerTriangle.h>
+
+/*!
+ Default constructor.
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle()
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+}
+
+/*!
+ Copy constructor.
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(const vpTemplateTrackerTriangle& T)
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+ *this = T;
+}
+
+/*!
+ Copy operator.
+ */
+vpTemplateTrackerTriangle & vpTemplateTrackerTriangle::operator=(const vpTemplateTrackerTriangle& T)
+{
+ minx_temp=T.minx_temp;
+ miny_temp=T.miny_temp;
+
+ l_t=T.l_t;
+ h_t=T.h_t;
+ C1.x=T.C1.x;
+ C1.y=T.C1.y;
+ C2.x=T.C2.x;
+ C2.y=T.C2.y;
+ C3.x=T.C3.x;
+ C3.y=T.C3.y;
+ //uvinv.resize(2,2);
+ //uvinv=T.uvinv;
+ //p_ds_uv.resize(2);
+ //p_ds_uv=T.p_ds_uv;
+ //ptempo.resize(2);
+ //ptempo=T.ptempo;
+ not_good=T.not_good;
+
+ uvinv00=T.uvinv00;
+ uvinv01=T.uvinv01;
+ uvinv10=T.uvinv10;
+ uvinv11=T.uvinv11;
+
+ marge_triangle = T.marge_triangle;
+
+ return (*this);
+}
+
+/*!
+ Create a triangle from 3 corners.
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+
+ The coordinates of the points are defined as a 2 dimension vector with coordinates (x,y).
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(const vpColVector &c1,
+ const vpColVector &c2,
+ const vpColVector &c3)
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+ init(c1[0],c1[1],c2[0],c2[1],c3[0],c3[1]);
+}
+/*!
+ Return a triangle with coordinates that are down scaled by a factor 2.
+ */
+vpTemplateTrackerTriangle vpTemplateTrackerTriangle::getPyramidDown() const
+{
+ vpTemplateTrackerTriangle Ttemp;
+ Ttemp.init(C1.x/2.,C1.y/2.,C2.x/2.,C2.y/2.,C3.x/2.,C3.y/2.);
+ return Ttemp;
+}
+
+/*!
+ Create a triangle from 3 corners with coordinates (x1,y1), (x2,y2), (x3,y3).
+ - x coordinate is along the columns
+ - y coordinate is along the rows.
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(int x1,int y1, int x2,int y2, int x3,int y3)
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+ init(x1,y1,x2,y2,x3,y3);
+}
+
+/*!
+ Create a triangle from 3 corners defined as image points.
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3)
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+ init(c1.get_u(), c1.get_v(), c2.get_u(), c2.get_v(), c3.get_u(), c3.get_v());
+}
+
+/*!
+ Create a triangle from 3 corners with coordinates (x1,y1), (x2,y2), (x3,y3).
+ - x coordinate is along the columns
+ - y coordinate is along the rows.
+ */
+vpTemplateTrackerTriangle::vpTemplateTrackerTriangle(double x1,double y1, double x2,double y2, double x3,double y3)
+ : minx_temp(0), miny_temp(0), C1(), C2(), C3(), l_t(0), h_t(0), not_good(false),
+ uvinv00(0.), uvinv01(0.), uvinv10(0.), uvinv11(0.), marge_triangle(0.00001)
+{
+ init(x1,y1,x2,y2,x3,y3);
+}
+/*!
+ Initializes a triangle from 3 corners.
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+
+ The coordinates of the points are defined as a 2 dimension vector with coordinates (x,y).
+ */
+void vpTemplateTrackerTriangle::init(const vpColVector &c1,const vpColVector &c2,const vpColVector &c3)
+{
+ init(c1[0],c1[1],c2[0],c2[1],c3[0],c3[1]);
+}
+/*!
+ Initializes a triangle from 3 corners defined as image points.
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+ */
+void vpTemplateTrackerTriangle::init(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3)
+{
+ init(c1.get_u(), c1.get_v(), c2.get_u(), c2.get_v(), c3.get_u(), c3.get_v());
+}
+
+/*!
+ Initializes a triangle from 3 corners with coordinates (x1,y1), (x2,y2), (x3,y3).
+ - x coordinate is along the columns
+ - y coordinate is along the rows.
+ */
+void vpTemplateTrackerTriangle::init(int x1, int y1, int x2,int y2, int x3, int y3)
+{
+ init((double)x1,(double)y1,(double)x2,(double)y2,(double)x3,(double)y3);
+}
+
+/*!
+ Initializes a triangle from 3 corners with coordinates (x1,y1), (x2,y2), (x3,y3).
+ - x coordinate is along the columns
+ - y coordinate is along the rows.
+ */
+void vpTemplateTrackerTriangle::init(double x1, double y1, double x2,double y2, double x3, double y3)
+{
+ C1.x=x1;C1.y=y1;
+ C2.x=x2;C2.y=y2;
+ C3.x=x3;C3.y=y3;
+
+ double minx,miny,maxx,maxy;
+ //calcul du rectangle minimal contenant le triangle seletionn�
+ minx=(x1<x2)?x1:x2;
+ miny=(y1<y2)?y1:y2;
+ minx=(minx<x3)?minx:x3;
+ miny=(miny<y3)?miny:y3;
+ maxx=(x1>x2)?x1:x2;
+ maxy=(y1>y2)?y1:y2;
+ maxx=(maxx>x3)?maxx:x3;
+ maxy=(maxy>y3)?maxy:y3;
+
+ vpColVector u;
+ vpColVector v;
+ u.resize(2);
+ v.resize(2);
+ vpMatrix uv(2,2);
+ vpMatrix uvinv(2,2);
+
+ u[0]=C2.x-C1.x;
+ u[1]=C2.y-C1.y;
+
+ v[0]=C3.x-C1.x;
+ v[1]=C3.y-C1.y;
+
+ uv[0][0]=u[0];uv[1][0]=v[0];
+ uv[0][1]=u[1];uv[1][1]=v[1];
+ try
+ {
+ uvinv=uv.inverseByLU();
+ not_good=false;
+ }
+ catch(...)
+ {
+ not_good=true;
+ std::cout<<"Triangle vide"<<std::endl;
+
+ }
+ uvinv00=uvinv[0][0];
+ uvinv01=uvinv[0][1];
+ uvinv10=uvinv[1][0];
+ uvinv11=uvinv[1][1];
+
+ l_t=maxx-minx;
+ h_t=maxy-miny;
+ minx_temp=minx;
+ miny_temp=miny;
+
+ marge_triangle = 0.00001;
+}
+
+//marge ajoutee a zone pour que sommet soit pris en compte
+
+/*!
+ Indicates if a point with coordinates (i,j) is in the triangle.
+ \param i : Coordinate along the rows.
+ \param j : Coordinate along the columns.
+ */
+bool vpTemplateTrackerTriangle::inTriangle(const int &i, const int &j) const
+{
+ if(not_good)
+ return false;
+
+ /*ptempo[0]=j-C1.x;
+ ptempo[1]=i-C1.y;
+
+ p_ds_uv=ptempo*uvinv;
+ return (p_ds_uv[0]+p_ds_uv[1]<1. && p_ds_uv[0]>0 && p_ds_uv[1]>0);*/
+
+ double ptempo0=j-C1.x;
+ double ptempo1=i-C1.y;
+ double p_ds_uv0=ptempo0*uvinv00+ptempo1*uvinv10;
+ double p_ds_uv1=ptempo0*uvinv01+ptempo1*uvinv11;
+ return (p_ds_uv0+p_ds_uv1<1.+marge_triangle && p_ds_uv0>-marge_triangle && p_ds_uv1>-marge_triangle);
+}
+
+/*!
+ Indicates if a point with coordinates (i,j) is in the triangle.
+ \param i : Coordinate along the rows.
+ \param j : Coordinate along the columns.
+ */
+bool vpTemplateTrackerTriangle::inTriangle(const double &i, const double &j) const
+{
+ if(not_good)
+ return false;
+ /*ptempo[0]=j-C1.x;
+ ptempo[1]=i-C1.y;
+
+ p_ds_uv=ptempo*uvinv;
+ return (p_ds_uv[0]+p_ds_uv[1]<1. && p_ds_uv[0]>0 && p_ds_uv[1]>0);*/
+ double ptempo0=j-C1.x;
+ double ptempo1=i-C1.y;
+ double p_ds_uv0=ptempo0*uvinv00+ptempo1*uvinv10;
+ double p_ds_uv1=ptempo0*uvinv01+ptempo1*uvinv11;
+ return (p_ds_uv0+p_ds_uv1<1.+marge_triangle && p_ds_uv0>-marge_triangle && p_ds_uv1>-marge_triangle);
+}
+
+/*!
+ Indicates if an image point is in the triangle.
+ \param ip : Image point to consider.
+ */
+bool vpTemplateTrackerTriangle::inTriangle(const vpImagePoint &ip) const
+{
+ return inTriangle(ip.get_i(), ip.get_j());
+}
+/*!
+ Returns the coordinates of the triangle corners as an image point.
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+ */
+void vpTemplateTrackerTriangle::getCorners(vpImagePoint &c1, vpImagePoint &c2, vpImagePoint &c3) const
+{
+ c1.set_uv(C1.x, C1.y);
+ c2.set_uv(C2.x, C2.y);
+ c3.set_uv(C3.x, C3.y);
+}
+
+/*!
+ Returns the coordinates of the triangle corners as a 3 dimension vector of image points.
+ \param c : 3 dimension vector of image points that correspond to the triangle corners.
+ */
+void vpTemplateTrackerTriangle::getCorners(std::vector<vpImagePoint> &c) const
+{
+ c.resize(3);
+ c[0].set_uv(C1.x, C1.y);
+ c[1].set_uv(C2.x, C2.y);
+ c[2].set_uv(C3.x, C3.y);
+}
+
+/*!
+ Returns the coordinates of the triangle corners as a 2 dimension vector (x,y).
+ \param c1 : First corner.
+ \param c2 : Second corner.
+ \param c3 : Third corner.
+ */
+void vpTemplateTrackerTriangle::getCorners(vpColVector &c1,vpColVector &c2,vpColVector &c3) const
+{
+ c1=getCorner1();
+ c2=getCorner2();
+ c3=getCorner3();
+}
+
+/*!
+ Returns the coordinates of the triangle first corner.
+ \return A vector with dimension 2, that contains the coordinates (x,y) of the corner.
+ */
+vpColVector vpTemplateTrackerTriangle::getCorner1() const
+{
+ vpColVector c(2);
+ c[0]=C1.x;
+ c[1]=C1.y;
+
+ return c;
+}
+/*!
+ Returns the coordinates of the triangle second corner.
+ \return A vector with dimension 2, that contains the coordinates (x,y) of the corner.
+ */
+vpColVector vpTemplateTrackerTriangle::getCorner2() const
+{
+ vpColVector c(2);
+ c[0]=C2.x;
+ c[1]=C2.y;
+ return c;
+}
+
+/*!
+ Returns the coordinates of the triangle third corner.
+ \return A vector with dimension 2, that contains the coordinates (x,y) of the corner.
+ */
+vpColVector vpTemplateTrackerTriangle::getCorner3() const
+{
+ vpColVector c(2);
+ c[0]=C3.x;
+ c[1]=C3.y;
+ return c;
+}
+
+/*!
+ Get the size of the triangle bounding box.
+ \param w : Bounding box width.
+ \param h : Bounding box height.
+ */
+void vpTemplateTrackerTriangle::getSize(double &w,double &h) const
+{
+ w=l_t;
+ h=h_t;
+}
+/*!
+ Get the size of the triangle bounding box.
+ \param w : Bounding box width.
+ \param h : Bounding box height.
+ */
+void vpTemplateTrackerTriangle::getSize(int &w,int &h) const
+{
+ w=(int)l_t+1;
+ h=(int)h_t+1;
+}
+
+/*!
+ \return The minimal x coordinate (along the columns of the image) of the points that are in the triangle.
+ \sa getMaxx()
+ */
+double vpTemplateTrackerTriangle::getMinx() const
+{
+ return minx_temp-1;
+}
+/*!
+ \return The minimal y coordinate (along the rows of the image) of the points that are in the triangle.
+ \sa getMaxy()
+ */
+double vpTemplateTrackerTriangle::getMiny() const
+{
+ return miny_temp-1;
+}
+/*!
+ \return The maximal x coordinate (along the columns of the image) of the points that are in the triangle.
+ \sa getMinx()
+ */
+double vpTemplateTrackerTriangle::getMaxx() const
+{
+ return minx_temp+l_t+1;
+}
+/*!
+ \return The maximal y coordinate (along the rows of the image) of the points that are in the triangle.
+ \sa getMaxx()
+ */
+double vpTemplateTrackerTriangle::getMaxy() const
+{
+ return miny_temp+h_t+1;
+}
+
+
+
diff --git a/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.h b/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.h
new file mode 100644
index 0000000..62460b5
--- /dev/null
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerTriangle.h
@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerTriangle.h 4636 2014-02-04 08:17:58Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerTriangle.h
+ \brief
+*/
+
+#ifndef vpTemplateTrackerTriangle_hh
+#define vpTemplateTrackerTriangle_hh
+
+#include <assert.h>
+#include <vector>
+
+#include <visp/vpMatrix.h>
+#include <visp/vpMath.h>
+#include <visp/vpColVector.h>
+#include <visp/vpImagePoint.h>
+#include <visp/vpTemplateTrackerHeader.h>
+
+class VISP_EXPORT vpTemplateTrackerTriangle
+{
+ protected:
+ double minx_temp;
+ double miny_temp;
+ vpTemplateTrackerDPoint C1; //! Corner 1
+ vpTemplateTrackerDPoint C2; //! Corner 2
+ vpTemplateTrackerDPoint C3; //! Corner 3
+
+ double l_t;
+ double h_t;
+
+ bool not_good;
+ double uvinv00;
+ double uvinv01;
+ double uvinv10;
+ double uvinv11;
+ double marge_triangle;
+
+ private:
+ vpColVector getCorner1() const;
+ vpColVector getCorner2() const;
+ vpColVector getCorner3() const;
+
+ public:
+ vpTemplateTrackerTriangle();
+ vpTemplateTrackerTriangle(const vpTemplateTrackerTriangle& T);
+ vpTemplateTrackerTriangle(const vpColVector &c1, const vpColVector &c2, const vpColVector &c3);
+ vpTemplateTrackerTriangle(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
+ vpTemplateTrackerTriangle(int x1, int y1, int x2, int y2, int x3, int y3);
+ vpTemplateTrackerTriangle(double x1, double y1, double x2, double y2, double x3, double y3);
+
+ vpTemplateTrackerTriangle getPyramidDown() const;
+ void getCorners(vpColVector &c1,vpColVector &c2,vpColVector &c3) const;
+ void getCorners(vpImagePoint &c1, vpImagePoint &c2, vpImagePoint &c3) const;
+ void getCorners(std::vector<vpImagePoint> &c) const;
+
+ /*!
+ Returns the coordinates of a triangle corner.
+ \param i : Allowed values are 0, 1 or 2.
+ \return
+ - if i = 0, return corner 1 coordinates,
+ - if i = 1, return corner 2 coordinates,
+ - if i = 2, return corner 3 coordinates.
+
+ The coordinates are returned as a 2 dimension vector (x,y).
+ */
+ vpColVector getCorner(unsigned int i) const {
+ assert(i<3);
+ if(i==0) return getCorner1();
+ else if(i==1) return getCorner2();
+ else /*if(i==2)*/ return getCorner3();
+ };
+ /*!
+ Returns the coordinates of a triangle corner.
+ \param i : Allowed values are 0, 1 or 2.
+ - if i = 0, return corner 1 coordinates,
+ - if i = 1, return corner 2 coordinates,
+ - if i = 2, return corner 3 coordinates.
+ \param x,y : The coordinates of the corner.
+ */
+ void getCorner(unsigned int i, double &x, double &y) const {
+ assert(i<3);
+ if(i==0) {
+ x = C1.x;
+ y = C1.y;
+ }
+ else if(i==1) {
+ x = C2.x;
+ y = C2.y;
+ }
+ else /*if(i==2)*/ {
+ x = C3.x;
+ y = C3.y;
+ }
+ };
+
+ double getMaxx() const;
+ double getMaxy() const;
+ double getMinx() const;
+ double getMiny() const;
+
+ void getSize(double &w, double &h) const;
+ void getSize(int &w, int &h) const;
+
+ void init(const vpColVector &c1,const vpColVector &c2,const vpColVector &c3);
+ void init(const vpImagePoint &c1, const vpImagePoint &c2, const vpImagePoint &c3);
+ void init(int x1,int y1, int x2,int y2, int x3,int y3);
+ void init(double x1,double y1, double x2,double y2, double x3,double y3);
+ bool inTriangle(const vpImagePoint &ip) const;
+ bool inTriangle(const int &i, const int &j) const;
+ bool inTriangle(const double &i,const double &j) const;
+
+ vpTemplateTrackerTriangle & operator=(const vpTemplateTrackerTriangle& T);
+};
+#endif
+
diff --git a/src/tracking/template-tracker/tools/vpTemplateTrackerZone.cpp b/src/tracking/template-tracker/tools/vpTemplateTrackerZone.cpp
new file mode 100644
index 0000000..5e7e2ea
--- /dev/null
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerZone.cpp
@@ -0,0 +1,590 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZone.cpp 4661 2014-02-10 19:34:58Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+
+#include <limits> // numeric_limits
+
+#include <visp/vpConfig.h>
+
+#if VISP_HAVE_OPENCV_VERSION >= 0x020300
+#include <opencv2/imgproc/imgproc.hpp>
+#endif
+
+#include <visp/vpTemplateTrackerZone.h>
+
+
+/*!
+ Default constructor.
+ */
+vpTemplateTrackerZone::vpTemplateTrackerZone()
+ : Zone(), min_x(-1), min_y(-1), max_x(-1), max_y(-1)
+{
+}
+
+/*!
+ Copy constructor.
+ */
+vpTemplateTrackerZone::vpTemplateTrackerZone(const vpTemplateTrackerZone &z)
+ : Zone(), min_x(-1), min_y(-1), max_x(-1), max_y(-1)
+{
+ *this = z;
+}
+
+/*!
+ Remove all the triangles that define the zone.
+ */
+void vpTemplateTrackerZone::clear()
+{
+ min_x=-1;
+ min_y=-1;
+ max_x=-1;
+ max_y=-1;
+
+ Zone.clear();
+}
+
+/*!
+ Copy operator.
+ */
+vpTemplateTrackerZone & vpTemplateTrackerZone::operator=(const vpTemplateTrackerZone &z)
+{
+ clear();
+
+ this->copy(z);
+ return (*this);
+}
+
+/*!
+ Initialize a zone in image \e I using mouse click.
+
+ \param I : Image used to select the zone.
+ \param delaunay : Flag used to enable Delaunay triangulation.
+ - If true, from the image points selected by the user, a Delaunay triangulation is performed
+ to initialize the zone.
+ - A left click select a image point;
+ - A right click select the last image point and ends the initialisation stage.
+ In that case at least 3 points need to be selected by the user.
+ - If false, the user select directly points as successive triangle corners.
+ Three successive points define a triangle. It is not mandatory
+ that triangles have one edge in common; they can define a discontinued area.
+ - A left click select a triangle corner;
+ - A right click select the last triangle corner and ends the initialisation stage.
+ The number of points that are selected by the user should be a multiple of 3.
+ For example, to select a zone as two triangles, the user has to left click
+ five times and finish the selection on the sixth corner with a right click.
+
+ */
+void vpTemplateTrackerZone::initClick(const vpImage<unsigned char> &I, bool delaunay)
+{
+ Zone.clear();
+
+ std::vector<vpImagePoint> vip;
+
+ bool end = false;
+
+ do {
+ vpImagePoint p;
+ vpMouseButton::vpMouseButtonType button;
+ if (vpDisplay::getClick(I, p, button, false) ) {
+ vip.push_back(p);
+
+ vpDisplay::displayCross(I, p, 7, vpColor::red);
+
+ if (vip.size() > 1) {
+ if (delaunay) {
+ // Draw a line between the 2 last points
+ vpDisplay::displayLine(I, p, vip[vip.size()-2], vpColor::blue, 3);
+ }
+ else {
+ if(vip.size() % 3 ==2)
+ // draw line between point 2-1
+ vpDisplay::displayLine(I, p, vip[vip.size()-2], vpColor::blue, 3);
+ else if(vip.size() % 3 ==0) {
+ // draw line between point 3-2
+ vpDisplay::displayLine(I, p, vip[vip.size()-2], vpColor::blue, 3);
+ // draw line between point 3-1
+ vpDisplay::displayLine(I, p, vip[vip.size()-3], vpColor::blue, 3);
+ }
+
+ }
+ }
+ vpDisplay::flush(I);
+
+ if (button == vpMouseButton::button3)
+ end = true;
+ }
+
+ vpTime::wait(20);
+ } while(!end);
+
+ initFromPoints(I, vip, delaunay);
+}
+
+/*!
+
+ Initialize the zone using a vector of image points.
+
+ \param I : Image to process.
+ \param vip : Vector of image points used as initialization.
+ \param delaunay :
+ - If true, a Delaunay triangulation is perfomed on the vector of image points. This functionality
+ is only available if ViSP is build with OpenCV >2.3 third-party.
+ - If false, the vector of image points describe triangles. Its size is then a multiple of 3.
+ */
+void vpTemplateTrackerZone::initFromPoints(const vpImage<unsigned char>& I, const std::vector< vpImagePoint > &vip, bool delaunay)
+{
+ if (delaunay) {
+#if VISP_HAVE_OPENCV_VERSION >= 0x020300
+ // Init Delaunay
+ cv::Subdiv2D subdiv(cv::Rect(0, 0, (int)I.getWidth(), (int)I.getHeight()));
+ for(size_t i=0; i< vip.size(); i++) {
+ cv::Point2f fp((float)vip[i].get_u(), (float)vip[i].get_v());
+ std::cout << "Click point: " << vip[i] << std::endl;
+ subdiv.insert(fp);
+ }
+
+ // Compute Delaunay triangulation
+ std::vector<cv::Vec6f> triangleList;
+ subdiv.getTriangleList(triangleList);
+
+ // Keep only the Delaunay points that are inside the area
+ vpRect rect(vip);
+
+ std::vector<vpImagePoint> vip_delaunay;
+
+ for( size_t i = 0; i < triangleList.size(); i++ ) {
+ cv::Vec6f t = triangleList[i];
+ std::vector<vpImagePoint> p(3);
+
+ p[0].set_uv(t[0], t[1]);
+ p[1].set_uv(t[2], t[3]);
+ p[2].set_uv(t[4], t[5]);
+ if (p[0].inRectangle(rect) && p[1].inRectangle(rect) && p[2].inRectangle(rect)) {
+ vip_delaunay.push_back(p[0]);
+ vip_delaunay.push_back(p[1]);
+ vip_delaunay.push_back(p[2]);
+ }
+ }
+
+ initFromPoints(I, vip_delaunay, false);
+#else
+ throw vpException(vpException::functionNotImplementedError,"Delaunay triangulation is not available!");
+#endif
+ }
+ else {
+ Zone.clear();
+ for(unsigned int i=0; i<vip.size(); i+=3) {
+ vpTemplateTrackerTriangle triangle(vip[i], vip[i+1], vip[i+2]);
+ add(triangle);
+
+ vpDisplay::displayLine(I, vip[i], vip[i+1], vpColor::green, 1);
+ vpDisplay::displayLine(I, vip[i+1], vip[i+2], vpColor::green, 1);
+ vpDisplay::displayLine(I, vip[i+2], vip[i], vpColor::green,1);
+ vpDisplay::flush(I) ;
+
+ // Update the bounding box
+ if((triangle.getMinx()<min_x)||(min_x==-1))
+ min_x=(int)triangle.getMinx();
+ if((triangle.getMaxx()>max_x)||(max_x==-1))
+ max_x=(int)triangle.getMaxx();
+ if((triangle.getMiny()<min_y)||(min_y==-1))
+ min_y=(int)triangle.getMiny();
+ if((triangle.getMaxy()>max_y)||(max_y==-1))
+ max_y=(int)triangle.getMaxy();
+ }
+ }
+}
+
+/*!
+ Add a triangle to the zone and update the bounding box.
+ \param t : Triangle to introduce in the zone.
+ */
+void vpTemplateTrackerZone::add(const vpTemplateTrackerTriangle &t)
+{
+ Zone.push_back(t);
+
+ // Update the bounding box
+ if((t.getMinx()<min_x)||(min_x==-1))
+ min_x=(int)t.getMinx();
+ if((t.getMaxx()>max_x)||(max_x==-1))
+ max_x=(int)t.getMaxx();
+ if((t.getMiny()<min_y)||(min_y==-1))
+ min_y=(int)t.getMiny();
+ if((t.getMaxy()>max_y)||(max_y==-1))
+ max_y=(int)t.getMaxy();
+}
+
+/*!
+ Test if a pixel with coordinates (i,j) is in the zone..
+ \param i, j : Coordinates of the pixel to test.
+ \return true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.
+ */
+bool vpTemplateTrackerZone::inZone(const int &i, const int &j) const
+{
+ std::vector<vpTemplateTrackerTriangle>::const_iterator Iterateurvecteur;
+ for(Iterateurvecteur=Zone.begin();Iterateurvecteur!=Zone.end();Iterateurvecteur++)
+ {
+ if(Iterateurvecteur->inTriangle(i,j))
+ return true;
+ }
+ return false;
+}
+
+/*!
+ Test if a pixel with coordinates (i,j) is in the zone..
+ \param i, j : Coordinates of the pixel to test.
+ \return true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.
+ */
+bool vpTemplateTrackerZone::inZone(const double &i,const double &j) const
+{
+ std::vector<vpTemplateTrackerTriangle>::const_iterator Iterateurvecteur;
+ for(Iterateurvecteur=Zone.begin();Iterateurvecteur!=Zone.end();Iterateurvecteur++)
+ {
+ if(Iterateurvecteur->inTriangle(i,j))
+ return true;
+ }
+ return false;
+}
+
+/*!
+ Test if a pixel with coordinates (i,j) is in the zone and returns also the index of
+ the triangle that contains the pixel.
+ \param i, j : Coordinates of the pixel to test.
+ \param id_triangle : Index of the triangle that contains the pixel (i,j).
+ \return true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.
+ */
+bool vpTemplateTrackerZone::inZone(const int &i,const int &j, unsigned int &id_triangle) const
+{
+ unsigned int id=0;
+ std::vector<vpTemplateTrackerTriangle>::const_iterator Iterateurvecteur;
+ for(Iterateurvecteur=Zone.begin();Iterateurvecteur!=Zone.end();Iterateurvecteur++)
+ {
+ if(Iterateurvecteur->inTriangle(i,j))
+ {
+ id_triangle=id;
+ return true;
+ }
+ id++;
+ }
+ return false;
+}
+
+/*!
+ Test if a pixel with coordinates (i,j) is in the zone and returns also the index of
+ the triangle that contains the pixel.
+ \param i, j : Coordinates of the pixel to test.
+ \param id_triangle : Index of the triangle that contains the pixel (i,j).
+ \return true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.
+ */
+bool vpTemplateTrackerZone::inZone(const double &i,const double &j, unsigned int &id_triangle) const
+{
+ unsigned int id=0;
+ std::vector<vpTemplateTrackerTriangle>::const_iterator Iterateurvecteur;
+ for(Iterateurvecteur=Zone.begin();Iterateurvecteur!=Zone.end();Iterateurvecteur++)
+ {
+ if(Iterateurvecteur->inTriangle(i,j))
+ {
+ id_triangle=id;
+ return true;
+ }
+ id++;
+ }
+ return false;
+}
+
+/*!
+ A zone is defined by a set of triangles. This function returns the ith triangle.
+ \param i : Index of the triangle to return.
+ \param T : The triangle corresponding to index i.
+ \return true if the triangle with index i was found, false otherwise.
+
+ The following sample code shows how to use this function:
+ \code
+ vpTemplateTrackerZone zone;
+ ...
+ for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
+ vpTemplateTrackerTriangle triangle;
+ zone.getTriangle(i, triangle);
+ }
+ \endcode
+ */
+void vpTemplateTrackerZone::getTriangle(unsigned int i,vpTemplateTrackerTriangle &T) const
+{
+ if (i > getNbTriangle()-1)
+ throw(vpException(vpException::badValue, "Cannot get triangle with index %u", i));
+
+ T = Zone[i];
+}
+/*!
+ A zone is defined by a set of triangles. This function returns the ith triangle.
+ \param i : Index of the triangle to return.
+ \return The triangle corresponding to index i.
+
+ The following sample code shows how to use this function:
+ \code
+ vpTemplateTrackerZone zone;
+ ...
+ for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
+ vpTemplateTrackerTriangle triangle = zone.getTriangle(i);
+ }
+ \endcode
+ */
+vpTemplateTrackerTriangle vpTemplateTrackerZone::getTriangle(unsigned int i) const
+{
+ if (i > getNbTriangle()-1)
+ throw(vpException(vpException::badValue, "Cannot get triangle with index %u", i));
+
+ return Zone[i];
+}
+/*!
+ Return the position of the center of gravity of the zone.
+ \exception vpException::divideByZeroError: The size of the zone is null.
+ */
+vpImagePoint vpTemplateTrackerZone::getCenter() const
+{
+ double xc=0;
+ double yc=0;
+ int cpt=0;
+ for(int i=min_y;i<max_y;i++)
+ for(int j=min_x;j<max_x;j++)
+ if(inZone(i,j))
+ {
+ xc+=j;
+ yc+=i;
+ cpt ++;
+ }
+ if(! cpt) {
+ throw(vpException(vpException::divideByZeroError,
+ "Cannot compute the zone center: size = 0")) ;
+ }
+ xc=xc/cpt;
+ yc=yc/cpt;
+ vpImagePoint ip;
+ ip.set_uv(xc, yc);
+ return ip;
+}
+
+/*!
+ \return The maximal x coordinate (along the columns of the image) of the points that are in the zone.
+ \sa getMinx(), getBoundingBox()
+ */
+int vpTemplateTrackerZone::getMaxx() const
+{
+ return max_x;
+}
+/*!
+ \return The maximal y coordinate (along the rows of the image) of the points that are in the zone.
+ \sa getMiny(), getBoundingBox()
+ */
+int vpTemplateTrackerZone::getMaxy() const
+{
+ return max_y;
+}
+/*!
+ \return The minimal x coordinate (along the columns of the image) of the points that are in the zone.
+ \sa getMaxx(), getBoundingBox()
+ */
+int vpTemplateTrackerZone::getMinx() const
+{
+ return min_x;
+}
+/*!
+ \return The minimal y coordinate (along the rows of the image) of the points that are in the zone.
+ \sa getMaxy(), getBoundingBox()
+ */
+int vpTemplateTrackerZone::getMiny() const
+{
+ return min_y;
+}
+
+/*!
+ Return a rectangle that defines the bounding box of the zone.
+ \sa getMinx(), getMiny(), getMaxx(), getMaxy()
+ */
+vpRect vpTemplateTrackerZone::getBoundingBox() const
+{
+ vpRect bbox;
+ bbox.setTopLeft(vpImagePoint(min_y, min_x));
+ bbox.setBottomRight(vpImagePoint(max_y, max_x));
+ return bbox;
+}
+
+/*!
+ If a display device is associated to image \c I, display in overlay the triangles that define the zone.
+ \param I : Image.
+ \param col : Color used to display the triangles.
+ \param thickness : Thickness of the triangle lines.
+ */
+void vpTemplateTrackerZone::display(const vpImage<unsigned char> &I, const vpColor &col, const unsigned int thickness)
+{
+ std::vector<vpImagePoint> ip;
+ for (unsigned int i=0; i < Zone.size(); i++) {
+ vpTemplateTrackerTriangle triangle;
+ Zone[i].getCorners(ip);
+ vpDisplay::displayLine(I, ip[0], ip[1], col, thickness);
+ vpDisplay::displayLine(I, ip[1], ip[2], col, thickness);
+ vpDisplay::displayLine(I, ip[2], ip[0], col, thickness);
+ }
+}
+
+/*!
+ If a display device is associated to image \c I, display in overlay the triangles that define the zone.
+ \param I : Image.
+ \param col : Color used to display the triangles.
+ \param thickness : Thickness of the triangle lines.
+ */
+void vpTemplateTrackerZone::display(const vpImage<vpRGBa> &I, const vpColor &col, const unsigned int thickness)
+{
+ std::vector<vpImagePoint> ip;
+ for (unsigned int i=0; i < Zone.size(); i++) {
+ vpTemplateTrackerTriangle triangle;
+ Zone[i].getCorners(ip);
+ vpDisplay::displayLine(I, ip[0], ip[1], col, thickness);
+ vpDisplay::displayLine(I, ip[1], ip[2], col, thickness);
+ vpDisplay::displayLine(I, ip[2], ip[0], col, thickness);
+ }
+}
+
+/*!
+ Destructor.
+ */
+vpTemplateTrackerZone::~vpTemplateTrackerZone()
+{
+ clear();
+}
+
+/*!
+ Modify all the pixels inside a triangle with a given gray level.
+ \param I: Output image.
+ \param id: Triangle id. This value should be less than the number
+ of triangles used to define the zone and available using getNbTriangle().
+ \param gray_level: Color used to fill the triangle with.
+ */
+void vpTemplateTrackerZone::fillTriangle(vpImage<unsigned char>& I, unsigned int id,unsigned char gray_level)
+{
+ assert(id < getNbTriangle());
+ vpTemplateTrackerTriangle triangle;
+ getTriangle(id, triangle);
+ for (int i=0 ; i < (int) I.getHeight() ; i++)
+ {
+ for (int j=0 ; j < (int) I.getWidth() ; j++)
+ {
+ if(triangle.inTriangle(i,j))
+ {
+ I[i][j]=gray_level;
+ }
+ }
+ }
+}
+
+/*!
+ Return a zone with triangles that are down scaled by a factor 2.
+ */
+vpTemplateTrackerZone vpTemplateTrackerZone::getPyramidDown() const
+{
+ vpTemplateTrackerZone tempZone;
+ vpTemplateTrackerTriangle Ttemp;
+ vpTemplateTrackerTriangle TtempDown;
+ for(unsigned int i=0;i<getNbTriangle();i++)
+ {
+ getTriangle(i,Ttemp);
+ TtempDown=Ttemp.getPyramidDown();
+ tempZone.add(TtempDown);
+ }
+ return tempZone;
+}
+
+/*!
+ Copy all the triangles that define zone \c Z in the current zone (*this) and
+ update the zone bounding box.
+ \param z : Zone with a set of triangles provided as input.
+ */
+void vpTemplateTrackerZone::copy(const vpTemplateTrackerZone& z)
+{
+ vpTemplateTrackerTriangle triangle;
+ for(unsigned int i=0;i<z.getNbTriangle();i++)
+ {
+ z.getTriangle(i, triangle);
+ add(triangle);
+ // Update the bounding box
+ if((triangle.getMinx()<min_x)||(min_x==-1))
+ min_x=(int)triangle.getMinx();
+ if((triangle.getMaxx()>max_x)||(max_x==-1))
+ max_x=(int)triangle.getMaxx();
+ if((triangle.getMiny()<min_y)||(min_y==-1))
+ min_y=(int)triangle.getMiny();
+ if((triangle.getMaxy()>max_y)||(max_y==-1))
+ max_y=(int)triangle.getMaxy();
+ }
+}
+
+/*!
+ Return the position of the center of gravity in a given area.
+ \param borne_x : Right coordinate of the area to consider.
+ \param borne_y : Bottom coordinate of the area to consider.
+ \exception vpException::divideByZeroError: The size of the zone is null.
+ */
+
+vpImagePoint vpTemplateTrackerZone::getCenter(int borne_x, int borne_y) const
+{
+ int cpt_pt=0;
+ double x_center=0,y_center=0;
+ for(int j=0;j<borne_x;j++)
+ for(int i=0;i<borne_y;i++)
+ if(inZone(i,j))
+ {
+ x_center+=j;
+ y_center+=i;
+ cpt_pt++;
+ }
+
+ if(! cpt_pt) {
+ throw(vpException(vpException::divideByZeroError,
+ "Cannot compute the zone center: size = 0")) ;
+ }
+
+ x_center=x_center/cpt_pt;
+ y_center=y_center/cpt_pt;
+ vpImagePoint center;
+ center.set_uv(x_center, y_center);
+ return center;
+}
+
diff --git a/src/tracking/template-tracker/tools/vpTemplateTrackerZone.h b/src/tracking/template-tracker/tools/vpTemplateTrackerZone.h
new file mode 100644
index 0000000..a1a6b2c
--- /dev/null
+++ b/src/tracking/template-tracker/tools/vpTemplateTrackerZone.h
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZone.h 4661 2014-02-10 19:34:58Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#ifndef vpTemplateTrackerZone_hh
+#define vpTemplateTrackerZone_hh
+
+#include <vector>
+
+#include <visp/vpDisplay.h>
+#include <visp/vpException.h>
+#include <visp/vpImage.h>
+#include <visp/vpTemplateTrackerTriangle.h>
+#include <visp/vpTemplateTrackerHeader.h>
+#include <visp/vpRect.h>
+
+/*!
+ A zone is defined by a set of triangles defined as vpTemplateTrackerTriangle.
+
+ A zone can be initialized either by user interaction using mouse click in a display device
+ throw initClick(), or by a list of points throw initFromPoints().
+ */
+class VISP_EXPORT vpTemplateTrackerZone
+{
+ protected:
+ std::vector<vpTemplateTrackerTriangle> Zone; //!< Vector of triangles that defines the zone.
+ int min_x; //!< Bounding box parameter
+ int min_y; //!< Bounding box parameter
+ int max_x; //!< Bounding box parameter
+ int max_y; //!< Bounding box parameter
+
+ public:
+ vpTemplateTrackerZone();
+ vpTemplateTrackerZone(const vpTemplateTrackerZone &z);
+ ~vpTemplateTrackerZone();
+
+ //add a triangle to the zone
+ void add(const vpTemplateTrackerTriangle &t);
+ void clear();
+ void copy(const vpTemplateTrackerZone& z);
+
+ //display the area on an image
+ void display(const vpImage<unsigned char> &I, const vpColor &col = vpColor::green, const unsigned int thickness=3);
+ void display(const vpImage<vpRGBa> &I, const vpColor &col = vpColor::green, const unsigned int thickness=3);
+
+ //colorie le tieme triangle
+ void fillTriangle(vpImage<unsigned char>& I, unsigned int id, unsigned char gray_level);
+
+ vpImagePoint getCenter() const;
+ vpImagePoint getCenter(int borne_x, int borne_y) const;
+ //get bounds of the area
+ int getMaxx() const;
+ int getMaxy() const;
+ int getMinx() const;
+ int getMiny() const;
+ vpRect getBoundingBox() const;
+
+ /*! Return the number of triangles that define the zone. \sa getTriangle() */
+ unsigned int getNbTriangle() const { return (unsigned int)Zone.size(); }
+ vpTemplateTrackerZone getPyramidDown() const;
+ //renvoie le ieme triangle de la zone
+ void getTriangle(unsigned int i, vpTemplateTrackerTriangle &T) const;
+ vpTemplateTrackerTriangle getTriangle(unsigned int i) const;
+
+ //create an area by clicking on an image
+ void initClick(const vpImage<unsigned char>& I, bool delaunay = false);
+ //create an area with a pointer of integer that describes a series of triangles:
+ // *pt= t0.S1.x,t0.S1.y,t0.S2.x,t0.S2.y,t0.S3.x,t0.S3.y, t1.S1.x ...
+ void initFromPoints(const vpImage<unsigned char>& I, const std::vector< vpImagePoint > &ip, bool delaunay = false);
+
+ //check if a point is in the area
+ bool inZone(const int &i,const int &j) const;
+ bool inZone(const double &i,const double &j) const;
+ //check if a point is in the area and return the corresponding triangle id_triangle where the point is.
+ bool inZone(const int &i,const int &j, unsigned int &id_triangle) const;
+ bool inZone(const double &i,const double &j, unsigned int &id_triangle) const;
+
+ vpTemplateTrackerZone & operator=(const vpTemplateTrackerZone &z);
+};
+#endif
+
diff --git a/src/tracking/template-tracker/vpTemplateTracker.cpp b/src/tracking/template-tracker/vpTemplateTracker.cpp
new file mode 100644
index 0000000..7fe6387
--- /dev/null
+++ b/src/tracking/template-tracker/vpTemplateTracker.cpp
@@ -0,0 +1,927 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTracker.cpp 4635 2014-02-04 08:16:59Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTracker.h>
+#include <visp/vpTemplateTrackerBSpline.h>
+
+vpTemplateTracker::vpTemplateTracker(vpTemplateTrackerWarp *_warp)
+ : nbLvlPyr(1), l0Pyr(0), pyrInitialised(false), ptTemplate(NULL), ptTemplatePyr(NULL),
+ ptTemplateInit(false), templateSize(0), templateSizePyr(NULL),
+ ptTemplateSelect(NULL), ptTemplateSelectPyr(NULL), ptTemplateSelectInit(NULL),
+ templateSelectSize(0), ptTemplateSupp(NULL), ptTemplateSuppPyr(NULL),
+ ptTemplateCompo(NULL), ptTemplateCompoPyr(NULL), zoneTracked(NULL), zoneTrackedPyr(NULL),
+ pyr_IDes(NULL), H(), Hdesire(), HdesirePyr(), HLM(), HLMdesire(), HLMdesirePyr(),
+ HLMdesireInverse(), HLMdesireInversePyr(), G(), gain(1.), thresholdGradient(40),
+ costFunctionVerification(false), blur(true), useBrent(false), nbIterBrent(3),
+ taillef(7), fgG(NULL), fgdG(NULL), ratioPixelIn(0), mod_i(1), mod_j(1), nbParam(0),
+ lambdaDep(0.001), iterationMax(30), iterationGlobale(0), diverge(false), nbIteration(0),
+ useCompositionnal(true), useInverse(false), Warp(_warp), p(0), dp(), X1(), X2(),
+ dW(), BI(), dIx(), dIy(), zoneRef_()
+{
+ nbParam = Warp->getNbParam() ;
+ p.resize(nbParam);
+ dp.resize(nbParam);
+
+ fgG=new double[(taillef+1)/2] ;
+ vpImageFilter::getGaussianKernel(fgG, taillef) ;
+
+ fgdG=new double[(taillef+1)/2] ;
+ vpImageFilter::getGaussianDerivativeKernel(fgdG, taillef) ;
+}
+
+void vpTemplateTracker::setGaussianFilterSize(unsigned int new_taill)
+{
+ taillef=new_taill;
+ if (fgG) delete[] fgG;
+ fgG=new double[taillef] ;
+ vpImageFilter::getGaussianKernel(fgG, taillef) ;
+
+ if (fgdG) delete[] fgdG;
+ fgdG=new double[taillef] ;
+ vpImageFilter::getGaussianDerivativeKernel(fgdG, taillef) ;
+}
+
+void vpTemplateTracker::initTracking(const vpImage<unsigned char>& I, vpTemplateTrackerZone &zone)
+{
+ // std::cout<<"\tInitialise reference..."<<std::endl;
+ zoneTracked=&zone;
+
+ int largeur_im=(int)I.getWidth();
+ int hauteur_im=(int)I.getHeight();
+
+ unsigned int NbPointDsZone=0;
+ double xtotal=0,ytotal=0;
+ int mod_fi,mod_fj;
+ mod_fi=mod_i;mod_fj=mod_i;
+
+ for(int j=0;j<largeur_im;j++)
+ for(int i=0;i<hauteur_im;i++)
+ if(i%mod_fi ==0 && j%mod_fj ==0)
+ if(zone.inZone(i,j))
+ {
+ NbPointDsZone++;
+ xtotal+=j;
+ ytotal+=i;
+ }
+ //Warp->setCentre((double)xtotal/NbPointDsZone,(double)ytotal/NbPointDsZone);
+
+ templateSize=NbPointDsZone;
+ ptTemplate = new vpTemplateTrackerPoint[templateSize];ptTemplateInit=true;
+ ptTemplateSelect = new bool[templateSize];ptTemplateSelectInit=true;
+
+ Hdesire.resize(nbParam,nbParam);
+ HLMdesire.resize(nbParam,nbParam);
+
+ //RecupÈration des donnÈes des triangles de la pyramide gaussienne
+ vpTemplateTrackerPoint pt;
+ //vpTemplateTrackerZPoint ptZ;
+ vpImage<double> GaussI ;
+ vpImageFilter::filter(I, GaussI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ unsigned int cpt_point=0;
+ templateSelectSize=0;
+ for(int i=0;i<hauteur_im;i++)
+ {
+ //for(int j=minx_t;j<maxx_t;j++)
+ for(int j=0;j<largeur_im;j++)
+ {
+ if(i%mod_i ==0 && j%mod_j ==0)
+ if(zone.inZone(i,j))
+ {
+ pt.x=j;
+ pt.y=i;
+
+ pt.dx=dIx[i][j];
+ pt.dy=dIy[i][j];
+
+ if(pt.dx*pt.dx+pt.dy*pt.dy>thresholdGradient)
+ {
+ ptTemplateSelect[cpt_point]=true;
+ templateSelectSize++;
+ }
+ else
+ ptTemplateSelect[cpt_point]=false;
+ //ptTemplate_select[cpt_point]=true;
+
+ /*if(blur)
+ pt.val=GaussI[i][j];
+ else
+ pt.val=I[i][j];*/
+ pt.val=vpTemplateTrackerBSpline::getSubPixBspline4(GaussI,i,j);
+ //ptZone_pyr[NbLevelPyramid-cpt].push_back(pt);
+
+ ptTemplate[cpt_point]=pt;
+ cpt_point++;
+ }
+ }
+ }
+
+ // std::cout<<"\tNb pt template apres scale:"<<cpt_point<<std::endl;
+ // std::cout<<"utilisation de "<<taille_template_select<<"/"<<cpt_point<<" = "<<100.*taille_template_select/cpt_point<<"% pour calcul derivees"<<std::endl;
+
+ templateSize=cpt_point;
+ GaussI.destroy();
+ // std::cout<<"\tEnd of reference initialisation ..."<<std::endl;
+}
+
+vpTemplateTracker::~vpTemplateTracker()
+{
+ // vpTRACE("destruction tracker");
+ delete[] fgG;
+ delete[] fgdG;
+
+ resetTracker();
+}
+
+/*!
+ Reset the tracker by freeing the memory allocated by the template tracker during the initialization.
+ */
+void vpTemplateTracker::resetTracker()
+{
+ // reset the tracker parameters
+ p = 0;
+
+ // vpTRACE("resetTracking");
+ if(pyrInitialised)
+ {
+ for(unsigned int i=0;i<nbLvlPyr;i++)
+ {
+ for(unsigned int point=0;point<templateSizePyr[i];point++)
+ {
+ delete[] ptTemplatePyr[i][point].dW;
+ delete[] ptTemplatePyr[i][point].HiG;
+ }
+ delete[] ptTemplatePyr[i];
+ }
+ delete[] ptTemplatePyr;
+
+ if (ptTemplateCompoPyr) {
+ for(unsigned int i=0;i<nbLvlPyr;i++)
+ {
+ if (ptTemplateCompoPyr[i]) {
+ for(unsigned int point=0;point<templateSizePyr[i];point++) {
+ delete[] ptTemplateCompoPyr[i][point].dW;
+ }
+ delete[] ptTemplateCompoPyr[i];
+ }
+ }
+ delete[] ptTemplateCompoPyr;
+ ptTemplateCompoPyr = NULL;
+ }
+
+ if (ptTemplateSuppPyr) {
+ for(unsigned int i=0;i<nbLvlPyr;i++)
+ {
+ if (ptTemplateSuppPyr[i]) {
+ for(unsigned int point=0;point<templateSizePyr[i];point++) {
+ delete[] ptTemplateSuppPyr[i][point].Bt;
+ delete[] ptTemplateSuppPyr[i][point].BtInit;
+ delete[] ptTemplateSuppPyr[i][point].dBt;
+ delete[] ptTemplateSuppPyr[i][point].d2W;
+ delete[] ptTemplateSuppPyr[i][point].d2Wx;
+ delete[] ptTemplateSuppPyr[i][point].d2Wy;
+ }
+ delete[] ptTemplateSuppPyr[i];
+ }
+ }
+ delete[] ptTemplateSuppPyr;
+ ptTemplateSuppPyr = NULL;
+ }
+
+ for(unsigned int i=0;i<nbLvlPyr;i++)
+ delete[] ptTemplateSelectPyr[i];
+ delete[] ptTemplateSelectPyr;
+
+ delete[] templateSizePyr;
+ delete[] HdesirePyr;
+ delete[] HLMdesirePyr;
+ delete[] HLMdesireInversePyr;
+
+ delete[] zoneTrackedPyr;
+ delete[] pyr_IDes;
+ }
+ else
+ {
+ if(ptTemplateInit)
+ {
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ delete[] ptTemplate[point].dW;
+ delete[] ptTemplate[point].HiG;
+ }
+ delete[] ptTemplate;
+ ptTemplate = NULL;
+ ptTemplateInit = false;
+ }
+ if (ptTemplateCompo) {
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ delete[] ptTemplateCompo[point].dW;
+ }
+ delete[] ptTemplateCompo;
+ ptTemplateCompo = NULL;
+ }
+ if (ptTemplateSupp) {
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ delete[] ptTemplateSupp[point].Bt;
+ delete[] ptTemplateSupp[point].BtInit;
+ delete[] ptTemplateSupp[point].dBt;
+ delete[] ptTemplateSupp[point].d2W;
+ delete[] ptTemplateSupp[point].d2Wx;
+ delete[] ptTemplateSupp[point].d2Wy;
+ }
+ delete[] ptTemplateSupp;
+ ptTemplateSupp = NULL;
+ }
+ if(ptTemplateSelectInit) {
+ if (ptTemplateSelect) {
+ delete[] ptTemplateSelect; ptTemplateSelect = NULL;
+ }
+ }
+ }
+}
+
+/*!
+ Display the warped reference template in an image.
+
+ \param I: Image in which the warped zone has to be displayed.
+ \param col: Color used to draw the triangle edges.
+ \param thickness: Thickness of the lines.
+
+ The following code shows how to use display capabilities:
+ \code
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpTemplateTrackerWarpHomography.h>
+
+int main()
+{
+ vpImage<unsigned char> I;
+ vpTemplateTrackerWarpHomography warp;
+ vpTemplateTrackerSSDInverseCompositional tracker(&warp);
+ vpTemplateTrackerZone zoneRef, zoneWarped;
+
+ // Display the warped zone
+ tracker.display(I, vpColor::red);
+
+ // Display the reference zone
+ zoneRef = tracker.getZoneRef();
+ zoneRef.display(I, vpColor::green);
+
+ // Display the warped zone
+ vpColVector p = tracker.getp();
+ warp.warpZone(zoneRef, p, zoneWarped);
+ zoneWarped.display(I, vpColor::blue);
+}
+ \endcode
+ */
+void vpTemplateTracker::display(const vpImage<unsigned char> &I, const vpColor& col, const unsigned int thickness)
+{
+ if (I.display) { // Only if a display is associated to the image
+ vpTemplateTrackerZone zoneWarped;
+ Warp->warpZone(*zoneTracked, p, zoneWarped);
+ zoneWarped.display(I, col, thickness);
+ }
+}
+
+/*!
+ Display the warped reference template in an image.
+
+ \param I: Image in which the warped zone has to be displayed.
+ \param col: Color used to draw the triangle edges.
+ \param thickness: Thickness of the lines.
+
+ The following code shows how to use display capabilities:
+ \code
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpTemplateTrackerWarpHomography.h>
+
+int main()
+{
+ vpImage<vpRGBa> I;
+ vpTemplateTrackerWarpHomography warp;
+ vpTemplateTrackerSSDInverseCompositional tracker(&warp);
+ vpTemplateTrackerZone zoneRef, zoneWarped;
+
+ // Display the warped zone
+ tracker.display(I, vpColor::red);
+
+ // Display the reference zone
+ zoneRef = tracker.getZoneRef();
+ zoneRef.display(I, vpColor::green);
+
+ // Display the warped zone
+ vpColVector p = tracker.getp();
+ warp.warpZone(zoneRef, p, zoneWarped);
+ zoneWarped.display(I, vpColor::blue);
+}
+ \endcode
+ */
+void vpTemplateTracker::display(const vpImage<vpRGBa> &I, const vpColor& col, const unsigned int thickness)
+{
+ if (I.display) { // Only if a display is associated to the image
+ vpTemplateTrackerZone zoneWarped;
+ Warp->warpZone(*zoneTracked, p, zoneWarped);
+ zoneWarped.display(I, col, thickness);
+ }
+}
+
+void vpTemplateTracker::computeOptimalBrentGain(const vpImage<unsigned char> &I,vpColVector &tp,double tMI,vpColVector &direction,double &alpha)
+{
+ vpColVector **ptp;
+ ptp=new vpColVector*[4];
+ vpColVector p0(nbParam);
+ p0=tp;
+
+ //valeur necessaire si conditionnel
+ vpColVector dpt(Warp->getNbParam());
+ vpColVector adpt(Warp->getNbParam());
+
+ vpColVector p1(nbParam);
+ if(useCompositionnal)
+ {
+ if(useInverse)
+ Warp->getParamInverse(direction,dpt);
+ else
+ dpt=direction;
+ Warp->pRondp(tp,dpt,p1);
+ }
+ else
+ {
+ p1=tp+direction;
+ }
+
+ vpColVector p2(nbParam);
+ if(useCompositionnal)
+ {
+ adpt=alpha*direction;
+ if(useInverse)
+ Warp->getParamInverse(adpt,dpt);
+ else
+ dpt=adpt;
+ Warp->pRondp(tp,dpt,p2);
+ }
+ else
+ {
+ p2=tp+alpha*direction;
+ }
+ vpColVector p3(nbParam);
+ ptp[0]=&p0;
+ ptp[1]=&p1;
+ ptp[2]=&p2;
+ ptp[3]=&p3;
+
+
+ double *Cost=new double[4];
+ //Cost[0]=getCost(I,p0);
+ Cost[0]=tMI;
+ Cost[1]=getCost(I,p1);
+ Cost[2]=getCost(I,p2);
+
+
+ double *talpha=new double[4];
+ talpha[0]=0;
+ talpha[1]=1.;
+ talpha[2]=alpha;
+
+ //for(int i=0;i<3;i++)
+ // std::cout<<"alpha["<<i<<"] = "<<talpha[i]<<" Cost["<<i<<"] = "<<Cost[i]<<std::endl;
+
+ //Utilise trois estimï¿œes de paraboles succesive ...
+ //A changer pour rendre adaptable
+ for(unsigned int opt=0;opt<nbIterBrent;opt++)
+ {
+ //double a=talpha[0];
+ //double b=talpha[1];
+ //double c=talpha[2];
+ //double Cost0=Cost[0];
+ //double Cost1=Cost[1];
+ //double Cost2=Cost[2];
+
+ vpMatrix A(3,3);
+ for(unsigned int i=0;i<3;i++){A[i][0]=talpha[i]*talpha[i];A[i][1]=talpha[i];A[i][2]=1.;}
+ //std::cout<<"A="<<A<<std::endl;
+ vpColVector B(3);for(unsigned int i=0;i<3;i++)B[i]=Cost[i];
+ vpColVector parabol(3);parabol=(A.t()*A).inverseByLU()*A.t()*B;
+ //vpColVector parabol(3);parabol=A.pseudoInverse()*B;
+
+ //si convexe
+ if(parabol[0]>0)
+ {
+ talpha[3]=-0.5*parabol[1]/parabol[0];
+ //std::cout<<"parabol = "<<parabol<<std::endl;
+ //std::cout<<"convexe talpha = "<<talpha[3]<<std::endl;
+ }
+ else//si concave
+ {
+ int tindic_x_min=0;
+ int tindic_x_max=0;
+ for(int i=1;i<3;i++)
+ {
+ if(talpha[i]<talpha[tindic_x_min])
+ tindic_x_min=i;
+ if(talpha[i]>talpha[tindic_x_max])
+ tindic_x_max=i;
+ }
+
+ if(Cost[tindic_x_max]<Cost[tindic_x_min])
+ {
+ //talpha[3]=talpha[tindic_x_max]+1.;
+ talpha[3]=talpha[tindic_x_max]+1.;
+ /*if(talpha[tindic_x_min]>talpha[tindic_x_max])
+ talpha[3]=talpha[tindic_x_min]+1.;
+ else
+ talpha[3]=talpha[tindic_x_min]-1.;*/
+ }
+ else
+ {
+ //talpha[3]=talpha[tindic_x_min]-1.;
+ talpha[3]=talpha[tindic_x_min]-1.;
+ /*if(talpha[tindic_x_min]<talpha[tindic_x_max])
+ talpha[3]=talpha[tindic_x_max]+1.;
+ else
+ talpha[3]=talpha[tindic_x_max]-1.;*/
+ }
+ //std::cout<<"concave talpha="<<talpha[3]<<std::endl;
+ }
+ //std::cout<<"talpha="<<talpha[3]<<std::endl;
+ int indic_x_min=0;
+ int indic_x_max=0;
+ for(int i=1;i<3;i++)
+ {
+ if(talpha[i]<talpha[indic_x_min])
+ indic_x_min=i;
+ if(talpha[i]>talpha[indic_x_max])
+ indic_x_max=i;
+ }
+ //std::cout<<"talpha = "<<talpha[3]<<std::endl;
+ if(talpha[3]>talpha[indic_x_max])
+ if((talpha[3]-talpha[indic_x_max])>alpha)talpha[3]=talpha[indic_x_max]+4.;
+ if(talpha[3]<talpha[indic_x_min])
+ if((talpha[indic_x_min]-talpha[3])>alpha)talpha[3]=talpha[indic_x_min]-4.;
+
+ /*if(((b-a)*(Cost1-Cost2)-(b-c)*(Cost1-Cost0))==0)
+ {Cost[3]=1000;break;}
+
+ //calcul du gain correspondant au minimum de la parabole estimï¿œe
+ talpha[3]=b-0.5*((b-a)*(b-a)*(Cost1-Cost2)-(b-c)*(b-c)*(Cost1-Cost0))/((b-a)*(Cost1-Cost2)-(b-c)*(Cost1-Cost0));
+ int indic_x_min=0;
+ int indic_x_max=0;
+ for(int i=1;i<3;i++)
+ {
+ if(talpha[i]<talpha[indic_x_min])
+ indic_x_min=i;
+ if(talpha[i]>talpha[indic_x_max])
+ indic_x_max=i;
+ }
+ std::cout<<"talpha = "<<talpha[3]<<std::endl;
+ if(talpha[3]>talpha[indic_x_max])
+ if((talpha[3]-talpha[indic_x_max])>alpha)talpha[3]=talpha[indic_x_max]+alpha;
+ if(talpha[3]<talpha[indic_x_min])
+ if((talpha[indic_x_min]-talpha[3])>alpha)talpha[3]=talpha[indic_x_min]-alpha;*/
+
+ //p3=tp-talpha[3]*direction;
+ if(useCompositionnal)
+ {
+ adpt=talpha[3]*direction;
+ if(useInverse)
+ Warp->getParamInverse(adpt,dpt);
+ else
+ dpt=adpt;
+ Warp->pRondp(tp,dpt,p3);
+ }
+ else
+ {
+ p3=tp+talpha[3]*direction;
+ }
+
+ Cost[3]=getCost(I,p3);
+ //std::cout<<"new cost="<<Cost[3]<<std::endl;
+
+ int indice_f_max=0;
+ for(int i=1;i<4;i++)
+ if(Cost[i]>Cost[indice_f_max])
+ indice_f_max=i;
+ if(indice_f_max!=3)
+ {
+ *ptp[indice_f_max]=*ptp[3];
+ Cost[indice_f_max]=Cost[3];
+ talpha[indice_f_max]=talpha[3];
+ }
+ else
+ break;
+ }
+
+ int indice_f_min=0;
+ for(int i=0;i<4;i++)
+ if(Cost[i]<Cost[indice_f_min])
+ indice_f_min=i;
+
+ alpha=talpha[indice_f_min];
+
+ if(alpha<1)alpha=1.;
+
+ delete[] ptp;
+ delete[] Cost;
+ delete[] talpha;
+}
+
+
+/*!
+ \param nbLvl : Number of levels in the pyramid.
+ \param l0 : Pyramid level where the tracking is stopped. The level with the highest resolution is 0.
+ */
+void vpTemplateTracker::initPyramidal(unsigned int nbLvl, unsigned int l0)
+{
+ // vpTRACE("init_pyramidal");
+ nbLvlPyr=nbLvl;
+ l0Pyr=l0;
+
+ zoneTrackedPyr=new vpTemplateTrackerZone[nbLvlPyr];
+ pyr_IDes=new vpImage<unsigned char>[nbLvlPyr];
+ ptTemplatePyr=new vpTemplateTrackerPoint*[nbLvlPyr];
+ ptTemplateSelectPyr=new bool*[nbLvlPyr];
+ ptTemplateSuppPyr=new vpTemplateTrackerPointSuppMIInv*[nbLvlPyr];
+ ptTemplateCompoPyr=new vpTemplateTrackerPointCompo*[nbLvlPyr];
+ for(unsigned int i=0; i< nbLvlPyr; i++) {
+ ptTemplatePyr[i] = NULL;
+ ptTemplateSuppPyr[i] = NULL;
+ ptTemplateSelectPyr[i] = NULL;
+ ptTemplateCompoPyr[i] = NULL;
+ }
+ templateSizePyr=new unsigned int[nbLvlPyr];
+ HdesirePyr=new vpMatrix[nbLvlPyr];
+ HLMdesirePyr=new vpMatrix[nbLvlPyr];
+ HLMdesireInversePyr=new vpMatrix[nbLvlPyr];
+
+ pyrInitialised=true;
+ // vpTRACE("fin init_pyramidal");
+
+}
+void vpTemplateTracker::initTrackingPyr(const vpImage<unsigned char>& I,vpTemplateTrackerZone &zone)
+{
+ // vpTRACE("initTrackingPyr");
+ zoneTrackedPyr[0].copy(zone);
+ //vpTRACE("fin copy zone");
+
+ pyr_IDes[0]=I;
+ initTracking(pyr_IDes[0],zoneTrackedPyr[0]);
+ ptTemplatePyr[0]=ptTemplate;
+ ptTemplateSelectPyr[0]=ptTemplateSelect;
+ templateSizePyr[0]=templateSize;
+
+ //creationpyramide de zones et images desiree
+ if(nbLvlPyr>1)
+ {
+ for(unsigned int i=1;i<nbLvlPyr;i++)
+ {
+ zoneTrackedPyr[i]=zoneTrackedPyr[i-1].getPyramidDown();
+ vpImageFilter::getGaussPyramidal(pyr_IDes[i-1],pyr_IDes[i]);
+
+ initTracking(pyr_IDes[i],zoneTrackedPyr[i]);
+ ptTemplatePyr[i]=ptTemplate;
+ ptTemplateSelectPyr[i]=ptTemplateSelect;
+ templateSizePyr[i]=templateSize;
+ //reste probleme avec le Hessien
+ }
+ }
+ /*for(int i=0;i<nbLvlPyr;i++)
+ {
+ vpColVector ptemp(8);ptemp=0;
+ zoneTracked=&zoneTrackedPyr[i];
+ init_pos_evalRMS(ptemp);
+ }*/
+ zoneTracked=&zoneTrackedPyr[0];
+
+
+ // vpTRACE("fin initTrackingPyr");
+
+}
+
+/*!
+ Select the reference template in image \e I using mouse click.
+
+ \param I: Image containing the reference template.
+ \param delaunay: Flag used to enable Delaunay triangulation.
+ - If true, from the image points selected by the user, a Delaunay triangulation is performed
+ to initialize the reference template.
+ - A left click select a image point;
+ - A right click select the last image point and ends the initialisation stage.
+ - If false, the user select directly points as successive triangle corners.
+ The size of \e v_ip vector should be a multiple of 3. It is not mandatory
+ that triangles have one edge in common; they can define a discontinued area.
+ - A left click select a triangle corner;
+ - A right click select the last triangle corner and ends the initialisation stage.
+ For example, to select the reference template as two triangles, the user has to left click
+ five times and finish the selection on the sixth corner with a right click.
+
+ */
+void vpTemplateTracker::initClick(const vpImage<unsigned char> &I, bool delaunay)
+{
+ zoneRef_.initClick(I, delaunay);
+
+ if (nbLvlPyr > 1) {
+ initPyramidal(nbLvlPyr, l0Pyr);
+ initTrackingPyr(I, zoneRef_);
+ initHessienDesiredPyr(I);
+ }
+ else {
+ initTracking(I, zoneRef_);
+ initHessienDesired(I);
+// trackNoPyr(I);
+ }
+}
+
+/*!
+ Initialize the reference template from a vector of points.
+
+ \param I: Image containing the reference template.
+ \param v_ip: Vector of image points defining the reference template.
+ \param delaunay:
+ - If true, from the image points defining the reference template enable Delaunay triangulation.
+ - If false, the vector of image points define the reference template as a list of triangles.
+ The size of \e v_ip vector should be a multiple of 3.
+ */
+void vpTemplateTracker::initFromPoints(const vpImage<unsigned char> &I, const std::vector< vpImagePoint > &v_ip, bool delaunay)
+{
+ zoneRef_.initFromPoints(I, v_ip, delaunay);
+
+ if (nbLvlPyr > 1) {
+ initPyramidal(nbLvlPyr, l0Pyr);
+ initTrackingPyr(I, zoneRef_);
+ initHessienDesiredPyr(I);
+ }
+ else {
+ initTracking(I, zoneRef_);
+ initHessienDesired(I);
+ //trackNoPyr(I);
+ }
+}
+
+/*!
+ Initialize the reference template from a vector of points.
+
+ \param I: Image containing the reference template.
+ \param zone: The zone that describes the reference template.
+ */
+void vpTemplateTracker::initFromZone(const vpImage<unsigned char> &I, const vpTemplateTrackerZone& zone)
+{
+ zoneRef_ = zone;
+
+ if (nbLvlPyr > 1) {
+ initPyramidal(nbLvlPyr, l0Pyr);
+ initTrackingPyr(I, zoneRef_);
+ initHessienDesiredPyr(I);
+ }
+ else {
+ initTracking(I, zoneRef_);
+ initHessienDesired(I);
+// trackNoPyr(I);
+ }
+}
+
+void vpTemplateTracker::initCompInversePyr(const vpImage<unsigned char> &I)
+{
+ vpTRACE("initCompInversePyr");
+ templateSize=templateSizePyr[0];
+ //ptTemplateSupp=ptTemplateSuppPyr[0];
+ //ptTemplateCompo=ptTemplateCompoPyr[0];
+ ptTemplate=ptTemplatePyr[0];
+ ptTemplateSelect=ptTemplateSelectPyr[0];
+ initCompInversePyr(I);
+ ptTemplateSuppPyr[0]=ptTemplateSupp;
+ ptTemplateCompoPyr[0]=ptTemplateCompo;
+
+
+ if(nbLvlPyr>1)
+ {
+ vpImage<unsigned char> Itemp=I;
+ for(unsigned int i=1;i<nbLvlPyr;i++)
+ {
+ vpImageFilter::getGaussPyramidal(Itemp,Itemp);
+
+ templateSize=templateSizePyr[i];
+ ptTemplate=ptTemplatePyr[i];
+ ptTemplateSelect=ptTemplateSelectPyr[i];
+ initCompInversePyr(Itemp);
+ ptTemplateSuppPyr[i]=ptTemplateSupp;
+ ptTemplateCompoPyr[i]=ptTemplateCompo;
+ }
+ }
+ // vpTRACE("fin initCompInversePyr");
+
+}
+void vpTemplateTracker::initHessienDesiredPyr(const vpImage<unsigned char> &I)
+{
+ // vpTRACE("initHessienDesiredPyr");
+ templateSize=templateSizePyr[0];
+ //ptTemplateSupp=ptTemplateSuppPyr[0];
+ //ptTemplateCompo=ptTemplateCompoPyr[0];
+ ptTemplate=ptTemplatePyr[0];
+ ptTemplateSelect=ptTemplateSelectPyr[0];
+ initHessienDesired(I);
+ ptTemplateSuppPyr[0]=ptTemplateSupp;
+
+ ptTemplateCompoPyr[0]=ptTemplateCompo;
+ //HdesirePyr[0].resize(NbParam,NbParam);
+ //HLMdesirePyr[0].resize(NbParam,NbParam);
+ HdesirePyr[0]=Hdesire;
+ HLMdesirePyr[0]=HLMdesire;
+ HLMdesireInversePyr[0]=HLMdesireInverse;
+
+ if(nbLvlPyr>1)
+ {
+ vpImage<unsigned char> Itemp;Itemp=I;
+ for(unsigned int i=1;i<nbLvlPyr;i++)
+ {
+ vpImageFilter::getGaussPyramidal(Itemp,Itemp);
+
+ templateSize=templateSizePyr[i];
+ ptTemplate=ptTemplatePyr[i];
+ ptTemplateSelect=ptTemplateSelectPyr[i];
+ //ptTemplateSupp=ptTemplateSuppPyr[i];
+ //ptTemplateCompo=ptTemplateCompoPyr[i];
+ initHessienDesired(Itemp);
+ ptTemplateSuppPyr[i]=ptTemplateSupp;
+ ptTemplateCompoPyr[i]=ptTemplateCompo;
+
+ /*HdesirePyr[i].resize(NbParam,NbParam);HdesirePyr[i]=H;
+ HLMdesirePyr[i].resize(NbParam,NbParam);HLMdesirePyr[i]=HLM;*/
+ HdesirePyr[i]=Hdesire;
+ HLMdesirePyr[i]=HLMdesire;
+ HLMdesireInversePyr[i]=HLMdesireInverse;
+ }
+ }
+ // vpTRACE("fin initHessienDesiredPyr");
+}
+
+/*!
+ Track the template on image \e I.
+ \param I: Image to process.
+ */
+void vpTemplateTracker::track(const vpImage<unsigned char> &I)
+{
+ if (nbLvlPyr > 1)
+ trackPyr(I);
+ else
+ trackNoPyr(I);
+}
+
+void vpTemplateTracker::trackPyr(const vpImage<unsigned char> &I)
+{
+ //vpTRACE("trackPyr");
+ vpImage<unsigned char> *pyr_I;
+// pyr_I=new vpImage<unsigned char>[nbLvlPyr+1]; // Why +1 ?
+ pyr_I=new vpImage<unsigned char>[nbLvlPyr]; // Why +1 ?
+ pyr_I[0]=I;
+
+ vpColVector ptemp(nbParam);
+ if(nbLvlPyr>1)
+ {
+// vpColVector *p_sauv=new vpColVector[nbLvlPyr];
+// for(unsigned int i=0;i<nbLvlPyr;i++)p_sauv[i].resize(nbParam);
+
+// p_sauv[0]=p;
+ for(unsigned int i=1;i<nbLvlPyr;i++)
+ {
+ vpImageFilter::getGaussPyramidal(pyr_I[i-1],pyr_I[i]);
+ //test getParamPyramidDown
+ /*vpColVector vX_test(2);vX_test[0]=15.;vX_test[1]=30.;
+ vpColVector vX_test2(2);
+ Warp->computeCoeff(p);
+ Warp->computeDenom(vX_test,p);
+ Warp->warpX(vX_test,vX_test2,p);
+ std::cout<<"p = "<<p.t()<<std::endl;*/
+ //std::cout<<"get p down"<<std::endl;
+ Warp->getParamPyramidDown(p,ptemp);
+ p=ptemp;
+ zoneTracked=&zoneTrackedPyr[i];
+
+// p_sauv[i]=p;
+ /*std::cout<<"p_down = "<<p.t()<<std::endl;
+
+ vpColVector vX_testd(2);vX_testd[0]=15./2.;vX_testd[1]=30./2.;
+ vpColVector vX_testd2(2);
+ Warp->computeCoeff(p);
+ Warp->computeDenom(vX_testd,p);
+ Warp->warpX(vX_testd,vX_testd2,p);
+ std::cout<<2.*vX_testd2[0]<<","<<2.*vX_testd2[1]<<" <=> "<<vX_test2[0]<<","<<vX_test2[1]<<std::endl;*/
+
+ }
+
+ for(int i=(int)nbLvlPyr-1;i>=0;i--)
+ {
+ if(i>=(int)l0Pyr)
+ {
+ templateSize=templateSizePyr[i];
+ ptTemplate=ptTemplatePyr[i];
+ ptTemplateSelect=ptTemplateSelectPyr[i];
+ ptTemplateSupp=ptTemplateSuppPyr[i];
+ ptTemplateCompo=ptTemplateCompoPyr[i];
+ H=HdesirePyr[i];
+ HLM=HLMdesirePyr[i];
+ HLMdesireInverse=HLMdesireInversePyr[i];
+// zoneTracked=&zoneTrackedPyr[i];
+ trackRobust(pyr_I[i]);
+ }
+ //std::cout<<"get p up"<<std::endl;
+// ptemp=p_sauv[i-1];
+ if (i > 0) {
+ Warp->getParamPyramidUp(p,ptemp);
+ p=ptemp;
+ zoneTracked=&zoneTrackedPyr[i-1];
+ }
+ }
+#if 0
+ if(l0Pyr==0)
+ {
+ templateSize=templateSizePyr[0];
+ ptTemplate=ptTemplatePyr[0];
+ ptTemplateSelect=ptTemplateSelectPyr[0];
+ ptTemplateSupp=ptTemplateSuppPyr[0];
+ ptTemplateCompo=ptTemplateCompoPyr[0];
+ H=HdesirePyr[0];
+ HLM=HLMdesirePyr[0];
+ HLMdesireInverse=HLMdesireInversePyr[0];
+ zoneTracked=&zoneTrackedPyr[0];
+ trackRobust(pyr_I[0]);
+ }
+
+ if (l0Pyr > 0) {
+// for (int l=(int)l0Pyr; l >=0; l--) {
+// Warp->getParamPyramidUp(p,ptemp);
+// p=ptemp;
+// }
+ zoneTracked=&zoneTrackedPyr[0];
+ }
+#endif
+ // delete [] p_sauv;
+ }
+ else
+ {
+ //std::cout<<"reviens a tracker de base"<<std::endl;
+ trackRobust(I);
+ }
+ delete[] pyr_I;
+}
+
+void vpTemplateTracker::trackRobust(const vpImage<unsigned char> &I)
+{
+ if(costFunctionVerification)
+ {
+ vpColVector p_pre_estimation;p_pre_estimation=p;
+ getGaussianBluredImage(I);
+ double pre_fcost=getCost(I,p);
+
+ trackNoPyr(I);
+
+ //std::cout<<"fct avant : "<<pre_fcost<<std::endl;
+ double post_fcost=getCost(I,p);
+ //std::cout<<"fct apres : "<<post_fcost<<std::endl<<std::endl;
+ if(pre_fcost<post_fcost)
+ p=p_pre_estimation;
+ }
+ else
+ trackNoPyr(I);
+
+}
diff --git a/src/tracking/template-tracker/vpTemplateTracker.h b/src/tracking/template-tracker/vpTemplateTracker.h
new file mode 100644
index 0000000..1fbdeaa
--- /dev/null
+++ b/src/tracking/template-tracker/vpTemplateTracker.h
@@ -0,0 +1,219 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTracker.h 4648 2014-02-07 13:30:07Z ayol $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTracker.h
+ \brief
+*/
+
+#ifndef vpTemplateTracker_hh
+#define vpTemplateTracker_hh
+
+#include <math.h>
+
+#include <visp/vpTemplateTrackerHeader.h>
+#include <visp/vpTemplateTrackerZone.h>
+#include <visp/vpTemplateTrackerWarp.h>
+#include <visp/vpImageFilter.h>
+
+class VISP_EXPORT vpTemplateTracker
+{
+ protected:
+ //traitement pyramidal
+ unsigned int nbLvlPyr; // If = 1, disable pyramidal usage
+ unsigned int l0Pyr;
+ bool pyrInitialised;
+
+ vpTemplateTrackerPoint *ptTemplate;
+ vpTemplateTrackerPoint **ptTemplatePyr;
+ bool ptTemplateInit;
+ unsigned int templateSize;
+ unsigned int *templateSizePyr;
+ bool *ptTemplateSelect;
+ bool **ptTemplateSelectPyr;
+ bool ptTemplateSelectInit;
+ unsigned int templateSelectSize;
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ vpTemplateTrackerPointSuppMIInv *ptTemplateSupp; //pour inverse et compo
+ vpTemplateTrackerPointSuppMIInv **ptTemplateSuppPyr; //pour inverse et compo
+ #endif
+
+ vpTemplateTrackerPointCompo *ptTemplateCompo; //pour ESM
+ vpTemplateTrackerPointCompo **ptTemplateCompoPyr; //pour ESM
+ vpTemplateTrackerZone *zoneTracked;
+ vpTemplateTrackerZone *zoneTrackedPyr;
+
+ vpImage<unsigned char> *pyr_IDes;
+
+ vpMatrix H;
+ vpMatrix Hdesire;
+ vpMatrix *HdesirePyr;
+ vpMatrix HLM;
+ vpMatrix HLMdesire;
+ vpMatrix *HLMdesirePyr;
+ vpMatrix HLMdesireInverse;
+ vpMatrix *HLMdesireInversePyr;
+ vpColVector G;
+
+ double gain;
+ double thresholdGradient;
+ bool costFunctionVerification;
+ bool blur;
+ bool useBrent;
+ unsigned int nbIterBrent;
+ unsigned int taillef;
+ double *fgG;
+ double *fgdG;
+ double ratioPixelIn;
+ int mod_i;
+ int mod_j;//variable de sampling de zone de reference
+ unsigned int nbParam ;
+ double lambdaDep ;
+ unsigned int iterationMax ;
+ //pour BFGS
+ unsigned int iterationGlobale;
+ //diverge is set to true if there is no more point in the tracked area
+ bool diverge;
+ unsigned int nbIteration;
+ bool useCompositionnal;
+ bool useInverse;
+
+ vpTemplateTrackerWarp *Warp;
+ //Parametre de deplacement
+ vpColVector p;
+ vpColVector dp;
+
+ //temporary values for warping
+ vpColVector X1;
+ vpColVector X2;
+ //temporary derivative matrix
+ vpMatrix dW;
+
+ vpImage<double> BI;
+ vpImage<double> dIx ;
+ vpImage<double> dIy ;
+ vpTemplateTrackerZone zoneRef_; // Reference zone
+
+ public:
+ vpTemplateTracker(vpTemplateTrackerWarp *_warp);
+ virtual ~vpTemplateTracker();
+
+ void display(const vpImage<unsigned char> &I, const vpColor& col = vpColor::green, const unsigned int thickness=3);
+ void display(const vpImage<vpRGBa> &I, const vpColor& col = vpColor::green, const unsigned int thickness=3);
+
+ bool getDiverge() const {return diverge;}
+ vpColVector getdp(){ return dp; }
+ vpColVector getG() const { return G; }
+ vpMatrix getH() const { return H; }
+ unsigned int getNbParam() const { return nbParam ; }
+ unsigned int getNbIteration() const { return nbIteration; }
+ vpColVector getp() const { return p;}
+ double getRatioPixelIn() const {return ratioPixelIn;}
+
+ /*!
+
+ \return The pointer to the warper.
+ */
+ vpTemplateTrackerWarp *getWarp() const {return Warp;}
+
+ /*!
+ Return the reference template zone.
+ */
+ vpTemplateTrackerZone getZoneRef() const { return zoneRef_; }
+
+ void initClick(const vpImage<unsigned char> &I, bool delaunay=false);
+ void initFromPoints(const vpImage<unsigned char> &I, const std::vector< vpImagePoint > &v_ip, bool delaunay=false);
+ void initFromZone(const vpImage<unsigned char> &I, const vpTemplateTrackerZone& zone);
+
+ void resetTracker();
+
+ void setBlur(bool b){blur = b;}
+ void setCostFunctionVerification(bool b){costFunctionVerification = b;}
+ void setGain(double g){gain=g;}
+ void setGaussianFilterSize(unsigned int new_taill);
+ void setHDes(vpMatrix &tH){ Hdesire=tH; vpMatrix::computeHLM(Hdesire,lambdaDep,HLMdesire); HLMdesireInverse = HLMdesire.inverseByLU();}
+ void setIterationMax(const unsigned int &n) { iterationMax = n ; }
+ void setLambda(double l) { lambdaDep = l ; }
+ void setNbIterBrent(const unsigned int &b){nbIterBrent=b;}
+ void setp(const vpColVector &tp){ p=tp; diverge=false; iterationGlobale=0; }
+ /*!
+ Set the number of pyramid levels used in the multi-resolution scheme.
+ If \e nlevels > 1, the tracker uses a pyramidal approach.
+
+ \param nlevels: Number of pyramid levels. Algorithm starts at level nlevels-1.
+ \param level_to_stop: Last level of the pyramid that will be considered. (Lowest level is Zero)
+ */
+ void setPyramidal(unsigned int nlevels=2, unsigned int level_to_stop=1) {
+ nbLvlPyr = nlevels;
+ l0Pyr = level_to_stop;
+ if(l0Pyr >= nlevels){
+ std::cout << "Warning: level_to_stop: " << level_to_stop << " higher than level_to_start: " << nlevels-1 << " (nlevels-1)" <<std::endl;
+ std::cout << "Level to stop put to: " << nlevels-1 << std::endl;
+ l0Pyr = nlevels-1;
+ }
+ }
+
+ void setSampling(int _mod_i,int _mod_j){mod_i=_mod_i;mod_j=_mod_j;}
+ void setThresholdGradient(double threshold){thresholdGradient=threshold;}
+ /*! By default Brent usage is disabled. */
+ void setUseBrent(bool b){useBrent = b;}
+
+ void track(const vpImage<unsigned char> &I);
+ void trackRobust(const vpImage<unsigned char> &I);
+
+ protected:
+
+ void computeOptimalBrentGain(const vpImage<unsigned char> &I,vpColVector &tp,double tMI,vpColVector &direction,double &alpha);
+ virtual double getCost(const vpImage<unsigned char> &I, vpColVector &tp) = 0;
+ void getGaussianBluredImage(const vpImage<unsigned char> &I){ vpImageFilter::filter(I, BI,fgG,taillef); }
+ void initCompInverse(const vpImage<unsigned char> &I);
+ virtual void initCompInversePyr(const vpImage<unsigned char> &I);
+ virtual void initHessienDesired(const vpImage<unsigned char> &I)=0;
+ virtual void initHessienDesiredPyr(const vpImage<unsigned char> &I);
+ virtual void initPyramidal(unsigned int nbLvl,unsigned int l0);
+ void initTracking(const vpImage<unsigned char>& I,vpTemplateTrackerZone &zone);
+ virtual void initTrackingPyr(const vpImage<unsigned char>& I,vpTemplateTrackerZone &zone);
+ virtual void trackNoPyr(const vpImage<unsigned char> &I) = 0;
+ virtual void trackPyr(const vpImage<unsigned char> &I);
+};
+#endif
+
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.cpp
new file mode 100644
index 0000000..7754a79
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.cpp
@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarp.cpp 4649 2014-02-07 14:57:11Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarp.h>
+
+void vpTemplateTrackerWarp::warpTriangle(const vpTemplateTrackerTriangle &in,const vpColVector &p, vpTemplateTrackerTriangle &out)
+{
+ vpColVector S1(2),S2(2),S3(2);
+ vpColVector rS1(2),rS2(2),rS3(2);
+ in.getCorners(S1,S2,S3);
+ computeDenom(S1,p);
+ warpX(S1,rS1,p);
+ computeDenom(S2,p);
+ warpX(S2,rS2,p);
+ computeDenom(S3,p);
+ warpX(S3,rS3,p);
+ out.init(rS1,rS2,rS3);
+}
+void vpTemplateTrackerWarp::warpZone(const vpTemplateTrackerZone &in,const vpColVector &p, vpTemplateTrackerZone &out)
+{
+ vpTemplateTrackerTriangle TR,TT;
+ out.clear();
+ for(unsigned int i=0;i<in.getNbTriangle();i++)
+ {
+ in.getTriangle(i,TR);
+ warpTriangle(TR,p,TT);
+ out.add(TT);
+ }
+}
+
+double vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z, const vpColVector &p)
+{
+ unsigned int nb_corners = Z.getNbTriangle() * 3;
+ computeCoeff(p);
+ vpColVector X1(2),X2(2);
+
+ double res=0;
+ vpTemplateTrackerTriangle triangle;
+ for(unsigned int i=0;i<Z.getNbTriangle();i++)
+ {
+ Z.getTriangle(i, triangle);
+ for (unsigned int j=0; j<3; j++) {
+ triangle.getCorner(j, X1[0], X1[1]);
+
+ computeDenom(X1,p);
+ warpX(X1,X2,p);
+ res+=sqrt((X2[0]-X1[0])*(X2[0]-X1[0])+(X2[1]-X1[1])*(X2[1]-X1[1]));
+ }
+ }
+
+ return res/nb_corners;
+}
+
+void vpTemplateTrackerWarp::warp(const double *ut0,const double *vt0,int nb_pt,const vpColVector& p,double *u,double *v)
+{
+ computeCoeff(p);
+ vpColVector X1(2),X2(2);
+ for(int i=0;i<nb_pt;i++)
+ {
+ X1[0]=ut0[i];
+ X1[1]=vt0[i];
+ computeDenom(X1,p);
+ warpX(X1,X2,p);
+ u[i]=X2[0];
+ v[i]=X2[1];
+ //std::cout<<"warp "<<X2[0]<<","<<X2[1]<<std::endl;
+ }
+}
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+void vpTemplateTrackerWarp::findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p)
+{
+ vpMatrix dW_(2,nbParam);
+ vpMatrix dX(2,1);
+ vpMatrix H(nbParam,nbParam), HLM(nbParam,nbParam);
+ vpMatrix G(nbParam,1);
+
+ int cpt=0;
+ vpColVector X1(2);
+ vpColVector fX1(2);
+ vpColVector X2(2);
+ double erreur=0;
+ double erreur_prec;
+ double lambda=0.01;
+ do
+ {
+ erreur_prec=erreur;
+ H=0;
+ G=0;
+ erreur=0;
+ computeCoeff(p);
+ for(int i=0;i<nb_pt;i++)
+ {
+ X1[0]=ut0[i];
+ X1[1]=vt0[i];
+ computeDenom(X1,p);
+ warpX(X1,fX1,p);
+ dWarp(X1,fX1,p,dW_);
+ H+=dW_.AtA();
+
+ X2[0]=u[i];
+ X2[1]=v[i];
+
+ dX=X2-fX1;
+ G+=dW_.t()*dX;
+
+ erreur+=((u[i]-fX1[0])*(u[i]-fX1[0])+(v[i]-fX1[1])*(v[i]-fX1[1]));
+
+ }
+
+ vpMatrix::computeHLM(H, lambda, HLM);
+ try{
+ p+=HLM.inverseByLU()*G;
+ }
+ catch(...) {
+ std::cout<<"Cannot inverse the matrix by LU " << std::endl;
+ break;
+ }
+ cpt++;
+ }
+ while((cpt<150)&&(sqrt((erreur_prec-erreur)*(erreur_prec-erreur))>1e-20));
+ //std::cout<<"erreur apres transformation="<<erreur<<std::endl;
+}
+#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
+
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.h
new file mode 100644
index 0000000..74f5273
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarp.h
@@ -0,0 +1,245 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarp.h 4632 2014-02-03 17:06:40Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarp.h
+ \brief
+*/
+
+
+#ifndef vpTemplateTrackerWarp_hh
+#define vpTemplateTrackerWarp_hh
+
+#include <visp/vpDisplay.h>
+#include <visp/vpTemplateTrackerHeader.h>
+#include <visp/vpTemplateTrackerTriangle.h>
+#include <visp/vpTemplateTrackerZone.h>
+#include <visp/vpTrackingException.h>
+
+class VISP_EXPORT vpTemplateTrackerWarp
+{
+ protected:
+ double denom;
+ vpMatrix dW;
+ unsigned int nbParam ;
+
+ public:
+ //constructor;
+ vpTemplateTrackerWarp() : denom(1.), dW(), nbParam(0) {}
+ virtual ~vpTemplateTrackerWarp(){}
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ virtual void computeCoeff(const vpColVector &p)=0;
+ virtual void computeDenom(vpColVector &vX, const vpColVector &ParamM)=0;
+ #endif
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ virtual void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW) = 0;
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ virtual void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW) = 0;
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p);
+ #endif
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ virtual void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW) = 0;
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ virtual void getdWdp0(const int &i,const int &j,double *dIdW) = 0;
+
+ /*!
+ Compute the distance between a zone and its associated warped zone.
+
+ \param Z : Zone to consider.
+ \param p : Parameters of the warping function.
+ */
+ double getDistanceBetweenZoneAndWarpedZone(const vpTemplateTrackerZone &Z,const vpColVector &p);
+
+ /*!
+ Get the number of parameters of the warping function.
+
+ \return Number of parameters.
+ */
+ unsigned int getNbParam() const {return nbParam;}
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ virtual void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const = 0;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ virtual void getParamPyramidDown(const vpColVector &p,vpColVector &pdown) =0;
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ virtual void getParamPyramidUp(const vpColVector &p,vpColVector &pup) =0;
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ virtual bool isESMcompatible() const =0;
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ virtual void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const = 0;
+
+ /*!
+ Set the number of parameters of the warping function.
+
+ \param nb : New number of parameters.
+ */
+ void setNbParam(unsigned int nb){nbParam=nb;dW.resize(2,nbParam);}
+
+ /*!
+ Warp a list of points.
+
+ \param ut0 : List of u coordinates of the points.
+ \param vt0 : List of v coordinates of the points.
+ \param nb_pt : Number of points to consider.
+ \param p : Parameters of the warp.
+ \param u : Resulting u coordinates.
+ \param v : resulting v coordinates.
+ */
+ void warp(const double *ut0,const double *vt0,int nb_pt,const vpColVector& p,double *u,double *v);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the rows) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warp.
+ */
+ virtual void warpX(const int &i, const int &j,double &i2,double &j2, const vpColVector &ParamM) = 0;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ virtual void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM) = 0;
+
+ /*!
+ Inverse Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ virtual void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM) = 0;
+
+ /*!
+ Warp a triangle and store the result in a new zone.
+
+ \param in : Triangle to warp.
+ \param p : Parameters of the warping function. These parameters are estimated by the template
+ tracker and returned using vpTemplateTracker::getp().
+ \param out : Resulting triangle.
+ */
+ void warpTriangle(const vpTemplateTrackerTriangle &in,const vpColVector &p, vpTemplateTrackerTriangle &out);
+
+ /*!
+ Warp a zone and store the result in a new zone.
+
+ \param in : Zone to warp.
+ \param p : Parameters of the warping function. These parameters are estimated by the template
+ tracker and returned using vpTemplateTracker::getp().
+ \param out : Resulting zone.
+ */
+ void warpZone(const vpTemplateTrackerZone &in,const vpColVector &p, vpTemplateTrackerZone &out);
+
+};
+
+#endif
+
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.cpp
new file mode 100644
index 0000000..078f13c
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.cpp
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpAffine.cpp 4649 2014-02-07 14:57:11Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarpAffine.h>
+
+
+vpTemplateTrackerWarpAffine::vpTemplateTrackerWarpAffine()
+{
+ nbParam = 6 ;
+ dW.resize(2,nbParam);
+}
+
+//get the parameter corresponding to the lower level of a gaussian pyramid
+void vpTemplateTrackerWarpAffine::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
+{
+ pdown=p;
+ pdown[4]=p[4]/2.;
+ pdown[5]=p[5]/2.;
+}
+
+void vpTemplateTrackerWarpAffine::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
+{
+ pup=p;
+ pup[4]=p[4]*2.;
+ pup[5]=p[5]*2.;
+}
+/*calcul de di*dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpAffine::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
+{
+ dIdW[0]=j*dx;
+ dIdW[1]=j*dy;
+ dIdW[2]=i*dx;
+ dIdW[3]=i*dy;
+ dIdW[4]=dx;
+ dIdW[5]=dy;
+}
+/*calcul de dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpAffine::getdWdp0(const int &i,const int &j,double *dIdW)
+{
+ dIdW[0]=j;
+ dIdW[1]=0;
+ dIdW[2]=i;
+ dIdW[3]=0;
+ dIdW[4]=1.;
+ dIdW[5]=0;
+
+ dIdW[6]=0;
+ dIdW[7]=j;
+ dIdW[8]=0;
+ dIdW[9]=i;
+ dIdW[10]=0;
+ dIdW[11]=1.;
+}
+
+void vpTemplateTrackerWarpAffine::warpX(const int &i, const int &j,double &i2,double &j2, const vpColVector &ParamM)
+{
+ j2=(1+ParamM[0])*j+ParamM[2]*i+ParamM[4];
+ i2=ParamM[1]*j+(1+ParamM[3])*i+ParamM[5];
+}
+
+
+void vpTemplateTrackerWarpAffine::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ vXres[0]=(1.0+ParamM[0])*vX[0]+ParamM[2]*vX[1]+ParamM[4];
+ vXres[1]=ParamM[1]*vX[0]+(1.0+ParamM[3])*vX[1]+ParamM[5];
+}
+
+void vpTemplateTrackerWarpAffine::dWarp(const vpColVector &X1,const vpColVector &/*X2*/,const vpColVector &/*ParamM*/,vpMatrix &dW_)
+{
+ double j=X1[0];
+ double i=X1[1];
+ dW_=0;
+ dW_[0][0]=j;dW_[0][2]=i;dW_[0][4]=1;
+ dW_[1][1]=j;dW_[1][3]=i;dW_[1][5]=1;
+}
+
+/*compute dw=dw/dx*dw/dp
+*/
+void vpTemplateTrackerWarpAffine::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &ParamM,
+ const double *dwdp0, vpMatrix &dW_)
+{
+ for(unsigned int i=0;i<nbParam;i++)
+ {
+ dW_[0][i]=(1.+ParamM[0])*dwdp0[i]+ParamM[2]*dwdp0[i+nbParam];
+ dW_[1][i]=ParamM[1]*dwdp0[i]+(1.+ParamM[3])*dwdp0[i+nbParam];
+ }
+}
+
+void vpTemplateTrackerWarpAffine::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ vXres[0]=(1+ParamM[0])*vX[0]+ParamM[2]*vX[1]+ParamM[4];
+ vXres[1]=ParamM[1]*vX[0]+(1+ParamM[3])*vX[1]+ParamM[5];
+}
+void vpTemplateTrackerWarpAffine::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
+{
+ vpColVector Trans(2);
+ vpMatrix MWrap(2,2);
+ Trans[0]=ParamM[4];Trans[1]=ParamM[5];
+ MWrap[0][0]=1+ParamM[0];MWrap[0][1]=ParamM[2];
+ MWrap[1][0]=ParamM[1];MWrap[1][1]=1+ParamM[3];
+
+ vpMatrix MWrapInv(2,2);MWrapInv=MWrap.inverseByLU();
+ vpColVector TransInv(2);TransInv=-1*MWrapInv*Trans;
+
+ ParamMinv[0]=MWrapInv[0][0]-1;ParamMinv[2]=MWrapInv[0][1];
+ ParamMinv[1]=MWrapInv[1][0];ParamMinv[3]=MWrapInv[1][1]-1;
+ ParamMinv[4]=TransInv[0];ParamMinv[5]=TransInv[1];
+}
+
+void vpTemplateTrackerWarpAffine::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
+{
+ vpColVector Trans1(2);
+ vpMatrix MWrap1(2,2);
+ Trans1[0]=p1[4];Trans1[1]=p1[5];
+ MWrap1[0][0]=1+p1[0];MWrap1[0][1]=p1[2];
+ MWrap1[1][0]=p1[1];MWrap1[1][1]=1+p1[3];
+
+ vpColVector Trans2(2);
+ vpMatrix MWrap2(2,2);
+ Trans2[0]=p2[4];Trans2[1]=p2[5];
+ MWrap2[0][0]=1+p2[0];MWrap2[0][1]=p2[2];
+ MWrap2[1][0]=p2[1];MWrap2[1][1]=1+p2[3];
+
+ vpColVector TransRes(2);
+ vpMatrix MWrapRes(2,2);
+ TransRes=MWrap1*Trans2+Trans1;
+ MWrapRes=MWrap1*MWrap2;
+
+ pres[0]=MWrapRes[0][0]-1;pres[2]=MWrapRes[0][1];
+ pres[1]=MWrapRes[1][0];pres[3]=MWrapRes[1][1]-1;
+ pres[4]=TransRes[0];pres[5]=TransRes[1];
+}
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.h
new file mode 100644
index 0000000..0c60a29
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpAffine.h
@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpAffine.h 4607 2014-01-21 16:02:11Z ayol $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarpAffine.h
+ \brief Affine warping function: w(X)=AX+b with: A=[[1+p0, p2], [p1, 1+p3]] and b= [p4, p5]]
+*/
+
+
+#ifndef vpTemplateTrackerWarpAffine_hh
+#define vpTemplateTrackerWarpAffine_hh
+
+#include <visp/vpTemplateTrackerWarp.h>
+
+
+class VISP_EXPORT vpTemplateTrackerWarpAffine: public vpTemplateTrackerWarp
+{
+ public:
+ //constructor;
+ vpTemplateTrackerWarpAffine();
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void computeCoeff(const vpColVector &/*p*/){}
+ void computeDenom(vpColVector &/*vX*/, const vpColVector &/*ParamM*/){}
+ #endif
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const int &i,const int &j,double *dIdW);
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ bool isESMcompatible() const {return false;}
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the columns) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
+
+ /*!
+ Inverse Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+};
+#endif
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.cpp
new file mode 100644
index 0000000..46ad0f1
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.cpp
@@ -0,0 +1,221 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpHomography.cpp 4649 2014-02-07 14:57:11Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarpHomography.h>
+#include <visp/vpTrackingException.h>
+
+vpTemplateTrackerWarpHomography::vpTemplateTrackerWarpHomography()
+{
+ nbParam = 8 ;
+ dW.resize(2,nbParam);
+}
+
+//get the parameter corresponding to the lower level of a gaussian pyramid
+void vpTemplateTrackerWarpHomography::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
+{
+ pdown=p;
+ pdown[2]=p[2]*2.;
+ pdown[5]=p[5]*2.;
+ pdown[6]=p[6]/2.;
+ pdown[7]=p[7]/2.;
+}
+
+void vpTemplateTrackerWarpHomography::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
+{
+ pup=p;
+ pup[2]=p[2]/2.;
+ pup[5]=p[5]/2.;
+ pup[6]=p[6]*2.;
+ pup[7]=p[7]*2.;
+}
+
+/*calcul de di*dw(x,p0)/dp */
+void vpTemplateTrackerWarpHomography::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
+{
+ dIdW[0]=j*dx;
+ dIdW[1]=j*dy;
+ dIdW[2]=-j*j*dx-i*j*dy;
+ dIdW[3]=i*dx;
+ dIdW[4]=i*dy;
+ dIdW[5]=-i*j*dx-i*i*dy;
+ dIdW[6]=dx;
+ dIdW[7]=dy;
+}
+/*calcul de dw(x,p0)/dp */
+void vpTemplateTrackerWarpHomography::getdWdp0(const int &i,const int &j,double *dIdW)
+{
+ dIdW[0]=j;
+ dIdW[1]=0;
+ dIdW[2]=-j*j;
+ dIdW[3]=i;
+ dIdW[4]=0;
+ dIdW[5]=-i*j;
+ dIdW[6]=1.;
+ dIdW[7]=0;
+
+ dIdW[8]=0;
+ dIdW[9]=j;
+ dIdW[10]=-i*j;
+ dIdW[11]=0;
+ dIdW[12]=i;
+ dIdW[13]=-i*i;
+ dIdW[14]=0;
+ dIdW[15]=1.;
+}
+void vpTemplateTrackerWarpHomography::computeDenom(vpColVector &vX, const vpColVector &ParamM)
+{
+ denom=(1./(ParamM[2]*vX[0]+ParamM[5]*vX[1]+1.));
+}
+
+void vpTemplateTrackerWarpHomography::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
+{
+ j2=((1.+ParamM[0])*j+ParamM[3]*i+ParamM[6])*denom;
+ i2=(ParamM[1]*j+(1.+ParamM[4])*i+ParamM[7])*denom;
+}
+
+
+void vpTemplateTrackerWarpHomography::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ //if((ParamM[2]*vX[0]+ParamM[5]*vX[1]+1)>0)//si dans le plan image reel
+ if((denom)>0)// FS optimisation
+ {
+ vXres[0]=((1+ParamM[0])*vX[0]+ParamM[3]*vX[1]+ParamM[6])*denom;
+ vXres[1]=(ParamM[1]*vX[0]+(1+ParamM[4])*vX[1]+ParamM[7])*denom;
+ }
+ else
+ throw(vpTrackingException(vpTrackingException::fatalError,"Division by zero in vpTemplateTrackerWarpHomography::warpX()"));
+}
+
+void vpTemplateTrackerWarpHomography::dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &/*ParamM*/,vpMatrix &dW_)
+{
+ double j=X1[0];
+ double i=X1[1];
+ dW_=0;
+ dW_[0][0]=j*denom;
+ dW_[0][2]=-j*X2[0]*denom;
+ dW_[0][3]=i*denom;
+ dW_[0][5]=-i*X2[0]*denom;
+ dW_[0][6]=denom;
+
+ dW_[1][1]=j*denom;
+ dW_[1][2]=-j*X2[1]*denom;
+ dW_[1][4]=i*denom;
+ dW_[1][5]=-i*X2[1]*denom;
+ dW_[1][7]=denom;
+}
+
+/*compute dw=dw/dx*dw/dp */
+void vpTemplateTrackerWarpHomography::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &X2,const vpColVector &ParamM,
+ const double *dwdp0,vpMatrix &dW_)
+{
+ double dwdx0,dwdx1;
+ double dwdy0,dwdy1;
+
+ dwdx0=((1.+ParamM[0])-X2[0]*ParamM[2])*denom;
+ dwdx1=(ParamM[1]-X2[1]*ParamM[2])*denom;
+ dwdy0=(ParamM[3]-X2[0]*ParamM[5])*denom;
+ dwdy1=((1.+ParamM[4])-X2[1]*ParamM[5])*denom;
+ for(unsigned int i=0;i<nbParam;i++)
+ {
+ dW_[0][i]=dwdx0*dwdp0[i]+dwdy0*dwdp0[i+nbParam];
+ dW_[1][i]=dwdx1*dwdp0[i]+dwdy1*dwdp0[i+nbParam];
+ }
+}
+
+void vpTemplateTrackerWarpHomography::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+
+ if((ParamM[2]*vX[0]+ParamM[5]*vX[1]+1)<0)//si dans le plan image reel
+ {
+ vXres[0]=((1+ParamM[0])*vX[0]+ParamM[3]*vX[1]+ParamM[6])/(ParamM[2]*vX[0]+ParamM[5]*vX[1]+1);
+ vXres[1]=(ParamM[1]*vX[0]+(1+ParamM[4])*vX[1]+ParamM[7])/(ParamM[2]*vX[0]+ParamM[5]*vX[1]+1);
+ }
+ else
+ throw(vpTrackingException(vpTrackingException::fatalError,"Division by zero in vpTemplateTrackerWarpHomography::warpXSpecialInv()")) ;
+}
+void vpTemplateTrackerWarpHomography::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
+{
+ vpHomography H = getHomography(ParamM);
+ vpHomography Hinv = H.inverse();
+ getParam(Hinv, ParamMinv);
+}
+
+
+vpHomography vpTemplateTrackerWarpHomography::getHomography(const vpColVector &ParamM) const
+{
+ vpHomography H;
+ for(unsigned int i=0;i<3;i++)
+ for(unsigned int j=0;j<3;j++)
+ {
+ if(i+3*j!=8)
+ {
+ H[i][j]=ParamM[i+3*j];
+ if(i==j)H[i][j]++;
+ }
+ else
+ H[i][j]=1.;
+ }
+
+ return H;
+}
+void vpTemplateTrackerWarpHomography::getParam(const vpHomography &H,vpColVector &par) const
+{
+ par=0;
+ for(unsigned int i=0;i<3;i++)
+ for(unsigned int j=0;j<3;j++)
+ {
+ if(i+3*j!=8)
+ {
+ par[i+3*j]=H[i][j]/H[2][2];
+ if(i==j)par[i+3*j]--;
+ }
+ }
+}
+
+
+
+void vpTemplateTrackerWarpHomography::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
+{
+ vpHomography H1 = getHomography(p1);
+ vpHomography H2 = getHomography(p2);
+ vpHomography H = H1*H2;
+ getParam(H,pres);
+}
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.h
new file mode 100644
index 0000000..58201ab
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomography.h
@@ -0,0 +1,200 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpHomography.h 4607 2014-01-21 16:02:11Z ayol $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarpHomography.h
+ \brief warping function of an homography: the homography is directly defined by the diplacement parameter: H=[[1+p0, p3, p6], [p1, 1+p4, p7], [p2, p5, 1]]
+*/
+
+
+#ifndef vpTemplateTrackerWarpHomography_hh
+#define vpTemplateTrackerWarpHomography_hh
+
+#include <visp/vpTemplateTrackerWarp.h>
+#include <visp/vpHomography.h>
+
+
+class VISP_EXPORT vpTemplateTrackerWarpHomography: public vpTemplateTrackerWarp
+{
+ public:
+ //constructor;
+ vpTemplateTrackerWarpHomography();
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void computeCoeff(const vpColVector &/*p*/){}
+ #endif
+
+ /*!
+ Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.
+
+ \param vX : Point to consider
+ \param ParamM : parameters of the warping function.
+ */
+ void computeDenom(vpColVector &vX, const vpColVector &ParamM);
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const int &i,const int &j,double *dIdW);
+
+ /*!
+ Return the homography defined by the given parameters
+
+ \param ParamM : Parameters of the homography.
+
+ \return An Homography via vpHomography.
+ */
+ vpHomography getHomography(const vpColVector &ParamM) const;
+
+ /*!
+ Compute the parameters of the homography warping function according to the given vpHomography
+
+ \param H : Homography used to compute the parameters.
+ \param par : Resulting warping function parameters.
+ */
+ void getParam(const vpHomography &H,vpColVector &par) const;
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ bool isESMcompatible() const {return false;}
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const ;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the rows) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
+
+ /*!
+ Inverse Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+};
+#endif
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.cpp
new file mode 100644
index 0000000..3e66765
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.cpp
@@ -0,0 +1,402 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpHomographySL3.cpp 4669 2014-02-16 16:25:57Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarpHomographySL3.h>
+
+//findWarp special a SL3 car methode additionnelle ne marche pas (la derivee n est calculable qu en p=0)
+// => resout le probleme de maniere compositionnelle
+void vpTemplateTrackerWarpHomographySL3::findWarp(const double *ut0,const double *vt0,
+ const double *u, const double *v,int nb_pt,vpColVector& p)
+{
+ //std::cout<<"findWarp OVERLOADE"<<std::endl;
+ vpColVector dp(nbParam);
+ vpMatrix dW_(2,nbParam);
+ vpMatrix dX(2,1);
+ vpMatrix H(nbParam,nbParam), HLM(nbParam,nbParam);
+ vpMatrix G_(nbParam,1);
+
+ //vpMatrix *dW_ddp0=new vpMatrix[nb_pt];
+ double **dW_ddp0=new double*[(unsigned int)nb_pt];
+ for(int i=0;i<nb_pt;i++)
+ {
+ //dW_ddp0[i].resize(2,nbParam);
+ dW_ddp0[i]=new double[2*nbParam];
+ //getdWdp0(vt0[i],ut0[i],dW_ddp0[i]);
+ //std::cout<<"findWarp"<<v[i]<<","<<u[i]<<std::endl;
+ getdWdp0(v[i],u[i],dW_ddp0[i]);
+ }
+
+ int cpt=0;
+ vpColVector X1(2);
+ vpColVector fX1(2);
+ vpColVector X2(2);
+ double erreur=0;
+ double erreur_prec;
+ double lambda=0.00001;
+ do
+ {
+ erreur_prec=erreur;
+ H=0;
+ G_=0;
+ erreur=0;
+ computeCoeff(p);
+ for(int i=0;i<nb_pt;i++)
+ {
+ X1[0]=ut0[i];
+ X1[1]=vt0[i];
+ computeDenom(X1,p);
+ warpX(X1,fX1,p);
+ //dWarpCompo(X1,fX1,p,dW_ddp0[i],dW);
+ //dWarp(X1,fX1,p,dW);
+ for(unsigned int ip=0;ip<nbParam;ip++)
+ {
+ dW_[0][ip]=dW_ddp0[i][ip];
+ dW_[1][ip]=dW_ddp0[i][ip+nbParam];
+ }
+
+ H+=dW_.AtA();
+
+ X2[0]=u[i];
+ X2[1]=v[i];
+
+ dX=X2-fX1;
+ G_+=dW_.t()*dX;
+
+ erreur+=((u[i]-fX1[0])*(u[i]-fX1[0])+(v[i]-fX1[1])*(v[i]-fX1[1]));
+ }
+
+ vpMatrix::computeHLM(H, lambda, HLM);
+ try{
+ dp=HLM.inverseByLU()*G_;
+ }
+ catch(...){
+ std::cout<<"Cannot inverse the matrix by LU "<<std::endl;
+ break;
+ }
+ pRondp(p,dp,p);
+
+ cpt++;
+ // std::cout<<"erreur ="<<erreur<<std::endl;
+ }
+ //while((cpt<1500));
+ while((cpt<150)&&(sqrt((erreur_prec-erreur)*(erreur_prec-erreur))>1e-20));
+
+ //std::cout<<"erreur apres transformation="<<erreur<<std::endl;
+ for(int i=0;i<nb_pt;i++)
+ delete[] dW_ddp0[i];
+ delete[] dW_ddp0;
+
+}
+
+vpTemplateTrackerWarpHomographySL3::vpTemplateTrackerWarpHomographySL3()
+ : G(), dGx(), A()
+{
+ nbParam = 8 ;
+ G.resize(3,3);
+ dGx.resize(3,nbParam);
+
+ A.resize(8);
+ for(unsigned int i=0;i<8;i++)
+ {
+ A[i].resize(3,3);
+ A[i]=0;
+ }
+ A[0][0][2]=1;
+ A[1][1][2]=1;
+ A[2][0][1]=1;
+ A[3][1][0]=1;
+ A[4][0][0]=1;
+ A[4][1][1]=-1;
+ A[5][1][1]=-1;
+ A[5][2][2]=1;
+ A[6][2][0]=1;
+ A[7][2][1]=1;
+}
+
+vpTemplateTrackerWarpHomographySL3::~vpTemplateTrackerWarpHomographySL3()
+{
+}
+
+//get the parameter corresponding to the lower level of a gaussian pyramid
+//a refaire de facon analytique
+void vpTemplateTrackerWarpHomographySL3::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
+{
+ double *u,*v;u=new double[4];v=new double[4];
+ //u[0]=0;v[0]=0;u[1]=640;v[1]=0;u[2]=640;v[2]=480;u[3]=0;v[3]=480;
+ u[0]=0;v[0]=0;u[1]=160;v[1]=0;u[2]=160;v[2]=120;u[3]=0;v[3]=120;
+ double *u2,*v2;u2=new double[4];v2=new double[4];
+ warp(u,v,4,p,u2,v2);
+ //p=0;findWarp(u,v,u2,v2,4,p);
+ for(int i=0;i<4;i++)
+ {
+ u[i]=u[i]/2.;
+ v[i]=v[i]/2.;
+ u2[i]=u2[i]/2.;
+ v2[i]=v2[i]/2.;
+ //std::cout<<"recherche "<<u2[i]<<","<<v2[i]<<std::endl;
+ }
+ pdown=p;
+ findWarp(u,v,u2,v2,4,pdown);
+ delete[] u;
+ delete[] v;
+ delete[] u2;
+ delete[] v2;
+}
+
+void vpTemplateTrackerWarpHomographySL3::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
+{
+ double *u,*v;u=new double[4];v=new double[4];
+ //u[0]=0;v[0]=0;u[1]=640;v[1]=0;u[2]=640;v[2]=480;u[3]=0;v[3]=480;
+ u[0]=0;v[0]=0;u[1]=160;v[1]=0;u[2]=160;v[2]=120;u[3]=0;v[3]=120;
+ //u[0]=40;v[0]=30;u[1]=160;v[1]=30;u[2]=160;v[2]=120;u[3]=40;v[3]=120;
+ double *u2,*v2;u2=new double[4];v2=new double[4];
+
+ //pup=p;
+
+ /*vpColVector ptest=pup;
+ warp(u,v,4,ptest,u2,v2);
+ for(int i=0;i<4;i++)
+ std::cout<<"test "<<u2[i]<<","<<v2[i]<<std::endl;*/
+
+ warp(u,v,4,p,u2,v2);
+ //p=0;findWarp(u,v,u2,v2,4,p);
+
+
+ for(int i=0;i<4;i++)
+ {
+ u[i]=u[i]*2.;
+ v[i]=v[i]*2.;
+ u2[i]=u2[i]*2.;
+ v2[i]=v2[i]*2.;
+ /*std::cout<<"#########################################################################################"<<std::endl;
+ std::cout<<"#########################################################################################"<<std::endl;
+ std::cout<<"#########################################################################################"<<std::endl;
+ std::cout<<"recherche "<<u2[i]<<","<<v2[i]<<std::endl;*/
+ }
+ findWarp(u,v,u2,v2,4,pup);
+
+ delete[] u;
+ delete[] v;
+ delete[] u2;
+ delete[] v2;
+}
+
+void vpTemplateTrackerWarpHomographySL3::computeDenom(vpColVector &vX, const vpColVector &/*ParamM*/)
+{
+ denom=vX[0]*G[2][0]+vX[1]*G[2][1]+G[2][2];
+}
+
+void vpTemplateTrackerWarpHomographySL3::computeCoeff(const vpColVector &p)
+{
+ vpMatrix pA(3,3);
+ pA[0][0]=p[4];
+ pA[0][1]=p[2];
+ pA[0][2]=p[0];
+
+ pA[1][0]=p[3];
+ pA[1][1]=-p[4]-p[5];
+ pA[1][2]=p[1];
+
+ pA[2][0]=p[6];
+ pA[2][1]=p[7];
+ pA[2][2]=p[5];
+
+ G=pA.expm();
+}
+
+
+void vpTemplateTrackerWarpHomographySL3::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &/*ParamM*/)
+{
+ double i=vX[1],j=vX[0];
+ vXres[0]=(j*G[0][0]+i*G[0][1]+G[0][2])/denom;
+ vXres[1]=(j*G[1][0]+i*G[1][1]+G[1][2])/denom;
+}
+void vpTemplateTrackerWarpHomographySL3::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &/*ParamM*/)
+{
+ j2=(j*G[0][0]+i*G[0][1]+G[0][2])/denom;
+ i2=(j*G[1][0]+i*G[1][1]+G[1][2])/denom;
+}
+
+vpHomography vpTemplateTrackerWarpHomographySL3::getHomography() const
+{
+ vpHomography H;
+ for (unsigned int i=0; i<3; i++)
+ for (unsigned int j=0; j<3; j++)
+ H[i][j] = G[i][j];
+ return H;
+}
+
+void vpTemplateTrackerWarpHomographySL3::dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &/*ParamM*/,vpMatrix &dW_)
+{
+ vpMatrix dhdx(2,3);
+ dhdx=0;
+ dhdx[0][0]=1./denom;dhdx[1][1]=1./denom;dhdx[0][2]=-X2[0]/(denom);dhdx[1][2]=-X2[1]/(denom);
+ dGx=0;
+ for(unsigned int i=0;i<3;i++)
+ {
+ dGx[i][0]=G[i][0];
+ dGx[i][1]=G[i][1];
+ dGx[i][2]=G[i][0]*X1[1];
+ dGx[i][3]=G[i][1]*X1[0];
+ dGx[i][4]=G[i][0]*X1[0]-G[i][1]*X1[1];
+ dGx[i][5]=G[i][2]-G[i][1]*X1[1];
+ dGx[i][6]=G[i][2]*X1[0];
+ dGx[i][7]=G[i][2]*X1[1];
+ }
+ dW_=dhdx*dGx;
+
+}
+
+/*calcul de di*dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpHomographySL3::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
+{
+ vpMatrix dhdx(1,3);
+ dhdx=0;
+ dhdx[0][0]=dx;dhdx[0][1]=dy;dhdx[0][2]=-j*dx-i*dy;
+ G.setIdentity();
+
+ dGx=0;
+ for(unsigned int par=0;par<3;par++)
+ {
+ dGx[par][0]=G[par][0];
+ dGx[par][1]=G[par][1];
+ dGx[par][2]=G[par][0]*i;
+ dGx[par][3]=G[par][1]*j;
+ dGx[par][4]=G[par][0]*j-G[par][1]*i;
+ dGx[par][5]=G[par][2]-G[par][1]*i;
+ dGx[par][6]=G[par][2]*j;
+ dGx[par][7]=G[par][2]*i;
+ }
+
+ for(unsigned int par=0;par<nbParam;par++)
+ {
+ double res=0;
+ for(unsigned int par2=0;par2<3;par2++)
+ res+=dhdx[0][par2]*dGx[par2][par];
+ dIdW[par]=res;
+ }
+
+}
+/*calcul de dw(x,p0)/dp
+*/
+
+void vpTemplateTrackerWarpHomographySL3::getdWdp0(const int &i,const int &j,double *dIdW)
+{
+ vpMatrix dhdx(2,3);
+ dhdx=0;
+ dhdx[0][0]=1.;dhdx[1][1]=1.;dhdx[0][2]=-j;dhdx[1][2]=-i;
+ G.setIdentity();
+
+ dGx=0;
+ for(unsigned int par=0;par<3;par++)
+ {
+ dGx[par][0]=G[par][0];
+ dGx[par][1]=G[par][1];
+ dGx[par][2]=G[par][0]*i;
+ dGx[par][3]=G[par][1]*j;
+ dGx[par][4]=G[par][0]*j-G[par][1]*i;
+ dGx[par][5]=G[par][2]-G[par][1]*i;
+ dGx[par][6]=G[par][2]*j;
+ dGx[par][7]=G[par][2]*i;
+ }
+ vpMatrix dIdW_temp(2,nbParam);
+ dIdW_temp=dhdx*dGx;
+
+ for(unsigned int par=0;par<nbParam;par++)
+ {
+ dIdW[par]=dIdW_temp[0][par];
+ dIdW[par+nbParam]=dIdW_temp[1][par];
+ }
+
+}
+void vpTemplateTrackerWarpHomographySL3::getdWdp0(const double &i,const double &j,double *dIdW)
+{
+ vpMatrix dhdx(2,3);
+ dhdx=0;
+ dhdx[0][0]=1.;dhdx[1][1]=1.;dhdx[0][2]=-j;dhdx[1][2]=-i;
+ G.setIdentity();
+
+ dGx=0;
+ for(unsigned int par=0;par<3;par++)
+ {
+ dGx[par][0]=G[par][0];
+ dGx[par][1]=G[par][1];
+ dGx[par][2]=G[par][0]*i;
+ dGx[par][3]=G[par][1]*j;
+ dGx[par][4]=G[par][0]*j-G[par][1]*i;
+ dGx[par][5]=G[par][2]-G[par][1]*i;
+ dGx[par][6]=G[par][2]*j;
+ dGx[par][7]=G[par][2]*i;
+ }
+ vpMatrix dIdW_temp(2,nbParam);
+ dIdW_temp=dhdx*dGx;
+
+ for(unsigned int par=0;par<nbParam;par++)
+ {
+ dIdW[par]=dIdW_temp[0][par];
+ dIdW[par+nbParam]=dIdW_temp[1][par];
+ }
+
+}
+/*compute dw=dw/dx*dw/dp
+*/
+
+void vpTemplateTrackerWarpHomographySL3::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &X2,const vpColVector &/*ParamM*/,
+ const double *dwdp0,vpMatrix &dW_)
+{
+ for(unsigned int i=0;i<nbParam;i++)
+ {
+ dW_[0][i]=denom*((G[0][0]-X2[0]*G[2][0])*dwdp0[i]+(G[0][1]-X2[0]*G[2][1])*dwdp0[i+nbParam]);
+ dW_[1][i]=denom*((G[1][0]-X2[1]*G[2][0])*dwdp0[i]+(G[1][1]-X2[1]*G[2][1])*dwdp0[i+nbParam]);
+ }
+}
+
+void vpTemplateTrackerWarpHomographySL3::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
+{
+ ParamMinv=-ParamM;
+}
+void vpTemplateTrackerWarpHomographySL3::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
+{
+ //vrai que si commutatif ...
+ pres=p1+p2;
+}
+
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.h
new file mode 100644
index 0000000..43adff0
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpHomographySL3.h
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpHomographySL3.h 4669 2014-02-16 16:25:57Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarpHomographySL3.h
+ \brief warping function of an homography: the homography is defined on the sl3 lie algebra H=exp(Sum(p[i]* A_i)) A_i is the basis of the SL3 Algebra
+*/
+
+
+#ifndef vpTemplateTrackerWarpHomographySL3_hh
+#define vpTemplateTrackerWarpHomographySL3_hh
+
+#include <vector>
+
+#include <visp/vpTemplateTrackerWarp.h>
+#include <visp/vpHomography.h>
+
+class VISP_EXPORT vpTemplateTrackerWarpHomographySL3: public vpTemplateTrackerWarp
+{
+ protected:
+ vpMatrix G;
+ vpMatrix dGx;
+ std::vector<vpMatrix> A;
+
+ public:
+ //constructor;
+ vpTemplateTrackerWarpHomographySL3();
+ ~vpTemplateTrackerWarpHomographySL3();
+
+ /*!
+ Compute the exponential of the homography matrix defined by the given parameters
+
+ \param p : Parameters of the SL3 homography warping function.
+ */
+ void computeCoeff(const vpColVector &p);
+
+ /*!
+ Compute the projection denominator (Z) used in x = X/Z and y = Y/Z.
+
+ \param vX : Point to consider
+ \param ParamM : parameters of the warping function.
+ */
+ void computeDenom(vpColVector &vX, const vpColVector &ParamM);
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
+
+ /*!
+ Find the displacement/warping function parameters from a list of points.
+
+ \param ut0 : Original u coordinates.
+ \param vt0 : Original v coordinates.
+ \param u : Warped u coordinates.
+ \param v : Warped v coordinates.
+ \param nb_pt : Number of points.
+ \param p : Resulting warping function parameters.
+ */
+ void findWarp(const double *ut0,const double *vt0,const double *u,const double *v,int nb_pt,vpColVector& p);
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const int &i,const int &j,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const double &i, const double &j,double *dIdW);
+
+ /*!
+ Return the homography defined by the warping function
+
+ \return An Homography via vpHomography.
+ */
+ vpHomography getHomography() const;
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ bool isESMcompatible() const {return true;}
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the rows) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void warpXInv(const vpColVector &/*vX*/,vpColVector &/*vXres*/,const vpColVector &/*ParamM*/) {}
+ #endif
+};
+#endif
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.cpp
new file mode 100644
index 0000000..6913eff
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.cpp
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpSRT.cpp 4649 2014-02-07 14:57:11Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarpSRT.h>
+
+
+vpTemplateTrackerWarpSRT::vpTemplateTrackerWarpSRT()
+{
+ nbParam = 4 ;
+ dW.resize(2,nbParam);
+}
+
+//get the parameter corresponding to the lower level of a gaussian pyramid
+void vpTemplateTrackerWarpSRT::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
+{
+ pdown=p;
+ pdown[2]=p[2]/2.;
+ pdown[3]=p[3]/2.;
+}
+
+void vpTemplateTrackerWarpSRT::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
+{
+ pup=p;
+ pup[2]=p[2]*2.;
+ pup[3]=p[3]*2.;
+}
+/*calcul de di*dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpSRT::getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW)
+{
+ // std::cout << "getdW0" << std::endl;
+ dIdW[0]=j*dx + i*dy;
+ dIdW[1]=-i*dx + j*dy;
+ dIdW[2]=dx;
+ dIdW[3]=dy;
+}
+/*calcul de dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpSRT::getdWdp0(const int &i,const int &j,double *dIdW)
+{
+ dIdW[0]=j;
+ dIdW[1]=-i;
+ dIdW[2]=1.;
+ dIdW[3]=0;
+
+ dIdW[4]=i;
+ dIdW[5]=j;
+ dIdW[6]=0;
+ dIdW[7]=1.;
+}
+
+void vpTemplateTrackerWarpSRT::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
+{
+ j2=((1.0+ParamM[0])*cos(ParamM[1])*j) - ((1.0+ParamM[0])*sin(ParamM[1])*i) + ParamM[2];
+ i2=((1.0+ParamM[0])*sin(ParamM[1])*j) + ((1.0+ParamM[0])*cos(ParamM[1])*i) + ParamM[3];
+}
+
+
+void vpTemplateTrackerWarpSRT::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ vXres[0]=((1.0+ParamM[0])*cos(ParamM[1])*vX[0]) - ((1.0+ParamM[0])*sin(ParamM[1])*vX[1]) + ParamM[2];
+ vXres[1]=((1.0+ParamM[0])*sin(ParamM[1])*vX[0]) + ((1.0+ParamM[0])*cos(ParamM[1])*vX[1]) + ParamM[3];
+}
+
+void vpTemplateTrackerWarpSRT::dWarp(const vpColVector &X1,const vpColVector &/*X2*/,const vpColVector &ParamM,vpMatrix &dW_)
+{
+ double j=X1[0];
+ double i=X1[1];
+ dW_=0;
+ dW_[0][0]=cos(ParamM[1])*j - sin(ParamM[1])*i;
+ dW_[0][1]=(-(1.0+ParamM[0])*sin(ParamM[1])*j) - ((1.0+ParamM[0])*cos(ParamM[1])*i);
+ dW_[0][2]=1;
+
+ dW_[1][0]=sin(ParamM[1])*j + cos(ParamM[1])*i;
+ dW_[1][1]=(1.0+ParamM[0])*cos(ParamM[1])*j - (1.0+ParamM[0])*sin(ParamM[1])*i;
+ dW_[1][3]=1;
+}
+
+/*compute dw=dw/dx*dw/dp
+*/
+void vpTemplateTrackerWarpSRT::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &ParamM,
+ const double *dwdp0,vpMatrix &dW_)
+{
+ for(unsigned int i=0;i<nbParam;i++)
+ {
+ dW_[0][i]=((1.+ParamM[0])*cos(ParamM[1])*dwdp0[i]) - ((1.0+ParamM[0])*sin(ParamM[1])*dwdp0[i+nbParam]);
+ dW_[1][i]=((1.+ParamM[0])*sin(ParamM[1])*dwdp0[i]) + ((1.0+ParamM[0])*cos(ParamM[1])*dwdp0[i+nbParam]);
+ }
+}
+
+void vpTemplateTrackerWarpSRT::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ // std::cout << "warpXspe" << std::endl;
+ vXres[0]=((1.0+ParamM[0])*cos(ParamM[1])*vX[0]) - ((1.0+ParamM[0])*sin(ParamM[1])*vX[1]) + ParamM[2];
+ vXres[1]=((1.0+ParamM[0])*sin(ParamM[1])*vX[0]) + ((1.0+ParamM[0])*cos(ParamM[1])*vX[1]) + ParamM[3];
+}
+
+void vpTemplateTrackerWarpSRT::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
+{
+ vpColVector Trans(2);
+ vpMatrix MWrap(2,2);
+ Trans[0]=ParamM[2];
+ Trans[1]=ParamM[3];
+ MWrap[0][0]=cos(ParamM[1]);
+ MWrap[0][1]=-sin(ParamM[1]);
+ MWrap[1][0]=sin(ParamM[1]);
+ MWrap[1][1]=cos(ParamM[1]);
+
+ vpMatrix MWrapInv(2,2);
+ MWrapInv=MWrap.transpose();
+ vpColVector TransInv(2);
+ TransInv=(-1.0/(1.0+ParamM[0]))*MWrapInv*Trans;
+
+ ParamMinv[0]=1.0/(1.0+ParamM[0]) - 1.0;
+ ParamMinv[1]= atan2(MWrapInv[1][0],MWrapInv[1][1]);
+ ParamMinv[2]=TransInv[0];
+ ParamMinv[3]=TransInv[1];
+}
+
+void vpTemplateTrackerWarpSRT::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
+{
+ vpColVector Trans1(2);
+ vpMatrix MWrap1(2,2);
+ Trans1[0]=p1[2];Trans1[1]=p1[3];
+
+ MWrap1[0][0]=cos(p1[1]);
+ MWrap1[0][1]=-sin(p1[1]);
+ MWrap1[1][0]=sin(p1[1]);
+ MWrap1[1][1]=cos(p1[1]);
+
+ vpColVector Trans2(2);
+ vpMatrix MWrap2(2,2);
+ Trans2[0]=p2[2];Trans2[1]=p2[3];
+
+ MWrap2[0][0]=cos(p2[1]);
+ MWrap2[0][1]=-sin(p2[1]);
+ MWrap2[1][0]=sin(p2[1]);
+ MWrap2[1][1]=cos(p2[1]);
+
+ vpColVector TransRes(2);
+ vpMatrix MWrapRes(2,2);
+ TransRes=(1.0+p1[0])*MWrap1*Trans2+Trans1;
+ MWrapRes=MWrap1*MWrap2;
+
+ pres[0]=(1.0+p1[0])*(1.0+p2[0]) - 1.0;
+ pres[1]=atan2(MWrapRes[1][0],MWrapRes[1][1]);
+
+ pres[2]=TransRes[0];
+ pres[3]=TransRes[1];
+}
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.h
new file mode 100644
index 0000000..08f7d50
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpSRT.h
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpSRT.h 4607 2014-01-21 16:02:11Z ayol $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarpSRT.h
+ \brief sRt warping function
+*/
+
+
+#ifndef vpTemplateTrackerWarpSRT_hh
+#define vpTemplateTrackerWarpSRT_hh
+
+#include <visp/vpTemplateTrackerWarp.h>
+
+class VISP_EXPORT vpTemplateTrackerWarpSRT: public vpTemplateTrackerWarp
+{
+ public:
+ //constructor;
+ vpTemplateTrackerWarpSRT();
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void computeCoeff(const vpColVector &/*p*/){}
+ void computeDenom(vpColVector &/*vX*/, const vpColVector &/*ParamM*/){}
+ #endif
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const int &i,const int &j,double *dIdW);
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ bool isESMcompatible() const {return false;}
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the rows) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
+
+ /*!
+ Inverse Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+};
+#endif
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.cpp b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.cpp
new file mode 100644
index 0000000..d61f8fc
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.cpp
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpTranslation.cpp 4649 2014-02-07 14:57:11Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerWarpTranslation.h>
+
+vpTemplateTrackerWarpTranslation::vpTemplateTrackerWarpTranslation()
+{
+ nbParam = 2 ;
+ dW.resize(2,nbParam);
+}
+
+
+//get the parameter corresponding to the lower level of a gaussian pyramid
+void vpTemplateTrackerWarpTranslation::getParamPyramidDown(const vpColVector &p,vpColVector &pdown)
+{
+ pdown[0]=p[0]/2.;
+ pdown[1]=p[1]/2.;
+}
+
+void vpTemplateTrackerWarpTranslation::getParamPyramidUp(const vpColVector &p,vpColVector &pup)
+{
+ pup[0]=p[0]*2.;
+ pup[1]=p[1]*2.;
+}
+
+/*calcul de di*dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpTranslation::getdW0(const int &/*i*/,const int &/*j*/,const double &dy,const double &dx,double *dIdW)
+{
+ dIdW[0]=dx;
+ dIdW[1]=dy;
+}
+/*calcul de dw(x,p0)/dp
+*/
+void vpTemplateTrackerWarpTranslation::getdWdp0(const int &/*i*/,const int &/*j*/,double *dIdW)
+{
+ dIdW[0]=1.;
+ dIdW[1]=0;
+
+ dIdW[2]=0;
+ dIdW[3]=1.;
+}
+
+void vpTemplateTrackerWarpTranslation::warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM)
+{
+ j2=j+ParamM[0];
+ i2=i+ParamM[1];
+}
+
+
+void vpTemplateTrackerWarpTranslation::warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ vXres[0]=vX[0]+ParamM[0];
+ vXres[1]=vX[1]+ParamM[1];
+}
+
+void vpTemplateTrackerWarpTranslation::dWarp(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &/*ParamM*/,
+ vpMatrix &dW_)
+{
+ dW_[0][0]=1;dW_[0][1]=0;
+ dW_[1][0]=0;dW_[1][1]=1;
+}
+
+/*compute dw=dw/dx*dw/dp
+*/
+void vpTemplateTrackerWarpTranslation::dWarpCompo(const vpColVector &/*X1*/,const vpColVector &/*X2*/,const vpColVector &/*ParamM*/,
+ const double *dwdp0,vpMatrix &dW_)
+{
+ for(unsigned int i=0;i<nbParam;i++)
+ {
+ dW_[0][i]=dwdp0[i];
+ dW_[1][i]=dwdp0[i+nbParam];
+ }
+}
+
+void vpTemplateTrackerWarpTranslation::warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM)
+{
+ vXres[0]=vX[0]+ParamM[0];
+ vXres[1]=vX[1]+ParamM[1];
+}
+void vpTemplateTrackerWarpTranslation::getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const
+{
+ ParamMinv[0]=-ParamM[0];
+ ParamMinv[1]=-ParamM[1];
+}
+
+void vpTemplateTrackerWarpTranslation::pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const
+{
+ pres[0]=p1[0]+p2[0];
+ pres[1]=p1[1]+p2[1];
+}
diff --git a/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.h b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.h
new file mode 100644
index 0000000..61a705f
--- /dev/null
+++ b/src/tracking/template-tracker/warp/vpTemplateTrackerWarpTranslation.h
@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerWarpTranslation.h 4607 2014-01-21 16:02:11Z ayol $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerWarpTranslation.h
+ \brief Translation warping function: w(X)=X+b with: b= [p0, p1]]
+*/
+
+
+#ifndef vpTemplateTrackerWarpTranslation_hh
+#define vpTemplateTrackerWarpTranslation_hh
+
+#include <visp/vpTemplateTrackerWarp.h>
+
+
+class VISP_EXPORT vpTemplateTrackerWarpTranslation: public vpTemplateTrackerWarp
+{
+ public:
+ //constructor;
+ vpTemplateTrackerWarpTranslation();
+
+ #ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void computeCoeff(const vpColVector &/*p*/){}
+ void computeDenom(vpColVector &/*vX*/, const vpColVector &/*ParamM*/){}
+ #endif
+
+ /*!
+ Compute the derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warping function.
+ \param dW : Resulting derivative matrix.
+ */
+ void dWarp(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,vpMatrix &dW);
+
+ /*!
+ Compute the compositionnal derivative of the warping function according to its parameters.
+
+ \param X1 : Point to consider in the derivative computation.
+ \param X2 : Point to consider in the derivative computation.
+ \param ParamM : Parameters of the warp.
+ \param dwdp0 : Derivative matrix of the warping function according to the initial warping function parameters (p=0).
+ \param dW : Resulting compositionnal derivative matrix.
+ */
+ void dWarpCompo(const vpColVector &X1,const vpColVector &X2,const vpColVector &ParamM,const double *dwdp0,vpMatrix &dW);
+
+ /*!
+ Compute the derivative of the image with relation to the warping function parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dy : Derivative on the y-axis (along the rows) of the point (i,j).
+ \param dx : Derivative on the x-axis (along the columns) of the point (i,j).
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdW0(const int &i,const int &j,const double &dy,const double &dx,double *dIdW);
+
+ /*!
+ Compute the derivative of the warping function according to the initial parameters.
+
+ \param i : i coordinate (along the rows) of the point to consider in the image.
+ \param j : j coordinate (along the columns) of the point to consider in the image.
+ \param dIdW : Resulting derivative matrix (Image according to the warping function).
+ */
+ void getdWdp0(const int &i,const int &j,double *dIdW);
+
+ /*!
+ Get the inverse of the warping function parameters.
+
+ \param ParamM : Parameters of the warping function.
+ \param ParamMinv : Inverse parameters.
+ */
+ void getParamInverse(const vpColVector &ParamM,vpColVector &ParamMinv) const ;
+
+ /*!
+ Get the parameters of the warping function one level down.
+
+ \param p : Current parameters of the warping function.
+ \param pdown : Resulting parameters on level down.
+ */
+ void getParamPyramidDown(const vpColVector &p,vpColVector &pdown);
+
+ /*!
+ Get the parameters of the warping function one level up.
+
+ \param p : Current parameters of the warping function.
+ \param pup : Resulting parameters one level up.
+ */
+ void getParamPyramidUp(const vpColVector &p,vpColVector &pup);
+
+ /*!
+ Tells if the warping function is ESM compatible.
+
+ \return True if it is ESM compatible, False otherwise.
+ */
+ bool isESMcompatible() const {return true;}
+
+ /*!
+ Get the displacement resulting from the composition of two other displacements.
+
+ \param p1 : First displacement.
+ \param p2 : Second displacement.
+ \param pres : Displacement resulting from the composition of p1 and p2.
+ */
+ void pRondp(const vpColVector &p1, const vpColVector &p2,vpColVector &pres) const ;
+
+ /*!
+ Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+
+ /*!
+ Warp a point.
+
+ \param i : i coordinate (along the rows) of the point to warp.
+ \param j : j coordinate (along the columns) of the point to warp.
+ \param i2 : i coordinate (along the rows) of the warped point.
+ \param j2 : j coordinate (along the columns) of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpX(const int &i,const int &j,double &i2,double &j2,const vpColVector &ParamM);
+
+ /*!
+ Inverse Warp a point.
+
+ \param vX : Coordinates of the point to warp.
+ \param vXres : Coordinates of the warped point.
+ \param ParamM : Parameters of the warping function.
+ */
+ void warpXInv(const vpColVector &vX,vpColVector &vXres,const vpColVector &ParamM);
+};
+#endif
diff --git a/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.cpp b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.cpp
new file mode 100644
index 0000000..d8e866f
--- /dev/null
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.cpp
@@ -0,0 +1,134 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZNCC.cpp 4666 2014-02-16 16:21:33Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerZNCC.h>
+
+vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp)
+ : vpTemplateTracker(warp), DI(), temp()
+{
+ dW.resize(2,nbParam);
+ G.resize(nbParam);
+ H.resize(nbParam,nbParam);
+ HLM.resize(nbParam,nbParam);
+
+ temp.resize(nbParam);
+
+ X1.resize(2);
+ X2.resize(2);
+ DI.resize(2);
+}
+
+
+double vpTemplateTrackerZNCC::getCost(const vpImage<unsigned char> &I, vpColVector &tp)
+{
+ double IW,Tij;
+ int i,j;
+ double i2,j2;
+ int Nbpoint=0;
+
+ Warp->computeCoeff(tp);
+
+ double moyTij=0;
+ double moyIW=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,tp);
+ Warp->warpX(X1,X2,tp);
+
+ j2=X2[0];i2=X2[1];
+ if((j2<I.getWidth()-1)&&(i2<I.getHeight()-1)&&(i2>0)&&(j2>0))
+ {
+ Tij=ptTemplate[point].val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ //IW=getSubPixBspline4(I,i2,j2);
+ moyTij+=Tij;
+ moyIW+=IW;
+ Nbpoint++;
+ }
+ }
+ ratioPixelIn=(double)Nbpoint/(double)templateSize;
+ if(! Nbpoint) {
+ throw(vpException(vpException::divideByZeroError,
+ "Cannot get cost: size = 0")) ;
+ }
+
+ moyTij=moyTij/Nbpoint;
+ moyIW=moyIW/Nbpoint;
+
+ double nom=0,denom=0;
+ double var1=0,var2=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,tp);
+ Warp->warpX(X1,X2,tp);
+
+ j2=X2[0];i2=X2[1];
+ if((j2<I.getWidth()-1)&&(i2<I.getHeight()-1)&&(i2>0)&&(j2>0))
+ {
+ Tij=ptTemplate[point].val;
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+ //IW=getSubPixBspline4(I,i2,j2);
+ nom+=(Tij-moyTij)*(IW-moyIW);
+ denom+=(Tij-moyTij)*(Tij-moyTij)*(IW-moyIW)*(IW-moyIW);
+ var1+=(IW-moyIW)*(IW-moyIW);
+ var2+=(Tij-moyTij)*(Tij-moyTij);
+
+ Nbpoint++;
+ }
+ }
+ if(Nbpoint==0)return 10e10;
+ //return -nom/sqrt(denom);
+ return -nom/sqrt(var1*var2);
+}
+
+
diff --git a/example/manual/image-manipulation/manGrabDirectShow.cpp b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.h
similarity index 52%
copy from example/manual/image-manipulation/manGrabDirectShow.cpp
copy to src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.h
index e524cd2..f0e5141 100644
--- a/example/manual/image-manipulation/manGrabDirectShow.cpp
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCC.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: manGrabDirectShow.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerZNCC.h 4666 2014-02-16 16:21:33Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,57 +26,58 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Images grabbing example.
+ * Template tracker.
*
* Authors:
- * Anthony Saunier
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
/*!
- \file manGrabDirectShow.cpp
+ \file vpTemplateTrackerZNCC.h
+ \brief
+*/
- \brief Images grabbing example with the vpDirectShowGrabber class.
+#ifndef vpTemplateTrackerZNCC_hh
+#define vpTemplateTrackerZNCC_hh
- */
-/*!
- \example manGrabDirectShow.cpp
+#include <math.h>
- \brief Images grabbing example with the vpDirectShowGrabber class.
+#include <visp/vpTemplateTracker.h>
+#include <visp/vpImage.h>
+#include <visp/vpDisplay.h>
+#include <visp/vpImageTools.h>
+#include <visp/vpIoTools.h>
+#include <visp/vpImageTools.h>
+#include <visp/vpImageFilter.h>
+#include <visp/vpMath.h>
+#include <visp/vpList.h>
+#include <visp/vpHomography.h>
- */
+#define APPROX_NCC
-#include <visp/vpConfig.h>
+class VISP_EXPORT vpTemplateTrackerZNCC: public vpTemplateTracker
+{
+ protected:
+ vpRowVector DI;
+ vpRowVector temp;
-#include <visp/vpImage.h>
-#include <visp/vpDirectShowGrabber.h>
+ protected:
+ double getCost(const vpImage<unsigned char> &I, vpColVector &tp) ;
+ double getCost(const vpImage<unsigned char> &I) {vpColVector tp; return getCost(I,tp);}
+ virtual void initHessienDesired(const vpImage<unsigned char> &I)=0;
+ virtual void trackNoPyr(const vpImage<unsigned char> &I)=0;
-int main()
-{
- vpImage<unsigned char> I; // Grey level image
-
-#ifdef VISP_HAVE_DIRECTSHOW
- vpDirectShowGrabber g; // Create the grabber
- if(g.getDeviceNumber() == 0) //test if a camera is connected
- {
- g.close();
- return -1;
- }
-
- g.open(); // Initialize the grabber
-
- g.setImageSize(640,480); // If the camera supports 640x480 image size
- g.setFramerate(30); // If the camera supports 30fps framerate
-
- for ( ; ; )
- g.acquire(I); // Acquire an image
+ public:
+ vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp);
+
+ void setGain(double _gain){gain=_gain;}
+};
#endif
- return 0;
-}
diff --git a/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.cpp b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.cpp
new file mode 100644
index 0000000..1954f23
--- /dev/null
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.cpp
@@ -0,0 +1,323 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZNCCForwardAdditional.cpp 4574 2014-01-09 08:48:51Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <visp/vpTemplateTrackerZNCCForwardAdditional.h>
+#include <visp/vpImageFilter.h>
+
+vpTemplateTrackerZNCCForwardAdditional::vpTemplateTrackerZNCCForwardAdditional(vpTemplateTrackerWarp *warp):vpTemplateTrackerZNCC(warp)
+{
+ useCompositionnal=false;
+}
+
+void vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(const vpImage<unsigned char> &I)
+{
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ vpImage<double> dIxx,dIxy,dIyx,dIyy;
+ vpImageFilter::getGradX(dIx, dIxx, fgdG,taillef);
+ vpImageFilter::getGradY(dIx, dIxy, fgdG,taillef);
+
+ vpImageFilter::getGradX(dIy, dIyx, fgdG,taillef);
+ vpImageFilter::getGradY(dIy, dIyy, fgdG,taillef);
+
+ Warp->computeCoeff(p);
+ double IW,dIWx,dIWy;
+ double Tij;
+ int i,j;
+ double i2,j2;
+ int Nbpoint=0;
+
+ double moyTij=0;
+ double moyIW=0;
+ double denom=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ X2[0]=j;X2[1]=i;
+
+ Warp->computeDenom(X1,p);
+
+ j2=X2[0];i2=X2[1];
+
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+
+ Nbpoint++;
+ moyTij+=Tij;
+ moyIW+=IW;
+ }
+ }
+ moyTij=moyTij/Nbpoint;
+ moyIW=moyIW/Nbpoint;
+ Hdesire=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ X2[0]=j;X2[1]=i;
+
+ Warp->computeDenom(X1,p);
+
+ j2=X2[0];i2=X2[1];
+
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+
+ dIWx=dIx.getValue(i2,j2);
+ dIWy=dIy.getValue(i2,j2);
+ //Calcul du Hessien
+ Warp->dWarp(X1,X2,p,dW);
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+
+ double prod=(Tij-moyTij);
+
+ double d_Ixx=dIxx.getValue(i2,j2);
+ double d_Iyy=dIyy.getValue(i2,j2);
+ double d_Ixy=dIxy.getValue(i2,j2);
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ Hdesire[it][jt] +=prod*(dW[0][it]*(dW[0][jt]*d_Ixx+dW[1][jt]*d_Ixy)
+ +dW[1][it]*(dW[0][jt]*d_Ixy+dW[1][jt]*d_Iyy));
+ /*Hdesire[0][0]+=prod*d_Ixx;
+ Hdesire[1][0]+=prod*d_Ixy;
+ Hdesire[0][1]+=prod*d_Ixy;
+ Hdesire[1][1]+=prod*d_Iyy;*/
+
+ denom+=(Tij-moyTij)*(Tij-moyTij)*(IW-moyIW)*(IW-moyIW);
+ delete[] tempt;
+ }
+
+
+ }
+
+ Hdesire=Hdesire/sqrt(denom);
+ vpMatrix::computeHLM(Hdesire,lambdaDep,HLMdesire);
+ HLMdesireInverse=HLMdesire.inverseByLU();
+ //std::cout<<"Hdesire = "<<Hdesire<<std::endl;
+
+}
+
+void vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ double erreur=0;
+ int Nbpoint=0;
+
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ /*vpImage<double> dIxx,dIxy,dIyx,dIyy;
+ getGradX(dIx, dIxx, fgdG,taillef);
+ getGradY(dIx, dIxy, fgdG,taillef);
+
+ getGradX(dIy, dIyx, fgdG,taillef);
+ getGradY(dIy, dIyy, fgdG,taillef);*/
+
+ dW=0;
+
+ //double lambda=lambdaDep;
+ double IW,dIWx,dIWy;
+ double Tij;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ double alpha=2.;
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ G=0;
+ H=0 ;
+ Warp->computeCoeff(p);
+ double moyTij=0;
+ double moyIW=0;
+ double denom=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+
+ Nbpoint++;
+ moyTij+=Tij;
+ moyIW+=IW;
+ }
+ }
+
+ if(! Nbpoint) {
+ throw(vpException(vpException::divideByZeroError,
+ "Cannot track the template: no point")) ;
+ }
+
+ moyTij=moyTij/Nbpoint;
+ moyIW=moyIW/Nbpoint;
+ //vpMatrix d2Wx(nbParam,nbParam);
+ //vpMatrix d2Wy(nbParam,nbParam);
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Tij=ptTemplate[point].val;
+
+ if(!blur)
+ IW=I.getValue(i2,j2);
+ else
+ IW=BI.getValue(i2,j2);
+
+ dIWx=dIx.getValue(i2,j2);
+ dIWy=dIy.getValue(i2,j2);
+ //Calcul du Hessien
+ Warp->dWarp(X1,X2,p,dW);
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;
+
+
+ double prod=(Tij-moyTij);
+ for(unsigned int it=0;it<nbParam;it++)
+ G[it]+=prod*tempt[it];
+
+ /* Warp->d2Warp(X1,X2,p,d2Wx,d2Wy);
+ for(int it=0;it<nbParam;it++)
+ for(int jt=0;jt<nbParam;jt++)
+ H[it][jt]+=prod*(d2Wx[it][jt]*dIWx+d2Wx[it][jt]*dIWy);*/
+ /*double d_Ixx=dIxx.getValue(i2,j2);
+ double d_Iyy=dIyy.getValue(i2,j2);
+ double d_Ixy=dIxy.getValue(i2,j2);
+
+ for(int it=0;it<nbParam;it++)
+ for(int jt=0;jt<nbParam;jt++)
+ H[it][jt] +=prod*(dW[0][it]*(dW[0][jt]*d_Ixx+dW[1][jt]*d_Ixy)
+ +dW[1][it]*(dW[0][jt]*d_Ixy+dW[1][jt]*d_Iyy));*/
+ /*H[0][0]+=prod*d_Ixx;
+ H[1][0]+=prod*d_Ixy;
+ H[0][1]+=prod*d_Ixy;
+ H[1][1]+=prod*d_Iyy;*/
+
+ double er=(Tij-IW);
+ erreur+=(er*er);
+ denom+=(Tij-moyTij)*(Tij-moyTij)*(IW-moyIW)*(IW-moyIW);
+ delete[] tempt;
+ }
+
+
+ }
+ /*std::cout<<"G="<<G<<std::endl;
+ std::cout<<"H="<<H<<std::endl;
+ std::cout<<" denom="<<denom<<std::endl;*/
+ G=G/sqrt(denom);
+ //std::cout<<G<<std::endl;
+ H=H/sqrt(denom);
+
+ if(Nbpoint==0)std::cout<<"plus de point dans template suivi"<<std::endl;
+
+ try
+ {
+ //vpMatrix::computeHLM(H,lambda,HLM);
+ //dp=1.*HLM.inverseByLU()*G;
+ dp=1.*HLMdesireInverse*G;
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ dp=gain*dp;
+ if(useBrent)
+ {
+ alpha=2.;
+ computeOptimalBrentGain(I,p,erreur/Nbpoint,dp,alpha);
+ dp=alpha*dp;
+ }
+ p-=dp;
+ iteration++;
+ }
+ while( /*( erreur_prec-erreur<50) && */(iteration < iterationMax));
+
+ //std::cout<<"erreur "<<erreur<<std::endl;
+ nbIteration=iteration;
+}
+
diff --git a/example/manual/image-manipulation/manGrabOpenCV.cpp b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.h
similarity index 61%
copy from example/manual/image-manipulation/manGrabOpenCV.cpp
copy to src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.h
index 1bb26dd..5da1c7e 100644
--- a/example/manual/image-manipulation/manGrabOpenCV.cpp
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCForwardAdditional.h
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: manGrabOpenCV.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpTemplateTrackerZNCCForwardAdditional.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
- *
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
@@ -12,11 +12,11 @@
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
- * GPL, please contact INRIA about acquiring a ViSP Professional
+ * GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
- *
+ *
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
@@ -26,42 +26,41 @@
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp at inria.fr
- *
+ *
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
- *
* Description:
- * Images grabbing example.
+ * Template tracker.
*
* Authors:
+ * Amaury Dame
+ * Aurelien Yol
* Fabien Spindler
*
*****************************************************************************/
/*!
- \file manGrabOpenCV.cpp
+ \file vpTemplateTrackerZNCCForwardAdditional.h
+ \brief
+*/
- \brief Images grabbing example with the vpOpenCVGrabber class.
+#ifndef vpTemplateTrackerZNCCForwardAdditional_hh
+#define vpTemplateTrackerZNCCForwardAdditional_hh
- */
-#include <visp/vpConfig.h>
-#include <visp/vpImage.h>
-#include <visp/vpOpenCVGrabber.h>
-int main(){
- vpImage<unsigned char> I; // Grey level image
-
-#ifdef VISP_HAVE_OPENCV
- vpOpenCVGrabber g; // Create the grabber
-
- g.open(); // Initialize the grabber
-
- g.setWidth(640);
- g.setHeight(480); // If the camera supports 640x480 image size
- g.setFramerate(30); // If the camera supports 30fps framerate
-
- while(1)
- g.acquire(I); // Acquire an image
+#include <visp/vpTemplateTrackerZNCC.h>
+/*!
+ The algorithm implemented in this class is described in \cite Irani98a.
+ */
+class VISP_EXPORT vpTemplateTrackerZNCCForwardAdditional: public vpTemplateTrackerZNCC
+{
+ protected:
+ void initHessienDesired(const vpImage<unsigned char> &I);
+ void trackNoPyr(const vpImage<unsigned char> &I);
+
+ public:
+ vpTemplateTrackerZNCCForwardAdditional(vpTemplateTrackerWarp *warp);
+};
#endif
-}
+
diff --git a/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.cpp b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.cpp
new file mode 100644
index 0000000..4724275
--- /dev/null
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.cpp
@@ -0,0 +1,439 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZNCCInverseCompositional.cpp 4671 2014-02-17 08:59:28Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+#include <limits> // numeric_limits
+
+#include <visp/vpTemplateTrackerZNCCInverseCompositional.h>
+#include <visp/vpImageFilter.h>
+
+vpTemplateTrackerZNCCInverseCompositional::vpTemplateTrackerZNCCInverseCompositional(vpTemplateTrackerWarp *warp)
+ : vpTemplateTrackerZNCC(warp), compoInitialised(false),
+ evolRMS(0), x_pos(), y_pos(), threshold_RMS(1e-8), moydIrefdp()
+{
+ useInverse=true;
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::initCompInverse(const vpImage<unsigned char> &I)
+{
+ //std::cout<<"Initialise precomputed value of Compositionnal Inverse"<<std::endl;
+ int i,j;
+
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+
+ X1[0]=j;X1[1]=i;
+ Warp->computeDenom(X1,p);
+ ptTemplate[point].dW=new double[nbParam];
+
+ double dx=ptTemplate[point].dx;
+ double dy=ptTemplate[point].dy;
+ //std::cout<<ptTemplate[point].dx<<","<<ptTemplate[point].dy<<std::endl;
+
+ Warp->getdW0(i,j,dy,dx,ptTemplate[point].dW);
+
+ }
+ //vpTRACE("fin Comp Inverse");
+ compoInitialised=true;
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(const vpImage<unsigned char> &I)
+{
+ initCompInverse(I);
+
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+ vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
+ vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);
+
+ vpImage<double> dIxx,dIxy,dIyx,dIyy;
+ vpImageFilter::getGradX(dIx, dIxx, fgdG,taillef);
+ vpImageFilter::getGradY(dIx, dIxy, fgdG,taillef);
+
+ vpImageFilter::getGradX(dIy, dIyx, fgdG,taillef);
+ vpImageFilter::getGradY(dIy, dIyy, fgdG,taillef);
+
+ Warp->computeCoeff(p);
+ double Ic,dIcx=0.,dIcy=0.;
+ double Iref;
+ int i,j;
+ double i2,j2;
+ int Nbpoint=0;
+
+ double moyIref=0;
+ double moyIc=0;
+ double denom=0;
+ moydIrefdp.resize(nbParam); moydIrefdp=0;
+ vpMatrix moyd2Iref(nbParam,nbParam);moyd2Iref=0;
+
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ X2[0]=j;X2[1]=i;
+
+ Warp->computeDenom(X1,p);
+
+ j2=X2[0];i2=X2[1];
+
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Iref=ptTemplate[point].val;
+
+ if(!blur)
+ Ic=I.getValue(i2,j2);
+ else
+ Ic=BI.getValue(i2,j2);
+
+ Nbpoint++;
+ moyIref+=Iref;
+ moyIc+=Ic;
+
+ for(unsigned int it=0;it<nbParam;it++)
+ moydIrefdp[it]+=ptTemplate[point].dW[it];
+
+
+ Warp->dWarp(X1,X2,p,dW);
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIcx+dW[1][it]*dIcy;
+ double d_Ixx=dIxx.getValue(i2,j2);
+ double d_Iyy=dIyy.getValue(i2,j2);
+ double d_Ixy=dIxy.getValue(i2,j2);
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ {
+ moyd2Iref[it][jt] +=(dW[0][it]*(dW[0][jt]*d_Ixx+dW[1][jt]*d_Ixy)
+ +dW[1][it]*(dW[0][jt]*d_Ixy+dW[1][jt]*d_Iyy));
+ }
+
+ delete[] tempt;
+
+
+ }
+ }
+
+ moyIref=moyIref/Nbpoint;
+ moydIrefdp=moydIrefdp/Nbpoint;
+ moyd2Iref=moyd2Iref/Nbpoint;
+ moyIc=moyIc/Nbpoint;
+ Hdesire=0;
+ double covarIref=0,covarIc=0;
+ double sIcIref=0;
+ vpColVector sIcdIref(nbParam);sIcdIref=0;
+ vpMatrix sIcd2Iref(nbParam,nbParam);sIcd2Iref=0;
+ vpMatrix sdIrefdIref(nbParam,nbParam);sdIrefdIref=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+ X2[0]=j;X2[1]=i;
+
+ Warp->computeDenom(X1,p);
+
+ j2=X2[0];i2=X2[1];
+
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Iref=ptTemplate[point].val;
+
+ if(!blur)
+ Ic=I.getValue(i2,j2);
+ else
+ Ic=BI.getValue(i2,j2);
+
+ dIcx=dIx.getValue(i2,j2);
+ dIcy=dIy.getValue(i2,j2);
+
+ Warp->dWarp(X1,X2,p,dW);
+
+ double *tempt=new double[nbParam];
+ for(unsigned int it=0;it<nbParam;it++)
+ tempt[it]=dW[0][it]*dIcx+dW[1][it]*dIcy;
+
+ double prodIc=(Ic-moyIc);
+
+ double d_Ixx=dIxx.getValue(i2,j2);
+ double d_Iyy=dIyy.getValue(i2,j2);
+ double d_Ixy=dIxy.getValue(i2,j2);
+
+ for(unsigned int it=0;it<nbParam;it++)
+ for(unsigned int jt=0;jt<nbParam;jt++)
+ {
+ sIcd2Iref[it][jt] +=prodIc*(dW[0][it]*(dW[0][jt]*d_Ixx+dW[1][jt]*d_Ixy)
+ +dW[1][it]*(dW[0][jt]*d_Ixy+dW[1][jt]*d_Iyy)-moyd2Iref[it][jt]);
+ sdIrefdIref[it][jt] +=(ptTemplate[point].dW[it]-moydIrefdp[it])*(ptTemplate[point].dW[jt]-moydIrefdp[jt]);
+ }
+
+
+ delete[] tempt;
+
+ for(unsigned int it=0;it<nbParam;it++)
+ sIcdIref[it]+=prodIc*(ptTemplate[point].dW[it]-moydIrefdp[it]);
+
+ covarIref+=(Iref-moyIref)*(Iref-moyIref);
+ covarIc+=(Ic-moyIc)*(Ic-moyIc);
+ sIcIref+=(Iref-moyIref)*(Ic-moyIc);
+ }
+
+
+ }
+ covarIref=sqrt(covarIref);
+ covarIc=sqrt(covarIc);
+
+ denom=covarIref*covarIc;
+
+ double NCC=sIcIref/denom;
+ //std::cout<<"NCC = "<<NCC<<std::endl;
+ vpColVector dcovarIref(nbParam);dcovarIref=-sIcdIref/covarIref;
+
+ vpColVector dNCC(nbParam);dNCC=(sIcdIref/denom-NCC*dcovarIref/covarIref);
+ vpMatrix d2covarIref(nbParam,nbParam);
+ d2covarIref=-(sIcd2Iref-sdIrefdIref+dcovarIref*dcovarIref.t())/covarIref;
+#ifdef APPROX_NCC
+ Hdesire=sIcd2Iref/denom;
+#else
+ Hdesire=(sIcd2Iref-sdIrefdIref+dcovarIref*dcovarIref.t())/denom;
+#endif
+ vpMatrix::computeHLM(Hdesire,lambdaDep,HLMdesire);
+ HLMdesireInverse=HLMdesire.inverseByLU();
+ //std::cout<<"Hdesire = "<<Hdesire<<std::endl;
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(const vpImage<unsigned char> &I)
+{
+ if(blur)
+ vpImageFilter::filter(I, BI,fgG,taillef);
+
+ double erreur=0;
+ int Nbpoint=0;
+ vpColVector dpinv(nbParam);
+ double Ic;
+ double Iref;
+ unsigned int iteration=0;
+ int i,j;
+ double i2,j2;
+ initPosEvalRMS(p);
+ do
+ {
+ Nbpoint=0;
+ erreur=0;
+ G=0;
+ Warp->computeCoeff(p);
+ double moyIref=0;
+ double moyIc=0;
+ double denom=0;
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Iref=ptTemplate[point].val;
+
+ if(!blur)
+ Ic=I.getValue(i2,j2);
+ else
+ Ic=BI.getValue(i2,j2);
+
+ Nbpoint++;
+ moyIref+=Iref;
+ moyIc+=Ic;
+ }
+
+
+ }
+ if(Nbpoint!=0)
+ {
+ moyIref=moyIref/Nbpoint;
+ moyIc=moyIc/Nbpoint;
+ double sIcIref=0;
+ double covarIref=0,covarIc=0;
+ vpColVector sIcdIref(nbParam);sIcdIref=0;
+ vpColVector sIrefdIref(nbParam);sIrefdIref=0;
+
+
+ for(unsigned int point=0;point<templateSize;point++)
+ {
+ i=ptTemplate[point].y;
+ j=ptTemplate[point].x;
+ X1[0]=j;X1[1]=i;
+
+ Warp->computeDenom(X1,p);
+ Warp->warpX(X1,X2,p);
+
+ j2=X2[0];i2=X2[1];
+ if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
+ {
+ Iref=ptTemplate[point].val;
+
+ if(!blur)
+ Ic=I.getValue(i2,j2);
+ else
+ Ic=BI.getValue(i2,j2);
+
+
+ double prod=(Ic-moyIc);
+ for(unsigned int it=0;it<nbParam;it++)
+ sIcdIref[it]+=prod*(ptTemplate[point].dW[it]-moydIrefdp[it]);
+ for(unsigned int it=0;it<nbParam;it++)
+ sIrefdIref[it]+=(Iref-moyIref)*(ptTemplate[point].dW[it]-moydIrefdp[it]);
+
+ double er=(Iref-Ic);
+ erreur+=(er*er);
+ //denom+=(Iref-moyIref)*(Iref-moyIref)*(Ic-moyIc)*(Ic-moyIc);
+ covarIref+=(Iref-moyIref)*(Iref-moyIref);
+ covarIc+=(Ic-moyIc)*(Ic-moyIc);
+ sIcIref+=(Iref-moyIref)*(Ic-moyIc);
+ }
+
+
+ }
+ covarIref=sqrt(covarIref);
+ covarIc=sqrt(covarIc);
+ denom=covarIref*covarIc;
+
+ //if(denom==0.0)
+ if (std::fabs(denom) <= std::numeric_limits<double>::epsilon())
+ {
+ diverge=true;
+ }
+ else
+ {
+ double NCC=sIcIref/denom;
+ vpColVector dcovarIref(nbParam);dcovarIref=sIrefdIref/covarIref;
+ G=1.*(sIcdIref/denom-NCC*dcovarIref/covarIref);
+
+
+ try
+ {
+ dp=-1.*HLMdesireInverse*G;
+ }
+ catch(...)
+ {
+ std::cout<<"probleme inversion"<<std::endl;
+ break;
+ }
+
+ Warp->getParamInverse(dp,dpinv);
+ Warp->pRondp(p,dpinv,p);
+
+ computeEvalRMS(p);
+ }
+ }
+ else
+ diverge=true;
+
+ iteration++;
+ }
+ while( (!diverge &&(evolRMS>threshold_RMS) && (iteration < iterationMax)));
+
+ //std::cout<<"erreur "<<erreur<<std::endl;
+ nbIteration=iteration;
+
+ deletePosEvalRMS();
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(vpColVector &p_)
+{
+ unsigned int nb_corners = zoneTracked->getNbTriangle() * 3;
+ x_pos.resize(nb_corners);
+ y_pos.resize(nb_corners);
+
+ Warp->computeCoeff(p);
+ vpTemplateTrackerTriangle triangle;
+
+ for(unsigned int i=0;i<zoneTracked->getNbTriangle();i++)
+ {
+ zoneTracked->getTriangle(i, triangle);
+ for (unsigned int j=0; j<3; j++) {
+ triangle.getCorner(j, X1[0], X1[1]);
+
+ Warp->computeDenom(X1,p_);
+ Warp->warpX(X1,X2,p_);
+ x_pos[i*3+j]=X2[0];
+ y_pos[i*3+j]=X2[1];
+ }
+ }
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(const vpColVector &p_)
+{
+ unsigned int nb_corners = zoneTracked->getNbTriangle() * 3;
+
+ Warp->computeCoeff(p_);
+ evolRMS=0;
+ vpTemplateTrackerTriangle triangle;
+
+ for(unsigned int i=0;i<zoneTracked->getNbTriangle();i++)
+ {
+ zoneTracked->getTriangle(i, triangle);
+ for (unsigned int j=0; j<3; j++) {
+ triangle.getCorner(j, X1[0], X1[1]);
+
+ Warp->computeDenom(X1,p_);
+ Warp->warpX(X1,X2,p_);
+ evolRMS+=(x_pos[i*3+j]-X2[0])*(x_pos[i*3+j]-X2[0])+(y_pos[i*3+j]-X2[1])*(y_pos[i*3+j]-X2[1]);
+ x_pos[i*3+j]=X2[0];
+ y_pos[i*3+j]=X2[1];
+ }
+ }
+ evolRMS=evolRMS/nb_corners;
+
+}
+
+void vpTemplateTrackerZNCCInverseCompositional::deletePosEvalRMS()
+{
+}
diff --git a/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.h b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.h
new file mode 100644
index 0000000..814b237
--- /dev/null
+++ b/src/tracking/template-tracker/zncc/vpTemplateTrackerZNCCInverseCompositional.h
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ * $Id: vpTemplateTrackerZNCCInverseCompositional.h 4669 2014-02-16 16:25:57Z fspindle $
+ *
+ * This file is part of the ViSP software.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * ("GPL") version 2 as published by the Free Software Foundation.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact INRIA about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
+ *
+ * This software was developed at:
+ * INRIA Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ * http://www.irisa.fr/lagadic
+ *
+ * If you have questions regarding the use of this file, please contact
+ * INRIA at visp at inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Template tracker.
+ *
+ * Authors:
+ * Amaury Dame
+ * Aurelien Yol
+ * Fabien Spindler
+ *
+ *****************************************************************************/
+/*!
+ \file vpTemplateTrackerZNCCInverseCompositional.h
+ \brief
+*/
+
+#ifndef vpTemplateTrackerZNCCInverseCompositional_hh
+#define vpTemplateTrackerZNCCInverseCompositional_hh
+
+#include <vector>
+
+#include <visp/vpTemplateTrackerZNCC.h>
+
+/*!
+ The algorithm implemented in this class is described in \cite Irani98a.
+ */
+class VISP_EXPORT vpTemplateTrackerZNCCInverseCompositional: public vpTemplateTrackerZNCC
+{
+ protected:
+ bool compoInitialised;
+ //pour eval evolRMS
+ double evolRMS;
+ std::vector<double> x_pos;
+ std::vector<double> y_pos;
+ double threshold_RMS;
+ vpColVector moydIrefdp;
+
+ protected:
+ void initCompInverse(const vpImage<unsigned char> &I);
+ void initHessienDesired(const vpImage<unsigned char> &I);
+ void trackNoPyr(const vpImage<unsigned char> &I);
+ void deletePosEvalRMS();
+ void computeEvalRMS(const vpColVector &p);
+ void initPosEvalRMS(vpColVector &p);
+
+ public:
+ vpTemplateTrackerZNCCInverseCompositional(vpTemplateTrackerWarp *warp);
+
+ void setThresholdRMS(double threshold){threshold_RMS=threshold;}
+};
+#endif
+
diff --git a/src/video/vpFFMPEG.cpp b/src/video/vpFFMPEG.cpp
index 85dc4cf..744d873 100644
--- a/src/video/vpFFMPEG.cpp
+++ b/src/video/vpFFMPEG.cpp
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -65,23 +65,15 @@ extern "C"
Basic constructor.
*/
vpFFMPEG::vpFFMPEG()
+ : width(-1), height(-1), frameNumber(0), pFormatCtx(NULL), pCodecCtx(NULL),
+ pCodec(NULL), pFrame(NULL), pFrameRGB(NULL), pFrameGRAY(NULL), packet(NULL),
+ img_convert_ctx(NULL), videoStream(0), numBytes(0), buffer(NULL), index(),
+ streamWasOpen(false), streamWasInitialized(false), color_type(COLORED),
+ f(NULL), outbuf(NULL), picture_buf(NULL), outbuf_size(0), out_size(0),
+ bit_rate(500000), encoderWasOpened(false),
+ framerate_stream(-1), framerate_encoder(25)
{
- frameNumber = 0;
- width = -1;
- height = -1;
- framerate_stream = -1;
- framerate_encoder = 25;
- buffer = NULL;
- streamWasOpen = false;
- streamWasInitialized = false;
- bit_rate = 500000;
- outbuf = NULL;
- picture_buf = NULL;
- f = NULL;
- encoderWasOpened = false;
packet = new AVPacket;
-
- pFormatCtx = NULL;
}
/*!
@@ -99,14 +91,14 @@ vpFFMPEG::~vpFFMPEG()
and the dimension of the images using getWidth() and getHeight().
\param filename : Path to the video which has to be read.
- \param color_type : Desired color map used to open the video.
+ \param colortype : Desired color map used to open the video.
The parameter can take two values : COLORED and GRAY_SCALED.
\return It returns true if the paramters could be initialized. Else it returns false.
*/
-bool vpFFMPEG::openStream(const char *filename, vpFFMPEGColorType color_type)
+bool vpFFMPEG::openStream(const char *filename, vpFFMPEGColorType colortype)
{
- this->color_type = color_type;
+ this->color_type = colortype;
av_register_all();
#if LIBAVFORMAT_VERSION_INT < AV_VERSION_INT(53,0,0) // libavformat 52.84.0
@@ -141,7 +133,7 @@ bool vpFFMPEG::openStream(const char *filename, vpFFMPEGColorType color_type)
#endif
{
videoStream = i;
- std::cout << "rate: " << pFormatCtx->streams[i]->r_frame_rate.num << " " << pFormatCtx->streams[i]->r_frame_rate.den << std::endl;
+ //std::cout << "rate: " << pFormatCtx->streams[i]->r_frame_rate.num << " " << pFormatCtx->streams[i]->r_frame_rate.den << std::endl;
framerate_stream = pFormatCtx->streams[i]->r_frame_rate.num;
framerate_stream /= pFormatCtx->streams[i]->r_frame_rate.den;
found_codec= true;
@@ -643,8 +635,7 @@ void vpFFMPEG::closeStream()
Allocates and initializes the parameters depending on the video to write.
\param filename : Path to the video which has to be writen.
- \param width : Width of the image which will be saved.
- \param height : Height of the image which will be saved.
+ \param w,h : Width and height of the image which will be saved.
\param codec : Type of codec used to encode the video.
By default codec is set to AV_CODEC_ID_MPEG1VIDEO. But if installed, you can use one of the
@@ -656,9 +647,9 @@ void vpFFMPEG::closeStream()
\return It returns true if the paramters could be initialized. Else it returns false.
*/
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
-bool vpFFMPEG::openEncoder(const char *filename, unsigned int width, unsigned int height, CodecID codec)
+bool vpFFMPEG::openEncoder(const char *filename, unsigned int w, unsigned int h, CodecID codec)
#else
-bool vpFFMPEG::openEncoder(const char *filename, unsigned int width, unsigned int height, AVCodecID codec)
+bool vpFFMPEG::openEncoder(const char *filename, unsigned int w, unsigned int h, AVCodecID codec)
#endif
{
av_register_all();
@@ -681,10 +672,10 @@ bool vpFFMPEG::openEncoder(const char *filename, unsigned int width, unsigned in
/* put sample parameters */
pCodecCtx->bit_rate = (int)bit_rate;
/* resolution must be a multiple of two */
- pCodecCtx->width = (int)width;
- pCodecCtx->height = (int)height;
- this->width = (int)width;
- this->height = (int)height;
+ pCodecCtx->width = (int)w;
+ pCodecCtx->height = (int)h;
+ this->width = (int)w;
+ this->height = (int)h;
/* frames per second */
pCodecCtx->time_base= (AVRational){1,framerate_encoder};
pCodecCtx->gop_size = 10; /* emit one intra frame every ten frames */
diff --git a/src/video/vpFFMPEG.h b/src/video/vpFFMPEG.h
index 5c6b586..85b0986 100644
--- a/src/video/vpFFMPEG.h
+++ b/src/video/vpFFMPEG.h
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -252,9 +252,9 @@ class VISP_EXPORT vpFFMPEG
/*!
Sets the bit rate of the video when encoding.
- \param bit_rate : the expected bit rate.
+ \param rate : the expected bit rate.
*/
- inline void setBitRate(const unsigned int bit_rate) {this->bit_rate = bit_rate;}
+ inline void setBitRate(const unsigned int rate) {this->bit_rate = rate;}
/*!
Sets the framerate of the video when encoding.
diff --git a/src/video/vpVideoReader.cpp b/src/video/vpVideoReader.cpp
index f79518b..187fce0 100644
--- a/src/video/vpVideoReader.cpp
+++ b/src/video/vpVideoReader.cpp
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,21 +55,15 @@
Basic constructor.
*/
vpVideoReader::vpVideoReader()
+ : imSequence(NULL),
+#ifdef VISP_HAVE_FFMPEG
+ ffmpeg(NULL),
+#endif
+ formatType(FORMAT_UNKNOWN), initFileName(false), isOpen(false), frameCount(0),
+ firstFrame(0), lastFrame(0), firstFrameIndexIsSet(false), lastFrameIndexIsSet(false)
{
- imSequence = NULL;
- #ifdef VISP_HAVE_FFMPEG
- ffmpeg = NULL;
- #endif
- initFileName = false;
- isOpen = false;
- firstFrame = 0;
- frameCount = 0;
- lastFrame = 0;
- firstFrameIndexIsSet = false;
- lastFrameIndexIsSet = false;
}
-
/*!
Basic destructor.
*/
@@ -105,6 +99,11 @@ void vpVideoReader::setFileName(const char *filename)
throw (vpImageException(vpImageException::noFileNameError,"filename empty ")) ;
}
+ if (strlen( filename ) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the file name"));
+ }
+
strcpy(this->fileName,filename);
formatType = getFormat(fileName);
@@ -487,25 +486,30 @@ vpVideoReader::findLastFrameIndex()
if (imSequence != NULL)
{
- char name[FILENAME_MAX];
- int image_number = firstFrame;
- std::fstream file;
- bool failed;
- do
- {
- sprintf(name,fileName,image_number) ;
- file.open(name, std::fstream::in);
- failed = file.fail();
- if (!failed) file.close();
- image_number++;
- }while(!failed);
-
- lastFrame = image_number - 2;
+ if (! lastFrameIndexIsSet) {
+ char name[FILENAME_MAX];
+ int image_number = firstFrame;
+ bool failed;
+ do
+ {
+ std::fstream file;
+ sprintf(name,fileName,image_number) ;
+ file.open(name, std::ios::in);
+ failed = file.fail();
+ if (!failed) file.close();
+ image_number++;
+ }while(!failed);
+
+ lastFrame = image_number - 2;
+ }
}
- #ifdef VISP_HAVE_FFMPEG
- else if (ffmpeg != NULL)
- lastFrame = (long)(ffmpeg->getFrameNumber() - 1);
+#ifdef VISP_HAVE_FFMPEG
+ else if (ffmpeg != NULL) {
+ if (! lastFrameIndexIsSet) {
+ lastFrame = (long)(ffmpeg->getFrameNumber() - 1);
+ }
+ }
#endif
}
/*!
@@ -519,11 +523,11 @@ vpVideoReader::findFirstFrameIndex()
if (! firstFrameIndexIsSet) {
char name[FILENAME_MAX];
int image_number = 0;
- std::fstream file;
bool failed;
do {
+ std::fstream file;
sprintf(name, fileName, image_number) ;
- file.open(name, std::fstream::in);
+ file.open(name, std::ios::in);
failed = file.fail();
if (!failed) file.close();
image_number++;
diff --git a/src/video/vpVideoReader.h b/src/video/vpVideoReader.h
index 89790d9..e0da5a4 100644
--- a/src/video/vpVideoReader.h
+++ b/src/video/vpVideoReader.h
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -101,7 +101,10 @@ int main()
The other following example explains how to use the class to read a
sequence of images. The images are stored in the folder "./image" and are
named "image0000.jpeg", "image0001.jpeg", "image0002.jpeg", ... As explained
- in setFirstFrameIndex() it is also possible to set the first and last image numbers.
+ in setFirstFrameIndex() and setLastFrameIndex() it is also possible to set the
+ first and last image numbers to read a portion of the sequence. If these two
+ functions are not used, first and last image numbers are set automatically to
+ match the first and image images of the sequence.
\code
#include <visp/vpImage.h>
@@ -116,6 +119,8 @@ int main()
// Initialize the reader.
reader.setFileName("./image/image%04d.jpeg");
+ reader.setFirstFrameIndex(10);
+ reader.setLastFrameIndex(20);
reader.open(I);
while (! reader.end() )
@@ -250,24 +255,24 @@ class VISP_EXPORT vpVideoReader : public vpFrameGrabber
Enables to set the first frame index if you want to use the class like a grabber (ie with the
acquire method).
- \param firstFrame : The first frame index.
+ \param first_frame : The first frame index.
\sa setLastFrameIndex()
*/
- inline void setFirstFrameIndex(const long firstFrame) {
+ inline void setFirstFrameIndex(const long first_frame) {
this->firstFrameIndexIsSet = true;
- this->firstFrame = firstFrame;
+ this->firstFrame = first_frame;
}
/*!
Enables to set the last frame index.
- \param lastFrame : The last frame index.
+ \param last_frame : The last frame index.
\sa setFirstFrameIndex()
*/
- inline void setLastFrameIndex(const long lastFrame) {
+ inline void setLastFrameIndex(const long last_frame) {
this->lastFrameIndexIsSet = true;
- this->lastFrame = lastFrame;
+ this->lastFrame = last_frame;
}
private:
diff --git a/src/video/vpVideoWriter.cpp b/src/video/vpVideoWriter.cpp
index 0e97555..9451e74 100755
--- a/src/video/vpVideoWriter.cpp
+++ b/src/video/vpVideoWriter.cpp
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -52,21 +52,35 @@
Basic constructor.
*/
vpVideoWriter::vpVideoWriter()
+ :
+#ifdef VISP_HAVE_FFMPEG
+ ffmpeg(NULL),
+# if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
+ codec(CODEC_ID_MPEG1VIDEO),
+# else
+ codec(AV_CODEC_ID_MPEG1VIDEO),
+# endif
+ bit_rate(500000),
+ framerate(25),
+#endif
+ formatType(FORMAT_UNKNOWN), initFileName(false), isOpen(false), frameCount(0),
+ firstFrame(0), width(0), height(0)
{
initFileName = false;
firstFrame = 0;
frameCount = 0;
-
- #ifdef VISP_HAVE_FFMPEG
+ isOpen = false;
+ width = height = 0;
+#ifdef VISP_HAVE_FFMPEG
ffmpeg = NULL;
-#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
+# if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
codec = CODEC_ID_MPEG1VIDEO;
-#else
+# else
codec = AV_CODEC_ID_MPEG1VIDEO;
-#endif
+# endif
bit_rate = 500000;
framerate = 25;
- #endif
+#endif
}
@@ -96,7 +110,12 @@ void vpVideoWriter::setFileName(const char *filename)
vpERROR_TRACE("filename empty ") ;
throw (vpImageException(vpImageException::noFileNameError,"filename empty ")) ;
}
-
+
+ if (strlen( filename ) >= FILENAME_MAX) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the file name"));
+ }
+
strcpy(this->fileName,filename);
formatType = getFormat(fileName);
diff --git a/src/video/vpVideoWriter.h b/src/video/vpVideoWriter.h
index 6a198c6..d8b50e0 100755
--- a/src/video/vpVideoWriter.h
+++ b/src/video/vpVideoWriter.h
@@ -3,7 +3,7 @@
* $Id: vpImagePoint.h 2359 2009-11-24 15:09:25Z nmelchio $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -212,16 +212,16 @@ class VISP_EXPORT vpVideoWriter
/*!
Sets the bit rate of the video when encoding.
- \param bit_rate : the expected bit rate.
+ \param bitrate : the expected bit rate.
By default the bit rate is set to 500 000.
*/
- inline void setBitRate(const unsigned int bit_rate) {this->bit_rate = bit_rate;}
+ inline void setBitRate(const unsigned int bitrate) {this->bit_rate = bitrate;}
/*!
Sets the codec used to encode the video.
- \param codec : the expected codec.
+ \param codec_id : the expected codec.
By default codec is set to AV_CODEC_ID_MPEG1VIDEO. But if installed, you can use one of the
AVCodecID proposed by ffmpeg such as : AV_CODEC_ID_MPEG2VIDEO, AV_CODEC_ID_MPEG2VIDEO_XVMC,
@@ -230,9 +230,9 @@ class VISP_EXPORT vpVideoWriter
Of course to use the codec it must be installed on your computer.
*/
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
- inline void setCodec(const CodecID codec) {this->codec = codec;}
+ inline void setCodec(const CodecID codec_id) {this->codec = codec_id;}
#else
- inline void setCodec(const AVCodecID codec) {this->codec = codec;}
+ inline void setCodec(const AVCodecID codec_id) {this->codec = codec_id;}
#endif
#endif
@@ -241,19 +241,19 @@ class VISP_EXPORT vpVideoWriter
/*!
Enables to set the first frame index.
- \param firstFrame : The first frame index.
+ \param first_frame : The first frame index.
*/
- inline void setFirstFrameIndex(const unsigned int firstFrame) {this->firstFrame = firstFrame;}
+ inline void setFirstFrameIndex(const unsigned int first_frame) {this->firstFrame = first_frame;}
#ifdef VISP_HAVE_FFMPEG
/*!
Sets the framerate in Hz of the video when encoding.
- \param framerate : the expected framerate.
+ \param frame_rate : the expected framerate.
By default the framerate is set to 25Hz.
*/
- inline void setFramerate(const int framerate) {
- this->framerate = framerate;
+ inline void setFramerate(const int frame_rate) {
+ this->framerate = frame_rate;
}
#endif
diff --git a/src/visual-feature/vpBasicFeature.cpp b/src/visual-feature/vpBasicFeature.cpp
index 2b228bb..3c8ccdc 100644
--- a/src/visual-feature/vpBasicFeature.cpp
+++ b/src/visual-feature/vpBasicFeature.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBasicFeature.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBasicFeature.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,21 +68,39 @@ const unsigned int vpBasicFeature::FEATURE_ALL = 0xffff;
/*!
\file vpBasicFeature.cpp
\brief Class that defines what is a visual feature.
-*/
+ Default constructor.
+*/
vpBasicFeature::vpBasicFeature()
+ : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user)
+{
+}
+
+/*!
+ Copy constructor.
+*/
+vpBasicFeature::vpBasicFeature(const vpBasicFeature &f)
+ : s(), dim_s(0), flags(NULL), nbParameters(0), deallocate(vpBasicFeature::user)
{
-// featureLine[0] = 0x1 ;
-// featureLine[1] = 0x2 ;
-// featureLine[2] = 0x4 ;
-// featureLine[3] = 0x8 ;
-// featureLine[4] = 0x10 ;
-// featureLine[5] = 0x20 ;
-// featureLine[6] = 0x40 ;
-// featureLine[7] = 0x80 ;
- //vpTRACE("0x%x", this);
- deallocate = vpBasicFeature::user ;
- flags = NULL;
+ *this = f;
+}
+
+/*!
+ Copy operator.
+*/
+vpBasicFeature &vpBasicFeature::operator=(const vpBasicFeature &f)
+{
+ s = f.s;
+ dim_s = f.dim_s;
+ nbParameters = f.nbParameters;
+ deallocate = f.deallocate;
+ if (flags)
+ delete [] flags;
+ flags = new bool [nbParameters];
+ for (unsigned int i = 0; i < nbParameters; i++)
+ flags[i] = f.flags[i];
+
+ return (*this);
}
//! Get the feature vector dimension.
diff --git a/src/visual-feature/vpBasicFeature.h b/src/visual-feature/vpBasicFeature.h
index 23258fd..79215c6 100644
--- a/src/visual-feature/vpBasicFeature.h
+++ b/src/visual-feature/vpBasicFeature.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpBasicFeature.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpBasicFeature.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -106,6 +106,8 @@ public:
virtual void init() = 0 ;
vpBasicFeature() ;
+ vpBasicFeature(const vpBasicFeature &f) ;
+ vpBasicFeature &operator=(const vpBasicFeature &f) ;
virtual ~vpBasicFeature() { /*vpTRACE("0x%x", this)*/; }
//! Return element \e i in the state vector (usage : x = s[i] )
virtual inline double operator[](const unsigned int i) const { return s[i]; }
diff --git a/src/visual-feature/vpFeatureDepth.cpp b/src/visual-feature/vpFeatureDepth.cpp
index 385f543..e8bc72c 100644
--- a/src/visual-feature/vpFeatureDepth.cpp
+++ b/src/visual-feature/vpFeatureDepth.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureDepth.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureDepth.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -92,13 +92,15 @@ vpFeatureDepth::init()
if (flags == NULL)
flags = new bool[nbParameters];
for (unsigned int i = 0; i < nbParameters; i++) flags[i] = false;
+ x = y = 0.;
+ Z = 1.;
}
/*!
Default constructor that build a visual feature.
*/
-vpFeatureDepth::vpFeatureDepth() : vpBasicFeature()
+vpFeatureDepth::vpFeatureDepth() : x(0), y(0), Z(1.)
{
init() ;
}
@@ -131,12 +133,12 @@ vpFeatureDepth::get_LogZoverZstar() const
/*!
Set the value of \f$ x \f$ which represents the x coordinate of the point in the camera frame.
- \param x : \f$ x \f$ value to set.
+ \param x_ : \f$ x \f$ value to set.
*/
void
-vpFeatureDepth::set_x(const double x)
+vpFeatureDepth::set_x(const double x_)
{
- this->x = x ;
+ this->x = x_ ;
flags[0] = true;
}
@@ -156,12 +158,12 @@ vpFeatureDepth::get_x() const
/*!
Set the value of \f$ y \f$ which represents the y coordinate of the point in the camera frame.
- \param y : \f$ y \f$ value to set.
+ \param y_ : \f$ y \f$ value to set.
*/
void
-vpFeatureDepth::set_y(const double y)
+vpFeatureDepth::set_y(const double y_)
{
- this->y = y ;
+ this->y = y_ ;
flags[1] = true;
}
@@ -180,12 +182,12 @@ vpFeatureDepth::get_y() const
/*!
Set the value of \f$ Z \f$ which represents the depth in the 3D camera frame.
- \param Z : \f$ Z \f$ value to set.
+ \param Z_ : \f$ Z \f$ value to set.
*/
void
-vpFeatureDepth::set_Z(const double Z)
+vpFeatureDepth::set_Z(const double Z_)
{
- this->Z = Z ;
+ this->Z = Z_ ;
flags[2] = true;
}
@@ -205,20 +207,20 @@ vpFeatureDepth::get_Z() const
/*!
Set the value of \f$ x \f$, \f$ y \f$, \f$ Z \f$ and \f$ log(\frac{Z}{Z^*}) \f$. \f$ x \f$ and \f$ y \f$ represent the coordinates of the point in the camera frame. \f$ Z \f$ is the 3D coordinate representing the depth. \f$ log(\frac{Z}{Z^*}) \f$ represents the logarithm of the current depth relative to the desired depth.
- \param x : \f$ x \f$ value to set.
- \param y : \f$ y \f$ value to set.
- \param Z : \f$ Z \f$ value to set.
+ \param x_ : \f$ x \f$ value to set.
+ \param y_ : \f$ y \f$ value to set.
+ \param Z_ : \f$ Z \f$ value to set.
\param LogZoverZstar : \f$ log(\frac{Z}{Z^*}) \f$ value to set.
*/
void
-vpFeatureDepth::set_xyZLogZoverZstar(const double x,
- const double y,
- const double Z,
+vpFeatureDepth::set_xyZLogZoverZstar(const double x_,
+ const double y_,
+ const double Z_,
const double LogZoverZstar)
{
- set_x(x) ;
- set_y(y) ;
- set_Z(Z) ;
+ set_x(x_) ;
+ set_y(y_) ;
+ set_Z(Z_) ;
set_LogZoverZstar(LogZoverZstar) ;
for( unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}
@@ -276,23 +278,23 @@ vpFeatureDepth::interaction(const unsigned int select)
L.resize(1,6) ;
- double x = get_x();
- double y = get_y();
- double Z = get_Z();
+ double x_ = get_x();
+ double y_ = get_y();
+ double Z_ = get_Z();
- if (Z < 0)
+ if (Z_ < 0)
{
vpERROR_TRACE("Point is behind the camera ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point is behind the camera ")) ;
}
- if (fabs(Z) < 1e-6)
+ if (fabs(Z_) < 1e-6)
{
vpERROR_TRACE("Point Z coordinates is null ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point Z coordinates is null")) ;
@@ -303,9 +305,9 @@ vpFeatureDepth::interaction(const unsigned int select)
L = 0;
L[0][0] = 0;
L[0][1] = 0;
- L[0][2] = -1/Z;
- L[0][3] = -y;
- L[0][4] = x;
+ L[0][2] = -1/Z_;
+ L[0][3] = -y_;
+ L[0][4] = x_;
L[0][5] = 0;
}
@@ -403,20 +405,20 @@ vpFeatureDepth::print(const unsigned int select ) const
/*!
Build a 3D depth visual feature from the point coordinates \f$ x \f$ and \f$ y \f$ given in the camera frame, \f$ Z \f$ which describes the depth and \f$ log(\frac{Z}{Z^*}) \f$ which represents the logarithm of the current depth relative to the desired depth.
- \param x : The \f$ x \f$ parameter.
- \param y : The \f$ y \f$ parameter.
- \param Z : The \f$ Z \f$ parameter.
+ \param x_ : The \f$ x \f$ parameter.
+ \param y_ : The \f$ y \f$ parameter.
+ \param Z_ : The \f$ Z \f$ parameter.
\param LogZoverZstar : The \f$ log(\frac{Z}{Z^*}) \f$ parameter.
*/
void
-vpFeatureDepth::buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
+vpFeatureDepth::buildFrom(const double x_, const double y_, const double Z_, const double LogZoverZstar)
{
s[0] = LogZoverZstar;
- this->x = x ;
- this->y = y ;
- this->Z = Z ;
+ this->x = x_ ;
+ this->y = y_ ;
+ this->Z = Z_ ;
if (Z < 0)
{
diff --git a/src/visual-feature/vpFeatureDepth.h b/src/visual-feature/vpFeatureDepth.h
index d6cadd2..17779f1 100644
--- a/src/visual-feature/vpFeatureDepth.h
+++ b/src/visual-feature/vpFeatureDepth.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureDepth.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureDepth.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureDisplay.cpp b/src/visual-feature/vpFeatureDisplay.cpp
index e97aa9a..f29dae7 100644
--- a/src/visual-feature/vpFeatureDisplay.cpp
+++ b/src/visual-feature/vpFeatureDisplay.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureDisplay.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureDisplay.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureDisplay.h b/src/visual-feature/vpFeatureDisplay.h
index bb39b21..9547c4d 100644
--- a/src/visual-feature/vpFeatureDisplay.h
+++ b/src/visual-feature/vpFeatureDisplay.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureDisplay.h 4062 2013-01-09 10:30:06Z fspindle $
+ * $Id: vpFeatureDisplay.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureEllipse.cpp b/src/visual-feature/vpFeatureEllipse.cpp
index ff30ae6..8c864e1 100644
--- a/src/visual-feature/vpFeatureEllipse.cpp
+++ b/src/visual-feature/vpFeatureEllipse.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureEllipse.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureEllipse.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -97,7 +97,7 @@ vpFeatureEllipse::init()
}
-vpFeatureEllipse::vpFeatureEllipse() : vpBasicFeature()
+vpFeatureEllipse::vpFeatureEllipse() : A(0), B(0), C(0)
{
init() ;
}
@@ -343,7 +343,7 @@ void
vpFeatureEllipse::buildFrom(const double x, const double y,
const double mu20, const double mu11,
const double mu02,
- const double A, const double B, const double C)
+ const double a, const double b, const double c)
{
s[0] = x ;
@@ -352,9 +352,9 @@ vpFeatureEllipse::buildFrom(const double x, const double y,
s[3] = mu11 ;
s[4] = mu02 ;
- this->A = A ;
- this->B = B ;
- this->C = C ;
+ this->A = a ;
+ this->B = b ;
+ this->C = c ;
for( unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}
@@ -382,11 +382,11 @@ vpFeatureEllipse::set_xy(const double x,const double y)
}
void
-vpFeatureEllipse::setABC(const double A, const double B, const double C)
+vpFeatureEllipse::setABC(const double a, const double b, const double c)
{
- this->A = A ;
- this->B = B ;
- this->C = C ;
+ this->A = a ;
+ this->B = b ;
+ this->C = c ;
for( unsigned int i = 5; i < nbParameters; i++) flags[i] = true;
}
diff --git a/src/visual-feature/vpFeatureEllipse.h b/src/visual-feature/vpFeatureEllipse.h
index dd99810..7e19a33 100644
--- a/src/visual-feature/vpFeatureEllipse.h
+++ b/src/visual-feature/vpFeatureEllipse.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureEllipse.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureEllipse.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureException.h b/src/visual-feature/vpFeatureException.h
index 61cfcc6..f89311d 100644
--- a/src/visual-feature/vpFeatureException.h
+++ b/src/visual-feature/vpFeatureException.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureException.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureException.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,12 +70,12 @@
*/
class VISP_EXPORT vpFeatureException : public vpException
{
-public:
- /*!
+ public:
+ /*!
\brief Lists the possible error than can be emmited while calling
vpFeature member
*/
- enum errorFeatureCodeEnum
+ enum errorFeatureCodeEnum
{
//! feature list or desired feature list is empty
badErrorVectorError,
@@ -84,25 +84,20 @@ public:
badInitializationError
} ;
-public:
- vpFeatureException (const int code, const char * msg)
- : vpException(code, msg){ ; }
- vpFeatureException (const int code, const std::string & msg)
- : vpException(code, msg){ ; }
- vpFeatureException (const int code)
- : vpException(code){ ; }
+ public:
+ vpFeatureException (const int id, const char* format, ...)
+ {
+ this->code = id;
+ va_list args;
+ va_start(args, format);
+ setMessage(format, args);
+ va_end (args);
+ }
+ vpFeatureException (const int id, const std::string & msg)
+ : vpException(id, msg){ ; }
+ vpFeatureException (const int id)
+ : vpException(id){ ; }
};
-
-
-
-
-#endif /* #ifndef __vpFeatureException_H */
-
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
+#endif
diff --git a/src/visual-feature/vpFeatureLine.cpp b/src/visual-feature/vpFeatureLine.cpp
index b04c852..77d348d 100644
--- a/src/visual-feature/vpFeatureLine.cpp
+++ b/src/visual-feature/vpFeatureLine.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureLine.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureLine.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -113,7 +113,7 @@ vpFeatureLine::init()
/*!
Default constructor that build a visual feature.
*/
-vpFeatureLine::vpFeatureLine() : vpBasicFeature()
+vpFeatureLine::vpFeatureLine() : A(0), B(0), C(0), D(0)
{
init() ;
}
@@ -139,19 +139,19 @@ vpFeatureLine::setRhoTheta(const double rho, const double theta)
\f[ AX + BY + CZ + D = 0 \f]
Those parameters are needed to compute the interaction matrix associated to a visual feature. Normally, two plans are needed to describe a line (the intersection of those two plans). But to compute the interaction matrix only one plan equation is required. The only one restrictions is that the value of D must not be equal to zero !
- \param A : A value to set.
- \param B : B value to set.
- \param C : C value to set.
- \param D : D value to set.
+ \param A_ : A value to set.
+ \param B_ : B value to set.
+ \param C_ : C value to set.
+ \param D_ : D value to set.
*/
void
-vpFeatureLine::setABCD(const double A, const double B,
- const double C, const double D)
+vpFeatureLine::setABCD(const double A_, const double B_,
+ const double C_, const double D_)
{
- this->A = A ;
- this->B = B ;
- this->C = C ;
- this->D = D ;
+ this->A = A_ ;
+ this->B = B_ ;
+ this->C = C_ ;
+ this->D = D_ ;
for(unsigned int i = 2; i < nbParameters; i++) flags[i] = true;
}
@@ -457,22 +457,22 @@ vpFeatureLine::buildFrom(const double rho, const double theta)
\param rho : The \f$ \rho \f$ parameter.
\param theta : The \f$ \theta \f$ parameter.
- \param A : A parameter of the plan equation.
- \param B : B parameter of the plan equation.
- \param C : C parameter of the plan equation.
- \param D : D parameter of the plan equation.
+ \param A_ : A parameter of the plan equation.
+ \param B_ : B parameter of the plan equation.
+ \param C_ : C parameter of the plan equation.
+ \param D_ : D parameter of the plan equation.
*/
void vpFeatureLine::buildFrom(const double rho, const double theta,
- const double A, const double B,
- const double C, const double D)
+ const double A_, const double B_,
+ const double C_, const double D_)
{
s[0] = rho ;
s[1] = theta ;
- this->A = A ;
- this->B = B ;
- this->C = C ;
- this->D = D ;
+ this->A = A_ ;
+ this->B = B_ ;
+ this->C = C_ ;
+ this->D = D_ ;
for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}
diff --git a/src/visual-feature/vpFeatureLine.h b/src/visual-feature/vpFeatureLine.h
index 0d94635..f7ad502 100644
--- a/src/visual-feature/vpFeatureLine.h
+++ b/src/visual-feature/vpFeatureLine.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureLine.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureLine.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureLuminance.cpp b/src/visual-feature/vpFeatureLuminance.cpp
index 63a7d86..700eda4 100755
--- a/src/visual-feature/vpFeatureLuminance.cpp
+++ b/src/visual-feature/vpFeatureLuminance.cpp
@@ -15,11 +15,7 @@
\file vpFeatureLuminance.cpp
\brief Class that defines the image luminance visual feature
- for more details see
- C. Collewet, E. Marchand, F. Chaumette. Visual
- servoing set free from image processing. In IEEE Int. Conf. on
- Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
- Mai 2008.
+ For more details see \cite collewet:inria-00261398..
*/
@@ -39,6 +35,7 @@ vpFeatureLuminance::init()
firstTimeIn =0 ;
+ nbr = nbc = 0;
}
@@ -70,17 +67,44 @@ vpFeatureLuminance::init(unsigned int _nbr, unsigned int _nbc, double _Z)
/*!
Default constructor that build a visual feature.
*/
-vpFeatureLuminance::vpFeatureLuminance() : vpBasicFeature()
+vpFeatureLuminance::vpFeatureLuminance()
+ : Z(1), nbr(0), nbc(0), bord(10), pixInfo(NULL), firstTimeIn(0), cam()
{
nbParameters = 1;
dim_s = 0 ;
- bord = 10 ;
flags = NULL;
- pixInfo = NULL;
init() ;
}
+/*!
+ Copy constructor.
+ */
+vpFeatureLuminance::vpFeatureLuminance(const vpFeatureLuminance& f)
+ : vpBasicFeature(f), Z(1), nbr(0), nbc(0), bord(10), pixInfo(NULL), firstTimeIn(0), cam()
+{
+ *this = f;
+}
+
+/*!
+ Copy operator.
+ */
+vpFeatureLuminance &vpFeatureLuminance::operator=(const vpFeatureLuminance& f)
+{
+ Z = f.Z;
+ nbr = f.nbr;
+ nbc = f.nbc;
+ bord = f.bord;
+ firstTimeIn = f.firstTimeIn;
+ cam = f.cam;
+ if (pixInfo)
+ delete [] pixInfo;
+ pixInfo = new vpLuminance[dim_s] ;
+ for(unsigned int i=0; i< dim_s; i++)
+ pixInfo[i] = f.pixInfo[i];
+ return (*this);
+}
+
/*!
Default destructor.
*/
@@ -95,12 +119,12 @@ vpFeatureLuminance::~vpFeatureLuminance()
/*!
Set the value of \f$ Z \f$ which represents the depth in the 3D camera frame.
- \param Z : \f$ Z \f$ value to set.
+ \param Z_ : \f$ Z \f$ value to set.
*/
void
-vpFeatureLuminance::set_Z(const double Z)
+vpFeatureLuminance::set_Z(const double Z_)
{
- this->Z = Z ;
+ this->Z = Z_ ;
flags[0] = true;
}
diff --git a/src/visual-feature/vpFeatureLuminance.h b/src/visual-feature/vpFeatureLuminance.h
index fe68cc7..3e4d9fa 100755
--- a/src/visual-feature/vpFeatureLuminance.h
+++ b/src/visual-feature/vpFeatureLuminance.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureLuminance.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureLuminance.h 4664 2014-02-16 16:17:54Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,11 +51,7 @@
\file vpFeatureLuminance.h
\brief Class that defines the image luminance visual feature
- for more details see
- C. Collewet, E. Marchand, F. Chaumette. Visual
- servoing set free from image processing. In IEEE Int. Conf. on
- Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
- Mai 2008.
+ For more details see \cite collewet:inria-00261398.
*/
@@ -82,11 +78,7 @@ class VISP_EXPORT vpLuminance
\class vpFeatureLuminance
\brief Class that defines the image luminance visual feature
- For more details see
- C. Collewet, E. Marchand, F. Chaumette. Visual
- servoing set free from image processing. In IEEE Int. Conf. on
- Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
- Mai 2008.
+ For more details see \cite collewet:inria-00261398.
*/
class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
@@ -116,7 +108,9 @@ public:
void init(unsigned int _nbr, unsigned int _nbc, double _Z) ;
vpFeatureLuminance() ;
-
+ vpFeatureLuminance(const vpFeatureLuminance& f) ;
+ vpFeatureLuminance &operator=(const vpFeatureLuminance& f) ;
+
//! Destructor.
virtual ~vpFeatureLuminance() ;
diff --git a/src/visual-feature/vpFeatureMoment.cpp b/src/visual-feature/vpFeatureMoment.cpp
index ae3cd40..a2a2675 100644
--- a/src/visual-feature/vpFeatureMoment.cpp
+++ b/src/visual-feature/vpFeatureMoment.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureMoment.cpp 4303 2013-07-04 14:14:00Z fspindle $
+ * $Id: vpFeatureMoment.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -142,20 +142,19 @@ void vpFeatureMoment::display (const vpCameraParameters &cam, const vpImage< vpR
\attention The behaviour of this method is not the same as vpMoment::update which only acknowledges the new object. This method also computes the interaction matrices.
- \param A : A coefficient of the plane.
- \param B : B coefficient of the plane.
- \param C : C coefficient of the plane.
+ \param A_ : A coefficient of the plane.
+ \param B_ : B coefficient of the plane.
+ \param C_ : C coefficient of the plane.
*/
-void vpFeatureMoment::update (double A, double B, double C){
- this->A = A;
- this->B = B;
- this->C = C;
+void vpFeatureMoment::update (double A_, double B_, double C_){
+ this->A = A_;
+ this->B = B_;
+ this->C = C_;
if(moment==NULL){
bool found;
this->moment = &(moments.get(momentName(),found));
- if(!found) throw ("Moment not found for feature");
-
+ if(!found) throw vpException(vpException::notInitialized,"Moment not found for feature");
}
nbParameters = 1;
if(this->moment!=NULL){
@@ -235,10 +234,15 @@ vpBasicFeature* vpFeatureMoment::duplicate () const
*/
void vpFeatureMoment::linkTo(vpFeatureMomentDatabase& featureMoments){
- std::strcpy(_name,name());
- this->featureMomentsDataBase=&featureMoments;
+ if (strlen( name() ) >= 255) {
+ throw(vpException(vpException::memoryAllocationError,
+ "Not enough memory to intialize the moment name"));
+ }
+
+ std::strcpy(_name,name());
+ this->featureMomentsDataBase=&featureMoments;
- featureMoments.add(*this,_name);
+ featureMoments.add(*this,_name);
}
diff --git a/src/visual-feature/vpFeatureMoment.h b/src/visual-feature/vpFeatureMoment.h
index 85ec244..76b8b4b 100644
--- a/src/visual-feature/vpFeatureMoment.h
+++ b/src/visual-feature/vpFeatureMoment.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
-* $Id: vpFeatureMoment.h 4276 2013-06-25 12:36:48Z fspindle $
+* $Id: vpFeatureMoment.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
-* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -145,8 +145,8 @@ return 0;
*/
class VISP_EXPORT vpFeatureMoment : public vpBasicFeature{
protected:
- vpMoment* moment;
- vpMoment& getMoment(){return *moment;}
+ const vpMoment* moment;
+ const vpMoment& getMoment() const {return *moment;}
vpMomentDatabase& moments;
vpFeatureMomentDatabase* featureMomentsDataBase;
std::vector<vpMatrix> interaction_matrices;
@@ -155,22 +155,24 @@ protected:
double B;
double C;
char _name[255];
+
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane, feature database and matrix size.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database
\param nbmatrices : If you want to create a new vpFeatureMoment implementation, your feature will often have a matrix size of n lines. You can specify the number of lines by this parameter.
*/
- vpFeatureMoment(vpMomentDatabase& moments,double A=0.0, double B=0.0, double C=0.0,vpFeatureMomentDatabase* featureMoments=NULL,unsigned int nbmatrices=1) :
- moment(NULL),
- moments(moments),
- featureMomentsDataBase(featureMoments),
- interaction_matrices(nbmatrices),
- A(A),B(B),C(C) {}
+ vpFeatureMoment(vpMomentDatabase& data_base,double A_=0.0, double B_=0.0, double C_=0.0,
+ vpFeatureMomentDatabase* featureMoments=NULL,unsigned int nbmatrices=1)
+ : moment(NULL),
+ moments(data_base),
+ featureMomentsDataBase(featureMoments),
+ interaction_matrices(nbmatrices),
+ A(A_),B(B_),C(C_) {}
virtual ~vpFeatureMoment();
virtual void compute_interaction (void);
@@ -182,24 +184,24 @@ public:
int getDimension (unsigned int select=FEATURE_ALL) const;
void init (void);
- vpMatrix interaction (const unsigned int select=FEATURE_ALL);
+ vpMatrix interaction (const unsigned int select=FEATURE_ALL) ;
void linkTo(vpFeatureMomentDatabase& featureMoments);
/*!
Name of the moment corresponding to the feature. This allows to locate the moment
associated with the feature in the provided database.
*/
- virtual const char* momentName() = 0;
+ virtual const char* momentName() const = 0;
/*!
Name of the feature used to locate it in the database of features.
*/
- virtual const char* name() = 0;
+ virtual const char* name() const = 0;
void print (const unsigned int select=FEATURE_ALL) const ;
void update (double A, double B, double C);
#ifndef DOXYGEN_SHOULD_SKIP_THIS
- void operator=(const vpFeatureMoment &){
+ vpFeatureMoment& operator=(const vpFeatureMoment &){
throw vpException(vpException::functionNotImplementedError,"Not implemented!");
}
#endif
@@ -222,15 +224,17 @@ Duplication is mostly used internally in ViSP.
*/
class VISP_EXPORT vpMomentGenericFeature : public vpFeatureMoment{
public:
- vpMomentGenericFeature(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments, vpMoment* moment) : vpFeatureMoment(moments,A,B,C,featureMoments){this->moment = moment;}
+ vpMomentGenericFeature(vpMomentDatabase& data_base,double A_, double B_, double C_,
+ vpFeatureMomentDatabase* featureMoments, const vpMoment* p_moment)
+ : vpFeatureMoment(data_base,A_,B_,C_,featureMoments){this->moment = p_moment;}
/*!
No specific moment name.
*/
- const char* momentName() { return NULL;}
+ const char* momentName() const { return NULL;}
/*!
No specific feature name.
*/
- virtual const char* name() { return NULL;}
+ virtual const char* name() const { return NULL;}
};
#endif
diff --git a/src/visual-feature/vpFeatureMomentAlpha.cpp b/src/visual-feature/vpFeatureMomentAlpha.cpp
index 26ae79e..9645e49 100644
--- a/src/visual-feature/vpFeatureMomentAlpha.cpp
+++ b/src/visual-feature/vpFeatureMomentAlpha.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,8 +62,8 @@ void vpFeatureMomentAlpha::compute_interaction(){
bool found_moment_centered;
bool found_FeatureMoment_centered;
- vpMomentCentered& momentCentered = (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
- vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMoments->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
+ const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
+ vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
if(!found_FeatureMoment_centered) throw vpException(vpException::notInitialized,"vpFeatureMomentCentered not found");
@@ -87,9 +87,9 @@ void vpFeatureMomentAlpha::compute_interaction(){
bool found_moment_centered;
bool found_moment_gravity;
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
- vpMomentObject& momentObject = moment->getObject();
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentObject& momentObject = moment->getObject();
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
diff --git a/src/visual-feature/vpFeatureMomentAlpha.h b/src/visual-feature/vpFeatureMomentAlpha.h
index 1f03148..40faae3 100644
--- a/src/visual-feature/vpFeatureMomentAlpha.h
+++ b/src/visual-feature/vpFeatureMomentAlpha.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,11 +91,11 @@ class VISP_EXPORT vpFeatureMomentAlpha : public vpFeatureMoment{
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentAlpha";}
+ const char* momentName() const { return "vpMomentAlpha";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentAlpha";}
+ const char* name() const { return "vpFeatureMomentAlpha";}
};
#else
class vpMomentDatabase;
@@ -149,26 +149,26 @@ class VISP_EXPORT vpFeatureMomentAlpha : public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentAlpha(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,1)
+ vpFeatureMomentAlpha(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments,1)
{}
void compute_interaction();
/*!
Associated moment name.
*/
- const char* momentName(){ return "vpMomentAlpha";}
+ const char* momentName() const { return "vpMomentAlpha";}
/*!
Feature name.
*/
- const char* name(){ return "vpFeatureMomentAlpha";}
+ const char* name() const { return "vpFeatureMomentAlpha";}
vpColVector error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL);
};
diff --git a/src/visual-feature/vpFeatureMomentArea.cpp b/src/visual-feature/vpFeatureMomentArea.cpp
index a266464..bd40912 100644
--- a/src/visual-feature/vpFeatureMomentArea.cpp
+++ b/src/visual-feature/vpFeatureMomentArea.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentArea.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -80,19 +80,19 @@ void vpFeatureMomentArea::compute_interaction(){
else {
// Get Xg and Yg
bool found_xgyg;
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_xgyg));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_xgyg));
if (!found_xgyg) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
bool found_m00;
- vpMomentArea& areamoment = static_cast<vpMomentArea&>(moments.get("vpMomentArea", found_m00));
+ const vpMomentArea& areamoment = static_cast<const vpMomentArea&>(moments.get("vpMomentArea", found_m00));
if (!found_m00) throw vpException(vpException::notInitialized,"vpMomentArea not found");
double Xg = momentGravity.getXg();
double Yg = momentGravity.getYg();
double a = areamoment.get()[0]; // Area scalar
- //assert(a==mobj.get(0,0));
- assert(std::fabs(a-mobj.get(0,0)) < a*std::numeric_limits<double>::epsilon());
+ //assert(a==mobj.get(0,0));
+ assert(std::fabs(a-mobj.get(0,0)) < a*std::numeric_limits<double>::epsilon());
interaction_matrices[0][0][0] = -a*A;
interaction_matrices[0][0][1] = -a*B;
diff --git a/src/visual-feature/vpFeatureMomentArea.h b/src/visual-feature/vpFeatureMomentArea.h
index 42045ef..1d95aac 100644
--- a/src/visual-feature/vpFeatureMomentArea.h
+++ b/src/visual-feature/vpFeatureMomentArea.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentArea.h 3317 2011-09-06 14:14:47Z mbakthav $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,25 +61,25 @@ class VISP_EXPORT vpFeatureMomentArea : public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentArea(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,1){}
+ vpFeatureMomentArea(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments,1){}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentArea";}
+ const char* momentName() const { return "vpMomentArea";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentArea";}
+ const char* name() const { return "vpFeatureMomentArea";}
};
#endif
diff --git a/src/visual-feature/vpFeatureMomentAreaNormalized.cpp b/src/visual-feature/vpFeatureMomentAreaNormalized.cpp
index 3014262..5150af6 100644
--- a/src/visual-feature/vpFeatureMomentAreaNormalized.cpp
+++ b/src/visual-feature/vpFeatureMomentAreaNormalized.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,14 +68,12 @@ void vpFeatureMomentAreaNormalized::compute_interaction(){
bool found_FeatureMoment_centered;
bool found_featuremoment_basic;
- vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMoments->get("vpFeatureMomentBasic",found_featuremoment_basic)));
+ vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));
-
-
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
- vpMomentObject& momentObject = moment->getObject();
- vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
- vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMoments->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
+ const vpMomentObject& momentObject = moment->getObject();
+ const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
+ vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
if(!found_FeatureMoment_centered) throw vpException(vpException::notInitialized, "vpFeatureMomentCentered not found");
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
@@ -125,10 +123,10 @@ void vpFeatureMomentAreaNormalized::compute_interaction(){
bool found_moment_surface_normalized;
bool found_moment_gravity;
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
- vpMomentObject& momentObject = moment->getObject();
- vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentObject& momentObject = moment->getObject();
+ const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
if (!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if (!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
diff --git a/src/visual-feature/vpFeatureMomentAreaNormalized.h b/src/visual-feature/vpFeatureMomentAreaNormalized.h
index b43e2ea..7004fe3 100644
--- a/src/visual-feature/vpFeatureMomentAreaNormalized.h
+++ b/src/visual-feature/vpFeatureMomentAreaNormalized.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,24 +77,24 @@ class VISP_EXPORT vpFeatureMomentAreaNormalized : public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param database : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
\param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentAreaNormalized(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,1){}
+ vpFeatureMomentAreaNormalized(vpMomentDatabase& database,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL)
+ : vpFeatureMoment(database,A_,B_,C_,featureMoments,1){}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentAreaNormalized";}
+ const char* momentName() const { return "vpMomentAreaNormalized";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentAreaNormalized";}
+ const char* name() const { return "vpFeatureMomentAreaNormalized";}
};
@@ -160,24 +160,24 @@ class VISP_EXPORT vpFeatureMomentAreaNormalized : public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentAreaNormalized(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,1){}
+ vpFeatureMomentAreaNormalized(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments,1){}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentAreaNormalized";}
+ const char* momentName() const { return "vpMomentAreaNormalized";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentAreaNormalized";}
+ const char* name() const { return "vpFeatureMomentAreaNormalized";}
};
#endif
diff --git a/src/visual-feature/vpFeatureMomentBasic.cpp b/src/visual-feature/vpFeatureMomentBasic.cpp
index 102ce4a..08ef40e 100644
--- a/src/visual-feature/vpFeatureMomentBasic.cpp
+++ b/src/visual-feature/vpFeatureMomentBasic.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -48,14 +48,14 @@
#include <limits>
/*!
Default constructor.
- \param moments : Database of moment primitives.
- \param A : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param B : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param C : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param data_base : Database of moment primitives.
+ \param A_ : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param B_ : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param C_ : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
\param featureMoments : Database of features.
*/
-vpFeatureMomentBasic::vpFeatureMomentBasic(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments) :
- vpFeatureMoment(moments,A,B,C,featureMoments)
+vpFeatureMomentBasic::vpFeatureMomentBasic(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments), order(0)
{
}
@@ -65,12 +65,12 @@ vpFeatureMomentBasic::vpFeatureMomentBasic(vpMomentDatabase& moments,double A, d
*/
void vpFeatureMomentBasic::compute_interaction(){
int delta;
- vpMomentObject& momentObject = moment->getObject();
- order = momentObject.getOrder()+1;
+ const vpMomentObject& m = moment->getObject();
+ order = m.getOrder()+1;
interaction_matrices.resize(order*order);
for(std::vector< vpMatrix >::iterator i=interaction_matrices.begin();i!=interaction_matrices.end();i++)
i->resize(1,6);
- if (momentObject.getType()==vpMomentObject::DISCRETE){
+ if (m.getType()==vpMomentObject::DISCRETE){
delta=0;
} else {
delta=1;
@@ -84,12 +84,12 @@ void vpFeatureMomentBasic::compute_interaction(){
int WZ = 5;
//i=0;j=0
- interaction_matrices[0][0][VX] = -delta*A*momentObject.get(0, 0);
- interaction_matrices[0][0][VY] = -delta*B*momentObject.get(0, 0);
- interaction_matrices[0][0][VZ] = 3*delta*(A*momentObject.get(1, 0)+B*momentObject.get(0, 1)+C*momentObject.get(0, 0))-delta*C*momentObject.get(0, 0);
+ interaction_matrices[0][0][VX] = -delta*A*m.get(0, 0);
+ interaction_matrices[0][0][VY] = -delta*B*m.get(0, 0);
+ interaction_matrices[0][0][VZ] = 3*delta*(A*m.get(1, 0)+B*m.get(0, 1)+C*m.get(0, 0))-delta*C*m.get(0, 0);
- interaction_matrices[0][0][WX] = 3*delta*momentObject.get(0, 1);
- interaction_matrices[0][0][WY] = -3*delta*momentObject.get(1, 0);
+ interaction_matrices[0][0][WX] = 3*delta*m.get(0, 1);
+ interaction_matrices[0][0][WY] = -3*delta*m.get(1, 0);
interaction_matrices[0][0][WZ] = 0;
// int i=0;
@@ -98,13 +98,13 @@ void vpFeatureMomentBasic::compute_interaction(){
unsigned int jm1_ = j_ - 1;
unsigned int jp1_ = j_ + 1;
- interaction_matrices[j_*order][0][VX] = -delta*A*momentObject.get(0, j_);
- interaction_matrices[j_*order][0][VY] = -j*(A*momentObject.get(1,jm1_)+B*momentObject.get(0,j_)+C*momentObject.get(0,jm1_))-delta*B*momentObject.get(0,j_);
- interaction_matrices[j_*order][0][VZ] = (j+3*delta)*(A*momentObject.get(1,j_)+B*momentObject.get(0,jp1_)+C*momentObject.get(0,j_))-delta*C*momentObject.get(0,j_);
+ interaction_matrices[j_*order][0][VX] = -delta*A*m.get(0, j_);
+ interaction_matrices[j_*order][0][VY] = -j*(A*m.get(1,jm1_)+B*m.get(0,j_)+C*m.get(0,jm1_))-delta*B*m.get(0,j_);
+ interaction_matrices[j_*order][0][VZ] = (j+3*delta)*(A*m.get(1,j_)+B*m.get(0,jp1_)+C*m.get(0,j_))-delta*C*m.get(0,j_);
- interaction_matrices[j_*order][0][WX] = (j+3*delta)*momentObject.get(0,jp1_)+j*momentObject.get(0,jm1_);
- interaction_matrices[j_*order][0][WY] = -(j+3*delta)*momentObject.get(1,j_);
- interaction_matrices[j_*order][0][WZ] = -j*momentObject.get(1,jm1_);
+ interaction_matrices[j_*order][0][WX] = (j+3*delta)*m.get(0,jp1_)+j*m.get(0,jm1_);
+ interaction_matrices[j_*order][0][WY] = -(j+3*delta)*m.get(1,j_);
+ interaction_matrices[j_*order][0][WZ] = -j*m.get(1,jm1_);
}
//int j=0;
@@ -113,13 +113,13 @@ void vpFeatureMomentBasic::compute_interaction(){
unsigned int im1_ = i_ - 1;
unsigned int ip1_ = i_ + 1;
- interaction_matrices[i_][0][VX] = -i*(A*momentObject.get(i_, 0)+B*momentObject.get(im1_, 1)+C*momentObject.get(im1_, 0))-delta*A*momentObject.get(i_, 0);
- interaction_matrices[i_][0][VY] = -delta*B*momentObject.get(i_, 0);
- interaction_matrices[i_][0][VZ] = (i+3*delta)*(A*momentObject.get(ip1_, 0)+B*momentObject.get(i_, 1)+C*momentObject.get(i_, 0))-delta*C*momentObject.get(i_, 0);
+ interaction_matrices[i_][0][VX] = -i*(A*m.get(i_, 0)+B*m.get(im1_, 1)+C*m.get(im1_, 0))-delta*A*m.get(i_, 0);
+ interaction_matrices[i_][0][VY] = -delta*B*m.get(i_, 0);
+ interaction_matrices[i_][0][VZ] = (i+3*delta)*(A*m.get(ip1_, 0)+B*m.get(i_, 1)+C*m.get(i_, 0))-delta*C*m.get(i_, 0);
- interaction_matrices[i_][0][WX] = (i+3*delta)*momentObject.get(i_, 1);
- interaction_matrices[i_][0][WY] = -(i+3*delta)*momentObject.get(ip1_, 0)-i*momentObject.get(im1_, 0);
- interaction_matrices[i_][0][WZ] = i*momentObject.get(im1_, 1);
+ interaction_matrices[i_][0][WX] = (i+3*delta)*m.get(i_, 1);
+ interaction_matrices[i_][0][WY] = -(i+3*delta)*m.get(ip1_, 0)-i*m.get(im1_, 0);
+ interaction_matrices[i_][0][WZ] = i*m.get(im1_, 1);
}
for(int j=1; j<(int)order-1; j++){
@@ -132,13 +132,13 @@ void vpFeatureMomentBasic::compute_interaction(){
unsigned int im1_ = i_ - 1;
unsigned int ip1_ = i_ + 1;
- interaction_matrices[j_*order+i_][0][VX] = -i*(A*momentObject.get(i_, j_)+B*momentObject.get(im1_, jp1_)+C*momentObject.get(im1_,j_))-delta*A*momentObject.get(i_, j_);
- interaction_matrices[j_*order+i_][0][VY] = -j*(A*momentObject.get(ip1_, jm1_)+B*momentObject.get(i_, j_)+C*momentObject.get(i_,jm1_))-delta*B*momentObject.get(i_, j_);
- interaction_matrices[j_*order+i_][0][VZ] = (i+j+3*delta)*(A*momentObject.get(ip1_, j_)+B*momentObject.get(i_,jp1_)+C*momentObject.get(i_, j_))-delta*C*momentObject.get(i_,j_);
+ interaction_matrices[j_*order+i_][0][VX] = -i*(A*m.get(i_, j_)+B*m.get(im1_, jp1_)+C*m.get(im1_,j_))-delta*A*m.get(i_, j_);
+ interaction_matrices[j_*order+i_][0][VY] = -j*(A*m.get(ip1_, jm1_)+B*m.get(i_, j_)+C*m.get(i_,jm1_))-delta*B*m.get(i_, j_);
+ interaction_matrices[j_*order+i_][0][VZ] = (i+j+3*delta)*(A*m.get(ip1_, j_)+B*m.get(i_,jp1_)+C*m.get(i_, j_))-delta*C*m.get(i_,j_);
- interaction_matrices[j_*order+i_][0][WX] = (i+j+3*delta)*momentObject.get(i_, jp1_)+j*momentObject.get(i_, jm1_);
- interaction_matrices[j_*order+i_][0][WY] = -(i+j+3*delta)*momentObject.get(ip1_, j_)-i*momentObject.get(im1_, j_);
- interaction_matrices[j_*order+i_][0][WZ] = i*momentObject.get(im1_,jp1_)-j*momentObject.get(ip1_, jm1_);
+ interaction_matrices[j_*order+i_][0][WX] = (i+j+3*delta)*m.get(i_, jp1_)+j*m.get(i_, jm1_);
+ interaction_matrices[j_*order+i_][0][WY] = -(i+j+3*delta)*m.get(ip1_, j_)-i*m.get(im1_, j_);
+ interaction_matrices[j_*order+i_][0][WZ] = i*m.get(im1_,jp1_)-j*m.get(ip1_, jm1_);
}
}
}
@@ -149,7 +149,7 @@ Interaction matrix corresponding to \f$ m_{ij} \f$ moment.
\param select_two : second index (j).
\return Interaction matrix \f$ L_{m_{ij}} \f$ corresponding to the moment.
*/
-vpMatrix vpFeatureMomentBasic::interaction (unsigned int select_one,unsigned int select_two){
+vpMatrix vpFeatureMomentBasic::interaction (unsigned int select_one,unsigned int select_two) const {
if(select_one+select_two>moment->getObject().getOrder())
throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
return interaction_matrices[select_two*order+select_one];
diff --git a/src/visual-feature/vpFeatureMomentBasic.h b/src/visual-feature/vpFeatureMomentBasic.h
index 90d889a..64df62c 100644
--- a/src/visual-feature/vpFeatureMomentBasic.h
+++ b/src/visual-feature/vpFeatureMomentBasic.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,7 +71,7 @@ class vpMomentDatabase;
*/
class VISP_EXPORT vpFeatureMomentBasic : public vpFeatureMoment{
-private:
+protected:
unsigned int order;
public:
vpFeatureMomentBasic(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL);
@@ -84,15 +84,15 @@ private:
}
#endif
- vpMatrix interaction (unsigned int select_one,unsigned int select_two);
+ vpMatrix interaction (unsigned int select_one,unsigned int select_two) const;
/*!
Associated moment name.
*/
- const char* momentName(){ return "vpMomentBasic";}
+ const char* momentName() const { return "vpMomentBasic";}
/*!
Feature name.
*/
- const char* name(){ return "vpFeatureMomentBasic";}
+ const char* name() const { return "vpFeatureMomentBasic";}
};
#endif
diff --git a/src/visual-feature/vpFeatureMomentCInvariant.cpp b/src/visual-feature/vpFeatureMomentCInvariant.cpp
index d00d1bd..c6dbe95 100644
--- a/src/visual-feature/vpFeatureMomentCInvariant.cpp
+++ b/src/visual-feature/vpFeatureMomentCInvariant.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -68,12 +68,12 @@ void vpFeatureMomentCInvariant::compute_interaction(){
bool found_FeatureMoment_centered;
bool found_featuremoment_basic;
- vpMomentObject& momentObject = moment->getObject();
- vpMomentCentered& momentCentered = (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
- vpMomentCInvariant& momentCInvariant = (static_cast<vpMomentCInvariant&>(moments.get("vpMomentCInvariant",found_moment_cinvariant)));
- vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMoments->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
+ const vpMomentObject& momentObject = moment->getObject();
+ const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
+ const vpMomentCInvariant& momentCInvariant = (static_cast<const vpMomentCInvariant&>(moments.get("vpMomentCInvariant",found_moment_cinvariant)));
+ vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
- vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMoments->get("vpFeatureMomentBasic",found_featuremoment_basic)));
+ vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));
if(!found_featuremoment_basic) throw vpException(vpException::notInitialized,"vpFeatureMomentBasic not found");
@@ -194,7 +194,7 @@ void vpFeatureMomentCInvariant::compute_interaction(){
#include <vector>
#include <iostream>
#include <limits>
-
+#include <cmath>
/*!
Computes interaction matrix for space-scale-rotation invariants. Called internally.
@@ -214,16 +214,15 @@ void vpFeatureMomentCInvariant::compute_interaction(){
bool found_FeatureMoment_centered;
bool found_featuremoment_basic;
- vpMomentObject& momentObject = moment->getObject();
- vpMomentCentered& momentCentered = (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
- vpMomentCInvariant& momentCInvariant = (static_cast<vpMomentCInvariant&>(moments.get("vpMomentCInvariant",found_moment_cinvariant)));
+ const vpMomentObject& momentObject = moment->getObject();
+ const vpMomentCentered& momentCentered = (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
+ const vpMomentCInvariant& momentCInvariant = (static_cast<const vpMomentCInvariant&>(moments.get("vpMomentCInvariant",found_moment_cinvariant)));
+
vpFeatureMomentCentered& featureMomentCentered = (static_cast<vpFeatureMomentCentered&>(featureMomentsDataBase->get("vpFeatureMomentCentered",found_FeatureMoment_centered)));
vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));
if(!found_featuremoment_basic) throw vpException(vpException::notInitialized,"vpFeatureMomentBasic not found");
-
-
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
if(!found_moment_cinvariant) throw vpException(vpException::notInitialized,"vpMomentCInvariant not found");
if(!found_FeatureMoment_centered) throw vpException(vpException::notInitialized,"vpFeatureMomentCentered not found");
@@ -256,8 +255,6 @@ void vpFeatureMomentCInvariant::compute_interaction(){
double mu12 = momentCentered.get(1,2);
double mu11 = momentCentered.get(1,1);
-
-
double mu12_2 = mu12*mu12;
double mu21_2 = mu21*mu21;
double mu21_3 = mu21*mu21_2;
@@ -282,7 +279,6 @@ void vpFeatureMomentCInvariant::compute_interaction(){
vpMatrix Lmu41 = featureMomentCentered.interaction(4,1);
vpMatrix Lmu50 = featureMomentCentered.interaction(5,0);
-
LI[1]= -Lmu20*mu02-mu20*Lmu02+2*mu11*Lmu11;
LI[2]= (-2*mu20+2*mu02)*Lmu02+8*mu11*Lmu11+(2*mu20-2*mu02)*Lmu20;
@@ -317,6 +313,7 @@ void vpFeatureMomentCInvariant::compute_interaction(){
double s2 = momentCInvariant.getS(2);
double c3 = momentCInvariant.getC(3);
double c2 = momentCInvariant.getC(2);
+
double I1 = momentCInvariant.getII(1);
double I2 = momentCInvariant.getII(2);
double I3 = momentCInvariant.getII(3);
@@ -331,7 +328,6 @@ void vpFeatureMomentCInvariant::compute_interaction(){
vpMatrix LI2 = 2 * (mu03 - 3 * mu21) * (Lc2) + 2 * (mu30 - 3 * mu12) * (Ls2);
vpMatrix LI3 = Lmu20 + Lmu02;
-
vpMatrix La(1,6);
double a;
if(momentObject.getType()==vpMomentObject::DISCRETE){
@@ -341,8 +337,8 @@ void vpFeatureMomentCInvariant::compute_interaction(){
a = momentObject.get(0,0);
La = featureMomentBasic.interaction(0,0);
}
- interaction_matrices.resize(14);
+ interaction_matrices.resize(14);
interaction_matrices[0] = (1./(momentCInvariant.getI(2)*momentCInvariant.getI(2)))*(momentCInvariant.getI(2)*LI[1]-momentCInvariant.getI(1)*LI[2]);
interaction_matrices[1] = (1./(momentCInvariant.getI(4)*momentCInvariant.getI(4)))*(momentCInvariant.getI(4)*LI[3]-momentCInvariant.getI(3)*LI[4]);
@@ -355,7 +351,6 @@ void vpFeatureMomentCInvariant::compute_interaction(){
interaction_matrices[5] = (1./(momentCInvariant.getI(6)*momentCInvariant.getI(6)))*(momentCInvariant.getI(6)*LI[9]-momentCInvariant.getI(9)*LI[6]);
-
interaction_matrices[6] = (1./(momentCInvariant.getI(10)*momentCInvariant.getI(10)))*(momentCInvariant.getI(10)*LI[11]-momentCInvariant.getI(11)*LI[10]);
interaction_matrices[7] = (1./(momentCInvariant.getI(10)*momentCInvariant.getI(10)))*(momentCInvariant.getI(10)*LI[12]-momentCInvariant.getI(12)*LI[10]);
@@ -364,12 +359,12 @@ void vpFeatureMomentCInvariant::compute_interaction(){
interaction_matrices[9] = (1./(momentCInvariant.getI(15)*momentCInvariant.getI(15)))*(momentCInvariant.getI(15)*LI[14]-momentCInvariant.getI(14)*LI[15]);
-
interaction_matrices[10] = (Lc2 * c3 + c2 * Lc3 + Ls2 * s3 + s2 * Ls3) * sqrt(a) / I1 * pow(I3, -0.3e1 / 0.2e1) + (c2 * c3 + s2 * s3) * pow(a, -0.1e1 / 0.2e1) / I1 * pow(I3, -0.3e1 / 0.2e1) * La / 0.2e1 - (c2 * c3 + s2 * s3) * sqrt(a) * pow(I1, -0.2e1) * pow(I3, -0.3e1 / 0.2e1) * LI1 - 0.3e1 / 0.2e1 * (c2 * c3 + s2 * s3) * sqrt(a) / I1 * pow(I3, -0.5e1 / 0.2e1) * LI3;
interaction_matrices[11] = (Ls2 * c3 + s2 * Lc3 - Lc2 * s3 - c2 * Ls3) * sqrt(a) / I1 * pow(I3, -0.3e1 / 0.2e1) + (s2 * c3 - c2 * s3) * pow(a, -0.1e1 / 0.2e1) / I1 * pow(I3, -0.3e1 / 0.2e1) * La / 0.2e1 - (s2 * c3 - c2 * s3) * sqrt(a) * pow(I1, -0.2e1) * pow(I3, -0.3e1 / 0.2e1) * LI1 - 0.3e1 / 0.2e1 * (s2 * c3 - c2 * s3) * sqrt(a) / I1 * pow(I3, -0.5e1 / 0.2e1) * LI3;
interaction_matrices[12] = (1/(I3*I3))*LI1-(2*I1/(I3*I3*I3))*LI3;
+
interaction_matrices[13] = (I2/(I3*I3*I3))*La+(a/(I3*I3*I3))*LI2-(3*a*I2/(I3*I3*I3*I3))*LI3;
}
#endif
diff --git a/src/visual-feature/vpFeatureMomentCInvariant.h b/src/visual-feature/vpFeatureMomentCInvariant.h
index b6218c4..2582668 100644
--- a/src/visual-feature/vpFeatureMomentCInvariant.h
+++ b/src/visual-feature/vpFeatureMomentCInvariant.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,11 +96,11 @@ class VISP_EXPORT vpFeatureMomentCInvariant : public vpFeatureMoment{
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentCInvariant";}
+ const char* momentName() const { return "vpMomentCInvariant";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentCInvariant";}
+ const char* name() const { return "vpFeatureMomentCInvariant";}
/*!
Shortcut selector for \f$C_1\f$.
@@ -201,24 +201,24 @@ class VISP_EXPORT vpFeatureMomentCInvariant : public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentCInvariant(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,16){}
+ vpFeatureMomentCInvariant(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments,16){}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentCInvariant";}
+ const char* momentName() const { return "vpMomentCInvariant";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentCInvariant";}
+ const char* name() const { return "vpFeatureMomentCInvariant";}
/*!
Shortcut selector for \f$C_1\f$.
diff --git a/src/visual-feature/vpFeatureMomentCentered.cpp b/src/visual-feature/vpFeatureMomentCentered.cpp
index 246230a..36b7b62 100644
--- a/src/visual-feature/vpFeatureMomentCentered.cpp
+++ b/src/visual-feature/vpFeatureMomentCentered.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,15 +55,15 @@
/*!
Default constructor
\param moments : Database of moment primitives.
- \param A : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param B : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param C : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param A_ : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param B_ : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param C_ : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
\param featureMoments : Database of features.
*/
vpFeatureMomentCentered::vpFeatureMomentCentered(vpMomentDatabase& moments,
- double A, double B, double C,
- vpFeatureMomentDatabase* featureMoments) :
- vpFeatureMoment(moments,A,B,C,featureMoments)
+ double A_, double B_, double C_,
+ vpFeatureMomentDatabase* featureMoments)
+ : vpFeatureMoment(moments,A_,B_,C_,featureMoments), order(0)
{
}
@@ -95,15 +95,15 @@ void vpFeatureMomentCentered::compute_interaction(){
bool found_feature_gravity_center;
bool found_moment_gravity;
- vpMomentObject& momentObject = moment->getObject();
+ const vpMomentObject& momentObject = moment->getObject();
order = momentObject.getOrder()+1;
interaction_matrices.resize(order*order);
for(std::vector< vpMatrix >::iterator i=interaction_matrices.begin();i!=interaction_matrices.end(); ++i)
i->resize(1,6);
- vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMoments->get("vpFeatureMomentBasic",found_featuremoment_basic)));
- vpFeatureMomentGravityCenter& featureMomentGravityCenter= (static_cast<vpFeatureMomentGravityCenter&>(featureMoments->get("vpFeatureMomentGravityCenter",found_feature_gravity_center)));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));
+ vpFeatureMomentGravityCenter& featureMomentGravityCenter= (static_cast<vpFeatureMomentGravityCenter&>(featureMomentsDataBase->get("vpFeatureMomentGravityCenter",found_feature_gravity_center)));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
vpMatrix zeros(1,6);
for(int i=0;i<6;i++) zeros[0][i]=0;
@@ -147,15 +147,14 @@ void vpFeatureMomentCentered::compute_interaction(){
/*!
Default constructor
- \param moments : Database of moment primitives.
- \param A : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param B : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
- \param C : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param data_base : Database of moment primitives.
+ \param A_ : First plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param B_ : Second plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
+ \param C_ : Third plane coefficient for a plane equation of the following type Ax+By+C=1/Z.
\param featureMoments : Database of features.
*/
-vpFeatureMomentCentered::vpFeatureMomentCentered(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments) :
- vpFeatureMoment(moments,A,B,C,featureMoments)
-
+vpFeatureMomentCentered::vpFeatureMomentCentered(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments)
+ : vpFeatureMoment(data_base,A_,B_,C_,featureMoments), order(0)
{
}
@@ -165,7 +164,7 @@ Interaction matrix corresponding to \f$ \mu_{ij} \f$ moment
\param select_two : second index (j)
\return Interaction matrix corresponding to the moment
*/
-vpMatrix vpFeatureMomentCentered::interaction (unsigned int select_one,unsigned int select_two){
+vpMatrix vpFeatureMomentCentered::interaction (unsigned int select_one,unsigned int select_two) const {
if(select_one+select_two>moment->getObject().getOrder())
throw vpException(vpException::badValue,"The requested value has not been computed, you should specify a higher order.");
return interaction_matrices[select_two*order+select_one];
@@ -184,15 +183,15 @@ void vpFeatureMomentCentered::compute_interaction(){
bool found_moment_centered;
bool found_moment_gravity;
- vpMomentCentered& momentCentered= (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentCentered& momentCentered= (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
int delta;
int epsilon;
- vpMomentObject& momentObject = moment->getObject();
+ const vpMomentObject& momentObject = moment->getObject();
order = momentObject.getOrder()+1;
interaction_matrices.resize(order*order);
for (std::vector< vpMatrix >::iterator i=interaction_matrices.begin(); i!=interaction_matrices.end(); ++i)
@@ -299,4 +298,16 @@ void vpFeatureMomentCentered::compute_interaction(){
}
}
}
+
+ std::ostream& operator<<(std::ostream & os, const vpFeatureMomentCentered& mu){
+ vpTRACE(" << CENTRED MOMENTS >>");
+ unsigned int order_m_1 = (unsigned int)(mu.order - 1);
+ for(unsigned int i=0; i<order_m_1; i++){
+ for(unsigned int j=0; j<order_m_1-i; j++){
+ std::cout << "L_mu[" << i << "," << j << "] = ";
+ mu.interaction(i,j).matlabPrint(std::cout);
+ }
+ }
+ return os;
+ }
#endif
diff --git a/src/visual-feature/vpFeatureMomentCentered.h b/src/visual-feature/vpFeatureMomentCentered.h
index 80e9100..ccbebc6 100644
--- a/src/visual-feature/vpFeatureMomentCentered.h
+++ b/src/visual-feature/vpFeatureMomentCentered.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -85,11 +85,11 @@ private:
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentCentered";}
+ const char* momentName() const { return "vpMomentCentered";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentCentered";}
+ const char* name() const { return "vpFeatureMomentCentered";}
};
@@ -117,7 +117,7 @@ class vpMomentDatabase;
- vpMomentCentered
*/
class VISP_EXPORT vpFeatureMomentCentered : public vpFeatureMoment{
-private:
+protected:
unsigned int order;
public:
vpFeatureMomentCentered(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL);
@@ -130,18 +130,18 @@ private:
}
#endif
- vpMatrix interaction (unsigned int select_one,unsigned int select_two);
+ vpMatrix interaction (unsigned int select_one,unsigned int select_two) const;
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentCentered";}
+ const char* momentName() const { return "vpMomentCentered";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentCentered";}
-
+ const char* name() const { return "vpFeatureMomentCentered";}
+ friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpFeatureMomentCentered& v);
};
#endif
diff --git a/src/visual-feature/vpFeatureMomentCommon.cpp b/src/visual-feature/vpFeatureMomentCommon.cpp
index 40a6e25..7b4bf31 100644
--- a/src/visual-feature/vpFeatureMomentCommon.cpp
+++ b/src/visual-feature/vpFeatureMomentCommon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureMomentCommon.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureMomentCommon.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,7 +57,7 @@ vpFeatureMomentCommon::vpFeatureMomentCommon(vpMomentDatabase& moments,double A,
featureAlpha(moments,A,B,C),
featureCentered(moments,A,B,C),
featureMomentBasic(moments,A,B,C),
- feature_moment_area(moments,A,B,C)
+ feature_moment_area(moments,A,B,C)
{
featureGravity.linkTo(*this);
diff --git a/src/visual-feature/vpFeatureMomentCommon.h b/src/visual-feature/vpFeatureMomentCommon.h
index 911e9cb..4bb96ae 100644
--- a/src/visual-feature/vpFeatureMomentCommon.h
+++ b/src/visual-feature/vpFeatureMomentCommon.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureMomentCommon.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpFeatureMomentCommon.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureMomentDatabase.cpp b/src/visual-feature/vpFeatureMomentDatabase.cpp
index 908a874..be39434 100644
--- a/src/visual-feature/vpFeatureMomentDatabase.cpp
+++ b/src/visual-feature/vpFeatureMomentDatabase.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureMomentDatabase.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureMomentDatabase.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureMomentDatabase.h b/src/visual-feature/vpFeatureMomentDatabase.h
index 747b08e..2efa12a 100644
--- a/src/visual-feature/vpFeatureMomentDatabase.h
+++ b/src/visual-feature/vpFeatureMomentDatabase.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureMomentDatabase.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureMomentDatabase.h 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -162,7 +162,11 @@ class VISP_EXPORT vpFeatureMomentDatabase{
void add(vpFeatureMoment& featureMoment,char* name);
public:
/*!
- virtual destructor.
+ Default constructor.
+ */
+ vpFeatureMomentDatabase() {}
+ /*!
+ Virtual destructor that does nothing.
*/
virtual ~vpFeatureMomentDatabase() {}
virtual void updateAll(double A=0.0, double B=0.0, double C=1.0);
diff --git a/src/visual-feature/vpFeatureMomentGravityCenter.cpp b/src/visual-feature/vpFeatureMomentGravityCenter.cpp
index 8a8f032..425d757 100644
--- a/src/visual-feature/vpFeatureMomentGravityCenter.cpp
+++ b/src/visual-feature/vpFeatureMomentGravityCenter.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,8 +63,8 @@
void vpFeatureMomentGravityCenter::compute_interaction(){
bool found_featuremoment_basic;
- vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMoments->get("vpFeatureMomentBasic",found_featuremoment_basic)));
- vpMomentObject& momentObject = moment->getObject();
+ vpFeatureMomentBasic& featureMomentBasic= (static_cast<vpFeatureMomentBasic&>(featureMomentsDataBase->get("vpFeatureMomentBasic",found_featuremoment_basic)));
+ const vpMomentObject& momentObject = moment->getObject();
if(!found_featuremoment_basic) throw vpException(vpException::notInitialized,"vpFeatureMomentBasic not found");
@@ -104,11 +104,11 @@ void vpFeatureMomentGravityCenter::compute_interaction(){
bool found_moment_centered;
bool found_moment_gravity;
- vpMomentCentered& momentCentered= (static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentCentered& momentCentered= (static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered)));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
- vpMomentObject& momentObject = moment->getObject();
+ const vpMomentObject& momentObject = moment->getObject();
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
diff --git a/src/visual-feature/vpFeatureMomentGravityCenter.h b/src/visual-feature/vpFeatureMomentGravityCenter.h
index 6cdb1da..e79af85 100644
--- a/src/visual-feature/vpFeatureMomentGravityCenter.h
+++ b/src/visual-feature/vpFeatureMomentGravityCenter.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -147,24 +147,24 @@ class VISP_EXPORT vpFeatureMomentGravityCenter: public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param database : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentGravityCenter(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,2)
+ vpFeatureMomentGravityCenter(vpMomentDatabase& database,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL)
+ : vpFeatureMoment(database,A_,B_,C_,featureMoments,2)
{}
void compute_interaction();
/*!
Associated moment name.
*/
- const char* momentName(){ return "vpMomentGravityCenter";}
+ const char* momentName() const { return "vpMomentGravityCenter";}
/*!
Feature name.
*/
- const char* name(){ return "vpFeatureMomentGravityCenter";}
+ const char* name() const { return "vpFeatureMomentGravityCenter";}
/*!
Shortcut selector for \f$x_g\f$.
@@ -208,24 +208,24 @@ class VISP_EXPORT vpFeatureMomentGravityCenter: public vpFeatureMoment{
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentGravityCenter(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,2)
+ vpFeatureMomentGravityCenter(vpMomentDatabase& data_base,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL) :
+ vpFeatureMoment(data_base,A_,B_,C_,featureMoments,2)
{}
void compute_interaction();
/*!
Associated moment name.
*/
- const char* momentName(){ return "vpMomentGravityCenter";}
+ const char* momentName() const { return "vpMomentGravityCenter";}
/*!
Feature name.
*/
- const char* name(){ return "vpFeatureMomentGravityCenter";}
+ const char* name() const { return "vpFeatureMomentGravityCenter";}
/*!
Shortcut selector for \f$x_g\f$.
diff --git a/src/visual-feature/vpFeatureMomentGravityCenterNormalized.cpp b/src/visual-feature/vpFeatureMomentGravityCenterNormalized.cpp
index b048413..88b5905 100644
--- a/src/visual-feature/vpFeatureMomentGravityCenterNormalized.cpp
+++ b/src/visual-feature/vpFeatureMomentGravityCenterNormalized.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.cpp 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,10 +71,10 @@ void vpFeatureMomentGravityCenterNormalized::compute_interaction(){
bool found_featuremoment_gravity;
bool found_featuremoment_surfacenormalized;
- vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
- vpFeatureMomentGravityCenter& featureMomentGravity = (static_cast<vpFeatureMomentGravityCenter&>(featureMoments->get("vpFeatureMomentGravityCenter",found_featuremoment_gravity)));
- vpFeatureMomentAreaNormalized featureMomentAreaNormalized = (static_cast<vpFeatureMomentAreaNormalized&>(featureMoments->get("vpFeatureMomentAreaNormalized",found_featuremoment_surfacenormalized)));
+ const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ vpFeatureMomentGravityCenter& featureMomentGravity = (static_cast<vpFeatureMomentGravityCenter&>(featureMomentsDataBase->get("vpFeatureMomentGravityCenter",found_featuremoment_gravity)));
+ vpFeatureMomentAreaNormalized featureMomentAreaNormalized = (static_cast<vpFeatureMomentAreaNormalized&>(featureMomentsDataBase->get("vpFeatureMomentAreaNormalized",found_featuremoment_surfacenormalized)));
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
@@ -117,15 +117,15 @@ void vpFeatureMomentGravityCenterNormalized::compute_interaction(){
bool found_moment_gravity;
bool found_moment_centered;
- vpMomentCentered& momentCentered = static_cast<vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
- vpMomentGravityCenter& momentGravity = static_cast<vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
- vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
+ const vpMomentCentered& momentCentered = static_cast<const vpMomentCentered&>(moments.get("vpMomentCentered",found_moment_centered));
+ const vpMomentGravityCenter& momentGravity = static_cast<const vpMomentGravityCenter&>(moments.get("vpMomentGravityCenter",found_moment_gravity));
+ const vpMomentAreaNormalized& momentSurfaceNormalized = static_cast<const vpMomentAreaNormalized&>(moments.get("vpMomentAreaNormalized",found_moment_surface_normalized));
if(!found_moment_surface_normalized) throw vpException(vpException::notInitialized,"vpMomentAreaNormalized not found");
if(!found_moment_gravity) throw vpException(vpException::notInitialized,"vpMomentGravityCenter not found");
if(!found_moment_centered) throw vpException(vpException::notInitialized,"vpMomentCentered not found");
- vpMomentObject& momentObject = moment->getObject();
+ const vpMomentObject& momentObject = moment->getObject();
interaction_matrices[0].resize(1,6);
interaction_matrices[1].resize(1,6);
diff --git a/src/visual-feature/vpFeatureMomentGravityCenterNormalized.h b/src/visual-feature/vpFeatureMomentGravityCenterNormalized.h
index e66685e..f6a657e 100644
--- a/src/visual-feature/vpFeatureMomentGravityCenterNormalized.h
+++ b/src/visual-feature/vpFeatureMomentGravityCenterNormalized.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureMomentImpl.h 3317 2011-09-06 14:14:47Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -83,25 +83,25 @@ class VISP_EXPORT vpFeatureMomentGravityCenterNormalized : public vpFeatureMomen
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param database : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentGravityCenterNormalized(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,2)
+ vpFeatureMomentGravityCenterNormalized(vpMomentDatabase& database,double A_, double B_, double C_,vpFeatureMomentDatabase* featureMoments=NULL)
+ : vpFeatureMoment(database,A_,B_,C_,featureMoments,2)
{}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentGravityCenterNormalized";}
+ const char* momentName() const { return "vpMomentGravityCenterNormalized";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentGravityCenterNormalized";}
+ const char* name() const { return "vpFeatureMomentGravityCenterNormalized";}
/*!
Shortcut selector for \f$x_n\f$.
@@ -219,25 +219,26 @@ class VISP_EXPORT vpFeatureMomentGravityCenterNormalized : public vpFeatureMomen
public:
/*!
Initializes the feature with information about the database of moment primitives, the object plane and feature database.
- \param moments : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
- \param A : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param B : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
- \param C : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param data_base : Moment database. The database of moment primitives (first parameter) is mandatory. It is used to access different moment values later used to compute the final matrix.
+ \param A_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param B_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
+ \param C_ : Plane coefficient in a \f$ A \times x+B \times y + C = \frac{1}{Z} \f$ plane.
\param featureMoments : Feature database.
*/
- vpFeatureMomentGravityCenterNormalized(vpMomentDatabase& moments,double A, double B, double C,vpFeatureMomentDatabase* featureMoments=NULL) :
- vpFeatureMoment(moments,A,B,C,featureMoments,2)
+ vpFeatureMomentGravityCenterNormalized(vpMomentDatabase& data_base,double A_, double B_, double C_,
+ vpFeatureMomentDatabase* featureMoments=NULL)
+ : vpFeatureMoment(data_base,A_,B_,C_,featureMoments,2)
{}
void compute_interaction();
/*!
associated moment name
*/
- const char* momentName(){ return "vpMomentGravityCenterNormalized";}
+ const char* momentName() const { return "vpMomentGravityCenterNormalized";}
/*!
feature name
*/
- const char* name(){ return "vpFeatureMomentGravityCenterNormalized";}
+ const char* name() const { return "vpFeatureMomentGravityCenterNormalized";}
/*!
Shortcut selector for \f$x_n\f$.
diff --git a/src/visual-feature/vpFeaturePoint.cpp b/src/visual-feature/vpFeaturePoint.cpp
index c2b590b..0e216da 100644
--- a/src/visual-feature/vpFeaturePoint.cpp
+++ b/src/visual-feature/vpFeaturePoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeaturePoint.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -89,13 +89,12 @@ vpFeaturePoint::init()
//default value Z (1 meters)
Z = 1;
-
}
/*!
Default constructor that build a visual feature.
*/
-vpFeaturePoint::vpFeaturePoint() : vpBasicFeature()
+vpFeaturePoint::vpFeaturePoint() : Z(1.)
{
init() ;
}
@@ -104,12 +103,12 @@ vpFeaturePoint::vpFeaturePoint() : vpBasicFeature()
/*!
Set the value of \f$ Z \f$ which represents the depth in the 3D camera frame.
- \param Z : \f$ Z \f$ value to set.
+ \param Z_ : \f$ Z \f$ value to set.
*/
void
-vpFeaturePoint::set_Z(const double Z)
+vpFeaturePoint::set_Z(const double Z_)
{
- this->Z = Z ;
+ this->Z = Z_ ;
flags[2] = true;
}
@@ -185,18 +184,18 @@ vpFeaturePoint::get_y() const
parameters of the visual feature \f$ s \f$. \f$ Z \f$ is the 3D coordinate in the camera frame
representing the depth.
- \param x : \f$ x \f$ value to set.
- \param y : \f$ y \f$ value to set.
- \param Z : \f$ Z \f$ value to set.
+ \param x_ : \f$ x \f$ value to set.
+ \param y_ : \f$ y \f$ value to set.
+ \param Z_ : \f$ Z \f$ value to set.
*/
void
-vpFeaturePoint::set_xyZ(const double x,
- const double y,
- const double Z)
+vpFeaturePoint::set_xyZ(const double x_,
+ const double y_,
+ const double Z_)
{
- set_x(x) ;
- set_y(y) ;
- set_Z(Z) ;
+ set_x(x_) ;
+ set_y(y_) ;
+ set_Z(Z_) ;
for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}
@@ -275,23 +274,23 @@ vpFeaturePoint::interaction(const unsigned int select)
resetFlags();
}
- double x = get_x() ;
- double y = get_y() ;
- double Z = get_Z() ;
+ double x_ = get_x() ;
+ double y_ = get_y() ;
+ double Z_ = get_Z() ;
- if (Z < 0)
+ if (Z_ < 0)
{
vpERROR_TRACE("Point is behind the camera ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point is behind the camera ")) ;
}
- if (fabs(Z) < 1e-6)
+ if (fabs(Z_) < 1e-6)
{
vpERROR_TRACE("Point Z coordinates is null ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point Z coordinates is null")) ;
@@ -301,12 +300,12 @@ vpFeaturePoint::interaction(const unsigned int select)
{
vpMatrix Lx(1,6) ; Lx = 0;
- Lx[0][0] = -1/Z ;
+ Lx[0][0] = -1/Z_ ;
Lx[0][1] = 0 ;
- Lx[0][2] = x/Z ;
- Lx[0][3] = x*y ;
- Lx[0][4] = -(1+x*x) ;
- Lx[0][5] = y ;
+ Lx[0][2] = x_/Z_ ;
+ Lx[0][3] = x_*y_ ;
+ Lx[0][4] = -(1+x_*x_) ;
+ Lx[0][5] = y_ ;
L = vpMatrix::stackMatrices(L,Lx) ;
}
@@ -316,11 +315,11 @@ vpFeaturePoint::interaction(const unsigned int select)
vpMatrix Ly(1,6) ; Ly = 0;
Ly[0][0] = 0 ;
- Ly[0][1] = -1/Z ;
- Ly[0][2] = y/Z ;
- Ly[0][3] = 1+y*y ;
- Ly[0][4] = -x*y ;
- Ly[0][5] = -x ;
+ Ly[0][1] = -1/Z_ ;
+ Ly[0][2] = y_/Z ;
+ Ly[0][3] = 1+y_*y_ ;
+ Ly[0][4] = -x_*y_ ;
+ Ly[0][5] = -x_ ;
L = vpMatrix::stackMatrices(L,Ly) ;
}
@@ -435,32 +434,32 @@ vpFeaturePoint::print(const unsigned int select ) const
See the vpFeaturePoint class description for more details about \f$ x \f$ and \f$ y \f$.
- \param x : The \f$ x \f$ parameter.
- \param y : The \f$ y \f$ parameter.
- \param Z : The \f$ Z \f$ parameter.
+ \param x_ : The \f$ x \f$ parameter.
+ \param y_ : The \f$ y \f$ parameter.
+ \param Z_ : The \f$ Z \f$ parameter.
*/
void
-vpFeaturePoint::buildFrom(const double x, const double y, const double Z)
+vpFeaturePoint::buildFrom(const double x_, const double y_, const double Z_)
{
- s[0] = x ;
- s[1] = y ;
+ s[0] = x_ ;
+ s[1] = y_ ;
- this->Z = Z ;
+ this->Z = Z_ ;
- if (Z < 0)
+ if (Z_ < 0)
{
vpERROR_TRACE("Point is behind the camera ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point is behind the camera ")) ;
}
- if (fabs(Z) < 1e-6)
+ if (fabs(Z_) < 1e-6)
{
vpERROR_TRACE("Point Z coordinates is null ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point Z coordinates is null")) ;
diff --git a/src/visual-feature/vpFeaturePoint.h b/src/visual-feature/vpFeaturePoint.h
index 4e56541..4efed37 100644
--- a/src/visual-feature/vpFeaturePoint.h
+++ b/src/visual-feature/vpFeaturePoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePoint.h 4233 2013-05-02 13:46:42Z fspindle $
+ * $Id: vpFeaturePoint.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeaturePoint3D.cpp b/src/visual-feature/vpFeaturePoint3D.cpp
index 72073de..3cea622 100644
--- a/src/visual-feature/vpFeaturePoint3D.cpp
+++ b/src/visual-feature/vpFeaturePoint3D.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePoint3D.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeaturePoint3D.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,7 +96,7 @@ vpFeaturePoint3D::init()
initialize it to \f${\bf X} = (0, 0, 1)\f$.
*/
-vpFeaturePoint3D::vpFeaturePoint3D() : vpBasicFeature()
+vpFeaturePoint3D::vpFeaturePoint3D()
{
init() ;
}
diff --git a/src/visual-feature/vpFeaturePoint3D.h b/src/visual-feature/vpFeaturePoint3D.h
index 0fbb526..b91984c 100644
--- a/src/visual-feature/vpFeaturePoint3D.h
+++ b/src/visual-feature/vpFeaturePoint3D.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePoint3D.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeaturePoint3D.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeaturePointPolar.cpp b/src/visual-feature/vpFeaturePointPolar.cpp
index f792b11..d6775f9 100644
--- a/src/visual-feature/vpFeaturePointPolar.cpp
+++ b/src/visual-feature/vpFeaturePointPolar.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePointPolar.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeaturePointPolar.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -108,7 +108,7 @@ vpFeaturePointPolar::init()
matrix (see interaction()) is initialized to \f$Z=1\f$.
*/
-vpFeaturePointPolar::vpFeaturePointPolar() : vpBasicFeature()
+vpFeaturePointPolar::vpFeaturePointPolar() : Z(1.)
{
init() ;
}
@@ -142,9 +142,9 @@ vpFeaturePointPolar::set_theta(const double theta)
*/
void
-vpFeaturePointPolar::set_Z(const double Z)
+vpFeaturePointPolar::set_Z(const double Z_)
{
- this->Z = Z ;
+ this->Z = Z_ ;
flags[2] = true;
}
@@ -154,18 +154,18 @@ vpFeaturePointPolar::set_Z(const double Z)
\param rho, theta : Polar coordinates \f$(\rho,\theta)\f$ of
the image point.
- \param Z : 3D depth of the point in the camera frame.
+ \param Z_ : 3D depth of the point in the camera frame.
\sa set_rho(), set_theta(), set_Z()
*/
void
vpFeaturePointPolar::set_rhoThetaZ(const double rho,
const double theta,
- const double Z)
+ const double Z_)
{
set_rho(rho) ;
set_theta(theta) ;
- set_Z(Z) ;
+ set_Z(Z_) ;
for(unsigned int i = 0; i < nbParameters; i++) flags[i] = true;
}
@@ -311,10 +311,10 @@ vpFeaturePointPolar::interaction(const unsigned int select)
double rho = get_rho() ;
double theta = get_theta() ;
- double Z = get_Z() ;
+ double Z_ = get_Z() ;
- double c = cos(theta);
- double s = sin(theta);
+ double c_ = cos(theta);
+ double s_ = sin(theta);
double rho2 = rho*rho;
@@ -326,20 +326,19 @@ vpFeaturePointPolar::interaction(const unsigned int select)
"rho polar coordinate of the point is null")) ;
}
-
- if (Z < 0)
+ if (Z_ < 0)
{
vpERROR_TRACE("Point is behind the camera ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point is behind the camera ")) ;
}
- if (fabs(Z) < 1e-6)
+ if (fabs(Z_) < 1e-6)
{
vpERROR_TRACE("Point Z coordinates is null ") ;
- std::cout <<"Z = " << Z << std::endl ;
+ std::cout <<"Z = " << Z_ << std::endl ;
throw(vpFeatureException(vpFeatureException::badInitializationError,
"Point Z coordinates is null")) ;
@@ -349,11 +348,11 @@ vpFeaturePointPolar::interaction(const unsigned int select)
{
vpMatrix Lrho(1,6) ; Lrho = 0;
- Lrho[0][0] = -c/Z ;
- Lrho[0][1] = -s/Z ;
- Lrho[0][2] = rho/Z ;
- Lrho[0][3] = (1+rho2)*s ;
- Lrho[0][4] = -(1+rho2)*c ;
+ Lrho[0][0] = -c_/Z_ ;
+ Lrho[0][1] = -s_/Z_ ;
+ Lrho[0][2] = rho/Z_ ;
+ Lrho[0][3] = (1+rho2)*s_ ;
+ Lrho[0][4] = -(1+rho2)*c_ ;
Lrho[0][5] = 0 ;
// printf("Lrho: rho %f theta %f Z %f\n", rho, theta, Z);
@@ -366,11 +365,11 @@ vpFeaturePointPolar::interaction(const unsigned int select)
{
vpMatrix Ltheta(1,6) ; Ltheta = 0;
- Ltheta[0][0] = s/(rho*Z) ;
- Ltheta[0][1] = -c/(rho*Z) ;
+ Ltheta[0][0] = s_/(rho*Z_) ;
+ Ltheta[0][1] = -c_/(rho*Z_) ;
Ltheta[0][2] = 0 ;
- Ltheta[0][3] = c/rho ;
- Ltheta[0][4] = s/rho ;
+ Ltheta[0][3] = c_/rho ;
+ Ltheta[0][4] = s_/rho ;
Ltheta[0][5] = -1 ;
// printf("Ltheta: rho %f theta %f Z %f\n", rho, theta, Z);
@@ -513,7 +512,7 @@ vpFeaturePointPolar::print(const unsigned int select ) const
\param rho, theta : Polar coordinates \f$(\rho,\theta)\f$ of
the image point.
- \param Z : 3D depth of the point in the camera frame.
+ \param Z_ : 3D depth of the point in the camera frame.
\exception vpFeatureException::badInitializationError: If the depth
(\f$Z\f$ coordinate) is negative. That means that the 3D point is
@@ -525,13 +524,13 @@ vpFeaturePointPolar::print(const unsigned int select ) const
*/
void
vpFeaturePointPolar::buildFrom(const double rho, const double theta,
- const double Z)
+ const double Z_)
{
s[0] = rho ;
s[1] = theta ;
- this->Z = Z ;
+ this->Z = Z_ ;
if (Z < 0)
{
diff --git a/src/visual-feature/vpFeaturePointPolar.h b/src/visual-feature/vpFeaturePointPolar.h
index 0be5c89..a005d8d 100644
--- a/src/visual-feature/vpFeaturePointPolar.h
+++ b/src/visual-feature/vpFeaturePointPolar.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeaturePointPolar.h 4276 2013-06-25 12:36:48Z fspindle $
+ * $Id: vpFeaturePointPolar.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureSegment.cpp b/src/visual-feature/vpFeatureSegment.cpp
index 2892577..7ba11dd 100644
--- a/src/visual-feature/vpFeatureSegment.cpp
+++ b/src/visual-feature/vpFeatureSegment.cpp
@@ -3,7 +3,7 @@
* $Id: vpFeatureThetaU.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,7 +62,6 @@
\brief class that defines the vpFeatureSegment visual feature
*/
-
/*!
Initialise the memory space requested for segment visual
@@ -89,11 +88,9 @@ vpFeatureSegment::init()
\param normalized : If true, use normalized features \f${\bf s} = (x_n, y_n, l_n, \alpha)\f$.
If false, use non normalized features \f${\bf s} = (x_c, y_c, l_c, \alpha)\f$.
*/
-vpFeatureSegment::vpFeatureSegment(bool normalized):
- vpBasicFeature()
+vpFeatureSegment::vpFeatureSegment(bool normalized)
+ : xc_(0), yc_(0), l_(0), alpha_(0), Z1_(0), Z2_(0), cos_a_(0), sin_a_(0), normalized_(normalized)
{
- this->normalized_ = normalized;
-
init();
}
diff --git a/src/visual-feature/vpFeatureSegment.h b/src/visual-feature/vpFeatureSegment.h
index fc6d931..87a8f76 100644
--- a/src/visual-feature/vpFeatureSegment.h
+++ b/src/visual-feature/vpFeatureSegment.h
@@ -3,7 +3,7 @@
* $Id: vpFeatureThetaU.h 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureThetaU.cpp b/src/visual-feature/vpFeatureThetaU.cpp
index 728948a..cfee61e 100644
--- a/src/visual-feature/vpFeatureThetaU.cpp
+++ b/src/visual-feature/vpFeatureThetaU.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureThetaU.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureThetaU.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,8 +91,8 @@ vpFeatureThetaU::init()
visual feature.
*/
-vpFeatureThetaU::vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r):
- vpBasicFeature()
+vpFeatureThetaU::vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r)
+ : rotation(r)
{
//vpTRACE("0x%x", this);
init() ;
@@ -121,15 +121,12 @@ vpFeatureThetaU::vpFeatureThetaU(vpFeatureThetaURotationRepresentationType r):
*/
vpFeatureThetaU::vpFeatureThetaU(vpThetaUVector &tu,
- vpFeatureThetaURotationRepresentationType r):
- vpBasicFeature()
+ vpFeatureThetaURotationRepresentationType r)
+ : rotation(r)
{
init() ;
buildFrom(tu) ;
-
- // kind of rotation representation
- rotation = r;
}
/*!
@@ -150,16 +147,13 @@ vpFeatureThetaU::vpFeatureThetaU(vpThetaUVector &tu,
*/
vpFeatureThetaU::vpFeatureThetaU(vpRotationMatrix &R,
- vpFeatureThetaURotationRepresentationType r):
- vpBasicFeature()
+ vpFeatureThetaURotationRepresentationType r)
+ : rotation(r)
{
init() ;
vpThetaUVector tu(R) ;
buildFrom(tu) ;
-
- // kind of rotation representation
- rotation = r;
}
/*!
@@ -182,17 +176,14 @@ vpFeatureThetaU::vpFeatureThetaU(vpRotationMatrix &R,
*/
vpFeatureThetaU::vpFeatureThetaU(vpHomogeneousMatrix &M,
- vpFeatureThetaURotationRepresentationType r):
- vpBasicFeature()
+ vpFeatureThetaURotationRepresentationType r)
+ : rotation(r)
{
init() ;
vpRotationMatrix R ;
M.extract(R) ;
vpThetaUVector tu(R) ;
buildFrom(tu) ;
-
- // kind of rotation representation
- rotation = r;
}
/*!
diff --git a/src/visual-feature/vpFeatureThetaU.h b/src/visual-feature/vpFeatureThetaU.h
index 97c11da..431e19c 100644
--- a/src/visual-feature/vpFeatureThetaU.h
+++ b/src/visual-feature/vpFeatureThetaU.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureThetaU.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureThetaU.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureTranslation.cpp b/src/visual-feature/vpFeatureTranslation.cpp
index 616e7f7..7b7031b 100644
--- a/src/visual-feature/vpFeatureTranslation.cpp
+++ b/src/visual-feature/vpFeatureTranslation.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureTranslation.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureTranslation.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -92,11 +92,10 @@ vpFeatureTranslation::init()
\param r : Type of considered 3D translation feature.
*/
-vpFeatureTranslation::vpFeatureTranslation(vpFeatureTranslationRepresentationType r) : vpBasicFeature()
+vpFeatureTranslation::vpFeatureTranslation(vpFeatureTranslationRepresentationType r)
+ : f2Mf1(), translation(r)
{
init() ;
-
- translation = r;
}
@@ -105,31 +104,30 @@ vpFeatureTranslation::vpFeatureTranslation(vpFeatureTranslationRepresentationTyp
Constructor that build a 3D visual feature from an homogeneous
matrix \f$ ^{{\cal{F}}_2}M_{{\cal{F}}_1} \f$ that represent the 3D transformation between two frames \f${\cal{F}}_1\f$ and \f${\cal{F}}_2\f$.
- \param f2Mf1 [in] : 3D displacement that the camera has to achieve to
+ \param f2Mf1_ [in] : 3D displacement that the camera has to achieve to
move from the frame \f${\cal{F}}_2\f$ to the frame \f${\cal{F}}_1\f$ (\f$ ^{{\cal{F}}_2}M_{{\cal{F}}_1} \f$).
\param r : type of feature. It can be vpFeature::cdMc or vpFeature::cMo.
*/
-vpFeatureTranslation::vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r) : vpBasicFeature()
+vpFeatureTranslation::vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1_, vpFeatureTranslationRepresentationType r)
+ : f2Mf1(), translation(r)
{
init() ;
- translation = r;
-
- buildFrom(f2Mf1) ;
+ buildFrom(f2Mf1_) ;
}
/*!
Build a 3D translation visual feature from an homogeneous
matrix \f$ ^{{\cal{F}}_2}M_{{\cal{F}}_1} \f$ that represent the 3D transformation between two frames \f${\cal{F}}_1\f$ and \f${\cal{F}}_2\f$.
- \param f2Mf1 [in] : 3D displacement that the camera has to achieve to
+ \param f2Mf1_ [in] : 3D displacement that the camera has to achieve to
move from the frame \f${\cal{F}}_2\f$ to the frame \f${\cal{F}}_1\f$ (\f$ ^{{\cal{F}}_2}M_{{\cal{F}}_1} \f$).
*/
void
-vpFeatureTranslation::buildFrom(const vpHomogeneousMatrix &f2Mf1)
+vpFeatureTranslation::buildFrom(const vpHomogeneousMatrix &f2Mf1_)
{
- this->f2Mf1 = f2Mf1 ;
+ this->f2Mf1 = f2Mf1_ ;
s[0] = f2Mf1[0][3] ;
s[1] = f2Mf1[1][3] ;
s[2] = f2Mf1[2][3] ;
diff --git a/src/visual-feature/vpFeatureTranslation.h b/src/visual-feature/vpFeatureTranslation.h
index 9a636cb..0636ff2 100644
--- a/src/visual-feature/vpFeatureTranslation.h
+++ b/src/visual-feature/vpFeatureTranslation.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureTranslation.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureTranslation.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpFeatureVanishingPoint.cpp b/src/visual-feature/vpFeatureVanishingPoint.cpp
index 2879802..c3cd4c4 100644
--- a/src/visual-feature/vpFeatureVanishingPoint.cpp
+++ b/src/visual-feature/vpFeatureVanishingPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureVanishingPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureVanishingPoint.cpp 4632 2014-02-03 17:06:40Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,7 +77,7 @@ vpFeatureVanishingPoint::init()
//set_Z(1) ;
}
-vpFeatureVanishingPoint::vpFeatureVanishingPoint() : vpBasicFeature()
+vpFeatureVanishingPoint::vpFeatureVanishingPoint()
{
init() ;
}
diff --git a/src/visual-feature/vpFeatureVanishingPoint.h b/src/visual-feature/vpFeatureVanishingPoint.h
index a8467bc..d4dac92 100644
--- a/src/visual-feature/vpFeatureVanishingPoint.h
+++ b/src/visual-feature/vpFeatureVanishingPoint.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpFeatureVanishingPoint.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpFeatureVanishingPoint.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/src/visual-feature/vpGenericFeature.cpp b/src/visual-feature/vpGenericFeature.cpp
index f4d2a31..0144fb5 100644
--- a/src/visual-feature/vpGenericFeature.cpp
+++ b/src/visual-feature/vpGenericFeature.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpGenericFeature.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpGenericFeature.cpp 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -81,6 +81,7 @@ void vpGenericFeature::init()
*/
vpGenericFeature::vpGenericFeature()
+ : L(), err(), errorStatus(errorNotInitalized)
{
/*
vpERROR_TRACE("You are not allow to use this constructor ") ;
@@ -96,28 +97,28 @@ vpGenericFeature::vpGenericFeature()
/*!
Constructor of the class you have to use. The feature table is initilialized with the good dimension.
- \param dim_s : Dimension of the feature. It corresponds to the number of features you want to create.
+ \param dimension_gen_s : Dimension of the generic feature. It corresponds to the number of features you want to create.
*/
-vpGenericFeature::vpGenericFeature(unsigned int dim_s)
+vpGenericFeature::vpGenericFeature(unsigned int dimension_gen_s)
+ : L(), err(), errorStatus(errorNotInitalized)
{
- this->dim_s = dim_s ;
- s.resize(dim_s) ;
- errorStatus = errorNotInitalized ;
+ this->dim_s = dimension_gen_s ;
+ s.resize(dimension_gen_s) ;
}
/*!
Set the error vector \f$(s-s*)\f$.
- \param error : Error vector \f$(s-s*)\f$.
+ \param error_vector : Error vector \f$(s-s*)\f$.
\exception vpFeatureException::sizeMismatchError : If the size of
the error vector is bad.
*/
void
-vpGenericFeature::setError(vpColVector &error)
+vpGenericFeature::setError(const vpColVector &error_vector)
{
- if (error.getRows() != dim_s)
+ if (error_vector.getRows() != dim_s)
{
vpERROR_TRACE("size mismatch between error dimension"
"and feature dimension");
@@ -127,7 +128,7 @@ vpGenericFeature::setError(vpColVector &error)
}
errorStatus = errorInitialized ;
- err = error ;
+ err = error_vector ;
}
@@ -448,80 +449,74 @@ vpGenericFeature::interaction(const unsigned int select)
/*!
\brief set the value of the interaction matrix.
- \param L : The matrix corresponding to the interaction matrix you computed.
+ \param L_ : The matrix corresponding to the interaction matrix you computed.
\exception an exception is thrown if the number of row of the interaction
matrix is different from the dimension of the visual feature as specified
in the constructor
*/
void
-vpGenericFeature::setInteractionMatrix(const vpMatrix &L)
+vpGenericFeature::setInteractionMatrix(const vpMatrix &L_)
{
-
- if (L.getRows() != dim_s)
+ if (L_.getRows() != dim_s)
{
- std::cout << L.getRows() <<" " << dim_s << std::endl ;;
+ std::cout << L_.getRows() <<" " << dim_s << std::endl ;;
vpERROR_TRACE("size mismatch between interaction matrix size "
"and feature dimension");
throw(vpFeatureException(vpFeatureException::sizeMismatchError,
"size mismatch between interaction matrix size "
"and feature dimension"));
-
}
- this->L = L ;
-
+ this->L = L_ ;
}
/*!
\brief set the value of all the features.
- \param s : It is a vector containing the value of the visual features.
+ \param s_vector : It is a vector containing the value of the visual features.
\exception an exception is thrown if the number of row of the vector s
is different from the dimension of the visual feature as specified
in the constructor
*/
void
-vpGenericFeature::set_s(const vpColVector &s)
+vpGenericFeature::set_s(const vpColVector &s_vector)
{
- if (s.getRows() != dim_s)
+ if (s_vector.getRows() != dim_s)
{
vpERROR_TRACE("size mismatch between s dimension"
"and feature dimension");
throw(vpFeatureException(vpFeatureException::sizeMismatchError,
"size mismatch between s dimension"
"and feature dimension"));
-
}
- this->s = s ;
+ this->s = s_vector ;
}
/*!
\brief get the value of all the features.
- \param s : It is a vector which will contain the value of the visual features.
+ \param s_vector : It is a vector which will contain the value of the visual features.
\exception an exception is thrown if the number of row of the vector s
is different from the dimension of the visual feature as specified
in the constructor
*/
void
-vpGenericFeature::get_s(vpColVector &s) const
+vpGenericFeature::get_s(vpColVector &s_vector) const
{
-
- if (s.getRows() != dim_s)
+ if (s_vector.getRows() != dim_s)
{
vpERROR_TRACE("size mismatch between s dimension"
"and feature dimension");
throw(vpFeatureException(vpFeatureException::sizeMismatchError,
"size mismatch between s dimension"
"and feature dimension"));
-
}
- s = this->s ;
+ s_vector = this->s ;
}
diff --git a/src/visual-feature/vpGenericFeature.h b/src/visual-feature/vpGenericFeature.h
index 6565194..ffbccad 100644
--- a/src/visual-feature/vpGenericFeature.h
+++ b/src/visual-feature/vpGenericFeature.h
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: vpGenericFeature.h 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: vpGenericFeature.h 4649 2014-02-07 14:57:11Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -209,7 +209,7 @@ private:
public:
void setInteractionMatrix(const vpMatrix &L) ;
vpMatrix getInteractionMatrix() const { return L ; }
- void setError(vpColVector &error) ;
+ void setError(const vpColVector &error_vector) ;
void set_s(const vpColVector &s) ;
void set_s(const double s0) ;
void set_s(const double s0, const double s1) ;
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 87750a1..a208460 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/camera/CMakeLists.txt b/test/camera/CMakeLists.txt
index 5216126..f5b4750 100644
--- a/test/camera/CMakeLists.txt
+++ b/test/camera/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/camera/testCameraParametersConversion.cpp b/test/camera/testCameraParametersConversion.cpp
index 2d6ea70..f8a70f9 100644
--- a/test/camera/testCameraParametersConversion.cpp
+++ b/test/camera/testCameraParametersConversion.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testCameraParametersConversion.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testCameraParametersConversion.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,6 +62,9 @@
#include <stdlib.h>
#include <stdio.h>
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -93,15 +96,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -110,7 +113,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -121,56 +124,62 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpCameraParameters cam;
- double px,py,u0,v0;
- px = 1657.429131;
- py = 1658.818598;
- u0 = 322.2437833;
- v0 = 230.8012737;
- vpCameraParameters camDist;
- double px_dist,py_dist,u0_dist,v0_dist,kud_dist,kdu_dist;
- px_dist = 1624.824731;
- py_dist = 1625.263641;
- u0_dist = 324.0923411;
- v0_dist = 245.2421388;
- kud_dist = -0.1741532338;
- kdu_dist = 0.1771165148;
-
- cam.initPersProjWithoutDistortion(px,py,u0,v0);
- camDist.initPersProjWithDistortion(px_dist,py_dist,u0_dist,v0_dist,
- kud_dist, kdu_dist);
-
- double u1 = 320;
- double v1 = 240;
- double x1 = 0, y1 = 0;
- double u2 = 0, v2 = 0;
- vpPixelMeterConversion::convertPoint(cam,u1,v1,x1,y1);
- vpMeterPixelConversion::convertPoint(cam,x1,y1,u2,v2);
- if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
- vpTRACE("Error in convertPoint without distortion:\n"
- "u1 = %f, u2 = %f\n"
- "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
- return -1;
+ vpCameraParameters cam;
+ double px,py,u0,v0;
+ px = 1657.429131;
+ py = 1658.818598;
+ u0 = 322.2437833;
+ v0 = 230.8012737;
+ vpCameraParameters camDist;
+ double px_dist,py_dist,u0_dist,v0_dist,kud_dist,kdu_dist;
+ px_dist = 1624.824731;
+ py_dist = 1625.263641;
+ u0_dist = 324.0923411;
+ v0_dist = 245.2421388;
+ kud_dist = -0.1741532338;
+ kdu_dist = 0.1771165148;
+
+ cam.initPersProjWithoutDistortion(px,py,u0,v0);
+ camDist.initPersProjWithDistortion(px_dist,py_dist,u0_dist,v0_dist,
+ kud_dist, kdu_dist);
+
+ double u1 = 320;
+ double v1 = 240;
+ double x1 = 0, y1 = 0;
+ double u2 = 0, v2 = 0;
+ vpPixelMeterConversion::convertPoint(cam,u1,v1,x1,y1);
+ vpMeterPixelConversion::convertPoint(cam,x1,y1,u2,v2);
+ if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
+ vpTRACE("Error in convertPoint without distortion:\n"
+ "u1 = %f, u2 = %f\n"
+ "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
+ return -1;
+ }
+ vpTRACE("convertPoint without distortion :\n"
+ "u1 - u2 = %.20f\n"
+ "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
+
+ vpPixelMeterConversion::convertPoint(camDist,u1,v1,x1,y1);
+ vpMeterPixelConversion::convertPoint(camDist,x1,y1,u2,v2);
+ if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
+ vpTRACE("Error in convertPoint with distortion :\n"
+ "u1 = %f, u2 = %f\n"
+ "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
+ return -1;
+ }
+ vpTRACE("convertPoint with distortion :\n"
+ "u1 - u2 = %.20f\n"
+ "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
+ return 0;
}
- vpTRACE("convertPoint without distortion :\n"
- "u1 - u2 = %.20f\n"
- "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
-
- vpPixelMeterConversion::convertPoint(camDist,u1,v1,x1,y1);
- vpMeterPixelConversion::convertPoint(camDist,x1,y1,u2,v2);
- if(!vpMath::equal(u1,u2) || !vpMath::equal(v1,v2)){
- vpTRACE("Error in convertPoint with distortion :\n"
- "u1 = %f, u2 = %f\n"
- "v1 = %f, v2 = %f\n",u1,u2,v1,v2);
- return -1;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- vpTRACE("convertPoint with distortion :\n"
- "u1 - u2 = %.20f\n"
- "v1 - v2 = %.20f\n",u1 - u2,v1 - v2);
- return 0;
}
diff --git a/test/device/CMakeLists.txt b/test/device/CMakeLists.txt
index ee860dc..8184936 100644
--- a/test/device/CMakeLists.txt
+++ b/test/device/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 3057 2011-02-11 13:17:26Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/device/display/CMakeLists.txt b/test/device/display/CMakeLists.txt
index 7a7a9c8..a17dd0f 100644
--- a/test/device/display/CMakeLists.txt
+++ b/test/device/display/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/device/display/testClick.cpp b/test/device/display/testClick.cpp
index 7b4648f..00d141b 100644
--- a/test/device/display/testClick.cpp
+++ b/test/device/display/testClick.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testClick.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testClick.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,6 +77,11 @@ typedef enum {
vpCV
} vpDisplayType;
+void usage(const char *name, const char *badparam, std::string ipath, vpDisplayType &dtype);
+bool getOptions(int argc, const char **argv,
+ std::string &ipath, vpDisplayType &dtype, bool &list,
+ bool &click_allowed, bool &display );
+
/*!
Print the program options.
@@ -163,17 +168,17 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv,
std::string &ipath, vpDisplayType &dtype, bool &list,
- bool &click_allowed, bool &display )
+ bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
std::string sDisplayType;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'l': list = true; break;
- case 't': sDisplayType = optarg;
+ case 't': sDisplayType = optarg_;
// Parse the display type option
if (sDisplayType.compare("X11") == 0) {
dtype = vpX11;
@@ -197,7 +202,7 @@ bool getOptions(int argc, const char **argv,
case 'd': display = false; break;
default:
- usage(argv[0], optarg, ipath, dtype); return false; break;
+ usage(argv[0], optarg_, ipath, dtype); return false; break;
}
}
@@ -206,7 +211,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, dtype);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -426,7 +431,6 @@ main(int argc, const char ** argv)
vpERROR_TRACE("Error while displaying the image") ;
exit(-1);
}
-
}
#else
diff --git a/test/device/display/testDisplays.cpp b/test/device/display/testDisplays.cpp
index 753a60c..1a161cf 100644
--- a/test/device/display/testDisplays.cpp
+++ b/test/device/display/testDisplays.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testDisplays.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testDisplays.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -70,6 +70,10 @@
// List of allowed command line options
#define GETOPTARGS "hl:dc"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool &list, bool &click_allowed, bool &display);
+void draw(vpImage<vpRGBa> &I);
+
/*!
Print the program options.
@@ -120,13 +124,12 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv, bool &list,
- bool &click_allowed, bool &display )
+bool getOptions(int argc, const char **argv, bool &list, bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
std::string sDisplayType;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'l': list = true; break;
@@ -135,16 +138,15 @@ bool getOptions(int argc, const char **argv, bool &list,
case 'd': display = false; break;
default:
- usage(argv[0], optarg); return false; break;
+ usage(argv[0], optarg_); return false; break;
}
}
-
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
diff --git a/test/device/display/testMouseEvent.cpp b/test/device/display/testMouseEvent.cpp
index c0f1796..66ef3a6 100644
--- a/test/device/display/testMouseEvent.cpp
+++ b/test/device/display/testMouseEvent.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testMouseEvent.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testMouseEvent.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -91,6 +91,12 @@ typedef enum {
vpD3D,
} vpDisplayType;
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
+ unsigned first, unsigned nimages, unsigned step, vpDisplayType &dtype);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath,
+ unsigned &first, unsigned &nimages, unsigned &step,
+ vpDisplayType &dtype, bool &list, bool &display, bool &click, bool &wait);
+
/*!
Print the program options.
@@ -106,8 +112,7 @@ typedef enum {
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath,
- unsigned first, unsigned nimages, unsigned step,
- vpDisplayType &dtype)
+ unsigned first, unsigned nimages, unsigned step, vpDisplayType &dtype)
{
fprintf(stdout, "\n\
Read an image sequence from the disk and display it.\n\
@@ -217,15 +222,15 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
unsigned &first, unsigned &nimages, unsigned &step,
vpDisplayType &dtype, bool &list, bool &display, bool &click, bool &wait)
{
- const char *optarg;
+ const char *optarg_;
int c;
std::string sDisplayType;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click = false; break;
case 'd': display = false; break;
- case 't': sDisplayType = optarg;
+ case 't': sDisplayType = optarg_;
// Parse the display type option
if (sDisplayType.compare("X11") == 0) {
dtype = vpX11;
@@ -241,18 +246,18 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
}
break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'l': list = true; break;
- case 'p': ppath = optarg; break;
- case 'f': first = (unsigned) atoi(optarg); break;
- case 'n': nimages = (unsigned) atoi(optarg); break;
- case 's': step = (unsigned) atoi(optarg); break;
+ case 'p': ppath = optarg_; break;
+ case 'f': first = (unsigned) atoi(optarg_); break;
+ case 'n': nimages = (unsigned) atoi(optarg_); break;
+ case 's': step = (unsigned) atoi(optarg_); break;
case 'w': wait = true; break;
case 'h': usage(argv[0], NULL, ipath, ppath, first, nimages, step, dtype);
return false; break;
default:
- usage(argv[0], optarg, ipath, ppath, first, nimages, step, dtype);
+ usage(argv[0], optarg_, ipath, ppath, first, nimages, step, dtype);
return false; break;
}
}
@@ -261,7 +266,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, nimages, step, dtype);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
diff --git a/test/device/display/testVideoDevice.cpp b/test/device/display/testVideoDevice.cpp
index 320ee3e..bc2bc73 100644
--- a/test/device/display/testVideoDevice.cpp
+++ b/test/device/display/testVideoDevice.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testVideoDevice.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testVideoDevice.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -77,6 +77,11 @@ typedef enum {
vpCV
} vpDisplayType;
+void usage(const char *name, const char *badparam, std::string ipath, vpDisplayType &dtype);
+bool getOptions(int argc, const char **argv,
+ std::string &ipath, vpDisplayType &dtype, bool &list,
+ bool &click_allowed, bool &display );
+
/*!
Print the program options.
@@ -161,15 +166,15 @@ bool getOptions(int argc, const char **argv,
std::string &ipath, vpDisplayType &dtype, bool &list,
bool &click_allowed, bool &display )
{
- const char *optarg;
+ const char *optarg_;
int c;
std::string sDisplayType;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'l': list = true; break;
- case 't': sDisplayType = optarg;
+ case 't': sDisplayType = optarg_;
// Parse the display type option
if (sDisplayType.compare("X11") == 0) {
dtype = vpX11;
@@ -193,7 +198,7 @@ bool getOptions(int argc, const char **argv,
case 'd': display = false; break;
default:
- usage(argv[0], optarg, ipath,dtype); return false; break;
+ usage(argv[0], optarg_, ipath,dtype); return false; break;
}
}
@@ -202,7 +207,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, dtype);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
diff --git a/test/device/display/testVideoDeviceDual.cpp b/test/device/display/testVideoDeviceDual.cpp
index 6e4b1ab..a3bc6ba 100644
--- a/test/device/display/testVideoDeviceDual.cpp
+++ b/test/device/display/testVideoDeviceDual.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testVideoDeviceDual.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testVideoDeviceDual.cpp 4659 2014-02-09 14:11:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,6 +60,7 @@
*/
+
// List of allowed command line options
#define GETOPTARGS "hlt:dc"
@@ -71,6 +72,9 @@ typedef enum {
vpCV
} vpDisplayType;
+void usage(const char *name, const char *badparam, vpDisplayType &dtype);
+bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -142,16 +146,16 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv,
vpDisplayType &dtype, bool &list,
- bool &click_allowed, bool &display )
+ bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
std::string sDisplayType;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'l': list = true; break;
- case 't': sDisplayType = optarg;
+ case 't': sDisplayType = optarg_;
// Parse the display type option
if (sDisplayType.compare("X11") == 0) {
dtype = vpX11;
@@ -175,7 +179,7 @@ bool getOptions(int argc, const char **argv,
case 'd': display = false; break;
default:
- usage(argv[0], optarg, dtype); return false; break;
+ usage(argv[0], optarg_, dtype); return false; break;
}
}
@@ -183,7 +187,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, dtype);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -192,152 +196,158 @@ bool getOptions(int argc, const char **argv,
int main(int argc, const char ** argv)
{
- bool opt_list = false; // To print the list of video devices
- vpDisplayType opt_dtype; // Type of display to use
- bool opt_click_allowed = true;
- bool opt_display = true;
+ try {
+ bool opt_list = false; // To print the list of video devices
+ vpDisplayType opt_dtype; // Type of display to use
+ bool opt_click_allowed = true;
+ bool opt_display = true;
- // Default display is one available
+ // Default display is one available
#if defined VISP_HAVE_GTK
- opt_dtype = vpGTK;
+ opt_dtype = vpGTK;
#elif defined VISP_HAVE_X11
- opt_dtype = vpX11;
+ opt_dtype = vpX11;
#elif defined VISP_HAVE_GDI
- opt_dtype = vpGDI;
+ opt_dtype = vpGDI;
#elif defined VISP_HAVE_D3D9
- opt_dtype = vpD3D;
+ opt_dtype = vpD3D;
#elif defined VISP_HAVE_OPENCV
- opt_dtype = vpCV;
+ opt_dtype = vpCV;
#endif
- // Read the command line options
- if (getOptions(argc, argv, opt_dtype, opt_list,
- opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_dtype, opt_list,
+ opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Print the list of video-devices available
- if (opt_list) {
- unsigned nbDevices = 0;
- std::cout << "List of video-devices available: \n";
+ // Print the list of video-devices available
+ if (opt_list) {
+ unsigned nbDevices = 0;
+ std::cout << "List of video-devices available: \n";
#if defined VISP_HAVE_GTK
- std::cout << " GTK (use \"-t GTK\" option to use it)\n";
- nbDevices ++;
+ std::cout << " GTK (use \"-t GTK\" option to use it)\n";
+ nbDevices ++;
#endif
#if defined VISP_HAVE_X11
- std::cout << " X11 (use \"-t X11\" option to use it)\n";
- nbDevices ++;
+ std::cout << " X11 (use \"-t X11\" option to use it)\n";
+ nbDevices ++;
#endif
#if defined VISP_HAVE_GDI
- std::cout << " GDI (use \"-t GDI\" option to use it)\n";
- nbDevices ++;
+ std::cout << " GDI (use \"-t GDI\" option to use it)\n";
+ nbDevices ++;
#endif
#if defined VISP_HAVE_D3D9
- std::cout << " D3D (use \"-t D3D\" option to use it)\n";
- nbDevices ++;
+ std::cout << " D3D (use \"-t D3D\" option to use it)\n";
+ nbDevices ++;
#endif
#if defined VISP_HAVE_OPENCV
- std::cout << " CV (use \"-t CV\" option to use it)\n";
- nbDevices ++;
+ std::cout << " CV (use \"-t CV\" option to use it)\n";
+ nbDevices ++;
#endif
- if (!nbDevices) {
- std::cout << " No display is available\n";
+ if (!nbDevices) {
+ std::cout << " No display is available\n";
+ }
+ return (0);
}
- return (0);
- }
- // Create 2 images
- vpImage<unsigned char> I1(240, 320), I2(240, 320);
- I1 = 128;
- I2 = 255;
+ // Create 2 images
+ vpImage<unsigned char> I1(240, 320), I2(240, 320);
+ I1 = 128;
+ I2 = 255;
- // Create 2 display
- vpDisplay *d1 = NULL, *d2 = NULL;
+ // Create 2 display
+ vpDisplay *d1 = NULL, *d2 = NULL;
- // Initialize the displays
- switch(opt_dtype) {
- case vpX11:
- std::cout << "Requested X11 display functionnalities..." << std::endl;
+ // Initialize the displays
+ switch(opt_dtype) {
+ case vpX11:
+ std::cout << "Requested X11 display functionnalities..." << std::endl;
#if defined VISP_HAVE_X11
- d1 = new vpDisplayX;
- d2 = new vpDisplayX;
+ d1 = new vpDisplayX;
+ d2 = new vpDisplayX;
#else
- std::cout << " Sorry, X11 video device is not available.\n";
- std::cout << "Use \"" << argv[0]
- << " -l\" to print the list of available devices.\n";
- return 0;
+ std::cout << " Sorry, X11 video device is not available.\n";
+ std::cout << "Use \"" << argv[0]
+ << " -l\" to print the list of available devices.\n";
+ return 0;
#endif
- break;
- case vpGTK:
- std::cout << "Requested GTK display functionnalities..." << std::endl;
+ break;
+ case vpGTK:
+ std::cout << "Requested GTK display functionnalities..." << std::endl;
#if defined VISP_HAVE_GTK
- d1 = new vpDisplayGTK;
- d2 = new vpDisplayGTK;
+ d1 = new vpDisplayGTK;
+ d2 = new vpDisplayGTK;
#else
- std::cout << " Sorry, GTK video device is not available.\n";
- std::cout << "Use \"" << argv[0]
- << " -l\" to print the list of available devices.\n";
- return 0;
+ std::cout << " Sorry, GTK video device is not available.\n";
+ std::cout << "Use \"" << argv[0]
+ << " -l\" to print the list of available devices.\n";
+ return 0;
#endif
- break;
- case vpGDI:
- std::cout << "Requested GDI display functionnalities..." << std::endl;
+ break;
+ case vpGDI:
+ std::cout << "Requested GDI display functionnalities..." << std::endl;
#if defined VISP_HAVE_GDI
- d1 = new vpDisplayGDI;
- d2 = new vpDisplayGDI;
+ d1 = new vpDisplayGDI;
+ d2 = new vpDisplayGDI;
#else
- std::cout << " Sorry, GDI video device is not available.\n";
- std::cout << "Use \"" << argv[0]
- << " -l\" to print the list of available devices.\n";
- return 0;
+ std::cout << " Sorry, GDI video device is not available.\n";
+ std::cout << "Use \"" << argv[0]
+ << " -l\" to print the list of available devices.\n";
+ return 0;
#endif
- break;
- case vpD3D:
- std::cout << "Requested D3D display functionnalities..." << std::endl;
+ break;
+ case vpD3D:
+ std::cout << "Requested D3D display functionnalities..." << std::endl;
#if defined VISP_HAVE_D3D9
- d1 = new vpDisplayD3D;
- d2 = new vpDisplayD3D;
+ d1 = new vpDisplayD3D;
+ d2 = new vpDisplayD3D;
#else
- std::cout << " Sorry, D3D video device is not available.\n";
- std::cout << "Use \"" << argv[0]
- << " -l\" to print the list of available devices.\n";
- return 0;
+ std::cout << " Sorry, D3D video device is not available.\n";
+ std::cout << "Use \"" << argv[0]
+ << " -l\" to print the list of available devices.\n";
+ return 0;
#endif
- break;
- case vpCV:
- std::cout << "Requested OpenCV display functionnalities..." << std::endl;
+ break;
+ case vpCV:
+ std::cout << "Requested OpenCV display functionnalities..." << std::endl;
#if defined VISP_HAVE_OPENCV
- d1 = new vpDisplayOpenCV;
- d2 = new vpDisplayOpenCV;
+ d1 = new vpDisplayOpenCV;
+ d2 = new vpDisplayOpenCV;
#else
- std::cout << " Sorry, OpenCV video device is not available.\n";
- std::cout << "Use \"" << argv[0]
- << " -l\" to print the list of available devices.\n";
- return 0;
+ std::cout << " Sorry, OpenCV video device is not available.\n";
+ std::cout << "Use \"" << argv[0]
+ << " -l\" to print the list of available devices.\n";
+ return 0;
#endif
- break;
- }
+ break;
+ }
- if (opt_display){
- int winx1 = 100, winy1 = 200;
- d1->init(I1, winx1, winy1, "Display 1");
+ if (opt_display){
+ int winx1 = 100, winy1 = 200;
+ d1->init(I1, winx1, winy1, "Display 1");
- int winx2 = winx1+10+(int)I1.getWidth(), winy2 = winy1;
- d2->init(I2, winx2, winy2, "Display 2");
+ int winx2 = winx1+10+(int)I1.getWidth(), winy2 = winy1;
+ d2->init(I2, winx2, winy2, "Display 2");
- vpDisplay::display(I1);
- vpDisplay::display(I2);
+ vpDisplay::display(I1);
+ vpDisplay::display(I2);
- vpDisplay::flush(I1);
- vpDisplay::flush(I2);
- }
+ vpDisplay::flush(I1);
+ vpDisplay::flush(I2);
+ }
- std::cout << "A click in display 1 to exit..." << std::endl;
- if ( opt_click_allowed )
- vpDisplay::getClick(I1);
+ std::cout << "A click in display 1 to exit..." << std::endl;
+ if ( opt_click_allowed )
+ vpDisplay::getClick(I1);
- delete d1;
- delete d2;
+ delete d1;
+ delete d2;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
#else
diff --git a/test/device/framegrabber/CMakeLists.txt b/test/device/framegrabber/CMakeLists.txt
index a3cede7..7f89c91 100644
--- a/test/device/framegrabber/CMakeLists.txt
+++ b/test/device/framegrabber/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/device/framegrabber/test1394TwoGrabber.cpp b/test/device/framegrabber/test1394TwoGrabber.cpp
index 9a5dc5d..77ef541 100644
--- a/test/device/framegrabber/test1394TwoGrabber.cpp
+++ b/test/device/framegrabber/test1394TwoGrabber.cpp
@@ -1,10 +1,10 @@
/****************************************************************************
*
- * $Id: test1394TwoGrabber.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: test1394TwoGrabber.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/test/device/framegrabber/test1394TwoResetBus.cpp b/test/device/framegrabber/test1394TwoResetBus.cpp
index 0291029..14839c0 100644
--- a/test/device/framegrabber/test1394TwoResetBus.cpp
+++ b/test/device/framegrabber/test1394TwoResetBus.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: test1394TwoResetBus.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: test1394TwoResetBus.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/test/feature/CMakeLists.txt b/test/feature/CMakeLists.txt
index e9629e6..a12fb14 100644
--- a/test/feature/CMakeLists.txt
+++ b/test/feature/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/feature/testPoint.cpp b/test/feature/testPoint.cpp
index 39407ac..a16f39c 100644
--- a/test/feature/testPoint.cpp
+++ b/test/feature/testPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testPoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testPoint.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,6 +61,10 @@
#include <stdlib.h>
#include <stdio.h>
+
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -91,15 +95,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -108,7 +112,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -119,114 +123,119 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- vpHomogeneousMatrix cMo ;
- cMo[0][3] = 0.1 ;
- cMo[1][3] = 0.2 ;
- cMo[2][3] = 2 ;
-
- vpPoint point ;
- vpTRACE("set point coordinates in the world frame ") ;
- point.setWorldCoordinates(0,0,0) ;
-
-
- std::cout <<"------------------------------------------------------"<<std::endl ;
- vpTRACE("test the projection ") ;
- point.track(cMo) ;
-
- vpTRACE("coordinates in the world frame ") ;
- std::cout << point.oP.t() << std::endl ;
- vpTRACE("coordinates in the camera frame ") ;
- std::cout << point.cP.t() << std::endl ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpTRACE("2D coordinates ") ;
- std::cout<< point.get_x() << " " << point.get_y() << std::endl ;
+ vpHomogeneousMatrix cMo ;
+ cMo[0][3] = 0.1 ;
+ cMo[1][3] = 0.2 ;
+ cMo[2][3] = 2 ;
- std::cout <<"------------------------------------------------------"<<std::endl ;
- vpTRACE("test the interaction matrix ") ;
+ vpPoint point ;
+ vpTRACE("set point coordinates in the world frame ") ;
+ point.setWorldCoordinates(0,0,0) ;
- vpFeaturePoint p ;
- vpFeatureBuilder::create(p,point) ;
+ std::cout <<"------------------------------------------------------"<<std::endl ;
+ vpTRACE("test the projection ") ;
+ point.track(cMo) ;
- vpMatrix L ;
- L = p.interaction() ;
- std::cout << L << std::endl ;
+ vpTRACE("coordinates in the world frame ") ;
+ std::cout << point.oP.t() << std::endl ;
+ vpTRACE("coordinates in the camera frame ") ;
+ std::cout << point.cP.t() << std::endl ;
- vpTRACE("test the interaction matrix select") ;
- vpTRACE("\t only X") ;
- L = p.interaction(vpFeaturePoint::selectX()) ;
- std::cout << L << std::endl ;
+ vpTRACE("2D coordinates ") ;
+ std::cout<< point.get_x() << " " << point.get_y() << std::endl ;
- vpTRACE("\t only Y") ;
- L = p.interaction(vpFeaturePoint::selectY()) ;
- std::cout << L << std::endl ;
+ std::cout <<"------------------------------------------------------"<<std::endl ;
+ vpTRACE("test the interaction matrix ") ;
- vpTRACE("\t X & Y") ;
- L = p.interaction(vpFeaturePoint::selectX() |
- vpFeaturePoint::selectY()) ;
- std::cout << L << std::endl ;
+ vpFeaturePoint p ;
+ vpFeatureBuilder::create(p,point) ;
- vpTRACE("\t selectAll") ;
- L = p.interaction(vpFeaturePoint::selectAll() ) ;
- std::cout << L << std::endl ;
+ vpMatrix L ;
+ L = p.interaction() ;
+ std::cout << L << std::endl ;
- std::cout <<"------------------------------------------------------"<<std::endl ;
- vpTRACE("test the error ") ;
+ vpTRACE("test the interaction matrix select") ;
+ vpTRACE("\t only X") ;
+ L = p.interaction(vpFeaturePoint::selectX()) ;
+ std::cout << L << std::endl ;
- try{
- vpFeaturePoint pd ;
- pd.set_x(0) ;
- pd.set_y(0) ;
+ vpTRACE("\t only Y") ;
+ L = p.interaction(vpFeaturePoint::selectY()) ;
+ std::cout << L << std::endl ;
- pd.print() ; std::cout << std::endl ;
- vpColVector e ;
- e = p.error(pd) ;
- std::cout << e << std::endl ;
+ vpTRACE("\t X & Y") ;
+ L = p.interaction(vpFeaturePoint::selectX() |
+ vpFeaturePoint::selectY()) ;
+ std::cout << L << std::endl ;
- vpTRACE("test the interaction matrix select") ;
+ vpTRACE("\t selectAll") ;
+ L = p.interaction(vpFeaturePoint::selectAll() ) ;
+ std::cout << L << std::endl ;
+
+ std::cout <<"------------------------------------------------------"<<std::endl ;
+ vpTRACE("test the error ") ;
+
+ try{
+ vpFeaturePoint pd ;
+ pd.set_x(0) ;
+ pd.set_y(0) ;
+
+ pd.print() ; std::cout << std::endl ;
+ vpColVector e ;
+ e = p.error(pd) ;
+ std::cout << e << std::endl ;
+
+ vpTRACE("test the interaction matrix select") ;
+ vpTRACE("\t only X") ;
+ e = p.error(pd,vpFeaturePoint::selectX()) ;
+ std::cout << e << std::endl ;
+
+ vpTRACE("\t only Y") ;
+ e = p.error(pd,vpFeaturePoint::selectY()) ;
+ std::cout << e << std::endl ;
+
+ vpTRACE("\t X & Y") ;
+ e = p.error(pd,vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
+ std::cout << e << std::endl ;
+
+ vpTRACE("\t selectAll") ;
+ e = p.error(pd,vpFeaturePoint::selectAll() ) ;
+ std::cout << e << std::endl ;
+ }
+ catch(vpFeatureException me){ std::cout << me << std::endl ; }
+ catch(vpException me){ std::cout << me << std::endl ; }
+ std::cout <<"------------------------------------------------------"<<std::endl ;
+ vpTRACE("test the dimension") ;
+ unsigned int dim ;
+ dim = p.getDimension() ;
+ std::cout << "Dimension = " << dim << std::endl ;
+
+ vpTRACE("test the dimension with select") ;
vpTRACE("\t only X") ;
- e = p.error(pd,vpFeaturePoint::selectX()) ;
- std::cout << e << std::endl ;
+ dim = p.getDimension(vpFeaturePoint::selectX()) ;
+ std::cout << "Dimension = " << dim << std::endl ;
vpTRACE("\t only Y") ;
- e = p.error(pd,vpFeaturePoint::selectY()) ;
- std::cout << e << std::endl ;
+ dim = p.getDimension(vpFeaturePoint::selectY()) ;
+ std::cout << "Dimension = " << dim << std::endl ;
vpTRACE("\t X & Y") ;
- e = p.error(pd,vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
- std::cout << e << std::endl ;
+ dim = p.getDimension(vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
+ std::cout << "Dimension = " << dim << std::endl ;
vpTRACE("\t selectAll") ;
- e = p.error(pd,vpFeaturePoint::selectAll() ) ;
- std::cout << e << std::endl ;
+ dim = p.getDimension(vpFeaturePoint::selectAll() ) ;
+ std::cout << "Dimension = " << dim << std::endl ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- catch(vpFeatureException me){ std::cout << me << std::endl ; }
- catch(vpException me){ std::cout << me << std::endl ; }
- std::cout <<"------------------------------------------------------"<<std::endl ;
- vpTRACE("test the dimension") ;
- unsigned int dim ;
- dim = p.getDimension() ;
- std::cout << "Dimension = " << dim << std::endl ;
-
- vpTRACE("test the dimension with select") ;
- vpTRACE("\t only X") ;
- dim = p.getDimension(vpFeaturePoint::selectX()) ;
- std::cout << "Dimension = " << dim << std::endl ;
-
- vpTRACE("\t only Y") ;
- dim = p.getDimension(vpFeaturePoint::selectY()) ;
- std::cout << "Dimension = " << dim << std::endl ;
-
- vpTRACE("\t X & Y") ;
- dim = p.getDimension(vpFeaturePoint::selectX() | vpFeaturePoint::selectY()) ;
- std::cout << "Dimension = " << dim << std::endl ;
-
- vpTRACE("\t selectAll") ;
- dim = p.getDimension(vpFeaturePoint::selectAll() ) ;
- std::cout << "Dimension = " << dim << std::endl ;
-
}
diff --git a/test/homography/CMakeLists.txt b/test/homography/CMakeLists.txt
index 42054ab..f5aebdc 100644
--- a/test/homography/CMakeLists.txt
+++ b/test/homography/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/homography/testDisplacement.cpp b/test/homography/testDisplacement.cpp
index c0d9eb2..b23d2df 100644
--- a/test/homography/testDisplacement.cpp
+++ b/test/homography/testDisplacement.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testDisplacement.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testDisplacement.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -63,6 +63,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -93,15 +96,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -110,7 +113,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -121,131 +124,114 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- {
- vpThetaUVector tu(vpMath::rad(90), vpMath::rad(120), vpMath::rad(45)) ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- std::cout << "Initialization " <<std::endl ;
- // std::cout << tu << std::endl ;
+ {
+ vpThetaUVector tu(vpMath::rad(90), vpMath::rad(120), vpMath::rad(45)) ;
+ std::cout << "Initialization " <<std::endl ;
+ // std::cout << tu << std::endl ;
- std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
- vpRotationMatrix R(tu) ;
+ std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
+ vpRotationMatrix R(tu) ;
+ // pure rotation
+ vpHomogeneousMatrix M ;
+ M.insert(R) ;
- // pure rotation
- vpHomogeneousMatrix M ;
- M.insert(R) ;
+ std::cout << "M" <<std::endl <<M << std::endl ;
+ vpPlane p(0,0,1,1) ;
+ vpHomography H(M,p) ;
+ std::cout << "H" <<std::endl <<H << std::endl ;
- std::cout << "M" <<std::endl <<M << std::endl ;
- vpPlane p(0,0,1,1) ;
+ vpColVector n ;
+ vpTranslationVector T ;
- vpHomography H(M,p) ;
+ H.computeDisplacement(R,T,n) ;
- vpTRACE(" ") ;
- std::cout << "H" <<std::endl <<H << std::endl ;
+ std::cout << "R" <<std::endl << R ;
+ std::cout << "T" <<std::endl << T.t() << std::endl;
+ std::cout << "n" <<std::endl << n.t() << std::endl;
+ }
+ std::cout <<"------------------------------------------------------" << std::endl ;
+ {
+ vpThetaUVector tu(vpMath::rad(90), vpMath::rad(120), vpMath::rad(45)) ;
- vpTRACE(" ") ;
+ std::cout << "Initialization " << std::endl ;
+ // std::cout << tu << std::endl ;
- vpColVector n ;
- vpTranslationVector T ;
+ std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
+ vpRotationMatrix R(tu) ;
- H.computeDisplacement(R,T,n) ;
+ // pure rotation
+ vpHomogeneousMatrix M ;
+ M.insert(R) ;
- std::cout << "R" <<std::endl << R ;
- std::cout << "T" <<std::endl << T.t() ;
- std::cout << "n" <<std::endl << n.t() ;
- vpTRACE(" ") ;
- vpTRACE(" ") ;
- }
- std::cout <<"------------------------------------------------------" << std::endl ;
+ M[0][3] = 0.21 ;
+ M[1][3] = 0.31 ;
+ M[2][3] = 0.5 ;
- {
- vpThetaUVector tu(vpMath::rad(90), vpMath::rad(120), vpMath::rad(45)) ;
+ std::cout << "M" << std::endl << M << std::endl ;
+ vpPlane p(0,0,1,1) ;
- std::cout << "Initialization " <<std::endl ;
- // std::cout << tu << std::endl ;
+ vpHomography H(M,p) ;
+ std::cout << "H" << std::endl << H << std::endl ;
- std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
- vpRotationMatrix R(tu) ;
+ vpColVector n ;
+ vpTranslationVector T ;
+ H.computeDisplacement(R,T,n) ;
- // pure rotation
- vpHomogeneousMatrix M ;
- M.insert(R) ;
-
+ std::cout << "R" <<std::endl << R ;
+ std::cout << "T" <<std::endl << T.t() << std::endl;
+ std::cout << "n" <<std::endl << n.t() << std::endl;
+ }
- M[0][3] = 0.21 ;
- M[1][3] = 0.31 ;
- M[2][3] = 0.5 ;
+ std::cout <<"------------------------------------------------------" << std::endl ;
+ {
+ vpThetaUVector tu(vpMath::rad(-190), vpMath::rad(12), vpMath::rad(-45)) ;
+ vpRotationMatrix R(tu) ;
- std::cout << "M" <<std::endl <<M << std::endl ;
- vpPlane p(0,0,1,1) ;
+ // pure rotation
+ vpHomogeneousMatrix M ;
+ M.insert(R) ;
- vpHomography H(M,p) ;
+ M[0][3] = 0.21 ;
+ M[1][3] =- 0.31 ;
+ M[2][3] = 0.5 ;
- vpTRACE(" ") ;
- std::cout << "H" <<std::endl <<H << std::endl ;
+ std::cout << "M" << std::endl << M << std::endl ;
+ vpPlane p(0.4,-0.5,0.5,1) ;
+ vpHomography H(M,p) ;
- vpTRACE(" ") ;
+ std::cout << "H" << std::endl << H << std::endl ;
- vpColVector n ;
- vpTranslationVector T ;
+ vpColVector n ;
+ vpTranslationVector T ;
+ H.computeDisplacement(R,T,n) ;
- H.computeDisplacement(R,T,n) ;
+ std::cout << "R" <<std::endl << R ;
+ std::cout << "T" <<std::endl << T.t() << std::endl;
+ std::cout << "n" <<std::endl << n.t() << std::endl;
- std::cout << "R" <<std::endl << R ;
- std::cout << "T" <<std::endl << T.t() ;
- std::cout << "n" <<std::endl << n.t() ;
- vpTRACE(" ") ;
- vpTRACE(" ") ;
+ vpPlane p1(n[0],n[1],n[2],1.0) ;
+ H.buildFrom(R,T,p1) ;
+ std::cout << "H" << std::endl << H << std::endl ;
+ }
+ return 0;
}
-
- std::cout <<"------------------------------------------------------" << std::endl ;
- {
- vpThetaUVector tu(vpMath::rad(-190), vpMath::rad(12), vpMath::rad(-45)) ;
-
- vpRotationMatrix R(tu) ;
-
-
- // pure rotation
- vpHomogeneousMatrix M ;
- M.insert(R) ;
-
- M[0][3] = 0.21 ;
- M[1][3] =- 0.31 ;
- M[2][3] = 0.5 ;
-
- std::cout << "M" <<std::endl <<M << std::endl ;
- vpPlane p(0.4,-0.5,0.5,1) ;
-
- vpHomography H(M,p) ;
-
- vpTRACE(" ") ;
- std::cout << "H" <<std::endl <<H << std::endl ;
-
- vpTRACE(" ") ;
- vpColVector n ;
- vpTranslationVector T ;
- H.computeDisplacement(R,T,n) ;
-
- std::cout << "R" <<std::endl << R ;
- std::cout << "T" <<std::endl << T.t() ;
- std::cout << "n" <<std::endl << n.t() ;
-
- vpPlane p1(n[0],n[1],n[2],1.0) ;
- H.buildFrom(R,T,p1) ;
- std::cout << "H" <<std::endl <<H << std::endl ;
-
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/image/CMakeLists.txt b/test/image/CMakeLists.txt
index 90fcb46..a879ba6 100644
--- a/test/image/CMakeLists.txt
+++ b/test/image/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/image/testConversion.cpp b/test/image/testConversion.cpp
index aec83bc..d132121 100644
--- a/test/image/testConversion.cpp
+++ b/test/image/testConversion.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testConversion.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testConversion.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,6 +61,9 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
+
/*
Print the program options.
@@ -72,8 +75,7 @@
\param user : Username.
*/
-void usage(const char *name, const char *badparam, std::string ipath,
- std::string opath, std::string user)
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Test image conversions.\n\
@@ -120,20 +122,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -141,7 +142,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -151,410 +152,415 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
-
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef WIN32
- opt_opath = "C:/temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if defined(_WIN32)
+ opt_opath = "C:/temp";
#else
- opt_opath = "/tmp";
+ opt_opath = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opt_opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (opt_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (opt_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
- //
- // Here starts really the test
- //
-
- vpImage<unsigned char> Ig ; // Grey image
- vpImage<vpRGBa> Ic ; // Color image
-
- //-------------------- .pgm -> .ppm
- vpTRACE("Convert a grey image (.pgm) to a color image (.ppm)");
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ig, filename) ;
- // Create a color image from the grey
- vpImageConvert::convert(Ig, Ic);
- filename = opath + vpIoTools::path("/Klimt_color.ppm");
- vpCTRACE << "Write " << filename << std::endl;
- vpImageIo::write(Ic, filename) ;
-
- //-------------------- .ppm -> .pgm
- vpTRACE("Convert a color image (.ppm) to a grey image (.pgm)");
- // Load a color image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ic, filename) ;
- // Create a grey image from the color
- vpImageConvert::convert(Ic, Ig);
- filename = opath + vpIoTools::path("/Klimt_grey.pgm");
- vpCTRACE << "Write " << filename << std::endl;
- vpImageIo::write(Ig, filename) ;
-
- //-------------------- YUV -> RGB
- unsigned char y=187, u=10, v=30;
- unsigned char r, g, b;
-
- // Convert a YUV pixel value to a RGB value
- vpImageConvert::YUVToRGB(y, u, v, r, g, b);
- vpTRACE("y(%d) u(%d) v(%d) = r(%d) g(%d) b(%d)", y, u, v, r, g, b);
+ //
+ // Here starts really the test
+ //
+
+ vpImage<unsigned char> Ig ; // Grey image
+ vpImage<vpRGBa> Ic ; // Color image
+
+ //-------------------- .pgm -> .ppm
+ vpTRACE("Convert a grey image (.pgm) to a color image (.ppm)");
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ig, filename) ;
+ // Create a color image from the grey
+ vpImageConvert::convert(Ig, Ic);
+ filename = opath + vpIoTools::path("/Klimt_color.ppm");
+ vpCTRACE << "Write " << filename << std::endl;
+ vpImageIo::write(Ic, filename) ;
+
+ //-------------------- .ppm -> .pgm
+ vpTRACE("Convert a color image (.ppm) to a grey image (.pgm)");
+ // Load a color image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ic, filename) ;
+ // Create a grey image from the color
+ vpImageConvert::convert(Ic, Ig);
+ filename = opath + vpIoTools::path("/Klimt_grey.pgm");
+ vpCTRACE << "Write " << filename << std::endl;
+ vpImageIo::write(Ig, filename) ;
+
+ //-------------------- YUV -> RGB
+ unsigned char y=187, u=10, v=30;
+ unsigned char r, g, b;
+
+ // Convert a YUV pixel value to a RGB value
+ vpImageConvert::YUVToRGB(y, u, v, r, g, b);
+ vpTRACE("y(%d) u(%d) v(%d) = r(%d) g(%d) b(%d)", y, u, v, r, g, b);
#ifdef VISP_HAVE_OPENCV
- double t0 = vpTime::measureTimeMs();
- /////////////////////////
- // Convert a IplImage to a vpImage<vpRGBa>
- ////////////////////////
- IplImage* image = NULL; /*!< The image read / acquired */
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- vpCTRACE << "Reading the color image with opencv: "<< std::endl
- << filename << std::endl;
- if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_COLOR)) == NULL) {
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return (-1);
- }
- vpImageConvert::convert(image, Ic);
- filename = opath + vpIoTools::path("/Klimt_color_cv.ppm");
- /* Save the the current image */
- vpImageIo::write(Ic, filename) ;
+ double t0 = vpTime::measureTimeMs();
+ /////////////////////////
+ // Convert a IplImage to a vpImage<vpRGBa>
+ ////////////////////////
+ IplImage* image = NULL; /*!< The image read / acquired */
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+
+ /* Read the color image */
+
+ vpCTRACE << "Reading the color image with opencv: "<< std::endl
+ << filename << std::endl;
+ if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_COLOR)) == NULL) {
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return (-1);
+ }
+ vpImageConvert::convert(image, Ic);
+ filename = opath + vpIoTools::path("/Klimt_color_cv.ppm");
+ /* Save the the current image */
+ vpImageIo::write(Ic, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- /* Read the pgm image */
+ /* Read the pgm image */
- vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
- << filename << std::endl;
- if(image!=NULL) cvReleaseImage( &image );
- if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE)) == NULL) {
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return (-1);
- }
- vpImageConvert::convert(image, Ic);
- filename = opath + vpIoTools::path("/Klimt_grey_cv.ppm");
- /* Save the the current image */
- vpImageIo::write(Ic, filename) ;
-
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- ///////////////////////////
- // Convert a IplImage to a vpImage<unsigned char>
- ////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- vpCTRACE << "Reading the color image with opencv: "<< std::endl
- << filename << std::endl;
- if(image!=NULL) cvReleaseImage( &image );
- if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_COLOR)) == NULL) {
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return (-1);
- }
- vpImageConvert::convert(image, Ig);
- filename = opath + vpIoTools::path("/Klimt_color_cv.pgm");
- /* Save the the current image */
- vpImageIo::write(Ig, filename) ;
+ vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
+ << filename << std::endl;
+ if(image!=NULL) cvReleaseImage( &image );
+ if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE)) == NULL) {
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return (-1);
+ }
+ vpImageConvert::convert(image, Ic);
+ filename = opath + vpIoTools::path("/Klimt_grey_cv.ppm");
+ /* Save the the current image */
+ vpImageIo::write(Ic, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ ///////////////////////////
+ // Convert a IplImage to a vpImage<unsigned char>
+ ////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- /* Read the pgm image */
+ /* Read the color image */
- vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
- << filename << std::endl;
- if(image!=NULL) cvReleaseImage( &image );
- if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE)) == NULL) {
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
-
- return (-1);
- }
- vpImageConvert::convert(image, Ig);
- filename = opath + vpIoTools::path("/Klimt_grey_cv.pgm");
- /* Save the the current image */
- vpImageIo::write(Ig, filename) ;
-
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- ////////////////////////////////////
- // Convert a vpImage<vpRGBa> to a IplImage
- ////////////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- // Load a color image from the disk
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ic, filename) ;
- vpImageConvert::convert(Ic, image);
- filename = opath + vpIoTools::path("/Klimt_ipl_color_cv.ppm");
- /* Save the the current image */
- vpCTRACE << "Write " << filename << std::endl;
- if((cvSaveImage(filename.c_str(), image)) == 0) {
- vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ vpCTRACE << "Reading the color image with opencv: "<< std::endl
+ << filename << std::endl;
if(image!=NULL) cvReleaseImage( &image );
- return (-1);
- }
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+ if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_COLOR)) == NULL) {
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return (-1);
+ }
+ vpImageConvert::convert(image, Ig);
+ filename = opath + vpIoTools::path("/Klimt_color_cv.pgm");
+ /* Save the the current image */
+ vpImageIo::write(Ig, filename) ;
- ////////////////////////////////////////
- // Convert a IplImage to a vpImage<unsigned char>
- ////////////////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
- /* Read the grey image */
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- // Load a color image from the disk
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ig, filename) ;
- vpImageConvert::convert(Ig, image);
- filename = opath + vpIoTools::path("/Klimt_ipl_grey_cv.pgm");
- /* Save the the current image */
+ /* Read the pgm image */
- vpCTRACE << "Write " << filename << std::endl;
- if((cvSaveImage(filename.c_str(), image)) == 0) {
- vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
+ << filename << std::endl;
if(image!=NULL) cvReleaseImage( &image );
- return (-1);
- }
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- if(image!=NULL) cvReleaseImage( &image );
- double t1 = vpTime::measureTimeMs();
- std::cout << "Conversion c interface : " << t1 - t0 << " ms" << std::endl;
+ if((image = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE)) == NULL) {
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- /* ------------------------------------------------------------------------ */
- /* conversion for the new c++ interface */
- /* ------------------------------------------------------------------------ */
+ return (-1);
+ }
+ vpImageConvert::convert(image, Ig);
+ filename = opath + vpIoTools::path("/Klimt_grey_cv.pgm");
+ /* Save the the current image */
+ vpImageIo::write(Ig, filename) ;
+
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ ////////////////////////////////////
+ // Convert a vpImage<vpRGBa> to a IplImage
+ ////////////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+
+ /* Read the color image */
+
+ // Load a color image from the disk
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ic, filename) ;
+ vpImageConvert::convert(Ic, image);
+ filename = opath + vpIoTools::path("/Klimt_ipl_color_cv.ppm");
+ /* Save the the current image */
+ vpCTRACE << "Write " << filename << std::endl;
+ if((cvSaveImage(filename.c_str(), image)) == 0) {
+ vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ if(image!=NULL) cvReleaseImage( &image );
+ return (-1);
+ }
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ ////////////////////////////////////////
+ // Convert a IplImage to a vpImage<unsigned char>
+ ////////////////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+
+ /* Read the grey image */
+
+ // Load a color image from the disk
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ig, filename) ;
+ vpImageConvert::convert(Ig, image);
+ filename = opath + vpIoTools::path("/Klimt_ipl_grey_cv.pgm");
+ /* Save the the current image */
+
+ vpCTRACE << "Write " << filename << std::endl;
+ if((cvSaveImage(filename.c_str(), image)) == 0) {
+ vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ if(image!=NULL) cvReleaseImage( &image );
+ return (-1);
+ }
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-#if VISP_HAVE_OPENCV_VERSION >= 0x020100
- double t2 = vpTime::measureTimeMs();
- /////////////////////////
- // Convert a cv::Mat to a vpImage<vpRGBa>
- ////////////////////////
- cv::Mat imageMat;
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpCTRACE << "Reading the color image with c++ interface of opencv: "<< std::endl
- << filename << std::endl;
- imageMat = cv::imread(filename, 1);// force to a three channel color image.
- if(imageMat.data == NULL){
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return -1;
- }
- vpImageConvert::convert(imageMat, Ic);
- filename = opath + vpIoTools::path("/Klimt_color_cvMat.ppm");
- /* Save the the current image */
- vpImageIo::write(Ic, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- /* Read the pgm image */
-
- vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
- << filename << std::endl;
- imageMat = cv::imread(filename, 0);// forced to grayscale.
- if(imageMat.data == NULL) {
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return (-1);
- }
- vpImageConvert::convert(imageMat, Ic);
- filename = opath + vpIoTools::path("/Klimt_grey_cvMat.ppm");
- /* Save the the current image */
- vpImageIo::write(Ic, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- ///////////////////////////
- // Convert a cv::Mat to a vpImage<unsigned char>
- ////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- vpCTRACE << "Reading the color image with opencv: "<< std::endl
- << filename << std::endl;
- imageMat = cv::imread(filename, 1);// force to a three channel color image.
- if(imageMat.data == NULL){
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return -1;
- }
- vpImageConvert::convert(imageMat, Ig);
- filename = opath + vpIoTools::path("/Klimt_color_cvMat.pgm");
- /* Save the the current image */
- vpImageIo::write(Ig, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
-
- /* Read the pgm image */
-
- vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
- << filename << std::endl;
- imageMat = cv::imread(filename, 0);
- if(imageMat.data == NULL){
- vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
- return (-1);
- }
- vpImageConvert::convert(imageMat, Ig);
- filename = opath + vpIoTools::path("/Klimt_grey_cvMat.pgm");
- /* Save the the current image */
- vpImageIo::write(Ig, filename) ;
-
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- ////////////////////////////////////
- // Convert a vpImage<vpRGBa> to a cv::Mat
- ////////////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- // Load a color image from the disk
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ic, filename) ;
- vpImageConvert::convert(Ic, imageMat);
- filename = opath + vpIoTools::path("/Klimt_ipl_color_cvMat.ppm");
- /* Save the the current image */
- vpCTRACE << "Write " << filename << std::endl;
- if(!cv::imwrite(filename, imageMat)){
- vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
if(image!=NULL) cvReleaseImage( &image );
- return (-1);
- }
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- ////////////////////////////////////////
- // Convert a IplImage to a vpImage<unsigned char>
- ////////////////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
-
- /* Read the grey image */
+ double t1 = vpTime::measureTimeMs();
+ std::cout << "Conversion c interface : " << t1 - t0 << " ms" << std::endl;
- // Load a color image from the disk
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ig, filename);
- vpImageConvert::convert(Ig, imageMat);
- filename = opath + vpIoTools::path("/Klimt_ipl_grey_cvMat.pgm");
- /* Save the the current image */
+ /* ------------------------------------------------------------------------ */
+ /* conversion for the new c++ interface */
+ /* ------------------------------------------------------------------------ */
- vpCTRACE << "Write " << filename << std::endl;
- if(!cv::imwrite(filename, imageMat)){
- vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
- if(image!=NULL) cvReleaseImage( &image );
- return (-1);
- }
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
- double t3 = vpTime::measureTimeMs();
- std::cout << "Conversion c++ interface : " << t3 - t2 << " ms" << std::endl;
+#if VISP_HAVE_OPENCV_VERSION >= 0x020100
+ double t2 = vpTime::measureTimeMs();
+ /////////////////////////
+ // Convert a cv::Mat to a vpImage<vpRGBa>
+ ////////////////////////
+ cv::Mat imageMat;
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpCTRACE << "Reading the color image with c++ interface of opencv: "<< std::endl
+ << filename << std::endl;
+ imageMat = cv::imread(filename, 1);// force to a three channel color image.
+ if(imageMat.data == NULL){
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return -1;
+ }
+ vpImageConvert::convert(imageMat, Ic);
+ filename = opath + vpIoTools::path("/Klimt_color_cvMat.ppm");
+ /* Save the the current image */
+ vpImageIo::write(Ic, filename) ;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ /* Read the pgm image */
+
+ vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
+ << filename << std::endl;
+ imageMat = cv::imread(filename, 0);// forced to grayscale.
+ if(imageMat.data == NULL) {
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return (-1);
+ }
+ vpImageConvert::convert(imageMat, Ic);
+ filename = opath + vpIoTools::path("/Klimt_grey_cvMat.ppm");
+ /* Save the the current image */
+ vpImageIo::write(Ic, filename) ;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ ///////////////////////////
+ // Convert a cv::Mat to a vpImage<unsigned char>
+ ////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+
+ /* Read the color image */
+
+ vpCTRACE << "Reading the color image with opencv: "<< std::endl
+ << filename << std::endl;
+ imageMat = cv::imread(filename, 1);// force to a three channel color image.
+ if(imageMat.data == NULL){
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return -1;
+ }
+ vpImageConvert::convert(imageMat, Ig);
+ filename = opath + vpIoTools::path("/Klimt_color_cvMat.pgm");
+ /* Save the the current image */
+ vpImageIo::write(Ig, filename) ;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+
+ /* Read the pgm image */
+
+ vpCTRACE << "Reading the greyscale image with opencv: "<< std::endl
+ << filename << std::endl;
+ imageMat = cv::imread(filename, 0);
+ if(imageMat.data == NULL){
+ vpCTRACE<<"Cannot read image: "<< std::endl << filename << std::endl;
+ return (-1);
+ }
+ vpImageConvert::convert(imageMat, Ig);
+ filename = opath + vpIoTools::path("/Klimt_grey_cvMat.pgm");
+ /* Save the the current image */
+ vpImageIo::write(Ig, filename) ;
+
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ ////////////////////////////////////
+ // Convert a vpImage<vpRGBa> to a cv::Mat
+ ////////////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+
+ /* Read the color image */
+
+ // Load a color image from the disk
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ic, filename) ;
+ vpImageConvert::convert(Ic, imageMat);
+ filename = opath + vpIoTools::path("/Klimt_ipl_color_cvMat.ppm");
+ /* Save the the current image */
+ vpCTRACE << "Write " << filename << std::endl;
+ if(!cv::imwrite(filename, imageMat)){
+ vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ if(image!=NULL) cvReleaseImage( &image );
+ return (-1);
+ }
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ ////////////////////////////////////////
+ // Convert a IplImage to a vpImage<unsigned char>
+ ////////////////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+
+ /* Read the grey image */
+
+ // Load a color image from the disk
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ig, filename);
+ vpImageConvert::convert(Ig, imageMat);
+ filename = opath + vpIoTools::path("/Klimt_ipl_grey_cvMat.pgm");
+ /* Save the the current image */
+
+ vpCTRACE << "Write " << filename << std::endl;
+ if(!cv::imwrite(filename, imageMat)){
+ vpCTRACE<<"Cannot write image: "<< std::endl << filename << std::endl;
+ if(image!=NULL) cvReleaseImage( &image );
+ return (-1);
+ }
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+ double t3 = vpTime::measureTimeMs();
+ std::cout << "Conversion c++ interface : " << t3 - t2 << " ms" << std::endl;
#endif
#endif
-
- ////////////////////////////////////
- // Split a vpImage<vpRGBa> to vpImage<unsigned char>
- ////////////////////////////////////
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
-
- /* Read the color image */
-
- // Load a color image from the disk
- vpCTRACE << "Load " << filename << std::endl;
- vpImageIo::read(Ic, filename) ;
- vpImage<unsigned char> R,G,B,a;
- vpImageConvert::split(Ic, &R,NULL,&B);
- double begintime = vpTime::measureTimeMs();
- for(int i=0; i<1000;i++){
+
+ ////////////////////////////////////
+ // Split a vpImage<vpRGBa> to vpImage<unsigned char>
+ ////////////////////////////////////
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+
+ /* Read the color image */
+
+ // Load a color image from the disk
+ vpCTRACE << "Load " << filename << std::endl;
+ vpImageIo::read(Ic, filename) ;
+ vpImage<unsigned char> R,G,B,a;
vpImageConvert::split(Ic, &R,NULL,&B);
+ double begintime = vpTime::measureTimeMs();
+ for(int i=0; i<1000;i++){
+ vpImageConvert::split(Ic, &R,NULL,&B);
+ }
+ double endtime = vpTime::measureTimeMs();
+
+ std::cout<<"Time for 1000 split (ms): "<< endtime - begintime <<std::endl;
+
+ filename = opath + vpIoTools::path("/Klimt_RChannel.pgm");
+ /* Save the the current image */
+ vpCTRACE << "Write " << filename << std::endl;
+ vpImageIo::write(R, filename) ;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+
+ filename = opath + vpIoTools::path("/Klimt_BChannel.pgm");
+ /* Save the the current image */
+ vpCTRACE << "Write " << filename << std::endl;
+ vpImageIo::write(B, filename) ;
+ vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
- double endtime = vpTime::measureTimeMs();
-
- std::cout<<"Time for 1000 split (ms): "<< endtime - begintime <<std::endl;
-
- filename = opath + vpIoTools::path("/Klimt_RChannel.pgm");
- /* Save the the current image */
- vpCTRACE << "Write " << filename << std::endl;
- vpImageIo::write(R, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
- filename = opath + vpIoTools::path("/Klimt_BChannel.pgm");
- /* Save the the current image */
- vpCTRACE << "Write " << filename << std::endl;
- vpImageIo::write(B, filename) ;
- vpCTRACE<< "Convert result in "<<std::endl<< filename << std::endl;
-
}
diff --git a/test/image/testCreateSubImage.cpp b/test/image/testCreateSubImage.cpp
index 4410542..c27d182 100644
--- a/test/image/testCreateSubImage.cpp
+++ b/test/image/testCreateSubImage.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testCreateSubImage.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testCreateSubImage.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,6 +62,9 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
+
/*
Print the program options.
@@ -120,20 +123,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -141,7 +143,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -151,112 +153,118 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef WIN32
- opt_opath = "C:/temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if defined(_WIN32)
+ opt_opath = "C:/temp";
#else
- opt_opath = "/tmp";
+ opt_opath = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opt_opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (opt_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (opt_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
+ //
+ // Here starts really the test
+ //
+ vpImage<unsigned char> I; // Input image
+ vpImage<unsigned char> C; // Cropped output image
+
+
+ // Read the input grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
+
+ // Specify the cropping area
+ vpRect crop;
+ crop.setLeft(-10.2);
+ crop.setTop(10.0);
+ crop.setWidth(I.getWidth());
+ crop.setHeight(20.0);
+
+ // Create the cropped image
+ vpImageTools::createSubImage(I, crop, C);
+
+ // Write the cropped image on the disk
+ filename = opath + vpIoTools::path("/Klimt_crop.pgm");
+ std::cout << "Write cropped image: " << filename << std::endl;
+ vpImageIo::write(C, filename) ;
+ return 0;
}
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- //
- // Here starts really the test
- //
- vpImage<unsigned char> I; // Input image
- vpImage<unsigned char> C; // Cropped output image
-
-
- // Read the input grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
-
- // Specify the cropping area
- vpRect crop;
- crop.setLeft(-10.2);
- crop.setTop(10.0);
- crop.setWidth(I.getWidth());
- crop.setHeight(20.0);
-
- // Create the cropped image
- vpImageTools::createSubImage(I, crop, C);
-
- // Write the cropped image on the disk
- filename = opath + vpIoTools::path("/Klimt_crop.pgm");
- std::cout << "Write cropped image: " << filename << std::endl;
- vpImageIo::write(C, filename) ;
-
}
diff --git a/test/image/testImagePoint.cpp b/test/image/testImagePoint.cpp
index 87cb0b8..d21b640 100644
--- a/test/image/testImagePoint.cpp
+++ b/test/image/testImagePoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testImagePoint.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testImagePoint.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
diff --git a/test/image/testIoPGM.cpp b/test/image/testIoPGM.cpp
index d094fc6..8dd1a8b 100644
--- a/test/image/testIoPGM.cpp
+++ b/test/image/testIoPGM.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testIoPGM.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testIoPGM.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,6 +58,8 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
/*
@@ -116,20 +118,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -137,7 +138,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -147,128 +148,128 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
-
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef WIN32
- opt_opath = "C:/temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if defined(_WIN32)
+ opt_opath = "C:/temp";
#else
- opt_opath = "/tmp";
+ opt_opath = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opt_opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ //
+ // Here starts really the test
+ //
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Create a grey level image
+ vpImage<unsigned char> I ;
- //
- // Here starts really the test
- //
-
- // Create a grey level image
- vpImage<unsigned char> I ;
-
- // Load a grey image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename);
- // Write the content of the image on the disk
- filename = opath + vpIoTools::path("/Klimt_grey.pgm");
- std::cout << "Write image: " << filename << std::endl;
- vpImageIo::write(I, filename) ;
-
- // Try to load a non existing image (test for exceptions)
- try
- {
- // Load a non existing grey image
- filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.pgm");
+ // Load a grey image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
-
- // Try to write an image to a non existing directory
- try
- {
- filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.pgm");
+ vpImageIo::read(I, filename);
+ // Write the content of the image on the disk
+ filename = opath + vpIoTools::path("/Klimt_grey.pgm");
std::cout << "Write image: " << filename << std::endl;
vpImageIo::write(I, filename) ;
+
+ try {
+ // Try to load a non existing image (test for exceptions)
+ // Load a non existing grey image
+ filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.pgm");
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception due to a non existing file: " << e << std::endl;
+ }
+
+ try {
+ // Try to write an image to a non existing directory
+ filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.pgm");
+ std::cout << "Write image: " << filename << std::endl;
+ vpImageIo::write(I, filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception due to a non existing file: " << e << std::endl;
+ }
+ return 0;
}
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/image/testIoPPM.cpp b/test/image/testIoPPM.cpp
index 3327e51..17dc62f 100644
--- a/test/image/testIoPPM.cpp
+++ b/test/image/testIoPPM.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testIoPPM.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testIoPPM.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,6 +59,8 @@
// List of allowed command line options
#define GETOPTARGS "i:o:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
/*
@@ -118,20 +120,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -139,7 +140,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -149,170 +150,167 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
-
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef WIN32
- opt_opath = "C:/temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if defined(_WIN32)
+ opt_opath = "C:/temp";
#else
- opt_opath = "/tmp";
+ opt_opath = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opt_opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
+ //
+ // Here starts really the test
+ //
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ /////////////////////////////////////////////////////////////////////
+ // Create a grey level image
+ vpImage<unsigned char> I ;
- //
- // Here starts really the test
- //
-
- /////////////////////////////////////////////////////////////////////
- // Create a grey level image
- vpImage<unsigned char> I ;
-
- // Load a color image from the disk and convert it to a grey level one
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename);
- // Write the content of the image on the disk
- filename = opath + vpIoTools::path("/Klimt_grey.ppm");
- std::cout << "Write image: " << filename << std::endl;
- vpImageIo::write(I, filename) ;
-
- // Try to load a non existing image (test for exceptions)
- try
- {
- // Load a non existing grey image
- filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ // Load a color image from the disk and convert it to a grey level one
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
-
- // Try to write an image to a non existing directory
- try
- {
- filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ vpImageIo::read(I, filename);
+ // Write the content of the image on the disk
+ filename = opath + vpIoTools::path("/Klimt_grey.ppm");
std::cout << "Write image: " << filename << std::endl;
vpImageIo::write(I, filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
- /////////////////////////////////////////////////////////////////////
- // Create a color image
- vpImage<vpRGBa> Irgba ;
-
- // Load a color image from the disk
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(Irgba, filename);
- // Write the content of the color image on the disk
- filename = opath + vpIoTools::path("/Klimt_color.ppm");
- std::cout << "Write image: " << filename << std::endl;
- vpImageIo::write(Irgba, filename) ;
-
- // Try to load a non existing image (test for exceptions)
- try
- {
- // Load a non existing color image
- filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(Irgba, filename) ;
- }
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
- }
+ // Try to load a non existing image (test for exceptions)
+ try
+ {
+ // Load a non existing grey image
+ filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
+ }
+ catch(vpImageException e)
+ {
+ vpERROR_TRACE("at main level");
+ std::cout << e << std::endl ;
+ }
- // Try to write a color image to a non existing directory
- try
- {
- filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ // Try to write an image to a non existing directory
+ try {
+ filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ std::cout << "Write image: " << filename << std::endl;
+ vpImageIo::write(I, filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception due to a non existing file: " << e << std::endl;
+ }
+
+ /////////////////////////////////////////////////////////////////////
+ // Create a color image
+ vpImage<vpRGBa> Irgba ;
+
+ // Load a color image from the disk
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(Irgba, filename);
+ // Write the content of the color image on the disk
+ filename = opath + vpIoTools::path("/Klimt_color.ppm");
std::cout << "Write image: " << filename << std::endl;
vpImageIo::write(Irgba, filename) ;
+
+ try {
+ // Try to load a non existing image (test for exceptions)
+ // Load a non existing color image
+ filename = ipath + vpIoTools::path("/ViSP-images/image-that-does-not-exist.ppm");
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(Irgba, filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception due to a non existing file: " << e << std::endl;
+ }
+
+ try {
+ // Try to write a color image to a non existing directory
+ filename = opath + vpIoTools::path("/directory-that-does-not-exist/Klimt.ppm");
+ std::cout << "Write image: " << filename << std::endl;
+ vpImageIo::write(Irgba, filename) ;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception due to a non existing file: " << e << std::endl;
+ }
+ return 0;
}
- catch(vpImageException e)
- {
- vpERROR_TRACE("at main level");
- std::cout << e << std::endl ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/image/testReadImage.cpp b/test/image/testReadImage.cpp
index 59eb8c4..eb1c363 100644
--- a/test/image/testReadImage.cpp
+++ b/test/image/testReadImage.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testReadImage.cpp 4314 2013-07-16 17:41:21Z fspindle $
+ * $Id: testReadImage.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,6 +57,8 @@
// List of allowed command line options
#define GETOPTARGS "i:p:h"
+void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath);
/*
@@ -112,20 +114,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &ppath)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'p': ppath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'p': ppath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, ppath); return false; break;
default:
- usage(argv[0], optarg, ipath, ppath); return false; break;
+ usage(argv[0], optarg_, ipath, ppath); return false; break;
}
}
@@ -133,7 +134,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, ppath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -143,102 +144,100 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char ** argv)
{
-
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_ppath;
- std::string ipath;
- std::string ppath;
- std::string filename;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_ppath) == false) {
- exit (-1);
- }
-
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_ppath.empty())
- ppath = opt_ppath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_ppath;
+ std::string ipath;
+ std::string ppath;
+ std::string filename;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_ppath) == false) {
+ exit (-1);
}
- }
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_ppath.empty())
+ ppath = opt_ppath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
+ }
- //
- // Here starts really the test
- //
- /////////////////////////////////////////////////////////////////////
- // Create a grey level image
- //vpImage<vpRGBa> I;
- vpImage<unsigned char> I;
- vpImage<vpRGBa> Irgb;
-
- try {
- if (opt_ppath.empty())
- {
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpImageIo::read(I,filename);
- printf("Read ppm ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(I,filename);
- printf("Read pgm ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.jpeg");
- vpImageIo::read(I,filename);
- printf("Read jpeg ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.jpg");
- vpImageIo::read(I,filename);
- printf("Read jpg ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
- vpImageIo::read(I,filename);
- printf("Read png ok\n");
-
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
- vpImageIo::read(Irgb,filename);
- printf("Read ppm ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
- vpImageIo::read(Irgb,filename);
- printf("Read pgm ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.jpeg");
- vpImageIo::read(Irgb,filename);
- printf("Read jpeg ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.jpg");
- vpImageIo::read(Irgb,filename);
- printf("Read jpg ok\n");
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
- vpImageIo::read(Irgb,filename);
- printf("Read png ok\n");
- }
- else
- {
- filename = opt_ppath;
- vpImageIo::read(I,filename);
- vpTRACE("image read without problem");
- }
+ //
+ // Here starts really the test
+ //
+
+ /////////////////////////////////////////////////////////////////////
+ // Create a grey level image
+ //vpImage<vpRGBa> I;
+ vpImage<unsigned char> I;
+ vpImage<vpRGBa> Irgb;
+
+ if (opt_ppath.empty())
+ {
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpImageIo::read(I,filename);
+ printf("Read ppm ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(I,filename);
+ printf("Read pgm ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.jpeg");
+ vpImageIo::read(I,filename);
+ printf("Read jpeg ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.jpg");
+ vpImageIo::read(I,filename);
+ printf("Read jpg ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
+ vpImageIo::read(I,filename);
+ printf("Read png ok\n");
+
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ vpImageIo::read(Irgb,filename);
+ printf("Read ppm ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ vpImageIo::read(Irgb,filename);
+ printf("Read pgm ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.jpeg");
+ vpImageIo::read(Irgb,filename);
+ printf("Read jpeg ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/mire/mire.jpg");
+ vpImageIo::read(Irgb,filename);
+ printf("Read jpg ok\n");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.png");
+ vpImageIo::read(Irgb,filename);
+ printf("Read png ok\n");
+ }
+ else
+ {
+ filename = opt_ppath;
+ vpImageIo::read(I,filename);
+ vpTRACE("image read without problem");
+ }
}
- catch(...) {
- std::cout << "Unsupported image format" << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
return 0;
}
diff --git a/test/image/testUndistortImage.cpp b/test/image/testUndistortImage.cpp
index 6c8001d..73a12ef 100644
--- a/test/image/testUndistortImage.cpp
+++ b/test/image/testUndistortImage.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testUndistortImage.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testUndistortImage.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,9 @@
//#define COLOR
#define BW
+void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
+
/*
Print the program options.
@@ -125,20 +128,19 @@ OPTIONS: Default\n\
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &ipath, std::string &opath, std::string user)
+bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'i': ipath = optarg; break;
- case 'o': opath = optarg; break;
+ case 'i': ipath = optarg_; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath, opath, user); return false; break;
default:
- usage(argv[0], optarg, ipath, opath, user); return false; break;
+ usage(argv[0], optarg_, ipath, opath, user); return false; break;
}
}
@@ -146,7 +148,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -155,130 +157,137 @@ bool getOptions(int argc, const char **argv,
int main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string opt_opath;
- std::string ipath;
- std::string opath;
- std::string filename;
- std::string username;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string opt_opath;
+ std::string ipath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
- exit (-1);
- }
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
+ exit (-1);
+ }
- // Append to the output path string, the login name of the user
- opath += vpIoTools::path("/") + username;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ opath += vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(opath) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(opath);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ipath, opt_opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << opath << std::endl;
+ std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(opath) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(opath);
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (opt_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- catch (...) {
+
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << opath << std::endl;
- std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
exit(-1);
}
- }
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (opt_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
- }
- }
-
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath, opt_opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
- //
- // Here starts really the test
- //
+ //
+ // Here starts really the test
+ //
#if defined BW
- vpImage<unsigned char> I; // Input image
- vpImage<unsigned char> U; // undistorted output image
+ vpImage<unsigned char> I; // Input image
+ vpImage<unsigned char> U; // undistorted output image
#elif defined COLOR
- vpImage<vpRGBa> I; // Input image
- vpImage<vpRGBa> U; // undistorted output image
+ vpImage<vpRGBa> I; // Input image
+ vpImage<vpRGBa> U; // undistorted output image
#endif
- vpCameraParameters cam;
- cam.initPersProjWithDistortion(600,600,192,144,-0.17,0.17);
- // Read the input grey image from the disk
+ vpCameraParameters cam;
+ cam.initPersProjWithDistortion(600,600,192,144,-0.17,0.17);
+ // Read the input grey image from the disk
#if defined BW
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.pgm");
#elif defined COLOR
- filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
+ filename = ipath + vpIoTools::path("/ViSP-images/Klimt/Klimt.ppm");
#endif
- std::cout << "Read image: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
+ std::cout << "Read image: " << filename << std::endl;
+ vpImageIo::read(I, filename) ;
- std::cout << "Undistortion in process... " << std::endl;
- vpImageTools::undistort(I, cam, U);
+ std::cout << "Undistortion in process... " << std::endl;
+ vpImageTools::undistort(I, cam, U);
- double begintime = vpTime::measureTimeMs();
+ double begintime = vpTime::measureTimeMs();
- // For the test, to have a significant time measure we repeat the
- // undistortion 100 times
- for(unsigned int i=0;i<100;i++)
- // Create the undistorted image
- vpImageTools::undistort(I, cam, U);
+ // For the test, to have a significant time measure we repeat the
+ // undistortion 100 times
+ for(unsigned int i=0;i<100;i++)
+ // Create the undistorted image
+ vpImageTools::undistort(I, cam, U);
- double endtime = vpTime::measureTimeMs();
+ double endtime = vpTime::measureTimeMs();
- std::cout<<"Time for 100 undistortion (ms): "<< endtime - begintime
- << std::endl;
+ std::cout<<"Time for 100 undistortion (ms): "<< endtime - begintime
+ << std::endl;
- // Write the undistorted image on the disk
+ // Write the undistorted image on the disk
#if defined BW
- filename = opath + vpIoTools::path("/Klimt_undistorted.pgm");
+ filename = opath + vpIoTools::path("/Klimt_undistorted.pgm");
#elif defined COLOR
- filename = opath + vpIoTools::path("/Klimt_undistorted.ppm");
+ filename = opath + vpIoTools::path("/Klimt_undistorted.ppm");
#endif
- std::cout << "Write undistorted image: " << filename << std::endl;
- vpImageIo::write(U, filename) ;
+ std::cout << "Write undistorted image: " << filename << std::endl;
+ vpImageIo::write(U, filename) ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/key-point/CMakeLists.txt b/test/key-point/CMakeLists.txt
index 8d743b3..f992133 100644
--- a/test/key-point/CMakeLists.txt
+++ b/test/key-point/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/key-point/testSurfKeyPoint.cpp b/test/key-point/testSurfKeyPoint.cpp
index 06d3318..8f3dd41 100644
--- a/test/key-point/testSurfKeyPoint.cpp
+++ b/test/key-point/testSurfKeyPoint.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testSurfKeyPoint.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testSurfKeyPoint.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -71,6 +71,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+void usage(const char *name, const char *badparam, std::string ipath);
+bool getOptions(int argc, const char **argv, std::string &ipath,
+ bool &click_allowed, bool &display);
+
/*!
Print the program options.
@@ -128,18 +132,18 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv, std::string &ipath,
bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -148,7 +152,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -159,114 +163,114 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filenameRef;
- std::string filenameCur;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath,
- opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filenameRef;
+ std::string filenameCur;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath,
+ opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> Iref ;
- vpImage<unsigned char> Icur ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> Iref ;
+ vpImage<unsigned char> Icur ;
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/cube/");
- // Build the name of the image file
- filenameRef = dirname + "image.0000.pgm";
- filenameCur = dirname + "image.0079.pgm";
+ // Build the name of the image file
+ filenameRef = dirname + "image.0000.pgm";
+ filenameCur = dirname + "image.0079.pgm";
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filenameRef << std::endl;
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filenameRef << std::endl;
- vpImageIo::read(Iref, filenameRef) ;
+ vpImageIo::read(Iref, filenameRef) ;
- vpCTRACE << "Load: " << filenameCur << std::endl;
+ vpCTRACE << "Load: " << filenameCur << std::endl;
- vpImageIo::read(Icur, filenameCur) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filenameRef << "or" << filenameCur <<std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ vpImageIo::read(Icur, filenameCur) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filenameRef << "or" << filenameCur <<std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display[2];
+ vpDisplayX display[2];
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display[2];
+ vpDisplayGTK display[2];
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display[2];
+ vpDisplayGDI display[2];
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display[0].init(Iref, 100, 100, "Reference image") ;
// Display the image
@@ -278,99 +282,97 @@ main(int argc, const char ** argv)
//Flush the display
vpDisplay::flush(Iref) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpKeyPointSurf surf;
- unsigned int nbrRef;
+ vpKeyPointSurf surf;
+ unsigned int nbrRef;
- if (opt_click_allowed && opt_display)
- {
- std::cout << "Select a part of the image where the reference points will be computed. This part is a rectangle." << std::endl;
- std::cout << "Click first on the top left corner and then on the bottom right corner." << std::endl;
- vpImagePoint corners[2];
- for (int i=0 ; i < 2 ; i++)
+ if (opt_click_allowed && opt_display)
{
- vpDisplay::getClick(Iref, corners[i]);
+ std::cout << "Select a part of the image where the reference points will be computed. This part is a rectangle." << std::endl;
+ std::cout << "Click first on the top left corner and then on the bottom right corner." << std::endl;
+ vpImagePoint corners[2];
+ for (int i=0 ; i < 2 ; i++)
+ {
+ vpDisplay::getClick(Iref, corners[i]);
+ }
+
+ vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
+ vpDisplay::flush(Iref);
+ unsigned int height, width;
+ height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
+ width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
+
+ //Computes the reference points
+ nbrRef = surf.buildReference(Iref, corners[0], height, width);
}
- vpDisplay::displayRectangle(Iref, corners[0], corners[1], vpColor::red);
- vpDisplay::flush(Iref);
- unsigned int height, width;
- height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
- width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
-
- //Computes the reference points
- nbrRef = surf.buildReference(Iref, corners[0], height, width);
- }
-
- else
- {
- nbrRef = surf.buildReference(Iref);
- }
+ else
+ {
+ nbrRef = surf.buildReference(Iref);
+ }
- if(nbrRef < 1)
- {
- vpTRACE("No reference point");
- exit(-1);
- }
+ if(nbrRef < 1)
+ {
+ vpTRACE("No reference point");
+ exit(-1);
+ }
- unsigned int nbrPair;
- if (opt_display) {
- display[1].init(Icur, (int)(100+Iref.getWidth()), 100, "Current image") ;
- // display variable.
- vpDisplay::display(Icur) ;
- //Flush the display
- vpDisplay::flush(Icur) ;
- }
+ unsigned int nbrPair;
+ if (opt_display) {
+ display[1].init(Icur, (int)(100+Iref.getWidth()), 100, "Current image") ;
+ // display variable.
+ vpDisplay::display(Icur) ;
+ //Flush the display
+ vpDisplay::flush(Icur) ;
+ }
- if (opt_click_allowed && opt_display)
- {
- std::cout << "Select a part of the current image where the reference will be search. This part is a rectangle." << std::endl;
- std::cout << "Click first on the top left corner and then on the bottom right corner." << std::endl;
- vpImagePoint corners[2];
- for (int i=0 ; i < 2 ; i++)
+ if (opt_click_allowed && opt_display)
{
- vpDisplay::getClick(Icur, corners[i]);
+ std::cout << "Select a part of the current image where the reference will be search. This part is a rectangle." << std::endl;
+ std::cout << "Click first on the top left corner and then on the bottom right corner." << std::endl;
+ vpImagePoint corners[2];
+ for (int i=0 ; i < 2 ; i++)
+ {
+ vpDisplay::getClick(Icur, corners[i]);
+ }
+ vpDisplay::displayRectangle(Icur, corners[0], corners[1], vpColor::green);
+ vpDisplay::flush(Icur);
+ unsigned int height, width;
+ height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
+ width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
+
+ //Computes the reference points
+ nbrPair = surf.matchPoint(Icur, corners[0], height, width);
}
- vpDisplay::displayRectangle(Icur, corners[0], corners[1], vpColor::green);
- vpDisplay::flush(Icur);
- unsigned int height, width;
- height = (unsigned int)(corners[1].get_i() - corners[0].get_i());
- width = (unsigned int)(corners[1].get_j() - corners[0].get_j());
-
- //Computes the reference points
- nbrPair = surf.matchPoint(Icur, corners[0], height, width);
- }
- else
- {
- nbrPair = surf.matchPoint(Icur);
- }
+ else
+ {
+ nbrPair = surf.matchPoint(Icur);
+ }
- if(nbrPair < 1)
- {
- vpTRACE("No point matched");
- }
+ if(nbrPair < 1)
+ {
+ vpTRACE("No point matched");
+ }
- if (opt_display)
- {
- surf.display(Iref, Icur, 7);
- vpDisplay::flush(Iref) ;
- vpDisplay::flush(Icur) ;
- if (opt_click_allowed)
+ if (opt_display)
{
- std::cout << "A click on the reference image to exit..." << std::endl;
- vpDisplay::getClick(Iref);
+ surf.display(Iref, Icur, 7);
+ vpDisplay::flush(Iref) ;
+ vpDisplay::flush(Icur) ;
+ if (opt_click_allowed)
+ {
+ std::cout << "A click on the reference image to exit..." << std::endl;
+ vpDisplay::getClick(Iref);
+ }
}
+ return (0);
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return (1);
}
-
- return (0);
}
#else
int
diff --git a/test/math/CMakeLists.txt b/test/math/CMakeLists.txt
index 506d8e6..ebd2ddd 100644
--- a/test/math/CMakeLists.txt
+++ b/test/math/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/math/testColvector.cpp b/test/math/testColvector.cpp
index 972acef..64ccecf 100644
--- a/test/math/testColvector.cpp
+++ b/test/math/testColvector.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testColvector.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testColvector.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,6 +55,8 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
/*!
@@ -86,15 +88,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -103,7 +105,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -114,24 +116,30 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- vpColVector V(4) ;
- V = 1.0;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpTRACE("------------------------");
- vpTRACE("call std::cout << V;");
- std::cout << V << std::endl;
+ vpColVector V(4) ;
+ V = 1.0;
- vpTRACE("------------------------");
- vpTRACE("call V.normalize();");
- V.normalize();
+ vpTRACE("------------------------");
+ vpTRACE("call std::cout << V;");
+ std::cout << V << std::endl;
- vpTRACE("------------------------");
- vpTRACE("call std::cout << V;");
- std::cout << V << std::endl;
+ vpTRACE("------------------------");
+ vpTRACE("call V.normalize();");
+ V.normalize();
+ vpTRACE("------------------------");
+ vpTRACE("call std::cout << V;");
+ std::cout << V << std::endl;
+ return (0);
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return (1);
+ }
}
diff --git a/test/math/testKalmanAcceleration.cpp b/test/math/testKalmanAcceleration.cpp
index 02afce1..e3ed84c 100644
--- a/test/math/testKalmanAcceleration.cpp
+++ b/test/math/testKalmanAcceleration.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testKalmanAcceleration.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testKalmanAcceleration.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -53,64 +53,70 @@
int
main()
{
- unsigned int nsignal = 1; // Number of signal to filter
- unsigned int niter = 100;
+ try {
+ unsigned int nsignal = 1; // Number of signal to filter
+ unsigned int niter = 100;
- std::string filename = "/tmp/log.dat";
- std::ofstream flog(filename.c_str());
+ std::string filename = "/tmp/log.dat";
+ std::ofstream flog(filename.c_str());
- vpLinearKalmanFilterInstantiation kalman;
+ vpLinearKalmanFilterInstantiation kalman;
- vpLinearKalmanFilterInstantiation::vpStateModel model;
- model = vpLinearKalmanFilterInstantiation::stateConstAccWithColoredNoise_MeasureVel;
- kalman.setStateModel(model);
+ vpLinearKalmanFilterInstantiation::vpStateModel model;
+ model = vpLinearKalmanFilterInstantiation::stateConstAccWithColoredNoise_MeasureVel;
+ kalman.setStateModel(model);
- unsigned int size_state_vector = kalman.getStateSize()*nsignal;
- unsigned int size_measure_vector = kalman.getMeasureSize()*nsignal;
+ unsigned int size_state_vector = kalman.getStateSize()*nsignal;
+ unsigned int size_measure_vector = kalman.getMeasureSize()*nsignal;
- vpColVector sigma_measure(size_measure_vector);
- for (unsigned int signal=0; signal < nsignal; signal ++)
- sigma_measure = 0.0001;
- vpColVector sigma_state(size_state_vector);
- for (unsigned int signal=0; signal < nsignal; signal ++) {
- sigma_state[3*signal] = 0.; // not used
- sigma_state[3*signal+1] = 0.000001;
- sigma_state[3*signal+2] = 0.000001;
- }
-
- vpColVector velocity_measure(size_measure_vector);
+ vpColVector sigma_measure(size_measure_vector);
+ for (unsigned int signal=0; signal < nsignal; signal ++)
+ sigma_measure = 0.0001;
+ vpColVector sigma_state(size_state_vector);
+ for (unsigned int signal=0; signal < nsignal; signal ++) {
+ sigma_state[3*signal] = 0.; // not used
+ sigma_state[3*signal+1] = 0.000001;
+ sigma_state[3*signal+2] = 0.000001;
+ }
- double rho = 0.9; // correlation
- double dt = 0.2; // sampling period
+ vpColVector velocity_measure(size_measure_vector);
- for (unsigned int signal=0; signal < nsignal; signal ++)
- velocity_measure[signal] = 3+2*signal;
+ double rho = 0.9; // correlation
+ double dt = 0.2; // sampling period
- kalman.verbose(false);
- kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dt);
+ for (unsigned int signal=0; signal < nsignal; signal ++)
+ velocity_measure[signal] = 3+2*signal;
+ kalman.verbose(false);
+ kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dt);
- for (unsigned int iter=0; iter <= niter; iter++) {
- std::cout << "-------- iter " << iter << " ------------" << std::endl;
- for (unsigned int signal=0; signal < nsignal; signal ++) {
- velocity_measure[signal] = 3+2*signal
- + 0.3*sin(vpMath::rad(360./niter*iter));
- }
- std::cout << "measure : " << velocity_measure.t() << std::endl;
- flog << velocity_measure.t();
+ for (unsigned int iter=0; iter <= niter; iter++) {
+ std::cout << "-------- iter " << iter << " ------------" << std::endl;
+ for (unsigned int signal=0; signal < nsignal; signal ++) {
+ velocity_measure[signal] = 3+2*signal
+ + 0.3*sin(vpMath::rad(360./niter*iter));
+ }
+ std::cout << "measure : " << velocity_measure.t() << std::endl;
- // kalman.prediction();
- kalman.filter(velocity_measure);
- flog << kalman.Xest.t();
- flog << kalman.Xpre.t();
+ flog << velocity_measure.t();
- std::cout << "Xest: " << kalman.Xest.t() << std::endl;
- std::cout << "Xpre: " << kalman.Xpre.t() << std::endl;
+ // kalman.prediction();
+ kalman.filter(velocity_measure);
+ flog << kalman.Xest.t();
+ flog << kalman.Xpre.t();
- flog << std::endl;
- }
+ std::cout << "Xest: " << kalman.Xest.t() << std::endl;
+ std::cout << "Xpre: " << kalman.Xpre.t() << std::endl;
+
+ flog << std::endl;
+ }
- flog.close();
- return 0;
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 0;
+ }
}
diff --git a/test/math/testKalmanVelocity.cpp b/test/math/testKalmanVelocity.cpp
index e5f3f77..25f5b7c 100644
--- a/test/math/testKalmanVelocity.cpp
+++ b/test/math/testKalmanVelocity.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testKalmanVelocity.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testKalmanVelocity.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,79 +58,85 @@ typedef enum {
int
main()
{
- unsigned int nsignal = 2; // Number of signal to filter
- unsigned int niter = 200;
- unsigned int size_state_vector = 2*nsignal;
- unsigned int size_measure_vector = 1*nsignal;
- //vpMeasureType measure_t = Velocity;
- vpMeasureType measure_t = Position;
-
- std::string filename = "/tmp/log.dat";
- std::ofstream flog(filename.c_str());
-
- vpLinearKalmanFilterInstantiation kalman;
+ try {
+ unsigned int nsignal = 2; // Number of signal to filter
+ unsigned int niter = 200;
+ unsigned int size_state_vector = 2*nsignal;
+ unsigned int size_measure_vector = 1*nsignal;
+ //vpMeasureType measure_t = Velocity;
+ vpMeasureType measure_t = Position;
+
+ std::string filename = "/tmp/log.dat";
+ std::ofstream flog(filename.c_str());
+
+ vpLinearKalmanFilterInstantiation kalman;
+
+ vpColVector sigma_measure(size_measure_vector);
+ for (unsigned int signal=0; signal < nsignal; signal ++)
+ sigma_measure = 0.000001;
+ vpColVector sigma_state(size_state_vector);
+
+ switch (measure_t) {
+ case Velocity:
+ for (unsigned int signal=0; signal < nsignal; signal ++) {
+ sigma_state[2*signal] = 0.; // not used
+ sigma_state[2*signal+1] = 0.000001;
+ }
+ break;
+ case Position:
+ for (unsigned int signal=0; signal < nsignal; signal ++) {
+ sigma_state[2*signal] = 0.000001;
+ sigma_state[2*signal+1] = 0; // not used
+ }
+ break;
+ }
- vpColVector sigma_measure(size_measure_vector);
- for (unsigned int signal=0; signal < nsignal; signal ++)
- sigma_measure = 0.000001;
- vpColVector sigma_state(size_state_vector);
+ vpColVector measure(size_measure_vector);
- switch (measure_t) {
- case Velocity:
for (unsigned int signal=0; signal < nsignal; signal ++) {
- sigma_state[2*signal] = 0.; // not used
- sigma_state[2*signal+1] = 0.000001;
+ measure[signal] = 3+2*signal;
}
- break;
- case Position:
- for (unsigned int signal=0; signal < nsignal; signal ++) {
- sigma_state[2*signal] = 0.000001;
- sigma_state[2*signal+1] = 0; // not used
- }
- break;
- }
-
- vpColVector measure(size_measure_vector);
- for (unsigned int signal=0; signal < nsignal; signal ++) {
- measure[signal] = 3+2*signal;
- }
+ kalman.verbose(true);
+
+ vpLinearKalmanFilterInstantiation::vpStateModel model;
+ double dt = 0.04; // Sampling period
+ double rho = 0.5;
+ double dummy = 0; // non used parameter
+ switch (measure_t) {
+ case Velocity:
+ model = vpLinearKalmanFilterInstantiation::stateConstVelWithColoredNoise_MeasureVel;
+ kalman.setStateModel(model);
+ kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
+ break;
+ case Position:
+ model = vpLinearKalmanFilterInstantiation::stateConstVel_MeasurePos;
+ kalman.setStateModel(model);
+ kalman.initFilter(nsignal, sigma_state, sigma_measure, dummy, dt);
+ break;
+ }
- kalman.verbose(true);
-
- vpLinearKalmanFilterInstantiation::vpStateModel model;
- double dt = 0.04; // Sampling period
- double rho = 0.5;
- double dummy = 0; // non used parameter
- switch (measure_t) {
- case Velocity:
- model = vpLinearKalmanFilterInstantiation::stateConstVelWithColoredNoise_MeasureVel;
- kalman.setStateModel(model);
- kalman.initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
- break;
- case Position:
- model = vpLinearKalmanFilterInstantiation::stateConstVel_MeasurePos;
- kalman.setStateModel(model);
- kalman.initFilter(nsignal, sigma_state, sigma_measure, dummy, dt);
- break;
- }
+ for (unsigned int iter=0; iter <= niter; iter++) {
+ std::cout << "-------- iter " << iter << " ------------" << std::endl;
+ for (unsigned int signal=0; signal < nsignal; signal ++) {
+ measure[signal] = 3+2*signal + 0.3*sin(vpMath::rad(360./niter*iter));
+ }
+ std::cout << "measure : " << measure.t() << std::endl;
- for (unsigned int iter=0; iter <= niter; iter++) {
- std::cout << "-------- iter " << iter << " ------------" << std::endl;
- for (unsigned int signal=0; signal < nsignal; signal ++) {
- measure[signal] = 3+2*signal + 0.3*sin(vpMath::rad(360./niter*iter));
- }
- std::cout << "measure : " << measure.t() << std::endl;
+ flog << measure.t();
- flog << measure.t();
+ // kalman.prediction();
+ kalman.filter(measure);
+ flog << kalman.Xest.t() << std::endl;
- // kalman.prediction();
- kalman.filter(measure);
- flog << kalman.Xest.t() << std::endl;
+ std::cout << "Xest: " << kalman.Xest.t() << std::endl;
+ }
- std::cout << "Xest: " << kalman.Xest.t() << std::endl;
+ flog.close();
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- flog.close();
- return 0;
}
diff --git a/test/math/testMatrix.cpp b/test/math/testMatrix.cpp
index e3c392a..619a293 100644
--- a/test/math/testMatrix.cpp
+++ b/test/math/testMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testMatrix.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,6 +60,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -90,15 +93,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -107,7 +110,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -118,137 +121,143 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- vpTRACE("------------------------");
- vpTRACE("--- TEST PRETTY PRINT---");
- vpTRACE("------------------------");
- vpMatrix M ;
- M.eye(4);
-
- vpTRACE("call std::cout << M;");
- std::cout << M << std::endl;
-
- vpTRACE("call M.print (std::cout, 4);");
- M.print (std::cout, 4);
-
- vpTRACE("------------------------");
- M.resize(3,3) ;
- M.eye(3);
- M[1][0]=1.235;
- M[1][1]=12.345;
- M[1][2]=.12345;
- vpTRACE("call std::cout << M;");
- std::cout << M;
- vpTRACE("call M.print (std::cout, 6);");
- M.print (std::cout, 6);
-
- vpTRACE("------------------------");
- M[0][0]=-1.235;
- M[1][0]=-12.235;
-
- vpTRACE("call std::cout << M;");
- std::cout << M;
-
- vpTRACE("call M.print (std::cout, 10);");
- M.print (std::cout, 10);
-
- vpTRACE("call M.print (std::cout, 2);");
- M.print (std::cout, 2);
-
- vpTRACE("------------------------");
- M.resize(3,3) ;
- M.eye(3);
- M[0][2]=-0.0000000876;
- vpTRACE("call std::cout << M;");
- std::cout << M;
-
- vpTRACE("call M.print (std::cout, 4);");
- M.print (std::cout, 4);
- vpTRACE("call M.print (std::cout, 10, \"M\");");
- M.print (std::cout, 10, "M");
- vpTRACE("call M.print (std::cout, 20, \"M\");");
- M.print (std::cout, 20, "M");
-
-
- vpTRACE("------------------------");
- vpTRACE("--- TEST RESIZE --------");
- vpTRACE("------------------------");
- vpCTRACE << "5x5" << std::endl;
- M.resize(5,5,false);
- vpCTRACE << std::endl<< M;
- vpCTRACE << "3x2" << std::endl;
- M.resize(3,2,false);
- vpCTRACE <<std::endl<< M;
- vpCTRACE << "2x2" << std::endl;
- M.resize(2,2,false);
- vpCTRACE << std::endl<<M;
- vpTRACE("------------------------");
-
-
- vpVelocityTwistMatrix vMe;
- vpMatrix A(1,6),B;
-
- A=1.0;
- //vMe=1.0;
- B=A*vMe;
-
- vpTRACE("------------------------");
- vpTRACE("--- TEST vpRowVector * vpColVector");
- vpTRACE("------------------------");
- vpRowVector r(3);
- r[0] = 2;
- r[1] = 3;
- r[2] = 4;
-
- vpColVector c(3);
- c[0] = 1;
- c[1] = 2;
- c[2] = -1;
-
- double rc = r * c;
-
- r.print(std::cout, 2, "r");
- c.print(std::cout, 2, "c");
- std::cout << "r * c = " << rc << std::endl;
-
- vpTRACE("------------------------");
- vpTRACE("--- TEST vpRowVector * vpMatrix");
- vpTRACE("------------------------");
- M.resize(3,3) ;
- M.eye(3);
-
- M[1][0] = 1.5;
- M[2][0] = 2.3;
-
- vpRowVector rM = r * M;
-
- r.print(std::cout, 2, "r");
- M.print(std::cout, 10, "M");
- std::cout << "r * M = " << rM << std::endl;
-
- vpTRACE("------------------------");
- vpTRACE("--- TEST vpGEMM ");
- vpTRACE("------------------------");
- M.resize(3,3) ;
- M.eye(3);
- vpMatrix N(3, 3);
- N[0][0] = 2;
- N[1][0] = 1.2;
- N[1][2] = 0.6;
- N[2][2] = 0.25;
-
- vpMatrix C(3, 3);
- C.eye(3);
-
- vpMatrix D;
-
- //realise the operation D = 2 * M^T * N + 3 C
- vpGEMM(M, N, 2, C, 3, D, VP_GEMM_A_T);
- std::cout << D << std::endl;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+ vpTRACE("------------------------");
+ vpTRACE("--- TEST PRETTY PRINT---");
+ vpTRACE("------------------------");
+ vpMatrix M ;
+ M.eye(4);
+
+ vpTRACE("call std::cout << M;");
+ std::cout << M << std::endl;
+
+ vpTRACE("call M.print (std::cout, 4);");
+ M.print (std::cout, 4);
+
+ vpTRACE("------------------------");
+ M.resize(3,3) ;
+ M.eye(3);
+ M[1][0]=1.235;
+ M[1][1]=12.345;
+ M[1][2]=.12345;
+ vpTRACE("call std::cout << M;");
+ std::cout << M;
+ vpTRACE("call M.print (std::cout, 6);");
+ M.print (std::cout, 6);
+
+ vpTRACE("------------------------");
+ M[0][0]=-1.235;
+ M[1][0]=-12.235;
+
+ vpTRACE("call std::cout << M;");
+ std::cout << M;
+
+ vpTRACE("call M.print (std::cout, 10);");
+ M.print (std::cout, 10);
+
+ vpTRACE("call M.print (std::cout, 2);");
+ M.print (std::cout, 2);
+
+ vpTRACE("------------------------");
+ M.resize(3,3) ;
+ M.eye(3);
+ M[0][2]=-0.0000000876;
+ vpTRACE("call std::cout << M;");
+ std::cout << M;
+
+ vpTRACE("call M.print (std::cout, 4);");
+ M.print (std::cout, 4);
+ vpTRACE("call M.print (std::cout, 10, \"M\");");
+ M.print (std::cout, 10, "M");
+ vpTRACE("call M.print (std::cout, 20, \"M\");");
+ M.print (std::cout, 20, "M");
+
+
+ vpTRACE("------------------------");
+ vpTRACE("--- TEST RESIZE --------");
+ vpTRACE("------------------------");
+ vpCTRACE << "5x5" << std::endl;
+ M.resize(5,5,false);
+ vpCTRACE << std::endl<< M;
+ vpCTRACE << "3x2" << std::endl;
+ M.resize(3,2,false);
+ vpCTRACE <<std::endl<< M;
+ vpCTRACE << "2x2" << std::endl;
+ M.resize(2,2,false);
+ vpCTRACE << std::endl<<M;
+ vpTRACE("------------------------");
+
+
+ vpVelocityTwistMatrix vMe;
+ vpMatrix A(1,6),B;
+
+ A=1.0;
+ //vMe=1.0;
+ B=A*vMe;
+
+ vpTRACE("------------------------");
+ vpTRACE("--- TEST vpRowVector * vpColVector");
+ vpTRACE("------------------------");
+ vpRowVector r(3);
+ r[0] = 2;
+ r[1] = 3;
+ r[2] = 4;
+
+ vpColVector c(3);
+ c[0] = 1;
+ c[1] = 2;
+ c[2] = -1;
+
+ double rc = r * c;
+
+ r.print(std::cout, 2, "r");
+ c.print(std::cout, 2, "c");
+ std::cout << "r * c = " << rc << std::endl;
+
+ vpTRACE("------------------------");
+ vpTRACE("--- TEST vpRowVector * vpMatrix");
+ vpTRACE("------------------------");
+ M.resize(3,3) ;
+ M.eye(3);
+
+ M[1][0] = 1.5;
+ M[2][0] = 2.3;
+
+ vpRowVector rM = r * M;
+
+ r.print(std::cout, 2, "r");
+ M.print(std::cout, 10, "M");
+ std::cout << "r * M = " << rM << std::endl;
+
+ vpTRACE("------------------------");
+ vpTRACE("--- TEST vpGEMM ");
+ vpTRACE("------------------------");
+ M.resize(3,3) ;
+ M.eye(3);
+ vpMatrix N(3, 3);
+ N[0][0] = 2;
+ N[1][0] = 1.2;
+ N[1][2] = 0.6;
+ N[2][2] = 0.25;
+
+ vpMatrix C(3, 3);
+ C.eye(3);
+
+ vpMatrix D;
+
+ //realise the operation D = 2 * M^T * N + 3 C
+ vpGEMM(M, N, 2, C, 3, D, VP_GEMM_A_T);
+ std::cout << D << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/math/testMatrixException.cpp b/test/math/testMatrixException.cpp
index fb81e5b..d9b8b88 100644
--- a/test/math/testMatrixException.cpp
+++ b/test/math/testMatrixException.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testMatrixException.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testMatrixException.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -58,6 +58,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -88,15 +91,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -105,7 +108,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -116,39 +119,42 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpMatrix M ;
- vpMatrix M1(2,3) ;
- vpMatrix M2(3,3) ;
- vpMatrix M3(2,2) ;
+ vpMatrix M ;
+ vpMatrix M1(2,3) ;
+ vpMatrix M2(3,3) ;
+ vpMatrix M3(2,2) ;
- vpTRACE("test matrix size in multiply") ;
+ vpTRACE("test matrix size in multiply") ;
- try
- {
- M = M1*M3 ;
- }
- catch (vpMatrixException me)
- {
- vpCTRACE ;
- std::cout << me << std::endl ;
- }
+ try
+ {
+ M = M1*M3 ;
+ }
+ catch (vpMatrixException me)
+ {
+ std::cout << me << std::endl ;
+ }
- vpTRACE("test matrix size in addition") ;
+ vpTRACE("test matrix size in addition") ;
- try
- {
- M = M1+M3 ;
+ try
+ {
+ M = M1+M3 ;
+ }
+ catch (vpMatrixException me)
+ {
+ std::cout << me << std::endl ;
+ }
}
- catch (vpMatrixException me)
- {
- vpCTRACE ;
- std::cout << me << std::endl ;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
}
diff --git a/test/math/testMatrixInverse.cpp b/test/math/testMatrixInverse.cpp
index 708025a..6051083 100644
--- a/test/math/testMatrixInverse.cpp
+++ b/test/math/testMatrixInverse.cpp
@@ -3,7 +3,7 @@
* $Id: testSvd.cpp 3857 2012-07-25 11:47:30Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -61,6 +61,14 @@
// List of allowed command line options
#define GETOPTARGS "n:i:pf:r:c:vh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv,
+ unsigned int& nb_matrices, unsigned int& nb_iterations,
+ bool& use_plot_file, std::string& plotfile,
+ unsigned int& nbrows, unsigned int& nbcols, bool& verbose);
+void writeTime(const char *name, double time);
+vpMatrix makeRandomMatrix(unsigned int nbrows, unsigned int nbcols);
+
/*!
Print the program options.
@@ -129,36 +137,36 @@ bool getOptions(int argc, const char **argv,
bool& use_plot_file, std::string& plotfile,
unsigned int& nbrows, unsigned int& nbcols, bool& verbose)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
case 'n':
- nb_matrices = (unsigned int)atoi(optarg);
+ nb_matrices = (unsigned int)atoi(optarg_);
break;
case 'i':
- nb_iterations = (unsigned int)atoi(optarg);
+ nb_iterations = (unsigned int)atoi(optarg_);
break;
case 'f':
- plotfile = optarg;
+ plotfile = optarg_;
use_plot_file = true;
break;
case 'p':
use_plot_file = true;
break;
case 'r':
- nbrows = (unsigned int)atoi(optarg);
+ nbrows = (unsigned int)atoi(optarg_);
break;
case 'c':
- nbcols = (unsigned int)atoi(optarg);
+ nbcols = (unsigned int)atoi(optarg_);
break;
case 'v':
verbose = true;
break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -167,20 +175,20 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
-void writeTime(const char *name, double time){
+void writeTime(const char *name, double time)
+{
std::cout << name << " time=" << time << " ms." << std::endl;
}
-
-
-vpMatrix makeRandomMatrix(unsigned int nbrows, unsigned int nbcols){
+vpMatrix makeRandomMatrix(unsigned int nbrows, unsigned int nbcols)
+{
vpMatrix A;
A.resize(nbrows,nbcols);
@@ -195,113 +203,121 @@ int
main(int argc, const char ** argv)
{
#ifdef VISP_HAVE_LAPACK
- unsigned int nb_matrices=1000;
- unsigned int nb_iterations=10;
- unsigned int nb_rows = 6;
- unsigned int nb_cols = 6;
- bool verbose = false;
- std::string plotfile("plot.txt");
- bool use_plot_file=false;
- std::ofstream of;
-
- double t, qr_time, lu_time,pi_time,chol_time;
- // Read the command line options
- if (getOptions(argc, argv, nb_matrices,nb_iterations,use_plot_file,plotfile,nb_rows,nb_cols,verbose) == false) {
- exit (-1);
- }
-
- if(use_plot_file){
- of.open(plotfile.c_str());
- }
-
- for(unsigned int iter=0;iter<nb_iterations;iter++){
- std::vector<vpMatrix> benchQR;
- std::vector<vpMatrix> benchLU;
- std::vector<vpMatrix> benchCholesky;
- std::vector<vpMatrix> benchPseudoInverse;
- if(verbose)
- std::cout << "********* generating matrices for iteration " << iter << "." << std::endl;
- for(unsigned int i=0;i<nb_matrices;i++){
- vpMatrix cur;
- double det=0.;
- //don't put singular matrices in the benchmark
- for(cur=makeRandomMatrix(nb_rows,nb_cols);std::abs(det=cur.AtA().det())<.01;cur = makeRandomMatrix(nb_rows,nb_cols))
- if(verbose){
- std::cout << "Generated random matrix A*tA=" << std::endl << cur.AtA() << std::endl;
- std::cout << "generated random matrix not invertibleL: det="<<det<< ". Retrying..." << std::endl;
- }
- benchCholesky.push_back(cur);
- benchQR.push_back(cur);
- benchLU.push_back(cur);
- benchPseudoInverse.push_back(cur);
+ try {
+ unsigned int nb_matrices=1000;
+ unsigned int nb_iterations=10;
+ unsigned int nb_rows = 6;
+ unsigned int nb_cols = 6;
+ bool verbose = false;
+ std::string plotfile("plot.txt");
+ bool use_plot_file=false;
+ std::ofstream of;
+
+ double t, qr_time, lu_time,pi_time,chol_time;
+ // Read the command line options
+ if (getOptions(argc, argv, nb_matrices,nb_iterations,use_plot_file,plotfile,nb_rows,nb_cols,verbose) == false) {
+ exit (-1);
}
- if(verbose)
- std::cout << "\t Inverting " << benchCholesky[0].AtA().getRows() << "x" << benchCholesky[0].AtA().getCols() << " matrix using cholesky decomposition." << std::endl;
- t = vpTime::measureTimeMs() ;
- for(unsigned int i=0;i<nb_matrices;i++){
- benchCholesky[i]=benchCholesky[i].AtA().inverseByCholesky()*benchCholesky[i].transpose();
- }
- chol_time = vpTime::measureTimeMs() - t ;
-
- if(verbose)
- std::cout << "\t Inverting " << benchLU[0].AtA().getRows() << "x" << benchLU[0].AtA().getCols() << " matrix using LU decomposition." << std::endl;
- t = vpTime::measureTimeMs() ;
- for(unsigned int i=0;i<nb_matrices;i++)
- benchLU[i] = benchLU[i].AtA().inverseByLU()*benchLU[i].transpose();
- lu_time = vpTime::measureTimeMs() -t ;
-
- if(verbose)
- std::cout << "\t Inverting " << benchQR[0].AtA().getRows() << "x" << benchQR[0].AtA().getCols() << " matrix using QR decomposition." << std::endl;
- t = vpTime::measureTimeMs() ;
- for(unsigned int i=0;i<nb_matrices;i++){
- benchQR[i]=benchQR[i].AtA().inverseByQR()*benchQR[i].transpose();
- }
- qr_time = vpTime::measureTimeMs() - t ;
-
- if(verbose)
- std::cout << "\t Inverting " << benchPseudoInverse[0].AtA().getRows() << "x" << benchPseudoInverse[0].AtA().getCols() << " matrix while computing pseudo-inverse." << std::endl;
- t = vpTime::measureTimeMs() ;
- for(unsigned int i=0;i<nb_matrices;i++){
- benchPseudoInverse[i]=benchPseudoInverse[i].pseudoInverse();
- }
- pi_time = vpTime::measureTimeMs() - t ;
-
- double avg_err_lu_qr=0.;
- double avg_err_lu_pi=0.;
- double avg_err_lu_chol=0.;
- double avg_err_qr_pi=0.;
- double avg_err_qr_chol=0.;
- double avg_err_pi_chol=0.;
-
- for(unsigned int i=0;i<nb_matrices;i++){
- avg_err_lu_qr+= (benchQR[i]-benchLU[i]).euclideanNorm();
- avg_err_lu_pi+= (benchPseudoInverse[i]-benchLU[i]).euclideanNorm();
- avg_err_qr_pi+= (benchPseudoInverse[i]-benchQR[i]).euclideanNorm();
- avg_err_qr_chol+= (benchCholesky[i]-benchQR[i]).euclideanNorm();
- avg_err_lu_chol+= (benchCholesky[i]-benchLU[i]).euclideanNorm();
- avg_err_pi_chol+= (benchCholesky[i]-benchPseudoInverse[i]).euclideanNorm();
- }
-
- avg_err_lu_qr/=nb_matrices;
- avg_err_lu_pi/=nb_matrices;
- avg_err_qr_pi/=nb_matrices;
-
if(use_plot_file){
- of << iter << "\t" << lu_time << "\t" << qr_time << "\t" << pi_time << "\t" << chol_time << "\t" << avg_err_lu_qr << "\t" << avg_err_qr_pi << "\t" << avg_err_lu_pi << "\t" << avg_err_qr_chol << "\t" << avg_err_lu_chol << "\t" << avg_err_pi_chol << std::endl;
+ of.open(plotfile.c_str());
}
- if(verbose || !use_plot_file){
- writeTime("LU",lu_time);
- writeTime("QR",qr_time);
- writeTime("Pseudo-inverse",pi_time);
- writeTime("Cholesky",chol_time);
+
+ for(unsigned int iter=0;iter<nb_iterations;iter++){
+ std::vector<vpMatrix> benchQR;
+ std::vector<vpMatrix> benchLU;
+ std::vector<vpMatrix> benchCholesky;
+ std::vector<vpMatrix> benchPseudoInverse;
+ if(verbose)
+ std::cout << "********* generating matrices for iteration " << iter << "." << std::endl;
+ for(unsigned int i=0;i<nb_matrices;i++){
+ vpMatrix cur;
+ double det=0.;
+ //don't put singular matrices in the benchmark
+ for(cur=makeRandomMatrix(nb_rows,nb_cols);std::abs(det=cur.AtA().det())<.01;cur = makeRandomMatrix(nb_rows,nb_cols))
+ if(verbose){
+ std::cout << "Generated random matrix A*tA=" << std::endl << cur.AtA() << std::endl;
+ std::cout << "generated random matrix not invertibleL: det="<<det<< ". Retrying..." << std::endl;
+ }
+ benchCholesky.push_back(cur);
+ benchQR.push_back(cur);
+ benchLU.push_back(cur);
+ benchPseudoInverse.push_back(cur);
+ }
+
+ if(verbose)
+ std::cout << "\t Inverting " << benchCholesky[0].AtA().getRows() << "x" << benchCholesky[0].AtA().getCols() << " matrix using cholesky decomposition." << std::endl;
+ t = vpTime::measureTimeMs() ;
+ for(unsigned int i=0;i<nb_matrices;i++){
+ benchCholesky[i]=benchCholesky[i].AtA().inverseByCholesky()*benchCholesky[i].transpose();
+ }
+ chol_time = vpTime::measureTimeMs() - t ;
+
+ if(verbose)
+ std::cout << "\t Inverting " << benchLU[0].AtA().getRows() << "x" << benchLU[0].AtA().getCols() << " matrix using LU decomposition." << std::endl;
+ t = vpTime::measureTimeMs() ;
+ for(unsigned int i=0;i<nb_matrices;i++)
+ benchLU[i] = benchLU[i].AtA().inverseByLU()*benchLU[i].transpose();
+ lu_time = vpTime::measureTimeMs() -t ;
+
+ if(verbose)
+ std::cout << "\t Inverting " << benchQR[0].AtA().getRows() << "x" << benchQR[0].AtA().getCols() << " matrix using QR decomposition." << std::endl;
+ t = vpTime::measureTimeMs() ;
+ for(unsigned int i=0;i<nb_matrices;i++){
+ benchQR[i]=benchQR[i].AtA().inverseByQR()*benchQR[i].transpose();
+ }
+ qr_time = vpTime::measureTimeMs() - t ;
+
+ if(verbose)
+ std::cout << "\t Inverting " << benchPseudoInverse[0].AtA().getRows() << "x" << benchPseudoInverse[0].AtA().getCols() << " matrix while computing pseudo-inverse." << std::endl;
+ t = vpTime::measureTimeMs() ;
+ for(unsigned int i=0;i<nb_matrices;i++){
+ benchPseudoInverse[i]=benchPseudoInverse[i].pseudoInverse();
+ }
+ pi_time = vpTime::measureTimeMs() - t ;
+
+ double avg_err_lu_qr=0.;
+ double avg_err_lu_pi=0.;
+ double avg_err_lu_chol=0.;
+ double avg_err_qr_pi=0.;
+ double avg_err_qr_chol=0.;
+ double avg_err_pi_chol=0.;
+
+ for(unsigned int i=0;i<nb_matrices;i++){
+ avg_err_lu_qr+= (benchQR[i]-benchLU[i]).euclideanNorm();
+ avg_err_lu_pi+= (benchPseudoInverse[i]-benchLU[i]).euclideanNorm();
+ avg_err_qr_pi+= (benchPseudoInverse[i]-benchQR[i]).euclideanNorm();
+ avg_err_qr_chol+= (benchCholesky[i]-benchQR[i]).euclideanNorm();
+ avg_err_lu_chol+= (benchCholesky[i]-benchLU[i]).euclideanNorm();
+ avg_err_pi_chol+= (benchCholesky[i]-benchPseudoInverse[i]).euclideanNorm();
+ }
+
+ avg_err_lu_qr/=nb_matrices;
+ avg_err_lu_pi/=nb_matrices;
+ avg_err_qr_pi/=nb_matrices;
+
+ if(use_plot_file){
+ of << iter << "\t" << lu_time << "\t" << qr_time << "\t" << pi_time << "\t" << chol_time << "\t" << avg_err_lu_qr << "\t" << avg_err_qr_pi << "\t" << avg_err_lu_pi << "\t" << avg_err_qr_chol << "\t" << avg_err_lu_chol << "\t" << avg_err_pi_chol << std::endl;
+ }
+ if(verbose || !use_plot_file){
+ writeTime("LU",lu_time);
+ writeTime("QR",qr_time);
+ writeTime("Pseudo-inverse",pi_time);
+ writeTime("Cholesky",chol_time);
+ }
}
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
+
#else
(void)argc;
(void)argv;
std::cout << "You don't have lapack installed" << std::endl;
-#endif
return 0;
+#endif
}
diff --git a/test/math/testRobust.cpp b/test/math/testRobust.cpp
index 6c3370f..5bf3cd4 100644
--- a/test/math/testRobust.cpp
+++ b/test/math/testRobust.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobust.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobust.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -57,6 +57,9 @@
// List of allowed command line options
#define GETOPTARGS "ho:"
+void usage(const char *name, const char *badparam, std::string ofilename);
+bool getOptions(int argc, const char **argv, std::string &ofilename);
+
/*!
Print the program options.
@@ -107,16 +110,16 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv, std::string &ofilename)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'o': ofilename = optarg; break;
+ case 'o': ofilename = optarg_; break;
case 'h': usage(argv[0], NULL, ofilename); return false; break;
default:
- usage(argv[0], optarg, ofilename);
+ usage(argv[0], optarg_, ofilename);
return false; break;
}
}
@@ -125,7 +128,7 @@ bool getOptions(int argc, const char **argv, std::string &ofilename)
// standalone param or error
usage(argv[0], NULL, ofilename);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -137,74 +140,81 @@ bool getOptions(int argc, const char **argv, std::string &ofilename)
int
main(int argc, const char ** argv)
{
- std::string ofilename;
- std::string username;
+ try {
+ std::string ofilename;
+ std::string username;
- // Set the default output filename
-#ifdef WIN32
- ofilename = "C:/temp";
+ // Set the default output filename
+#if defined(_WIN32)
+ ofilename = "C:/temp";
#else
- ofilename = "/tmp";
+ ofilename = "/tmp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
+ // Get the user login name
+ vpIoTools::getUserName(username);
+
+ // Append to the output filename string, the login name of the user
+ ofilename = ofilename + "/" + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(ofilename) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(ofilename);
+ }
+ catch (...) {
+ usage(argv[0], NULL, ofilename);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << ofilename << std::endl;
+ std::cerr << " Check your -o " << ofilename << " option " << std::endl;
+ exit(-1);
+ }
+ }
- // Append to the output filename string, the login name of the user
- ofilename = ofilename + "/" + username;
+ // Append to the output filename string, the name of the file
+ ofilename = ofilename + "/w.dat";
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(ofilename) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(ofilename);
+ // Read the command line options
+ if (getOptions(argc, argv, ofilename) == false) {
+ exit (-1);
}
- catch (...) {
+
+ double sig = 1 ;
+
+ double w ;
+ std::ofstream f;
+ std::cout << "Create file: " << ofilename << std::endl;
+ f.open(ofilename.c_str());
+ if (f.fail()) {
usage(argv[0], NULL, ofilename);
std::cerr << std::endl
<< "ERROR:" << std::endl;
- std::cerr << " Cannot create " << ofilename << std::endl;
+ std::cerr << " Cannot create the file: " << ofilename << std::endl;
std::cerr << " Check your -o " << ofilename << " option " << std::endl;
exit(-1);
- }
- }
- // Append to the output filename string, the name of the file
- ofilename = ofilename + "/w.dat";
-
- // Read the command line options
- if (getOptions(argc, argv, ofilename) == false) {
- exit (-1);
- }
-
- double sig = 1 ;
-
- double w ;
- std::ofstream f;
- std::cout << "Create file: " << ofilename << std::endl;
- f.open(ofilename.c_str());
- if (f == NULL) {
- usage(argv[0], NULL, ofilename);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create the file: " << ofilename << std::endl;
- std::cerr << " Check your -o " << ofilename << " option " << std::endl;
- exit(-1);
-
- }
- double x = -10 ;
- while (x<10)
- {
- if (fabs(x/sig)<=(4.6851))
- {
- w = vpMath::sqr(1-vpMath::sqr(x/(sig*4.6851)));
}
- else
+ double x = -10 ;
+ while (x<10)
{
- w = 0;
+ if (fabs(x/sig)<=(4.6851))
+ {
+ w = vpMath::sqr(1-vpMath::sqr(x/(sig*4.6851)));
+ }
+ else
+ {
+ w = 0;
+ }
+ f << x <<" "<<w <<std::endl ;
+ x+= 0.01 ;
}
- f << x <<" "<<w <<std::endl ;
- x+= 0.01 ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/math/testRotation.cpp b/test/math/testRotation.cpp
index 9dec934..d87369f 100644
--- a/test/math/testRotation.cpp
+++ b/test/math/testRotation.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRotation.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRotation.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -59,6 +59,9 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+
/*!
Print the program options.
@@ -89,15 +92,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -106,7 +109,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -117,90 +120,97 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
- vpRotationMatrix R;
- for(int i=-10;i<10;i++){
- for(int j=-10;j<10;j++){
- vpThetaUVector tu(vpMath::rad(90+i), vpMath::rad(170+j), vpMath::rad(45)) ;
- tu.buildFrom(vpRotationMatrix(tu)); //put some coherence into rotation convention
-
- std::cout << "Initialization " <<std::endl ;
-
- double theta;
- vpColVector u;
- tu.extract(theta, u);
-
- std::cout << "theta=" << vpMath::deg(theta) << std::endl ;
- std::cout << "u=" << u << std::endl ;
-
- std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
- R.buildFrom(tu) ;
-
- std::cout << "Matrix R" ;
- if (R.isARotationMatrix()==1) std::cout <<" is a rotation matrix " << std::endl ;
- else std::cout <<" is not a rotation matrix " << std::endl ;
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
+ vpRotationMatrix R;
+ for(int i=-10;i<10;i++){
+ for(int j=-10;j<10;j++){
+ vpThetaUVector tu(vpMath::rad(90+i), vpMath::rad(170+j), vpMath::rad(45)) ;
+ tu.buildFrom(vpRotationMatrix(tu)); //put some coherence into rotation convention
- std::cout << R << std::endl ;
+ std::cout << "Initialization " <<std::endl ;
+
+ double theta;
+ vpColVector u;
+ tu.extract(theta, u);
+
+ std::cout << "theta=" << vpMath::deg(theta) << std::endl ;
+ std::cout << "u=" << u << std::endl ;
+
+ std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl ;
+ R.buildFrom(tu) ;
+
+ std::cout << "Matrix R" ;
+ if (R.isARotationMatrix()==1) std::cout <<" is a rotation matrix " << std::endl ;
+ else std::cout <<" is not a rotation matrix " << std::endl ;
+
+ std::cout << R << std::endl ;
+
+ std::cout << "From vpRotationMatrix to vpQuaternionVector " << std::endl ;
+ vpQuaternionVector q(R);
+ std::cout << q <<std::endl ;
+
+ R.buildFrom(q);
+ std::cout << "From vpQuaternionVector to vpRotationMatrix " << std::endl ;
+
+ std::cout << "From vpRotationMatrix to vpRxyzVector " << std::endl ;
+ vpRxyzVector RxyzBuildFromR(R) ;
+ std::cout << RxyzBuildFromR <<std::endl ;
- std::cout << "From vpRotationMatrix to vpQuaternionVector " << std::endl ;
- vpQuaternionVector q(R);
- std::cout << q <<std::endl ;
-
- R.buildFrom(q);
- std::cout << "From vpQuaternionVector to vpRotationMatrix " << std::endl ;
-
- std::cout << "From vpRotationMatrix to vpRxyzVector " << std::endl ;
- vpRxyzVector RxyzBuildFromR(R) ;
- std::cout << RxyzBuildFromR <<std::endl ;
-
-
- std::cout << "From vpRxyzVector to vpThetaUVector " << std::endl ;
- std::cout << " use From vpRxyzVector to vpRotationMatrix " << std::endl ;
- std::cout << " use From vpRotationMatrix to vpThetaUVector " << std::endl ;
-
-
- vpThetaUVector tuBuildFromEu ;
- tuBuildFromEu.buildFrom(R) ;
-
- std::cout << std::endl ;
- std::cout << "result : should equivalent to the first one " << std::endl ;
-
-
- double theta2;
- vpColVector u2;
-
- tuBuildFromEu.extract(theta2, u2);
- std::cout << "theta=" << vpMath::deg(theta2) << std::endl ;
- std::cout << "u=" << u2 << std::endl ;
-
- assert(vpMath::abs(theta2-theta)<std::numeric_limits<double>::epsilon()*1e10);
- assert(vpMath::abs(u[0]-u2[0])<std::numeric_limits<double>::epsilon()*1e10);
- assert(vpMath::abs(u[1]-u2[1])<std::numeric_limits<double>::epsilon()*1e10);
- assert(vpMath::abs(u[2]-u2[2])<std::numeric_limits<double>::epsilon()*1e10);
+
+ std::cout << "From vpRxyzVector to vpThetaUVector " << std::endl ;
+ std::cout << " use From vpRxyzVector to vpRotationMatrix " << std::endl ;
+ std::cout << " use From vpRotationMatrix to vpThetaUVector " << std::endl ;
+
+
+ vpThetaUVector tuBuildFromEu ;
+ tuBuildFromEu.buildFrom(R) ;
+
+ std::cout << std::endl ;
+ std::cout << "result : should equivalent to the first one " << std::endl ;
+
+
+ double theta2;
+ vpColVector u2;
+
+ tuBuildFromEu.extract(theta2, u2);
+ std::cout << "theta=" << vpMath::deg(theta2) << std::endl ;
+ std::cout << "u=" << u2 << std::endl ;
+
+ assert(vpMath::abs(theta2-theta)<std::numeric_limits<double>::epsilon()*1e10);
+ assert(vpMath::abs(u[0]-u2[0])<std::numeric_limits<double>::epsilon()*1e10);
+ assert(vpMath::abs(u[1]-u2[1])<std::numeric_limits<double>::epsilon()*1e10);
+ assert(vpMath::abs(u[2]-u2[2])<std::numeric_limits<double>::epsilon()*1e10);
+ }
+ vpRzyzVector rzyz(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
+ std::cout << "Initialization vpRzyzVector " <<std::endl ;
+ std::cout << rzyz << std::endl ;
+ std::cout << "From vpRzyzVector to vpRotationMatrix " << std::endl ;
+ R.buildFrom(rzyz) ;
+ std::cout << "From vpRotationMatrix to vpRzyzVector " << std::endl ;
+ vpRzyzVector rzyz_final ;
+ rzyz_final.buildFrom(R) ;
+ std::cout << rzyz_final << std::endl ;
+
+
+ vpRzyxVector rzyx(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
+ std::cout << "Initialization vpRzyxVector " <<std::endl ;
+ std::cout << rzyx << std::endl ;
+ std::cout << "From vpRzyxVector to vpRotationMatrix " << std::endl ;
+ R.buildFrom(rzyx) ;
+ std::cout << R << std::endl ;
+ std::cout << "From vpRotationMatrix to vpRzyxVector " << std::endl ;
+ vpRzyxVector rzyx_final ;
+ rzyx_final.buildFrom(R) ;
+ std::cout << rzyx_final << std::endl ;
}
- vpRzyzVector rzyz(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
- std::cout << "Initialization vpRzyzVector " <<std::endl ;
- std::cout << rzyz << std::endl ;
- std::cout << "From vpRzyzVector to vpRotationMatrix " << std::endl ;
- R.buildFrom(rzyz) ;
- std::cout << "From vpRotationMatrix to vpRzyzVector " << std::endl ;
- vpRzyzVector rzyz_final ;
- rzyz_final.buildFrom(R) ;
- std::cout << rzyz_final << std::endl ;
-
-
- vpRzyxVector rzyx(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45)) ;
- std::cout << "Initialization vpRzyxVector " <<std::endl ;
- std::cout << rzyx << std::endl ;
- std::cout << "From vpRzyxVector to vpRotationMatrix " << std::endl ;
- R.buildFrom(rzyx) ;
- std::cout << R << std::endl ;
- std::cout << "From vpRotationMatrix to vpRzyxVector " << std::endl ;
- vpRzyxVector rzyx_final ;
- rzyx_final.buildFrom(R) ;
- std::cout << rzyx_final << std::endl ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/math/testSvd.cpp b/test/math/testSvd.cpp
index c37bc71..5963321 100644
--- a/test/math/testSvd.cpp
+++ b/test/math/testSvd.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testSvd.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testSvd.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,6 +60,13 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+bool testSvdOpenCvGSLCoherence(double epsilon);
+#ifdef VISP_HAVE_GSL
+bool testRandom(double epsilon);
+#endif
+
/*!
Print the program options.
@@ -90,15 +97,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -107,7 +114,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -116,7 +123,6 @@ bool getOptions(int argc, const char **argv)
#define abs(x) ((x) < 0 ? - (x) : (x))
#ifdef VISP_HAVE_GSL
-
bool testRandom(double epsilon)
{
vpMatrix L0(6,6);
@@ -126,8 +132,6 @@ bool testRandom(double epsilon)
for (unsigned int j=0 ; j < L0.getCols() ; j++)
L1[i][j] = L0[i][j] = (double)rand()/(double)RAND_MAX;
-
-
vpColVector W0(L0.getCols()) ;
vpMatrix V0(L0.getCols(), L0.getCols()) ;
vpColVector W1(L1.getCols()) ;
@@ -151,7 +155,8 @@ bool testRandom(double epsilon)
#endif
-bool testSvdOpenCvGSLCoherence(double epsilon){
+bool testSvdOpenCvGSLCoherence(double epsilon)
+{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020101) && defined (VISP_HAVE_GSL) // Require opencv >= 2.1.1
vpMatrix A;
vpMatrix vA;
@@ -188,72 +193,78 @@ bool testSvdOpenCvGSLCoherence(double epsilon){
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- unsigned int i,j ;
- vpMatrix L(60000,6), Ls ;
- for (i=0 ; i < L.getRows() ; i++)
- for (j=0 ; j < L.getCols() ; j++)
- L[i][j] = 2*i+j + cos((double)(i+j))+((double)(i)) ;
- // std::cout << L << std::endl ;
- Ls = L ;
- std::cout << "--------------------------------------"<<std::endl ;
+ vpMatrix L(60000,6), Ls ;
+ for (unsigned int i=0 ; i < L.getRows() ; i++)
+ for (unsigned int j=0 ; j < L.getCols() ; j++)
+ L[i][j] = 2*i+j + cos((double)(i+j))+((double)(i)) ;
+ // std::cout << L << std::endl ;
+ Ls = L ;
+ std::cout << "--------------------------------------"<<std::endl ;
- vpColVector W(L.getCols()) ;
- vpMatrix V(L.getCols(), L.getCols()) ;
+ vpColVector W(L.getCols()) ;
+ vpMatrix V(L.getCols(), L.getCols()) ;
- double t = vpTime::measureTimeMs() ;
- L.svdNr(W,V) ;
- t = vpTime::measureTimeMs() -t ;
+ double t = vpTime::measureTimeMs() ;
+ L.svdNr(W,V) ;
+ t = vpTime::measureTimeMs() -t ;
- std::cout <<"svdNr Numerical recipes \n time " <<t << std::endl;
- std::cout << W.t() ;
- std::cout << "--------------------------------------"<<std::endl ;
+ std::cout <<"svdNr Numerical recipes \n time " <<t << std::endl;
+ std::cout << W.t() ;
+ std::cout << "--------------------------------------"<<std::endl ;
#ifdef VISP_HAVE_GSL
- L = Ls ;
- t = vpTime::measureTimeMs() ;
- L.svdGsl(W,V) ;
- t = vpTime::measureTimeMs() -t ;
- std::cout <<"svdGsl_mod \n time " <<t << std::endl;
- std::cout << W.t() ;
-
- std::cout << "--------------------------------------"<<std::endl ;
- std::cout << "TESTING RANDOM MATRICES:" ;
-
- bool ret = true;
- for(int i=0;i<2000;i++)
- ret = ret & testRandom(0.00001);
- if(ret)
- std:: cout << "Success"<< std:: endl;
- else
- std:: cout << "Fail"<< std:: endl;
-
- std::cout << "--------------------------------------"<<std::endl ;
+ L = Ls ;
+ t = vpTime::measureTimeMs() ;
+ L.svdGsl(W,V) ;
+ t = vpTime::measureTimeMs() -t ;
+ std::cout <<"svdGsl_mod \n time " <<t << std::endl;
+ std::cout << W.t() ;
+
+ std::cout << "--------------------------------------"<<std::endl ;
+ std::cout << "TESTING RANDOM MATRICES:" ;
+
+ bool ret = true;
+ for(unsigned int i=0;i<2000;i++)
+ ret = ret & testRandom(0.00001);
+ if(ret)
+ std:: cout << "Success"<< std:: endl;
+ else
+ std:: cout << "Fail"<< std:: endl;
+
+ std::cout << "--------------------------------------"<<std::endl ;
#endif
- std::cout << "--------------------------------------"<<std::endl ;
- std::cout << "TESTING OPENCV-GSL coherence:" ;
-
- bool ret2 = true;
- for(int i=0;i<1;i++)
- ret2 = ret2 & testSvdOpenCvGSLCoherence(0.00001);
- if(ret2)
- std:: cout << "Success"<< std:: endl;
- else
- std:: cout << "Fail"<< std:: endl;
-
- std::cout << "--------------------------------------"<<std::endl ;
-
- L = Ls ;
- t = vpTime::measureTimeMs() ;
- L.svdFlake(W,V) ;
- t = vpTime::measureTimeMs() -t ;
- std::cout <<"svdFlake\n time " <<t << std::endl;
- std::cout << W.t() ;
+ std::cout << "--------------------------------------"<<std::endl ;
+ std::cout << "TESTING OPENCV-GSL coherence:" ;
+
+ bool ret2 = true;
+ for(unsigned int i=0;i<1;i++)
+ ret2 = ret2 & testSvdOpenCvGSLCoherence(0.00001);
+ if(ret2)
+ std:: cout << "Success"<< std:: endl;
+ else
+ std:: cout << "Fail"<< std:: endl;
+
+ std::cout << "--------------------------------------"<<std::endl ;
+
+ L = Ls ;
+ t = vpTime::measureTimeMs() ;
+ L.svdFlake(W,V) ;
+ t = vpTime::measureTimeMs() -t ;
+ std::cout <<"svdFlake\n time " <<t << std::endl;
+ std::cout << W.t() ;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/math/testTwistMatrix.cpp b/test/math/testTwistMatrix.cpp
index c061d76..f0cd2db 100644
--- a/test/math/testTwistMatrix.cpp
+++ b/test/math/testTwistMatrix.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testTwistMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testTwistMatrix.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,6 +64,8 @@
// List of allowed command line options
#define GETOPTARGS "h"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
/*!
@@ -95,15 +97,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -112,7 +114,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -123,56 +125,62 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
-
- vpTRACE("--------------------------");
- vpTRACE("--- TEST vpVelocityTwistMatrix ---");
- vpTRACE("--------------------------");
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- // Set the translation
- vpTranslationVector cte;
- cte[0] = 1.;
- cte[1] = 0.5;
- cte[2] = -1.;
+ vpTRACE("--------------------------");
+ vpTRACE("--- TEST vpVelocityTwistMatrix ---");
+ vpTRACE("--------------------------");
- // Set the rotation
- vpRxyzVector cre;
- cre[0] = M_PI/2.;
- cre[1] = -M_PI/2.;
- cre[2] = -M_PI/4.;
+ // Set the translation
+ vpTranslationVector cte;
+ cte[0] = 1.;
+ cte[1] = 0.5;
+ cte[2] = -1.;
- // Build rotation matrix
- vpRotationMatrix cRe(cre);
+ // Set the rotation
+ vpRxyzVector cre;
+ cre[0] = M_PI/2.;
+ cre[1] = -M_PI/2.;
+ cre[2] = -M_PI/4.;
- // Build the twist matrix
- vpVelocityTwistMatrix cVe(cte, cRe);
+ // Build rotation matrix
+ vpRotationMatrix cRe(cre);
- vpTRACE("cVe twist matrix:");
- cVe.print (std::cout, 6);
+ // Build the twist matrix
+ vpVelocityTwistMatrix cVe(cte, cRe);
+ vpTRACE("cVe twist matrix:");
+ cVe.print (std::cout, 6);
- // Set a speed skew
- vpColVector ev(6);
- ev[0] = 1.;
- ev[1] = 0.1;
- ev[2] = -0.5;
- ev[3] = M_PI/180.;
- ev[4] = M_PI/18.;
- ev[5] = M_PI/10.;
+ // Set a speed skew
+ vpColVector ev(6);
- vpTRACE("ev colvector:");
- ev.print (std::cout, 6);
+ ev[0] = 1.;
+ ev[1] = 0.1;
+ ev[2] = -0.5;
+ ev[3] = M_PI/180.;
+ ev[4] = M_PI/18.;
+ ev[5] = M_PI/10.;
- // Set a speed skew
- vpColVector cv;
+ vpTRACE("ev colvector:");
+ ev.print (std::cout, 6);
- cv = cVe * ev;
+ // Set a speed skew
+ vpColVector cv;
- vpTRACE("cv = cVe * ev:");
- cv.print (std::cout, 6);
+ cv = cVe * ev;
+ vpTRACE("cv = cVe * ev:");
+ cv.print (std::cout, 6);
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/network/CMakeLists.txt b/test/network/CMakeLists.txt
index 40b5481..f8cace7 100644
--- a/test/network/CMakeLists.txt
+++ b/test/network/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/network/testClient.cpp b/test/network/testClient.cpp
index 0e5a9e9..bdf7eb6 100644
--- a/test/network/testClient.cpp
+++ b/test/network/testClient.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testClient.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testClient.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,27 +50,32 @@
int main()
{
- std::string servername = "localhost";
- unsigned int port = 35000;
+ try {
+ std::string servername = "localhost";
+ unsigned int port = 35000;
- vpClient client;
- client.connectToHostname(servername, port);
- //client.connectToIP("127.0.0.1",port);
+ vpClient client;
+ client.connectToHostname(servername, port);
+ //client.connectToIP("127.0.0.1",port);
- int val = 0;
+ int val = 0;
- while(1)
- {
- if(client.send(&val) != sizeof(int)) //Sending the new value to the first client
- std::cout << "Error while sending" << std::endl;
- else
- std::cout << "Sending : " << val << std::endl;
-
- if(client.receive(&val) != sizeof(int)) //Receiving a value from the first client
+ while(1)
+ {
+ if(client.send(&val) != sizeof(int)) //Sending the new value to the first client
+ std::cout << "Error while sending" << std::endl;
+ else
+ std::cout << "Sending : " << val << std::endl;
+
+ if(client.receive(&val) != sizeof(int)) //Receiving a value from the first client
std::cout << "Error while receiving" << std::endl;
- else
- std::cout << "Received : " << val << std::endl;
+ else
+ std::cout << "Received : " << val << std::endl;
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
diff --git a/test/network/testServer.cpp b/test/network/testServer.cpp
index 1bb222f..e71f13b 100644
--- a/test/network/testServer.cpp
+++ b/test/network/testServer.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testServer.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testServer.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -50,30 +50,35 @@
int main()
{
- int port = 35000;
- vpServer serv(port); //Launch the server on localhost
- serv.start();
-
- bool run = true;
- int val;
-
- while(run){
- serv.checkForConnections();
-
- if(serv.getNumberOfClients() > 0)
- {
- if(serv.receive(&val) != sizeof(int)) //Receiving a value from the first client
- std::cout << "Error while receiving" << std::endl;
- else
- std::cout << "Received : " << val << std::endl;
-
- val = val+1;
- if(serv.send(&val) != sizeof(int)) //Sending the new value to the first client
- std::cout << "Error while sending" << std::endl;
- else
- std::cout << "Sending : " << val << std::endl;
+ try {
+ int port = 35000;
+ vpServer serv(port); //Launch the server on localhost
+ serv.start();
+
+ bool run = true;
+ int val;
+
+ while(run){
+ serv.checkForConnections();
+
+ if(serv.getNumberOfClients() > 0)
+ {
+ if(serv.receive(&val) != sizeof(int)) //Receiving a value from the first client
+ std::cout << "Error while receiving" << std::endl;
+ else
+ std::cout << "Received : " << val << std::endl;
+
+ val = val+1;
+ if(serv.send(&val) != sizeof(int)) //Sending the new value to the first client
+ std::cout << "Error while sending" << std::endl;
+ else
+ std::cout << "Sending : " << val << std::endl;
+ }
}
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- return 0;
}
diff --git a/test/pose/CMakeLists.txt b/test/pose/CMakeLists.txt
index 1343a55..6191d5d 100644
--- a/test/pose/CMakeLists.txt
+++ b/test/pose/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/pose/testFindMatch.cpp b/test/pose/testFindMatch.cpp
index ea11e5d..62223fb 100644
--- a/test/pose/testFindMatch.cpp
+++ b/test/pose/testFindMatch.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testFindMatch.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testFindMatch.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,60 +62,66 @@
int
main()
{
+ try {
+ std::cout << "Find Matches using Ransac" << std::endl;
+ unsigned int nb3D = 5;
+ unsigned int nb2D = 5;
+ std::vector<vpPoint> P(nb3D);
+ std::vector<vpPoint> p(nb2D);
+
+ P[0].setWorldCoordinates(-L,-L, 0 ) ;
+ P[1].setWorldCoordinates(L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-L,L, 0 ) ;
+ P[4].setWorldCoordinates(-0,L/2., L ) ;
+
+ vpHomogeneousMatrix cMo_ref(0, 0.2, 1, vpMath::rad(3), vpMath::rad(-2), vpMath::rad(10)) ;
+
+ for(unsigned int i=0 ; i < nb3D ; i++)
+ {
+ vpPoint pt = P[i];
+ pt.project(cMo_ref);
+ p[i].set_x(pt.get_x());
+ p[i].set_y(pt.get_y());
+ }
+
+ unsigned int ninliers ;
+ std::vector<vpPoint> inliers;
+ double threshold = 1e-6;
+ unsigned int nbInlierToReachConsensus = nb3D;
+
+ vpHomogeneousMatrix cMo ;
+
+ vpPose::findMatch(p,P,nbInlierToReachConsensus,threshold,ninliers,inliers,cMo);
+
+ std::cout << "Inliers: " << std::endl;
+ for (unsigned int i = 0; i < inliers.size() ; i++)
+ {
+ inliers[i].print() ;
+ std::cout << std::endl;
+ }
+
+ std::cout << "cMo :\n" << vpPoseVector(cMo).t() << std::endl << std::endl;
+
+ vpPoseVector pose_ref = vpPoseVector(cMo_ref);
+ vpPoseVector pose_est = vpPoseVector(cMo);
- std::cout << "Find Matches using Ransac" << std::endl;
- unsigned int nb3D = 5;
- unsigned int nb2D = 5;
- std::vector<vpPoint> P(nb3D);
- std::vector<vpPoint> p(nb2D);
-
- P[0].setWorldCoordinates(-L,-L, 0 ) ;
- P[1].setWorldCoordinates(L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-L,L, 0 ) ;
- P[4].setWorldCoordinates(-0,L/2., L ) ;
-
- vpHomogeneousMatrix cMo_ref(0, 0.2, 1, vpMath::rad(3), vpMath::rad(-2), vpMath::rad(10)) ;
-
- for(unsigned int i=0 ; i < nb3D ; i++)
- {
- vpPoint pt = P[i];
- pt.project(cMo_ref);
- p[i].set_x(pt.get_x());
- p[i].set_y(pt.get_y());
- }
-
- unsigned int ninliers ;
- std::vector<vpPoint> inliers;
- double threshold = 1e-6;
- unsigned int nbInlierToReachConsensus = nb3D;
-
- vpHomogeneousMatrix cMo ;
-
- vpPose::findMatch(p,P,nbInlierToReachConsensus,threshold,ninliers,inliers,cMo);
-
- std::cout << "Inliers: " << std::endl;
- for (unsigned int i = 0; i < inliers.size() ; i++)
- {
- inliers[i].print() ;
std::cout << std::endl;
- }
-
- std::cout << "cMo :\n" << vpPoseVector(cMo).t() << std::endl << std::endl;
+ std::cout << "reference cMo :\n" << pose_ref.t() << std::endl << std::endl;
+ std::cout << "estimated cMo :\n" << pose_est.t() << std::endl << std::endl;
- vpPoseVector pose_ref = vpPoseVector(cMo_ref);
- vpPoseVector pose_est = vpPoseVector(cMo);
+ int test_fail = 0;
+ for(unsigned int i=0; i<6; i++) {
+ if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
+ test_fail = 1;
+ }
- std::cout << std::endl;
- std::cout << "reference cMo :\n" << pose_ref.t() << std::endl << std::endl;
- std::cout << "estimated cMo :\n" << pose_est.t() << std::endl << std::endl;
+ std::cout << "Matching is " << (test_fail ? "badly" : "well") << " performed" << std::endl;
- int test_fail = 0;
- for(unsigned int i=0; i<6; i++) {
- if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
- test_fail = 1;
+ return test_fail;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- std::cout << "Matching is " << (test_fail ? "badly" : "well") << " performed" << std::endl;
- return test_fail;
}
diff --git a/test/pose/testPose.cpp b/test/pose/testPose.cpp
index 57b1fa8..00b3922 100644
--- a/test/pose/testPose.cpp
+++ b/test/pose/testPose.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testPose.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testPose.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -66,6 +66,14 @@
Non-Linear approach.
*/
+
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
+void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend);
+int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
+ const std::string &legend);
+
+
/*!
Print the program options.
@@ -97,15 +105,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -114,7 +122,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -137,7 +145,8 @@ void print_pose(const vpHomogeneousMatrix &cMo, const std::string &legend)
}
// test if pose is well estimated
-int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est, const std::string &legend)
+int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const vpHomogeneousMatrix &cMo_est,
+ const std::string &legend)
{
vpPoseVector pose_ref = vpPoseVector(cMo_ref);
vpPoseVector pose_est = vpPoseVector(cMo_est);
@@ -149,10 +158,16 @@ int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const v
if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
fail = 1;
}
+
std::cout << "Based on 3D parameters " << legend << " is " << (fail ? "badly" : "well") << " estimated" << std::endl;
// Test done on the residual
double r = pose.computeResidual(cMo_est);
+ if (pose.listP.size() < 4) {
+ fail = 1;
+ std::cout << "Not enough point" << std::endl;
+ return fail;
+ }
r = sqrt(r)/pose.listP.size();
//std::cout << "Residual on each point (meter): " << r << std::endl;
fail = (r > 0.1) ? 1 : 0;
@@ -163,97 +178,103 @@ int compare_pose(const vpPose &pose, const vpHomogeneousMatrix &cMo_ref, const v
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- vpPoint P[5] ; // Point to be tracked
- vpPose pose ;
- pose.clearPoint() ;
-
- P[0].setWorldCoordinates(-L,-L, 0 ) ;
- P[1].setWorldCoordinates(L,-L, 0 ) ;
- P[2].setWorldCoordinates(L,L, 0 ) ;
- P[3].setWorldCoordinates(-2*L, 3*L, 0 ) ;
- P[4].setWorldCoordinates(-L,L, 0.01 ) ;
- //P[3].setWorldCoordinates(-L,L, 0 ) ;
-
- int test_fail = 0, fail = 0;
- vpPoseVector cpo_ref = vpPoseVector(0.01, 0.02, 0.25, vpMath::rad(5), 0,vpMath::rad(10));
- vpHomogeneousMatrix cMo_ref(cpo_ref) ;
- vpHomogeneousMatrix cMo ; // will contain the estimated pose
-
- for(int i=0 ; i < 5 ; i++) {
- P[i].project(cMo_ref) ;
- //P[i].print();
- pose.addPoint(P[i]) ; // and added to the pose computation class
- }
+ vpPoint P[5] ; // Point to be tracked
+ vpPose pose ;
+ pose.clearPoint() ;
+
+ P[0].setWorldCoordinates(-L,-L, 0 ) ;
+ P[1].setWorldCoordinates(L,-L, 0 ) ;
+ P[2].setWorldCoordinates(L,L, 0 ) ;
+ P[3].setWorldCoordinates(-2*L, 3*L, 0 ) ;
+ P[4].setWorldCoordinates(-L,L, 0.01 ) ;
+ //P[3].setWorldCoordinates(-L,L, 0 ) ;
+
+ int test_fail = 0, fail = 0;
+ vpPoseVector cpo_ref = vpPoseVector(0.01, 0.02, 0.25, vpMath::rad(5), 0,vpMath::rad(10));
+ vpHomogeneousMatrix cMo_ref(cpo_ref) ;
+ vpHomogeneousMatrix cMo ; // will contain the estimated pose
+
+ for(int i=0 ; i < 5 ; i++) {
+ P[i].project(cMo_ref) ;
+ //P[i].print();
+ pose.addPoint(P[i]) ; // and added to the pose computation class
+ }
- // Let's go ...
- print_pose(cMo_ref, std::string("Reference pose")); // print the reference pose
+ // Let's go ...
+ print_pose(cMo_ref, std::string("Reference pose")); // print the reference pose
- std::cout <<"-------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::LAGRANGE, cMo) ;
+ std::cout <<"-------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::LAGRANGE, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Lagrange"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Lagrange"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange");
+ test_fail |= fail;
- std::cout <<"--------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::DEMENTHON, cMo) ;
+ std::cout <<"--------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::DEMENTHON, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Dementhon"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Dementhon"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon");
+ test_fail |= fail;
- std::cout <<"--------------------------------------------------"<<std::endl ;
- pose.setRansacNbInliersToReachConsensus(4);
- pose.setRansacThreshold(0.01);
- pose.computePose(vpPose::RANSAC, cMo) ;
+ std::cout <<"--------------------------------------------------"<<std::endl ;
+ pose.setRansacNbInliersToReachConsensus(4);
+ pose.setRansacThreshold(0.01);
+ pose.computePose(vpPose::RANSAC, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Ransac"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Ransac"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Ransac");
+ test_fail |= fail;
- std::cout <<"--------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::LAGRANGE_LOWE, cMo) ;
+ std::cout <<"--------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::LAGRANGE_LOWE, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Lagrange than Lowe"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than Lowe");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Lagrange than Lowe"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than Lowe");
+ test_fail |= fail;
- std::cout <<"--------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::DEMENTHON_LOWE, cMo) ;
+ std::cout <<"--------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::DEMENTHON_LOWE, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Dementhon than Lowe"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than Lowe");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Dementhon than Lowe"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than Lowe");
+ test_fail |= fail;
- // Now Virtual Visual servoing
+ // Now Virtual Visual servoing
- std::cout <<"--------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::VIRTUAL_VS, cMo) ;
+ std::cout <<"--------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::VIRTUAL_VS, cMo) ;
- print_pose(cMo, std::string("Pose estimated by VVS"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by VVS"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by VVS");
+ test_fail |= fail;
- std::cout <<"-------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::DEMENTHON_VIRTUAL_VS, cMo) ;
+ std::cout <<"-------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::DEMENTHON_VIRTUAL_VS, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Dementhon than by VVS"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than by VVS");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Dementhon than by VVS"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Dementhon than by VVS");
+ test_fail |= fail;
- std::cout <<"-------------------------------------------------"<<std::endl ;
- pose.computePose(vpPose::LAGRANGE_VIRTUAL_VS, cMo) ;
+ std::cout <<"-------------------------------------------------"<<std::endl ;
+ pose.computePose(vpPose::LAGRANGE_VIRTUAL_VS, cMo) ;
- print_pose(cMo, std::string("Pose estimated by Lagrange than by VVS"));
- fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than by VVS");
- test_fail |= fail;
+ print_pose(cMo, std::string("Pose estimated by Lagrange than by VVS"));
+ fail = compare_pose(pose, cMo_ref, cMo, "pose by Lagrange than by VVS");
+ test_fail |= fail;
- std::cout << "\nGlobal pose estimation test " << (test_fail ? "fail" : "is ok") << std::endl;
+ std::cout << "\nGlobal pose estimation test " << (test_fail ? "fail" : "is ok") << std::endl;
- return test_fail;
+ return test_fail;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/pose/testPoseFeatures.cpp b/test/pose/testPoseFeatures.cpp
index 1004757..19d2a59 100644
--- a/test/pose/testPoseFeatures.cpp
+++ b/test/pose/testPoseFeatures.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testPoseFeatures.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testPoseFeatures.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -87,127 +87,130 @@ void vp_createLine(vpFeatureLine &fp,const vpLine &v){
int main()
{
- vpImage<unsigned char> I(600,600);
-
- vpHomogeneousMatrix cMo_ref(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(60));
- vpPoseVector pose_ref = vpPoseVector(cMo_ref);
+ try {
+ vpImage<unsigned char> I(600,600);
- std::cout << "Reference pose used to create the visual features : " << std::endl;
- std::cout << pose_ref.t() << std::endl;
-
- vpPoseFeatures pose;
-
- vpPoint pts[6];
+ vpHomogeneousMatrix cMo_ref(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(60));
+ vpPoseVector pose_ref = vpPoseVector(cMo_ref);
+
+ std::cout << "Reference pose used to create the visual features : " << std::endl;
+ std::cout << pose_ref.t() << std::endl;
+
+ vpPoseFeatures pose;
+
+ vpPoint pts[6];
- double val = 0.25;
- double val2 = 0.0;
-
- //2D Point Feature
- pts[0].setWorldCoordinates(0.0,-val,val2);
- pts[1].setWorldCoordinates(0.0,val,val2);
- pts[2].setWorldCoordinates(-val,val,val2);
-
- //Segment Feature
- pts[3].setWorldCoordinates(-val,-val/2.0,val2);
- pts[4].setWorldCoordinates(val,val/2.0,val2);
-
- //3D point Feature
- pts[5].setWorldCoordinates(0.0,0.0,-1.5);
-
- //Line Feature
- vpLine line;
- line.setWorldCoordinates(0.0,1.0,0.0,.0,
- 0.0,0.0,1.0,0.0);
-
- //Vanishing Point Feature
- vpLine l1;
- l1.setWorldCoordinates(0.0,1.0,0.2,0.0,
- 1.0,0.0,0.0,-0.25);
-
- vpLine l2;
- l2.setWorldCoordinates(0.0,1.0,0.2,0.0,
+ double val = 0.25;
+ double val2 = 0.0;
+
+ //2D Point Feature
+ pts[0].setWorldCoordinates(0.0,-val,val2);
+ pts[1].setWorldCoordinates(0.0,val,val2);
+ pts[2].setWorldCoordinates(-val,val,val2);
+
+ //Segment Feature
+ pts[3].setWorldCoordinates(-val,-val/2.0,val2);
+ pts[4].setWorldCoordinates(val,val/2.0,val2);
+
+ //3D point Feature
+ pts[5].setWorldCoordinates(0.0,0.0,-1.5);
+
+ //Line Feature
+ vpLine line;
+ line.setWorldCoordinates(0.0,1.0,0.0,.0,
+ 0.0,0.0,1.0,0.0);
+
+ //Vanishing Point Feature
+ vpLine l1;
+ l1.setWorldCoordinates(0.0,1.0,0.2,0.0,
+ 1.0,0.0,0.0,-0.25);
+
+ vpLine l2;
+ l2.setWorldCoordinates(0.0,1.0,0.2,0.0,
-1.0,0.0,0.0,-0.25);
-
- //Ellipse Feature
- vpCircle circle;
- circle.setWorldCoordinates(0.0, 0.0, 1.0 , 0.0, 0.0, 0.0, 0.25);
-
- pts[0].project(cMo_ref);
- pts[1].project(cMo_ref);
- pts[2].project(cMo_ref);
-
- pts[3].project(cMo_ref);
- pts[4].project(cMo_ref);
-
- pts[5].project(cMo_ref);
-
- line.project(cMo_ref);
-
- l1.project(cMo_ref);
- l2.project(cMo_ref);
-
- circle.project(cMo_ref);
-
- pose.addFeaturePoint(pts[0]);
-// pose.addFeaturePoint(pts[1]);
- pose.addFeaturePoint(pts[2]);
-
- pose.addFeaturePoint3D(pts[5]);
-
- pose.addFeatureVanishingPoint(l1,l2);
-
-// pose.addFeatureSegment(pts[3],pts[4]);
-//
-// pose.addFeatureLine(line);
-
- pose.addFeatureEllipse(circle);
+
+ //Ellipse Feature
+ vpCircle circle;
+ circle.setWorldCoordinates(0.0, 0.0, 1.0 , 0.0, 0.0, 0.0, 0.25);
+
+ pts[0].project(cMo_ref);
+ pts[1].project(cMo_ref);
+ pts[2].project(cMo_ref);
+
+ pts[3].project(cMo_ref);
+ pts[4].project(cMo_ref);
+
+ pts[5].project(cMo_ref);
+
+ line.project(cMo_ref);
+
+ l1.project(cMo_ref);
+ l2.project(cMo_ref);
+
+ circle.project(cMo_ref);
+
+ pose.addFeaturePoint(pts[0]);
+ // pose.addFeaturePoint(pts[1]);
+ pose.addFeaturePoint(pts[2]);
+
+ pose.addFeaturePoint3D(pts[5]);
+
+ pose.addFeatureVanishingPoint(l1,l2);
+
+ // pose.addFeatureSegment(pts[3],pts[4]);
+ //
+ // pose.addFeatureLine(line);
+
+ pose.addFeatureEllipse(circle);
#ifdef VISP_HAVE_CPP11_COMPATIBILITY
- vpFeaturePoint fp;
- vpFeatureLine fl;
- vpFeatureSegment fs;
- void (*ptr)(vpFeatureSegment&, vpPoint&, vpPoint&) = &vpFeatureBuilder::create;
- vp_createPointClass cpClass;
- int (vp_createPointClass::*ptrClass)(vpFeaturePoint&, const vpPoint&) = &vp_createPointClass::vp_createPoint;
- pose.addSpecificFeature(&cpClass, ptrClass, fp, pts[1]);
- pose.addSpecificFeature(&vp_createLine, fl, line);
- pose.addSpecificFeature(ptr, fs, pts[3], pts[4]);
+ vpFeaturePoint fp;
+ vpFeatureLine fl;
+ vpFeatureSegment fs;
+ void (*ptr)(vpFeatureSegment&, vpPoint&, vpPoint&) = &vpFeatureBuilder::create;
+ vp_createPointClass cpClass;
+ int (vp_createPointClass::*ptrClass)(vpFeaturePoint&, const vpPoint&) = &vp_createPointClass::vp_createPoint;
+ pose.addSpecificFeature(&cpClass, ptrClass, fp, pts[1]);
+ pose.addSpecificFeature(&vp_createLine, fl, line);
+ pose.addSpecificFeature(ptr, fs, pts[3], pts[4]);
#endif
-
- pose.setVerbose(true);
- pose.setLambda(0.6);
- pose.setVVSIterMax(200);
- pose.setCovarianceComputation(true);
-
- vpHomogeneousMatrix cMo_est(0.4, 0.3, 1.5, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- vpPoseVector pose_est = vpPoseVector(cMo_est);
- std::cout << "\nPose used as initialisation of the pose computation : " << std::endl;
- std::cout << pose_est.t() << std::endl;
-
- pose.computePose(cMo_est);
-// pose.computePose(cMo_est, vpPoseFeatures::ROBUST_VIRTUAL_VS);
-
- std::cout << "\nEstimated pose from visual features : " << std::endl;
- pose_est.buildFrom(cMo_est);
- std::cout << pose_est.t() << std::endl;
-
- std::cout << "\nResulting covariance (Diag): " << std::endl;
- vpMatrix covariance = pose.getCovarianceMatrix();
- std::cout << covariance[0][0] << " "
- << covariance[1][1] << " "
- << covariance[2][2] << " "
- << covariance[3][3] << " "
- << covariance[4][4] << " "
- << covariance[5][5] << " " << std::endl;
-
- int test_fail = 0;
- for(unsigned int i=0; i<6; i++) {
- if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
- test_fail = 1;
- }
+ pose.setVerbose(true);
+ pose.setLambda(0.6);
+ pose.setVVSIterMax(200);
+ pose.setCovarianceComputation(true);
+
+ vpHomogeneousMatrix cMo_est(0.4, 0.3, 1.5, vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ vpPoseVector pose_est = vpPoseVector(cMo_est);
+ std::cout << "\nPose used as initialisation of the pose computation : " << std::endl;
+ std::cout << pose_est.t() << std::endl;
- std::cout << "\nPose is " << (test_fail ? "badly" : "well") << " estimated" << std::endl;
+ pose.computePose(cMo_est);
+ // pose.computePose(cMo_est, vpPoseFeatures::ROBUST_VIRTUAL_VS);
- return test_fail;
+
+ std::cout << "\nEstimated pose from visual features : " << std::endl;
+ pose_est.buildFrom(cMo_est);
+ std::cout << pose_est.t() << std::endl;
+
+ std::cout << "\nResulting covariance (Diag): " << std::endl;
+ vpMatrix covariance = pose.getCovarianceMatrix();
+ std::cout << covariance[0][0] << " " << covariance[1][1] << " "
+ << covariance[2][2] << " " << covariance[3][3] << " "
+ << covariance[4][4] << " " << covariance[5][5] << " " << std::endl;
+
+ int test_fail = 0;
+ for(unsigned int i=0; i<6; i++) {
+ if (std::fabs(pose_ref[i]-pose_est[i]) > 0.001)
+ test_fail = 1;
+ }
+
+ std::cout << "\nPose is " << (test_fail ? "badly" : "well") << " estimated" << std::endl;
+
+ return test_fail;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/pose/testPoseRansac.cpp b/test/pose/testPoseRansac.cpp
index 0a8892b..70e8acc 100644
--- a/test/pose/testPoseRansac.cpp
+++ b/test/pose/testPoseRansac.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testPoseRansac.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testPoseRansac.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -62,6 +62,7 @@
int
main()
{
+ try {
std::cout << "Pose computation with matched points" << std::endl;
int size = 8;
vpPoint *P = new vpPoint [size] ; // Point to be tracked
@@ -81,7 +82,7 @@ main()
vpHomogeneousMatrix cMo_ref(0, 0.2, 1, 0, 0, 0) ;
for(int i=0 ; i < size ; i++)
- {
+ {
P[i].project(cMo_ref) ;
P[i].print() ;
std::cout << std::endl;
@@ -131,4 +132,9 @@ main()
std::cout << "Pose is " << (test_fail ? "badly" : "well") << " estimated" << std::endl;
delete [] P;
return test_fail;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/servo-afma4/CMakeLists.txt b/test/servo-afma4/CMakeLists.txt
index ac0fe33..0211f57 100644
--- a/test/servo-afma4/CMakeLists.txt
+++ b/test/servo-afma4/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/servo-afma4/testAfma4.cpp b/test/servo-afma4/testAfma4.cpp
index 1df849b..03583ed 100644
--- a/test/servo-afma4/testAfma4.cpp
+++ b/test/servo-afma4/testAfma4.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testAfma4.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testAfma4.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -67,10 +67,9 @@ int main()
return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
}
diff --git a/test/servo-afma4/testRobotAfma4.cpp b/test/servo-afma4/testRobotAfma4.cpp
index 60f1919..96a26ff 100644
--- a/test/servo-afma4/testRobotAfma4.cpp
+++ b/test/servo-afma4/testRobotAfma4.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobotAfma4.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobotAfma4.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -64,14 +64,11 @@ int main()
vpRobotAfma4 afma4;
std::cout << afma4 << std::endl;
-
- return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
+ return 0;
}
#else
int main()
diff --git a/test/servo-afma6/CMakeLists.txt b/test/servo-afma6/CMakeLists.txt
index 0ccf349..e445bda 100644
--- a/test/servo-afma6/CMakeLists.txt
+++ b/test/servo-afma6/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/servo-afma6/testAfma6.cpp b/test/servo-afma6/testAfma6.cpp
index 0c11f6d..0665786 100644
--- a/test/servo-afma6/testAfma6.cpp
+++ b/test/servo-afma6/testAfma6.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testAfma6.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testAfma6.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -104,10 +104,9 @@ int main()
return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
}
diff --git a/test/servo-afma6/testRobotAfma6.cpp b/test/servo-afma6/testRobotAfma6.cpp
index 62cd515..9ac60a2 100644
--- a/test/servo-afma6/testRobotAfma6.cpp
+++ b/test/servo-afma6/testRobotAfma6.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobotAfma6.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobotAfma6.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -101,14 +101,11 @@ int main()
std::cout << afma6 << std::endl;
afma6.getCameraParameters(cam, 640, 480);
std::cout << cam << std::endl;
-
- return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
+ return 0;
}
#else
int main()
diff --git a/test/servo-afma6/testRobotAfma6Pose.cpp b/test/servo-afma6/testRobotAfma6Pose.cpp
index 2d22372..038212a 100644
--- a/test/servo-afma6/testRobotAfma6Pose.cpp
+++ b/test/servo-afma6/testRobotAfma6Pose.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobotAfma6Pose.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobotAfma6Pose.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -223,12 +223,11 @@ int main()
<< vpMath::deg(r[1]) << " "
<< vpMath::deg(r[2]) << " deg" << std::endl << std::endl;
- return 0;
}
- catch(...) {
- std::cout << "Test failed" << std::endl;
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
+ return 0;
}
#else
int main()
diff --git a/test/servo-viper/CMakeLists.txt b/test/servo-viper/CMakeLists.txt
index 8d859e0..9ac4f3b 100644
--- a/test/servo-viper/CMakeLists.txt
+++ b/test/servo-viper/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/servo-viper/testRobotViper850.cpp b/test/servo-viper/testRobotViper850.cpp
index 48105bc..cad8251 100644
--- a/test/servo-viper/testRobotViper850.cpp
+++ b/test/servo-viper/testRobotViper850.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobotViper850.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobotViper850.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -110,13 +110,11 @@ int main()
<< " " << vpMath::deg(rzyz[1])
<< " " << vpMath::deg(rzyz[2]) << std::endl;
- return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
+ return 0;
}
#else
int main()
diff --git a/test/servo-viper/testRobotViper850Pose.cpp b/test/servo-viper/testRobotViper850Pose.cpp
index 223026b..9748bb8 100644
--- a/test/servo-viper/testRobotViper850Pose.cpp
+++ b/test/servo-viper/testRobotViper850Pose.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testRobotViper850Pose.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testRobotViper850Pose.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -226,12 +226,11 @@ int main()
<< vpMath::deg(r[1]) << " "
<< vpMath::deg(r[2]) << " deg" << std::endl << std::endl;
- return 0;
}
- catch(...) {
- std::cout << "Test failed" << std::endl;
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
+ return 0;
}
#else
int main()
diff --git a/test/servo-viper/testViper850.cpp b/test/servo-viper/testViper850.cpp
index 9a84e28..20c35ab 100644
--- a/test/servo-viper/testViper850.cpp
+++ b/test/servo-viper/testViper850.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testViper850.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testViper850.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -120,9 +120,9 @@ int main()
return 0;
}
- catch(...) {
- vpERROR_TRACE(" Test failed");
- return 0;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/tools/CMakeLists.txt b/test/tools/CMakeLists.txt
index d309b04..ad1e05e 100644
--- a/test/tools/CMakeLists.txt
+++ b/test/tools/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/tools/geometry/CMakeLists.txt b/test/tools/geometry/CMakeLists.txt
index ebcd2a8..7ace752 100644
--- a/test/tools/geometry/CMakeLists.txt
+++ b/test/tools/geometry/CMakeLists.txt
@@ -3,7 +3,7 @@
# $Id: CMakeLists.txt 2897 2010-11-04 11:17:58Z rtallonn $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/tools/geometry/testPolygon.cpp b/test/tools/geometry/testPolygon.cpp
index a56236f..d56c5ba 100755
--- a/test/tools/geometry/testPolygon.cpp
+++ b/test/tools/geometry/testPolygon.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testPolygon.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testPolygon.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -60,6 +60,9 @@
//! List of allowed command line options
#define GETOPTARGS "cdh"
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv, bool& opt_display, bool& opt_click);
+
/*!
Print the program options.
@@ -103,12 +106,11 @@ OPTIONS: \n\
\param opt_click : activates the mouse click.
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- bool& opt_display, bool& opt_click)
+bool getOptions(int argc, const char **argv, bool& opt_display, bool& opt_click)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': opt_click = false; break;
@@ -116,7 +118,7 @@ bool getOptions(int argc, const char **argv,
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg); return false; break;
+ usage(argv[0], optarg_); return false; break;
}
}
@@ -124,7 +126,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -140,111 +142,117 @@ bool getOptions(int argc, const char **argv,
int
main(int argc, const char** argv)
{
- bool opt_display = true;
- bool opt_click = true;
- vpImage<unsigned char> I(480, 640, 255);
-
- // Read the command line options
- if (getOptions(argc, argv, opt_display, opt_click) == false) {
- return (-1);
- }
+ try {
+ bool opt_display = true;
+ bool opt_click = true;
+ vpImage<unsigned char> I(480, 640, 255);
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_display, opt_click) == false) {
+ return (-1);
+ }
- std::vector <vpImagePoint> vec1;
- vec1.push_back(vpImagePoint(200, 200));
- vec1.push_back(vpImagePoint(200, 400));
- vec1.push_back(vpImagePoint(320, 400));
- vec1.push_back(vpImagePoint(380, 300));
- vec1.push_back(vpImagePoint(280, 280));
- vpPolygon p1;
- p1.buildFrom(vec1);
-
- std::vector <vpImagePoint> vec2;
- vec2.push_back(vpImagePoint(20, 20));
- vec2.push_back(vpImagePoint(100, 20));
- vec2.push_back(vpImagePoint(100, 100));
- vec2.push_back(vpImagePoint(20, 100));
- vpPolygon p2(vec2);
-
-
- std::vector <vpImagePoint> vec3;
- vec2.push_back(vpImagePoint(250, 250));
- vec2.push_back(vpImagePoint(150, 250));
- vec2.push_back(vpImagePoint(250, 250));
- vpPolygon p3(vec3);
+ std::vector <vpImagePoint> vec1;
+ vec1.push_back(vpImagePoint(200, 200));
+ vec1.push_back(vpImagePoint(200, 400));
+ vec1.push_back(vpImagePoint(320, 400));
+ vec1.push_back(vpImagePoint(380, 300));
+ vec1.push_back(vpImagePoint(280, 280));
+ vpPolygon p1;
+ p1.buildFrom(vec1);
+
+ std::vector <vpImagePoint> vec2;
+ vec2.push_back(vpImagePoint(20, 20));
+ vec2.push_back(vpImagePoint(100, 20));
+ vec2.push_back(vpImagePoint(100, 100));
+ vec2.push_back(vpImagePoint(20, 100));
+ vpPolygon p2(vec2);
+
+
+ std::vector <vpImagePoint> vec3;
+ vec2.push_back(vpImagePoint(250, 250));
+ vec2.push_back(vpImagePoint(150, 250));
+ vec2.push_back(vpImagePoint(250, 250));
+ vpPolygon p3(vec3);
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#else
- opt_display = false;
+ opt_display = false;
#endif
- std::cout << " Polygon 1 : " << std::endl;
- std::cout << " area : " << p1.getArea() << std::endl;
- std::cout << " center : " << p1.getCenter() << std::endl << std::endl;
+ std::cout << " Polygon 1 : " << std::endl;
+ std::cout << " area : " << p1.getArea() << std::endl;
+ std::cout << " center : " << p1.getCenter() << std::endl << std::endl;
- std::cout << " Polygon 2 : " << std::endl;
- std::cout << " area : " << p2.getArea() << std::endl;
- std::cout << " center : " << p2.getCenter() << std::endl << std::endl;
+ std::cout << " Polygon 2 : " << std::endl;
+ std::cout << " area : " << p2.getArea() << std::endl;
+ std::cout << " center : " << p2.getCenter() << std::endl << std::endl;
- std::cout << " Polygon 3 : " << std::endl;
- std::cout << " area : " << p3.getArea() << std::endl;
- std::cout << " center : " << p3.getCenter() << std::endl;
+ std::cout << " Polygon 3 : " << std::endl;
+ std::cout << " area : " << p3.getArea() << std::endl;
+ std::cout << " center : " << p3.getCenter() << std::endl;
- if(opt_display){
+ if(opt_display){
#if (defined VISP_HAVE_X11) || (defined VISP_HAVE_GTK) || (defined VISP_HAVE_GDI)
- display.init(I, 10, 10, "Test vpPolygon");
+ display.init(I, 10, 10, "Test vpPolygon");
#endif
- vpDisplay::display(I);
- p1.display(I, vpColor::green, 1);
- vpDisplay::displayCross(I, p1.getCenter(), 5, vpColor::green);
- p2.display(I, vpColor::red, 1);
- vpDisplay::displayCross(I, p2.getCenter(), 5, vpColor::red);
- p3.display(I, vpColor::blue, 1);
- vpDisplay::displayCross(I, p3.getCenter(), 5, vpColor::lightBlue);
- vpDisplay::displayCharString(I, vpImagePoint(10, 10), "Click to finish", vpColor::red);
- vpDisplay::flush(I);
-
- if (opt_click)
- vpDisplay::getClick(I);
-
-
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, vpImagePoint(10, 10), "Left click to add a point", vpColor::red);
- vpDisplay::displayCharString(I, vpImagePoint(20, 10), "Right click to build the polygon", vpColor::red);
- vpDisplay::flush(I);
- if (opt_click) {
- vpPolygon p4;
- p4.initClick(I);
- p4.display(I, vpColor::green, 1);
- std::cout << std::endl;
- std::cout << " Polygon 4 : " << std::endl;
- std::cout << " area : " << p4.getArea() << std::endl;
- std::cout << " center : " << p4.getCenter() << std::endl;
- std::cout << "Click to continue." << std::endl;
+ vpDisplay::display(I);
+ p1.display(I, vpColor::green, 1);
+ vpDisplay::displayCross(I, p1.getCenter(), 5, vpColor::green);
+ p2.display(I, vpColor::red, 1);
+ vpDisplay::displayCross(I, p2.getCenter(), 5, vpColor::red);
+ p3.display(I, vpColor::blue, 1);
+ vpDisplay::displayCross(I, p3.getCenter(), 5, vpColor::lightBlue);
+ vpDisplay::displayCharString(I, vpImagePoint(10, 10), "Click to finish", vpColor::red);
vpDisplay::flush(I);
- vpDisplay::getClick(I);
- vpRect bbox = p4.getBoundingBox();
- for(unsigned int i= (unsigned int)floor(bbox.getTop()); i<(unsigned int)ceil(bbox.getBottom()); ++i){
- for(unsigned int j=(unsigned int)floor(bbox.getLeft()); j<(unsigned int)ceil(bbox.getRight()); ++j){
- if(p4.isInside(vpImagePoint(i, j))){
- vpDisplay::displayPoint(I, vpImagePoint(i, j), vpColor::orange);
+ if (opt_click)
+ vpDisplay::getClick(I);
+
+
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, vpImagePoint(10, 10), "Left click to add a point", vpColor::red);
+ vpDisplay::displayCharString(I, vpImagePoint(20, 10), "Right click to build the polygon", vpColor::red);
+ vpDisplay::flush(I);
+ if (opt_click) {
+ vpPolygon p4;
+ p4.initClick(I);
+ p4.display(I, vpColor::green, 1);
+ std::cout << std::endl;
+ std::cout << " Polygon 4 : " << std::endl;
+ std::cout << " area : " << p4.getArea() << std::endl;
+ std::cout << " center : " << p4.getCenter() << std::endl;
+ std::cout << "Click to continue." << std::endl;
+ vpDisplay::flush(I);
+ vpDisplay::getClick(I);
+
+ vpRect bbox = p4.getBoundingBox();
+ for(unsigned int i= (unsigned int)floor(bbox.getTop()); i<(unsigned int)ceil(bbox.getBottom()); ++i){
+ for(unsigned int j=(unsigned int)floor(bbox.getLeft()); j<(unsigned int)ceil(bbox.getRight()); ++j){
+ if(p4.isInside(vpImagePoint(i, j))){
+ vpDisplay::displayPoint(I, vpImagePoint(i, j), vpColor::orange);
+ }
}
}
- }
- vpDisplay::flush(I);
- std::cout << "Click to finish." << std::endl;
+ vpDisplay::flush(I);
+ std::cout << "Click to finish." << std::endl;
- vpDisplay::getClick(I);
+ vpDisplay::getClick(I);
+ }
}
- }
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/tools/time/CMakeLists.txt b/test/tools/time/CMakeLists.txt
index 189f014..655203e 100644
--- a/test/tools/time/CMakeLists.txt
+++ b/test/tools/time/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/tools/time/testTime.cpp b/test/tools/time/testTime.cpp
index b9665a1..259d9e6 100644
--- a/test/tools/time/testTime.cpp
+++ b/test/tools/time/testTime.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testTime.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testTime.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -47,9 +47,9 @@
*/
#include <visp/vpConfig.h>
-#if defined UNIX
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
# include <unistd.h>
-#elif defined WIN32
+#elif defined(_WIN32)
# include <windows.h>
# include <mmsystem.h>
# include <winbase.h>
@@ -61,7 +61,8 @@
#include <visp/vpTime.h>
#include <visp/vpParseArgv.h>
-
+void usage(const char *name, const char *badparam);
+bool getOptions(int argc, const char **argv);
// List of allowed command line options
#define GETOPTARGS "h"
@@ -96,15 +97,15 @@ OPTIONS: Default\n\
*/
bool getOptions(int argc, const char **argv)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
- usage(argv[0], optarg);
+ usage(argv[0], optarg_);
return false; break;
}
}
@@ -113,7 +114,7 @@ bool getOptions(int argc, const char **argv)
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -124,65 +125,71 @@ bool getOptions(int argc, const char **argv)
int
main(int argc, const char ** argv)
{
- // Read the command line options
- if (getOptions(argc, argv) == false) {
- exit (-1);
- }
+ try {
+ // Read the command line options
+ if (getOptions(argc, argv) == false) {
+ exit (-1);
+ }
- double v = 0;
+ double v = 0;
- double t0 = vpTime::measureTimeMs();
- for (int i =0 ; i < 100000; i ++)
- for (int j =0 ; j < 100; j ++)
- v = i * 2 / 3. + j;
- std::cout << "Computed dummy value: " << v << std::endl;
+ double t0 = vpTime::measureTimeMs();
+ for (int i =0 ; i < 100000; i ++)
+ for (int j =0 ; j < 100; j ++)
+ v = i * 2 / 3. + j;
+ std::cout << "Computed dummy value: " << v << std::endl;
- double t1 = vpTime::measureTimeMs();
- vpTime::wait(t1, 40);
+ double t1 = vpTime::measureTimeMs();
+ vpTime::wait(t1, 40);
- double t2 = vpTime::measureTimeMs();
+ double t2 = vpTime::measureTimeMs();
- // Sleep 10ms
-#if defined UNIX
- usleep(10*1000);
-#elif defined WIN32
- Sleep(10);
+ // Sleep 10ms
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ usleep(10*1000);
+#elif defined(_WIN32)
+ Sleep(10);
#endif
- double t3 = vpTime::measureTimeMs();
+ double t3 = vpTime::measureTimeMs();
- // Sleep 2ms
-#if defined UNIX
- usleep(2*1000);
-#elif defined WIN32
- Sleep(2);
+ // Sleep 2ms
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ usleep(2*1000);
+#elif defined(_WIN32)
+ Sleep(2);
#endif
- double t4 = vpTime::measureTimeMs();
+ double t4 = vpTime::measureTimeMs();
- vpTime::wait(t4, 19);
+ vpTime::wait(t4, 19);
- double t5 = vpTime::measureTimeMs();
+ double t5 = vpTime::measureTimeMs();
- vpTime::wait(5);
+ vpTime::wait(5);
- double t6 = vpTime::measureTimeMs();
+ double t6 = vpTime::measureTimeMs();
- vpTime::wait(21);
+ vpTime::wait(21);
- double t7 = vpTime::measureTimeMs();
+ double t7 = vpTime::measureTimeMs();
- vpTime::wait(2);
+ vpTime::wait(2);
- double t8 = vpTime::measureTimeMs();
+ double t8 = vpTime::measureTimeMs();
- std::cout << "t1-t0: computation time: " << t1 - t0 << std::endl;
- std::cout << "t2-t1: wait(t1, 40 ms): " << t2 - t1 << std::endl;
- std::cout << "t3-t2: sleep(10 ms): " << t3 - t2 << std::endl;
- std::cout << "t4-t3: sleep(2 ms): " << t4 - t3 << std::endl;
- std::cout << "t5-t4: wait(t, 19 ms): " << t5 - t4 << std::endl;
- std::cout << "t6-t5: wait(5 ms): " << t6 - t5 << std::endl;
- std::cout << "t7-t6: wait(21 ms): " << t7 - t6 << std::endl;
- std::cout << "t8-t7: wait(2 ms): " << t8 - t7 << std::endl;
+ std::cout << "t1-t0: computation time: " << t1 - t0 << std::endl;
+ std::cout << "t2-t1: wait(t1, 40 ms): " << t2 - t1 << std::endl;
+ std::cout << "t3-t2: sleep(10 ms): " << t3 - t2 << std::endl;
+ std::cout << "t4-t3: sleep(2 ms): " << t4 - t3 << std::endl;
+ std::cout << "t5-t4: wait(t, 19 ms): " << t5 - t4 << std::endl;
+ std::cout << "t6-t5: wait(5 ms): " << t6 - t5 << std::endl;
+ std::cout << "t7-t6: wait(21 ms): " << t7 - t6 << std::endl;
+ std::cout << "t8-t7: wait(2 ms): " << t8 - t7 << std::endl;
- return 0;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/test/tools/xml/CMakeLists.txt b/test/tools/xml/CMakeLists.txt
index 4a1b57a..deb112f 100644
--- a/test/tools/xml/CMakeLists.txt
+++ b/test/tools/xml/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/tools/xml/testXmlParser.cpp b/test/tools/xml/testXmlParser.cpp
index 1d72560..18a1e5c 100755
--- a/test/tools/xml/testXmlParser.cpp
+++ b/test/tools/xml/testXmlParser.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testXmlParser.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testXmlParser.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -212,6 +212,9 @@ vpExampleDataParser::writeMainClass(xmlNodePtr node)
// List of allowed command line options
#define GETOPTARGS "o:h"
+void usage(const char *name, const char *badparam, const std::string& opath, const std::string& user);
+bool getOptions(int argc, const char **argv, std::string &opath, const std::string& user);
+
/*!
Print the program options.
@@ -225,25 +228,23 @@ Print the program options.
void usage(const char *name, const char *badparam, const std::string& opath, const std::string& user)
{
fprintf(stdout, "\n\
- Write and read data in a xml file.\n\
+Write and read data in a xml file.\n\
\n\
- SYNOPSIS\n\
- %s [-o <output image path>] [-h]\n \
- ", name);
-
- fprintf(stdout, "\n\
- OPTIONS: Default\n\
- -o <output data path> %s\n\
- Set data output path.\n\
- From this directory, creates the \"%s\"\n\
- subdirectory depending on the username, where \n\
- dataTestXml.xml file is written.\n\
+SYNOPSIS\n\
+ %s [-o <output image path>] [-h]\n", name);
+
+ fprintf(stdout, "\n\
+OPTIONS: Default\n\
+ -o <output data path> %s\n\
+ Set data output path.\n\
+ From this directory, creates the \"%s\"\n\
+ subdirectory depending on the username, where \n\
+ dataTestXml.xml file is written.\n\
\n\
- -h\n\
- Print the help.\n\n",
- opath.c_str(), user.c_str());
+ -h\n\
+ Print the help.\n\n", opath.c_str(), user.c_str());
- if (badparam) {
+ if (badparam) {
fprintf(stderr, "ERROR: \n" );
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
@@ -258,19 +259,18 @@ void usage(const char *name, const char *badparam, const std::string& opath, con
\param user : Username.
\return false if the program has to be stopped, true otherwise.
*/
-bool getOptions(int argc, const char **argv,
- std::string &opath, const std::string& user)
+bool getOptions(int argc, const char **argv, std::string &opath, const std::string& user)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
- case 'o': opath = optarg; break;
+ case 'o': opath = optarg_; break;
case 'h': usage(argv[0], NULL, opath, user); return false; break;
default:
- usage(argv[0], optarg, opath, user); return false; break;
+ usage(argv[0], optarg_, opath, user); return false; break;
}
}
@@ -278,7 +278,7 @@ bool getOptions(int argc, const char **argv,
// standalone param or error
usage(argv[0], NULL, opath, user);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -293,88 +293,93 @@ bool getOptions(int argc, const char **argv,
int main(int argc, const char** argv)
{
- std::string opt_opath;
- std::string opath;
- std::string filename;
- std::string username;
-
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << " testXmlParser.cpp" <<std::endl << std::endl ;
- std::cout << " writing and readind data using a xml parser" << std::endl ;
- std::cout << "-------------------------------------------------------" << std::endl ;
- std::cout << std::endl ;
-
- // Set the default output path
-#ifdef UNIX
- opt_opath = "/tmp";
-#elif WIN32
- opt_opath = "C:\\temp";
+ try {
+ std::string opt_opath;
+ std::string opath;
+ std::string filename;
+ std::string username;
+
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << " testXmlParser.cpp" <<std::endl << std::endl ;
+ std::cout << " writing and readind data using a xml parser" << std::endl ;
+ std::cout << "-------------------------------------------------------" << std::endl ;
+ std::cout << std::endl ;
+
+ // Set the default output path
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ opt_opath = "/tmp";
+#elif defined(_WIN32)
+ opt_opath = "C:\\temp";
#endif
- // Get the user login name
- vpIoTools::getUserName(username);
+ // Get the user login name
+ vpIoTools::getUserName(username);
- // Read the command line options
- if (getOptions(argc, argv, opt_opath, username) == false) {
- exit (-1);
- }
+ // Read the command line options
+ if (getOptions(argc, argv, opt_opath, username) == false) {
+ exit (-1);
+ }
+
+ // Get the option values
+ if (!opt_opath.empty())
+ opath = opt_opath;
+
+ // Append to the output path string, the login name of the user
+ std::string dirname = opath + vpIoTools::path("/") + username;
+
+ // Test if the output path exist. If no try to create it
+ if (vpIoTools::checkDirectory(dirname) == false) {
+ try {
+ // Create the dirname
+ vpIoTools::makeDirectory(dirname);
+ }
+ catch (...) {
+ usage(argv[0], NULL, opath, username);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot create " << dirname << std::endl;
+ std::cerr << " Check your -o " << opath << " option " << std::endl;
+ exit(-1);
+ }
+ }
+
+ filename = dirname + vpIoTools::path("/") + "dataTestXml.xml";
- // Get the option values
- if (!opt_opath.empty())
- opath = opt_opath;
+ // Write data using a parser.
+ {
+ vpExampleDataParser parser1;
- // Append to the output path string, the login name of the user
- std::string dirname = opath + vpIoTools::path("/") + username;
+ // Acquire data from measurments or tests.
+ parser1.setRange(3.5);
+ parser1.setStep(2);
+ parser1.setSizeFilter(5);
+ parser1.setName("cube");
- // Test if the output path exist. If no try to create it
- if (vpIoTools::checkDirectory(dirname) == false) {
- try {
- // Create the dirname
- vpIoTools::makeDirectory(dirname);
+ std::cout << "Write data to " << filename << std::endl;
+ parser1.save(filename);
}
- catch (...) {
- usage(argv[0], NULL, opath, username);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot create " << dirname << std::endl;
- std::cerr << " Check your -o " << opath << " option " << std::endl;
- exit(-1);
+
+ // Read data using another parser.
+ {
+ vpExampleDataParser parser2;
+
+ parser2.parse(filename);
+
+ std::cout << "Read from " << filename << std::endl ;
+ std::cout << "Range : " << parser2.getRange() << std::endl;
+ std::cout << "Step : " << parser2.getStep() << std::endl;
+ std::cout << "Filter size : " << parser2.getSizeFilter() << std::endl;
+ std::cout << "name : " << parser2.getName() << std::endl;
}
- }
- filename = dirname + vpIoTools::path("/") + "dataTestXml.xml";
-
- // Write data using a parser.
- {
- vpExampleDataParser parser1;
-
- // Acquire data from measurments or tests.
- parser1.setRange(3.5);
- parser1.setStep(2);
- parser1.setSizeFilter(5);
- parser1.setName("cube");
-
- std::cout << "Write data to " << filename << std::endl;
- parser1.save(filename);
+ // Clean up memory allocated by the xml library
+ vpXmlParser::cleanup();
+ return 0;
}
-
- // Read data using another parser.
- {
- vpExampleDataParser parser2;
-
- parser2.parse(filename);
-
- std::cout << "Read from " << filename << std::endl ;
- std::cout << "Range : " << parser2.getRange() << std::endl;
- std::cout << "Step : " << parser2.getStep() << std::endl;
- std::cout << "Filter size : " << parser2.getSizeFilter() << std::endl;
- std::cout << "name : " << parser2.getName() << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
- // Clean up memory allocated by the xml library
- vpXmlParser::cleanup();
-
- return 0;
}
#else
diff --git a/test/tracking/CMakeLists.txt b/test/tracking/CMakeLists.txt
index 43a8354..a6170f7 100644
--- a/test/tracking/CMakeLists.txt
+++ b/test/tracking/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/tracking/testTrackDot.cpp b/test/tracking/testTrackDot.cpp
index 1f527e5..ba8eb0e 100644
--- a/test/tracking/testTrackDot.cpp
+++ b/test/tracking/testTrackDot.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testTrackDot.cpp 4323 2013-07-18 09:24:01Z fspindle $
+ * $Id: testTrackDot.cpp 4658 2014-02-09 09:50:14Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -55,7 +55,7 @@
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
-#include <visp/vpDot.h>
+#include <visp/vpDot2.h>
#include <visp/vpFeatureEllipse.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpFeatureBuilder.h>
@@ -71,6 +71,10 @@
// List of allowed command line options
#define GETOPTARGS "cdi:h"
+bool getOptions(int argc, const char **argv, std::string &ipath,
+ bool &click_allowed, bool &display);
+
+void usage(const char *name, const char *badparam, std::string ipath);
/*!
Print the program options.
@@ -128,18 +132,18 @@ OPTIONS: Default\n\
bool getOptions(int argc, const char **argv, std::string &ipath,
bool &click_allowed, bool &display)
{
- const char *optarg;
+ const char *optarg_;
int c;
- while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
+ while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c': click_allowed = false; break;
case 'd': display = false; break;
- case 'i': ipath = optarg; break;
+ case 'i': ipath = optarg_; break;
case 'h': usage(argv[0], NULL, ipath); return false; break;
default:
- usage(argv[0], optarg, ipath);
+ usage(argv[0], optarg_, ipath);
return false; break;
}
}
@@ -148,7 +152,7 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
// standalone param or error
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
- std::cerr << " Bad argument " << optarg << std::endl << std::endl;
+ std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
@@ -159,107 +163,107 @@ bool getOptions(int argc, const char **argv, std::string &ipath,
int
main(int argc, const char ** argv)
{
- std::string env_ipath;
- std::string opt_ipath;
- std::string ipath;
- std::string dirname;
- std::string filename;
- bool opt_click_allowed = true;
- bool opt_display = true;
-
- // Get the VISP_IMAGE_PATH environment variable value
- char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
- if (ptenv != NULL)
- env_ipath = ptenv;
-
- // Set the default input path
- if (! env_ipath.empty())
- ipath = env_ipath;
-
-
- // Read the command line options
- if (getOptions(argc, argv, opt_ipath,
- opt_click_allowed, opt_display) == false) {
- exit (-1);
- }
+ try {
+ std::string env_ipath;
+ std::string opt_ipath;
+ std::string ipath;
+ std::string dirname;
+ std::string filename;
+ bool opt_click_allowed = true;
+ bool opt_display = true;
+
+ // Get the VISP_IMAGE_PATH environment variable value
+ char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
+ if (ptenv != NULL)
+ env_ipath = ptenv;
+
+ // Set the default input path
+ if (! env_ipath.empty())
+ ipath = env_ipath;
+
+
+ // Read the command line options
+ if (getOptions(argc, argv, opt_ipath,
+ opt_click_allowed, opt_display) == false) {
+ exit (-1);
+ }
- // Get the option values
- if (!opt_ipath.empty())
- ipath = opt_ipath;
-
- // Compare ipath and env_ipath. If they differ, we take into account
- // the input path comming from the command line option
- if (!opt_ipath.empty() && !env_ipath.empty()) {
- if (ipath != env_ipath) {
- std::cout << std::endl
- << "WARNING: " << std::endl;
- std::cout << " Since -i <visp image path=" << ipath << "> "
- << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
- << " we skip the environment variable." << std::endl;
+ // Get the option values
+ if (!opt_ipath.empty())
+ ipath = opt_ipath;
+
+ // Compare ipath and env_ipath. If they differ, we take into account
+ // the input path comming from the command line option
+ if (!opt_ipath.empty() && !env_ipath.empty()) {
+ if (ipath != env_ipath) {
+ std::cout << std::endl
+ << "WARNING: " << std::endl;
+ std::cout << " Since -i <visp image path=" << ipath << "> "
+ << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
+ << " we skip the environment variable." << std::endl;
+ }
}
- }
- // Test if an input path is set
- if (opt_ipath.empty() && env_ipath.empty()){
- usage(argv[0], NULL, ipath);
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
- << std::endl
- << " environment variable to specify the location of the " << std::endl
- << " image path where test images are located." << std::endl << std::endl;
- exit(-1);
- }
+ // Test if an input path is set
+ if (opt_ipath.empty() && env_ipath.empty()){
+ usage(argv[0], NULL, ipath);
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
+ << std::endl
+ << " environment variable to specify the location of the " << std::endl
+ << " image path where test images are located." << std::endl << std::endl;
+ exit(-1);
+ }
- // Declare an image, this is a gray level image (unsigned char)
- // it size is not defined yet, it will be defined when the image will
- // read on the disk
- vpImage<unsigned char> I ;
+ // Declare an image, this is a gray level image (unsigned char)
+ // it size is not defined yet, it will be defined when the image will
+ // read on the disk
+ vpImage<unsigned char> I ;
- // Set the path location of the image sequence
- dirname = ipath + vpIoTools::path("/ViSP-images/ellipse/");
+ // Set the path location of the image sequence
+ dirname = ipath + vpIoTools::path("/ViSP-images/ellipse/");
- // Build the name of the image file
- filename = dirname + "ellipse.pgm";
+ // Build the name of the image file
+ filename = dirname + "ellipse.pgm";
- // Read the PGM image named "filename" on the disk, and put the
- // bitmap into the image structure I. I is initialized to the
- // correct size
- //
- // exception readPGM may throw various exception if, for example,
- // the file does not exist, or if the memory cannot be allocated
- try{
- vpCTRACE << "Load: " << filename << std::endl;
+ // Read the PGM image named "filename" on the disk, and put the
+ // bitmap into the image structure I. I is initialized to the
+ // correct size
+ //
+ // exception readPGM may throw various exception if, for example,
+ // the file does not exist, or if the memory cannot be allocated
+ try{
+ vpCTRACE << "Load: " << filename << std::endl;
- vpImageIo::read(I, filename) ;
- }
- catch(...)
- {
- // an exception is throwned if an exception from readPGM has been catched
- // here this will result in the end of the program
- // Note that another error message has been printed from readPGM
- // to give more information about the error
- std::cerr << std::endl
- << "ERROR:" << std::endl;
- std::cerr << " Cannot read " << filename << std::endl;
- std::cerr << " Check your -i " << ipath << " option " << std::endl
- << " or VISP_INPUT_IMAGE_PATH environment variable."
- << std::endl;
- exit(-1);
- }
+ vpImageIo::read(I, filename) ;
+ }
+ catch(...)
+ {
+ // an exception is throwned if an exception from readPGM has been catched
+ // here this will result in the end of the program
+ // Note that another error message has been printed from readPGM
+ // to give more information about the error
+ std::cerr << std::endl
+ << "ERROR:" << std::endl;
+ std::cerr << " Cannot read " << filename << std::endl;
+ std::cerr << " Check your -i " << ipath << " option " << std::endl
+ << " or VISP_INPUT_IMAGE_PATH environment variable."
+ << std::endl;
+ exit(-1);
+ }
- // We open a window using either X11, GTK or GDI.
+ // We open a window using either X11, GTK or GDI.
#if defined VISP_HAVE_X11
- vpDisplayX display;
+ vpDisplayX display;
#elif defined VISP_HAVE_GTK
- vpDisplayGTK display;
+ vpDisplayGTK display;
#elif defined VISP_HAVE_GDI
- vpDisplayGDI display;
+ vpDisplayGDI display;
#endif
- if (opt_display) {
- try{
+ if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display...") ;
// Display the image
@@ -271,38 +275,40 @@ main(int argc, const char ** argv)
//Flush the display
vpDisplay::flush(I) ;
}
- catch(...)
- {
- vpERROR_TRACE("Error while displaying the image") ;
- exit(-1);
- }
- }
- vpDot dot ;
- dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
- vpImagePoint ip;
- ip.set_i( 140 );
- ip.set_j( 140 );
- dot.initTracking(I, ip) ;
- if (opt_display) {
- dot.setGraphics(true) ;
- }
- else {
- dot.setGraphics(false) ;
- }
- dot.setComputeMoments(true) ;
- dot.track(I) ;
-
- vpFeatureEllipse e ;
-
- vpCameraParameters cam ;
- vpFeatureBuilder::create(e,cam,dot) ;
- if (opt_display) {
- e.display(cam, I, vpColor::red) ;
- if (opt_click_allowed) {
- std::cout << "A click to exit..." << std::endl;
- vpDisplay::getClick(I) ;
+ vpDot2 dot ;
+ std::cout << "debut 1\n";
+ //dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
+ vpImagePoint ip;
+ ip.set_i( 140 );
+ ip.set_j( 140 );
+ dot.initTracking(I, ip);
+ if (opt_display) {
+ dot.setGraphics(true) ;
}
+ else {
+ dot.setGraphics(false) ;
+ }
+ dot.setComputeMoments(true);
+ dot.track(I) ;
+
+ vpFeatureEllipse e ;
+
+ vpCameraParameters cam ;
+ vpFeatureBuilder::create(e,cam,dot) ;
+ if (opt_display) {
+ e.display(cam, I, vpColor::red) ;
+ vpDisplay::flush(I);
+ if (opt_click_allowed) {
+ std::cout << "A click to exit..." << std::endl;
+ vpDisplay::getClick(I) ;
+ }
+ }
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
#else
diff --git a/test/visual-feature/CMakeLists.txt b/test/visual-feature/CMakeLists.txt
index 5b1c83e..f62c16b 100755
--- a/test/visual-feature/CMakeLists.txt
+++ b/test/visual-feature/CMakeLists.txt
@@ -1,9 +1,9 @@
#############################################################################
#
-# $Id: CMakeLists.txt 4056 2013-01-05 13:04:42Z fspindle $
+# $Id: CMakeLists.txt 4574 2014-01-09 08:48:51Z fspindle $
#
# This file is part of the ViSP software.
-# Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+# Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
#
# This software is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
diff --git a/test/visual-feature/testFeature.cpp b/test/visual-feature/testFeature.cpp
index c6fe49d..cd8a2cc 100644
--- a/test/visual-feature/testFeature.cpp
+++ b/test/visual-feature/testFeature.cpp
@@ -1,9 +1,9 @@
/****************************************************************************
*
- * $Id: testFeature.cpp 4056 2013-01-05 13:04:42Z fspindle $
+ * $Id: testFeature.cpp 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -96,8 +96,8 @@ int main()
}
return 0;
}
- catch(vpServoException e) {
- std::cout << e << std::endl;
- return -1;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
}
diff --git a/test/visual-feature/testFeatureMoment.cpp b/test/visual-feature/testFeatureMoment.cpp
index fd5f8b5..cfd2ada 100644
--- a/test/visual-feature/testFeatureMoment.cpp
+++ b/test/visual-feature/testFeatureMoment.cpp
@@ -3,7 +3,7 @@
* $Id: testFeatureMoment.cpp 3323 2011-09-13 15:23:56Z fnovotny $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -51,43 +51,36 @@
#include <iostream>
//initialize scene in the interface
-void initScene();
+void initScene(const vpHomogeneousMatrix& cMo, const vpHomogeneousMatrix& cdMo,
+ vpMomentObject &src, vpMomentObject &dst);
-void init(vpHomogeneousMatrix& cMo, vpHomogeneousMatrix& cdMo);
-vpMatrix execute(); //launch the test
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C);
+vpMatrix execute(const vpHomogeneousMatrix& cMo, const vpHomogeneousMatrix& cdMo,
+ vpMomentObject &src, vpMomentObject &dst); //launch the test
+void planeToABC(const vpPlane& pl, double& A,double& B, double& C);
int test(double x,double y,double z,double alpha);
-//start and destination positioning matrices
-vpHomogeneousMatrix cMo;
-vpHomogeneousMatrix cdMo;
-
-vpServo::vpServoIteractionMatrixType interaction_type; //current or desired
-
-//source and destination objects for moment manipulation
-vpMomentObject src(6);
-vpMomentObject dst(6);
-
-using namespace std;
-
//Compute a set of parallel positions and check if the matrix is in the right form;
int main()
{
- int sum=0;
- for(double i=-0.2;i<0.2;i+=0.1){
- for(double j=-0.2;j<0.2;j+=0.1){
- for(double k=-vpMath::rad(30);k<vpMath::rad(30);k+=vpMath::rad(10)){
- for(double l=0.5;l<1.5;l+=0.1){
- sum+=test(i,j,l,k);
+ try {
+ int sum=0;
+ for(double i=-0.2;i<0.2;i+=0.1){
+ for(double j=-0.2;j<0.2;j+=0.1){
+ for(double k=-vpMath::rad(30);k<vpMath::rad(30);k+=vpMath::rad(10)){
+ for(double l=0.5;l<1.5;l+=0.1){
+ sum+=test(i,j,l,k);
+ }
}
- }
+ }
}
+ if(sum<0) return -1;
+ else return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
}
-
-
- if(sum<0) return -1;
- else return 0;
}
int test(double x,double y,double z,double alpha){
@@ -96,48 +89,51 @@ int test(double x,double y,double z,double alpha){
//Desired pose
vpHomogeneousMatrix cdMo(vpHomogeneousMatrix(0.0,0.0,1.0,vpMath::rad(0),vpMath::rad(0),-vpMath::rad(0)));
+ //source and destination objects for moment manipulation
+ vpMomentObject src(6);
+ vpMomentObject dst(6);
+
//init and run the simulation
- init(cMo,cdMo);
- vpMatrix mat = execute();
+ initScene(cMo, cdMo, src, dst); //initialize graphical scene (for interface)
+
+ vpMatrix mat = execute(cMo, cdMo, src, dst);
- if(fabs(mat[0][0]-(-1)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[0][1]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[0][2]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[0][0]-(-1)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[0][1]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[0][2]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[1][0]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[1][1]-(-1)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[1][2]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[1][0]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[1][1]-(-1)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[1][2]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[2][0]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[2][1]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[2][2]-(-1)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[2][5]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[2][0]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[2][1]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[2][2]-(-1)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[2][5]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[3][0]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[3][1]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[3][2]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[3][5]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[3][0]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[3][1]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[3][2]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[3][5]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[4][0]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[4][1]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[4][2]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[4][5]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[4][0]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[4][1]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[4][2]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[4][5]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[5][0]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[5][1]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[5][2]-(0)) > numeric_limits<double>::epsilon()*1e10) return -1;
- if(fabs(mat[5][5]-(-1)) > numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[5][0]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[5][1]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[5][2]-(0)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
+ if(fabs(mat[5][5]-(-1)) > std::numeric_limits<double>::epsilon()*1e10) return -1;
return 0;
}
-
-
-
-
-void initScene(){
- vector<vpPoint> src_pts;
- vector<vpPoint> dst_pts;
+void initScene(const vpHomogeneousMatrix& cMo, const vpHomogeneousMatrix& cdMo,
+ vpMomentObject &src, vpMomentObject &dst)
+{
+ std::vector<vpPoint> src_pts;
+ std::vector<vpPoint> dst_pts;
double x[5] = { 0.2, 0.2,-0.2,-0.2, 0.2 };
double y[5] = {-0.1, 0.1, 0.1,-0.1,-0.1 };
@@ -160,21 +156,14 @@ void initScene(){
}
dst.setType(vpMomentObject::DENSE_POLYGON);
dst.fromVector(dst_pts);
-
}
-void init(vpHomogeneousMatrix& _cMo, vpHomogeneousMatrix& _cdMo)
+vpMatrix execute(const vpHomogeneousMatrix& cMo, const vpHomogeneousMatrix& cdMo,
+ vpMomentObject &src, vpMomentObject &dst)
{
- cMo = _cMo;
- cdMo = _cdMo;
- interaction_type = vpServo::CURRENT;
+ vpServo::vpServoIteractionMatrixType interaction_type = vpServo::CURRENT; ; //current or desired
-
- initScene(); //initialize graphical scene (for interface)
-}
-
-vpMatrix execute(){
vpServo task;
task.setServo(vpServo::EYEINHAND_CAMERA);
//A,B,C parameters of source and destination plane
@@ -186,11 +175,11 @@ vpMatrix execute(){
vpPlane pl;
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cMo);
- _planeToABC(pl,A,B,C);
+ planeToABC(pl,A,B,C);
pl.setABCD(0,0,1.0,0);
pl.changeFrame(cdMo);
- _planeToABC(pl,Ad,Bd,Cd);
+ planeToABC(pl,Ad,Bd,Cd);
//extracting initial position (actually we only care about Zdst)
vpTranslationVector vec;
@@ -228,8 +217,8 @@ vpMatrix execute(){
}
-void _planeToABC(vpPlane& pl, double& A,double& B, double& C){
-
+void planeToABC(const vpPlane& pl, double& A,double& B, double& C)
+{
A=-pl.getA()/pl.getD();
B=-pl.getB()/pl.getD();
C=-pl.getC()/pl.getD();
diff --git a/test/visual-feature/testFeatureSegment.cpp b/test/visual-feature/testFeatureSegment.cpp
index aef937b..d82915a 100644
--- a/test/visual-feature/testFeatureSegment.cpp
+++ b/test/visual-feature/testFeatureSegment.cpp
@@ -3,7 +3,7 @@
* $Id: testFeature.cpp 3530 2012-01-03 10:52:12Z fspindle $
*
* This file is part of the ViSP software.
- * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
+ * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
@@ -69,19 +69,20 @@
*/
int main(int argc, const char **argv)
{
+ try {
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- int opt_display = 1;
- int opt_curves = 1;
+ int opt_display = 1;
+ int opt_curves = 1;
#endif
- int opt_normalized = 1;
+ int opt_normalized = 1;
- // Parse the command line to set the variables
- vpParseArgv::vpArgvInfo argTable[] =
+ // Parse the command line to set the variables
+ vpParseArgv::vpArgvInfo argTable[] =
{
- #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
+ #if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
{"-d", vpParseArgv::ARGV_CONSTANT, 0, (char *) &opt_display,
"Disable display and graphics viewer."},
- #endif
+ #endif
{"-normalized", vpParseArgv::ARGV_INT, (char*) NULL, (char *) &opt_normalized,
"1 to use normalized features, 0 for non normalized."},
{"-h", vpParseArgv::ARGV_HELP, (char*) NULL, (char *) NULL,
@@ -89,128 +90,86 @@ int main(int argc, const char **argv)
{(char*) NULL, vpParseArgv::ARGV_END, (char*) NULL, (char*) NULL, (char*) NULL}
} ;
- // Read the command line options
- if(vpParseArgv::parse(&argc, argv, argTable,
- vpParseArgv::ARGV_NO_LEFTOVERS |
- vpParseArgv::ARGV_NO_ABBREV |
- vpParseArgv::ARGV_NO_DEFAULTS)) {
- return (false);
- }
+ // Read the command line options
+ if(vpParseArgv::parse(&argc, argv, argTable,
+ vpParseArgv::ARGV_NO_LEFTOVERS |
+ vpParseArgv::ARGV_NO_ABBREV |
+ vpParseArgv::ARGV_NO_DEFAULTS)) {
+ return (false);
+ }
- std::cout << "Used options: " << std::endl;
+ std::cout << "Used options: " << std::endl;
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- opt_curves = opt_display;
- std::cout << " - display : " << opt_display << std::endl;
- std::cout << " - curves : " << opt_curves << std::endl;
+ opt_curves = opt_display;
+ std::cout << " - display : " << opt_display << std::endl;
+ std::cout << " - curves : " << opt_curves << std::endl;
#endif
- std::cout << " - normalized: " << opt_normalized << std::endl;
+ std::cout << " - normalized: " << opt_normalized << std::endl;
- vpCameraParameters cam(640.,480.,320.,240.);
+ vpCameraParameters cam(640.,480.,320.,240.);
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
- vpDisplay *display = NULL;
- if (opt_display) {
+ vpDisplay *display = NULL;
+ if (opt_display) {
#if defined(VISP_HAVE_X11)
- display = new vpDisplayX;
+ display = new vpDisplayX;
#elif defined VISP_HAVE_GDI
- display = new vpDisplayGDI;
+ display = new vpDisplayGDI;
#endif
- }
+ }
#endif
- vpImage<unsigned char> I(480,640,0);
+ vpImage<unsigned char> I(480,640,0);
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- if (opt_display)
- display->init(I);
+ if (opt_display)
+ display->init(I);
#endif
- vpHomogeneousMatrix cMo (-0.5, 0.5, 4., vpMath::rad(10), vpMath::rad(20), vpMath::rad(90));
- vpHomogeneousMatrix cdMo(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
+ vpHomogeneousMatrix cMo (-0.5, 0.5, 4., vpMath::rad(10), vpMath::rad(20), vpMath::rad(90));
+ vpHomogeneousMatrix cdMo(0., 0., 1., vpMath::rad(0), vpMath::rad(0), vpMath::rad(0));
- vpPoint P[4]; // 4 points in the object frame
- P[0].setWorldCoordinates( .1, .1, 0.);
- P[1].setWorldCoordinates(-.1, .1, 0.);
- P[2].setWorldCoordinates(-.1, -.1, 0.);
- P[3].setWorldCoordinates( .1, -.1, 0.);
+ vpPoint P[4]; // 4 points in the object frame
+ P[0].setWorldCoordinates( .1, .1, 0.);
+ P[1].setWorldCoordinates(-.1, .1, 0.);
+ P[2].setWorldCoordinates(-.1, -.1, 0.);
+ P[3].setWorldCoordinates( .1, -.1, 0.);
- vpPoint Pd[4]; // 4 points in the desired camera frame
- for (int i=0; i<4; i++) {
- Pd[i] = P[i];
- Pd[i].project(cdMo);
- }
- vpPoint Pc[4]; // 4 points in the current camera frame
- for (int i=0; i<4; i++) {
- Pc[i] = P[i];
- Pc[i].project(cMo);
- }
-
- vpFeatureSegment seg_cur[2], seg_des[2]; // Current and desired features
- for (int i=0; i <2; i++)
- {
- if (opt_normalized) {
- seg_cur[i].setNormalized(true);
- seg_des[i].setNormalized(true);
+ vpPoint Pd[4]; // 4 points in the desired camera frame
+ for (int i=0; i<4; i++) {
+ Pd[i] = P[i];
+ Pd[i].project(cdMo);
}
- else {
- seg_cur[i].setNormalized(false);
- seg_des[i].setNormalized(false);
+ vpPoint Pc[4]; // 4 points in the current camera frame
+ for (int i=0; i<4; i++) {
+ Pc[i] = P[i];
+ Pc[i].project(cMo);
}
- vpFeatureBuilder::create(seg_cur[i], Pc[i*2], Pc[i*2+1]);
- vpFeatureBuilder::create(seg_des[i], Pd[i*2], Pd[i*2+1]);
- seg_cur[i].print();
- seg_des[i].print();
- }
-
- //define visual servoing task
- vpServo task;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(1) ;
-
- for (int i=0; i <2; i++)
- task.addFeature(seg_cur[i], seg_des[i]);
-
-#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
- if (opt_display) {
- vpDisplay::display(I);
- for (int i=0; i <2; i++) {
- seg_cur[i].display(cam, I, vpColor::red);
- seg_des[i].display(cam, I, vpColor::green);
- vpDisplay::flush(I);
+
+ vpFeatureSegment seg_cur[2], seg_des[2]; // Current and desired features
+ for (int i=0; i <2; i++)
+ {
+ if (opt_normalized) {
+ seg_cur[i].setNormalized(true);
+ seg_des[i].setNormalized(true);
+ }
+ else {
+ seg_cur[i].setNormalized(false);
+ seg_des[i].setNormalized(false);
+ }
+ vpFeatureBuilder::create(seg_cur[i], Pc[i*2], Pc[i*2+1]);
+ vpFeatureBuilder::create(seg_des[i], Pd[i*2], Pd[i*2+1]);
+ seg_cur[i].print();
+ seg_des[i].print();
}
- }
-#endif
-
-#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- vpPlot *graph = NULL;
- if (opt_curves)
- {
- //Create a window (700 by 700) at position (100, 200) with two graphics
- graph = new vpPlot(2, 500, 500, 700, 10, "Curves...");
-
- //The first graphic contains 3 curve and the second graphic contains 3 curves
- graph->initGraph(0,6);
- graph->initGraph(1,8);
-// graph->setTitle(0, "Velocities");
-// graph->setTitle(1, "Error s-s*");
- }
-#endif
- //param robot
- vpRobotCamera robot ;
- float sampling_time = 0.010f ; // Sampling period in seconds
- robot.setSamplingTime(sampling_time) ;
- robot.setPosition(cMo) ;
- int iter=0;
-
- do{
- double t = vpTime::measureTimeMs();
- robot.getPosition(cMo);
- for (int i=0; i <4; i++)
- Pc[i].project(cMo);
+ //define visual servoing task
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(1) ;
for (int i=0; i <2; i++)
- vpFeatureBuilder::create(seg_cur[i], Pc[i*2], Pc[i*2+1]);
+ task.addFeature(seg_cur[i], seg_des[i]);
#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
if (opt_display) {
@@ -223,34 +182,82 @@ int main(int argc, const char **argv)
}
#endif
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
-
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
+ vpPlot *graph = NULL;
if (opt_curves)
{
- graph->plot(0, iter, v); // plot velocities applied to the robot
- graph->plot(1, iter, task.getError()); // plot error vector
+ //Create a window (700 by 700) at position (100, 200) with two graphics
+ graph = new vpPlot(2, 500, 500, 700, 10, "Curves...");
+
+ //The first graphic contains 3 curve and the second graphic contains 3 curves
+ graph->initGraph(0,6);
+ graph->initGraph(1,8);
+ // graph->setTitle(0, "Velocities");
+ // graph->setTitle(1, "Error s-s*");
}
#endif
- vpTime::wait(t, sampling_time * 1000); // Wait 10 ms
- iter ++;
-
- } while(( task.getError() ).sumSquare() > 0.0005);
-
- // A call to kill() is requested here to destroy properly the current
- // and desired feature lists.
- task.kill();
+ //param robot
+ vpRobotCamera robot ;
+ float sampling_time = 0.010f ; // Sampling period in seconds
+ robot.setSamplingTime(sampling_time) ;
+ robot.setPosition(cMo) ;
+ int iter=0;
+
+ do{
+ double t = vpTime::measureTimeMs();
+ robot.getPosition(cMo);
+ for (int i=0; i <4; i++)
+ Pc[i].project(cMo);
+
+ for (int i=0; i <2; i++)
+ vpFeatureBuilder::create(seg_cur[i], Pc[i*2], Pc[i*2+1]);
+
+#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
+ if (opt_display) {
+ vpDisplay::display(I);
+ for (int i=0; i <2; i++) {
+ seg_cur[i].display(cam, I, vpColor::red);
+ seg_des[i].display(cam, I, vpColor::green);
+ vpDisplay::flush(I);
+ }
+ }
+#endif
+
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;
+
+#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
+ if (opt_curves)
+ {
+ graph->plot(0, iter, v); // plot velocities applied to the robot
+ graph->plot(1, iter, task.getError()); // plot error vector
+ }
+#endif
+
+ vpTime::wait(t, sampling_time * 1000); // Wait 10 ms
+ iter ++;
+
+ } while(( task.getError() ).sumSquare() > 0.0005);
+
+ // A call to kill() is requested here to destroy properly the current
+ // and desired feature lists.
+ task.kill();
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- if (graph != NULL)
- delete graph;
+ if (graph != NULL)
+ delete graph;
#endif
#if (defined (VISP_HAVE_X11) || defined (VISP_HAVE_GDI))
- if (opt_display && display != NULL)
- delete display;
+ if (opt_display && display != NULL)
+ delete display;
#endif
- std::cout << "final error=" << ( task.getError() ).sumSquare() << std::endl;
+ std::cout << "final error=" << ( task.getError() ).sumSquare() << std::endl;
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
}
diff --git a/tutorial/CMakeLists.txt b/tutorial/CMakeLists.txt
index d713a78..e89e18e 100644
--- a/tutorial/CMakeLists.txt
+++ b/tutorial/CMakeLists.txt
@@ -2,15 +2,18 @@ project(ViSP-tutorial)
cmake_minimum_required(VERSION 2.6)
-subdirs(computer-vision)
-subdirs(grabber)
-subdirs(image)
-subdirs(robot/pioneer)
-subdirs(simulator/image)
-subdirs(tracking/blob)
-subdirs(tracking/keypoint)
-subdirs(tracking/model-based/edges)
-subdirs(tracking/model-based/hybrid)
-subdirs(tracking/model-based/keypoint)
-subdirs(tracking/moving-edges)
-subdirs(visual-servo/ibvs)
+add_subdirectory(computer-vision)
+add_subdirectory(grabber)
+add_subdirectory(image)
+add_subdirectory(matching)
+add_subdirectory(robot/pioneer)
+add_subdirectory(simulator/image)
+add_subdirectory(trace)
+add_subdirectory(tracking/blob)
+add_subdirectory(tracking/keypoint)
+add_subdirectory(tracking/model-based/edges)
+add_subdirectory(tracking/model-based/hybrid)
+add_subdirectory(tracking/model-based/keypoint)
+add_subdirectory(tracking/template-tracker)
+add_subdirectory(tracking/moving-edges)
+add_subdirectory(visual-servo/ibvs)
diff --git a/tutorial/computer-vision/CMakeLists.txt b/tutorial/computer-vision/CMakeLists.txt
index 83f990d..002df71 100644
--- a/tutorial/computer-vision/CMakeLists.txt
+++ b/tutorial/computer-vision/CMakeLists.txt
@@ -3,20 +3,19 @@ project(tutorial-computer-vision)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-pose-from-points-image tutorial-pose-from-points-image.cpp)
-add_executable(tutorial-pose-from-points-tracking tutorial-pose-from-points-tracking.cpp)
+set(tutorial_cpp
+ tutorial-homography-from-points.cpp
+ tutorial-pose-from-points-image.cpp
+ tutorial-pose-from-points-tracking.cpp)
-# copy the data
-get_target_property(target_location tutorial-pose-from-points-image LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-set(data "${CMAKE_CURRENT_SOURCE_DIR}/square.pgm" )
-add_custom_command(
- TARGET tutorial-pose-from-points-image
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
-)
+set(tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/square.pgm" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-pose-from-points-image.cpp ${data})
+endforeach()
diff --git a/tutorial/computer-vision/tutorial-homography-from-points.cpp b/tutorial/computer-vision/tutorial-homography-from-points.cpp
new file mode 100644
index 0000000..f4ca29a
--- /dev/null
+++ b/tutorial/computer-vision/tutorial-homography-from-points.cpp
@@ -0,0 +1,63 @@
+/*! \example tutorial-homography-from-points.cpp */
+#include <visp/vpHomography.h>
+#include <visp/vpMeterPixelConversion.h>
+
+int main()
+{
+ double L = 0.1;
+ std::vector<vpPoint> oP(4);
+ oP[0].setWorldCoordinates( -L,-L, 0);
+ oP[1].setWorldCoordinates(2*L,-L, 0);
+ oP[2].setWorldCoordinates( L, 3*L, 0);
+ oP[3].setWorldCoordinates( -L, 4*L, 0);
+
+ vpHomogeneousMatrix bMo(0.1, 0, 1, 0, vpMath::rad(15), 0);
+ vpHomogeneousMatrix aMb(0.2, -0.1, 0.1, vpMath::rad(-3), vpMath::rad(20), vpMath::rad(5));
+ vpHomogeneousMatrix aMo = aMb*bMo;
+
+ std::vector<vpPoint> aP(4), bP(4);
+ std::vector<double> xa(4), ya(4), xb(4), yb(4);
+ for(unsigned int i=0 ; i < 4; i++)
+ {
+ oP[i].project(aMo);
+ xa[i] = oP[i].get_x();
+ ya[i] = oP[i].get_y();
+ oP[i].project(bMo);
+ xb[i] = oP[i].get_x();
+ yb[i] = oP[i].get_y();
+ }
+
+ vpHomography aHb ;
+ vpHomography::DLT(xb, yb, xa, ya, aHb, true);
+ std::cout << "Estimated homography using DLT:\n" << aHb/aHb[2][2] << std::endl;
+
+ vpHomography::HLM(xb, yb, xa, ya, true, aHb);
+ std::cout << "Estimated homography using HLM:\n" << aHb/aHb[2][2] << std::endl;
+
+ vpRotationMatrix aRb;
+ vpTranslationVector atb;
+ vpColVector n;
+ aHb.computeDisplacement(aRb, atb, n);
+
+ std::cout << "\nEstimated displacement:" << std::endl;
+ std::cout << " atb: " << atb.t() << std::endl;
+ vpThetaUVector atub;
+ atub.buildFrom(aRb);
+ std::cout << " athetaub: ";
+ for(unsigned int i=0; i<3; i++)
+ std::cout << vpMath::deg(atub[i]) << " ";
+ std::cout << std::endl;
+ std::cout << " n: " << n.t() << std::endl;
+
+ vpImagePoint iPa, iPb;
+ vpCameraParameters cam;
+ vpMeterPixelConversion::convertPoint(cam, xb[3], yb[3], iPb);
+ vpMeterPixelConversion::convertPoint(cam, xa[3], ya[3], iPa);
+
+ std::cout << "Ground truth: Point 3 in pixels in frame b: " << iPb << std::endl;
+ std::cout << "Ground truth: Point 3 in pixels in frame a: " << iPa << std::endl;
+
+ // Project the position in pixel of point 3 from the homography
+ std::cout << "Estimation from homography: Point 3 in pixels in frame a: "
+ << vpHomography::project(cam, aHb, iPb) << std::endl;
+}
diff --git a/tutorial/computer-vision/tutorial-pose-from-points-image.cpp b/tutorial/computer-vision/tutorial-pose-from-points-image.cpp
index b310f50..2ed43da 100644
--- a/tutorial/computer-vision/tutorial-pose-from-points-image.cpp
+++ b/tutorial/computer-vision/tutorial-pose-from-points-image.cpp
@@ -7,6 +7,9 @@
#include <visp/vpPose.h>
void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot,
+ const vpCameraParameters &cam, bool init, vpHomogeneousMatrix &cMo);
+
+void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot,
const vpCameraParameters &cam, bool init, vpHomogeneousMatrix &cMo)
{
vpPose pose; double x=0, y=0;
@@ -23,44 +26,49 @@ void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot,
int main()
{
- vpImage<unsigned char> I;
- vpImageIo::read(I, "square.pgm");
+ try {
+ vpImage<unsigned char> I;
+ vpImageIo::read(I, "square.pgm");
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#endif
- vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
- std::vector<vpDot2> dot(4);
- dot[0].initTracking(I, vpImagePoint(193, 157));
- dot[1].initTracking(I, vpImagePoint(203, 366));
- dot[2].initTracking(I, vpImagePoint(313, 402));
- dot[3].initTracking(I, vpImagePoint(304, 133));
- std::vector<vpPoint> point(4);
- point[0].setWorldCoordinates(-0.06, -0.06, 0);
- point[1].setWorldCoordinates( 0.06, -0.06, 0);
- point[2].setWorldCoordinates( 0.06, 0.06, 0);
- point[3].setWorldCoordinates(-0.06, 0.06, 0);
- vpHomogeneousMatrix cMo;
- bool init = true;
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+ std::vector<vpDot2> dot(4);
+ dot[0].initTracking(I, vpImagePoint(193, 157));
+ dot[1].initTracking(I, vpImagePoint(203, 366));
+ dot[2].initTracking(I, vpImagePoint(313, 402));
+ dot[3].initTracking(I, vpImagePoint(304, 133));
+ std::vector<vpPoint> point(4);
+ point[0].setWorldCoordinates(-0.06, -0.06, 0);
+ point[1].setWorldCoordinates( 0.06, -0.06, 0);
+ point[2].setWorldCoordinates( 0.06, 0.06, 0);
+ point[3].setWorldCoordinates(-0.06, 0.06, 0);
+ vpHomogeneousMatrix cMo;
+ bool init = true;
- while(1){
- vpImageIo::read(I, "square.pgm");
- vpDisplay::display(I);
- for (unsigned int i=0; i < dot.size(); i ++) {
- dot[i].setGraphics(true);
- dot[i].track(I);
- }
- computePose(point, dot, cam, init, cMo);
- vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none);
- vpDisplay::flush(I);
+ while(1){
+ vpImageIo::read(I, "square.pgm");
+ vpDisplay::display(I);
+ for (unsigned int i=0; i < dot.size(); i ++) {
+ dot[i].setGraphics(true);
+ dot[i].track(I);
+ }
+ computePose(point, dot, cam, init, cMo);
+ vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none);
+ vpDisplay::flush(I);
- if (init) init = false; // turn off pose initialisation
+ if (init) init = false; // turn off pose initialisation
- if (vpDisplay::getClick(I, false)) break;
+ if (vpDisplay::getClick(I, false)) break;
- vpTime::wait(40);
+ vpTime::wait(40);
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
}
diff --git a/tutorial/computer-vision/tutorial-pose-from-points-tracking.cpp b/tutorial/computer-vision/tutorial-pose-from-points-tracking.cpp
index aa000b8..68cd68c 100644
--- a/tutorial/computer-vision/tutorial-pose-from-points-tracking.cpp
+++ b/tutorial/computer-vision/tutorial-pose-from-points-tracking.cpp
@@ -8,6 +8,12 @@
#include <visp/vpPose.h>
void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot,
+ const vpCameraParameters &cam, bool init, vpHomogeneousMatrix &cMo);
+#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
+void track(vpImage<unsigned char> &I, std::vector<vpDot2> &dot, bool init);
+#endif
+
+void computePose(std::vector<vpPoint> &point, const std::vector<vpDot2> &dot,
const vpCameraParameters &cam, bool init, vpHomogeneousMatrix &cMo)
{
vpPose pose; double x=0, y=0;
@@ -45,48 +51,52 @@ void track(vpImage<unsigned char> &I, std::vector<vpDot2> &dot, bool init)
int main()
{
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_CMU1394))
- vpImage<unsigned char> I;
+ try { vpImage<unsigned char> I;
#if defined(VISP_HAVE_DC1394_2)
- vp1394TwoGrabber g;
+ vp1394TwoGrabber g;
#elif defined(VISP_HAVE_CMU1394)
- vp1394CMUGrabber g;
+ vp1394CMUGrabber g;
#endif
- g.open(I);
+ g.open(I);
- // Parameters of our camera
- vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+ // Parameters of our camera
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
- // The pose container
- vpHomogeneousMatrix cMo;
+ // The pose container
+ vpHomogeneousMatrix cMo;
- std::vector<vpDot2> dot(4);
- std::vector<vpPoint> point(4);
- double L = 0.06;
- point[0].setWorldCoordinates(-L, -L, 0);
- point[1].setWorldCoordinates( L, -L, 0);
- point[2].setWorldCoordinates( L, L, 0);
- point[3].setWorldCoordinates(-L, L, 0);
+ std::vector<vpDot2> dot(4);
+ std::vector<vpPoint> point(4);
+ double L = 0.06;
+ point[0].setWorldCoordinates(-L, -L, 0);
+ point[1].setWorldCoordinates( L, -L, 0);
+ point[2].setWorldCoordinates( L, L, 0);
+ point[3].setWorldCoordinates(-L, L, 0);
- bool init = true;
+ bool init = true;
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#endif
- while(1){
- // Image Acquisition
- g.acquire(I);
- vpDisplay::display(I);
- track(I, dot, init);
- computePose(point, dot, cam, init, cMo);
- vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
- vpDisplay::flush(I);
- if (init) init = false; // turn off the initialisation specific stuff
+ while(1){
+ // Image Acquisition
+ g.acquire(I);
+ vpDisplay::display(I);
+ track(I, dot, init);
+ computePose(point, dot, cam, init, cMo);
+ vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
+ vpDisplay::flush(I);
+ if (init) init = false; // turn off the initialisation specific stuff
- if (vpDisplay::getClick(I, false))
+ if (vpDisplay::getClick(I, false))
break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/CMakeLists.txt b/tutorial/grabber/CMakeLists.txt
index 8c3b987..ff52388 100644
--- a/tutorial/grabber/CMakeLists.txt
+++ b/tutorial/grabber/CMakeLists.txt
@@ -3,24 +3,24 @@ project(tutorial-grabber)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-grabber-1394 tutorial-grabber-1394.cpp)
-add_executable(tutorial-grabber-CMU1394 tutorial-grabber-CMU1394.cpp)
-add_executable(tutorial-grabber-opencv tutorial-grabber-opencv.cpp)
-add_executable(tutorial-grabber-opencv-bis tutorial-grabber-opencv-bis.cpp)
-add_executable(tutorial-grabber-video tutorial-grabber-video.cpp)
-add_executable(tutorial-grabber-v4l2 tutorial-grabber-v4l2.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-grabber-1394.cpp
+ tutorial-grabber-1394-writer.cpp
+ tutorial-grabber-CMU1394.cpp
+ tutorial-grabber-opencv.cpp
+ tutorial-grabber-opencv-bis.cpp
+ tutorial-grabber-video.cpp
+ tutorial-grabber-v4l2.cpp)
-# copy the data
-get_target_property(target_location tutorial-grabber-video LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-set(data "${CMAKE_CURRENT_SOURCE_DIR}/video.mpg" )
-add_custom_command(
- TARGET tutorial-grabber-video
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
-)
+set(tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/video.mpg")
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-grabber-video.cpp ${data})
+endforeach()
diff --git a/tutorial/grabber/tutorial-grabber-1394-writer.cpp b/tutorial/grabber/tutorial-grabber-1394-writer.cpp
new file mode 100644
index 0000000..d764956
--- /dev/null
+++ b/tutorial/grabber/tutorial-grabber-1394-writer.cpp
@@ -0,0 +1,62 @@
+/*! \example tutorial-grabber-1394-writer.cpp */
+#include <visp/vp1394TwoGrabber.h>
+#include <visp/vpDisplayX.h>
+#include <visp/vpImage.h>
+#include <visp/vpVideoWriter.h>
+
+int main(int argc, char **)
+{
+#ifdef VISP_HAVE_DC1394_2
+ try {
+ bool save = false;
+ if(argc == 2) {
+ save = true;
+ }
+
+ vpImage<unsigned char> I; // Create a gray level image container
+ bool reset = true; // Enable bus reset during construction (default)
+ vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib
+
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
+ g.open(I);
+
+ std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
+
+#ifdef VISP_HAVE_X11
+ vpDisplayX d(I);
+#else
+ std::cout << "No image viewer is available..." << std::endl;
+#endif
+
+ vpVideoWriter writer;
+ writer.setFileName("./I%04d.pgm");
+ if (save)
+ writer.open(I);
+
+ while(1) {
+ g.acquire(I);
+
+ if (save)
+ writer.saveFrame(I);
+
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+
+ if (vpDisplay::getClick(I, false))
+ break;
+ }
+
+ if (save)
+ writer.close();
+
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+#else
+ (void)argc;
+#endif
+
+ return 0;
+}
diff --git a/tutorial/grabber/tutorial-grabber-1394.cpp b/tutorial/grabber/tutorial-grabber-1394.cpp
index 36535bb..7007b63 100644
--- a/tutorial/grabber/tutorial-grabber-1394.cpp
+++ b/tutorial/grabber/tutorial-grabber-1394.cpp
@@ -6,28 +6,33 @@
int main()
{
#ifdef VISP_HAVE_DC1394_2
- vpImage<unsigned char> I; // Create a gray level image container
- bool reset = true; // Enable bus reset during construction (default)
- vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib
+ try {
+ vpImage<unsigned char> I; // Create a gray level image container
+ bool reset = true; // Enable bus reset during construction (default)
+ vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib
- g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
- g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
- g.open(I);
+ g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
+ g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
+ g.open(I);
- std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
+ std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
- vpDisplayX d(I);
+ vpDisplayX d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- while(1) {
- g.acquire(I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false))
+ break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/tutorial-grabber-CMU1394.cpp b/tutorial/grabber/tutorial-grabber-CMU1394.cpp
index 5b596ae..a7b527d 100644
--- a/tutorial/grabber/tutorial-grabber-CMU1394.cpp
+++ b/tutorial/grabber/tutorial-grabber-CMU1394.cpp
@@ -6,29 +6,34 @@
int main()
{
#ifdef VISP_HAVE_CMU1394
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
- vp1394CMUGrabber g;
- g.setVideoMode(0, 1); // 640x480 MONO8
- g.setAutoShutter();
- g.setAutoGain();
- g.setFramerate(4); // 30 fps
- g.open(I);
+ vp1394CMUGrabber g;
+ g.setVideoMode(0, 1); // 640x480 MONO8
+ g.setAutoShutter();
+ g.setAutoGain();
+ g.setFramerate(4); // 30 fps
+ g.open(I);
- std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
+ std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_GDI
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- while(1) {
- g.acquire(I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false)) // A click to exit
- break;
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false)) // A click to exit
+ break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/tutorial-grabber-opencv-bis.cpp b/tutorial/grabber/tutorial-grabber-opencv-bis.cpp
index 334be3c..626db67 100644
--- a/tutorial/grabber/tutorial-grabber-opencv-bis.cpp
+++ b/tutorial/grabber/tutorial-grabber-opencv-bis.cpp
@@ -14,27 +14,32 @@ int main(int argc, char** argv)
std::cout << "Use device: " << device << std::endl;
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
- cv::VideoCapture cap(device); // open the default camera
- if(!cap.isOpened()) { // check if we succeeded
- std::cout << "Failed to open the camera" << std::endl;
- return -1;
- }
- cv::Mat frame;
- cap >> frame; // get a new frame from camera
- std::cout << "Image size: " << frame.rows << " " << frame.cols << std::endl;
-
- //vpImage<vpRGBa> I; // for color images
- vpImage<unsigned char> I; // for gray images
- vpImageConvert::convert(frame, I);
- vpDisplayOpenCV d(I);
- for(;;) {
+ try {
+ cv::VideoCapture cap(device); // open the default camera
+ if(!cap.isOpened()) { // check if we succeeded
+ std::cout << "Failed to open the camera" << std::endl;
+ return -1;
+ }
+ cv::Mat frame;
cap >> frame; // get a new frame from camera
- // Convert the image in ViSP format and display it
+ std::cout << "Image size: " << frame.rows << " " << frame.cols << std::endl;
+
+ //vpImage<vpRGBa> I; // for color images
+ vpImage<unsigned char> I; // for gray images
vpImageConvert::convert(frame, I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false)) // a click to exit
- break;
+ vpDisplayOpenCV d(I);
+ for(;;) {
+ cap >> frame; // get a new frame from camera
+ // Convert the image in ViSP format and display it
+ vpImageConvert::convert(frame, I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false)) // a click to exit
+ break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/tutorial-grabber-opencv.cpp b/tutorial/grabber/tutorial-grabber-opencv.cpp
index 16356f1..05f9370 100644
--- a/tutorial/grabber/tutorial-grabber-opencv.cpp
+++ b/tutorial/grabber/tutorial-grabber-opencv.cpp
@@ -5,20 +5,25 @@
int main()
{
#ifdef VISP_HAVE_OPENCV
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
- vpOpenCVGrabber g;
- g.open(I);
+ vpOpenCVGrabber g;
+ g.open(I);
- std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
- vpDisplayOpenCV d(I);
+ std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
+ vpDisplayOpenCV d(I);
- while(1) {
- g.acquire(I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false))
+ break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/tutorial-grabber-v4l2.cpp b/tutorial/grabber/tutorial-grabber-v4l2.cpp
index a05efe2..ff9087b 100644
--- a/tutorial/grabber/tutorial-grabber-v4l2.cpp
+++ b/tutorial/grabber/tutorial-grabber-v4l2.cpp
@@ -6,24 +6,29 @@
int main()
{
#ifdef VISP_HAVE_V4L2
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
- vpV4l2Grabber g;
- g.open(I);
+ vpV4l2Grabber g;
+ g.open(I);
- std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
+ std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
- vpDisplayX d(I);
+ vpDisplayX d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- while(1) {
- g.acquire(I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false)) break;
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false)) break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/grabber/tutorial-grabber-video.cpp b/tutorial/grabber/tutorial-grabber-video.cpp
index 80b870c..9098299 100644
--- a/tutorial/grabber/tutorial-grabber-video.cpp
+++ b/tutorial/grabber/tutorial-grabber-video.cpp
@@ -5,28 +5,33 @@
int main()
{
#ifdef VISP_HAVE_FFMPEG
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
- vpVideoReader g;
- g.setFileName("./video.mpg");
- g.open(I);
+ vpVideoReader g;
+ g.setFileName("./video.mpg");
+ g.open(I);
- std::cout << "video framerate: " << g.getFramerate() << "Hz" << std::endl;
- std::cout << "video dimension: " << I.getWidth() << " " << I.getHeight() << std::endl;
+ std::cout << "video framerate: " << g.getFramerate() << "Hz" << std::endl;
+ std::cout << "video dimension: " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
- vpDisplayX d(I);
+ vpDisplayX d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::setTitle(I, "Video grabber");
- while (! g.end() ) {
- double t = vpTime::measureTimeMs();
- g.acquire(I);
- vpDisplay::display(I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false)) break;
- vpTime::wait(t, 1000. / g.getFramerate());
+ vpDisplay::setTitle(I, "Video grabber");
+ while (! g.end() ) {
+ double t = vpTime::measureTimeMs();
+ g.acquire(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false)) break;
+ vpTime::wait(t, 1000. / g.getFramerate());
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/image/CMakeLists.txt b/tutorial/image/CMakeLists.txt
index a5f0bb8..98cbd46 100644
--- a/tutorial/image/CMakeLists.txt
+++ b/tutorial/image/CMakeLists.txt
@@ -3,29 +3,29 @@ project(tutorial-image)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-image-converter tutorial-image-converter.cpp)
-add_executable(tutorial-image-manipulation tutorial-image-manipulation.cpp)
-add_executable(tutorial-image-reader tutorial-image-reader.cpp)
-add_executable(tutorial-image-viewer tutorial-image-viewer.cpp)
-add_executable(tutorial-undistort tutorial-undistort.cpp)
-add_executable(tutorial-viewer tutorial-viewer.cpp)
+set(tutorial_cpp
+ tutorial-image-converter.cpp
+ tutorial-image-manipulation.cpp
+ tutorial-image-reader.cpp
+ tutorial-image-viewer.cpp
+ tutorial-undistort.cpp
+ tutorial-viewer.cpp
+ tutorial-image-filter.cpp)
-# copy the data
-get_target_property(target_location tutorial-image-reader LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/lena.bmp" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/lena.ppm" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/chessboard.pgm" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/camera.xml" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-image-reader
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/lena.bmp" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/lena.ppm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/lena.pgm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/lena.jpeg" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/lena.png" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/chessboard.pgm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/camera.xml" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-image-reader.cpp ${data})
endforeach()
diff --git a/tutorial/image/lena.jpeg b/tutorial/image/lena.jpeg
new file mode 100644
index 0000000..3ca8396
Binary files /dev/null and b/tutorial/image/lena.jpeg differ
diff --git a/tutorial/image/lena.pgm b/tutorial/image/lena.pgm
new file mode 100644
index 0000000..992d1f0
--- /dev/null
+++ b/tutorial/image/lena.pgm
@@ -0,0 +1,4 @@
+P5
+225 225
+255
+���������������������������td\^bghhijkkklkjikmqswxy{|~����������������������������������������������������������������������������~}|{{vqkhkt~�����������������������������������������Ûtijlqzxxyz{{||yyzz{{{{zzz{|}}~�yusq�������������������������������td\]agghijjkklkiijmprwxyz|~���������������������������������������������������������������������������}|{{vrlhks|�����������������������������������������Ɵudhqvxxxyyz{||yyzz{{{{zz{||}~~wsxxt�������������������������������sc[\`gghiijkkkjih [...]
\ No newline at end of file
diff --git a/tutorial/image/lena.png b/tutorial/image/lena.png
new file mode 100644
index 0000000..ec368fd
Binary files /dev/null and b/tutorial/image/lena.png differ
diff --git a/tutorial/image/tutorial-image-converter.cpp b/tutorial/image/tutorial-image-converter.cpp
index 46ac957..14b1d0c 100644
--- a/tutorial/image/tutorial-image-converter.cpp
+++ b/tutorial/image/tutorial-image-converter.cpp
@@ -5,14 +5,19 @@
int main()
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
- cv::Mat A;
- A = cv::imread("lena.bmp", CV_LOAD_IMAGE_GRAYSCALE);
+ try {
+ cv::Mat A;
+ A = cv::imread("lena.bmp", CV_LOAD_IMAGE_GRAYSCALE);
- vpImage<unsigned char> I;
- vpImageConvert::convert(A, I);
+ vpImage<unsigned char> I;
+ vpImageConvert::convert(A, I);
# ifdef VISP_HAVE_LIBPNG
- vpImageIo::write(I, "lena.png"); // Gray
+ vpImageIo::write(I, "lena.png"); // Gray
# endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
#endif
}
diff --git a/tutorial/image/tutorial-image-filter.cpp b/tutorial/image/tutorial-image-filter.cpp
new file mode 100644
index 0000000..7ba75c4
--- /dev/null
+++ b/tutorial/image/tutorial-image-filter.cpp
@@ -0,0 +1,107 @@
+/*! \example tutorial-image-filter.cpp */
+
+#include <visp/vpDisplayD3D.h>
+#include <visp/vpDisplayGDI.h>
+#include <visp/vpDisplayGTK.h>
+#include <visp/vpDisplayX.h>
+#include <visp/vpDisplayOpenCV.h>
+#include <visp/vpImageIo.h>
+#include <visp/vpImageFilter.h>
+
+void display(vpImage<unsigned char> &I, const std::string &title);
+void display(vpImage<double> &D, const std::string &title);
+
+void display(vpImage<unsigned char> &I, const std::string &title)
+{
+#if defined(VISP_HAVE_X11)
+ vpDisplayX d(I);
+#elif defined(VISP_HAVE_OPENCV)
+ vpDisplayOpenCV d(I);
+#elif defined(VISP_HAVE_GTK)
+ vpDisplayGTK d(I);
+#elif defined(VISP_HAVE_GDI)
+ vpDisplayGDI d(I);
+#elif defined(VISP_HAVE_D3D9)
+ vpDisplayD3d d(I);
+#else
+ std::cout << "No image viewer is available..." << std::endl;
+#endif
+
+ vpDisplay::setTitle(I, title.c_str());
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 15,15, "Click to continue...", vpColor::red);
+ vpDisplay::flush(I);
+ vpDisplay::getClick(I);
+}
+
+void display(vpImage<double> &D, const std::string &title)
+{
+ vpImage<unsigned char> I; // Image to display
+ vpImageConvert::convert(D, I);
+ display(I, title);
+}
+
+int main(int argc, char** argv )
+{
+ try {
+ if(argc != 2) {
+ printf( "Usage: %s <image name.[pgm,ppm,jpeg,png,bmp]>\n", argv[0] );
+ return -1;
+ }
+
+ vpImage<unsigned char> I;
+
+ try {
+ vpImageIo::read(I, argv[1]);
+ }
+ catch(...) {
+ std::cout << "Cannot read image \"" << argv[1] << "\"" << std::endl;
+ return -1;
+ }
+
+ display(I, "Original image");
+
+ vpImage<double> F;
+ vpImageFilter::gaussianBlur(I, F);
+ display(F, "Blur (default)");
+
+ vpImageFilter::gaussianBlur(I, F, 7, 2);
+ display(F, "Blur (var=2)");
+
+ vpImage<double> dIx;
+ vpImageFilter::getGradX(I, dIx);
+ display(dIx, "Gradient dIx");
+
+ vpImage<double> dIy;
+ vpImageFilter::getGradY(I, dIy);
+ display(dIy, "Gradient dIy");
+
+
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020100)
+ vpImage<unsigned char> C;
+ vpImageFilter::canny(I, C, 5, 15, 3);
+ display(C, "Canny");
+#endif
+
+ vpMatrix K(3,3); // Sobel kernel along x
+ K[0][0] = 1; K[0][1] = 0; K[0][2] = -1;
+ K[1][0] = 2; K[1][1] = 0; K[1][2] = -2;
+ K[2][0] = 1; K[2][1] = 0; K[2][2] = -1;
+ vpImage<double> Gx;
+ vpImageFilter::filter(I, Gx, K);
+ display(Gx, "Sobel x");
+
+ size_t nlevel = 3;
+ std::vector< vpImage<unsigned char> > pyr(nlevel);
+ pyr[0] = I;
+ for (size_t i=1; i < nlevel; i++) {
+ vpImageFilter::getGaussPyramidal(pyr[i-1], pyr[i]);
+ display(pyr[i], "Pyramid");
+ }
+ return 0;
+ }
+ catch(vpException &e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ return 1;
+ }
+}
diff --git a/tutorial/image/tutorial-image-manipulation.cpp b/tutorial/image/tutorial-image-manipulation.cpp
index 9847ff0..fe230a7 100644
--- a/tutorial/image/tutorial-image-manipulation.cpp
+++ b/tutorial/image/tutorial-image-manipulation.cpp
@@ -3,23 +3,28 @@
int main()
{
- vpImage<unsigned char> gray_image(240, 320);
- vpImage<vpRGBa> color_image(240, 320);
+ try {
+ vpImage<unsigned char> gray_image(240, 320);
+ vpImage<vpRGBa> color_image(240, 320);
- gray_image = 128;
- vpRGBa color(255, 0, 0);
- color_image = color;
+ gray_image = 128;
+ vpRGBa color(255, 0, 0);
+ color_image = color;
- unsigned int igray_max = gray_image.getHeight() - 1;
- unsigned int jgray_max = gray_image.getWidth() - 1;
- std::cout << "Gray image, last pixel intensity: "
- << (int)gray_image[igray_max][jgray_max] << std::endl;
+ unsigned int igray_max = gray_image.getHeight() - 1;
+ unsigned int jgray_max = gray_image.getWidth() - 1;
+ std::cout << "Gray image, last pixel intensity: "
+ << (int)gray_image[igray_max][jgray_max] << std::endl;
- unsigned int icolor_max = color_image.getHeight() - 1;
- unsigned int jcolor_max = color_image.getWidth() - 1;
- std::cout << "Color image, last pixel RGB components: "
- << (int)color_image[icolor_max][jcolor_max].R << " "
- << (int)color_image[icolor_max][jcolor_max].G << " "
- << (int)color_image[icolor_max][jcolor_max].B
- << std::endl;
+ unsigned int icolor_max = color_image.getHeight() - 1;
+ unsigned int jcolor_max = color_image.getWidth() - 1;
+ std::cout << "Color image, last pixel RGB components: "
+ << (int)color_image[icolor_max][jcolor_max].R << " "
+ << (int)color_image[icolor_max][jcolor_max].G << " "
+ << (int)color_image[icolor_max][jcolor_max].B
+ << std::endl;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
diff --git a/tutorial/image/tutorial-image-reader.cpp b/tutorial/image/tutorial-image-reader.cpp
index ab0caf2..bd0ff9d 100644
--- a/tutorial/image/tutorial-image-reader.cpp
+++ b/tutorial/image/tutorial-image-reader.cpp
@@ -8,6 +8,9 @@ int main()
vpImageIo::read(I, "lena.jpg");
vpImageIo::write(I, "lena.png");
}
+ catch(vpException e) {
+ std::cout << e.getMessage() << std::endl;
+ }
catch(...) {
std::cout << "Unsupported image format" << std::endl;
}
diff --git a/tutorial/image/tutorial-image-viewer.cpp b/tutorial/image/tutorial-image-viewer.cpp
index 9bade45..bc6ce27 100644
--- a/tutorial/image/tutorial-image-viewer.cpp
+++ b/tutorial/image/tutorial-image-viewer.cpp
@@ -6,32 +6,37 @@
int main()
{
- vpImage<vpRGBa> I;
- vpImageIo::read(I, "lena.ppm");
+ try {
+ vpImage<vpRGBa> I;
+ vpImageIo::read(I, "lena.ppm");
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::setTitle(I, "Lena");
- vpDisplay::display(I);
+ vpDisplay::setTitle(I, "Lena");
+ vpDisplay::display(I);
- vpDisplay::displayRectangle(I, vpImagePoint(90,90), 70, 90, vpColor::red, false, 2);
- vpDisplay::flush(I);
+ vpDisplay::displayRectangle(I, vpImagePoint(90,90), 70, 90, vpColor::red, false, 2);
+ vpDisplay::flush(I);
- vpImage<vpRGBa> O;
- vpDisplay::getImage(I, O);
+ vpImage<vpRGBa> O;
+ vpDisplay::getImage(I, O);
- try {
- vpImageIo::write(I, "lena-out.jpg");
- vpImageIo::write(O, "lena-out-with-overlay.jpg");
+ try {
+ vpImageIo::write(I, "lena-out.jpg");
+ vpImageIo::write(O, "lena-out-with-overlay.jpg2");
+ }
+ catch(...) {
+ std::cout << "Cannot write the image: unsupported format..." << std::endl;
+ }
+
+ vpDisplay::getClick(I);
}
- catch(...) {
- std::cout << "Cannot write the image: unsupported format..." << std::endl;
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
- vpDisplay::getClick(I);
}
diff --git a/tutorial/image/tutorial-undistort.cpp b/tutorial/image/tutorial-undistort.cpp
index 410a30d..7964119 100644
--- a/tutorial/image/tutorial-undistort.cpp
+++ b/tutorial/image/tutorial-undistort.cpp
@@ -5,26 +5,31 @@
int main()
{
- vpImage<unsigned char> I;
- vpImageIo::read(I, "chessboard.pgm");
+ try {
+ vpImage<unsigned char> I;
+ vpImageIo::read(I, "chessboard.pgm");
- vpCameraParameters cam;
+ vpCameraParameters cam;
#ifdef VISP_HAVE_XML2
- vpXmlParserCamera p;
- vpCameraParameters::vpCameraParametersProjType projModel;
- projModel = vpCameraParameters::perspectiveProjWithDistortion;
- if (p.parse(cam, "camera.xml", "Camera", projModel, I.getWidth(), I.getHeight()) != vpXmlParserCamera::SEQUENCE_OK) {
- std::cout << "Cannot found parameters for camera named \"Camera\"" << std::endl;
- }
+ vpXmlParserCamera p;
+ vpCameraParameters::vpCameraParametersProjType projModel;
+ projModel = vpCameraParameters::perspectiveProjWithDistortion;
+ if (p.parse(cam, "camera.xml", "Camera", projModel, I.getWidth(), I.getHeight()) != vpXmlParserCamera::SEQUENCE_OK) {
+ std::cout << "Cannot found parameters for camera named \"Camera\"" << std::endl;
+ }
#else
- cam.initPersProjWithDistortion(582.7, 580.6, 326.6, 215.0, -0.3372, 0.4021);
+ cam.initPersProjWithDistortion(582.7, 580.6, 326.6, 215.0, -0.3372, 0.4021);
#endif
- std::cout << cam << std::endl;
+ std::cout << cam << std::endl;
- vpImage<unsigned char> Iud;
- vpImageTools::undistort(I, cam, Iud);
- vpImageIo::write(Iud, "chessboard-undistort.pgm");
+ vpImage<unsigned char> Iud;
+ vpImageTools::undistort(I, cam, Iud);
+ vpImageIo::write(Iud, "chessboard-undistort.pgm");
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
return 0;
}
diff --git a/tutorial/image/tutorial-viewer.cpp b/tutorial/image/tutorial-viewer.cpp
index ae58d7b..de619c5 100644
--- a/tutorial/image/tutorial-viewer.cpp
+++ b/tutorial/image/tutorial-viewer.cpp
@@ -6,7 +6,7 @@
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpImageIo.h>
-int main(int argc, char** argv )
+int main(int argc, char** argv)
{
if(argc != 2) {
printf( "Usage: %s <image name.[pgm,ppm,jpeg,png,tiff,bmp,ras,jp2]>\n", argv[0] );
@@ -23,22 +23,27 @@ int main(int argc, char** argv )
return -1;
}
+ try {
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined(VISP_HAVE_OPENCV)
- vpDisplayOpenCV d(I);
+ vpDisplayOpenCV d(I);
#elif defined(VISP_HAVE_GTK)
- vpDisplayGTK d(I);
+ vpDisplayGTK d(I);
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#elif defined(VISP_HAVE_D3D9)
- vpDisplayD3d d(I);
+ vpDisplayD3d d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::setTitle(I, "My image");
- vpDisplay::display(I);
- vpDisplay::flush(I);
- std::cout << "A click to quit..." << std::endl;
- vpDisplay::getClick(I);
+ vpDisplay::setTitle(I, "My image");
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ std::cout << "A click to quit..." << std::endl;
+ vpDisplay::getClick(I);
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
diff --git a/tutorial/matching/CMakeLists.txt b/tutorial/matching/CMakeLists.txt
new file mode 100644
index 0000000..08d5b17
--- /dev/null
+++ b/tutorial/matching/CMakeLists.txt
@@ -0,0 +1,21 @@
+project(tutorial-matching-keypoint)
+
+cmake_minimum_required(VERSION 2.6)
+
+find_package(VISP REQUIRED)
+
+# set the list of source files
+set(tutorial_cpp
+ tutorial-matching-surf.cpp
+ tutorial-matching-surf-homography.cpp)
+
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/video-postcard.mpeg" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-matching-surf.cpp ${data})
+endforeach()
diff --git a/tutorial/matching/tutorial-matching-surf-homography.cpp b/tutorial/matching/tutorial-matching-surf-homography.cpp
new file mode 100644
index 0000000..aa052bd
--- /dev/null
+++ b/tutorial/matching/tutorial-matching-surf-homography.cpp
@@ -0,0 +1,117 @@
+/*! \example tutorial-matching-surf-homography.cpp */
+#include <visp/vpDisplayOpenCV.h>
+#include <visp/vpHomography.h>
+#include <visp/vpKeyPointSurf.h>
+#include <visp/vpPixelMeterConversion.h>
+#include <visp/vpVideoReader.h>
+
+int main(int argc, const char **argv)
+{
+#if defined(VISP_HAVE_OPENCV_NONFREE) && defined(VISP_HAVE_FFMPEG)
+ int method = 0;
+
+ if (argc > 1)
+ method = atoi(argv[1]);
+
+ if (method == 0)
+ std::cout << "Uses Ransac to estimate the homography" << std::endl;
+ else
+ std::cout << "Uses a robust scheme to estimate the homography" << std::endl;
+
+ vpImage<unsigned char> I;
+
+ vpVideoReader reader;
+ reader.setFileName("video-postcard.mpeg");
+ reader.acquire(I);
+
+ vpKeyPointSurf surf;
+ surf.buildReference(I);
+
+ vpImage<unsigned char> Idisp;
+ Idisp.resize(I.getHeight(), 2*I.getWidth());
+ Idisp.insert(I, vpImagePoint(0, 0));
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+
+ vpDisplayOpenCV d(Idisp, 0, 0, "Homography from matched Surf keypoints") ;
+ vpDisplay::display(Idisp);
+ vpDisplay::flush(Idisp);
+
+ vpImagePoint corner_ref[4];
+ corner_ref[0].set_ij(115, 64);
+ corner_ref[1].set_ij( 83, 253);
+ corner_ref[2].set_ij(282, 307);
+ corner_ref[3].set_ij(330, 72);
+ for (unsigned int i=0; i<4; i++) {
+ vpDisplay::displayCross(Idisp, corner_ref[i], 12, vpColor::red);
+ }
+ vpDisplay::flush(Idisp);
+
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+
+ vpHomography curHref;
+
+ while ( ! reader.end() )
+ {
+ reader.acquire(I);
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+ vpDisplay::display(Idisp);
+ vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()), vpColor::white, 2);
+
+ unsigned int nbMatch = surf.matchPoint(I);
+
+ std::vector<vpImagePoint> iPref(nbMatch), iPcur(nbMatch); // Coordinates in pixels (for display only)
+ std::vector<double> mPref_x(nbMatch), mPref_y(nbMatch);
+ std::vector<double> mPcur_x(nbMatch), mPcur_y(nbMatch);
+ std::vector<bool> inliers(nbMatch);
+
+ for (unsigned int i = 0; i < nbMatch; i++) {
+ vpImagePoint matched_ref, matched_cur;
+ surf.getMatchedPoints(i, matched_ref, matched_cur);
+ vpPixelMeterConversion::convertPoint(cam, matched_ref, mPref_x[i], mPref_y[i]);
+ vpPixelMeterConversion::convertPoint(cam, matched_cur, mPcur_x[i], mPcur_y[i]);
+
+ // Store the image coordinates in pixel of the matched points
+ iPref[i] = matched_ref;
+ iPcur[i] = matched_cur;
+ }
+
+ double residual;
+ if (method == 0)
+ vpHomography::ransac(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+ mPref_x.size()/2, 2.0/cam.get_px(), true);
+ else
+ vpHomography::robust(mPref_x, mPref_y, mPcur_x, mPcur_y, curHref, inliers, residual,
+ 0.4, 4, true);
+
+ vpImagePoint corner_cur[4];
+ for (int i=0; i< 4; i++) {
+ corner_cur[i] = vpHomography::project(cam, curHref, corner_ref[i]);
+ }
+
+ vpImagePoint offset(0, I.getWidth());
+ for (int i=0; i< 4; i++) {
+ vpDisplay::displayLine(Idisp,
+ corner_cur[i] + offset,
+ corner_cur[(i+1)%4] + offset,
+ vpColor::blue, 3);
+ }
+
+ for (unsigned int i = 0; i < nbMatch; i++) {
+ if(inliers[i] == true)
+ vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::green);
+ else
+ vpDisplay::displayLine(Idisp, iPref[i], iPcur[i] + offset, vpColor::red);
+ }
+
+ vpDisplay::flush(Idisp);
+
+ if (vpDisplay::getClick(Idisp, false))
+ break;
+ }
+
+ vpDisplay::getClick(Idisp);
+#else
+ (void)argc; (void)argv;
+#endif
+ return 0;
+}
diff --git a/tutorial/matching/tutorial-matching-surf.cpp b/tutorial/matching/tutorial-matching-surf.cpp
new file mode 100755
index 0000000..2477038
--- /dev/null
+++ b/tutorial/matching/tutorial-matching-surf.cpp
@@ -0,0 +1,53 @@
+/*! \example tutorial-matching-surf.cpp */
+#include <visp/vpKeyPointSurf.h>
+#include <visp/vpDisplayOpenCV.h>
+#include <visp/vpVideoReader.h>
+
+int main()
+{
+#if defined(VISP_HAVE_OPENCV_NONFREE) && defined(VISP_HAVE_FFMPEG)
+ vpImage<unsigned char> I;
+
+ vpVideoReader reader;
+ reader.setFileName("video-postcard.mpeg");
+ reader.acquire(I);
+
+ vpKeyPointSurf surf;
+ surf.buildReference(I);
+
+ vpImage<unsigned char> Idisp;
+ Idisp.resize(I.getHeight(), 2*I.getWidth());
+ Idisp.insert(I, vpImagePoint(0, 0));
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+
+ vpDisplayOpenCV d(Idisp, 0, 0, "Matching surf keypoints") ;
+ vpDisplay::display(Idisp);
+ vpDisplay::flush(Idisp);
+
+ while ( ! reader.end() )
+ {
+ reader.acquire(I);
+ Idisp.insert(I, vpImagePoint(0, I.getWidth()));
+
+ vpDisplay::display(Idisp);
+ vpDisplay::displayLine(Idisp, vpImagePoint(0, I.getWidth()), vpImagePoint(I.getHeight(), I.getWidth()), vpColor::white, 2);
+
+ int nbMatch = surf.matchPoint(I);
+
+ vpImagePoint iPref, iPcur;
+ for (int i = 0; i < nbMatch; i++)
+ {
+ surf.getMatchedPoints(i, iPref, iPcur);
+ vpDisplay::displayLine(Idisp, iPref, iPcur + vpImagePoint(0, I.getWidth()), vpColor::green);
+ }
+ vpDisplay::flush(Idisp);
+
+ if (vpDisplay::getClick(Idisp, false))
+ break;
+ }
+
+ vpDisplay::getClick(Idisp);
+#endif
+
+ return 0;
+}
diff --git a/tutorial/matching/video-postcard.mpeg b/tutorial/matching/video-postcard.mpeg
new file mode 100644
index 0000000..21fca4d
Binary files /dev/null and b/tutorial/matching/video-postcard.mpeg differ
diff --git a/tutorial/robot/pioneer/CMakeLists.txt b/tutorial/robot/pioneer/CMakeLists.txt
index 342717b..321f5e2 100644
--- a/tutorial/robot/pioneer/CMakeLists.txt
+++ b/tutorial/robot/pioneer/CMakeLists.txt
@@ -3,11 +3,14 @@ project(tutorial-robot)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-
-# build the examples
-add_executable(tutorial-pioneer-robot tutorial-pioneer-robot.cpp)
-add_executable(tutorial-simu-pioneer tutorial-simu-pioneer.cpp)
-add_executable(tutorial-simu-pioneer-pan tutorial-simu-pioneer-pan.cpp)
+
+set(tutorial_cpp
+ tutorial-pioneer-robot.cpp
+ tutorial-simu-pioneer.cpp
+ tutorial-simu-pioneer-continuous-gain-constant.cpp
+ tutorial-simu-pioneer-continuous-gain-adaptive.cpp
+ tutorial-simu-pioneer-pan.cpp)
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
diff --git a/tutorial/robot/pioneer/tutorial-pioneer-robot.cpp b/tutorial/robot/pioneer/tutorial-pioneer-robot.cpp
index 91c3ec5..40c1008 100644
--- a/tutorial/robot/pioneer/tutorial-pioneer-robot.cpp
+++ b/tutorial/robot/pioneer/tutorial-pioneer-robot.cpp
@@ -5,35 +5,40 @@
int main()
{
#ifdef VISP_HAVE_PIONEER
- ArArgumentBuilder args;
- args.add("-rp");
-#ifdef UNIX
- args.add("/dev/ttyUSB0");
+ try {
+ ArArgumentBuilder args;
+ args.add("-rp");
+#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
+ args.add("/dev/ttyUSB0");
#else
- args.add("COM3");
+ args.add("COM3");
#endif
- ArSimpleConnector conn(&args);
+ ArSimpleConnector conn(&args);
- vpRobotPioneer robot;
+ vpRobotPioneer robot;
- if (!conn.connectRobot(&robot))
- return -1;
+ if (!conn.connectRobot(&robot))
+ return -1;
- robot.useSonar(false);
- vpTime::wait(2000);
+ robot.useSonar(false);
+ vpTime::wait(2000);
- vpColVector v(2);
- v = 0;
- v[0] = 0.10; // Translational velocity in m/s
- robot.setVelocity(vpRobot::REFERENCE_FRAME, v);
+ vpColVector v(2);
+ v = 0;
+ v[0] = 0.10; // Translational velocity in m/s
+ robot.setVelocity(vpRobot::REFERENCE_FRAME, v);
- vpTime::wait(1000);
- vpColVector v_mes = robot.getVelocity(vpRobot::REFERENCE_FRAME);
- std::cout << "Measured vel: " << v_mes.t() << std::endl;
- vpTime::wait(1000);
+ vpTime::wait(1000);
+ vpColVector v_mes = robot.getVelocity(vpRobot::REFERENCE_FRAME);
+ std::cout << "Measured vel: " << v_mes.t() << std::endl;
+ vpTime::wait(1000);
- robot.stopRunning();
- robot.waitForRunExit();
+ robot.stopRunning();
+ robot.waitForRunExit();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
#endif
}
diff --git a/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-adaptive.cpp b/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-adaptive.cpp
new file mode 100644
index 0000000..cfd2708
--- /dev/null
+++ b/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-adaptive.cpp
@@ -0,0 +1,148 @@
+/*!
+ \example tutorial-simu-pioneer-continuous-gain-adaptive.cpp
+
+ Example that shows how to simulate a visual servoing on a Pioneer mobile robot equipped with a camera.
+ The current visual features that are used are s = (x, log(Z/Z*)). The desired one are s* = (x*, 0), with:
+ - x the abscisse of the point measured at each iteration
+ - x* the desired abscisse position of the point (x* = 0)
+ - Z the depth of the point measured at each iteration
+ - Z* the desired depth of the point equal to the initial one.
+
+ The degrees of freedom that are controlled are (vx, wz), where wz is the rotational velocity
+ and vx the translational velocity of the mobile platform at point M located at the middle
+ between the two wheels.
+
+ The feature x allows to control wy, while log(Z/Z*) allows to control vz.
+
+ */
+#include <iostream>
+
+#include <visp/vpFeatureBuilder.h>
+#include <visp/vpFeatureDepth.h>
+#include <visp/vpFeaturePoint.h>
+#include <visp/vpHomogeneousMatrix.h>
+#include <visp/vpPlot.h>
+#include <visp/vpServo.h>
+#include <visp/vpSimulatorPioneer.h>
+#include <visp/vpVelocityTwistMatrix.h>
+
+int main()
+{
+ try {
+ vpHomogeneousMatrix cdMo;
+ cdMo[1][3] = 1.2;
+ cdMo[2][3] = 0.5;
+
+ vpHomogeneousMatrix cMo;
+ cMo[0][3] = 0.3;
+ cMo[1][3] = cdMo[1][3];
+ cMo[2][3] = 1.;
+ vpRotationMatrix cRo(0, atan2( cMo[0][3], cMo[1][3]), 0);
+ cMo.insert(cRo);
+
+ vpSimulatorPioneer robot ;
+ robot.setSamplingTime(0.04);
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ vpPoint point;
+ point.setWorldCoordinates(0,0,0);
+ point.track(cMo);
+
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
+ task.setLambda(2, 0.2, 10);
+ vpVelocityTwistMatrix cVe;
+ cVe = robot.get_cVe();
+ task.set_cVe(cVe);
+
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ vpFeaturePoint s_x, s_xd;
+ vpFeatureBuilder::create(s_x, point);
+ s_xd.buildFrom(0, 0, cdMo[2][3]);
+ task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
+
+ vpFeatureDepth s_Z, s_Zd;
+ double Z = point.get_Z();
+ double Zd = cdMo[2][3];
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
+ s_Zd.buildFrom(0, 0, Zd, 0);
+ task.addFeature(s_Z, s_Zd);
+
+#ifdef VISP_HAVE_DISPLAY
+ // Create a window (800 by 500) at position (400, 10) with 3 graphics
+ vpPlot graph(3, 800, 500, 400, 10, "Curves...");
+
+ // Init the curve plotter
+ graph.initGraph(0,2);
+ graph.initGraph(1,2);
+ graph.initGraph(2,1);
+ graph.setTitle(0, "Velocities");
+ graph.setTitle(1, "Error s-s*");
+ graph.setTitle(2, "Depth");
+ graph.setLegend(0, 0, "vx");
+ graph.setLegend(0, 1, "wz");
+ graph.setLegend(1, 0, "x");
+ graph.setLegend(1, 1, "log(Z/Z*)");
+ graph.setLegend(2, 0, "Z");
+#endif
+
+ int iter = 0;
+ for (; ;)
+ {
+ robot.getPosition(wMc) ;
+ cMo = wMc.inverse() * wMo;
+
+ point.track(cMo);
+
+ vpFeatureBuilder::create(s_x, point);
+
+ Z = point.get_Z() ;
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ;
+
+ robot.get_cVe(cVe);
+ task.set_cVe(cVe);
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ vpColVector v = task.computeControlLaw(iter*robot.getSamplingTime());
+ robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
+
+#ifdef VISP_HAVE_DISPLAY
+ graph.plot(0, iter, v); // plot velocities applied to the robot
+ graph.plot(1, iter, task.getError()); // plot error vector
+ graph.plot(2, 0, iter, Z); // plot the depth
+#endif
+
+ iter ++;
+
+ if (task.getError().sumSquare() < 0.0001) {
+ std::cout << "Reached a small error. We stop the loop... " << std::endl;
+ break;
+ }
+ }
+#ifdef VISP_HAVE_DISPLAY
+ graph.saveData(0, "./v2.dat");
+ graph.saveData(1, "./error2.dat");
+
+ const char *legend = "Click to quit...";
+ vpDisplay::displayCharString(graph.I, (int)graph.I.getHeight()-60, (int)graph.I.getWidth()-150, legend, vpColor::red);
+ vpDisplay::flush(graph.I);
+ vpDisplay::getClick(graph.I);
+#endif
+
+
+ // Kill the servo task
+ task.print() ;
+ task.kill();
+
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+}
diff --git a/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-constant.cpp b/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-constant.cpp
new file mode 100644
index 0000000..bfe5484
--- /dev/null
+++ b/tutorial/robot/pioneer/tutorial-simu-pioneer-continuous-gain-constant.cpp
@@ -0,0 +1,148 @@
+/*!
+ \example tutorial-simu-pioneer-continuous-gain-constant.cpp
+
+ Example that shows how to simulate a visual servoing on a Pioneer mobile robot equipped with a camera.
+ The current visual features that are used are s = (x, log(Z/Z*)). The desired one are s* = (x*, 0), with:
+ - x the abscisse of the point measured at each iteration
+ - x* the desired abscisse position of the point (x* = 0)
+ - Z the depth of the point measured at each iteration
+ - Z* the desired depth of the point equal to the initial one.
+
+ The degrees of freedom that are controlled are (vx, wz), where wz is the rotational velocity
+ and vx the translational velocity of the mobile platform at point M located at the middle
+ between the two wheels.
+
+ The feature x allows to control wy, while log(Z/Z*) allows to control vz.
+
+ */
+#include <iostream>
+
+#include <visp/vpFeatureBuilder.h>
+#include <visp/vpFeatureDepth.h>
+#include <visp/vpFeaturePoint.h>
+#include <visp/vpHomogeneousMatrix.h>
+#include <visp/vpPlot.h>
+#include <visp/vpServo.h>
+#include <visp/vpSimulatorPioneer.h>
+#include <visp/vpVelocityTwistMatrix.h>
+
+int main()
+{
+ try {
+ vpHomogeneousMatrix cdMo;
+ cdMo[1][3] = 1.2;
+ cdMo[2][3] = 0.5;
+
+ vpHomogeneousMatrix cMo;
+ cMo[0][3] = 0.3;
+ cMo[1][3] = cdMo[1][3];
+ cMo[2][3] = 1.;
+ vpRotationMatrix cRo(0, atan2( cMo[0][3], cMo[1][3]), 0);
+ cMo.insert(cRo);
+
+ vpSimulatorPioneer robot ;
+ robot.setSamplingTime(0.04);
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ vpPoint point;
+ point.setWorldCoordinates(0,0,0);
+ point.track(cMo);
+
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
+ task.setLambda(0.2);
+ vpVelocityTwistMatrix cVe;
+ cVe = robot.get_cVe();
+ task.set_cVe(cVe);
+
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ vpFeaturePoint s_x, s_xd;
+ vpFeatureBuilder::create(s_x, point);
+ s_xd.buildFrom(0, 0, cdMo[2][3]);
+ task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
+
+ vpFeatureDepth s_Z, s_Zd;
+ double Z = point.get_Z();
+ double Zd = cdMo[2][3];
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
+ s_Zd.buildFrom(0, 0, Zd, 0);
+ task.addFeature(s_Z, s_Zd);
+
+#ifdef VISP_HAVE_DISPLAY
+ // Create a window (800 by 500) at position (400, 10) with 3 graphics
+ vpPlot graph(3, 800, 500, 400, 10, "Curves...");
+
+ // Init the curve plotter
+ graph.initGraph(0,2);
+ graph.initGraph(1,2);
+ graph.initGraph(2,1);
+ graph.setTitle(0, "Velocities");
+ graph.setTitle(1, "Error s-s*");
+ graph.setTitle(2, "Depth");
+ graph.setLegend(0, 0, "vx");
+ graph.setLegend(0, 1, "wz");
+ graph.setLegend(1, 0, "x");
+ graph.setLegend(1, 1, "log(Z/Z*)");
+ graph.setLegend(2, 0, "Z");
+#endif
+
+ int iter = 0;
+ for (; ;)
+ {
+ robot.getPosition(wMc) ;
+ cMo = wMc.inverse() * wMo;
+
+ point.track(cMo);
+
+ vpFeatureBuilder::create(s_x, point);
+
+ Z = point.get_Z() ;
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd)) ;
+
+ robot.get_cVe(cVe);
+ task.set_cVe(cVe);
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ vpColVector v = task.computeControlLaw(iter*robot.getSamplingTime());
+ robot.setVelocity(vpRobot::ARTICULAR_FRAME, v);
+
+#ifdef VISP_HAVE_DISPLAY
+ graph.plot(0, iter, v); // plot velocities applied to the robot
+ graph.plot(1, iter, task.getError()); // plot error vector
+ graph.plot(2, 0, iter, Z); // plot the depth
+#endif
+
+ iter ++;
+
+ if (task.getError().sumSquare() < 0.0001) {
+ std::cout << "Reached a small error. We stop the loop... " << std::endl;
+ break;
+ }
+ }
+#ifdef VISP_HAVE_DISPLAY
+ graph.saveData(0, "./v2.dat");
+ graph.saveData(1, "./error2.dat");
+
+ const char *legend = "Click to quit...";
+ vpDisplay::displayCharString(graph.I, (int)graph.I.getHeight()-60, (int)graph.I.getWidth()-150, legend, vpColor::red);
+ vpDisplay::flush(graph.I);
+ vpDisplay::getClick(graph.I);
+#endif
+
+
+ // Kill the servo task
+ task.print() ;
+ task.kill();
+
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+}
diff --git a/tutorial/robot/pioneer/tutorial-simu-pioneer-pan.cpp b/tutorial/robot/pioneer/tutorial-simu-pioneer-pan.cpp
index e18d02a..453a74f 100644
--- a/tutorial/robot/pioneer/tutorial-simu-pioneer-pan.cpp
+++ b/tutorial/robot/pioneer/tutorial-simu-pioneer-pan.cpp
@@ -29,93 +29,92 @@
int main()
{
- // Set the position the camera has to reach
- vpHomogeneousMatrix cdMo ;
- cdMo[1][3] = 1.2; // t_y should be different from zero to be non singular
- cdMo[2][3] = 0.5;
-
- // Set the initial camera position
- vpHomogeneousMatrix cMo;
- cMo[0][3] = 0.3;
- cMo[1][3] = cdMo[1][3];
- cMo[2][3] = 1.;
- vpRotationMatrix cdRo(0, atan2(cMo[0][3], cMo[1][3]), 0);
- cMo.insert(cdRo);
-
- vpSimulatorPioneerPan robot ;
- robot.setSamplingTime(0.04);
- vpHomogeneousMatrix wMc, wMo;
-
- // Get robot position world frame
- robot.getPosition(wMc);
-
- // Compute the position of the object in the world frame
- wMo = wMc * cMo;
-
- // Define the target
- vpPoint point;
- point.setWorldCoordinates(0,0,0); // Coordinates in the object frame
- point.track(cMo);
-
- vpServo task;
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
- task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
- task.setLambda(0.2);
-
- vpVelocityTwistMatrix cVe;
- cVe = robot.get_cVe();
- task.set_cVe(cVe);
-
- vpMatrix eJe;
- robot.get_eJe(eJe);
- task.set_eJe(eJe);
-
- // Current and desired visual feature associated later to the x coordinate of the point
- vpFeaturePoint s_x, s_xd;
-
- // Create the current x visual feature
- vpFeatureBuilder::create(s_x, point);
-
- // Create the desired x* visual feature
- s_xd.buildFrom(0, 0, cdMo[2][3]);
-
- // Add the feature
- task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
-
- // Create the current and desired log(Z/Z*) visual feature
- vpFeatureDepth s_Z, s_Zd;
- // Initial depth of the target in front of the camera
- double Z = point.get_Z();
- // Desired depth Z* of the target.
- double Zd = cdMo[2][3];
- s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
- s_Zd.buildFrom(0, 0, Zd, 0); // log(Z/Z*) = 0 that's why the last parameter is 0
-
- // Add the feature
- task.addFeature(s_Z, s_Zd);
+ try {
+ // Set the position the camera has to reach
+ vpHomogeneousMatrix cdMo ;
+ cdMo[1][3] = 1.2; // t_y should be different from zero to be non singular
+ cdMo[2][3] = 0.5;
+
+ // Set the initial camera position
+ vpHomogeneousMatrix cMo;
+ cMo[0][3] = 0.3;
+ cMo[1][3] = cdMo[1][3];
+ cMo[2][3] = 1.;
+ vpRotationMatrix cdRo(0, atan2(cMo[0][3], cMo[1][3]), 0);
+ cMo.insert(cdRo);
+
+ vpSimulatorPioneerPan robot ;
+ robot.setSamplingTime(0.04);
+ vpHomogeneousMatrix wMc, wMo;
+
+ // Get robot position world frame
+ robot.getPosition(wMc);
+
+ // Compute the position of the object in the world frame
+ wMo = wMc * cMo;
+
+ // Define the target
+ vpPoint point;
+ point.setWorldCoordinates(0,0,0); // Coordinates in the object frame
+ point.track(cMo);
+
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
+ task.setLambda(0.2);
+
+ vpVelocityTwistMatrix cVe;
+ cVe = robot.get_cVe();
+ task.set_cVe(cVe);
+
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ // Current and desired visual feature associated later to the x coordinate of the point
+ vpFeaturePoint s_x, s_xd;
+
+ // Create the current x visual feature
+ vpFeatureBuilder::create(s_x, point);
+
+ // Create the desired x* visual feature
+ s_xd.buildFrom(0, 0, cdMo[2][3]);
+
+ // Add the feature
+ task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
+
+ // Create the current and desired log(Z/Z*) visual feature
+ vpFeatureDepth s_Z, s_Zd;
+ // Initial depth of the target in front of the camera
+ double Z = point.get_Z();
+ // Desired depth Z* of the target.
+ double Zd = cdMo[2][3];
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
+ s_Zd.buildFrom(0, 0, Zd, 0); // log(Z/Z*) = 0 that's why the last parameter is 0
+
+ // Add the feature
+ task.addFeature(s_Z, s_Zd);
#ifdef VISP_HAVE_DISPLAY
- // Create a window (800 by 500) at position (400, 10) with 3 graphics
- vpPlot graph(3, 800, 500, 400, 10, "Curves...");
-
- // Init the curve plotter
- graph.initGraph(0,3);
- graph.initGraph(1,2);
- graph.initGraph(2,1);
- graph.setTitle(0, "Velocities");
- graph.setTitle(1, "Error s-s*");
- graph.setTitle(2, "Depth");
- graph.setLegend(0, 0, "vx");
- graph.setLegend(0, 1, "wz");
- graph.setLegend(0, 2, "qdot_pan");
- graph.setLegend(1, 0, "x");
- graph.setLegend(1, 1, "log(Z/Z*)");
- graph.setLegend(2, 0, "Z");
+ // Create a window (800 by 500) at position (400, 10) with 3 graphics
+ vpPlot graph(3, 800, 500, 400, 10, "Curves...");
+
+ // Init the curve plotter
+ graph.initGraph(0,3);
+ graph.initGraph(1,2);
+ graph.initGraph(2,1);
+ graph.setTitle(0, "Velocities");
+ graph.setTitle(1, "Error s-s*");
+ graph.setTitle(2, "Depth");
+ graph.setLegend(0, 0, "vx");
+ graph.setLegend(0, 1, "wz");
+ graph.setLegend(0, 2, "qdot_pan");
+ graph.setLegend(1, 0, "x");
+ graph.setLegend(1, 1, "log(Z/Z*)");
+ graph.setLegend(2, 0, "Z");
#endif
- try
- {
- int iter = 1;
+ int iter = 0;
for (; ;)
{
robot.getPosition(wMc) ;
@@ -155,16 +154,16 @@ int main()
}
#ifdef VISP_HAVE_DISPLAY
const char *legend = "Click to quit...";
- vpDisplay::displayCharString(graph.I, graph.I.getHeight()-60, graph.I.getWidth()-150, legend, vpColor::red);
+ vpDisplay::displayCharString(graph.I, (int)graph.I.getHeight()-60, (int)graph.I.getWidth()-150, legend, vpColor::red);
vpDisplay::flush(graph.I);
vpDisplay::getClick(graph.I);
#endif
+
+ // Kill the servo task
+ task.print();
+ task.kill();
}
- catch(...)
- {
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
- // Kill the servo task
- task.print();
- task.kill();
}
diff --git a/tutorial/robot/pioneer/tutorial-simu-pioneer.cpp b/tutorial/robot/pioneer/tutorial-simu-pioneer.cpp
index 021e95e..13202d1 100644
--- a/tutorial/robot/pioneer/tutorial-simu-pioneer.cpp
+++ b/tutorial/robot/pioneer/tutorial-simu-pioneer.cpp
@@ -28,72 +28,71 @@
int main()
{
- vpHomogeneousMatrix cdMo;
- cdMo[1][3] = 1.2;
- cdMo[2][3] = 0.5;
-
- vpHomogeneousMatrix cMo;
- cMo[0][3] = 0.3;
- cMo[1][3] = cdMo[1][3];
- cMo[2][3] = 1.;
- vpRotationMatrix cRo(0, atan2( cMo[0][3], cMo[1][3]), 0);
- cMo.insert(cRo);
-
- vpSimulatorPioneer robot ;
- robot.setSamplingTime(0.04);
- vpHomogeneousMatrix wMc, wMo;
- robot.getPosition(wMc);
- wMo = wMc * cMo;
-
- vpPoint point;
- point.setWorldCoordinates(0,0,0);
- point.track(cMo);
-
- vpServo task;
- task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
- task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
- task.setLambda(0.2);
- vpVelocityTwistMatrix cVe;
- cVe = robot.get_cVe();
- task.set_cVe(cVe);
-
- vpMatrix eJe;
- robot.get_eJe(eJe);
- task.set_eJe(eJe);
-
- vpFeaturePoint s_x, s_xd;
- vpFeatureBuilder::create(s_x, point);
- s_xd.buildFrom(0, 0, cdMo[2][3]);
- task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
-
- vpFeatureDepth s_Z, s_Zd;
- double Z = point.get_Z();
- double Zd = cdMo[2][3];
- s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
- s_Zd.buildFrom(0, 0, Zd, 0);
- task.addFeature(s_Z, s_Zd);
+ try {
+ vpHomogeneousMatrix cdMo;
+ cdMo[1][3] = 1.2;
+ cdMo[2][3] = 0.5;
+
+ vpHomogeneousMatrix cMo;
+ cMo[0][3] = 0.3;
+ cMo[1][3] = cdMo[1][3];
+ cMo[2][3] = 1.;
+ vpRotationMatrix cRo(0, atan2( cMo[0][3], cMo[1][3]), 0);
+ cMo.insert(cRo);
+
+ vpSimulatorPioneer robot ;
+ robot.setSamplingTime(0.04);
+ vpHomogeneousMatrix wMc, wMo;
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ vpPoint point;
+ point.setWorldCoordinates(0,0,0);
+ point.track(cMo);
+
+ vpServo task;
+ task.setServo(vpServo::EYEINHAND_L_cVe_eJe);
+ task.setInteractionMatrixType(vpServo::DESIRED, vpServo::PSEUDO_INVERSE);
+ task.setLambda(0.2);
+ vpVelocityTwistMatrix cVe;
+ cVe = robot.get_cVe();
+ task.set_cVe(cVe);
+
+ vpMatrix eJe;
+ robot.get_eJe(eJe);
+ task.set_eJe(eJe);
+
+ vpFeaturePoint s_x, s_xd;
+ vpFeatureBuilder::create(s_x, point);
+ s_xd.buildFrom(0, 0, cdMo[2][3]);
+ task.addFeature(s_x, s_xd, vpFeaturePoint::selectX());
+
+ vpFeatureDepth s_Z, s_Zd;
+ double Z = point.get_Z();
+ double Zd = cdMo[2][3];
+ s_Z.buildFrom(s_x.get_x(), s_x.get_y(), Z, log(Z/Zd));
+ s_Zd.buildFrom(0, 0, Zd, 0);
+ task.addFeature(s_Z, s_Zd);
#ifdef VISP_HAVE_DISPLAY
- // Create a window (800 by 500) at position (400, 10) with 3 graphics
- vpPlot graph(3, 800, 500, 400, 10, "Curves...");
-
- // Init the curve plotter
- graph.initGraph(0,2);
- graph.initGraph(1,2);
- graph.initGraph(2,1);
- graph.setTitle(0, "Velocities");
- graph.setTitle(1, "Error s-s*");
- graph.setTitle(2, "Depth");
- graph.setLegend(0, 0, "vx");
- graph.setLegend(0, 1, "wz");
- graph.setLegend(1, 0, "x");
- graph.setLegend(1, 1, "log(Z/Z*)");
- graph.setLegend(2, 0, "Z");
+ // Create a window (800 by 500) at position (400, 10) with 3 graphics
+ vpPlot graph(3, 800, 500, 400, 10, "Curves...");
+
+ // Init the curve plotter
+ graph.initGraph(0,2);
+ graph.initGraph(1,2);
+ graph.initGraph(2,1);
+ graph.setTitle(0, "Velocities");
+ graph.setTitle(1, "Error s-s*");
+ graph.setTitle(2, "Depth");
+ graph.setLegend(0, 0, "vx");
+ graph.setLegend(0, 1, "wz");
+ graph.setLegend(1, 0, "x");
+ graph.setLegend(1, 1, "log(Z/Z*)");
+ graph.setLegend(2, 0, "Z");
#endif
- try
- {
- int iter = 1;
+ int iter = 0;
for (; ;)
{
robot.getPosition(wMc) ;
@@ -132,16 +131,18 @@ int main()
graph.saveData(1, "./error2.dat");
const char *legend = "Click to quit...";
- vpDisplay::displayCharString(graph.I, graph.I.getHeight()-60, graph.I.getWidth()-150, legend, vpColor::red);
+ vpDisplay::displayCharString(graph.I, (int)graph.I.getHeight()-60, (int)graph.I.getWidth()-150, legend, vpColor::red);
vpDisplay::flush(graph.I);
vpDisplay::getClick(graph.I);
#endif
+
+
+ // Kill the servo task
+ task.print() ;
+ task.kill();
+
}
- catch(...)
- {
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
-
- // Kill the servo task
- task.print() ;
- task.kill();
}
diff --git a/tutorial/simulator/image/CMakeLists.txt b/tutorial/simulator/image/CMakeLists.txt
index 551651f..81252ba 100644
--- a/tutorial/simulator/image/CMakeLists.txt
+++ b/tutorial/simulator/image/CMakeLists.txt
@@ -3,21 +3,18 @@ project(tutorial-simulation-image)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-image-simulator tutorial-image-simulator.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-image-simulator.cpp)
-# copy the data
-get_target_property(target_location tutorial-image-simulator LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/target_square.pgm" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-image-simulator
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/target_square.pgm" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-image-simulator.cpp ${data})
endforeach()
diff --git a/tutorial/simulator/image/tutorial-image-simulator.cpp b/tutorial/simulator/image/tutorial-image-simulator.cpp
index efe9d0a..fbd89e9 100644
--- a/tutorial/simulator/image/tutorial-image-simulator.cpp
+++ b/tutorial/simulator/image/tutorial-image-simulator.cpp
@@ -6,47 +6,52 @@
int main()
{
- vpImage<unsigned char> target;
- vpImageIo::read(target, "./target_square.pgm");
-
- vpColVector X[4];
- for (int i = 0; i < 4; i++) X[i].resize(3);
- // Top left Top right Bottom right Bottom left
- X[0][0] = -0.1; X[1][0] = 0.1; X[2][0] = 0.1; X[3][0] = -0.1;
- X[0][1] = -0.1; X[1][1] = -0.1; X[2][1] = 0.1; X[3][1] = 0.1;
- X[0][2] = 0; X[1][2] = 0; X[2][2] = 0; X[3][2] = 0;
-
- vpImage<unsigned char> I(480, 640);
- vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
- vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
-
- vpImageSimulator sim;
- sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION);
- sim.init(target, X);
-
- // Get the new image of the projected planar image target
- sim.setCleanPreviousImage(true);
- sim.setCameraPosition(cMo);
- sim.getImage(I, cam);
-
try {
- vpImageIo::write(I, "./rendered_image.jpg");
- }
- catch(...) {
- std::cout << "Unsupported image format" << std::endl;
- }
+ vpImage<unsigned char> target;
+ vpImageIo::read(target, "./target_square.pgm");
+
+ vpColVector X[4];
+ for (int i = 0; i < 4; i++) X[i].resize(3);
+ // Top left Top right Bottom right Bottom left
+ X[0][0] = -0.1; X[1][0] = 0.1; X[2][0] = 0.1; X[3][0] = -0.1;
+ X[0][1] = -0.1; X[1][1] = -0.1; X[2][1] = 0.1; X[3][1] = 0.1;
+ X[0][2] = 0; X[1][2] = 0; X[2][2] = 0; X[3][2] = 0;
+
+ vpImage<unsigned char> I(480, 640);
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+ vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
+
+ vpImageSimulator sim;
+ sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION);
+ sim.init(target, X);
+
+ // Get the new image of the projected planar image target
+ sim.setCleanPreviousImage(true);
+ sim.setCameraPosition(cMo);
+ sim.getImage(I, cam);
+
+ try {
+ vpImageIo::write(I, "./rendered_image.jpg");
+ }
+ catch(...) {
+ std::cout << "Unsupported image format" << std::endl;
+ }
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I);
+ vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I);
+ vpDisplayGDI d(I);
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::setTitle(I, "Planar image projection");
- vpDisplay::display(I);
- vpDisplay::flush(I);
- std::cout << "A click to quit..." << std::endl;
- vpDisplay::getClick(I);
+ vpDisplay::setTitle(I, "Planar image projection");
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+ std::cout << "A click to quit..." << std::endl;
+ vpDisplay::getClick(I);
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
diff --git a/tutorial/trace/CMakeLists.txt b/tutorial/trace/CMakeLists.txt
new file mode 100644
index 0000000..73f5074
--- /dev/null
+++ b/tutorial/trace/CMakeLists.txt
@@ -0,0 +1,15 @@
+project(tutorial-trace)
+
+cmake_minimum_required(VERSION 2.6)
+
+find_package(VISP REQUIRED)
+include_directories(${VISP_INCLUDE_DIRS})
+add_definitions(${VISP_DEFINITIONS})
+
+# set the list of source files
+set(tutorial_cpp
+ tutorial-trace.cpp)
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
diff --git a/tutorial/trace/tutorial-trace.cpp b/tutorial/trace/tutorial-trace.cpp
new file mode 100644
index 0000000..737e285
--- /dev/null
+++ b/tutorial/trace/tutorial-trace.cpp
@@ -0,0 +1,39 @@
+/*! \example tutorial-trace.cpp */
+//#define VP_TRACE // Activate the trace mode
+//#define VP_DEBUG // Activate the debug mode
+#define VP_DEBUG_MODE 2 // Activate debug level 1 and 2
+
+#include <visp/vpDebug.h>
+
+int main()
+{
+ vpIN_FCT("main()"); // std::cout if VP_TRACE defined
+
+ // Check the active debug levels set in VP_DEBUG_MODE
+ std::cout << "Debug level 1 active: " << vpDEBUG_ENABLE(1) << std::endl;
+ std::cout << "Debug level 2 active: " << vpDEBUG_ENABLE(2) << std::endl;
+ std::cout << "Debug level 3 active: " << vpDEBUG_ENABLE(3) << std::endl;
+
+ // C-like trace printings if VP_TRACE defined
+ vpTRACE("C-like trace"); // std::cout
+ vpTRACE(1, "C-like trace level 1"); // std::cout
+
+ vpERROR_TRACE("C-like error trace"); // std::cerr
+ vpERROR_TRACE(1, "C-like error trace level 1"); // std::cerr if VP_DEBUG_MODE value is >= 1
+
+ // C-like debug printings if VP_DEBUG defined
+ vpDEBUG_TRACE ("C-like debug trace"); // stdout
+ vpDERROR_TRACE("C-like error trace"); // stderr
+
+ vpDEBUG_TRACE (2, "C-like debug trace level 2"); // std::cout if VP_DEBUG_MODE value >= 2
+ vpDERROR_TRACE(2, "C-like error trace level 2"); // std::cerr if VP_DEBUG_MODE value >= 2
+
+ // C++-like trace printings if VP_TRACE defined
+ vpCTRACE << "C++-like trace" << std::endl; // std::cout
+ vpCERROR << "C++-like error trace" << std::endl; // std::cerr
+
+ // C++-like debug printings if VP_DEBUG defined
+ vpCDEBUG(2) << "C++-like debug trace level 2" << std::endl; // std::cout if VP_DEBUG_MODE value >= 2
+
+ vpOUT_FCT("main()"); // std::cout if VP_TRACE defined
+}
diff --git a/tutorial/tracking/blob/CMakeLists.txt b/tutorial/tracking/blob/CMakeLists.txt
index 8e48233..a16031e 100644
--- a/tutorial/tracking/blob/CMakeLists.txt
+++ b/tutorial/tracking/blob/CMakeLists.txt
@@ -3,20 +3,19 @@ project(tutorial-tracking-blob)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-blob-tracker tutorial-blob-tracker.cpp)
-add_executable(tutorial-blob-auto-tracker tutorial-blob-auto-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-blob-tracker.cpp
+ tutorial-blob-auto-tracker.cpp)
-# copy the data
-get_target_property(target_location tutorial-blob-auto-tracker LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-set(data "${CMAKE_CURRENT_SOURCE_DIR}/target.pgm" )
-add_custom_command(
- TARGET tutorial-blob-auto-tracker
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
-)
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/target.pgm" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-blob-auto-tracker.cpp ${data})
+endforeach()
diff --git a/tutorial/tracking/blob/tutorial-blob-auto-tracker.cpp b/tutorial/tracking/blob/tutorial-blob-auto-tracker.cpp
index 34be536..2e16f71 100644
--- a/tutorial/tracking/blob/tutorial-blob-auto-tracker.cpp
+++ b/tutorial/tracking/blob/tutorial-blob-auto-tracker.cpp
@@ -6,79 +6,84 @@
int main()
{
- bool learn = false;
- vpImage<unsigned char> I; // Create a gray level image container
+ try {
+ bool learn = false;
+ vpImage<unsigned char> I; // Create a gray level image container
- vpImageIo::read(I, "./target.pgm");
+ vpImageIo::read(I, "./target.pgm");
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Camera view");
+ vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Camera view");
+ vpDisplayGDI d(I, 0, 0, "Camera view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
- vpDot2 blob;
- if (learn) {
- // Learn the characteristics of the blob to auto detect
- blob.setGraphics(true);
- blob.setGraphicsThickness(1);
- blob.initTracking(I);
- blob.track(I);
- std::cout << "Blob characteristics: " << std::endl;
- std::cout << " width : " << blob.getWidth() << std::endl;
- std::cout << " height: " << blob.getHeight() << std::endl;
+ vpDot2 blob;
+ if (learn) {
+ // Learn the characteristics of the blob to auto detect
+ blob.setGraphics(true);
+ blob.setGraphicsThickness(1);
+ blob.initTracking(I);
+ blob.track(I);
+ std::cout << "Blob characteristics: " << std::endl;
+ std::cout << " width : " << blob.getWidth() << std::endl;
+ std::cout << " height: " << blob.getHeight() << std::endl;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
- std::cout << " area: " << blob.getArea() << std::endl;
+ std::cout << " area: " << blob.getArea() << std::endl;
#endif
- std::cout << " gray level min: " << blob.getGrayLevelMin() << std::endl;
- std::cout << " gray level max: " << blob.getGrayLevelMax() << std::endl;
- std::cout << " grayLevelPrecision: " << blob.getGrayLevelPrecision() << std::endl;
- std::cout << " sizePrecision: " << blob.getSizePrecision() << std::endl;
- std::cout << " ellipsoidShapePrecision: " << blob.getEllipsoidShapePrecision() << std::endl;
- }
- else {
- // Set blob characteristics for the auto detection
- blob.setWidth(50);
- blob.setHeight(50);
+ std::cout << " gray level min: " << blob.getGrayLevelMin() << std::endl;
+ std::cout << " gray level max: " << blob.getGrayLevelMax() << std::endl;
+ std::cout << " grayLevelPrecision: " << blob.getGrayLevelPrecision() << std::endl;
+ std::cout << " sizePrecision: " << blob.getSizePrecision() << std::endl;
+ std::cout << " ellipsoidShapePrecision: " << blob.getEllipsoidShapePrecision() << std::endl;
+ }
+ else {
+ // Set blob characteristics for the auto detection
+ blob.setWidth(50);
+ blob.setHeight(50);
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
- blob.setArea(1700);
+ blob.setArea(1700);
#endif
- blob.setGrayLevelMin(0);
- blob.setGrayLevelMax(30);
- blob.setGrayLevelPrecision(0.8);
- blob.setSizePrecision(0.65);
- blob.setEllipsoidShapePrecision(0.65);
- }
+ blob.setGrayLevelMin(0);
+ blob.setGrayLevelMax(30);
+ blob.setGrayLevelPrecision(0.8);
+ blob.setSizePrecision(0.65);
+ blob.setEllipsoidShapePrecision(0.65);
+ }
- std::list<vpDot2> blob_list;
- blob.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), blob_list);
+ std::list<vpDot2> blob_list;
+ blob.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), blob_list);
- if (learn) {
- // The blob that is tracked by initTracking() is not in the list of auto detected blobs
- // We add it:
- blob_list.push_back(blob);
- }
- std::cout << "Number of auto detected blob: " << blob_list.size() << std::endl;
- std::cout << "A click to exit..." << std::endl;
+ if (learn) {
+ // The blob that is tracked by initTracking() is not in the list of auto detected blobs
+ // We add it:
+ blob_list.push_back(blob);
+ }
+ std::cout << "Number of auto detected blob: " << blob_list.size() << std::endl;
+ std::cout << "A click to exit..." << std::endl;
- while(1) {
- vpDisplay::display(I);
+ while(1) {
+ vpDisplay::display(I);
- for(std::list<vpDot2>::iterator it=blob_list.begin(); it != blob_list.end(); ++it) {
- (*it).setGraphics(true);
- (*it).setGraphicsThickness(3);
- (*it).track(I);
- }
+ for(std::list<vpDot2>::iterator it=blob_list.begin(); it != blob_list.end(); ++it) {
+ (*it).setGraphics(true);
+ (*it).setGraphicsThickness(3);
+ (*it).track(I);
+ }
- vpDisplay::flush(I);
+ vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+ if (vpDisplay::getClick(I, false))
+ break;
- vpTime::wait(40);
+ vpTime::wait(40);
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
}
diff --git a/tutorial/tracking/blob/tutorial-blob-tracker.cpp b/tutorial/tracking/blob/tutorial-blob-tracker.cpp
index 23dae3b..29081fa 100644
--- a/tutorial/tracking/blob/tutorial-blob-tracker.cpp
+++ b/tutorial/tracking/blob/tutorial-blob-tracker.cpp
@@ -10,38 +10,43 @@
int main()
{
#if (defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_CMU1394))
- vpImage<unsigned char> I; // Create a gray level image container
+ try {
+ vpImage<unsigned char> I; // Create a gray level image container
#if defined(VISP_HAVE_DC1394_2)
- vp1394TwoGrabber g(false);
+ vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
- vp1394CMUGrabber g;
+ vp1394CMUGrabber g;
#endif
- g.open(I);
- g.acquire(I);
+ g.open(I);
+ g.acquire(I);
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Camera view");
+ vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Camera view");
+ vpDisplayGDI d(I, 0, 0, "Camera view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- vpDot2 blob;
- blob.setGraphics(true);
- blob.setGraphicsThickness(2);
- blob.initTracking(I);
-
- while(1) {
- g.acquire(I); // Acquire an image
vpDisplay::display(I);
- blob.track(I);
vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+
+ vpDot2 blob;
+ blob.setGraphics(true);
+ blob.setGraphicsThickness(2);
+ blob.initTracking(I);
+
+ while(1) {
+ g.acquire(I); // Acquire an image
+ vpDisplay::display(I);
+ blob.track(I);
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false))
+ break;
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/tracking/keypoint/CMakeLists.txt b/tutorial/tracking/keypoint/CMakeLists.txt
index a407530..46c8adc 100644
--- a/tutorial/tracking/keypoint/CMakeLists.txt
+++ b/tutorial/tracking/keypoint/CMakeLists.txt
@@ -3,21 +3,18 @@ project(tutorial-tracking-keypoint)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-klt-tracker tutorial-klt-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-klt-tracker.cpp)
-# copy the data
-get_target_property(target_location tutorial-klt-tracker LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/video-postcard.mpeg" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-klt-tracker
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/video-postcard.mpeg" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-klt-tracker.cpp ${data})
endforeach()
diff --git a/tutorial/tracking/keypoint/tutorial-klt-tracker.cpp b/tutorial/tracking/keypoint/tutorial-klt-tracker.cpp
index 89f429b..39a362f 100644
--- a/tutorial/tracking/keypoint/tutorial-klt-tracker.cpp
+++ b/tutorial/tracking/keypoint/tutorial-klt-tracker.cpp
@@ -7,50 +7,55 @@
int main()
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x010100) && defined(VISP_HAVE_FFMPEG)
- vpVideoReader reader;
- reader.setFileName("video-postcard.mpeg");
-
- vpImage<unsigned char> I;
- reader.acquire(I);
-
- IplImage * cvI = NULL;
- vpImageConvert::convert(I, cvI);
-
- // Display initialisation
- vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- vpKltOpencv tracker;
- // Set tracker parameters
- tracker.setMaxFeatures(200);
- tracker.setWindowSize(10);
- tracker.setQuality(0.01);
- tracker.setMinDistance(15);
- tracker.setHarrisFreeParameter(0.04);
- tracker.setBlockSize(9);
- tracker.setUseHarris(1);
- tracker.setPyramidLevels(3);
-
- // Initialise the tracking
- tracker.initTracking(cvI);
-
- while ( ! reader.end() )
- {
+ try {
+ vpVideoReader reader;
+ reader.setFileName("video-postcard.mpeg");
+
+ vpImage<unsigned char> I;
reader.acquire(I);
- vpDisplay::display(I);
+ IplImage * cvI = NULL;
vpImageConvert::convert(I, cvI);
- tracker.track(cvI);
- tracker.display(I, vpColor::red);
+ // Display initialisation
+ vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
+ vpDisplay::display(I);
vpDisplay::flush(I);
- }
- vpDisplay::getClick(I);
+ vpKltOpencv tracker;
+ // Set tracker parameters
+ tracker.setMaxFeatures(200);
+ tracker.setWindowSize(10);
+ tracker.setQuality(0.01);
+ tracker.setMinDistance(15);
+ tracker.setHarrisFreeParameter(0.04);
+ tracker.setBlockSize(9);
+ tracker.setUseHarris(1);
+ tracker.setPyramidLevels(3);
+
+ // Initialise the tracking
+ tracker.initTracking(cvI);
+
+ while ( ! reader.end() )
+ {
+ reader.acquire(I);
+ vpDisplay::display(I);
- cvReleaseImage(&cvI);
+ vpImageConvert::convert(I, cvI);
+ tracker.track(cvI);
- return 0;
+ tracker.display(I, vpColor::red);
+ vpDisplay::flush(I);
+ }
+
+ vpDisplay::getClick(I);
+
+ cvReleaseImage(&cvI);
+
+ return 0;
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
#endif
}
diff --git a/tutorial/tracking/model-based/edges/CMakeLists.txt b/tutorial/tracking/model-based/edges/CMakeLists.txt
index 6eaad4a..532d501 100644
--- a/tutorial/tracking/model-based/edges/CMakeLists.txt
+++ b/tutorial/tracking/model-based/edges/CMakeLists.txt
@@ -3,25 +3,22 @@ project(tutorial-tracking-mb-edges)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-mb-edge-tracker tutorial-mb-edge-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-mb-edge-tracker.cpp)
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.wrl" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
-# copy the data
-get_target_property(target_location tutorial-mb-edge-tracker LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-mb-edge-tracker
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-mb-edge-tracker.cpp ${data})
endforeach()
diff --git a/tutorial/tracking/model-based/edges/teabox.wrl b/tutorial/tracking/model-based/edges/teabox.wrl
new file mode 100644
index 0000000..a452ea0
--- /dev/null
+++ b/tutorial/tracking/model-based/edges/teabox.wrl
@@ -0,0 +1,33 @@
+#VRML V2.0 utf8
+
+DEF fst_0 Group {
+children [
+
+# Object "teabox"
+Shape {
+
+geometry DEF cube IndexedFaceSet {
+
+coord Coordinate {
+point [
+0 0 0 ,
+0 0 -0.08,
+0.165 0 -0.08,
+0.165 0 0 ,
+0.165 0.068 0 ,
+0.165 0.068 -0.08,
+0 0.068 -0.08,
+0 0.068 0 ]
+}
+
+coordIndex [
+ 0,1,2,3,-1,
+ 1,6,5,2,-1,
+ 4,5,6,7,-1,
+ 0,3,4,7,-1,
+ 5,4,3,2,-1,
+ 0,7,6,1,-1]}
+}
+
+]
+}
diff --git a/tutorial/tracking/model-based/edges/teabox.xml b/tutorial/tracking/model-based/edges/teabox.xml
index c8a3126..3869704 100644
--- a/tutorial/tracking/model-based/edges/teabox.xml
+++ b/tutorial/tracking/model-based/edges/teabox.xml
@@ -18,16 +18,18 @@
<step>4</step>
<nb_sample>250</nb_sample>
</sample>
- <face>
- <near_clipping>0.1</near_clipping>
- <far_clipping>100</far_clipping>
- <fov_clipping>1</fov_clipping>
- </face>
<camera>
<u0>325.66776</u0>
<v0>243.69727</v0>
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
diff --git a/tutorial/tracking/model-based/edges/tutorial-mb-edge-tracker.cpp b/tutorial/tracking/model-based/edges/tutorial-mb-edge-tracker.cpp
index 1ee8475..5852550 100644
--- a/tutorial/tracking/model-based/edges/tutorial-mb-edge-tracker.cpp
+++ b/tutorial/tracking/model-based/edges/tutorial-mb-edge-tracker.cpp
@@ -6,62 +6,70 @@
int main()
{
- vpImage<unsigned char> I;
- vpCameraParameters cam;
- vpHomogeneousMatrix cMo;
+ try {
+ vpImage<unsigned char> I;
+ vpCameraParameters cam;
+ vpHomogeneousMatrix cMo;
- vpImageIo::read(I, "teabox.pgm");
+ vpImageIo::read(I, "teabox.pgm");
#if defined(VISP_HAVE_X11)
- vpDisplayX display(I,100,100,"Model-based edge tracker");;
+ vpDisplayX display(I,100,100,"Model-based edge tracker");;
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI display(I,100,100,"Model-based edge tracker");;
+ vpDisplayGDI display(I,100,100,"Model-based edge tracker");;
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpMbEdgeTracker tracker;
+ vpMbEdgeTracker tracker;
#ifdef VISP_HAVE_XML2
- tracker.loadConfigFile("teabox.xml");
+ tracker.loadConfigFile("teabox.xml");
#else
- vpMe me;
- me.setMaskSize(5);
- me.setMaskNumber(180);
- me.setRange(8);
- me.setThreshold(10000);
- me.setMu1(0.5);
- me.setMu2(0.5);
- me.setSampleStep(4);
- me.setNbTotalSample(250);
- tracker.setMovingEdge(me);
- cam.initPersProjWithoutDistortion(839, 839, 325, 243);
- tracker.setCameraParameters(cam);
- tracker.setNearClippingDistance(0.1);
- tracker.setFarClippingDistance(100.0);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ vpMe me;
+ me.setMaskSize(5);
+ me.setMaskNumber(180);
+ me.setRange(8);
+ me.setThreshold(10000);
+ me.setMu1(0.5);
+ me.setMu2(0.5);
+ me.setSampleStep(4);
+ me.setNbTotalSample(250);
+ tracker.setMovingEdge(me);
+ cam.initPersProjWithoutDistortion(839, 839, 325, 243);
+ tracker.setCameraParameters(cam);
+ tracker.setAngleAppear( vpMath::rad(70) );
+ tracker.setAngleDisappear( vpMath::rad(80) );
+ tracker.setNearClippingDistance(0.1);
+ tracker.setFarClippingDistance(100.0);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
#endif
- tracker.setDisplayFeatures(true);
- tracker.setOgreVisibilityTest(false);
- tracker.loadModel("teabox.cao");
- tracker.initClick(I, "teabox.init");
+ tracker.setOgreVisibilityTest(false);
+ tracker.loadModel("teabox.cao");
+ //tracker.loadModel("teabox.wrl");
+ tracker.setDisplayFeatures(true);
+ tracker.initClick(I, "teabox.init");
- while(1){
- vpDisplay::display(I);
- tracker.track(I);
- tracker.getPose(cMo);
- tracker.getCameraParameters(cam);
- tracker.display(I, cMo, cam, vpColor::red, 2);
- vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
- vpDisplay::flush(I);
+ while(1){
+ vpDisplay::display(I);
+ tracker.track(I);
+ tracker.getPose(cMo);
+ tracker.getCameraParameters(cam);
+ tracker.display(I, cMo, cam, vpColor::red, 2);
+ vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
+ vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
- vpTime::wait(40);
- }
+ if (vpDisplay::getClick(I, false))
+ break;
+ vpTime::wait(40);
+ }
#ifdef VISP_HAVE_XML2
- vpXmlParser::cleanup();
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- SoDB::finish();
+ SoDB::finish();
#endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
diff --git a/tutorial/tracking/model-based/hybrid/CMakeLists.txt b/tutorial/tracking/model-based/hybrid/CMakeLists.txt
index 220abfa..55f4333 100644
--- a/tutorial/tracking/model-based/hybrid/CMakeLists.txt
+++ b/tutorial/tracking/model-based/hybrid/CMakeLists.txt
@@ -3,24 +3,21 @@ project(tutorial-tracking-mb-hybrid)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-mb-hybrid-tracker tutorial-mb-hybrid-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-mb-hybrid-tracker.cpp)
-# copy the data
-get_target_property(target_location tutorial-mb-hybrid-tracker LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-mb-hybrid-tracker
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-mb-hybrid-tracker.cpp ${data})
endforeach()
diff --git a/tutorial/tracking/model-based/hybrid/teabox.xml b/tutorial/tracking/model-based/hybrid/teabox.xml
index d25cdf1..41a1afb 100644
--- a/tutorial/tracking/model-based/hybrid/teabox.xml
+++ b/tutorial/tracking/model-based/hybrid/teabox.xml
@@ -18,13 +18,6 @@
<step>4</step>
<nb_sample>250</nb_sample>
</sample>
- <face>
- <angle_appear>70</angle_appear>
- <angle_disappear>80</angle_disappear>
- <near_clipping>0.1</near_clipping>
- <far_clipping>100</far_clipping>
- <fov_clipping>1</fov_clipping>
- </face>
<klt>
<mask_border>5</mask_border>
<max_features>300</max_features>
@@ -41,5 +34,12 @@
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
diff --git a/tutorial/tracking/model-based/hybrid/tutorial-mb-hybrid-tracker.cpp b/tutorial/tracking/model-based/hybrid/tutorial-mb-hybrid-tracker.cpp
index 1e5b22c..630546e 100644
--- a/tutorial/tracking/model-based/hybrid/tutorial-mb-hybrid-tracker.cpp
+++ b/tutorial/tracking/model-based/hybrid/tutorial-mb-hybrid-tracker.cpp
@@ -7,77 +7,81 @@
int main()
{
#ifdef VISP_HAVE_OPENCV
- vpImage<unsigned char> I;
- vpCameraParameters cam;
- vpHomogeneousMatrix cMo;
+ try {
+ vpImage<unsigned char> I;
+ vpCameraParameters cam;
+ vpHomogeneousMatrix cMo;
- vpImageIo::read(I, "teabox.pgm");
+ vpImageIo::read(I, "teabox.pgm");
#if defined(VISP_HAVE_X11)
- vpDisplayX display(I,100,100,"Model-based hybrid tracker");;
+ vpDisplayX display(I,100,100,"Model-based hybrid tracker");;
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI display(I,100,100,"Model-based hybrid tracker");;
+ vpDisplayGDI display(I,100,100,"Model-based hybrid tracker");;
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpMbEdgeKltTracker tracker;
+ vpMbEdgeKltTracker tracker;
#ifdef VISP_HAVE_XML2
- tracker.loadConfigFile("teabox.xml");
+ tracker.loadConfigFile("teabox.xml");
#else
- vpMe me;
- me.setMaskSize(5);
- me.setMaskNumber(180);
- me.setRange(8);
- me.setThreshold(10000);
- me.setMu1(0.5);
- me.setMu2(0.5);
- me.setSampleStep(4);
- me.setNbTotalSample(250);
- tracker.setMovingEdge(me);
- tracker.setAngleAppear(70);
- tracker.setAngleDisappear(80);
- tracker.setMaskBorder(5);
- vpKltOpencv klt_settings;
- klt_settings.setMaxFeatures(300);
- klt_settings.setWindowSize(5);
- klt_settings.setQuality(0.015);
- klt_settings.setMinDistance(8);
- klt_settings.setHarrisFreeParameter(0.01);
- klt_settings.setBlockSize(3);
- klt_settings.setPyramidLevels(3);
- tracker.setKltOpencv(klt_settings);
- cam.initPersProjWithoutDistortion(839, 839, 325, 243);
- tracker.setCameraParameters(cam);
- tracker.setNearClippingDistance(0.1);
- tracker.setFarClippingDistance(100.0);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ vpMe me;
+ me.setMaskSize(5);
+ me.setMaskNumber(180);
+ me.setRange(8);
+ me.setThreshold(10000);
+ me.setMu1(0.5);
+ me.setMu2(0.5);
+ me.setSampleStep(4);
+ me.setNbTotalSample(250);
+ tracker.setMovingEdge(me);
+ tracker.setMaskBorder(5);
+ vpKltOpencv klt_settings;
+ klt_settings.setMaxFeatures(300);
+ klt_settings.setWindowSize(5);
+ klt_settings.setQuality(0.015);
+ klt_settings.setMinDistance(8);
+ klt_settings.setHarrisFreeParameter(0.01);
+ klt_settings.setBlockSize(3);
+ klt_settings.setPyramidLevels(3);
+ tracker.setKltOpencv(klt_settings);
+ cam.initPersProjWithoutDistortion(839, 839, 325, 243);
+ tracker.setCameraParameters(cam);
+ tracker.setAngleAppear( vpMath::rad(70) );
+ tracker.setAngleDisappear( vpMath::rad(80) );
+ tracker.setNearClippingDistance(0.1);
+ tracker.setFarClippingDistance(100.0);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
#endif
- tracker.setDisplayFeatures(true);
- tracker.setOgreVisibilityTest(true);
- tracker.loadModel("teabox.cao");
- tracker.initClick(I, "teabox.init");
+ tracker.setOgreVisibilityTest(true);
+ tracker.loadModel("teabox.cao");
+ tracker.setDisplayFeatures(true);
+ tracker.initClick(I, "teabox.init");
- while(1){
- vpDisplay::display(I);
- tracker.track(I);
- tracker.getPose(cMo);
- tracker.getCameraParameters(cam);
- tracker.display(I, cMo, cam, vpColor::red, 2, true);
- vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
- vpDisplay::flush(I);
+ while(1){
+ vpDisplay::display(I);
+ tracker.track(I);
+ tracker.getPose(cMo);
+ tracker.getCameraParameters(cam);
+ tracker.display(I, cMo, cam, vpColor::red, 2, true);
+ vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
+ vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
- vpTime::wait(40);
- }
+ if (vpDisplay::getClick(I, false))
+ break;
+ vpTime::wait(40);
+ }
#ifdef VISP_HAVE_XML2
- vpXmlParser::cleanup();
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- SoDB::finish();
+ SoDB::finish();
#endif
-
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
#endif
}
diff --git a/tutorial/tracking/model-based/keypoint/CMakeLists.txt b/tutorial/tracking/model-based/keypoint/CMakeLists.txt
index 164edb8..5273220 100644
--- a/tutorial/tracking/model-based/keypoint/CMakeLists.txt
+++ b/tutorial/tracking/model-based/keypoint/CMakeLists.txt
@@ -3,25 +3,22 @@ project(tutorial-tracking-mb-keypoint)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-mb-klt-tracker tutorial-mb-klt-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-mb-klt-tracker.cpp)
-# copy the data
-get_target_property(target_location tutorial-mb-klt-tracker LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox-triangle.cao" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-mb-klt-tracker
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.pgm" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.xml" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.cao" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox-triangle.cao" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/teabox.init" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-mb-klt-tracker.cpp ${data})
endforeach()
diff --git a/tutorial/tracking/model-based/keypoint/teabox.xml b/tutorial/tracking/model-based/keypoint/teabox.xml
index 0937e9e..6e1762b 100644
--- a/tutorial/tracking/model-based/keypoint/teabox.xml
+++ b/tutorial/tracking/model-based/keypoint/teabox.xml
@@ -1,12 +1,5 @@
<?xml version="1.0"?>
<conf>
- <face>
- <angle_appear>70</angle_appear>
- <angle_disappear>80</angle_disappear>
- <near_clipping>0.1</near_clipping>
- <far_clipping>100</far_clipping>
- <fov_clipping>1</fov_clipping>
- </face>
<klt>
<mask_border>5</mask_border>
<max_features>300</max_features>
@@ -23,5 +16,12 @@
<px>839.21470</px>
<py>839.44555</py>
</camera>
+ <face>
+ <angle_appear>70</angle_appear>
+ <angle_disappear>80</angle_disappear>
+ <near_clipping>0.1</near_clipping>
+ <far_clipping>100</far_clipping>
+ <fov_clipping>1</fov_clipping>
+ </face>
</conf>
diff --git a/tutorial/tracking/model-based/keypoint/tutorial-mb-klt-tracker.cpp b/tutorial/tracking/model-based/keypoint/tutorial-mb-klt-tracker.cpp
index 46582de..b834630 100644
--- a/tutorial/tracking/model-based/keypoint/tutorial-mb-klt-tracker.cpp
+++ b/tutorial/tracking/model-based/keypoint/tutorial-mb-klt-tracker.cpp
@@ -7,67 +7,72 @@
int main()
{
#ifdef VISP_HAVE_OPENCV
- vpImage<unsigned char> I;
- vpCameraParameters cam;
- vpHomogeneousMatrix cMo;
+ try {
+ vpImage<unsigned char> I;
+ vpCameraParameters cam;
+ vpHomogeneousMatrix cMo;
- vpImageIo::read(I, "teabox.pgm");
+ vpImageIo::read(I, "teabox.pgm");
#if defined(VISP_HAVE_X11)
- vpDisplayX display(I,100,100,"Model-based keypoints tracker");;
+ vpDisplayX display(I,100,100,"Model-based keypoints tracker");;
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI display(I,100,100,"Model-based keypoints tracker");;
+ vpDisplayGDI display(I,100,100,"Model-based keypoints tracker");;
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpMbKltTracker tracker;
+ vpMbKltTracker tracker;
#ifdef VISP_HAVE_XML2
- tracker.loadConfigFile("teabox.xml");
+ tracker.loadConfigFile("teabox.xml");
#else
- tracker.setAngleAppear(70);
- tracker.setAngleDisappear(80);
- tracker.setMaskBorder(5);
- vpKltOpencv klt_settings;
- klt_settings.setMaxFeatures(300);
- klt_settings.setWindowSize(5);
- klt_settings.setQuality(0.015);
- klt_settings.setMinDistance(8);
- klt_settings.setHarrisFreeParameter(0.01);
- klt_settings.setBlockSize(3);
- klt_settings.setPyramidLevels(3);
- tracker.setKltOpencv(klt_settings);
- cam.initPersProjWithoutDistortion(839, 839, 325, 243);
- tracker.setCameraParameters(cam);
- tracker.setNearClippingDistance(0.1);
- tracker.setFarClippingDistance(100.0);
- tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+ tracker.setMaskBorder(5);
+ vpKltOpencv klt_settings;
+ klt_settings.setMaxFeatures(300);
+ klt_settings.setWindowSize(5);
+ klt_settings.setQuality(0.015);
+ klt_settings.setMinDistance(8);
+ klt_settings.setHarrisFreeParameter(0.01);
+ klt_settings.setBlockSize(3);
+ klt_settings.setPyramidLevels(3);
+ tracker.setKltOpencv(klt_settings);
+ cam.initPersProjWithoutDistortion(839, 839, 325, 243);
+ tracker.setCameraParameters(cam);
+ tracker.setAngleAppear( vpMath::rad(70) );
+ tracker.setAngleDisappear( vpMath::rad(80) );
+ tracker.setNearClippingDistance(0.1);
+ tracker.setFarClippingDistance(100.0);
+ tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
#endif
- tracker.setDisplayFeatures(true);
- tracker.setOgreVisibilityTest(true);
- tracker.loadModel("teabox-triangle.cao");
- tracker.initClick(I, "teabox.init");
+ tracker.setOgreVisibilityTest(true);
+ tracker.loadModel("teabox-triangle.cao");
+ tracker.setDisplayFeatures(true);
+ tracker.initClick(I, "teabox.init");
- while(1){
- vpDisplay::display(I);
- tracker.track(I);
- tracker.getPose(cMo);
- tracker.getCameraParameters(cam);
- tracker.display(I, cMo, cam, vpColor::red, 2, true);
- vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
- vpDisplay::flush(I);
+ while(1){
+ vpDisplay::display(I);
+ tracker.track(I);
+ tracker.getPose(cMo);
+ tracker.getCameraParameters(cam);
+ tracker.display(I, cMo, cam, vpColor::red, 2, true);
+ vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
+ vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
- vpTime::wait(40);
- }
+ if (vpDisplay::getClick(I, false))
+ break;
+ vpTime::wait(40);
+ }
#ifdef VISP_HAVE_XML2
- vpXmlParser::cleanup();
+ vpXmlParser::cleanup();
#endif
#ifdef VISP_HAVE_COIN
- SoDB::finish();
+ SoDB::finish();
#endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
#endif
}
diff --git a/tutorial/tracking/moving-edges/CMakeLists.txt b/tutorial/tracking/moving-edges/CMakeLists.txt
index 93d9a6d..e1e7dd3 100644
--- a/tutorial/tracking/moving-edges/CMakeLists.txt
+++ b/tutorial/tracking/moving-edges/CMakeLists.txt
@@ -3,10 +3,12 @@ project(tutorial-tracking-me)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-me-ellipse-tracker tutorial-me-ellipse-tracker.cpp)
-add_executable(tutorial-me-line-tracker tutorial-me-line-tracker.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-me-ellipse-tracker.cpp
+ tutorial-me-line-tracker.cpp)
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
diff --git a/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp b/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp
index 319762e..19b8fa4 100644
--- a/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp
+++ b/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp
@@ -9,46 +9,50 @@
int main()
{
#if (defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2))
-
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
#if defined(VISP_HAVE_DC1394_2)
- vp1394TwoGrabber g(false);
+ vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
- vp1394CMUGrabber g;
+ vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
- vpV4l2Grabber g;
+ vpV4l2Grabber g;
#endif
- g.open(I);
- g.acquire(I);
+ g.open(I);
+ g.acquire(I);
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Camera view");
+ vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Camera view");
+ vpDisplayGDI d(I, 0, 0, "Camera view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- vpMe me;
- me.setRange(25);
- me.setThreshold(15000);
- me.setSampleStep(10);
-
- vpMeEllipse ellipse;
- ellipse.setMe(&me);
- ellipse.setDisplay(vpMeSite::RANGE_RESULT);
- ellipse.initTracking(I);
-
- while(1) {
- g.acquire(I);
vpDisplay::display(I);
- ellipse.track(I);
- ellipse.display(I, vpColor::red);
vpDisplay::flush(I);
+
+ vpMe me;
+ me.setRange(25);
+ me.setThreshold(15000);
+ me.setSampleStep(10);
+
+ vpMeEllipse ellipse;
+ ellipse.setMe(&me);
+ ellipse.setDisplay(vpMeSite::RANGE_RESULT);
+ ellipse.initTracking(I);
+
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ ellipse.track(I);
+ ellipse.display(I, vpColor::red);
+ vpDisplay::flush(I);
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp b/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp
index 4881a04..e01f9f6 100644
--- a/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp
+++ b/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp
@@ -9,46 +9,50 @@
int main()
{
#if (defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2))
-
- vpImage<unsigned char> I;
+ try {
+ vpImage<unsigned char> I;
#if defined(VISP_HAVE_DC1394_2)
- vp1394TwoGrabber g(false);
+ vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
- vp1394CMUGrabber g;
+ vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
- vpV4l2Grabber g;
+ vpV4l2Grabber g;
#endif
- g.open(I);
- g.acquire(I);
+ g.open(I);
+ g.acquire(I);
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Camera view");
+ vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Camera view");
+ vpDisplayGDI d(I, 0, 0, "Camera view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::flush(I);
-
- vpMe me;
- me.setRange(25);
- me.setThreshold(15000);
- me.setSampleStep(10);
-
- vpMeLine line;
- line.setMe(&me);
- line.setDisplay(vpMeSite::RANGE_RESULT);
- line.initTracking(I);
-
- while(1) {
- g.acquire(I);
vpDisplay::display(I);
- line.track(I);
- line.display(I, vpColor::red);
vpDisplay::flush(I);
+
+ vpMe me;
+ me.setRange(25);
+ me.setThreshold(15000);
+ me.setSampleStep(10);
+
+ vpMeLine line;
+ line.setMe(&me);
+ line.setDisplay(vpMeSite::RANGE_RESULT);
+ line.initTracking(I);
+
+ while(1) {
+ g.acquire(I);
+ vpDisplay::display(I);
+ line.track(I);
+ line.display(I, vpColor::red);
+ vpDisplay::flush(I);
+ }
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
diff --git a/tutorial/tracking/template-tracker/CMakeLists.txt b/tutorial/tracking/template-tracker/CMakeLists.txt
new file mode 100644
index 0000000..385c9d6
--- /dev/null
+++ b/tutorial/tracking/template-tracker/CMakeLists.txt
@@ -0,0 +1,20 @@
+project(tutorial-tracking-template)
+
+cmake_minimum_required(VERSION 2.6)
+
+find_package(VISP REQUIRED)
+
+# set the list of source files
+set(tutorial_cpp
+ tutorial-template-tracker.cpp)
+
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/pattern-template-tracker.pgm" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-template-tracker.cpp ${data})
+endforeach()
diff --git a/tutorial/tracking/template-tracker/pattern-template-tracker.pgm b/tutorial/tracking/template-tracker/pattern-template-tracker.pgm
new file mode 100644
index 0000000..a9c0814
--- /dev/null
+++ b/tutorial/tracking/template-tracker/pattern-template-tracker.pgm
@@ -0,0 +1,4440 @@
+P5
+# CREATOR: GIMP PNM Filter Version 1.1
+640 480
+255
+>>?@?AAAAA@@@@?A@@?ABA??ACCBABBDCABCCDDDDCCCCCCDEEDCDDABDFDBDEEEEFEDDFFEFGDDDBEGEEEEDEFFCDECCDDEGHHHHGGFGGGGGIIHHJIGHIIHGIHHGHGHIJIIKLJHJHIKKKMMLKJKKKKLLMMMMLKKIKLLLMMMNNMLLNNKKMMLLKJJLNNMKNNLLMNONNMLLQPNNNMNOOMOQQPOOOONOPPOPPOOOOONNOPPQQQRQOPRRRQPPSQPQQQTTSPQTSSSTRRRSSTTPPQTVUVUTUUSQRTVUTTTVWWWVUUVVVYYWVWYXVVXXZZZZ[[Z[]\Y\\[YZ\[[[\[[]^_`][]`_]^_`aa`aaabbbbca_b`bccefdddfgffefgghgdfgjihhgghhjihijmnmmmooopommlmnopolhkkihggfeedbcaaaa_^]YZZXVTSPNNMHFFEEDB@>;:9974320./-((''&%"
[...]
+
+
+
!!
+
+
+
+
+
>>?=?@A@@@@?@AAAABA at AA@???AAABBCCABCB at CCCABAB@CCCDCBDDCCDEEBDDDADEDCFGFDEFDEEBDFFEEEEDFGEDDCDDDEGGHHFDGGHIFFEIJIJIGGIIIIIIHIHEGGIIJKLLKIKIJJJIMMMIIJIGJJKFJJLMMLMMLKMMLIMNLGLNNLLNMKLJJKMOONLHLJMOPONKNNNOOMNONNOONOOMOOOPQPONOPQQQMMNOKNORSROPPQPQRTTRNPRQNRTSQTSTSSSSSSRRSSPTTTPTUUTUQSRUSSUWWWUTUVWWVVVUUTUYXXWXZXWXYZZZZYY[YZ[[X\\[[\\\[[ZYY[^``_Y]`a`_```__aabcbbcdb^baabdffdfffedaefgchhggghijhehijjiiijklnllnpqpimkmmoopjggkjighihdfdccbba]a^]Y[[YSSSRNPNKGGEFDB@?=;686623./.-()(($&!
[...]
"!!
+
+
+
+
<=>??@@?@A=>@BBAACA at AA@??@ABBBBBABCCA?BDCCCBB at BB@CCDDDCC at DEDCBBCCDBDFGEDDDDEEEDEEECDEFFFFECDEEDFGGGHEEGHIJFFEHHJJGEGHIIIFFFHIHHIFGIKLMKJKKJJIJMNMKJJGHIJKJKLJMMMMMLLMMKJKMLKMMLLMNMNMLMNLNOPNLLMNOPQONOPOOONJPNOPONNMNOPQRQQPNNPQQQQQONNPQSTRPPPQPQQSSRQQQPPTVTQTUTTTSRRRSTSSRSTTUUVUTTSSTTRSWXWXWTTTVWVVVUUTTWXWWYZYWWZZXYYVY[YWZ[[\]\\\\\\\\[[]^_`^Z\^`a`_`_^_abbcccccb^cddcefedegfcbaeihgghggggiiihhijikkkiknmllnoponmkmmnpnlkklljiijiihgecbbbbbb^\[ZYYXVSRQOLJIHGFC@@=<;8677541.,++)((&$"!!
[...]
+
+
<;=>??@>@@?>@AAAB@@@BAA>@AA?BBAAABCBA at CDDDCBB@BBAACDDBBCDEECDDDBDDEEGHGEEEFFFEEDFEDCEFEFFCCCFFFGGFGGGGHIIHGFFGIJJGGGHGJJHGGGJJJJHGHIKLLHKKJJJGLLKJKKKKKKLLMMMMMMMMLLLJLKLKLJNONLLMNNNHLNNMNKONNNOOPPOMNKNOPNNOPQQPPMNNPPQQPQPLOPPQSRRQPNQQRPRKPOOPQQPPRRRRRRTSRQUUUSTPRRSSTSSOTPQSUVURUTSTTSVWWSVVUTUUWWVSUTTRVUXYZXZTWZZXYYYYZYXY[\\[\[\]]]]X\\\Z[\_Z\[^_`\`^`bcab_bccbb`dedbeeeaebgeddddikigfeggihihhhiiklkhknnjjjnnnjmllgljpnmmnlljjfihhadcc^cdcb`^\XXYZUTRQPOLLGHGE at B>=<:8:8655//+-))'(&%!"
[...]
+
+
"! !
+ <=??>>??@@?@@@<AB@>BBBCBA@?@BC@@@BCCCBBCDCBCCBBBABACCBCEFEEDEFEEDDEFFHGFCFGGFGGFFGFDCFFEFEDEFFFGFEEFGIJIGGFFFHIJJIGGIJJJIIJKKJJKJJIIJLKKMNMLKKLLKJLMLMMLKKKLMNONLLMMLLLLMMLKLONKKLMNMLMNMMMNOQPOOOPPMONLMOOMNOPRRPPOPQPOPOOOOOOQOQRQOQQRRQPQQPPRRRSSQOQRRRRRSRSUVVTTTSSSSTUSSSSPQRSVUTVWVWXXXWVTVVVVVVVWVUUWWWVXZ[ZZYVWYYYXYZYYZYXZ[[[[\]_^]^]]]\\^`_]]^^]_a_]abbbaaaccbccbddffefgfggfhhfciljhghhhiifijhhilmmklmmmkilomjllkhloopmlllkjiihhfdcedddfdc__^^^^[XURSQPMMKHGGFDC@=<9::887421.+))))&"!
[...]
+
+
!!
+
+
+?@A?@@@@A???A@??AAAABBCAA at BCDBBBAACBBBBBBCCCDDC@BBBCC at CEEDCCDDFFECDBFGHGFEGCGHHFGGFEEFFFDDEDFGGGEDDFHJJGHHHHIIIIHGFDIJKKIGKKKJKKKIIGJIKLLMLKKFKLKHKKKLLJIIIILNOOMHMMLKLIMMLKKNMKKFLNNNMLMLMJOOPLOPPOOPNMMMMMNNPQQPOKQQQMONMMPPPQRQQPPOSSSPPPOOQRRRTTSPPQSSRRROTUUUTSTTTRTUUSRRRQRSUUUUVTUUXYXUUTUVVVUUWWWSVWXVVWZXYUYVXVYUXXYXXXYY[XZZ\]_[^]^]^^][`a_]_``^``a^aa`]a`b^cbbccddffefgffhfiihejjjehiiejkjkkfgilnnlmmmllimjnkkkkjoooklfikljkghfgbd^eeeddda``]`^\UTRUSRMOKJFGHFAC??9:8:68521.*+)*''#"
[...]
+
+
+
+
+
+
@AAA@@@AAA=>@@@??AA@?ABBAABCDDCCCBBA at AABCCDFDEDCCCBDDCDEDDCBEDEFCCDCEGHHGFFGHIHHGGEFFEEEBEFHGGHHDDEGHIIHHHIIIIIHFFEFILIJHFIIILLLJIIJJIHIIIHJJJJLKKKKJLJHHJKLLMOPMKLLJKMMMLLLKMMLLKLNOOOONMMKOPPPQRQNOPOMNNNOMMNQPPNOQRRRRQONPQQQRRQQQQSSROPPPQRRSSSTSRRRRSRQQOTUQTTTTUTSSTTSSRSTTUTTTTTTTTWWWVUSUVVVUVX[XVWWWXXWXUWYYXWVYYY[[\\[Z[\\\[[\^_^_^]]^][`b`^_`a`aabccc`]acbbbcacdedfgffgghgghiijjkifgihhjkklljhimonnmmklmnnponljmlnonkljijklkjiihgfgggfbddcbaa`^[YWVWWTRPLLGIJECDEB><;::951/..-++)(&$#!
[...]
+
+
+
+
+
+
+
?@AAA?BBAA?>@AA>@AA?ABBAABBCB at CCDCC??AACDDDEDDDDDEEDDDEECCDBEDEEDCEDFEGGGGFFHDIGFGHFFDFGFGHHGEHHGEFGHHHHGCHIHGHHHHHHKLJJIGJHJKLJIFJLKJJIIHHIJJKKKLKHJIIIJLMLNKNNNMMKKLNNMLLMMLMLNMMOPNOOOLMLOPPOPQQOPPPOOPQOOOQRQPOPRRSUTRQNPRQORRQQQRRSRQQOPQTTTRSQSRSSTQQPROSSTUTSTTURRRSSSQTUUPTRTTTUVTUTVVURUWWUWWYZYUWWVXYWUTWXXXWWZY[Z[\^[[\\\\Y[Z\]^^^^]\[[^aaZ_\```acbbaa_bba`deeceddfgffcfgfcggiikkiggggfiilkkkkionponllklmpoponlnjmlmjmkjihdjhiahhhehgfbbbbaaaa^\XWUWVVRPMMILLIEEED?=;::953/-,/-+()%&%#!
[...]
+
+
+
>@@AABBA@???@AABAAAABCAAABBBABCCDDCA at CCDDEDDCCDFFFEECCCCBDEFFEEFEEFGGFFFGGFFGGGFDGHFFDFGGGHGHHGGHHFGIIGGGGGHFGHIJJJJJJJKKKJIJKLKIHJLKKKJKJJJKKJKLKJKKKKJKMNNMNNNNNMMLLOOMMLMNMMMMMKPQPOOONNONOONNOPOOOQSQQQQPOPQQQNQQQRSTSQPQSRQQQRSRQRRRRRQPPSUUUTSSRQTUUTSSTSSTVTRSTTTSTTTSPSUUUVXWVVVVUUUUVVSUXXXWXXYXUWVTWYXVVWWWVWYZZ[[[]^]\\\\\Y\^^^]]__aa^[]_ab_\ab`bbaa`bbbcbbdggffdceffeefhgggiijjjiiijhfijkkkjmoopqqoonmjlnooomklklmlmmkijfghhghiihhgggfefdabba`^][XW [...]
+
+
+
+
@@@?CCB>>>@???AAABBAABBBCBB at BCCBCBDBBDDCDFEDCCCEEEEFEBBBCDFFFDFFDCEFFEDEGGFEGEDDFFFGGEFGGGHDIIGEIIGGHGFGHGGFEEHIKJJHIFIKKLJIJKLJJHHIJJJKKJKKLMLMMKMMLLLKLMNOOONKNMMMMKOONHLMMMMLLLMPQPPPONOONMNMMOPNOMQQQPPONMLMPQQRRSSSSSQLPQQPPQRRRQQNRQQRRORQTTSTSPRSTUTTTSVUVTTSTVVTUSTUTPSTVUWWWTWWWTUUTUWTVWYUTTWWXWXUVVYSWXXWXXYZ[XZW\^^]]Y\\\[]]]\^^__aa_[^^aba^babcb__`ccbcc`egffedeef_ecfhiiihigjfijjjifijjhjimlnnoppomnnmnnokklmilnmlokkkhggggghhiihcgcd`fad`ab`_] [...]
+
+
+
+
+
@@??BBA at AAA@?ABB at BAAAABCBBCCCDCABDEECCBBEFDCCCACDEEFFEBABEEEEFFEDDDFFEEFFFEFFFFFFFGGHGGHGGGDHIGFHIHIIIIIHFFIJKJJJIIIIHGIIJKJKKKLKKIGIKKLLJKKLMNOMLNNMMILMLMONOONMMMMMOOOOONMKNNMKMMNONOPOOONNMNMKOQQPOPOOQPOOMMLOQQQSTSRRSRPPQPNPRPOONOQRRQSSTRQRSSTRRRSRRRTTUVWWWVURWVTTTSTUUTUVVVVVWVVVUVUUVXWVVWXWSUXXYXWWZZXXYYZ\\[[ZYZZ]_]]]]]\[\^][\^_``a`__^^`aaaaabc`_bccbacbaffceeefgfedegiijhhhijkkkkkjiijhjkkkmmnmmnminpnnooopqnklnmlnomkgghigfhghhgihddcded`bba^^^\[YXVVUSOMLJHGEECB@?=<9754320-,*((&%#!
[...]
+
+
+
+
+
+
+
+
+
+
+
+@?>=@A at AAAA@ABBCCCBCDDCCA at CDDDDCCDEEDCBADDCBBBBBDFEDFFE?CFFBEFEEEDEGFCFFFEFGGEGGGEFGHHHGHHGEFFFFGFFFIJJJJJIKKKIGJIIHKIGGIJKKJJLMKJJGJJLMKIIJJJMNMLMMNMLMLKKJMMNMNLMKMNNNOPONMMNNNMMMLMNNNMOMNNONMOQPPQROPPOOONMMOLPORSSOQSTRRQPLPQPPPPQRSSTSTQSRTQSPSSSQRRRSTRVUVWVVVVVTTTTRVWVQVUWWWWVSSTWVVVXXWTWVXTVVYYYXZ[[ZZYZ[\Z\W[X\\]__]]^^^^^^Y[]^__^a___^\a`a_aaba`___cbaccbfffdeegfeefcigedddiiijkllllgiiijljjlnnnklmmnnonmmmqqoilkminjjjihhiieifhdgijhhbeeebbab[__]ZZZYWVTQLOLJGGEFBCA@;;775410,-+*'("!
[...]
+
+
+
+
+
+
+
+
+
??>>@@@@@@ABA@@BDDADDDCCAAACDEEEDCCDDCBCCBABDDCCDDEEFFGFEGFEEFEFEEFHGEDEEFFGHHHGGDFFGIHGGHGGHGGFFGFGIJJKKKJKJIHIJJIKKJFHJJLKHJMMKJIJKLLLKJIKLLLLKLKKMNMNLKJLKLNNNMMMJMMMLNNNMMNNMLLLKMOOOQPMOPPPOOPORTRPPPOOONOOPQOMQSRPOTTSSTQMOQQRSSRSSSRSSSSUTRSSSSSTTTTTTTUVTUVVUTUVVUTTUVVWWWXXWWVSSSVUUVXYXWVUWWWYYYXX[\\[[ZZ[[[\^[[]]\^^\^^\^^^\Y]_^^^]````_`a`aa``bcbabbccaccdeggeefhgdefgiifbdfiiiiillklljjjllkjlmnnopqqopqommpqqnlkjlnljjiigfgikjjhghijjhfghgccddda_]][ZXVUTRQPPNLJIGEDDB@>;98541-..-+)'$!" !
[...]
+
+
+
+
+
+
+
@@@@@@@?ABCCB at A>DDDDDDDACBBCDCDCCBCCEEDDDCCCDDDADDEEFGGGFFFEDEGHGFFGGFFFGGGEHHHHHDDEGEIHHHGGIHHGGHHHIIGFJKIHHHHIKJJJKJIIKKLKJJLMKKKLLKKILKLLKJLJKLJHKMMNMLLLLIMNNLNNNONMMMLKMJMMMMMKMOOOOOPNPPPQQNPOSTRLOMOPONQPQOOMQRRRSUUSTSQNMMSSTTSSRORQTTUSTQTUTRTTTRRQUTUTTTWWVUUVVVUSUQVWXVWVWVVUUSUUTTVWXVUUVVYZZZZX[ZZYYYZ[[W]^\Z]Y[]\\]^]\\]]Z\W[\\\_____`a``a`^cdbbcabccbefecfeffghdefhhhgdefiiiijllklmljlkmljkmmmnqqpmopojnoomlgkjjijgiiibecjkjejgghifgchhgdcceac]__[UUUUTTSRPOMLKIDEDCB@<;5445///0,+(&#$!"
[...]
+
+
+
+
+
+
+
+
+
+
+ at A@AAA@@ABACBCCCCCCCCDEDCCBCDDCBADEEDEDCEFEDDEEDEFEEDFFFFEEDCFHIHGDEGGGHHGFFFFGIIGGGGGHIGIIJJIHHGIHHIHFIJJIGIJJIJLGJJJJKLLLKJJLLKKKMLJFKMNNNMKLLLKJIHLMNNNMLLLLMLKNONOOMMLKKMONMNPOOOOOONMPPOOOPPOPQQSQPNLOQOOQSRPPPRTTTUVVUTTQONPSUUTSRQRRRSTUUSSTUTQSSSTSTTSRTTTVVWVUTVWSSUTSUVUWXWUVWVTVWVUUVVVVXXXY[ZZZ[[YXYYX[]\\\]\[\YY]\\]^^_^^]]\[[^__]^_``aba`a_acc`abbabcdegfeedeeggdefhgfghgfhiijjllklmkjlmmnmlllklnpmlnooooonnljjimmjghhjiggijiijhghihhggggeadeecbb`]\[ZWTUUSRPOOMLHFFDAA@=;9963220,+('&&%#!
[...]
+
+
+
@???@?@@AABCCEFDB?BCCDDCCBBBDDDCBCEFEDDCDFFEDDEDEFGDEEGFEBEEEFGGGFECGGGHHGFBFGHIIGHIHGIIIIIJJJJHHIHIIHFHIIIIJKLGLNKIIIJLMHKKKKMMLJLMMKKLMMNNMKLMLKKKLMNNNNMKMMMMLKLMMKLLMLLLNOONOPPNNMPONNOOOMNOQPRRRRQNPNPQPOPRRPQQSSTUTRUTUUSPPQSTTTSQSTTRRPSRTSSTSRSTSPSRSRSTTTURWTUTWWVTTSSSSTVUWXXWWTWWWSVQWWXYZYYYYUYZZWWYZX[]]YYZ^]]Y[]_\\[^^__^]]]]_`^^[aa``bcbbbacdaaaabcc^efeedefefffeeffehhhfhfhjkllfjkjhkllkkkkjlloonlnkprqlmnngkinolfffijhgifihiiggijjhgdhfeefeecea`[\]ZVWSTNQPQNNLHDEA@?@:9973210--''''$""!
[...]
+
+
+
+
+
A@@@@@AABABCDEEC@?BCCDDCDCCCBDEECCEEECBCAEGFDCCDFGGFFFGGFDFGFFFEDEEEGGFGGGFDEGHHFHIIGHIIHJHKJKKIIHGIIHFGDIKLKKLMMNMJIIILLKLLLLLMLJKLLLLLMNMMMLLMLKKLLMOONNMMMLLLLLMMLKLNOONMNOOOOONNOPQRPOOOOONPRSSRQQPOOPQQQONPQPPQSRRTSRTUTTSQQPQSTTSQTVWVSORTTTSRSTTTSRRSSSTUTUUVVVUVVWVVVVUVVVUUWYYWXWVUXXVVXZZYWYXWYZYZYVY[[YX\\[[]_a_\[]^^]]^__^]]]^^^`__`bb`accccbacdbbcaccccegfecdefffffffeeghhihfgijmmkiihgjjklmmjkmmoonmmopqpkmnnlkjmnljhhhighhijjihghjjihijigeefgfeddb_`_\ZXWTSRRRQOMJEFEB?@@=9865 [...]
+
+
+
+
+
+
+
+
+
+
+
BBA?@AB at CBBBDDCCB@CCCCDDEDDCCDEBDEEABDDCCCFFECEFFFFFFFFGFFHIHFEDGGFGFFFDFFGEEDHHHHJJIIHFIJKJJHJKJHIJJIHHHIKMMLMMLKKJJHIJLKMMMMLKJILMMLLLLLKHLMMMLIKLMLOPONNMNIKJLLNNMIMNPONMNNONONPQQOPQROPPPPQPRSSOQNNMMMQRQPPPPOOPQPRSSPTNTRSPQQRTTSSQSWXUTQUVUTSQTTUUUQTUUTTRUVVUUUUUVTURWWWVWVWWVVXWXVVUXWXSXZZXWZZZ[YZZZX\Z\[[\]]]]^__]][]Y^Z_^^[\\]^^___`_bcccddcabac_acdcdeddegfcedfggdeegcgfhefeheefjllkjfigjjmmnnmnonponlnoonoiolnnliijmljghfiiihlkkiihhdgdjkjhfcccfacccaba]XXWWTUQRPPLKFFDB?@==99672201/,)(&%!# [...]
+
+
+
+
+BA@@ABABCDBAABABBBCEEFEEDDDCCDEEDEDDCFFEDDFGGEFFCEEEFFCFFFJJHEDFHHEHGFFFGGHIFDHIIIJKKIHIIHHJIGIJIJKJIIGHIIKKLLLLKJIHHIKLLLMNLLLMMLMOMLLLLLJGJNNMMKKMNMNONMMPPPNMLLMOMIMPPOOLMOOPPPQRQPPPPQPPPOPPQSRQQQQPPQQQRRRPLNPRQPRTSTSTTUSRRSSTSRRRTWWTSQUWUTTTTTUWVUVVTTRRVXTSUVVTUWVWWYWVVVXXTUXWXWVVXXXXXYXXW[Z\[[[\[\]\[[[[]^]\\]\]][\]^``_^]^_`_``____cccbcdcacdcaacdddddddefggfgiggfffgijiiiiiiiihiijklkjijmponnonoopnlnomnnmnonnlklmmljjhiikjhjmlljigcfiiijigedffeceedb`_^\[YXWVSRPLLHHGEA@=<<<:975420,*)''&#"! [...]
+
+
B=ABB at A?CDCAA at BBA@CCEFEDDDDDCBFFEBDDEFEEEDEGHEGFECDBFFEEFEJKHDEGIHGHIGGFIIIJGEIGGFHIJJIIIEHJIEHGHJKKKJIIIIIIJKLHJIIJJILNMKKLKILNOONNLLLLMKLILNMNMMMNNMNMLKNPQPQMMMMKMHLNOPPLMNNLNOOLPQQOOQPNMNNNQRQQRPPORSQNPORMONQQPNOQSSRRTTTSTORRTQRRTTUSSPSRRQUTSTUWVUXWTTTTWVWVUTUUVWXXXYWRWWXVVVWWWWWVWXXWYYZZZYY[[Y\ZZX][\V[[^_^\\[]^^[\]`aa_^]`aa^```_`]bdc`abb`d`daacedcaaadcgihfgggcgghgjjjgjikklkjjjhlmkhjjlooimillppommklmljniojljmklhjijfjkjegilijfhcfghhhgicfefffgfbaa`]_]\[XTTPRMNI [...]
+ BAACCBBBBBCCBABBACDDDDDDDCBDDDEEDDDDEFFFFFEFGGFHGEFGFFGFFGIKHEDFGGGHIHHHJJJJHHHGEFFFGJJIIJIIHFGHHHIJKJHJIIJJIJKKKKKLLKKNMJIKJKLMMONMKNMMLMNONMKNNLMNNONMMLNPPPONOONNMLLLMPOMMNKKKMMNOQPOOQOMNNNNOQRSRQNORSRPOQRSQPRRQPRTSSQPRTTSSSSTTTUVTSUSSRRQQRTSRRVWTWXXUTUWXXWXVUUWWYYZYXWWWWXXXXWWWWWVUX[ZZY[\ZYXYZ[ZXYY\]\[[\^___^^__]]]]_```__``__`aaa`__ccbaabadeedefecdedbefhihfegfefhihkkiijilnmlmmlmllkgkilnnomllmpqpponnmljnpmllklmkhiikkjkieghiihihhhghhhiihgffgggfdcc`___][ZXURTTPNL [...]
+
@AAAABCCDCABCCBBBDDCDEEGFEEEDDEDDDEFFGGEDDFGGGGGFGGGGFFGGHFGGFFEEFGHGEDHIIJKJIJJIGHKJJJJJIJJIHGHHGGGIJJKKJJJJLMMMMKKMNKKKKJMNOLKKLMMLMMNMMNPONLLLMNONLKNNMLNNLNONNNNNNOOOOPPNMNMMNPQPONMOPOOOOPPNNQRQQQOPSRQQQQRSPQRQPSUUUTQORTUTSSTTTTUUWVTTUTSQQUTTUWXWVUWUTTUUVWWXXVUWXVUVVVTTUVWXXWWXZZVXZZZZY\[UY[\]\YXZ\]^\Y\^^^]]]]\\]]]^___aaa```aa`aa`abcb`bdcbcddeffeeeec_behhghihgijidhklkkklkkjlkflnnmmllmlnoonnnpqrppqrpmopnmigikjjijkllmkjieijiiiigfiiijiihhhihgfdffebcca_`a_^[WWWTRPNKJ [...]
+
+
+ AAAAAACDECCCDEDBCBECDEFFFFFAEDCCBAFGFGF at DEFGGBGEEDFFFGGHHFEEGGGFEEFEEDFGIIJKKFIKJGHJJEJHJJJKJIJJJGHIJKLLMKKLLKKIKLLKMLLILMMMNOONMMNNLKNNMIMOOLNMNOPPOKMOPLMOOLMMLMNNNPPMOOPLOOOJLOQRONNNQRQMPOPMMMRRQNRQRRRRRRRRTQPNOQSOTTTSRQSUTSSRTPTSVUUTTTTTSSUTVXWSVWVTUQVTXXXXWVVUXVWWXXWTTTWVVWWWXYZXWTZY[Z\[YZZ[^[YXZ\^^\ZZZ^^]\]^_]]]]^_``aa^a^_aa^bbbacddab`c^d`dbdadefee_bcffgfighiihhikkjhkkjjjijfllmmlkmgklnmlmooppomonomopokjejljghhlklihhjeiiihihgfhijjhggdgihcdehggcfdc]bb_^\YXWURSNMJLHHGECB< [...]
+
+
+
+
+ ABABAADFFEDCEEDDEFFDCDCEFGGFFECDDDEGFFECBEEGHHGFGFFFEGHIEDEFGIHGFGHHFGGHFHIIJJIJJHIJJJIIIIHJJKJJJIHJJLLLLKIMMKKJKLLMMNLKMNMMNNONMNNNMKLMLLNOOOOPPOPQONOPPOOPOONLKMONPROOPQQPOPONNOQQNMOQRSQPPQOLOQRQRRRSQPORRRQQSTRRRSSTUVUUSQSTTTTSTUVVVUUUVUUTUVVSVXUQUVUTUVWZZYYXVWVXZZZZYYXXWWXY[[YYYXZZYYYX[]ZZZ[[\]]\ZY[\]Y[[\]][\[_a`^]^_`a``aba^^```bdedcedba`beddccb`cfghedccdefhiihhihhjkjgilnljjijklmkkklmllmmnnnnopoknolmoooonlkkljgikklkkkkjfggghjkihgjjjihgeghhhhjigghgfdcbb^]]Z[YWVUSPNMJKIFFC=<:986 [...]
+
+
+
+ ABA?BADFEDCBDCCDFEFEDCBDFFGGFDEEFEEFGFFEDCFGHHGGHGFFFGHGEDFGHIIFGHIJHHHHHGHHIJKLKHJJJJHEFGIJJIIGIIIJKLLJJKLMLJKJLMMJNMLKLMMJNMMNNLNMLKLMLLOPOLPQPONMNNPPPNPPOOOMMOOMNNMLOQQONOPOOMPRPOPOQRQPQQPLPOPPQRSSRPPPSPRQTSSSTTTSUVUTSRTSUUUSSTXYWUUVWTTTSTVSTUURUSRRVTWXZWXUWWXYZ[ZWWXWYYWY[\[YWZYZWZYYYZ[[YYY\]^[][YY\^^]]\\[\]^abb^Z]\^__ab``^`^``ddfdeeecbaabfee`cacghhgfebefhhhjieigijkigjlnmkljkjkiljkmmmnnnookmlnnoqqmmnplnmlillmikijjiijijgfghgllighjkhjiichijihhhggggaecba`^_]^\ZXWURMNJLIGDD><:9974400 [...]
+ BABBCCDEDDDCCEECDDEFFDCEEFGGEDFFFFFGHGFGGFFGGGEEGGFEFFFEDEGHHHHHHHHJJJHHHGGGFJKLKIIKIIHFEIJJFHIIJIJKJMMJJKKMLJJJLMNOOLLLLMMMNNNNONMMNKLMMLNONNOPNMLLLNNOPOPPNNPQPQPNMMMNNOMOONPQOMORQQQQPRRRRRPNOPPPQQTTSRRRSTTTTUUUTRRSSTTUTSTVUUSTTSVXWVUVWWUUUTUUUUUVUUUUUVUVXXWXWXXXXXXYXXXZYWXZZYXYYZZZZ[[[XY[[[[\]^^\ZYZ]``^[]\[^_`aba^\]^^^`baa``bbbdeeffeeddbabbfgfeecchiihgfgfegiiiijiiikkihjlmlklnljjklllmllmnnoppmlnnnrrmoqpnllhgknonkjjjjijkkkjjklkjjhhjklkjkkjllkjjihghhffeecbaab`][ZYXSRPNLIGGEC@>=985542 [...]
#()(''(*+--,*++.-+(%$#"(&'$''&%"!#$% !&&''()'!!
+
A at BDEEEFEDCCCDDCDCEFFDDGFGGHGFEFDEEDDEEFGGFEDEHJIHGGFGGGGGIKJIJJFHJJKKJJIIHJKJJIIJJKLKHJJKKLKKKJLMKKLMKJKLMLJKLNNNKLMNNMMMMMMLMPPPONKLMOMNOPPOOPQQPPOLMNPQQRQOONNOOPNNOPPPPPNQQPPRTTQPQSRQOPQPRSSSSRSUUSPRSSSUTSQRUSUWVTTSRUVUTTUTTUUVWXXVUUVVVWWWWXWWWWWXXWTTVYZYXVWXWWX\\ZXVUZ[YXYZZZ[ZYYZZ[[\^^[[[\Z\^_\_^]_a_]]^`aa_a`aa`aa__acccbaacbcdccccdefffecbdeeedceffe`ihefggghiihhhhiklllljloopnmlklnmmnppopooqqrrpnnnonmmlmonklkkkjihikljjjklligilkjloljjihihgklkjijkkmomkjhjigedcbb_[][YVSSQNMLKIFDB?<: [...]
+
CADEEFFFDCDBDDDEEBEGHGGFFEFFFFFFGFEDEEGHHHGEEEGGHIIIHFHHGEHIHGIIHHIIJKJHJJIJJHIHKKJILKKKKJKHKLKIKLKIJLLKLLLMNNNOONLMMNNLMJNNNNNNPOPONLMONMOMOOPQQQQPOLLMPMOPQKOLNOPPPNPQPOOPQRRNOQVTQOQNQRQQQOSSSQRSTTUUSSTPPRQPRRSSVXXVTSUVUPTTTTTTTTUVVUTUWUWVUTVSWWVVXXXYWTX[[ZWVWWXXXZZXWWWYZXYZ[Z[[ZVWXZZ\]]^]\[XY[__^\^^__^]^^aaa_a_```aa`bbcddbc^cbc^bbcaccfeedccccdefcdfgggiighehhihiiiijjkllmlhlnnlllllmnnjlmnnmkqprnrnojonnjkkmmolkiihkgfeiiifjkmnkciiihlmkgjjjgfhnllijjljlmlhjgjjhddcd__\_^]XVTTPOKLHGF [...]
DEFFEFFFCCDEEEEFEBCHIIGFCDEFGGFGHGDEFGHGFIHGGGFGHHHIIHGHGGGHHHHIIIIJJJGIJJHJJIIJKLKIJKKLLKJHKMLLKLKIJLMLMMMMOONNNNMNMNNMMMMNOOOOOOOOOPQOOOMMNPOPQQPOLLLPOLOOPPPOOOOOQRQQPOMQRSSSSTTTQOONLQRQQQRSQPPSTUVWVUTSSTTSSSTTUVWXTTUVVUUUUUUTTUWVUVVXWUVUUVVUVWUVWWXZYVY[[YWVWVWXXYYYXWWYZ[ZZZ[ZZZZZ\ZY\][^^][Z\____^^a`]]^^^^_``a`___`accccdddccdebabdcdcceecbfgedceedcfghijijihhghikkjlkjikkllnmllllmnnonnnlnmmnpqrrqpppqponlmnmmnmkjijllieiihhijmolkkmlmmkjjjjjjjlnomkkkkjkkkhijijhgghf```aa_\ZYWTQOLJIHFDB? [...]
DEEDDGGFEDCDEEDEECFGGFECDEEHHGFEFFEFFHGEFGHGIHHIHHHIHHGEHHHGIIJJIGIFJJJJJHIJJIIGKKKIIJKKLKKIJJLLMLKJMMNMMMNNOONLMOONNMNMMMMMNLNNNNMKORROPNMJNPONQONNNNNONNOOOPPPPOOOPPQNQPOPQQRRRRRONLPNNNSQSRQNOPQRSRUTUUUUUUTRRSUUTRUVVTVUVSUVVUTTVWXVUVXXWUUVVWXVVUVWWVXXYWYZXVWWVVVUYYXYYWXXZWYYXWZZ\W\\[V]_^]]Y[]_`_^^^_aa]^]`^^]``a[`^^___ccbcccdbedc`ddffdccccbfeeeedddefghiijkjghfhikfjikijkkgnonllmllmnmnonnnnmpqqrpnmnoooklmlmliihjlmnnlkgljigkinnmimmmjlkjiihjjljoongkhiiijljjiiigfgegcb\bba^]\YUSONM [...]
+
CCBBDFFEDCCEEDBDDEFF at ECDEEEGGGEDDFEFFFFDFGGHHGIIHHIJJJIHFJJKJJJJIHIJJJKJIIIJJKJJKKJJJKLMKKLLLKLLJKKMNNOONMMNOPOLNOMMNNNMNONMNNLLLONMOQQOPOMKNPPPPPOPPONNOPQOOOPQPOOOOOONQRPPPOPQQRRRQPQRQRSSRSQOPRRRSUUUTTOUVUSRQRTTRSTUUVUUVTUVVUUVXYVUUUTWWUVVXWWWVUWXYYXXYYXYXUVWWVVXYZYZZYZ\[YZZYXYZZ[[\[\^`^[]]\^_`__`__a`^_bcb_]`bbba`aba`aaacdccedbbeedfgeeffdbedfhgdeeeefffgilkkhfhhiiijklljkmnoonnonlmmnoooonoqppqqompqqonikmkllkjiimnnnmklmljklomlljnpmhkkiihhjllllmllkijkkjkkjiihggffggebceb^]\ZUTSQN [...]
+
+
EDDBDEEBBBDEFEDDEEFFFDDDFEEEGEFEFGGCFDFEIHGGHHIGIJKJJJJIJKKKJIIJIIIJJJKKJJKKKLLGKMKIKKLMJJLKLLLLLLMMLJNJNMLLNOOMMMLLMNONOOONONMLNONOOOOPPIJKNOOPPOOPPPOLOPQONNOPPPPOQPQORPQQROOPQRSSRORRSRRPOOPPQSSRUWVVVTSTUSSRRSTUTSUUTRRSUSUTURTVYYWUUUUVVUXWZTVVXWXXYZXSYYYYWVVUWVYZZVZ[YX[\[ZZYZWWXZZ[Y[\^^]\]]]]^]_`a_^_`]^_c`^]acc`bcbaa`b```dbdedbdeddgceefgfbedffgcffebfddeiklligggihifjkkjllooojnnnmmmnnnkpopnopqpnnrtroojlnnnmiklklnkllmmnfkklnniijopniihiijjkllkkgkkljmnliijkkjggfhdefgccda_^YYXUTSNOI [...]
+
+FFEEEFFEEEEEFGFGGFEFEDEFEFFGGFGGGGGGFFHIIIIHHIHGIJKJFIIIJIHIIHHIIHHJKKJLJJLNMMLKLMLLKKLLIJLLLMMMMNNMJLMMNNLLLNOMHKLLNOPOMNNOONKMOPMONNPRPMLMNNNOOOMPRSQPOPQONOQQQQQRRRRSRPQRSSRQQRPRSQRTSRQSQONRRRUWVVUUTSSTTSSRUTUUTSUUTTTUUUUVUUVXXXXVWVUVVWYZYUWXYYZZYZXXXYZZXXWXXWY[ZZZZYYYYXXXXZ[[[[[ZYY[^^^^^]^``__ba^^^aaaba``_bcb_bdcbcccca^bbddcbefghgecdehhffebbdfffgihgfghilmihhhiiijiijkmnoonommoomlnnnopqoononnnprsqqpompoolhlommnnmlmoliklklmmmnoomljiiiklllkkkkjjkjookjijllllkkjiggffffd``^^]ZWUTQPNMIBBAA@=< [...]
+GFGFGGGFFEFDDEHIHGFEDDFFEEFGGFHEEFFFGGIIHGIIHHHGJJJJIHFFIIIJJHIHGGIJJKKKJILMMJKKMLLLKKLLIKLLLJLLMNNMMLMMNLMLMNOMLLMMOOPONNOOPONLNNNMMNPPQOOONLNNNOPQRPQQQOPPPORTRMRQQNRTSQRRSSSTTTPQSRSTSSUUTQRUUSSTVRRSSSTRTQTTVUUTSRVUVVWVUSWXXXXVXYWVWWVTWWWXYUWWZY[[\ZYXXYZZZVYZZVVXYXXY[Z[VVVYZZ[\[[\\ZZZ^[^__Z^__]]]`^^^`_`````_bcc`abbcdcb`_\bbdccbfggggeedfhhfffcabcfgijjiiihgjkjjkkjgikkkkkmnnlmnnlnpommllmqoqjolllopqoqqponnokmimnminnnklllgkhjkjjmilmmmljjilmmmlilmllljnljjkkmmnmmlljigghihfabb`][WWVTPONKCBADC@= [...]
+
EEFEFGFEFCDEFDFGFEGGFEFFFFGHHDHHJHHGGGHGFGHHHJKKIHIJKKJJKHHHJLLLKKLJKKKKKJJJKHMNMKJKLKLLLKKLMMMKLLMMMMMNMJLNOOONNOOOOMPPONPQQOONNNNNOPQPQLKKOPPOOMOPQPOQQOPQRPRSRMPOOORSSRRNSRRNSQRQSSQQSSURTOTUWWTRUUVWUTUWVOUTTUVQSRURVWXTVUVSWXXVWWVWWTVXZYXUWVWXYXXZ[VXVWZZZ[YZX[[\ZZ\\[][]\^^^^]\\\\]^^`]_`aa`\]^`a``aY]_`_`ac_]]a`ccb`ddcba^aacddcc]defcgffeeaedfhhhghgfefgfhffgihhfkklmlknommnmlknikkpqqppoonppoonmmhnmqrrqpomjllopolkjlijkolnnkhiklmmjjhlikglkkjmnmjmkmlpmnjkinnnnnkplnnmikkjjjedcb]]\ [...]
+
ADEFFFFFEDDEFEFGFGHIIFEFGGGGGFGHIIEFFGGFEGGIHIJKIFFIKKILKGIJKLLKILMMLLKKKJKLKKNOLJGLMLKMMLLLMMJKLLMLMMKMMMNPPOONMNNOOOOPOOPPPOPPNNOPPPQQPOOOPPPOPOMPQQOQQOQQRRRRQRPOOQSSSSTTSRRSRSSSTTRRRSSRSQRSVWVUVVWWVSRVVUUUVWVTUUUUVXWVVUWWWXWUWVVYXUUXYYXWWVWWUWVYZZXUWYYYYXYZ\\[[Z[\]\[\]^^_^]\]\[[[]^\_````]]_aaaba^^a`_`ccc`_``abaacc_bb_a`adedddeffhgehgddeefhijjiffdgjkkkjhihijjijmlmopnnnmllllkloqpopqonopoopqolmoorqonnkhkmlmnnlklllonnnomlllmnnmkkklllmllimomilloqponnkjlmnpoopqpnlijjjllkheccba^\[ZVQQPNKHEDDA [...]
+
CDEGGDDCFFGGGFFFFFHIHGFFGDDEFDGDIGDEGIIHHHIJIGIIHCFHJKKMLIKIKLLJJLLKLLKHLJLMLLMNLJKMNMMLLMMLLKJKMMLJLLLLMMOPPOOJLMOPPNNONOPPONOPNMOOOLPQPOQPOONLNOQRQPPPRPRQRSSPQRQNQSTTRRUTRQSSSRRQSUTQRRSRRQQPUWVUVUVUUTTTTUVVXYXTVUVVVUXSVUVSVVVUUUWXYVUVXWWXXVXWWVVVYYXUWYZWWXZZ\\ZZZZ]]\YZZ\^^Y\]]\\[[]]]`__^`^^__^_]a``ba\`bcba\`aabbab_bcbaa`beecfgfdghhfghfcfeiiijkjjjijlkljjijgjjjjkennomnkmmllnoojoppmppompponqsqmoonnnmmhkhhihhnmmilmmimjmimlmknlnlllmjkllmkimonjllppmkonmknnnoqnqspllhhhkmmj [...]
+
EFEFFEDEFGGHHHEFEEEFGHGGFDFHGGHIGFCFHKKKHGJLJGGGHHHIJKMNMMKIKLKIKLLJJLLLLLMMMKKLMMNNNNLJJNNLKJKKKMLLLLLLLMMNOONMLMOQPNMMLNOOLNONOPPONMPPPPPPKNMJEOQQQOQSROQRRTTSPQPPQRSSQQSSQPQSQPPQSVTRRRQTTSQRUVUTUVVTUWVTUUUVXZYXWWVVVXXYWUUTVXYXWUWXYVWWXXXYZYWXXVVXYXWVXYZZZ[[[]]YXY[\\][[Z[\\\\]]]\[[]\_aa__`baa_]^```aca_`aaba`acdb`bdedcbdebdedcggdbehhghiighhiigjhikkiklmkijkkllklklmmonklkmnnpppqqpqolnpqqpponpsqonnnnmmnnmkjkjhnpnmmmlkkllmkklmmnmklmlllkklljmnnnnopnjmoppppnnppopsqlnnnlkmmlihgffea [...]
+EEEEECFFFFGHHGGFFCFEFGIJHEGHHIJHHFGHJKKKIEKMKHJKJJIJKHLLLLKHJKIIKKKHKLMKLLMNNKKKLNNMLLKILMMMKKLHJKMNMKMMLMMLOMMMNNNNNLOOONPPOOOLPRQMNNPPPPOOOONLMOOMPOQQQOQRSTSSSRQPRQQQPQPPPOQRQPQQRUTQSPTUVUTSUUUSUUWSVXWUUSUUVWYWWWVWWWXYWUVTXXZZXUYZZVXYXVVRZ[YVZWXYYWWWXZ[YZ\[[]][ZZZZ\]ZZZ[Y\[]\\Y\\]^^_`^^]babba]__`\`^a`____b`b_caacfgddeegccddchgdccdfefiiiihiiijihjikkjkkhjjklnmmklimmlkmkmloppponnonmnorooppppjqpnkmlmmnpomljijoomllknmkkmmlilmmnnkkklkkejkklllooooqmmmnnnmmnnnohpoqlnopmlhnnjigdggd`aa_\YV [...]
+
BDFFEFFGGEEHHHGFFGGFFFIJIGEGGJJHHGGIJKLLJJLNLJJKJJJJKLKIJLJIKKKMLKJKLNMKKLLLLJJKIMMMMLLKLLLMLLLKJKNONKLMNNNOOOMMNOOMNOPPPQPPOPPQRSQPOOOPNPPQQPNNOOPQPPOOQRPQRTSRSSRPRSRRQPPRSRQRSRRQQTSSUUUUUVUUVUVWWXWVWWWUUSUWWYXWWVVWVVWWVVWYXXY[YXZ\ZXXZYYVVWYZ[[YYYZXXXXZZYYZZ[\][ZZZZZ[Z[\ZZ]^^]\\\]^^]_`^_aaaaaaa``bca`bcb`aaabaabbbcffddefgfccfggecdeeffiihhihhiijkjiiklkjjhiklnnmkjjllmmnnmmmnomonmnnnmnpqpqqppnnpqpnnnmmnoomlmljmnmlllmonlnnlllljnnmklllkkklmooppnnopmnlmnnnoponnpopqqompronoolkfhhgebbb`^\X [...]
!## $%%#"
EFGHHHIGFDDFGHIIFEEFFGHIHGHHHGIJIHIIHIIHGIKLLLKJJIJIHMLKLLKKHIJLLMMMMMLJKMLLMKIJKKLMLMNNLKJJMNMNNMOONMNPONNOOMKONNNNNPQQQOOOPNNQSSQNMNOQPOPQQQPNMPQRRRRRSSSSRRRRRSSRPPRSSRSSSSTUVUSSSRTVVUTTUUTTRTTUVXVUUVUUTTSWXWXXWXVUUVWYWWXXWXXYYXXYY[ZZZZZYZ[[[Z[[[[[YXY[YXXWY[\ZZZ[[[ZY[]__]^`_^]___^\]`a`_`aaabbbbb_`bb``babbbcdfdcccaacgggeddcdeecehhhhhihhihfhiijjfehkkjhkllnnomlkkklnnmmkklnopnpolnooooprtsqoppoopponmmknolkjjlonklmnnllnnnnnmlikmnnmnmlmmlmoppqp [...]
+FGGEGIIHFGGHGGIIFEECGHIIHFGFFGGHJIIFFGHHIIJKKILKJGJKKLLJKKKJJJKKLMMLLLLILMLNNMKIKKKJLMNNNMLJMMOOMMOOOOOOOKOONNOPPPOMOQQRQOOOPPPQRSRNPPPOONPQQQQOPRQQQORPQRSSQNRPRSSSRQSRTSRPONSTVUTRPPQRVTTTVTTQSUUTVWWSVVVTUUUVVVVVVTUTVWXWVUXWWWWYZYYZZ[[WYZYYZ[[XZZ[Y][Z[[YXXYX[\]\[X[Y\WZZ^``__\\[]^a]]\]]a````abbcbcbaaa[````a^ccddc`cdcacfggfabdedfdefihhhihjjhfghiijfhkjgiikmnjmmmiljllonmmlmoooopqpmopoppoqrsnoorpmkolnnolklnnnlmoommmpnmlnnmloomhjglhmnmjmilloppoopnknkmlonllnnnnpopqsrpmqmplmonmpmljjged [...]
+FFEDEHHHHIIIIHHHFEFGHJJJGHGGHHHIIJIHHGGIJIJJIIKLKJKLKLKJJKIJJJJKILMMKLLLLMLMNNNMJKKKLMMONNNNLMNOLLOPNNMNPQPNKNPPPQPOPQQQQPNNPQQPQRRRRQOQQPPPNPQQQTSPPQQRRTTSQQSRRRSSRSSRTURPONQSSTUURPTUVVUVWUTTUVVUTWWUVXWWXYWWVUTUVUWXXXWXXXXWVUUWYYY[[[ZZYYXZ[\YXYZ\^\[\]ZWY[[]]\]_]][Z\^\\_baa_]][^aa`]]^`aba`a__abaacabaabbddbbccbbbccddeeeggeceggdfhfdgjighhiiggeiihjkklliiiknmllmlilmlmmmmllnpommopqqoooppprqqqonpqonoonnoomknppqoooomoonnnnnlkmomlklkjkmmmmnmmnoooonkloonmonmmopooppqrsropqq [...]
FEEDFEHEGIIIHGHFFFFFHIJJJJIGHGGHIJKJIHHIIHIDHGJLLIKLLLKJKLKHKKKLLLMMMKMMMMKKMOOOMKKJLMMMMJNNMNONLLNLKKNNPPPOMLMNOPPPQPPQRRQNRRPMQQPPQRRRRQPOPPRRRSSPPRSRSRTRRRSSRPSSSRSRTUTRROPQRRUTSPUTVWVVWQUTVVVUUUWVVVWWXWXVWUUUVVXYXWWYYZYUVVVVYUY[[X[[YVZ\\YXWZY\]\YZ[ZX[\]\][]Z^]\Y\]]^__aa`\[[_a``__``aba``__abacddcbadbfedbbdd`bcccebgfgdccgihdgbecfhihigghhhikjilkmnljjhimmmkglijlmmnmoomjokmnolppolnnpppoqppnnoqopnnmpnnknmnnolmikjnhmnommkkklmmlmimkmjlmnnnmmkpqplppnmnnmlopnoolqqrppqsr [...]
+
+
+
+
+
+ FEFFFFGHHHHFEDIJGEIIHGFIJLKIIIKJIGJKIFIJJJIGJJJKLLMMLMMLLHLLJILKLJKLNNMMMJKKLMLJMLMNMKLKMNMKNNNOOPNKMPOLQQOPPOOPOMPQPNOQQOQQPOPPPMPNPOQQONPNQQQOQSTRRRSSTSSPSTSRRQRSRRQPSRQRTTTTTTURVTUUTSVSVXXWTTWXWSVUXVWXXTVWXUVVXZZYYXYZ[[YSXWVVYYY[\[YVWWY[[ZZYZ[\]\[ZYYYZ[\W[Z\YYZ\[ZZ]]_^`aa____Z`a`\_^`^`]_``]a^`bcbccefecc_bdfdb`eefffffffegfgggeggfdfggfgegjmlkgkgghkjjklmmmkejkkjmkmnnmmknmppomolononrprssoqppqsrolorqlninlmnonmjmllkkjnoppponknmplnookmmmflloppoqpqpnhmjklnnoookqqrqqrstsqrrspr [...]
+
+
+
+
+
+
+
+ FFFFFFFIIHFDDFJLJIIIHGFHHLLJHJKKJGIKIHJKKKIHIIIJKMLMLLNOMLLLHJLKMMJIJLMMMLKLLKJKLMOPMKKLMONLMOOOPPNKNQPLPPOPPPPOOOOOQQOQQRQPOOSSQPPMORQPOOPQQQPNPTSQRROSSSSRSTRQSSRRQPQSSQORTVVUTTUUUUUVUVVSVXXXTUXYWTUUWWXYXWVWXXVVXZZYXYY\\\[YXWXVZ[[[\]ZYYXWZ[ZZZZ\\\\[ZZ[[[]]\[\]]\]^_]]]]^_acb___^\^``a```^``___`abbabbbdffdcdceggecbcdceeffeffggfhgfhiggggfffedhklkllkjkjjklllkljjlnmmmmmmllmnnpqqpoqqpoprsrrrropqrtsrpmoqqmmjmkmponmmmlmlmknpppoopononlloonnmmkmppomnooopoonnnmnoppqqppqqprrrsqrtsrsttspmm [...]
+
+
+
+
+
+
+
GHHEFFGIIHGGGGIJJIHEGHHIKLLIHGJLKHIKJIJJJKJIIGIIIKLLKKKKLLLLKJLKNONLLMNMOMLMMMLMLNNNMKJKNNNJMMNLPNMKNPOLOPOPQQPPPOOORRPPRQOMOOQRQNPNNOQPONQRRQQOQRQPRRSTSQQQROQPRSRQTTTTSQQRSVVQTTTTVTVUVVUTUVUTUUWVUTUTVWWWWWXUWWVVWWXWXXYX[[\[XWWWZ[ZW[\[[ZXZ[\\ZW[[[Z[\\\\\]]][\X^^^^_^^V]]_`bca____]^_abbaa_a``_`abccaaaa`edcddafhfcddcdfgfcfdddggfhgehjjhjjhfeghgkjmmllllkillmljhijnonloonlkkllmlqrqrsrqprssooonnrsspropnolpjmkninmommlmnolnlopoonjoonhmjnnnmoqpmooohmnomoppoompmnmpnooqqropnqqrqsttnrqrrqm [...]
+
+
+
+
+
+
+
+ GGGFDFGHHHHGHHHHHHHHHIIIJKHJHHJKKJIJJIGHGHJKJJJJHIKLLLIJJKGMLJMOOPONMNNNONMNNNONNNKKLKKMNNMLMOOOPNMMNNNNNPOPRQQRQPQPRRRQQRQONONPPQQPOOPQPRRTTRRSSQPQRRSTSSSRRQPPQQPSUTTUTRRQQVVTTTRSVXWWVUTUVWVUVXXVUTUUUVVUTVWVVVVVXYWVXYYZZZ[ZXYZZZZXVY\[[ZZ[\\\Z\\[[Z\\\]]]\\\[\\]]^__]]]]]]`a``_^_`aa_bbccbaabbb`abccabbabcdcddefgdddffgggfcfgfegfehgfhjklkjjhghklklmnlljlkklmnmjilnmnnpppmmlmmlmlossrrqqqqrsspoonsvtrqqqqopnmnonmmoonmlmmnonopponmjnonnnnmmopqsrooooooppopqonopppnnppqrsttsqrqqqrssstssqrqrrspm [...]
+
+
+
+
+
+ FEGGGGGFGFFGGGGGHFHIIGIJJHIJKLKKKKIJJIJIHGIJKJKJIILMMLLKKKMMLJNNONNNMINNONOONNOOOMMMNNMMNNNMNLNOQPONNNNMPPPQQOPRQPONQRSRQOQPOPPPQQPOPNPQRSSTSQSUTOPQRSSSSSSQRRSQQMQSSQRTSRRRTUVUUTSSWXWVURTUVWWUWYYYWVXXWVWVUUXUVRUVYYXVWTYXZZ[ZYZ[ZZZXWXZ[ZZX\[ZZZ[[Z[\\[[\]^]VZ[]\\Z^__]^]^^``a[^^]\`bb^acbab_b^dddbbbc`cccbdcdbecdedbdfgffefdghhehffghhiejijijjihkjjknnmmmlmhijmnljklkkooqpooonnmmmqssoopqonnrrpmpnsutqrosqpinpqnokmnonmkklllllpqolkknopmonmmopqrpmpppoompopqolqqqlnorsrstttrqrrnrqsssrusrrrrtoqlll [...]
+
+
+GHHGHIHHGFGGEEGIGEHIIIILKIIJKLLKKKJJIKLKFGHJIIJKKLLMMNMKJJLMLMMLLMMLLLNNNPPNOOMNMMNOPPOLLMMNNNNOQRQPPPPPPQQQONOQPNNNOQRRQQNNNPQPOPONOOQSSRRRRSSTROPPQRSSSSRQRTSSRQRSPPMRSQRSSTUTTUUVWWVVTSTVVXXWWYYZYZYXXXXXWXYYWUVXYZYXWXXYYYY[ZZ[[ZYXWYYZ[[[[Z[ZZZ\^]]]]\]]^[[ZZZ\\]]^___^_ba`a_^____aba^ba_adcdcddcbbcccccdcbdeeedddbcfffgffffghihggfhiiijkjjjjijjjkmnmklnmnnmmkomkmmmlmoqqqqpoopprrrqpknprppqqpoprrsqpqrqpnmnppmopnnnmmnnnnnlmqrnmnoopoonmnooooppqqqpnnopompoorsqppsturqsutrqqqsrqrrsvusostssrpnop [...]
+FHHFGFHHHFIIGFGIHFHJJIIKKHIHJIJHKLKKKKLKJIJKKJKKLMMIMNMKJKMHMNMMNNNNMLNNOPOOPPNOOMNNPQPNMLKKOPPOPPQQPPPPPQQPOMPQNLPQPOPPQQPONPPQQQQOQPRTSPPQRSSNROPPQRSSRRQQSTTSSQRSSRRQRQROSTUUTSVWVWWVUTUTVXYUWWWUYXXSXXXUWVYXXVWXXWYXWVXYXWWWYZZXYXYWZYZ[[YZY\[ZY\]^\\\]]^Z\[\XVV_^][_a`Z`cb`_^__``^^aaabaaa]c``bdcc`cdcacddbeefccccbbaefhgfddeghhgfeijkikkjgihjklllmnjjfmkokomnnmkklmmlnqkqqonojpqrqqpnmqrqpqlplqrqppmololmnnmokoqpmojnnoonnmmqonnppomoonjommlnpqqqooonnqnpqqqrrqppqtprnrtsqrmrprqrnsvuttsssrqqnqr [...]
+
+EGHHHHHHIJIHHHHIIGJKJIFIJHHIJIJJKLLKJJJKKKIJLLKJLNMLLMLLKMMLNPNOONNNNNNOPPPOPPPOPOOMOPPPNMKMPRNMNPQPOPONNQPPQRRQLNQTSQOQQRRPMPPPQRRRSTTTQPQSRRRSSRQQSSSTQQQPSTTTSSUUUUTTTRSTSTWWUTUVVVWWXXWWWWXXWVVWWXWXXVWWXYYYYWWXXXXXVWYZXXXVVXXYYYYZ[\\ZZYYY\^Y[]_]\\]\]^]^__^^___]]_a`^`ccba_``a`]^__acccbaabbccdcbccdcceffeffgfffeeddfhhfdddfhhgggkmmkjjjjihikllllllklmnmmnponmkklmmmnppqplmnonpqqrsqqrrqpoonopqonopoonoppqpnkoqqpoponpppoolnnnpqqnnmnnnopooprqqpqqoooppqrrttrrqopqsroqststuttsssrrtuuuvutpqrtr [...]
GGHIJJHHJJHHHFIJIHJIJIIIJGIIJIIHKLKIKKKKLKJLLKJJLLKKLKLLKMNKMOONMMMMMMMNPPOMNPQNOONLNLOONMLMQRPOOOONOQQQQONPRQQPPOQRRRRRRRRQPOPPPLQRRSSRQQRQTSSRUSQRTTTURRRQTTTSSTTSUTUUUSTTTSWWVRSTUTVWYYVWWWWXWTUWWXXWWUWWXYZZZXYYYXXXXZZ[ZYYVWXZ[ZXZV[[ZYYZZX\^^]^\]]^YY[__``_^`a`]^_`[^^_acba`___^___`bccbbabbcccddcccddcbfffaffggfdgdffghgaedghgegikmljjijljhhijhkjkhkkllminpoookmmmnnmpppnnjolmkpnrsrqqopmmkoopmponlnjnpqqsonknqrkomonpopoplllopppppomonqpporrqnpnsoqoqnnortsrrlonqprprstrtrutsssqqrssuwwwu [...]
+
+HIHHIKJHIHFGHHIJHJJJJKKKJIIJKJHHJKKJKLIJKKKLLKHKMMKLLKKKKNNLIMLMLMNNMJINMOOMNOPPNMLLMNMNPPNOQROPPOKNPQOTRNKRRQOOOOOQQRSSRRLQQPPPOPQQPRRQQRSSTTRRSSQQRRTUSSTUUURQSTTTSTUUTTUVWWVWWVUTVVTUXWUUVVVVVUWXXYXXWXXXWXZZY[[[ZZZYY[[[ZZXXY[[ZYZZZZ[ZX\]YZ\]]^]]\\_^^__^_`_]]`_^]^^^^`accb``______acccbacbbcbaaccdddeddeefgggihgffggggggghgeffgffhjkhihiijhhjiiijjjkkmmmmmnomoppnmnoppqqpopqplmopqrsqqqponmopqppqpnnmkmpqsrqomkoqpnlnpqqpppmmopqqpoqqqqpporsrrrrqnqsrsrrqqqsssrqoqqqrqrsttssssqrsrtuuttuwxxwvv [...]
+HGHHJKJGFEFGIJKLLKKKKKLJKJJJKJIHIIJJKLKJIIKMLJJKLMMMLJKLMNNMMMNNMLNNNKJMOONMOPPONLLKNOPQQQPNPRPOPOMNOOQSROPRRRQNOMOPQRSPSTSQPOPNOQRQPRRQPPSPRRQORRRQPOSTSSTVTTRPTRSPSQTSVVUUWWVUWVUSVVTTVUTUWWXUUTTUVRYZYZZXWXXUXYZZZVZWYZZ\[VVV[\[VY[]Y\[ZW]][[\Z\Z^^]\ab`]]Z^^_ZY[`^^Y`a`\`aa``]]\]__`cccbbacbcccabcdcdeedddccfghiheeehgjhggghheefhhhhijidgeidghijkijjlmmnoknnmkmopoooonqqqqqqqqpnoprqrsrqrmppqsroppppponjmoqoplpnmmoonmoossqpojnonnqinlqrsqopqqqoqoqnpmsttstutssstrqsrorqttsntsssqnrstutssqstxuwv [...]
+
+ GGGIJJJJIGGHJKKLLJJKJJKKKKKJJKJJIIJKKLLKKKLMKIKKJNNMLKMMNNNMNONOJKMNONKMOOMNPQOOOOOOPQRRQPONPQQPNOKNMNOQPPPRRRQNOPNPPSRPRTTTRQQONRTRQRSSRRRRRRPNQQRQPSSTQSUURQRTRRRSSRUUVVUUVWUUWVUUUUVWVUUVVXXWUVVVUUXZXYZYZ[YXXYYYYXZZZYY\\\]^]\ZZZ\^^\[ZX]^]\\\]^^^^]aca^]\]^``_^`baabb`__^_`aa`^\`bdcbbdddcddddccceffffdeebceeggggffgjjigggfgefgghjigjjjhhjkkklmljijlllmnponllnppponnopqpqpqpomqrrqqstsssrqqstsomoqrqqponoonprponmlmorpqssrqpnnppoqppqrtsrqooopqpmqqpqrttsuwurrturrtsstuussrstutrqrsuwvtsstwwvu [...]
GGHIHGJIIGGHJJIIIIKKIHIJJKKHJKLKJHJKLLLLKJMNMKLJJMNMLLMLNMMLNOPPMHMNNNNNPPPOPQPOOOOPPORQPNNOOOQRQPOPPMNOPPPQRQQNPQQRRSQNPOSSRPQPQSSRQQROSSSQQQQNQORRSTTSSSUTSRTTRRTSSSVVWUTSVSUUVRVVUSVXXWVUVXYXWXXVUVYYYXYXZ\\[ZZZXWWZ[[[[\][^^][[Y\\]]\YYX\]]\]^_]]\^___a`^[^^```]``b^a`_]^]_`abbabbcdcbceeccdeedcd_dfggfcefffeegdifgefhhhhihdhghcgijhhikljhijmlmnmkjjkiiimmmllmnookmjklooonmnnlorsponstrosrppporpporrpkqrqoomopolollkorqnrrrpqqoqrqsostsprsqpooqrqmsproqsspsutpsttssstuuvuqssstvuttutuvwstvwvwst [...]
FIIIHIIIHHHIJJFHJJLLJHGJIJJJKLLMKIJLILMLLLOOONNMKNMLLLMLMMKMNNOPNMNPNNOQRRPOOPPONMNOPPQPOOOPPNQRRQQPPOOPPPPPQRQQQRRSSRPOPRPQQQQRQRRQPOQRRSSRQQQRRSSSTTTTSSUVUVUTTSUVUUUUVWUSUUUVVTUVVUVWXWSUXZ[YXYXVWZYXXYYYY[\\ZZZYXVY[Z\\[[ZYZ\]]\\\\\[Z[[[\]][_^\]__^]^`aa`_`____`ba`_`__^_aabbcbddddccdfdbcddedcddcdefedfghhhghjjigcbfgghhhhikifgkkhjjhlkjijkljlmlmlkjihkmmmllmlmmllmnmmnopqqpprrpnnrtqqrqqqppqtttrpmnqsrpqqqpomnpoooppqrqppqqpqsurqstqprsqqrsqqqsturopqspqsssssrrsrstuuurtussuvvvvuuxwutvvuvts [...]
+JJIHGIIIIIHGIIIGJLLKJIJKIIIILMMLKJLLKKKLLMOPMLMMNNNLMNNKLLMNONOONMPQPNOPQONLOOOKMKMOOOQOOOPPPMSTSQQPPOQRPNOPPPSSRQQRRQPOQQQQRRQRQNPQPNQSSPRTSPSTTRSSTRTSSTTUUUTTTSUVUTTPVVUTTTTUUTUVVSVWXXWUWZZYXVWXZ\ZWWTYY[\[WVWYVXWYYY[]Z[ZYY\]]]]\]Z[[]^^\_^_^^\^^_]]\_aa^^```aaba`_``____bba^bbddebbcefdaeecacbcdcaeed`fhhgidhijigcdfgegggfheieijkijjjlkkjijdiklkmkkkliljmlllnmmmmknmljnkppppqqqnnkqssrrqsrqoqsttqpnnqrsqsqrqonprrrqpprroplpprrttrmsrpoqqpnssrmoqtqrnojsprrsnrqoopqqrsstsvwvsvqtwwuuvwqurutvtu [...]
+ JJFIGIJJJJEGHJIHIKKKLMMKIHIKMNMLJKMMJIKLMMNNKKKMOPOOOOOMLLMNNOOONNOSRPOONMLMPOONNMMPOOOOOOPPPQRTSRQRQQRQONNQQQRSPRRRPPQRQQOQSSQRQOPRQOPTTPQUSSSTSRRSTTSRRUTTQSSSUSUVVUSSVXWWWWUUUTUWWUVVXZXTUXYXWWXZZ[ZXWXZ\\\YWWYYYYYYYYZ]]ZYYZ]]]^]\\[]]^``____^^_^]]^_^_`_]]_bcba```ba```__abbbbbccdddddfdaddcdccdccefecdfgefhgghghhggghghighiijljijihijlmkjiihhlmkjkkmopoonlmopolooppmlloponoqqonmnpqqqrrstsrrqqpqpoonpqrsqqqppqrssrqqqqrrqqqsstusrrrqpopqpoqsqnopqoqmoqqpsurmpqqqqrsrtsuuvxwwurruvttuwvuvuvuv [...]
IIKJIGIGJJIJKJJIIJJJLLLJHILNMKMMLKLLKJLMNMLKLLLOPPOOOOONMMMNNLOONNPRQOMLKKLMPPOMOOOPPOOPQNPPPPRQQPQQQRSPPPQRQNQSTSRQPPSSRRPPSSSSRNQRRPQUUQQSRRRSTQSSUSTRTUSQSTTSSTWXWVTTUVUUXWWRVTVWWUVXXWYSTVZWXXYZZWYWWY[\[WYX[[[Z[WXW[[]ZYXYZ\\\^][[\]^^^_^^^`[^``]^_`__^`^^_a^`_`bbba`aa`^__cacbbcdeecefeccceeeaecdeggecefffhggfiiihiiheijijjglklfiihikkkjjgggignmknonprqppnopppppoqqmmnrrpnnnmlmmnoqpqorrspqqpoppqmomnprkpqpostsprmomqpqnrrrssssrroqnqnoopoqosopqpqrnspppvutmoqtrrpqrqprrqqvtttuuvtstyww [...]
HIKKJJJJJJJLLKJIHJKKLKKKLMNOMKMMLKLKJKLNJMJLMMLPPNKPPONNNNNNNMMNNNOPONLMNONNQRPOPPOOPQPPQRQPPQRQPOPOOTSPQRRSQPPSSTRPPQSRORORTTOTRQRSQPQUVRQQQRRSTTSTUWUUVUQSUVUSSUWXXWTSTTVXXWVVWXWVVWYXYYYXXZZZYYYYXXWVWYXXXVY[ZZ[\\[ZX[]]ZZZZ[[[\^^]\\]]__]\\__^_`aa_``a``aa`_`a_^ababaabbbccdcacdacdedbffee`efffgfeddfhgeeffghhghjkkkkkhhhiikkkjkjfijkkkkjjjlllkkmmmpomnopqpoprqqpppqrqqrsrpmlnnlnpqrqqspqrqqponnpqqqoloqqooqqqstrprqoopqqppqqqqqrtsrroqrrqopqssssqqssuuutuvxursvvtsrrrrqtvstusuvvuuvutxz [...]
IIJIJJJIKKKJJJJJKLLLLLKKMMMKMKLLKJLMLILNMLLMMMLOOMMOPNNNOOONNMMNOOPPNKMORQPLQRPOPPPPPPPPPPQQPQSQPLONOSRQQRRRRQQQRSRQQRTSRQQRTTTSRRSSQORTUQPRTSSNTRRRUVUUVUUUUVVSSTVWWVUSUUVWXWWWWXWTWYYXYZYUZZZZYXYYXXWVXXXXYXZZYVZY\\ZVYZ\Z[[[X\Z\^_^^[\[^]]Z^__]__```_``a_`aa`_a``aaabb`aaabeedaddc`cdechffeedefffgeebfgfbfefciiihjllkkkjhhehgkkkijfjkmllmlhlmmklkmkmonijknoonopqmpppqrorqqmolnonmoqqqqqrortrrqnnnpmppqlmpqnooqpqrpptsqoonqmporqqpqssstpporrrrsstqtqqntvvuvrtwvpuuutttsrsqxwwvwswxvruwvuxz [...]
+JKJJJJIHJJKLJJILLLLKKMKJJKKMMMLLKJLNLKLMKKLLMNMMNNLNOONNNOONNNNONPPOMMMOQRQOOQPOPQQQPPQQOOQQRRRRQPONPQPOOQRSRQQQQRRRPRSTRQQRRSTSSSSSRSSSSRQSTSTTTUSRSUTTTUVVVVUSSSUVWWVWVVSWWWWWWXXXWXXXXZZYYZYXVXYZYWWWYYYZ[Z[YXZZ\\\ZYXY[]\]\]]\]___^\\\]]\^^_]]_`^^^^\aa__`ba_^`bbbabbadeddccdeeedcadfghhfefedffgghggggefghgfhjihijkkjijigegikkjijilonmnnllmlmljmnonnmmnnmlmnlooooooqrsrqonoqqrrqqqmoqqqqsutsqoopponpqrpqqqqqqqrqppssssrnprqrstqqrsstutsrrtuuttsttrqrsttutssuuruvtsstutuxz|zzwvxyxuuxwyyzxyzyy [...]
+HJJLKJJJKJKKKKKKKKLMKIJLLLMOOOMLMMKLMMOMKKNPMMLMMNOOOPONMMMNNMNPPONNOPLLOQLOPPPOPQPTSRQQQQNQRTQNNQQPOQQQQPOPQROSUTSRQRSQRRRRRTTSTUSRUUTTSSSTUUUUUVTSRSUUSTUUTTTTTVXYWVVVUUWYZYXXXXXYXXWWXZZWY[ZYYZ[ZZYYYYZYZZZZYZ[[\[Z\[[[[]]^^_``_``a`__```^^``__^^__^`bbba`abbacccccdeddefeccddcefeeeefffgfedbdhiiijiihiighghhhjiiiijkklkhfjjklmllkkmmiknnnonmmooooppoooooopomnoooqrqrrqqrqpstqqqromnppoprssrqstpooprsrprtttrprtsrrtssrsrnqsstrsssstsssssssptsstuvsrqrsuuuuvvvwvrrttssutuvvxzyvtxzzzyxwwwwwxywtsxzyyxxy{ [...]
+ LLLLLKKKKHKKKKKJKLMMKIKLMMMLOOMLLMNNONOMKJOPOMNONMONQPPOMKLNONNOPNNLNPPOPQRRQPPNNOPSTQRPPQQRSTTRQRRQQQQSRMPQRTTSRQPORTURSRRQTUURSSRQUTTPTSRSTUVVVVUTUUVVUTTTUTVVUWYYXUUUVUXXYYXXVTWWWVWTWYZWYZYXY[ZYYZYVZZ[X[ZZXZ[\\[Z]Z[[\[[[___]]]a]`a```_^^``__`_b_`abaabbbdbaaa`dbededdddcdeecddeefdffeeeddadhjiifigghhhgghhiilfkkjijkkijllglnnlnnnljioopppmnmpqpmpnmmnkomomnnnoprqprorpprurpopqonpmpnqrtorqttrmnprkrrspusrormrqsttqrqqotuuqsotstqpqsssuupsrtttttptrssssvwvrxxutvsttvpwuvxxsxvyzzy{xxxvttvyutsy{zputy [...]
KLMLLKJJJJKLLKKLMMMLLKKLLLLLNOKMMNNOOONNLMORQOOQOOQQQPQQOMLOOONQQQPMNPPPQRTSNPMOOOMSTSRRQQRQNRTTRRRRQQQRRRRRRTSRPONORTTUTSSQSTSRQQPQSSTTTTSRSUWWTUTTUVVUUTSTVXXXVWXXWWVVWVWVUWVXTVWXWUVWWYZWXYXWY[YXYYXXZ[ZZ[[[YYZ\]\\][\[\]^^__]\\\`a`a`_`_^^__^`accbabb`aabccdb``bdeeeeecc`efeddddehgggfeeggfefgiigeggfgihfghgjklllljikklllllkkmmnoonnmnoooqqqpqqrpooonponooomnnnmopppqsrpoqsqppqrrrqqqrrtsrpqrsrrrtqqqsssssrrrqpqrtrrrsrrsuuuuvttssssrstvvtsrstuuuuttrtvvvwwwvwvtvuuvvxxvvxwwxyz{z [...]
+ LJLLJJLKMNMMKILLNNMIMNMKNLMMMMNNLKLKNONLNNPONNOPPLOOOQRRPNQRQPNMQRQNNNQROORSRQRSSRQNRSSSSTTTSPSRRRROQNPOQPTUTTTRSTUTSTTTSQQRSSTTSSSSRRQPONMOQQRTTSRTUSTVXTUVVTVUTTVXWVXXYWXWYZZ\[XWVVVWXXXYZ[\[[[ZXWYYYXZZ\]\[[Z[[[\^Y[[_a_\][^^\X]__Y^_b\__^___cdc^aba_``bbbbabc`bddbcdddgggdccddeghhgghhhhicghhgjhihjjifikjkkkllllkijiljnnmmmklkmmkkmlkloooooonllgnnolpoqqpooknnmkppqqpnpqqtsoturpqqttttttroopstsrrputsorqrkstuuuutssovsqitvwxxwtqtutrsrstuqtpuuwsyywrssxwwrsuxywwvvyyxwvqz}{uzyy{{w{{ywytyzzx{ [...]
+ KKLMKIKLMMMMLLMOOOLLLMMNMLMNMMONKLMNNONMOPOOONMNNOPPOOQRQOORQPOMQRQPRRRQPPRSRRRSSRNQRSSSSSTUSSTTQSSSRQRSRRTTTUTRSTTSQRRRQPQQSTSRRSRPNLIDBAADINQRRQQSTSTVWWVUUUVUSTWXVUWVYZYYYYY[ZXXYYWXVVYXZZZY[[ZYZ[\[[ZZ[]\[ZZ\\Z[]^\\_`^\\]][YZ]`_^_bba``__`_bdc`aba_baccccbbb_bccadffeegfeffeddgggffggfggfeihfiiihhhiiiigikllllmkjkklnpommlklmmmlmlmnmpppponopopppoooopqnmooopppqqrtsnmppsrpppoprsstutstrnpqrtttttuusrqqpnruutttqqqrutqqtvwxxwttuuttttsuutuuuvvvwyyyxxyzxsvuxxwvvxyyyzxxy{yz|}|~yvy{zzxxzzzwy{xwvwz [...]
+ MLLLKLLMLMMLKLLONKMMLPOMONMOOOOOLNNPPPOOOONOOOMNOQPPQRQOMOQSPPPPQSQQQQQQNPPONQRTTSQTSPPQSRRRRQRUPSUVUTTRSTSSRSTSSUSQPRRQRTSRSRPOOOKB6*
&0:DKOPRRQTVUUUUUTWWUTSVWWWWWWTUXYWXYYXWY[YWXYZZ[[ZYYY[[\[\\]]\Z\[\[ZX\\\\\]^`____]]^_^_``aaaaaa```abbcca`aa^_accda`aacffggfedddefceffggggghgfgiijjiiiiihijikkkklmkklmmmnnllnnnmllmnonnonloolmnnnnmnpqprssqonnnqrrrqrrooooppqssqsuussstutpqssttssuuttstsstsrssrssruvtqsttuvuuuutvwvtsuvvttttvuttttsttttvvwxxvuwxwxxxwuwy{yy{zxxyzzzzzwxyyyyzzz}|yywuwzz{{|}~{yy|{|{{{{z{{y{|{yzyvuurplhgd`\[XTOKJIC>:852.)(%"
!% [...]
+",6=DJNPRTUUVVUTWSSSVXYWUTVWXWWYXVYXWVXZYXXYXY[YZZYYZ[[\\\^[ZZ][[XXY\[\Y_^_``^`\___^_`_```a`bcb_a]cddc`]_``_cccbc_bbcddegda`abeddfggiihbgggdgeijigghlkkjjhjlkhjlkglllknjkjmnnmlhlkoponnloolloonnokprrqqoqqqnoopprqqqoopmnkqrsqstuuusvutprstutrqssrtrsqssrqsssprruvusuuttvvvvvutturrtttvrvwwuuuvttutottvsxsxtwxwtxpwvvwxxyyxvvvz{yvvuxw|{zv|{~wttxuyzzz{x~z{wzu|w}}~|{zz{{{{x{zwwxssmlkhca[YWTMNJG?=6620**$%
#$
+
+ LLKKKLMMMMMLLMNNMLMNMNLNOMNQOMNPOMNNLLOOPONQPNNNPSRQNPPPQQPPQPPQQQQRRQQQSRSSRRQQQQSSPRTSTSRRSTTSRSSTTTTSSTSSSSSSSSSTTUUSQSRPRUUTQL?,
+$.9AHMQRRTUTVWVUVWXYWSTVXXVXZXWXYXYXYZXYYWXZ\[[ZY[Z[\X\]]\\__][[Z\Z\_aa^^_a`_``_^```_]```acbaacdec`^^``aadedddddddccdfdabegfecfgiijgfgihggghighikllkmljikkihljjlmkklllkjlnommljmponmloomnpqpopppqqonopqrrpnopqqnpsrqqopqrrssstuuwvurqrsttsrrsttstssrsrrrstsstuvtrttrrwzxxwurstuuvusuwwxwstuwwwvtuvwvxxxwvvvvxwvvxyyxxyyuxyyy{zyxwwv}|{|~|uwzzwxyzzz||{{||||||~~~{y|}|||zwy{ztponkieb]WVSPNIE@;862.+*'%"
$'
[...]
+
+
&2>FMRVVVUUWXXXWWXYYYVYZZZYWWZZZXVZ\ZYYZZZYXYZ\]^_]\Z[^Y[\\]^^_`^^_``abba\\]_bccca^^`abbcca^`cddbbccddcadffbddehihgfeegfghhffeehjlkjhhihihhgkkklnnllmkjkmmllmnnmllknonmnlkjlnlmpqoonqqooprrpppopqsrmmoqpoprtsroqrpmqtuusqsutrrtutssrrsvwusssssttsssvvssutoprstvwvtsstvwvuwyxwwwwvtsvwwxwwwwvuxxwxwvvwwxutvyzxxwzz{z{{zzy{{zyz{|{xz}|{|~{yz}~}|{|}|{{{{|z|~}}}}|}~~|}~zxwurpmida^ZVQNIGEA=962/+&$!
##
LIMONJLMMLNNNMLLMMLLNONMMPPNNOOPONNNPPPQPNPQQQQONKNLPQPOQRPOONOPRRQOSSQQRRSTSRSRRRSSRRSQRTTSSQTOQPSSRORRSTTQSSTSSSSSTUSQRRQQPPONA,
+
".8AHMPRPVXWWWVVVZZZZ[ZZXWWXZ[XXZ\XWX[YXWXY[\]\\\\[\]]\\[\]^``\^__\`a`_^^^_`bb^a^^_aa``ba`cefeeebddecbaegfdefeegcbafgggggfffdhiklkgfehghehijflmnijkkfkjmjmlnnlikkjkmmnlkimoonnmopqrrmlmsrqqppoornppqnqorrrsroqrrostustqqrqpsqvutqtuttssroqosttotsstssuwurrtuwxvuopqvuwvutvvvwxstttuuuxxxrxwvuwzzvxqxtwvwwxzzz{w|zyyxxyz{wz{|}zv{~~}~z|{}}}~~y{w{{zy~|~z}z{|~|~~~~~|xyvsqqjgcb[[UQIGFD<<65/-)'"!
#
KLMOMKH [...]
+
+
+
#0;CJPSVWVVXWXYZZZYYXVY[YY[[[\\YYZZYYYZ\\\]]\\\^^]]]\^\[\_`_^^^`ab`_^^^^]aa````aaa````adgfdffdddefdbbffedddefecdfgggefehgehihjkjhejjjjkkkkkkkhjkjjlonmmmmmllnpmhloonllnoqoonnrsrssqrrqpqpqqqrsttrrqpqrrrrrqrststuvvwuuvuttuvttttsrqpoprsttsuttttusuxwuwttwwwusqsuvvusrtvvuvuuvxxwvwxwvwywvwy{zxwwzyyyyxz||{x}~{{{yy||wxz||yw{}~~}}}}~}|}��}|{x|~}|{{|~{y{~|||{|}zzywvsqmjfa]ZSPMKFA=:740*(&#
""
+ KLMNMKKJMNNMNNNLMKNNMMMMNPPONMNOPQONNMQSSQPPQOPPQQRSSPPOPPQPPQQQPQSSRRRSRNRSQMSTSSTTTPRRSTTQTTSSSRTSQSRQRTUUTTVTTVVRSTSTUTTTRRK@/
+
&3;DKPTUVVVYXXSXXZWZ[YXZ[[Y\[[XZX[Y[]]\^]\Y\_`[_^^__\]]_^]^_`caa_^\^_`aa_a_aab_bba_abfecccbb_egfcccfecaedecddfgggghihgeijihhghejjkkllkjkijhijlllmokmlkilmppohkjnonnnmpoonnrsqrrqrrnpopqqqsuvuttsnrrsssqstutrpvvwxvwwutousvvsoqproqsuvuruvvsvuvprtvvvutrxwvtrotturrqtuwswvvvyxwwwswttuwtuvxxxrwxzyzyuwxxzw}}{x}{z~}vwy|xvw|}}~}{~|}{}}}{~zzy{w|~{{v}~}y|yyx|~~~�~~}{zxurrokb_^ZTRPKCA@;83+)'$
#
+LMLLMMNOOONNMNNLNNNNKMNOLONMLKKPQRQONMNPPQNPPPQPQSSSSQONOQQPRSRPNQTVTSSTRPQROMSUQSSSRORRQTTTUVVUTTSRRTSQTVVTSWUSTUTRTUSTUUTTSPE3
+
(8CLQRTVWXWVWYZ\[ZYZZ[Z[]][YYZZ[[]]]^_]\]____^\]_`^_^^]^_accba_^^_abbab`abb_bcdeddefcbccccehgedegecffffdddfgghiiiiiiijjkihhjjjijlmllkkijjkklllooomjlmooooommopoonloppnoprrpnorropnnpqrrtuutsrqrrsssstvvwvuvwwvuvwuutuvwvrqqqtuuvwvttuxwxwxwvvwvvvuuvvvvusstuutsstvyzxwwwwvvwwwwxxywvwxzyywvwxyzyuvxxyv}}{z|}{}|{{}|{zz|}z~}|~~}}}}|y|~|z{{{|~~~~~�~|{w|����~}|{xutsmjda][WTOLHD?:61-(%"
"#
+MMLLMNNMNLNNNNMLNNNMNNOPPNNNMLNQRQPOOMLKPQQQPMPQQPQQQOPOQRQPRSSQQRTUSRSTSQTTRNSSSSSRQPSPSTUSUUVUUUTRTTRRUWVUUUTRSTSRUUTTTPRTRL=&
*4<BHNQUVVVXY[ZYZ[[XZY[\[YYZ[[\\^^_Z^\]^]^^[]]^``_^__[aaccb`_\^_`aaac`abb`bbefebccbcdbedeggcdehhhhggfeebgfhhjejjjkjijkjiijjjiiljklkhgflmljkknoonmmnkkkppnoommnnlorqlopqqqlqsroonopqprouusnsqsuutqmtttttuvtwtstuuttuvvusqrrtruuuuusvqwxxqxxxsvtvvwtusvpuvvvutvpvwxwwswtvuyzywvvxxwsxz{x{{ywxvxzzyzywv|{{v|~{yzz~||||{}~}}{|}~~~}zyx{}}y [...]
+LMMMMMKKLMNONMLMNNOPQQPOONNOONMPPPOPPQOOPRRQPPPRRQPPPRQQRRQORSSSRSRRPOPTTUUUUTRPQSQPPPSTTTSSTTUUTTTUUTPTVWVTSSSUUVVVUTRUSQQSOE3!
'2<DMQSUVVYYXZ\ZXXXZZ[[\\]]]^^_^^^_aa_^^^]]^___^__^acdb`^]\^__acccaabbabcddcb`cddeeeeefeeddgjihgffffghiijlmjikkjiijihijhkjhjjkkjhhiknmnmllmmmnoonmnppnnmknooporqonoqsrqqrpnpqrsttrsuusrsrutsrqrssqqrtvwvtstuwvuuuutssrssqqrsuvwvvvwwwxzwutuuvuvutuwwwxyuwwwwxwuuwwwwvy{zwwsuwvtxzzz{|yxxvwz{}||yv|}{||~{y|�}}}��~}||}��}yzy}�~} [...]
+
.9CKQUXWWYZZ[[[YZZ[[[\^]][[\^__^^_`^]]__^]]\_``bb`]^]_`bb`abb_^_`bfec``bddbeggfeeghgfffghggfggggfdgjighgggjjjhfilkjjkklmkkjkllllmopoklmnoopppponommnnpqrqponopqrqrpppsssttssttttttsptuvussuvvuwwxvuuwvvuuvvsqrtuuuvtssrtwvvvvsvtqqsuuttuvurtuutvxyzzyz|{xxzyyzxxywtvwwyyzzxz{zzyxyy{zzyzyy{|}{{|~~�~|w|~~}|||������|~~~|~~���~}����������~{}~~}|xttrlgfe^TROMHDA<83/*'$"
'& LKNLKJLNPQRPONNOPOOOPQQPQN [...]
+
+
+
&3=EKOQVZ\\\\[Z[YZY\[\]][]]][^_``_^_``^^^_```abb^]\`bccb]`\_\a`beec`^ceecgfhhggiihfecefghgdfeedfhjiiiigikkijehjldklkjmmlkkmlhlimppkmnmmnmoppjnqpopopqplmoqqrqqqonqptsrsuottttttsprtvuursrvoustttqwwvtutvrqorrutvtwuupusrrvruvtoqrwwursrrruuuuvtx{|xz|{xxyzxyywuttuvxsyyzwxy{|{wxy{z{z{w{|||zxxy}�x~~{y{{|yxy}}��}���}z|~��}�~~��~������}������yxwwspjkdbXTQQJGA@;82/('#"
#'&NOOONMJNPQPPPPNOPOLLMRQQP [...]
+
*3=GOVY[\\\\\\[[\[[]^]]]\]]___^_`_`^___^``^abcbbbabdbabcbbbabccb`acefgfefgffghggdcefdhhgfffehjjiijjiikkkjigjjjjlkhkmmkknlnmiloonnnkjlnopomoqqppqqqqoloqrrqnqrrqprrqrtttuttusqpstuuutuwwxutuuuwwxwutstutstttvvxxwutvvtsuuuuuuuvxxwwvvvvvutuvwx{zxxyxxxz{wvwvwxyyyxyyyzvwz|}||{{{z{z}~}~|}|xz}~��~}|}~}|zzy}~~~~~~~z{|����~~����������������������|yvsqmiea[XVRLHC@;72.*%#!
#)OQPLMMMNOMMIOPOPQPPNPPPNQPQQO [...]
+#.8AIOSX[\[\\\]\]]^Z\]^]]\_^^^_]]^__]\___`bceda`a_cadeedbaabcdbadeefdddde`ddffebfgfdhgfeefjkkfigkeiijgjihgjiijlilnmjmnopnilmonoponnmnmmkppponopqrqqqrnqprrrsspqqqmrrsptsuqqquvvtuuxyxwvvvsvxxryvtqtvvuutuswxwqtuwxwsurstsquxxwxwvqxwwturwtyyxwwuvvwz{vupqrxyzzz{{zzvzz}w{z{{|{|{}||~}}}x}~~|��x}��~}}|y~}}{}x~�|~zz{�����������|���������~���������|ywurqkid`\ZUOJGB?75..'%!
%OPOLMLLMMNMMOOOPPQPOOOOPPQRQPQST [...]
+$/;DMTXYZ[[]^]\^^\\\]^^^__^_^\]___]`ba``bcb_`bdcdeddecbbbdecacfggfeddeddeeeeffhgfffdefhjkkjiiijijiiihiijigjklnomlnononmmnnopqpqpooonnpppoooqsrrrrrrqrrrqrrqrsqoqttsssssqquvttttwxvtrvvuwxxyyywwvvvuuuvtvxvptuvwwvvvrsssuxwvvvvvwxxwvvvtwxwwvwvuvyzwvwwvwxx{{{{{{||}|xz|{|}}}}{{}}{|~~~~~~��}~||~~~����~~����������}���������������������}}||yvtngea\VRLJGB<741.(%"
LMOMMMLLLPOMPPOONJPPQPOPPMQQOOQRRQR [...]
+
+
.9BKSW[\[Z[\^^_```a``aba`^^^^`a^`^baaaacedcefc_bdccdeeffefhfddffdffihffghhiihhhhdikigiklkjkkkjklmlkkkilnnopmklmnonnoqpqqqponjnqpoppooqrssttqrssrrrrsuvvuvutuvutsssttuuwutuvuuvwxyxyxwvuuvvwustvvvustvutsuvwvvuwxwvwwvwwvuwyxwwxxxwwwuvuwwwwxw{{z{{y|zyz{|{|{}}x{|||}��}|}~|�~}{~�����~������������������~�����������������������|zvsnhb^YTPLIE at 961.+&
MNPPPONKNOPPPQPMMNPPOKNPQQRQQPQQQOONPONL [...]
+
+
+
"1<DLRVWZ\^^_a^aa`^`]`_`a``bbaaabcdb]abeedecabbdefffggcfggdghgcgiigfchffghiihhfjjhhjllijkkkkllmlklllmnlnonkklnoooompqqqqpplpnooonpqrqpqttsstqpqrrtuvrtrvrvvutvuuvvvxxwuuquvvwyxwvxuuqtvvuwsstwwvttttuutwyyxxwyyxuxxxwwtwwvtxrz{yuuuwvvvxwxx|zyy{x}zyz|y{w{|{z|{|w||~w}��~~z�}~|~�}~|�~~}~����~�~}}�������������}}}���~�����~�����������~�~}yzvrnib^VTRLFC::31/*"!
NOOPPPPONMOQQQRQONPPPQPOOOPPOPPSQQQPPP [...]
+
+
+
+
&2<FMTY\\]^_``^]^__abb^`abbbbabdb`abddcccddeegggfffeefghijhgghhfhjigggghiihjjjhhillkklkkjlmliklmmoollmmnnmnpopnmoqpopqrsrrqpoprtssrrrrstropqstvwtqsuuuvuuuuuxxwvvxxvtstuwyyxuuwxusrwvvxxvuvtuuvstuutvyz{yxyzyxxxxwwwxxzzyyz|zyxxyxwwxyy{zyyxz{{{}~|{{{|}}z{{zz{~}}~~���~�~}~~����~}��������������������������������������������������~}{vrnjd^YUQLGC>:60-)$!
NOONNNQQOMOPQQQPOMOPQRRPOPQMOOQQQQQPPPMEMPOOOOP [...]
+
+
+
+
+
(4>HOTYZZ^\\[]\_`bc`^_`cabaa```aaddcbegfefcghgbfbfffgihhhhfhiiiifghiikllkjjkjkmmkmnmlllnhjkommnonmlkkononmlomoponoorsqpsrqqrrsrrqppqqqornuststosuvvvutqsvxwusuwwvuuvrxxyxwuvrwutxwvwwyvtrsuvsuvvuwuxvyyzzyvytwwvxwx{yyyzyxyxxzzyt{{yxxsywyx{x}}{{|}}|}y|vww~|~~~~~}}{~|��~|~z~~���|��}���������{������������������������������������������zwpoli^[WUPLEC=:1/*("!
MONNMOPPPPOOPQMMNNOQPQQPPQQQPPQPPQNPQPLIKPQQNPP [...]
+
+
+ +8CNTX[]\\]__`cdba``bcaaaabdccefddgigfffgigeeeegeehjghhgijiihfhijklmmmkkkjjlkkmnnnmmmlmnonkloqolopppooopoooopoopoqqrssrqpqstrqqqqqpstwvtttsstuwwuttsquuvuuuvtvuvwwxxxyxwuqwxvywuvvz{wstxwstuvwwyvvwyzzzzxuwwvwyyyyxxxxwwwxz{{{||xwxyzxyyyx|{yz{~~|}~~}|~~~}}}~~}|~}|~}~~~~�������������������������������������������������������������~zwtrnjd^ZWQKFB=72.*'#
OLMNNOONPPOOPQPMOOOOPOQMNOPQRQRRRQPPQONKKNQQPQQQQNQ [...]
+
+
)4>HPUWW]\]]bcb__`bba`bcd`eddedcfgeegbhihdedfggchjihhfijiihfffiimjkilllkkjigmlmmomnnnnppmjkmolompommnoniooqmqqporsspqpolstsoonrstvvuuststotvxvtsuvuvxxxvvtuutrwyytwwxsuqwxyzxuuvwwvuuwwutsxxyyxtxxxxzvvwwsvxyzytuuyzytutzyyz|{zyyzzxxwwx|z{|||||~}}|||}}w}|~||~~z}}~~~���~�~�����|�������������~}|�������������������������������yzttnja^YVPKFA96/-'&
QOLOONOOOPPPORRQQQQQSTRPMPRRQQRSSSQPPOOOJKOPMSSRQRRR [...]
+
+
,7 at GOUY\^`a____ababbcddeeddcddcdfffghggeeiihhijiihhijihfghhjlljijkmmllkigllnoonmmknpqonomopoonnmnmnnnnpqrrrqrrtsprroprtsspnrtuvtssrsstuuvvustvwwwxyywwwwwtswyxwxzxuuwwwyzxuvwtuvwvuvxxyyxyyyy{|yxyvwwxxxxzyxyyyz{yxxyz{zy{{{{zzzzxxy{|z{z{{z~~}}|{{|~�~|}~~}y}�}����~������������������������������~����������������������������}{wsojc_[WQJF@:50-(%!
RQPOOOOONMOOPRSRRRRRSTSQPRSSRPPPQRRNPOOQOJMPPRTRSSRSSSRRRR [...]
+
+
+
,5>HQY]\__^]acb]bbecedddeeebfhgeffhffdifhhihhiiijjighihhjllhifkmmmnkjhmlnmmnmllnnoooqnqqomnlonnoonnnrtsqprsttqssqqspttsntrttsrsrpptstpttsrvtwvxwyvvvxwwvwyyyz|yvxvwvyuuvvwwwwwwrvxwuutvvzx|{ywzuvvxyxwxxwwzxyxwvy{zwxzyz{{yyyywt|~z|z{|}}~x|z{}}}��~|}~|z~~���������}��������~�����~�����������~�������������������������~~}||vrnjd`ZVNIE>64/-$$ MRQOOONPOMMOPQSRRRRRQQRRQRSQRRONOPQQQPOQPMJPQQRRSSRSTSRRRRRT [...]
+
+
+ -;HQW\__^ab`_abceddeeefedeggfddgigdhihgfegiijjiiiiijhjllkjkkllmmmmonkllknnnmmnnmoqrqpomoqonnomprostrpoqsttsttrpsuttttuvutttttstuuuutrssuuvyxwwwwvwwxzxzxy{{ywxwxyyuvwxvwyyxwwwwvtvux{zzzzxxyyxvvyxxyzxwywy{yxzzyyy{|z{|zyyyux}��~}|{}}}|{{y}�~{~~~~~~�|~�����������������������������������������������������������������������zsojd`[VNF at 8860*'$!
OPPNOMNOOMOOPQRRQQQOPPQRRNRSSRPOOOPQQQQPRQPORPRRSRSSSRRQR [...]
+
+
+
+
+
&6AJRWZ\]`_``ddcadeebecedgffdghhdgghfedijiijjihigjiklkilmmkkklmmmnjjlmmonmlokmmoppoojqqphmmoqsqssrpprrrrprsqostsrssvwvuustrvuuqwxurstwxxtwvvwwuuuxyzzzxzvywxxyyxuvwxsstwvuuxuttxxxz{yyvuuyzzvwxxx{|zxzxxx{z|zzzzu~{|}{uz{zz{}�}z{y}}}w}{|}|~z��~�z~��}~{�����~����������~�����������������������������������~�������������������|~wslhb`ZRGF=<95,,'% NOPONMMMOQQOOPNPQPNQQQORRRRTSQQRRQOOOPSUTTSQRTTSSTTTSSSRQRRQQUUU [...]
+
+
+
#.8AKT[^acccdcccdeffffggghhfihedhhghhiihghkiggijkkllkkmlkkijmmlmmmnopppokmnlmnpppqrqqqpmloprpsutrotssroprqqssrtuuvvutttuwwvuvxzwsuwxyxvutwxwtuxxwxzzzyyxwxxzyuvvxwtrtwzxwwxvvxyty{yxvwwy{{ywxxyz|zz|}{{z{|zvyz||}w|{vz}||}~}|{|~~}~�}}�����~��~��������������������������������������������������������������������������yvokhd_XQLID?:51.*&"
NPPPPPONQRQPOPOMPPQRQPQRRRSQRPRSSQQPQQTTVVSPQSTRRSTTSRTTSSTTTSUUURRT [...]
#-;DMV\`abcdc_eggggdggghghgefghghhiffgghfdgfjiifmnmklmlhjllklloppopqqlnmlinpporrssrknkoqqnsuussttqrqqpqqstuvvvwwvttuvwwtxxyuwuwxwvxwvtwzwttsxvv{|vwvwxyvzxwuvtxvuvwwxwyxwtyyxz|zxvvwyzyzyxywxyxx{{zxyw{zwuyy||{z|v|~}w}~~{~}}~~{{{��}�|���z�~~�}�}��}}~���������������������������������������������������������������������}zqmkif_VQKID?963/&$"
OQOOPQOORRPOPROMOQRSRRRQPRQPQQRSSQQSTUUUVWRPQSRRRSTTTTUUTSSUTTTTTSSUVVU [...]
+
!.>KTY]`cb^chhhfdeffgffgfefdfhhijjjhfhhffhihjlonlmnlkkkgkmnnpppmqponnlkmoooqttsqqonotsqqttqrtsssrsqrrsutuwwwwwuttuvwxyzyxwuwxxwxxvutwvssuwvuzywvvxyyxyyxwvvxyxyxwxxxywwyzyzzzywwwxx{{yyzyyzyxyzzzz{{zyxy{{{{|||}}z{}~{~�~~{}����~���}~����}{}}��������������������������������������������������������������������{vrnic[VRNHD?;83.+)%"
PQPOPNNOQQOMQROKPQRRRQRQQQPOQRQPSSSTTTUTWUSQQSSPTSTQTTVVUTTSTTTTUTTOSRUUUV [...]
+
+8AJQY]^bfffecdefggeghgfecghikldhfiggdiijlmlnmnklhkkklnjmoppqpplponkonnnoosqqnpmosunrrrqqstrrrrqrrrsstwwvuuttsssvxxxxvxuwxyyyuvvutupuuxwxwxqttxyyyzwwwxtyxyyxxysxvxuyyz{zz{zyuww{|zyyyyyyuxx{{{{zzyy{}|y{||{}{}zyz|zz{~}~{|}|{���~�{���~�����~~}||~|��~����������}}~��������������������������������������������������{vskg][YUKJGC<901,+%$!#""
PRRQPNPQQPNOQROOQRQPRRRRQPPQSTSSUUSSSUUVUTSRQSTUTSUVTTTUUUUSSSTUUVTSSTUUVVUV [...]
+
+
+
+
+
+
+
-8DOY^acdccdeghgghjihhgghilkihihgijjjjllllmmnmmlllmmkjmnoqqoopooopqpnnmpoprqnoqtutsrsrruusssqttsuuuvvstuuvvtuuvwwvwwyyzzzxuvuvvuuuwy{zyyxuuvxyzzyyxyzzxxzzyyxxvyzzyyz{|||yxxx{|zyyy{{yxwx{|{z|~{|~}y}||{{}}|{{{|{z}~~|}������������������������������������������������������������������������������������������~yyulfca\UQNJFA=850,('&&%%%$###"#$#""#"
PQRPPOPOPQQQRQQQQPPPSRQRRPOOTTTTUUUSSTUUTTTSSSTRQQUVVPTSSSWUSQTUUTWUTUUUWVVWYXW [...]
+
+
+
+
+
"4?HOW\_`abfgghihgdghhejmkiihiikljgggjijjkkmonkmllllmmlqpmjompqrqqmmmnoqssqqqsvttsssrvwvstqustuvuuttuvrwvtuutxyyxxyzy{xyvuuwwwuvsyzywyzzywvxxwwyy{y{yyzzyxxyvxzzyyz{z|xztyxzwvvyy||{wxy{}|s}~{|{}y}|}x}}~}|{}~}|||}}~~���~�z��������|�����~������������}�����������}���������������������������������������������������{~triiidZVRQJHB?:81-*+*))('''&%&'&$$%%!!!!!
RRSSQOPPNQRRPPQRPOQSSRORRQQRSSSSSUUSRRTUUTRTTUTRRSRUVVVVUVWVSRTTTVWWTUUVWVUWXYX [...]
+
+
+
+
'2>IQY_bdffhhgccchihjljghhjklljhjjjjkkkjlonmlljmnnmnoplnnnorssqooooqrsssprrtsssrtvuvuuuuuttuvutuuwwxwvrtuuxzzzyyxxyxxxxxxxxwwxxyxxyz{{xxzzxvz|{zzzyxxvuwyuwxvx{}|{||{{zzyxx{{{||{z{}}}}}||z||~}y}}~~��}|}}}~�~���������������������������������������������������������������������������������������������������|vrqpje`[VRNJGD@=96420///.-,,--,+++(&''&%%&%$#"!!!"!! !!
RQRRPNPQQRRQOOQRQOQSSQQQQRRSSPRSTTUTRRTTSTSSUUTSTUUVUUWWWUVVUUTQTWXVSSTUWWVSXTWSVW [...]
+
+
"4AKSY`cfhhfddhjgikjeiijhkkiglkllkhjkkmnkmklnnnnmopqonimorsroopqqqprsssrqrrstuusquuvwuqtsututvwwvvvuttvyuyyxxytywxwyzxzzxxyywyz{|{yyyzzzw|}{zywzsxvvwzwwuwy{{|}|xz{||{{{z|w{{|{|}}||}~z||~}z}~}|~��}}~~{}�����}������~}|~�����������}~����������������������������������~��������������������������������������xrtqnfdb]UTSPHEB@?=964321012220-0.,++**))**%&&&!&$###$%"!!!!"""
PQQPOONQSRSQOPQRRQQSSSSRQSSRQQRUTUUTQUURPTUTUTRTUUVUUTSWVTTVVUUSSUUTRRSUWWVVWXWVUVTWXX [...]
3POB)"
"-8DQY^dhfdehjhgjjjiiklkjijmonlkjmnmmnnmmmmmnnnnqqqnmmpppqqoprsrqqrssrrrrqttsstttvwtsssuvuttvwuvvuuvxyywvwxxyxxyz{{zz{{yxxyyz||{zyyxy{|}}{zzzxxyzy{|ywxxyzyy}{wwy{|||{y{||}}|||~~~|}}}~|y}}}}}}~~~~��������~��������������������������������������������������������������������������������������������������spvxtpliea^ZVROLIHFCBA?>=<=?=;666666655420//00.,,+*)**)''&&&&&%######"
PQQOOOPQRRRQOPQRSSTSSSTTSTSQRSSTTUUTSTTQRTUTTTSTTSTTTSUVUSSTTTUTSVVSTTTTWUVUUVVUVU [...]
+8EA7*&#
&0>HRY\]chhgfijgkklnljjjklmnnklljimnmmmkmkmlpqrrpnprqkrsqruusrqqqqstsrqrrpttsrvvusssuusrtsxwvtutvvwwywxvzxxxz{|zxt{}zvyyzxzzzz{zy{|}|yzx{zxtzzzw}xwyz|{zzzzxwvyz{v{y|}}~x|{|}~{~~}y~|y}}}}��~~y}�}���|����{���}������������������������������������������������������������������������������������������xt~}|vtkigda^XUQONMKKJIIHDFFEDA?>=>>=;;;987678631////0/****+**(('#((($! !"##"
NPQQNQRQPPPPPQQRTTTSSTTTSTSRSTTTSTTSQRSUSTUUTTTTRRTVTSTVUUUSRTUUTVVVVW [...]
+
+
+
)5 at JU]dfefhikkllmlijijjjnnlkijjkllnonnlmoqrrrqprsqpqrssttsrssrqstssqrrrsuvwwvusqtvvuuuvwxvvvwuswxyyxyyyyyxyzxwuz}zyzzzyyyyy{{{|}}zzzx{zyz}}{{|zyx{}}z{yyy{{{|zyz}~�}{|}~~���}|~~}z}����|||�������������������������������������������������������������������������������������������������������������������|vpmkifc^ZXXWVTTTRQPOONMMLIGHHGGEDDDBA@@=<<::989754443310/.,,-,+*)))))(%%&''%###"! !!!OORSQRSNPQRRRSSSTTSRTTTTTQTSSTUSTTUSRNRTTTTPTSTTSQUVVUUSUVVTTUVTUVUQVVWWXXXWWWXYYVUVVUTUVUWYXUX [...]
+
+
+
-9FQX_cfggjjkljijkkjlnlkjijkklloppolnoomrqpnqqnjorsprqqrrttrrsrrssssrovxwwwtttvwwuvvurutxywtwwzuttxwzuwvywxwxzyx{{{{zyxvz{||}|zy{y||z{}}{xyxwxz{}{|yz{}~}z{y||��~x}}~~~��y�~|}z~|~~���~}~~~�~�������������������������������������������������������������������������������������������������������������|wtrongdaaaa[[\\YYXVTTUTRPNNNMLMMMGKIHIFCCBA@?A?=<;;:976761120/.-/0/-,*++*)(&&%&&$"#$PORRQQQPPRRRTUTRRTSSTTSTTTTTTTTTSTVVTQQRQTSTUSSTUUVXXXWVTUWVVXWVVVTQTWWWXYWYYYYYYVVWVWVTVUVWX [...]
+
+
+
+
+
+
"3?LX`bdgiflkhilmnonklkjkmmmmooonlnpoppqpnonlimstsrrrrpqsuttuvusttqntutvwxvtswwxxwtstuxyxxz|{zxwy{{{zzzxxxxyzyz{||{zxvz}|{|{y{{|~~|{w{ywyzvxzz}|{xz~~{|}~~~~�}x}}}|���{|~���~}��������������������~�����������������������������������������������������������������������������������������������������~|zwspnlihhggdcdec`___]\[ZZZYYXXVTTSRPNNMLKJJIHHHGFDCB@?>=;:99:::864210110.-,,+))**OOPPPOQQQQRSTSSQSSRSSSTUTQSSTTSRTTUVUSRQTTTUVSSTUUVSWVVVUVWUXYYXWWURUVWUXXXWYWWXYUWXYYWTWVVVVVVWWWXSV [...]
+
+
+
+
+=FNT[bfjjiigmnpnnnmjlnnnnmollmppooooooommlpuuutosnposttpvtssssrossttvqvtvwwuyxurutttyz|{yvyyz{||{zzxvwwxzz{{|{zyxw{}|u{|{zzz|}|{ywvuz|{{zy~}|z{~�|~|~}}|||~x~y{|}�|{|}|}~�~}}�����~���������������~���~���������������������������������������������������������������������������������������������������|ywqqommoqninnmjhhhhfcaacbaaa\\][ZXXVTUVTSQQQPPOLJIHFEECCCC=BBB=:75457654210//..PQQPNOQQOQRTTSSTTTSSRRTVTPSSSRRTTSTVUSSTTTSTUTRTUUUVUUTTTWWXXXYYWWVVUVVWWXWVWXYZXVWZYYXWWXWUTVWWVYWVVUT [...]
+
+
+
+
!*8CNYbfiijkmnonmmllnnnnnnoooppmnponnoonprvvvtsrrporstvuttsrrstsrsutquwwvvxxvuvvvwxy{vyxxxxx{||yyywwyyyyz|~}xxyvy||zz||{yzzyzzzyyyz{|}}|}}~}||~~}~|��~~~}~~~��}{|~z}|~~~~}~�}�������������������~���������������������������������������������������������������������������������������������������������{yxyyzzzwvvvwvttsrsrolmnmkiijjigffecbb`]]^[XXZXWVTSRQPPPMLKJJIHFDCDDBA@=;:8888RRRPPOOPRSTSSTUUUSSSSRTUTQSRRNRSSRTRVTSSTPQOUSRRTUUVUSUWWXWUVUVVVVWTTTVVVVWVUUXWYXYZZYYYXVVVUWXWXYWUVUUVPE4
+
+
&9FQZ`egimnmlmlmlmlkknnoknqpopppooppprtvvuqsrrqppvsuuurqqrttrsuvqtwwtvxwtvswwy{zxxwzzzwxy||yuxwzzzxww{}wyyz{{yyy{{{z{{zvyzzx||{vzx|{{|}z}{}}|z��|}~~~�z{z}{~�}}|z~}���{�������~�������������������������������������������������������������������������������������������������������������������}}|}}��|||{{zzxwwwzxxpsrrrppqqrlnomkjgidfge]_a`_``^\[ZZ[YXURQQQPNMMMLLJDCA@?>?RSRQQQPRTTTTQTVVUUTRRRSSSSTSSRRRRSTUVWUSUTSSTRRSTSSUTSUWXYWTSTUUTVWUTVVVSUVUWXXVYYYYYZZZYWWXWWXYYXVTTTSTK9" [...]
"$"
"1?KU^diklmmmlllllnopommqrqqsrqqrqppsuvtrtusqsuustuttsqpstuuvvtrwvuxyxxxtwwz{zxyz{{ywwy{}{xxxzywwyww~~{zzz{{xz{{{z{{|{xx|{{}~|zyyzzy{}}|{{}}y~�|y|}}}~}}|}|z}��~}}z~�����|�������~������������������������������������������������������������������������������������������������������������������������������������������~z|}{zz|zyxwwvuuttutronmmnmmkjhgffeedcb`]]\ZYXWVVSPONNNLJRRRQQRRSTUTSTUTSTVUSRPQRRSTSSTSQSSUUVVUSTUUUURTTTSTUUTUUVUVUTTUTUTWVWWVVVVVTWWYVXWWSYZZYYXXXWWYYXWVPWYV [...]
+
+'5AKT\bgjllilkknpooopqsrrrqpqpqmqstrrrstrppovstruuuqsvuouvvuvwwuxuxyxtuvxyyyzy{yyuvw{}|xyxxxxwzx{~~|zzyv|z|}|w{x{{{xy{|{}|~}|{{yzx}}{y}~z}}z{{{|||}y}~|~{~}�~~~~���}�������~�����}�������������������������������������������������������������������������������������������������������������������������������������������~}z|~}y~~yyyvuusrrrqpoopnfmmjggbbbaa^\[[XUWXUSPRRQPSTTTSQRTURQRUVUUSOQRRRTSSSUUTTUUVUSSTSVVVUUUTPUUUUTTUUVWWUTUVWWWWVVWVVTVXXXWWWWWZZZYXXWWYZYXZXWYZUK9$
!!
"#"!
+
$4COYagjlkijnnmooqrsroqoprsrqrssrrsssrptuuvuuvxuuvwurtvuuuwwwwuxzwvuuuwxyzyz{zxyz{}}yywwwx{zz|}{{zyxz{|||{zzyz{{yyzz{|~~~~~|z{|}|||}~~}{y{~~|~~}}~��}~~���}���}�������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������|{|~|yyxvttvttrpponllkkifcdecaOQRRSTUTSPQRTTSRSSUVVUSRTOSTTTUUTSTUVUUSSSTUUVWUUTTUVVVSUUTTWXWWWUUUWWXWWVVSWXVRWVYXWV[ZZXYWXYYZ[[XVYXO at - [...]
+
+
+
+
/:FS\bdehknlonoqqpprrqsutsttssstsqrqsstuvuuvvvvuttuuvwwwwxxuyzxwwtuuxz|yzyywz{|}|yyvvtuwyw{{||zyyz{}}yzxxxyy}{zzyxzz{{}z|x{}}{}~}y|~~|}}}~�|}~~}}��|z�~���~�|����~~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������}�}z{|~~wxywuvwurnlnomkPQSTUVUTSQSUTSQRSRTUUVUUUTTUTVVUTTSTVWUTTURVVXWWVUUVVVVTVUTTUWWYXWWVVWYYVVVVWXWWWXXXXZZ\[[ZZYXWYZZXVWTE1
[...]
+
"%&&#
#%$!
+
+
+
+
3BNU\djlnnooppppqssstttuttttusssqsrrttsrtuuttruwwxvwyyxxyzyswwwxxxz||zyzz{{{{z{yuxyywyzzz{||{zz|}|{yxz{{y{}|zyyyz}�}y{~|||}~~{yy}~}|~~}���|~~~~�������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������~|{z{yxQQRSTSTTTRTTTSPORRSQTUUUVUTTUUURTTSSVWVTUVVUUVVVVUUUVWWUUUUVXXWXXWWTVUXXWWVUWXXVWWXVWXZW[ZZZYVWWXXWVSK:
[...]
+ "%')+)%
+
+
+
+
")6 at LV_fiinoopooqqqrtuututuvuuuqsrqrtpstuttstvxyzwvwwwy{{yyxxyzwxyztxyxy{z{{{|{vyyzxyzywz{||{|}{{{{z}{{yzw}{zvww|�z|~}y{z}{}{{|}~~}}y~~|�}�~}~}}}����~~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������~��QQOTTQSUTTSRSTOQQQSTTVUUVUSQOPRSTUUVWVVVTWUSSSSUWYXVWXWWXXVVXXWXXWWWWXWVVXUVVWVUVZYXZZZ[YXW[ZWWWXWWUN at + [...]
+
#&''*+*'#
+
+
%7FS\ejmkoqpopnqsuuuuuvwvuuuussuuuuuuwvruvy{xvuvuvy|||{zyyywxzywvxyzyy|}|||zxxywxzyvy{||{||{z{{}~~|y{|}||{ywy}~~||||||~}}~������~����~~�~~}����������������������������������������������������������������������������������������������������������������������������������������������������}�������������������������������������������������������������������RRSTSORTTTSSSSRQQRSUVVUUUTQJHGJLOSUVWUUVWWVSSTUVXYXVWXWWVVVUWTWYXVXXWWVTUXYXXXWXYZZXZ[[YXXZ\[XXWXWUTH3" [...]
+
+
!.>JU_dkpqppporquutuvtvrtvvtuuwvvvuvwswuwwupvvvwy{{||wzxxwyxywwwxwyw|||{|zxxzxwwzxzyyyz{{{|w|~~||z{{zz{{{y|}~�~x|}}}~~~�������}|{����|��~~~�����������������~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������RRTTSPPTTSSSQSSQRSTTVVUTSROLIF?AFMRVWWWUVWUTTUVXYYXWWWVVUVVVVVUXXWYZXWVUTWYYYYXZ[[XXYZZYXXZ\\ZZYYXUP@* [...]
&5EQ\ekmmqrsttsptutuvuwwtvwwuuuuvwxwxuttvxxwwyzzz{{{yyx{zzzxxyzzz{zy}|{xyz{yvyzzzzzx||}|{}~{z|~|xxyz||}}~��}}~}~��~�������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������RQSTSRRRRRTSSSRQTUUQUVUTSRRQOMH:EFSVWXWVVVUVVVVWYXXYXUVWWXWSXXVXYWXVXUWWWVXWXXYZ[ZYYZZZWXXXYYWYZZYRG6
[...]
!,8FQYaipqqqqrtuqtuvwusvxvuutwwvuvwwuxwyzwvyyys||{xxx|}{zzz{{zyzyz{{{{{zz{wxyyz{{||~y}z~}w|}}xy{}z{|}|�}}z}{|~~||�}���}}�~|�����|������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������SQRTTSSSSSTTSQQSTTTTTUUUTTUTTURNNRUWWWVWVVUVVVVVWWXZXVVXYXWWXYVXYYWUXXXXWVXYXXYZYYYXYZXWXXXVTVXZZWM:$ [...]
-:GUbhloqrrtsstvwtswyxvvwwwvuvwxzzzz{wxyyyz{}{yxy{}|zz{{xwzxz{{x|}}|{{zyyyy{{|}~~}|}~~}{}~}{}~~|{}|}}~~}}}|z|}}~}��������|����������������~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������SQSUUSRRRSSTTTTTTRSSSTUUUVUSVVVSTUVUTUTUXXVSVUVSTUWXXWVVXXWVYYWXYWVUXXYYXXYZZYZYYWZZZWVWXWXVVUWZVRD-
!$%'))+.001233333200/0.,*&
+
+
+
!3 at LW`gjoprtvvvvuyzwqvvvvvuxuxwywyzyyyxzzyz{z{zz{|yzz{xy{zz{z{}}y}||}~~|u|y|}~~z~}}}{z|}~~}z~z{z}~}}}y~~~���~���}����~������������|�����~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������RSTVVTRROSTTUWWVUTRQRTTTUVVVVWWVVWVSOTUWYYVUTVVUTVWWWWVVWXXYZZWWWWVWWYYZXYYZ[\[\\[[[ZYYYZZXWVUVXSH7#
[...]
+
+
+
#5BNZekotxwuuvxxvtvxwxxxyzxwwwwxyzxyyyxxy{{zxyz{{zzzzzzyy{|}|{|}~~~~}}}z}~~~|~}~~}|{}}~~~~~~~}~~�����~|}��~}�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TTUVVVSSSSTSTVVTSTSRRTUUVWVVVUWWVWVSSTVWXWVUUVXXUVVUUUWWWXYZZZYXWXYYYZ[ZYYZY[[[\\\[ZZZ[WZYXWWVWWM=* [...]
+
+
+
+
$9HT]gosutqvwwtvuwwxyzyywxwxyzzxxxxyyz{zzzyzz{{zw|{{wxyyz{{}~}yyy}}~yz|}w|}}z~xxy||~}~���~}~y�~{~��}||~~��~~���}���~���������~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TSTUVVSTRRSSPTUSSSTSSUUVWWVUSSUWVVTTVXXWUWWWUVYYWXXVVXXXVXYZYXXYXXZZY[[ZYYZ\[[[ZZ\[[[\[ZZ[[YYYXTE/
+
!!$#"!$%(+,./0013554689994.)%$"!
""!
+
+
+
+
%/=KYdlopsuuuuuwvtxxxwvxzzxyxxyz{z{||zz{|{z{zzy|~|||||{{}}}}}zy{~}|~���}z|}}~~}}||}|}����~~}|}~}}~���|}|}}�������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TQTTTSUUTSUURRUTSRTRRTUUUSWVUTVVVVUTWXXXXXXXVSXYXXWWWWXXWXYXXVVTYYYYXYYXYYZ[Z[[XYZ[[\\ZU[[[XXXVM;!
[...]
+
+
+
$2ANYaglprtuuuwxxutsxyxuvuxzzv{x}{zx{{}{zyzz}{|}}}}yz|}{||{yzz|}���}}}~~~~|~}��~�}{~|~{~~~~~~��}�~}~�{~������|�����{���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TSSSRQTVVVUWSRUUTTTSOTUUUVVVUUVUUWWWXWWWXXXXVWXZVWWWWVVVWVVVVVUWYZYYXWUVXYYYWZ[[Z[[[[[ZYZ\[VWXQC,
[...]
+
+
+
'4BP_gmqsvwxxvuuvxxwvuuwxxz{}}}||z{}~{zz||zz|{{|{z}}{z{||{yy|||x~}~}|~~~�����~~~��~~|��������|~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TTTQQRUVWVVVTRUVTRTTUVVUWVVRTUVUVVWWYSUUWWXSVVXYXVWWWUVWWTSSWXXXZYYYYUWWXWYYY[\][\][YXZZYZ[VWUK8# [...]
0ANYajnrtuusuwxvxsvtvwyz|zzy||zw|}{zzv|{yxzzz{|}}z{}~{yy}}~~|{|~~}���~}~~|�~���������|���}���������~�~���������������}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TUUTTUUVWVRTTTUVUUSUVWWVWWWVUSTUUXVVVVWWXYXVTSSWWVWWWVVWWUUUXYXXZ[ZZYXXXWXYYY[]][[\\YXYYY[[WVQA- [...]
+
+
(7DQ[cjptuuwxzxwwwwxx{|{zz{|yvy{zz{{||yxz{zz|~}||~~z{}~~}~}|~����}}}�~������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������UVVVXXVVVTQRUUUTUVVVWWWVWWWXWVUVVWWRUVWWVWWWRKHGLRVWWWWTWVVVWYYYZ\ZXZZXVXYYXY[[[[XY[[YYZ[[ZWQF5
[...]
+
%7BNYdkoqvxxxxtvsxz{z{|||ztvxyy{||xyy|{{zzy}|}}|y|}}z}~~~���}x~��}}|�����������|~�������������~~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������UVUXXXVTTSSUVVSTTUVWWXXXXWWWYYUWWWVUTVWVTVVVNC007KUYYWWXWXXWUWXYXZZXZZVVWXYYX[[ZZZYZ[ZXZ[[YVJ9'
+
#%)-031./002237:<>ABBA=81)'(/52+&"$&'('&%$##!$(-2540,(((%"
+
+
+
+
#4FVaiptvxxuvvwzzyz{{{{zwwxyz{zzz|||{{{}}}||{|}~|{|~~~~~~~~~|~��~�|����~}��~}���������������~{�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VVWWVWVRSSSUUUTSSTXXWTWXXWWWWWXYXUVVVSVWVVUUM?6,<IUXXWVUWYYWUXZZXVWWYZYYXSYZZ\[Z[ZZ[YZZYZZWQA*
"
!!'*+,.0121168?ADFEE>71+**483,'#$!%%%$$#$$$$*.46520*++*'$"
+
+
+
+
+
+
$3BMWagnrvwxxvxyz{{t||zxwvzz{{|z{{|{{}~z}|||}~}y|w}|||}}~w~}~|���|~~}����}}|{~}��������|{���~�����}�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VWWVVWVUTTTSSTTTVXXXWVUXTXWWRVWYXUTWWWWWWWVTNE?DJSXZXWUUWYYXVXYZXWWWXZ[\ZYZ[[[[ZYYY[Y[[ZYYTJ7#
",.-*&"
!#(,/35446;AFFFFF>3/,-1674.)&$#$$$$""$&&',13554430.,)&%%&$!
+
+
+
+
$2AKWcmruvvwyyyyz{|{zyz|}||{z{{|{{}|{|}z{~{|}~|{|}�~}~}���|��~�������}~�~~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VWWVVRVTTTUSTTTTWWVUWVWYYXXVTVWWXWUVXVWWWWVVSNOPSVY[ZXWUWYZYWUYYYUXWXZZZ[[[YZ[ZVWYY[\\[YYVM?-
[...]
+
+
+
+
$0COZemruwwxwvvxxxz|}}}yyz|{|z{||z||yx~}{~~|}~�{}}~~~}|���}~�}��y���~��}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XXUVUUVWWWVUUTTUWVVUVVW[YWWWTWWWYYVVWXWVWXXWWWWWUUXZZWVUWYYZZYXXXUYYWYYY[\ZZ[][XWZYZ[[ZZXRD1! [...]
(3<>=;866784.*'"##%+/..124<?AA at 7,'(078732/*$$%'&%$#%(+/36667763/-+*(%%%#""!
)7GWekpvyyxxxywx|}~}|z{|}}||||}|{y{}}|{}~~~~~~~~~}}}��~~������������~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WWUUTUXWWWVUUSTVVVVVVWXXYTXXVVXWYWWXXXXWXXYYYYWVVVXYXVUUYYXXZ[ZXXUZZYXXWZ[[[[Z[ZZZYW[ZZZTK:!
[...]
+$/;CCA=5448:;<70,)('***),-0689982)('/899984/*&&&''%$%%,14552453/-)(&&$% !!!! !#$!
+
+
2ALYdmswxwyuvy||~{{y{{}{|y}}}w{}}}|y{}}|~~}|}~�~~~��}{�����~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������QVTSVXXWWVUVUTUWWVWWUWWWYZYXTVWXXWWXYYVXWVY[ZYVWXYXXXXUWZ[WY[[ZXYZ[[ZXXYYYZZZYZZZYYY[\[XO@*
[...]
+
+
+
+
+
"5CQ_krvwwwx{~}}{{|}|{|~}}|{|}z||z}||}~}}~y{��~}����|~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������TVVSUVWVVVWXWWWWWVWWVUWXYXWUVWXWWWVWWYZZXVXYYXWWYXWXXXYXZ\[ZZ[ZWZ[[[YXXYZYZ\ZWZ[ZXXUYYXTH5! [...]
+
+
":HUajpty{{}|}|~||||}||}z{|{y{y}||}|}{~~}{��~}~��������}�����}���~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VVVUUUVVVVWZYXWWVWWWVVUWWVUUVWVVUWTUWX[[YXWVVWWWXWYYWYYYZ\\ZYYYZ[[YY[[ZZ[[Z\[Z[\[XWWWXVO>*
[...]
+
+
(=N\hqvy|}~~~~}|{|}~}}}}{zzx|}|}~~~~~~�����~~~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WVUVWVWUSRVYYWXSUUVSVVUVWWUVVWWWYXTTUVYWYXWUWWXXXYZZYZZZ[\\YYVY[[XYY[[[[[ZZ[ZZ[][YYXYYRE3
[...]
+
+
+
*8FR]hpvy||yz{{{|||y}x|z{w}}~||~~~y��~���}~������|����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VVVVWVWWUTUYYZXXVUUVVVRUWXTVXXYZ[ZUTVYYWXXXWXZZZZZ[[ZZZZZ[[[ZWXZY[[\[ZZ[[[\]][[\ZZ[[YWK8# [...]
+
+
+
*7FTalswxz{||}}{y{||}{{}~y|~~~��~}���������������������������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������UTTTUUWXVVXZYVXWWWVVWWTTWXWWXUYXYZWSXYZYWXXXYZZ[[V[\ZXYWXXZZYWXZ\]\[[ZYWZZ[]]\[YYZ\\XRC-
+
#%0:;4+$'+07;<<;M\cfioeQ=;<=:72*)(+-00/,.**)'%*+)&&$%%/8@@;9<AA<@BCDB?==>>952)'&'&&$%#$$%$" !"#"!!
+
+
+
+
+
)8JWakqvy{}z|y|z}y}|�~}~}�|~}}~����������������������}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������STTTTTVVUWYYWVWXWXWVWWVVWVVWXYXXVZYYYYXYXWXYY[[[ZZZ[XXYYWXYZXVWZ\]ZZZ[YYXY\^]\[ZZ[[ZUK:&
+
#$*/97, !$$$.342127<?G^\K?<??;61.,+,.3410/-+($$'(&%$(+.5;BC<=?BCCCEKNMLLMOOJD>830-+'&%$$$%$##"##"
+
+
+
+
/?N[fovy{|}|{~~����~�~|}|����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������UVUTVUVUUUVVUVXYZXWWXXWUWXWUXVXYYYYZYXWWYZZYY[[ZZYZYYYYWXUZ[ZUY[[\[W[ZZ[ZZ[]\\[ZZZYVN at .
!$(-074($
""#)++--//12:HHB<:<=8121.*/079774/.+(%&&()+-049=CECADEFEGIMOSQSSWYVQLFA<851-*('&(''$%%$#! !
+
+
+
+
%4CR]fouz|{~~~}~��~~���|���}�������������������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������UWVVVVVUUVVUWYXXYXWXXYWVWXXYXWWYZYWYYXXXZ[ZWXZZYZYZZZZWXZ[Z[[[[\\\\]\\Z[[[[[\\[ZZZVSF2
+
"$',020+'!! "%(()*+,,+*576446720220.269;::851/,*++-//037;?CFFGGHIJJMNOUXWW[^^[WTPLJFDA<7200.,+**'%###"!##" !
+
+
+
%7FTbmux{||~~}~�����������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VVXWXUVVWXWVWXWVWXXXXYWWYVYXZUVWYYYYXXYZZ[Z[ZZYYYYZYYZYZ[Y[\[[[Y[\]]]]\Z[Z[Z[[\\[XUM=&
!" ! [...]
+
+
*?LYcipv||w|}~|�����~����������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WXYYXVTUWXXWWXWUVXUXXXWWXYYZZXUXXYYYYXYYWY[\ZZZZYYZYYYY[[Z\]\[ZZ\]\[X]]]\\]]\[\][YQC-#
+ #! "*4BC>2$$()&#&(+-,)&&-.+(%%*/330/4:>=<:88730+,.10,,/5:;<?CEGIJKORSRTX\\]^abba_^_``^^[XWXXVOG;5-*(%&'''''#""#$%$#"!
+
+
+
$0?LYgsuux}~~}������}�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VXXVUTTWWUVWWWVVWXXXXXWWZZZYYZZYYYYYYXZYXX[ZYWXXYXZYZY[\][[\[WZ\]\[Z[[[Z[\]][Z\[YUI7#
+
&,'"+6FSTO>('25,,,2873-#&'((''()154004<?=;:69751.-00.)-1:=<:ADFHKLLLTXWUXZZZ^acdedc_fca__^^^bb_ZQF?51)+,--,(&!! !###%###"!
+
$2ES\cluyy~��~��~~�������������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VWWWUTUYXVUVWVTWXWXXWY[\[YXXXY[ZYZYZZYYYYZZXXYYYZ\[YXZ[\]\[[[ZZ\\ZZ[ZZZZZZ[[[\]\WN?-
+
&7C>12ET^_ZF*+<FEAGIJC92-(###&/35443//6<>=<:89962011.)(-8?A at ADEGJLMORTZZVVTSV[adfhjjjjihggffffhjibZRI at 953122.'$"!"$%%&$%%%$$#
+
+
+
)6DScmw|~~}����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WWWSVVWZYWVVXUVWXVXYYY[\[WXUWUZ[ZXY[ZXXVX[[YXZ[Y[\[XY[[Y\\\\]\[X[Y[\[ZZZZYZZ\\[[SF5
+
+
$*BWR at CNW^]UA*,CYgd\TRK?BB6"!!(487422-28;<<:959;85441,))1<CEDEGDHKMOQSW[ZVTJRR[]eilnonnnnnnoonmmnmifa[VRMGB?=93.+%&''&(&&&''&%$"&)%!!
"
!!
+
+
+
/>M[fov{}����}~��~�������������������������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WXXWWWWZZXWXYYXXWUWYYXXYZXWYXXYZZZYYYYXWWZ[[YZZYZ\[XZ[[[[[[]]]\\[[Y]][ZZ[ZZZ[[YXM<(
"),F`^GHOU[UH8(.Hi{vf [...]
+
3DTdqx}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VXXVWXYZZWVUXXXXWUXVZZYY[ZYYYXYZ[[ZYXXYYYXZ[ZZZXYZ[Y[Z[[[[\\]]]\[[[\][[\\[[[[XWRE."
+
!(,Gb^G>=BGA4.(3Nkyo\H<?AEI at 5.+5>:11.227<=:737;>:60231(*,7AGJJKLMONSTWTPLMOYX\__\hmppqrtwzzyxyxxvsrqokeghd]YUQKLKGCA>:6531))*'#(.7=933245444432/&#"! #!!
+
+
#.BQ^ipuy~������}����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������VXXWWXYZYVUTWWXXWXYYZYWX[[XXXXY[\]WYWWYZYYZZ[[[ZZ\]]]\Z[XZ\^^]\ZZ[\\[[Z]\[\\[ZUJ9&
"/Je\?+*++*)$+9Zjm_J5221148657=D?430236;:7437<@?6/+10,+0<DHKMONQSVY\XPFBDXacegeejnqrqqsy}}|z}}zwuuuqledfea]VTOPRPNLID@??;750(&)29>;6:AFJHGFDA?:3-+))'&%$"$$#"!"$"!
*7FQ\hs{��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������WWXWVXXWXUUUXXWVXYYYXWVWYZYYYYYZ\\[YWXYZYVZZZ[[\\]^^]\\\[X[Y]]ZWZ\]Y\\Z[[[[YYXO?,
+ $5PeZ<,&%%+-39K_gdQ70..-.-3668?E at 63///1420105<@B<1.--,06?EHFNQRRVZ[XQEFFTbhfhkjjloqpomqw{|{z~}{sssrrmhggfc_UWRSSSQRLJGHIHGE>5,05;=;8BIRVVVVTQMGC>840.,*))))('#'(%"%$$"
'3FUclrw}�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XWXXWXVXXXXYZZVVYYWWWWUWXWWZZ[YX[\ZYXY\\ZYZZY[Z\]]]]\\X\^^^]]\YYY\\[\]Z[[\[ZXTG3
+
'9R`V at .'$*/2 at KU_b^G1))))*-2577 at FB:4,,,-0/..04:=A?80,+-3;AEHKNRTX]^WNBAHWckkgilklmopponntvwxx}~|xtqqplkjjhd_YXYXWWWUSQPRSSRQLB979=>;?ITY]_`a`_^\WLFB>;8653221.-,*'%%&'&$#"
->KXeox~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XXWVWYYYXWZZZZYWXZZWXXWVWXYZZ[[YZZYYXY\][ZZ[\\\Z]Z]]^][Z^^`_^]\ZZZ[Z[\[[]^\YWP@&""
+
!#)8KXPD8/,-04BNSRXXI/+''"(,/012=EEC<1/-...++,59<==:2)*)6=CEIKOPUWZWL=@DUdmpnikkkjjglnpjnppotx|~|xsnonlllljcb[[\]]ZVVTUUXYYYXTKA?>??@COX^_bedfghhfb]VOIC@==<;:930-,)**)'%%'($
+
+
!0>MYeov}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������YYXVWZXZWXZZZZYXY[ZWYYXXVXYZZZY[VXXYXZ\]YYZ\[]\]\\]]^]\\]____^^^[Y[Z[ZYZ]^[ZVM;&$,#
+
+
"#*7ELJB:30/.2 at LLKLPG2/,)&'*+,+,6 at GKE=861-+)++4::::6/((.6=CJNPOSTVQI?9?Q_lqpomllhfgfhnprqpinptxzzvrnnnmqppliecccdc`^[WWW[\`a]XPHDA?>AJT]_`egeejknoomjd]UOJEEDCB@;631/..+(('''%$#!
+
.;O^lv}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������YZYXWY[ZYY[WXZ[[[ZZWYXWZ[[ZY[\[ZXWYYZ[\]YXYZ[\\Z[]]\\[[[]^^Z]^_^\ZYY[[ZZ\Z[ZTH:+28.
+
+
+
#&5<KLE93013209?><=?:2.,)%'+.0-&4<INI@<83&'')(04576-,'+29>EIQSSTRKG<=?N\emononlif_egjlrstrooposvuutsrqsttrpnjdgefhhfa][X]]bb^WPIFCA<ENX__`efddjjlnnnqpjd^YTOLHGEC@=755420.,*)#'&*($
#7GUbmv{��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������Z[ZXVYZZYY\\\^]\[ZZZYXWZ\][Z\\[YYYZZZ[[[XXXXZ\[XY[]]]][Z]^]\\\^_\\[[]]\[\[YUK>7<AC8#
'9FPTQC4&(-330/0,(&(*(&''%'39;3,4DKNI [...]
%:IXeqy~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ZYXXYYYXYY^]]]]YZYZYYXYZ\]\\[ZZZ\][\\YZZ\\[X[[ZYZZ\\\]]Y^Z[\[Z]^^\\\\]\[\[RF<-:CEA4"
+
+ $8JSYUL=.$
%++(%" !"$%&'3=CC:.;GJHE?EE<1.+/1337::71(/:AGLNRSRMD6AKW_dimhjkjfh___hprqsw}{xuvrpiidlpssrrstrpmiknqssoiccdhifaYPJCBBCDO[acd_dbdfffklllmhikoonmic^XUTRMLKHB>9656631000.12/+&
+
+
+
(>LYeoy���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������YWUWXZYY[]]\\]\[ZYXXXZYZY\]\XYYZ\^]\]\ZZ\^^]\[[]]]\[Y\]__\Z]\\\\]]\\[\\[\XI4(4>E?3&
%-EVZWM>-&
"!
!%*17>CED<6?IHCBDNYXPB64:;: [...]
*>O_mx}~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XWVUXYZYZ[[Y[\[XYXWYZ[YVZ\\\ZZZYZZ\\\ZYY[[]\[[[]^\\\\\\__]]]\]][^^\\\]\ZXQ@%*6;8-
+
%1GVSLB31'#
!%,5;<99950:BA>DI[iiaQ=7==;>?<94.19AFJKIC>4;ALW]aijpqlfhgiknruwtlx��yyy{yrnkgfghioppmqrogonprrqnfhiifb\TIA;>@IP[cdbggiiiklmmmmmmloqonttutrkjccbcc]XURKDC>?=;78777533/32.(#
"1FT_hpz~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XXZZYXZZ[[ZYZZYZXWXZZZYY[]]\\][XWY[\Z[ZZZ\[ZZ[\\^^\]]^\\]^^]\\]\__\\]][ZUH3*.84%
+ &1CLG<8<;7,
!%*373000--268:FXgrpfWA8;=;<<975105>DDA<7327=GQZbhmqqmihhkotxxusqw~}xwyyvrnlhhhhhmoooqtrqpomllnnkkkig`YQF>;;@IW_ddehklopprsrnsvvwxyxwxywwwwrlfbgnrskaTOKIEDCBA@@@><97541/.-)#
"1CTfr}��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������YX[ZZXZZ[Z[ZYWZ[\[ZXWTYZZ[^^]]\XXX\]\\[Z\\[[[[]\^_^\^^][[[]]]\\\^^\\\[ZZP=.'-2)
$-7=8.3:<:. !!!
!&+,,,..,)+,.1B^pvodVD95<<=:;;9640;? [...]
+
.:O^jtz�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������Z[\\ZYZZ[\[[X[\[^_]ZVWY\[Z\]\\\\[Z[]]\Z[\\[[\^^^_``_]^][Z\\]^][[[\\\\\[WH1"%&"
+
$***(+576-!""!!!
"$$&),,*(''(-=gy|l`TD<:<?=;>GG?;9982.,1664434;N`ossoigepy}}ytplqsrnkiifgijfghhijjosuwurrsrolknnkhee]RJB?>AEO^ddilnnjnpqrvutw{�������������|rc`ky��yrkc\UXWUSPKGECBA?>:520-*)*'!
4CScs|���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[[][YXXYYZ[ZZ[[Z[]][ZYZ[[[\\\Z][[Y[[]][Z\ [...]
#%'&+.1+(!"""! ! %&**'%$#-3Xz��|b[IFCDEEFW`WH@;7/.+17;<974-6>Viprngffqyzxsooloomhe_eddegdffgijksuy{xuuruonnoolhgd[QKDC?BEVehgmooooopquvvwz~���������������}q[iq�����{wqmid^ZSPKHDFACCA:632/0240)!
#<MZfpx}�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[[\[WUVWVYYYZ[YY[]Y\ZZ[[Z\]]]^\Z[\[Z]_][[[ [...]
+
#(,.12/&$#"! ""#"!!!"!"&()(#$$'2Wx����we]WTPQYdmqbLB92/.049==:96127Lalomnoqrvrmlmmnmmljecbbbdcbdegikmv{|}|zy{yxvuspnlhcZPKGFCCJ\imnoorsrqvxxwvx}�����������������}sjn|��������}vof`YTOJHIIJGEB@?><:874.*&"
);L]ky����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ZW[[XWXXXYYV\[[\]]]\ZXZ[[\\\]\[X\]][]__]\[\]]^__^][\^Z][\\\]^[_]]]]][WJ6%
+
!#
!$*/37>A;,("
!#$###"&((&)+*&'&,2Uy������wtrqlgjpplXF;31./18:ACCC@=9-FZgmmnuwvrk`hkkgjhkjigc_]Z[^cfghmmw{}~~y~~|{yuqqojdYLIGFDHP_knpqruusrx|zxwv}������������������zvr{����������zohb]WTPMKLEIHFDB@?=;9711,'!
&.FWeov~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ZZZZYZZYZ[YZ\^]^]]]\ZWZ\[ZY[\\[Z[]^\[]^`^[]__`_]]]Z\^^][]_^]\Z]\Z\]^ZR@*
()%#""#$(-5=DJRNA1" !"#"$'*,,,-.,+,05Tw������������woog]J921/,,3<BJ]b_[VH9? [...]
+9IXgr|����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ZZZZ[[[Z\\\Z\^]\[[\\[XZ\\ZY\]\\ZZ\]]]\\\^[]_^_^]^]]]^_^[^`_\\Y]\[[\[TG3
!+,,299-('29?AOYWM7#"!
!!$(*,-,///-56Uu�����{}������oYND<010/*-6?B[t}urmX=< [...]
/>Rcs{�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������YZYYYZ\]\[ZY[\\WWXZ[[[\Y[[[[^_]Y]][]^^[Y^_^^__^^]Z^__]^ZZ[]]]Z][\]ZSB+
!
(0>FIGEFEEHONF4#$%$""!! %',//00/38Sp���������������fK33/0041?JRZm����xcFFJ]nvxwmkhc\]]__bb`_caZPJADITZ`fmtwxy{�������|zyxuiZPCIHMQWafiiinpqptwy{���~}|�����������������������kprz���������������}vnh_YSQPMGKKKJNLIDBB@;6/,("
"<M[ht}��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������\[XXWZ\]\[Y[]]^\[[YZ\\\\\\]]]]]\]][\[\\\^`]]__\[\\]^^^^]]\Y]]^]^\[VK7%
!&-6 at DHD>7>>8,##$#! !""%*,./0/.7On������������������vY?4115=ITcihlsvupj^QOXfsy{ztlje [...]
*BQ`p|���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������\\Z\[[YYZ[\]]]]]]`^Z[[YZ\\[ZZ[Z\\\ZY[]]]]\\\^_^^^]_`^^`a`_`_Z^][XTG1
+
"#$%'()(%
"&)*,--06]�������}z}�����������wYFCLX^cdhmiXKFJMR\gkmsz�����rb^YXY[[YVVSLFCAEHLPRTWZ`fjnsvx{}���}ung]QJLNOQXahjoqroopqopqvvw{������������������������uWNIJLMRWakt{�����������������~xpib[USQOMKLLKJFC@>>??=7/'
!0G\mu|������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������\ZZ[[\[ZZZ\[]\]Y^^^\[Z[]]Y[Z\]]\\[[Z\\\]_Z]^]]^_^Z^``_^``^__^__]VM<#
$''&$
"')*+-,.8a�������xs{�����������ycOLW__^a`fe\KGDHM`kmotuvz����zaYWY\\\Z [...]
3ALXfr|���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������\[XYZ[\\Z\\[[[\]]^^^]\\]^\\\]^\]\\\]]][]^__`_]^^_]\^__\__^^]]]^]SC.
+
""#$'&$"!
%(*)*+,-1^�������vvz�����������sbWY]ba`aaaa_]SDJWclnyvlcgq���wXJLT[^]ZWPGA>;AGLV]^\ZWVUY[]bdfhkottqi^SJJLPRV_fkqwwwuotwz|{zzxswz����������������������pXPLJJIILNNOPQV_fmv����������������|unic]YTPMNNNMMJFCC=60./.-+%
%4J^oz�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������]\YYZZ\\\\[[\[\\]]]]]\]^^\]]^]]]]]]^]]\Z^^___]]]__^\__\\^\\[[Y\YL8&
""#"%''&$"!
"%&((*)(*Pw������yxz{���������wl\]^_aaaca`Z`d]GO^inzyfa\cjt}oTJ<JU[][UOEC at BGKNZbb][XWWZV[ZYY[]bfghbZPEJJOPZdlptyywvotx|}}{ywxy����������������������jNMKKJIILLLLLLQPSU\ev���������������{xpid`VTQQQSQOHGC;/,)*,022.+!
4BUdr}����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������]\ZZZ[[[[[[[[\Y\Y]\[\\^`_]]^^^]\]^^^\\\\\]^_^``_^__^``[\]]]]\\ZSB,
!%%##%&&&%#"""
#&))(('<cv}}���vx{���������{phcbabcdecb`_^acNTeny�ynaXX[bkg^N:?OW[ZVOEGH [...]
!6HZix��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������\YZ[Z[ZY\]^\]]\\]][Z\\]`_Y\]^^\[]]]^\Y]\]]__`aa_`__``_]\]^^^]\UI8!
+
"$%$"
')&#"!%%$#$%%##""""#'('&7OZao��~yw|��������{tjd^dbbcffdcb\ZSXXalsyyupkf\SCOTZXK:?JTTUWSI\dhi_U^acbbacddeffaVYJTQUSPFDDHIKN]gmmv{�}vy{}~~}~�����������������������}_NOKLMMMKEKJIINOMKLJPSUV[_bflrtux|�����}vxyskhc_RONKF:,)%&$$%2:BFMTWP?&
%>O]lz�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[[Z[[[XX\^^^^]\]^][[[\\`_]]]]\[\\\]^]^^]^``__``a`^^``]\]\_`_][N<'
+
"$%&'(())'$! &*&"
"# "$&((&'&$#"$&&'3DNQZt~}~|~������}tkfccfgfegeeeb\XTZakrutogaaeeS=DLNLC:>HPUVWVh�����nddcb^\`fhhjnlia[VUTPJDBEGHKNZdjpw}���~�|}���������������������������v[MNMMMMNLJKLLKMOMKJIJJMNMMNQSUX[aiotwzz{{{{}{ttqi_UOKD9,(('''*5BHMS\fieO at 4$
$?Thu��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[[ZZ[ZZ[_^]^^\][]]\\[\]__^^\\\\\\[^]^^_]^^^]^____^^_^]]_`ba_[UF-
#'***((),-,+*$&'&!
#""
"%(*++*(&## )-9EH at O^ov�{����}vke`bafhhfhbffb^THUdnsoldSKF]iZ>?A@>8.;BIPUXj�������i^`_]\a [...]
+
"2JYjx������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[[ZXWZ\]_]\\]]\]]]]\[\]^__]\[]]]Y\^___^^^_^^[[Z^^^^^]\]_ab_\WL:&
"%)-.,)((,./000.)(&$""$&$! $),-.+)('&%*6=DC at FYe|��~~�|xutoe``a`ehijhgffb]PEQgprmf[L;=Sk_E6421146;AJPYv����ȶ�o]ZZ[^`bdfjo [...]
+:O^mz���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������[Z[YW[]\ZY\[\[]]]]\\\^^Y]^^^^^^]]]_\_]^^^``]\[\]^]\Y^^^^_[YXO at . %'*/10/,),/1223441.)'&#'*(###*.1-+++*)'*8?B>;K_p�����{shiig_``aaeghiheffb_RAUioood`NF;XifVI=:77799=BHPq����Ƹ�uUUVWY^^`dhotx~ [...]
+
*:Q`o{������������������������������������������������������������������������������������������������������������������������������������������������������������������������������XYWZX\][[\\]]]\]]]\\]__]\\]___\\^_^____^]__^]]]]]]Y[__^_^[XSF2
%+/14530.-.35567678972)(*-.+(&+1451,-,*(+8?A:9Net}�����{mc^^__^_bddeghfddggdXOYkoqssj^U[fjlxyp^N<;:99=FTj�������{URUWY[\^adh [...]
1DVhy����������������������������������������������������������������������������������������������������������������������������������������������������������������������������XYZ[Z\\X[]]Z]]\]]Y\]\]__]]\\\]\[]]]\___^]]^^^]^^__^^_^]_^\UK;"
+!)0465420/.3788:;;;=?CA;544AB6*-2684..-+',3>B;1Jfupz{}|th^WQV[^]aeebffgdhihg_Tblpqz{tgfouip����lO:::>CT]j}������xUQRWXXXXY]_^[[Z]`_^WNOMPOOOVVWRWWVS]cglptz{��������������������������xSOJLJJIMMLIMOQRRQQRRONLNLOKKHKLLJIEHKPUex������������xiVIJJIIOYdljfdcca^\^`bdc``YVUZWND:&
"=O`n{�������������������������������������������������������������������������������������������������������������������������������������������������������������������������W[\][\YY[\\\]^Z\\[\\\^`_^^\Z]_^] [...]
+%.46732///27:;:===<=AHWYSJR]dU>.059731.+'(0<D>8Ghx}}~}{olbWNOW`]Y_dfhgghijjihdaflqy~�yqmr{mf�����X;:>I\ejlt�����qSOQUXUSUWVUPKIKOU[]WOOOQQSVY[[\ZUQMLSW[`gnv}�������������������������xTQKMNMMNONMNNPQRSPPQNOQPPOLKKLLLKKKJLQUl�������������vfVKKJJKUapyzyrmhb\Z[^beec`]ZZ]_]ZWM at 4$
(@Rcr�����������������������������������������������������������������������������������������������������������������������������������������������������������������������Z\\\[[YW[[\]]]\[]]\\\^_^]\[Z[]^ [...]
+EUdt�������������������������������������������������������������������������������������������������������������������������������������������������������������������[\Z[[ZZ[[[\^]\[[\\\]\\\\\]\Z[]^]\]]]\___`_^___`a`]\____^[TC,
+
"'.1331.-.0449:=>>=<=H\krvx{~}nV:+.57861+&')8GGGSy�������vhYX_cgaWZ_dffeeiieefedeiv}��|uooq}����xOMQT\fjkinsrmmpphYKJJNOPOMA at ACDDBBIRUUSSRRX\YUYafg]RJKNRRRVXYciov}��������������������mTRONOOPQQOMLLNORTTTRORSRQNLKLMLKIMPNNU_}������������~r^OMKKLOWfv����~xqkgaZRW]`]\[\^``aa`^XUTUKA5! -FYk{�����������������������������������������������������������������������������������������������������������������������������������������������������������������ZZZZ[\\]\[\\]Z]\[X\^^\^___^]^ [...]
+
$%)*++*)+-2589:;><><>L`lpuy{xncT>(*/2551*$&(5EJGU|�������{lY\`fibVXYdgfegjjfghgachu{|}~|xniZs����gKNSTVUa_ipuvsqpoi^RFIMTRRQNKJHKKICEKSYYWVU[ZWU]cikc[URSVVQWTXYY[ejrx}�����������������fVTQONPNQQOKLLOORTUTSORTTSQNMLLKKJOQOKZj��������������s_PMKHOS_j{����|xsppke^S`_VMSW__abb][VVUZ^\SE6-
&6Pcr��������������������������������������������������������������������������������������������������������������������������������������������������������������ZZVZ[\^^[]^^_^^][Z\^^\^`aa]__ [...]
3FZl{������������������������������������������������������������������������������������������������������������������������������������������������������������[[\\\]^]^^_^__^\[[\\_]^\_`_]_`_]^__^^^ab``````__^]^^_^ZSD*
$&$##$!! (/233478=@>:>Qcgowy||qbJA/)$&('%$""$8LNGRq�������zpalyvpe\WV_efefbdcgihecdow{|��vfU_s|u`RGLVl����|xupjhijh^M[iu||{{|ysi`\OJ=O\beb]bb``gmml [...]
%=K]lw���������������������������������������������������������������������������������������������������������������������������������������������������������Y]^^\]]^^^[_`^]]\\^_`a`__`^]^_``_^_^]^aca`^_``^`_]]__^VJ9"
&)+.1/)# "&+-./137:><7<Qenqwy|��p[E2+$"!!!!! %<QOFMfz������xpl|���zjXTX^addabbfhgfcelsy|���wgU\jpqpl[FAPt������|ma_eiga`m}���������sfTEO\dhecdedcimmiaZ[ [...]
":K\o�������������������������������������������������������������������������������������������������������������������������������������������������������[]^_^\\]^]^``__`^]]]`bbaaa]^^___^_`^_`a\`b`]^_``_]\Z][O at -
"5?GJLMOKC7)($'(*,/158639Meoqqvy{|oZD3,%#
"';NN>H_ov{���{vpn������vXWX]\\[^cffd_][gnuz~�}ueWY`b_gkdPLLm������~fRW^bccfw����~yt{���xjWFQY`ddcc\`_\Y[ZVVY]]^ [...]
&BTdr����������������������������������������������������������������������������������������������������������������������������������������������������\]^^]ZY[\_____`a`_^\]ba```^^]__^\`aa`a`]_b`\^_``^]Z[ZVH4
+
3O^dfefjg_P at -(''&)+-15316E]jklkkkj`Q at 7/&#
#(9LMBC[gjluxyvrp��������{f]ZXVU[bde_YU]cjpuy|ypbUPTVX^eijc^at~����|]QP]_^`gr~~yqmjkv{{qeWORW[]`ca[ZTD at BBDNYabcejnj`\gmoqpmhc`^\YYY\^USW`y�|d[QPQPOPPNLMNQRPNPRSRSRSTSQPPNONMMNPRSSf��������������s`NKHFFLRl�������~rjf_UJFSakobZY^_\]aglga`bcbbb``_\aeea\WRMD9.#(CXm{�������������������������������������������������������������������������������������������������������������������������������������������������\]^][ZZ[\]^__]_]``^\_a`\^]__ [...]
+
+
=\nwwrrswsj]L70(''+,020(/;OZXTQNOOMKA5-$# !%(:LNGKZddgijmkgp�����¾��mY\ZXW[^__\V_efgnnqusk_PRJKJQXfrspljihjlsvpd]ZXS_gimspicegghfb\PQLSVYV_b`\WIIIE@@AO\cfjooj`_hmorqpmifb^ZYQVWRJS`y�x_YSQMQOQQNKMORSROTWVUSQRTSPPPPNMMMMQQRTl��������������p_EKFEFOUp��������zrkbWNEUdpugPSSVX\bmurmkii`ca`_`\`__[[V[XSMD;2(
$5N\jy����������������������������������������������������������������������������������������������������������������������������������������������\][[\\[\\\\`_^^___^\^a`\\]`a_`__``^]^_`_^__^_____a_[RC/"
+
*C^r}~}}��~wgR;0)'*00.+&'3BGA;657>BE;/&$"!&*)(();JMIMW`dedbcaar������ĸ�u[]``a`^_\[^elmkkiglli\]^YNJGQ^t��ztmgZWZiqh^UPQ`nqtoh^dmrpkaXOPQRSVX[gssiTXbjaR>9>Q`kmpoh`djnpqqroigd`_\XUSOJPaz�uZTRRQQSRPOOOPSTTWZZYVSQRSRPPPPONMMMPPPYq��������������m\NKFEGR[t��������{rh]VPFPdsypcOJLPVdr|{yxvrnjgd`_[_^\YZ[YVQKHCRQ=
"5Mas��������������������������������������������������������������������������������������������������������������������������������������������]\\\^_^^][^``\]Y___]]]`]^^`aa`^_``_^^^^]]^^]^^^]^`]XK6'
2GWmt{|������udP;0$)-/,(!'/;?7.,*-124-%$"!!'-0,,+=HGEKT[cffc`^[������ÿ��a^^^\WUTSV\ekkiiijjqrxzn_VWWam���~zwo`^VZ\SKKL`nrrj`fnwzwqh[XVVTTUY^q��{nky�~mS:=C\joqpbekpts [...]
+
*<Tfw�����������������������������������������������������������������������������������������������������������������������������������������]\]_```_][]a`]\[^``_^^__^^^`___``_[\\]]]^__^^_^\Y_[RA,
+
(<KZjtv|������|n]K:,&)++'$'/9;0,)(#*'+$$#!!!"+1559AGC?BNW_cc`[Zj��������ż��e`ZQFBAEOYaggfilmmz�����mcbecd~������xlaTPD at EK^nomgenx|}zwrnhd_VRQU\p���ys����c=5EZipuqii~������tledfihd\SMJQfy|dSSSRRRRPNMNNTbrywvwsj^WSPQRSRPONMNPPQW_y�������������l[ONMMQ]o�������wjb]ZUNJKat~}wj\VU]htzzwtuxywupkhhf`^[Z]YSKA86 at PB
+
.DYk~��������������������������������������������������������������������������������������������������������������������������������������[Z]]^^_^^\^`a_]\^`ba__``_^ab`^^^^^^_^^___`^[\]\\]]VH6
1ER^jsx|�����}yqcTD0*&)(% $,59642100.-*&#!""$%/8?CGJD7;EOVY[YVZq���������ƹ��ldPI=??KQY]_bdgiky�����|jifhev�������|riYUCCCS^_^]amvxy{~}vjeZOHFHH[lpomn|���e??K]jouuo���������qkcjonh\OKBUnzw`SSRRRRRQPONPR^������}mYUPRSSSQQQOPQQPYa}�������������|kZNNKKL]q��������q]`_[OMMZgv~yshc\ejvyzusnvxyzumprpd`]\][VOE<1;D4
+
+
+
+
<Mhw������������������������������������������������������������������������������������������������������������������������������������Z\\\Z]^__`_``_]\_abbabba_^bd]__^__`aa````_Z\\^^^]ZN;%
+
+
+
+
+
+&9LW]isz}���~wwwsfYL8.&&%# !$,3569:9961+'# ""$%*8AGKMD83=FPVWUSZ|����������ƽ��pVIBCGLQUWZ]_bgu������rpponnv��������~yreNEENPRRYfmjqw|rf^J?7<?@ANVY^gpy}{`==O^intv�������ɼ��vnosqi\OICYt{r\RRQRSRQPQPPQQ[~������wbUQRRRRPRSSRQQS\h��������������zfWMLKJI[p��������idb^YRR[dlx�ysooqux{zxuqswz{xpvyvsmh`^\XRKA9;@.
+
+
+
#6HVgy���������������������������������������������������������������������������������������������������������������������������������[]]]^]^__````]\\___`aba``_aa``a``___`aa``]^__^]]ZTE.!
,<NW\hszy~��|yutoeZO?/$#
$%,1369;70*"" !"$%.5<AJME;:<FOQQONZ������������ƽ����o^JKKNHNMQRSTf{���yvsrpmhd_t��~xry~����rcXDCCKS]bfkqto`deV:88889<HNU[`fggV=DKZcmv{��������˳��ptupg[O [...]
+
+
+
+
+
+
+
)GYhw������������������������������������������������������������������������������������������������������������������������������\\]]]]^`___aa`^]^^]]____aa`^^```^^_^^```````_^\[VL:&
#0?NX^hrwwy|}|ytpibZQD0!
""%'-262+! !"#'*-036?IMF:9=HPQOOQYr������������������~dVTNLKKIHEEI\db`bhvurjd`cn~{rkkiqs|����nU<;DLU[bijh`cjulYG:9766AJNNJQRSQOMMV`lw���������ʶ��{wunbWOKG [...]
+
+
+
+
+
+
+
-G\q����������������������������������������������������������������������������������������������������������������������������]]\]]X^^^Z___`^[^]\\^__```___^___]``_^``a`a`_^][QA-
)0=NX_empqtvvusqld^VPE1
!""#$(,*" !#$&*/32.4>IME88=IPRQONS^�������������������~hTPOPOKID9DBOISYjvunjbdhz|udknnputz���v_H:FGUWadcbv����uZ>:434 at IMOMMTWXXVNVWgqx�������ɿ���wusmaZMNKf [...]
+
+
+
+
+
+
+
1?Tdq~������������������������������������������������������������������������������������������������������������������������]^\^_^^^]]]\]]\\_`^]_```_^]_`__`aa``````aaa`_^\XJ4
+
$/5<MW^bghkmnnkkmicZRMD2
! $"! !#$&+152/4 at HKD86;IQSTOKHNd���������������ƿ��wWKOPNLIDBBFKLNUfoogiqu|~sghovxyxrsuwzp\KFJSY^][[s������f>7226BINRRTWYZ[[YVZdijs�����¶���zwsplg^TOUj|lYQOOQQOQPPRRSUVWbszr`SHGKNPPNQRQQTVTSO^u��������������qTOMKKOVp��������}vog_`u���tu}���zspx����{{zz{}}{y{{{{ywtpkaTLLMA!
+
+
+
+
+
+
+
+
+
#5Pg{����������������������������������������������������������������������������������������������������������������������_]]]_]]\]^]]^]]]_a_]````_]]]````ba_\`a`````^][YQA)
2:>HNZabdddgjjfkjg`WKJD6$"""""
!"! !" %+152(5AFGB98;IQRSPKG?Qf�������������¾���wYIEKNKFFAIMQPQR]b_\et{vdikv{~�}vutsnfTKFMVZ[WM_}������d94/6:FKMORUVWY[___^ec]U{��������zxwumkif]_c���iVS [...]
+
+
+
+
+
+
+
+@[n�������������������������������������������������������������������������������������������������������������������^[\`_^]]\_`________^`a]__^^^__`_``__ab____[Z\]VH6'
'?NVX[_bb_\]cgjkjid]ULID:85.)*)$!
!!"!!"!$.34315ADE@:8>IQRRPME>CSs����ÿ����������ydN??EKIGEGLPSTRQUXVU`owwohnu|����~{yuoeZLGMRTTNRe�������]956;BHKLMOQORW^bcdfd^SKp������xtstvtpkipz������zmg]UTT [...]
+
+
+
+
+
+
+
+
+
+
+
+
8Pfv�����������������������������������������������������������������������������������������������������������������]X]a_[\]^`a]````__```a`__^^]___^^^__``_]`^^^_\O=,
+ 2L[dedc^]ZXU`ilnlfaZRKF at FLNLIE<0$
!! "##"#!*37;94:BD@=:<AIORRPJD<?Ek����������ǿ��qaE=763=CC<DFLMQSRNSUUO[ehihfox}~���{wpeYKJHNSZb|�������`??AHONMMJKKNPX_dffeaYOHo���zjb\aemqqikmu�����º���sbTVTPONOQNPRQONMMNOQSSSSRQSSSSTUVXm���������������jRPMMNVf������wgfdgj{����zzyz}�yoor�����������������z{sxulbZVH-
+
+
+
+
+
+
+
+
+
+
+
*DXl}��������������������������������������������������������������������������������������������������������������][^_][\\]_aa_`^_\^acaa^^^]]]^^]^^```^^__`__`^VE/
+
+#=Vckllhd\WUT_muxtm_WMGCAKX]^\XI3%! ""!#$$$%&.;@A?=@DE@<9>FILPSOIC<<Ec����������Ƚ��`D4.121279:?FLNOPOOORSQTYZ]aeouz|��������{reWMFLXn}��������cNQ_msriUNILNPW]cgebZQJFl��tTGCKP[dlkilpv�����������qTUSRQPPQRQQOOOOOQRQSRSTRRUUUUSTWYq���������������hRRPPS[j�������|rgegnx�����zzw~��~zvnp������������������}xwtk_YVF&
+
+
+
+
+
+
+
+
+
+
+
+
$2K]o������������������������������������������������������������������������������������������������������������\Z^^]\\]__a`___^^_abba^^]\\]^^^`_`aa```_`\__XK8!
+
+-DXemoplbWNRWdq{��|oWNB>:JV[_^ZH/# """"#!$&%$&(5BEBABDGD?:6AHJJNNNID=JMi����������ȶ�uS<-0220/-/1<GJLLKKKORSPQRUT`dnov|���������xgUG9ERaov|~�����mYp�����xbXMROW]cfc[VKLEh�}\K?GKMO[cloqtux����������oSRPRRPLQSRONNOOPRQOPKMOQRUVWXWRY\t��������������|dQSSTT^o�����~vl^hmv~�����yyy���zzwrp������������������~vwqj\XT@
+
+
+
+
+
+
+
+
+
+
+
+
+
%4Paq~��������������������������������������������������������������������������������������������������������\[_a__`_`^``^]^^[^abba^__\\`a``___`aaa`aa`^\P=)
2FWemqsk^MJKXfr���lTB7;JVY]\VD+! "#"#$$$'&$(1<KHBCFIKF<98CIIJOSMFBN]jt����������Ʈ�]B3.3410-+(09DGFHKKKNQQNKPU\bimosy~��~|����vaK;8=EINRV[ajw{xtu�������|h\VOU[cea^VRPUfqkZHKLMKJQboy{}}������jQQPPQOOQQPOONMN [...]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#3Mbv������������������������������������������������������������������������������������������������������][`a`ab`_]]^_a`^]_aba```^]_``a`^`ab`a```ba]XI2#
+
+
0CUclpsl\UPTXfq}����zbIDBOW[][VC+" "!#$$%&'&$,?LSKAGLOOG:9<IJHIQSMCBSj}�����������ģtN420661-..03;@ABCDGGIKLKLPX_elnpru|~~{����yjT<98;@DCCCA?MYafiq�������~m_]QVX`cba_\^hx�yh\TOLK at Rdr{||���|{y|y����_OPKMOPPPPNLMKKKOLNMPNMLOQRMUY\[Zaw��������������rcUTQTR_w����wvlf]o|�������~~���}ulif{����������������~}vtrgURL7
+
+
+
+
+
+
+
+
3BXk}���������������������������������������������������������������������������������������������������^^^_`ba_^^^]`a`^^`ab`^__]^__^``abbcca``_`_ZQ at +
+
+
+>P^impkc_[Y[en{����wgNNQTW]a^UA)# !"#%&&'&#%0JXWLGKQRPG;:KOLGKPRKBBPi�����������ȼ�_<115770037;>??ABAAAA at DFHKRZ_gmprstwz|~���~o\E<:::>@@AA=73>HUYao������~rnj_XW\]^ba^bn���ufVMJHHUit{}���������z{xiTNNMKNONMMLMLKKMOPOQQONOQTRQRTVWYdy�������������maTSQRS^z����}wpjghu��������������zqifgt�����������������{vpeSSL3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
.Hdy�������������������������������������������������������������������������������������������������^]^^^``]]^]\_````aa__]]]^^___^`bbbbba``^^]UF4! "&4BN[ckjeggc]eku|reTLGHOSW^`ZO;&# "$&('&$#"1NXXLGPTSMG<EPSNLLMNG:<@Yu����������¯�O?/3576316:BFD>BCA?<6;?BELT[`glpqsrtux{���tfOC==>=<A at CAA:76AKNP[j{������tdXXWY[ZVXdqzunaOLHHH[muz~���������|kdPJEKLLLMLNORTRJKMPOOPQMO [...]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
'FXgv����������������������������������������������������������������������������������������������]]^^\^__\\]]_`aaaaa```__``\`a`abba^a`_]]\ZL8$
+
%()2:HWdhgllgccfmrgS;:017EPZ^_UE0$"""##')($"""4O[YNMRUTMHDKTTPOLJHA76;Ef���������Ǽ�ySE:646653:?EIFCDDA>756:>DMT[afkmnpqpoorx{xpaOA=@BAABDEFDC?==EILITcu}������lXQQRRQMJSY\]^ZVRMJPaqv{}���������m^KAAHKJJKKRelhZMIJMMNPQRQQQPOPNLOPVj�������������rbYRONMKk����}rhdbgm�������������}zvm_^[k�������������������|xhTWN/
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#A\u��������������������������������������������������������������������������������������������^]^^^]__]]^``a``bccba```aaa`babcba`a``^[[TC*
+
")+,-46JX\^aea^^[bbT6:<:777IW\\N7) !#%$%(+*&!""1M\aXMQTSKFDQXWSPKFB<68;F^���������ŵ�w]OC:36764=CFGEDKOJC</57=ENR[afhifjknmmhlomh^O>;@CBADEGHHGFBBBFGGJT^ht������pZOHJJJFKNRGWYY\\YZ\juwx}��������o_KA?HIIIJIf���lHDCIJLNRQRPNOPOLKMMXn�����������}|nYVRRRQPs����zo_^]dm�������������yzun]\\h}�������������������zkUWK+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-=a~������������������������������������������������������������������������������������������a_^^___]\]_`aa__bdedbaa`\bccbaabaaa``a_]WJ5%
+
+"*03337?EFIOVWVVVVRA?BHGB;;CT[YF." "$%%'*+(###.J]g^NQTOGDLV]\YRIC<75:?Js����������whXG=9898;AFFDEKT[ZRF:55;HOR[adgfdehklib_cb_XL;9>BBBEEHJKJJJHFBABFJLM\w�����p]KEBEHJMPRPT^grwqieqyyz|~�������~paMB>GKKJGSw���{N@@FJKNOPQROOPOLKNNZp�������������xiWURRSUX{����xl]\\br������������~zzypfcbg{������������������~{n[WH(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
(Z������������������������������������������������������������������������������������������b`_^`a_^^^_^bba`cefeba_`accaaaa_```]_`]ZP>*
)0589:<<827>DHJLKJFFMTTOG at FO\ZC$! "#$%%"')'##$2H]f^OOOI>FQ[b`]SIA777?B^���������ú��|n[F=79;<?DHGDGNYcb\PB94<JQT\_bddcdffge^\YTPOI;5:?ACEEGILMLHLID;=AEFGJn����yqcXJECNQ^dbZ^cp��yg_lsvzzz��������}paNC>FKLKQ_�����UF>FHJHLLOOOLNOMKPN]o�������������ufWTQPRU_�����wk\[[l|������������{puwsggcj{������������������yn^WF%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
7|�����������������������������������������������������������������������������������������baaaaaa_``__abbbceeeb_^_abcbacba`aa_^^\UE/
+ $'+157753/,'.27=DFEJPW_c_SLIV_]?%!"&())'$$&%###6M^f\NJHB=GS^db\RE=67;BRm��������Ǿ����tXH<88:=BGIGFGMWce_UF<6=JRX\_]abaaab`^\VOFFIF;35:?CCDEHKNOOMJE?:>CFQ]l����xrod[RP[gu{xsqrz��|d_fqw}}}��������}rbOB>DGJMVb�����ZG?CGHIJKMLMLNNMORU`s�������������qaURPNPTa������kcbgz�����������{tmnrsqjek{������������������wibXD"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
0w�����������������������������������������������������������������������������������������``a`aa````_\_]accccab`^^__bbaacbbaa__^WL9"
+
"$$"(+-.-,-++*-.27?AIRZeklcYX]c_F(%$(*+,( $""###8Sbg[IGF@:HQ\a]VM?94=ARc���������������thYR@;8>DHFF at FFP[_\TG=4<EPW[___```^\VSROJC=DC9.24<@ABDEIIMNLHFCA?@CVk~����otsk`^^r~���������|tbfkux{|�������|qfXI=6 at BDFU_����[G:@CFIJLLIJMOMUY\`p|�������������o^MRMMMWb�������ops������������{qndhfpsnejx������������������~wh\W>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
.t�����������������������������������������������������������������������������������������X^``a`]`a```__`cbbaaaa__^aba`abc`_^``]R?)
"#"
!#&&)*-.-,+**+18?HQ\fnsl_[afbK,(())*-+(%#""#%;Ygh[KIE?EMTYZUOG<8:BTi}��������ǻ�����ty~viZKAHGFD at DEEOTUQG><>CLV[]^^^_^[VTNLID?<>?80139<>?ABEGHIGEDCA?@BVt�����|uuqmn����������������utz{������wo_VJ at 77=BEHTr����wTF:;BEHJKKJKLPUbt������ [...]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
1s�����������������������������������������������������������������������������������������\[_]^^]_`ab_a_acbabbbaabaab^abba__bb_YI2"
+
+
+
%&#!"$&)*+-0-,$)&'(17CNXbinkdcdhbL0--0100/,&$# $'C`ljXKIBDQWWXSMID;<>Un����������´�����u~����wbLEBA at A=>BJPOHB?ACKPUYYX\]\WURLGD<:06:6,.169:;;;@BBBD???=:=ARn�����zpp{���������������������v����{phYL678<>GKi�����hIB;:@EGHFLJLKS`������������������o\QQONJ\u���������������������~vmjdebmvsjny�����������������~xjVM-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
8x�����������������������������������������������������������������������������������������^_`__^]__bcbbbccbacca`acaabbbca`__bbZQ<(
+
+"&'%%'(*-00121.-,)'(+3<KT]bfjkkmi]G:7:<;:94.&$" &-LhqkTHFDJ[][WQLHC@>Nk����������Ƽ������ux�����|WB><==:9=BIJEEJMOMLMTVVY\ZVSOJEB<7.-54,*-147889;=>?@@><978;C[q�~vofv�����������������������~z������~uhN269=@GYy�����\E=:9<BFHJKMLLUm���������������}��ygZRPPOJ^}���������������������{smhedcmvsmpz�������������������yjXG(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
A|�����������������������������������������������������������������������������������������^^`a____`aa_bccbbcda`^_`bbbbb`bb``a_UF1
+
#$%$''),./011101/-+)+/@JTY_]imnmbQIEGIHFB?80)#!!*5VpsgRGE at R]\XSOPPONWb�����������¶�����yioz�����fN>:6;:99=ABCGMW[ZYVRQPRUTQOLHD@;6-,13.*(,.214689:9<>=;8444;@JUVUVZp��������������¾�������������}r�~vfL37;?@K[t�����bE?654=DHKKIKGZ{������ʸ������sfv}r]XTQPOIb����������������������qlgfdd^jqocjx�������������������xhW@!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
H�����������������������������������������������������������������������������������������aa``_`^``a^_abaa^ec``__`cdbb``aca`[\O:#
+
"$#%'))**++-..///.,))0ERV^`binleXJIMQSROKE>4+&"$.Gaup`QIFJU\YRJN[ehho�����������ż�����zc\`l{����|ZC98:;7667;@IT\`dc^XPKHMMKIGDA=83-,/11,(),-.0258889;;:7324678 at BAD_~��������������½����������}�}tx�qZF87;>?JUj����}aD>8549AGIIHJM_�������ʹ�����za^kuj\WUQQOJe����������������������qcaceecfjhbao�������������������v_Q9
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
M������������������������������������������������������������������������������������������baaaaaabbba`a`bbbcca_``abccb``bab`[TD-
+
#%'()))%'&)+,()*+,+*+3JZ^bddjmg[MCIPSUSRPKB7-*,0FXjrfQLGHLVZULOUgqtv������������������wdM;HScs����pRI9==:30*28GU]_eif`XNLHGEB>=;841-,*/0,&((+--./1338::874445899:;Sn�������������������������zrmrx��ybB<49;<>HIW^o}wkWC>9618>DHJLNM]�������²�~���qZOah]NQPPQQNi����������������������vk_acc^`dd\`h�������������������u_N4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
P������������������������������������������������������������������������������������������b`abccadccbbaaccbccc`^___ccb`abba_WH3"
+
+ !#%'))*+*'%(**(()''(()3M^^ehjlndT?@EQRQPNNLD9/.8P`lojWJC@@LSVRPUiquv|������ö������xtrpaM701:DWiz���ucN>@=5,+.4CS\_fkkgb\SPGA:753.211.+,,*&'(*,---//04887655458999Mh��������������������������q`^cm|�{gL876:;6<CHMQRPOPL@<9657;BFMTROZ������ƹ��{z�|gSOSUMEEFHKPXm�����������������������wh_^\YY_`^^d�������������������w`N1
+
+
+
+
+
+
+
+
+
+
+
+
+
X������������������������������������������������������������������������������������������ba``aabcb`aaaacabcddba`^bcb```bb_\P;(
""##%%*53.&$')*))(%!$&+2L^chlnondRC>MWWVRHJIB722Ofqum]J:74ALPPPVhxwmr������ľ��}sfYURSRI82*./7;O_o|��|m^MJ:2,./CP]afiijhgd_UC at 7534564/-,*(%(')++,./../167645159=@Rj���������������������������n^NNOaldQB6:<=<76 at FJMMMMME8:9:7AEOPY][LZu�������� [...]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
"_������������������������������������������������������������������������������������������ab``aaaba```abbbbcbccbbccccbaabc_XG/
#%%%$$%,AC4'$%'()(&$"$%*1MailmqpndUHQ]efaWNHE?54F_uzyiQ;616ALLHFSq�yom�����������lg`O>==;62--/2137DUk{���~scN7228EV_ddfhijkkh`TIB@@@>9621-+)(''())*-..,,/2554676=FYp������������������������ľ��t\PHDCIJB97>AA>86>CEGHHIH at 58:>EP\chjmf_\fy������� [...]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
&f������������������������������������������������������������������������������������������bbbabbb`a_a`bcb\abcbcbbcccccbabaZN;
+ #$&&%(*9KH9(#%%&''$#"$&*.Mcknmnnkh^bkv{ui_QKA<3<Ohy{zhD;568>ED>@Ii��w��������ý��~ugSG<;32/..221.01CWkz�����o[GEER\acdefffcegbYLCEGFC<7310/-'(((%('+--*++0/55:>BGd{��������������������������Ÿ��jYVKI at E==>HHGE?7@@?@AAA?;3:8KZdnptuuqjeZhj`V\e���ccg`JF=:8?=;95135]}���w���������������������wl_^Wchmt�������������������o`L+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
,l������������������������������������������������������������������������������������������abb``aaabcbcccca__`bbaacbaaaa`]^R@,
+
#$$'('+3BPI7($%%$%&&$#$%(,Kdkligjlkkpz���vi]M at 95@VlxzygN<89<>=:55>`{����������¶���|lYPG;521124631004DWk{�����}tolebaabegfc`_a^XJDDGFE?732230,()(''(),-++-/15;IV^p����������������������������Ⱦ��skkk`VPOQW[^^VLFDB?@?;6754;DXlu{zz{zywne[PG>9Fe��`\`YHFHMQKF=:61/0Ol�yfh���������������������yplmt|��������������������~h]H%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
1p������������������������������������������������������������������������������������������a\a__]abbbbcbccb_`_bb_`]```^_^]XI0$
"()((()-9HQD+'$$"""%%$"""(,Hchc`]_bdenz���zpcN445H[lqtvl^SGB??<6.16Up}��������ƽ����wj]XQG:713378533332BSm���������}i`[`cghe^`_ZSG;ADDE?213453/-)*''((*.,--02=Eau�������������������������������²�{g������������oTVYPHE:7321<H_rwyz{||{wriX at 9-69YneXUWRIFH^omdZD;3.,CVgodL`~���������������������{||����������������������ybXD#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
4s������������������������������������������������������������������������������������������aaaa__ab^^`bbccb__`bba_aaa``_^ZQ?*
+
%+*()().ENM>(&$#"!!%&$$##&)Eae_WSPSW[dr���}tfM26DUdlonqpng\LB>:3,,0Jao~�������³���}pca^ZQG at 9678974452-0@Yp���������xYW^cfgeeb_XN=:AFED;00565541/-,+**,//..1 at On���������������������������ȼ����ĸ���������������dmuobQB<514=Lbuwwz}}ztmX<42=IU[WMJLJD at Ch���{iUA.-;GQTPFZw����������������������������������������������saR>!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
8x������������������������������������������������������������������������������������������``cb`]_`]\accbba``abbbbbbb``^]TE4
)*)**++9KOG6&%$#"" $%$$$#$&A[_TMHHHJLYe|��}rbK7EXfppqrprppl]G at 83,--BXj{������¸���wkjgc`ZSLC?8::81120+,/DVn��������hRY^bceedaWH<<DGD>7.167455410/.,,,/234H[z����������������������������¹����¸�������¹�������r~��y]FA;::@J_qutvx}{zzriW=:8IVZYTFEC@::;e�����kVC2=ACDDDXq���������������������������������������������~qWM1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
D������������������������������������������������������������������������������������������_`cc`_\\]`acdcbbcccbddccaa`_][M7#
+$+,))*,2 at NL?,%$##"""#$#$$#$&=TVLBAAABGRgw}{ym\HHVjuxwuuvtquvkZD94/.-9Og�����û���{umppmge`ZUPKGD at 85/--,.27BRjx�������s[NV\adffbTD=@EE?82/16655554320/../5<Qk������������������������������»����¸���������������������fECA@@AEYlruuuxywwndTEAFR^^ZUJA:5349b�����t`L?>??>>CTgtz|�������������������������������������������oUG+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
O�������������������������������������������������������������������������������������������``babb__acbbcdccddccddb`aa`^[TC(
+
+
+
+
#)+*+,49HQJ8'""!" !"##$$%#%'>NL?:887=DTgnnmjbXWYgt{~{vvvtquyvlZ?910.6?a�����ǿ���stotwvrldd]ZUURLGA:40/.2575DObp~������m]MTU\``\N;<AB?91.*/045546872221/6>[u�������������������������������������¹��������������������]AB@@AA9QahnnpqkjhdWRHJMUXZ[UH=43368Xy���{bJA899;798HW\^`dfhnt|�������������������������������������nSD'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
O�������������������������������������������������������������������������������������������ababee`abcbb``bc`cddcbbaaaabZJ7"
+
+
+
!&)*.7 at HNRG4$!"#"""###$$%$&2 at HC843259FUbeb\XSV`jqw|}{z{yuty{ylYC9214>Y�����Ķ��zoquz~}xqmic^[ZXQJF>71114658?FK[l|������p\OPRUUPC89>=83-+-..14559;943314 at _}��������������������������������������»�������������������xTHCA?A@?FS\cfjhfb_YSPMMQTUWZRC943457LfwvfJ6..156768:FNSVWSSNXbm{�����������������������������������lO?"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
O�������������������������������������������������������������������������������������������abbddcbbb```__bcbaddccdbaa`_S?,
+
+
+
+
#'*,8BKPRQD0$ """$$#"!$$%$):DF>130:>BHNTUSOLSWjsutz}~y||zxxy}}xoaKD>BHl����Ƚ��yrgpuy��{yvqjgb_YUMI?6/12335:@CCCUbs������ufTSIHD>6:=93/*+-//14558:86327>\}������¾��������������������ļ�������������������²����x������vh\KGDD=KU\c`^b\`WTSPKIHPSTTO>733069MW_e[G</.+-/133/6=JQTVRPNLKKf����������������������������������hK9
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
V�������������������������������������������������������������������������������������������bccdbabcccbaa_abbbcc_bcc``^XH1
+
+
+
+
+ &/6;CMQSRN?+%#!!"$%$#$%%$#,>EC<9:>GNKGBABDEMZitywvy~}}|zy|��ypg`_f}����Ĵ�rljptx|}}~~ysold_[WL>2/./0/1:@B=>AJZq�������mVLB@<:>?;8.,,//02555677646?[y���������������������������������������������������������z�������wjb[OKRclrkdcfd^RQMHCDLTWWNB8324:DNWZVE941/+,,,0133>FMRRPOMJ@@Lt���������������������������������{dK5
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
[�������������������������������������������������������������������������������������������bcccb`bdedd^a`a`baba_`bbb`YM;!
+
+
+
+
+
+
+
+
+
+
+
#*4<CJPRQPH8&%$"
"#$#"$%#"!,>C;>ADIPRI<98:<OXhsyzxy{{yz{||{~����~|{����Ľ��ujjlssqnquy|{wvrmga\P>3)))-,/7?DB>?9FVs�������z^WE?:DJJC8-010-23325557;?Zw���������������������������Ŀ������������������{~���������|w�������~{zursry}yuvxreRJLAECMT[_XPHA84;FS[YNC520.+,)*-018 at GMOLMOOLHCYr�����������������������������~���uaL2
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
a�������������������������������������������������������������������������������������������bb``acccdedcbba`bab`]`abb_SA-
+
+
+
+
+
+
+
+
$+2:BIORTNC.(&&$"!""!!"###$,:@@AFJMONB878<K\lswzzxz{|}~~zxyyy{{{}����������ô�zjgjqtpmlklmuz|zzume]QC4,))++)2;B@>=:6CYr��������ziQKMXWN>6320011.03207CYt�������������������ƾ���������������������������umpv��������u�������������������yhSHNOOMNR`qwxmY;46HV[SG<30.-+*)(+-/4=DIMMMNNLNSau��������u~���������������������|o^L1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
e�������������������������������������������������������������������������������������������ba``dddcbbdcbbbaabc`acb^`[K5%
+
+
+
+
!#')/5?INROF;235.%"!"!! #$%%/9DEGIJIJDB;@BGRftwwzzywxz|||{zyxxz{{v���������Ľ��c^]fqrommnhkovxzzxph]SI>0-*++++179<==::GNm���������xhehaUD45//010-.1/09Tp��������������������ʽ���������������������������rg_gl�������}���������������{yx{|s_YL^gfZVSl����pS:CL]^M62/.-.+*))())+0<@HKKIJIJMUfy�������~n}��������������������wiZI-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
g�������������������������������������������������������������������������������������������bccbddaccbcb_abcdddcdeca^UA+
+
+
#%%$%,6 at FJLKGEFG>/$!"!"""$$$2ALTVYYTKHGGIJKSgtxww{{xx}~}yzzyxwxyyz������������oRLN]lnllrrokmsvvvwuk^WQI?71.,*(*.17;=<<?EVr��������qstjXF54/-//.,/0/2Ge����������������������ĵ��������������������������ra]`cg�������}{������������|qqrqplhjr|{ukm|�����fWUZbaH40.,-//-,*'%'*4;@ADDEEEBA:JXk}������xox�������������������{oaSC'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
!j�������������������������������������������������������������������������������������������cccbcbbcbbccbaaceecbccdbYJ6!
+
+
+ #%%$"%&+048AEHLORH8+"!!####%$8M[cgkjf]PONMLKQdrvx{}|zx|~|zwxxyuuuuw����vf}�����b<;<Oajmpvxunmnpplqsm`\WRLC63-,(*(02:<>=CH^kml{�����zkrxmVC53.--.+.01-AXy����������������������Ͽ��������������������������s`[`bcm������t|{{x|}�������xhehmwy}�����}�����}slljjiR51)+)//.)+)')6BFJFB?=CDC>71=Ho������~mf�������������������xjOM?$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%n�������������������������������������������������������������������������������������������cdcbbbcc`dddcbaced_^`dc`R>&#
+
+
+
+
+
$$$$%&%#(+-1:AGMPK at 1$ "$$!#$, at Zisvyxtle`XRLKP`osx{}|yvy{|{yvux{zyxx~�|ra\c}���xU78:BTalotxvomlkjlnomga]ZVNE:40-+,/6;>>AIYfi]X_q���ugdnymT?52.,,,-.12;Qq������������������������˶�������������������������p`abcacet������ywuvxyv~����|ob]bv���������������tst{��u\<2+*,/0.,+*),BU`fbYJDA at A=5,*9d������~ldz����wlb\es��������vePM?"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
)w�������������������������������������������������������������������������������������������a`b`bbcccdddcbbacd`abb_XH0#"
+
+
+
+
+
+
+
!!"#%()+.,(/+05<BCA6%##$%%$)3Kboz}~|rsqh]OEEE\jqrxzyvvv{||ywsuw{zyu~�taWPSWnwjWE468:=NXblprokkfknmmnjfc`]YSI>911-6;@@AESahcR<BLcmja][htmUA31*+,-./5>Jh��������������������������Ȳ�����~~~���������������mdadd_Ugr��ž���prosuuw�}ztjb`y����������������wrmx��~dE9-/-68632136Up}�~u`H?7993)+4`������wlVs���oRI654Nez�����~scTQ@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-z�������������������������������������������������������������������������������������������b`aabcccbbddbccccbaab`ZO=)!
+
+
+
*+'!#$(,6>CA;1*%')4:=4%$$#$$%.BUepz{{yttshYIBCH\koruvvvwy|~~yvuuxz{|}|oZOOPPRQKC5104446AO]fmookkmnllnlkgea`^TKD>:<AFFBDLYcaUC53:ENQRT[bnkZB1/,)+-.08Icy���������������������������Ī�}wqjfes���������������pfhii`jy���������uoptqquxttmcat������������������ueiu�yfMC97<BHHHGKQYo�����sQ>1-00-+7_~����xth_q�rW>/*((*Dd|����yn_TM<
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
8�������������������������������������������������������������������������������������������babcdbeccaccccb`b_`aa^RB0
+
+
+
+
+
+
+
+
-9951-04<ENVSMC1,&*,240&&$####9N[dipqrqomj]KC=DM`lprssuuyz}{��|yvty{|}}}nWONOOOJF?:2/,2132 at G_nsspnokkgijjiibaaZRPJJIKMKDIR\_VD;222349>R^ekj[@1.,*)**2=[r��������������������������������wg`X^n��������������u{���������������ikmkdkpqoh]u�������������������nHNW^c`VRIMPTYZ\[_it������~ZG00*0,-<^x����vl`Sr�sWD.,*(%(,Pky}|zrgZGD1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
E��������������������������������������������������������������������������������������������cbdggeefecbcdebabcccaZI3!
+
+
+
+
+
+
+
+
/=JOOLHGLPT[`^XOD:4-**,+*'%$" (CYaaadggfdb\QE<;EVdmqrrtwyyz}��~{wv|��~nYONNNMKFA>9/.02238BYnvvtppnkkjijljhda]YWVTRRONLO[_ZM<3112/./;Qbipk[>2/-*)+-5Nh{�����������������������������Ҽ�ydXSUs��������������yv�����������������|dcb_ahljdb�������������������d=7AMZ]_^__`cdhjihr�������cRA:73-0A\nx~{nbVVr}fE4+**(%'*5Wp|xslcVH>*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
O��������������������������������������������������������������������������������������������dcdfgdeffddcefdccccc^S?&"!
+
+
+
+
+
+
+
+
+
+
+
+
+
'@Q[_a]YXYZW`eb[UMKKD6.#()(&%!"-JacWVYXWVURNE989N^hmtttvxxyw}~�w}{yy}���taXLLLKIFB@>942035:AXkswuqqponnmlkjjf\ZXZZZZWQQR[`\SE40.00/.3<P_hro_C20-*)+.4Rkz������������������������������̳�eRETy��������������rdr����������������xaaSW]eehm��������������~uz��vV7;BS]aabddegfigjjlo}�����e]NRUK45CZbhkif^QTZmsZ:61-))&($.Fdwsgd^TI<&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
P��������������������������������������������������������������������������������������������edbdedceeddffedddcabYJ1%$)!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/HU]dfc`^\]`dhfaVPSZTE2(')))&##1NdcVLNNOONHB:34?Vgnsvvvw{|{}~~~~~|{y|z�~ztgWIKHHFCBBA?;669=J[ipuuusquxvsqoljf`^[Z[]_]Z[_baXM=2////.06;JXcpqdH0/,*)*-2Phv���������¾��������������������ÛlKCS��������������j_`fm�����������Ƚ���~n_MV\^e���������������vkdonaA;@M[fffhjklkjheknnnqrt��{djntxiS;F[e[VSQNOQWhiKDCE?7.*'&(;Ypng^WOG8!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Q��������������������������������������������������������������������������������������������dcddcacfeadfecdeeddb[L8&'1/#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
0AGNZ[[\]Z_bdfd`VIR\XL:*)&,.,*/5ObaYMFEEFE?84.3E\msuuvtvy|}~~y}~~}|z~}z{|�ynaPMKIDCCEGF at ABNZejpowwusyxyuurqnldc^[Y^`_Z`dbYTL?1//00/059AJ\lndL1/*)(**4Kep�������������������������������ƠrO>\��������������waQSX`gv����������˹�����qZ^`|������¹������wp_^`^\RHNT^fijjklmliidjllmlkonprkfp{���oaThj\IE<BFKRfm^KQTPJ:+)&&(Pih]XND<1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
X��������������������������������������������������������������������������������������������ddedbbcffddfdbdebdcc_TB5-7970("
+
+
+
+
+
+
+
+
+
+
+
+ .9 at KPQPVZ\adb``^THQ\YTD:0.0;>>=@N\^XNA@?>=72/.2I`pstrrstv{~~}}}}}~}~~~{|}����xlYQMIEDHKMORW`josuy{}|{{{{yxz{ztoje^^^__`df_UQL@/./330//37DVfjbO<.+-/-+7Oes�������������������������������ğuRAg��������������oTC?HPYbnw���������˿�����ycn�������·�����xri\R[ega^\^`djnooonomjijkkllmmmkhdckv����{vsm\G>78:CNesmd`ccZG:5.*)IacZQE95*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%a��������������������������������������������������������������������������������������������eeededeffeffecffcdddc_UJC9;98640(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
",3>FHGEEIPY`a\[XRLX_baZRMIIKLKGCJSVWO@=4577/./<Mbomifeinrx}�~}z|}~|}��}z������yi^OKEJKOS^houwy}��|�~~}{|{��~troi`]Y^`ff]MPNC//0463/./4?QbecVE8,01/-5Nbs������������������������������Ӿ�wTEr��������������hL331<CQ\ben~�����������ɱ��}�������������ysld[V[pyqhg]demqqpplllighhorqmngdbbY`aq}���wrm]I?881=J`rtmhki^IDA410M`bXM<83(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
'f��������������������������������������������������������������������������������������������fecdeffffefgfhigeefedea[SLA;9<<<6.$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#,3;AA<3./=KY]]WQMWaimmidb`\XWUQKFJNSOF;637977:CUcibYRPU_gow}~|z{zz||}���{~�������seXQMMO]ju|������������}�����zxsme]^bebZSQPE8004641+*,8J]de]RB40///3EXk~�����������������������������һ�rUJ|�������������}cD/-+,4 at KSY`p�����������о����������������wnf]VSXv�zumhilqvtqpklnlkklnorrqqnjgcZVYlz��}qj\J@=;86B[ptmglfYHJLIDESbd\K<84&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
(i��������������������������������������������������������������������������������������������eddddeffecfgghhgededdgfa`^YRL=:9751-+(
+
+
+
+
+
+
+
+
+
+
+
+
+
%/5=B>0-)+,>NTVQFO^kqsspikicX_`]VL?ELOLE???BEEDP\abUEDBHO]bowxxwxww{z����~��������{uni`fmw~������������}�������|zvm^`caYVUTRJ?6.23420,15JZbd_XJ93.0049IZw�����������������������������Ѷ�iQP��������������v\?-,++*39<APh�����������м���������������yqg\WOW]swxqickjqrnjklpttusmoqrsvwvqkf\LNSp}��zkaLIGC=9:Wmmca`YHCHOOHAN`b\L><5$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+m��������������������������������������������������������������������������������������������fdeebdee`befdffededdeghgghfa[SJC88989:2(
+
+
+
+
+
+
+
+
+
+
(1:ADD>3,*()2DKMFDRgsuuuqonjdaehfaR>9DKOMJJNPTWX\ac]J=9?FNW`hoqrtvsw|�������������������~������������������������~zrkhd][X[ZWPH<./122257EV^^]ZULB:63357?Nl�����������������������������ΰ{`OZ��������������qV;--,*)*-/1:^�����������į��������������vng]TQT`mw~wmdjnpnjgdgkqwxxurqqprssqmhd\SFNi}���yjddcWF;6QeaUPNG>:?EF<9EV[VKA=5!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
/r��������������������������������������������������������������������������������������������geeeecddccfgfeedeffffbgghihdca\WRIC9;<951+%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
$4CKNLID>820-5?DB?>Shrttsookfb]diifV?79AJMOSVY]`bded[K79:ENV\cigfpsux}�����������������������������������������������~wsrogdedb_\UL>../0+26H]iiZNLKIHE@;587:=^�����������������������������ͭ}XNc��������������nT:,-)+&++--4S}������������������������yda\UKXdmv{~vioswxvnoqttvxysqosnoppokgie`XRQi{����}}~oUJ8O\WEB9400/01/'9HNMB4:3
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
9z��������������������������������������������������������������������������������������������ffededccdefhgeffgfefeeeghifghihfa[TK@<:;:950*%
+
+
+
+
+
+
+
,ASYUOLJGC@><9>>;;GUcjmnnmkgb^]agihV;017 at HPVZ\^adde`WLA>>EMT[_cbciotw~�~���������������������������������������������vutnggpnfb_WM>,./002B\rvlVC at AEJJHB=9758Ks����������������������������е�UKi�������������|iQ9/-,*,++,,0 at Wo�����������������������}rc\TNQcty}}}slquy|zy{~~�~}yxuuvvuutrpnkga[UPcs}��������q]NOVO at 92.+))))((.;AB955/
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
A~��������������������������������������������������������������������������������������������geeeedddddeeefffgcdafefghhhfhkjggeb]XSM>;:;7652111)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ $4GWYSNKKJJJIHDA>9CNY_bekihf`XXX`bhfU71+.2 at LTVWW\\\[]VMFECIMSWXXYZensw}�~y~��~�����������������������������������������xrlfaiqohd^WL<,/011=On~tbK444?FIJGC?975CZ����������������������������Ӿ�YYo�������������qaL5.,)()++**/15;DN_p~����������������~}vlbXOV\mz|~{ttswszxy{}{{{}wxrxutrtwurrpnhd[VQXap~~snl{�wfUQRH92+*)&%%$%%*.262,1*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
F���������������������������������������������������������������������������������������������effeeeegeeffcefeffdeghgghhhefllkjjiigd]UNI><=><=@@8,%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
)6FPPLKKKMNMOOI@?CJRZ_beiieaZQOU]deaR<5/*-7FOTTUXZXY\XIHHJMQRSRSTWajoty~}{wz|�����������������������������������������tkb[`inmiebYM:100.3Dh|lT=2028=BFEC@=::=Nh������������������������������raw������������~iWE0,)'%')))+-//0/26;B^l��������������zvqeYQN]kv}~}wrtx|�}z|~{xwxvvvy{wsw}zwvsrmic\VIN_oofNRamom_OJIB2*(('&%%##%'*-.-+-#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
L���������������������������������������������������������������������������������������������ddddeghgfcggeceeghgegggdhghchkllkkikkjie_ZUNH9=9<?<9752,%
+
+
+
+
+
+
+
+
+
"-3=A@?GLOPPNSQL9=ELNY]^afea\UIGFR[[VLB<3*)3<DIILRXZ[`\PLMORSRPOOQSZZdlqu{{|{}�����������������������������������������qj\^alnkklkcT at 01/19_|�u^F?344757:;<<>>=?C[������������������������������y�������������q\N=.*($#$(((*,..//.24F\�������������uog[MORev{}zvrmst|||{{}}uvwwusqyzujuzzwwrtmkc`YL?OZ\ZJ<MORSH5>D<-)'&#&&%#$!%'(*,,+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\���������������������������������������������������������������������������������������������eceecfgfeeghfcefgjgffefhhghiiikklkkklmnmjed`XOF@;>??@@@>90&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
*0249<>FPRRTVXYOA;GPV[^_aab]VNE=<AJMHDC>6+)/5886>HRYac]UUVWUSPKEMUYYVYimqwz}�}yz|�����~������~{{z|������{zz~�������zmggmswuttsj[E6215Op��mSGA=;<;6/559;?AA at AR���������������������������Ͼ���������������yiVF8,+(('())()+,-....:Nv��������������wldZQHLZo~}zqppuy{}}}|}{xxywtrpuwporuvvutsqldc`QA at ITVG8AFD@5/5?8)'%$$&&%$$$$$$&)-)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
"e���������������������������������������������������������������������������������������������gdfecegfecffeddfhhgfgfghgghihgggkkkillmmljjieb]VPGC??>@B@<5/'
+
+
+
+
+
+
+
+
+".2/248;DOSTX[]]TEGL^jnmlkklgSNA<7;?=;98<81*+---54?ER^a[WYZXXUPGHO_c_X_hjjsw{}xtqrtwywttuwxz}~}yrrqolqtsrpoppqrtmz�������|rswz}{susk`Q?>7L`u�ufUJFDCDB=;9;=>=BCC<a���������������������������ӿ���������������shRC60-,+*'**)(**,-.*<Lp��������������yk`WMKAQbs�}yukotwwy{|wyv{wxyxqtqpoqrsprutlrnmgfbU=<:HMD8@@C=4,6?6&%$##$$$#%#$"# (,'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
(i���������������������������������������������������������������������������������������������hgggegfefgffggffggfgffhhfghhhgghjjihjkllnnmllljfaZUND?<AA@?<6.#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
)212225:BMSV[_]\UIM^nz�����ziVD99:<=:45761)(*-4:=:<EVZYY]\XZZQCJ\hkd^aghhouy|xrmjinqnkmopoorutvqkgfehmstuvwvssuvutwy������xz|~{srphf\TQUapush^VOKIIJHDAABCA?ADFMr��̽������������������������ȩ��������������xgR<8320.*)*+*())*-.8Pl�������������{uk^TMJGEVjw�}wpjp{{z|�|uxzyxxzwvtspoqtsqrtspppnlifWB:6;DA?@FFA4+6=4%##"#####$$$$$%(+%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
$j���������������������������������������������������������������������������������������������fffgggfdggghhggdgghhgghhghihggfijjhghhklmmljlmmlifb_[TMA?>>><94.(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%/3354/48AGQVY[YXTLXgw��������ydM at 58:981.22.'),4;CGA4>FRV[]\ZYZQBQcmnh`bed_msvwrkg`gppe`agihhmlmlg_[Vadopuxyzyuuvwvuuws�����||z}~ztrokic_ciqvob]UUQONMMKHGGHHC=AFLS����ķ�����������������������ͮ��������������zhUH@=;852+++,()&*)7Eh������������vtjf\XMGDFDZoy�}rnm~��{|~vzyzuywxrollmrpurrrtmrnnhigZF?:@CGJOTPK9-58/%# !""!#$$##"##),"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
j���������������������������������������������������������������������������������������������eecfeeefgffgffgggghigffefhijjigijjhhhhjliijjllkmljhhhd]UPJ@==@@>82-*'#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
*12365039 at FNTVUUTRU\k{���������q]E:7:96--/.+)*.8>IPG;;@OZ\\[[][QJXhnmica`Z`muspiea_fnmaRX^adgjjgcYQPXcmprvy{{xuvwz{|{vrs����}y{zvvsolkhhn|}uf[WSUVUTVVSPONMKF>BIOm����ɾ�����������������������Է��������������|h]QRVXRJ@<82.,,+,2B`~������������uneZXQH>=BE^s{zwx��������}{|{{xvwsojlqtwwwtqstqplhgeXHMMIEKU`gbU>232+%$&)**(#$$$##"#%+!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%m���������������������������������������������������������������������������������������������fefgfccdgfedffghhhijiffegijkkjihjjghijiijjiikiiikllkkkheb]WQJ=C@>;::85,!
+
+
+
+
+
+
+
+
+
+0013428<BGMPRSROPT]m|���������}kWB?>>:511/.,,-6>LUL?<>O[\W[[^ZPI\mnjhea^Zdpurlic`\ab`^ZX]_eglnmd[LW_hpqrvx|xzuxy||{xrmnp�����zzruvslkijlz�|n`VUTUTVXYYURRPPNH at FLUz������������������������������˜�������������|qkgdigfe_ZSI?63/6?`|�������������wnbZRJ=62>Hasyzyv����ð���|}~v{xxtsntxwtvwtoqmkjkce`TEQUN at JWckcWA0/)'$'*-/-.*"##$"! '*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
,s���������������������������������������������������������������������������������������������eegggfdefefgiihhhijjkigedijjjjiijifhjjihjkijjighjnnllnonmiea[TLH?@@A@>91&
+
+
+
+
+
!)..-.12;BFIJLNOLGFP]q�����������m[GDCCC?9674.,+2;NZQB==NZ\\]_\WOH]noifd`][hqvtqkida`_YZ[^cfilpwtg_^_clrsvwy|~}|{{zzvrleci�����zwwwrlklny��vfXYYWUTUXYXURPONMGAGM[������¸�����������������������̫�����������|v���tmswvsmd[PFAANv�������������|uk`SI>500;Nbpuzz������ǻ�������}}ztvwy|wrssqomkiihfaZOINVN?DR]aXK=.+%%$&(+,-/-)&##"""()
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-{���������������������������������������������������������������������������������������������deeghhgfecfijiifgghikigggfgghiiikjiijhhhikjkkjhgknmkmnnnnjiigc_[UIC?@=<95/(
+
+
+
+
+
+
+
+
+
+
+
+
+
#),-,++-7 at EGGFGHD=@GYr���������xfSIBA at CFC=7880.,48KWOA?>P\][`_[RNFUdifa\\V]fmqw|zwocfghikorvxty}xjdaa_hnrvvw{||{xtrnofhZ_c}������zywrlqu{��~nZZ\\TUSSTTURLKHFEC at EHo������¸�����������������������ӷ�s�����������x�����vxz}{wrj_UV\������������|ung]RF77112EVennm���������������}|zzuyzzvtrqmohgfedcb[PPNQVYDGKJG>.+)'$%#$$%$'(-.*$#"##('
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
0{���������������������������������������������������������������������������������������������eedfghigdddhfijihhijkihhhhegfgijjkiiiiihijjklkjklllnnonnmkkllmkjf`XOE@=??=:60(
+
+
+
+
+
+
+
+
+
+
+
"&),-,()/9 at EFHHF=::DTn}������lT<2/7<>BDB>8699426=IQJ>@IV__]bc]TMDGW_`ZZWT_efnz���}wrstwy|~�}zskeea\aiossuuvvurmikkjbWZat�������|vrqw~���vgZZ^][XWWWWUPKIGDBA?BK}������ĺ��������������������������z�����������x������zx������uh_o����������{tkcZRJA65668=N^iniy����������ŵ����|xzzz{yxwtqonmjfgdc`VSfrsurfROH9-&%%#"#$##$#$&+/-($#$$)&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
7|���������������������������������������������������������������������������������������������geeffgihhhghijjiiijjjikkiiihhhiihjiggijghijgjkkklllmnnnlllkkmmmmmlgb^YQDD:=>=:61)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%',.-*.1?BLMLJFCCBPft|{y��|lR2/'.2<?@A?=81;;427=GMG=FQ\ba`ee`XQHKNZZYRSUekhhy������~~~���|se\QTWZ\bglgmijjploillg_WOMK_s������|uts{���vha\]^]ZYYYWYUSNJGB<<;BS���������������������������������ɟn���������~o�������w��������|z������vtqjbZSNCB;989:=ATdkmt������������;��~}rwwzyzsxurjolkfec_YX\}�����tfS7-$%%#!"#$%$#"!(--*&"$%'&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
?~���������������������������������������������������������������������������������������������gfeefghhjkiihhfghihhijlkghhiijhgghhghjkkjljiiiklmmlmklmnmmmljllmnnnmljbZSJ??CCA?:3(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
!$),-.1:CQUTSPKHEAG^jqqqw{mT0+**/5>FHGC?::<:315;DGCDM]ejiiifb^WQQV[]VMKZnwuru���}��������~saNAFILRY`ffdhjlnmmoqmi`RDDAAHl}����~wvz|���zg_]]]]\ZZ\\\[ZVQLF?:;=@^���������������������������������ϧsy���������zs����������������������|lfc_XPIHD??=;;<>@DXjnq{��������������Ĵ�stvxzyyxwsqnljgeaYUXw�������{eK.'%$#"!$+-&" !$'**%"#%)$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
H����������������������������������������������������������������������������������������������ffecggfgjkjhgfeeffgcfhkjhhhijjhdffgiihjkjijfjijkllmlkkmnnknmllmlljlmmljhe`YQN@=<><81(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ !!!$&*.5 at LW\]YUNDBAHU`ffdkn^>,((*5;GMJFA><;:42168ABKQ`koqolkhc`]XZ]acZJOax���{suurpy~��}�veQ<?BFEGJNQTW[`eilpqrmc`POOTZeq����}{yz����|lb\]]\Y\\ZZ\^]ZSLGB<2:?Mm������̼�������������������������Үyy���������wdw�����~|���������������q_KLNLEC>@?>;;:==AG]oqq����������������λ�xyvvvutvqupomkfc\VWt���������y`A(%#""#%.2-"!!"!'($ "$&$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Q����������������������������������������������������������������������������������������������efeefgfgjjggfgehgegeijhhhhghjigghhhkjhikjiiijkkjfkmljklmmnnmnnmlkjjkknnopojd_YPI?CA at 8/&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
!!!!$&,5=GQY][UOE@>@LTZ[\_`R6**,3>JQSJ@;:8864227;?JWeouwvsolhdbbacegh^RRb}����ung^iouz}��{jS?<?CDDCBAA=@EO]lv|zwph`bhnu|����|z{}���se^\\\ZX[\YZ[^\VK@:986:>P����������������������������������մ�r���������vioyx{yz~����������������lXC?ADC?==?>::;;<?J`rs{�����������������̵�{zxxvussttqomg_TMW�����������pI*%""#$&+20+$"#$$$#! #&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
W����������������������������������������������������������������������������������������������hhgfghhiihhgghhhhfihkkghhdgghijkkklkkgiikjiilllgjlmjkllkmonnnmmllilmnopoopnklic^XLE@@9421-&
+
+
+
+
+
+
+
+
+
+
+
+
! !"!!$'()08BKMNH@;8<AEIJKVZN64.9BOYZUH:75321.23;GPXgqtwxxurmeeddehiifaTYd|���{mcX\ceguz�|q\?<<ADEBEDB?<9?@Vm{�}vmfbn{��������|zuxz}~{rfZYW[ZYXZ]]^]ZYMA54355:>[����������������������������������ؼ�w|��������vgq|���������������������fZHFAAA?:99:9:::8AL^ms������������������Ѷ�{wxtuknlqlppjaTFNUl����������mN-& ! !%),,'!#$$"#!!$%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
[����������������������������������������������������������������������������������������������egggfhjjihehhhggijiijjhhiiiijllljkkkjjiiijjjkmlklmmklmkkmnonllmnnnnnnooononopqnnhaZREB<?>>6-%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
$"#"!!#"!"$#""(+39><70038>A at EKPLECDMXbf_QB61/-++,16>TcmquuvwxvsoligfgjlkkcV[g~���n^TTZa\`nz�vbH99<AFGGFEA>;7:>Pgwyoeacq����������zrqttrk`UQPV[___aca``\UH9666558Ag�����������������������������������Ùmu��������uhq}���������������������c_WRLHDA>;9:89:97BN\gt������������������ҷ�zvuuphjmmnmmbUG>JR\dmvxoeikmg\I1' !""!!#&(&!#$$$##"'$
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
]����������������������������������������������������������������������������������������������ffgghijihhiihhhfihhiijiijjkllmlhiijhhhkjigfgklllllljmmklklonnnnnpoomllnppponoqqpnkid]VPE?<<961*!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
",+($$!###"#$#""$&&),++,,/49>><=?CEHR[dfbT at 9/-*)&'(5 at RamssqpqsuusojjhgcjlljdV\k���wgNKIW^[Uix}|kQ at 69;AFGEE@>88876DQakhc_^gn����������|moome^MROVYaec_dd``_]UF:788539F��������ÿ������������ʺ��������������kf}�������vfp{��������¿����������x`ba`^VIE>=:966698IS`cl������������������Ը�xrskjihhmjicYE?;JM[_iigTH89;:96/'!""#! "#"!##$$##%("
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
$a����������������������������������������������������������������������������������������������hgfghkjhdikkghjigegjgjjjjilnmlkihihgimlkjjiijklmlkmmmlklmnnmnolnlolmljnoonopmprqppoomhbYOI??@@:5.'
+
+
+
+
+
+
+
+
+
+
+
084.*(%$##$$$#" ###$()'&&'-2665236>GPZ_YN>71,)('&(.=Tajpsqnmlmnonlkjihhlmlke[\o���xdMHHQYWVeuxp]F879:@DEDB?;778649AJTWXXcnx����������~uomicWUX]bghgfdca_]]\TJ<87754;R�������ò�������������ȵ��������������kaq�������ujn{�������������������~kefikofZKA<86558;EZgibb������������������պ�wrpomlkkkie_P at 9=KU_gjibR6***$$&&$""###"""$####""!"&(!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
*h����������������������������������������������������������������������������������������������ihhhhiihijlhgijhhdghihjiihlljjkkkfjgloniljkjjjkknmnmmlljoomilnonnoomljnonnopqqqorqpqqqmid`ZSLA=:9895,"
+
+
+
+
+
;C<520&&#$$$%$##"" &**&%%%$&)+,.-.16;?B;53--((''&0;UfklppkiieefffgghhihlmkjeZ[t���{jQK at KQQKbomaL56678:<ABA98752419<GIXagkx������������zvrlfedgjlmjgfed^]Y[VRNA44555?b������ĩ��������������Ͷ��������������v_u��������tqu�����������������w�}~}|{}~wl_JC5435:FVv�xc`a�����������������־�vonnnjmnlhbVL@@BR]gmkgaR8&('#"#""##$%"$##$$$# !!!!(*"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
3r����������������������������������������������������������������������������������������������hiigffghijkigihgikihigijigklijkllkjjmnmmmlkjiljlnponlllnonlkknnmjoomlnooooopppnoqropqssrqoke]TJC:DFE=4+
+
+
+
+
+
+
+
4>??A>3)(&%$$$##"##'*)%%$##$%'*++,-///0/--,*('&&'8TiutsrodhhecdcbacehhiihhibY\z����wcPHFILS]d^O<434569;=@?=962/25;ELR[mnx�������������~wqllmoppmifdeda]]\]ZSF63334Cv�����ʯ�x��������������̾�����{��������u|���������uou���������������������������ueTD;56<Qn���pc^c�����������������ōuqonlklmie[RG?DKWblpkc`U:('&%$###$$$$"""#$&&$##$$$)+"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
;x����������������������������������������������������������������������������������������������ihigfehhhhihihgghhjjifiihgjljjjllijkmlkkmljfiklmmknnnllllmmllnnkiillmnnopnpooonppqqrrqsrrppolgaZRIFC@=95/(
+
+
+
+
+
+
+
+
+
+
+
%.6?A:40,*(&%###$$%&&$$#"&&%%()$())))*)))(&$$$(*A_p{{|zsokkghgdX^^beedbaff`W`}�����wdSMDLQSSK<5///2588:8<=920.25 at LTXk|��~~�������������{vonloolie_cedddddea\P;412.M�����Ͷ�yt����������������ɽ����|zz�����z{������ƻ��esx���������������������������}mZO=?BZv��tpmf_����������������ĊqonkihhgbVOA><CKXdnso`icI+(%%%$##"$""! $$*+)&*+'$*,!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
<{����������������������������������������������������������������������������������������������gijighijihggijeggijkgfhihhikjkkkkiijkmmljlkiikmnkillmmlkkmnponmkijloonlnmoppoooqpprrrrsrrqqstspke^WODCCD@<3*
+
+
+
+
+
+
+
+
+
+
+
+
*1110332-&%####"#%%%##&'$$&&$$%%%%%$%&%#$$$*3Haq{~��|tmmnkic`ab_dca^cba\Yd�������qbXRONID73..0/.3799:;<92/-16BMT]q���xy�������������{sqpqrnid`aeeeegijgcYI7344Z����ҽ��qp������������������������������{y�������õ�how}����������������������������wh]XXbw}ssz{gTXv��������������ČmlmljhebXNB;::?GTbowtsvrV1)$%&%$#"##"""#(+./.,-,(%,-!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
={����������������������������������������������������������������������������������������������hijihhiiihhijkkjjjjigghfhhiilllmlgjlllmmllmlkjnonjmjjjklmmnqqllmkkmooopoooqrpnoqqprrqmqrrrrsttrpnmic]WQHED=:73,!
+
+
+
+
+
+
+
+
+
%,573.,(%$!!!%%%#"%% ##$#" $$%%$#%$#$%%-7GZhsy}vnqtsqlhhgedc`aa^VUTi�������te\XTPKE=41.1/0258:;<<951*/5>DFIg�zqp�����z�������~vvtsspje[beecdbhhfe`VE79=p����Ǫ�ynq�����������������������ǽ�����oow������Ĺ�mot{�}��������������������þ���smgksvwusxv`BN_z�������������đmikmlgaUNB;38766ETfvyw�c9-$$"&%$$$$##$&+.//-)'&$$+*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
C�����������������������������������������������������������������������������������������������gikjehhhhiijkkkkkkhigiihehjkmlionmlmmlimmmnplloppponjjlnonnponoolknnnpppnnprpnnpqqrrnnorrqortsqqsusqmic\WPCCDD?6.%
+
+
+
+
+
+
+
+
(--//.+)&#!$#"#"###$$"" !#$$$$####%&'/7DQ]hqy{zvsuwwvurpkgccb_\XSTUo�������tg\WTOKHD?<82..16:::;;972.,2789ATkpldn~����u�������~zxvtrnhb_bgihfeeebee`P>;K����Ϸ�|snr��������������������������ȸ��xck�����¿��qlnv~������������������������þ����|vppqsrrpiTCESepx�����������nhjmmh^QD<7479500 at Vl{���pF1##$')+,*&$#%(*--+)%"$$&*'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
L�����������������������������������������������������������������������������������������������hhijjihhikjfklifklkjjjjjjkkkmlnpoooknnllmkmnlmoppooonlljnlmnmnonljooooppplnoomnoqqrpnoqrrqrrsrptwwurrrnmke^UPEE@<962)
+
+
+
"'*,,+&""""""!"#$%%# "$#"#####$%&)03;DPZclqsrosrqqqqomg`ba]VSQU\}�������rcWOMIEDDCB=7..0599:;8996/02789:FMRW_n�����p������~|~|ytqolba^dhjigfffffhfYCB]����Ŧ�vsnr����������������������������Ī�we���������ogco{�������������������������������}uknffc`ZL<EHW`dg}�����������mdgjje]OD986<>;002HSm}��xT7$&'(+,-*&# $'(((((#$$%')&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Z�����������������������������������������������������������������������������������������������fgghjjiijlkjklhfjllkkkkjjnmkllmooonmnommmlllinmmnnlpqpmmmmmmknnmmopqpopqqponopoqrqpnloqrrrrrqqquxxuuutuuvsngaXLFBDEE<2(
+
+
+
$'('%%%%# ""$''%"%%#"##$$$$%).103;DMT^ekmnoonnnmlke`__ZTQORn��������l[RQKA8>CCA?:2.1379::89;8554678:;=@MZp����~y����~}~~{xsppkgcabgijihffeillaRK{���Թ�uusos����������������������������Ҽ�����������j`_et��������������������¾����������ztneZRLJECFGISY^chp���������ledfc`XMC:;=CFD@?AEKTk{�z_=*('((**'$#$%&%$#((&'&&(*%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
a�����������������������������������������������������������������������������������������������ehijkkiijllkjjjhhgljjklllmmlljlonkmmllklllmlmnmkmnnoqponnnmlnnnmoppqooopqqqqpooprrqnoqqrsssrsrrrvvuuttuvuutsqle^UFFFB?:62+%
+
+
+
+
+
+
"%')&#!#"'),-)&$#$$#$$#%&+24/04;?HOW^cffgkjkfda^[]ZXURO_|�������nbVTOF89<EDBA at 5102579989:9765533233;I`t�����y���~x{}zxusnkifccejjjjihilooibp����ͬ}rssot����������������������������ѿ��}��������xXTR]jx������������������ǻ������������zpcIDAECJIHGORY`ht}����ƶ�j\_^]TOIB7<BGIIIIHJLPShsn]<)*&&"#$$!$%&%%%')(&'&&%)%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
d�����������������������������������������������������������������������������������������������dijjkkihijkkijlmjijkillmlkillklolijlkjhiknnmmnmkmnmnonmnnmmnnnnlppppnnnnooprpmmnosrqrsssrqrsssruuutsqtvvtutwxwsoh_WQFDDECA90&
+
+
+
+
+
+
+
+
#&%%%'(+.65.%"#$$##%%&).562-/26<AGNTZ^cefda[[ZZ[ZVTSPg�������n^TUSK=::CJLLLG>4/.25899:::8665320/07Oj����������~{vx||ywvtpligefjmnnomlkmpqno�����sppoms����������������������������̼��}�������h]ONQ]n�����������������ͻ���������������viWOKNPMFDDJPWakmmk{����f]\[XVMF=:<EKNONJHKPOOV`_T;/,)&##$"!#$%%&'(('$%%%()#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
e�����������������������������������������������������������������������������������������������fgihihigfgkkjglljkklmmllljjkklmlkjkjklkgjjnmmmmmnnmnmmmnoonmnmmlpqnoommmnmpqpnoiprsstrrpqqrssqsuttsstuusttuvvwwvtpkfaZUHEDD@:5."
+
+
+
+
+
$(*-033,$#!$#"#&''*3:93-./136<AEIPVWUXYWWXXYVPMNOd����xdWKPUQC:8>GLOPOJC:1./3799:;:9764110/+C\x����������xxtsuwwttqmjhhhknpooqpkmkmloo����ȳ�kmmkes����������������������������Ǻ��{��������ynaSQPbr�����������������Ĵ����������������~utulbXNKHIJW`^\]V\fd___^ZYUK>:6CKNQROH=HNQNTTTE=0/.+%%$# ""%$&&&%$$$#&')!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
!h�����������������������������������������������������������������������������������������������ffgiihijijkkjijkklllmmlkllkiglmllmkikoommnonmmmnmlmonmmnpqommonnpqnpqpopqqoqpppqqrrsrrrrrqppqstsstrsttttsrsttwxxxxvurmg^UNJIHHA:1)
+
+
+
+
+
+
+
+
+
&()**)&$###"#&(),5:81,,+-.0269<@EGHIMNOPQPNIFIL]oy{tk]NCIOUL?78BJMKLMJD<2./267789875420///8Pn����������}wurpqstqnjggiiiloportrooooopq�����}omlher����������������������������ȼ�z��������~rf[VXdp}����������������Ŵ����������õ�����������zbZDEMTUUSMLLNQYba]YSG;8 at JPQRROGDEMRUUTOIB=:71*'&$##$&&%$##$$&$'*(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
"l�����������������������������������������������������������������������������������������������gfhjjgjkjjkkjjjkllljihkllhjkjlmmlmljkpoooopklklkllmnnnnopqpnmoooppopqpqqrrrqpmrrrnrpppqrssrqsttsssrqssssrqsuvvwxwvwvwvspke`VOJKFB>:61,"
+
+
+
+
"%&&%#%!$$&'*,042/.-,,,-/.22348::;<>?@ABA?FFQZ[[WTK?KTUQE579FKMLKKG?;0..12444431221-,+7Dax��������{yutrqnrqphigijiglmnoqrqooonopq{�����xomhc`n��������������������������������y����������{qcXUVamy�������������������������������������������nKMKKKJIIHGFWca[VHB6:FPTSSUQNHLNSVUURNKAA=6.,+)&%&&%$!""#$&&'*'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#p�����������������������������������������������������������������������������������������������ihjkkjijiihjjjkllkijegijjiikklmmjllklnoommppmlmlkmnmloppnpomnqponploooprrppppqrsrrssqqqqrtuusttsrsrqqutrqstvvutvwwxxyzyyxvqjc]SNLLJKIE:-
+
+
+
+
+
+
+
!$$%%%&'()*+-,..-,,,----,*+,-./146:<@ABCDFKMLHC<FWaZJ;37 at GKLMKHC>:2.//00122210/.-,-AYq����������wutsstsstrolklliikmmmllnpomlnnpx��{tpkcZ[k�����������������������������ī�y|���������}p`SNMM[iu�������������������������������������������xTIFFECCAADSb`YRE?8;FQVVUYXUSQPRUXYXWRMGB:963/-,+*)'$#""$&%$)%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+u�����������������������������������������������������������������������������������������������ihikkiihhfiijijlljlkjijfjjjijjmmkklklklmljooonoppoooonpqomnmnqqqooqrrqppqlooqqrrstuurrrqrsvvtqsttssstuuttttsuuvtxyyxxxxvz{xvtpia]RNLNMHB;2(
+
+
+
+
+
+
+
"$%%'')(*+,,-+-01100/-+)++*(/19<DEFDDEFEMKH:BL^fVA849 at GMOMIEA><4.+././1320/,*',/>^w���������wutvxxwwwutronmlhlnlehgmnoiklmowz{xtgpnh_UMd�����������������������������ů�v|���������vYOA@>DHWdp{�������{w���������������������������������VJ<:9:;<>S`^XQFA77<GMORUVTQMFHKQVWXVTOKFB>:3-241/+&$!"!&%')"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
6z�����������������������������������������������������������������������������������������������hhfjiiiihijiiiikkkkklllkkkijkllkhjmnmkimopmmnoprrqpqponpolnonprroorusqppppoprrorrstusqpqssvvusqtuutusvuuuurttvvvvxzyxwvuxyzz{{vokh`YPOOLKF=3)
+
+
+
+
+
+
+
+
+
"&')*++++---133542/+**+)'/6?HJHIKKKKRYYRJJXbbP:69;?FMOKFB=><6-,,-+-010.,)&'+/;Vp���������|xtux{zyyywtusoononolihgmonnllnptvusonnkcYPM[�����������������������������Ų�x{���������mN=;;;>AFR`q��������}|�������������������ļ�����������S97778:DXb^ZSKB813:@ADIKJHC?>@EHLNOPPNKEC<515873.'%"#%'')+!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
8������������������������������������������������������������������������������������������������ghikkihhjkjiiiijkkjflnmkkjjgkkjkllnonmmnpqonnjnqqqoppnoooloonprnmmqrqnomooolrrrrrprrrpopssuutstttruuwvuruvvuvwvqrtyzxuuuttxwyzwttuqkfa[MQLIC=71&
+
+
+
+
+
+
+
#&*+)*,/--.025541.,-+)(/8BJJEHMOQXbgg]T[dcWJ66:;:DLMHB;97<82--)+,./-*+'*-./8?Xlz���}{zyxxvvy{{z{xvswusrrooonkjglgknmhkmoqnkmnnf]PJA^�����������������������������ŵ�{|��������nE<8::<=@BQas��������|�������������������ƴ�������������lC=999ANfvre\RI92,0222688730234479:;?A@@=92.4631,'&#$%(&++
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
9������������������������������������������������������������������������������������������������hijkkihhlmhihijjlljhknmlkkklkjklllmnmooonoooooooponnmmnppoppopqrrrnnonoopoopqpqssrqpqpppsssuqsrtqtuvwxwvtvvuvvuttuvyyxsuwxxwwwvwy{{xsqke\XOMLJE at 7/'
+
+
+
+
+
+
+
+
+
+
+
"%'),/110/126532//.+)-7 at EECEILP[gmkecglfWH86878 at IJD=97;=<95.+*+,,*)+0;DG>79?Q`qy|zzxvvvuut{z}|yuqwywutsqnmmlmjedlkhfgiigfiljdWLFBc�����������������������������Ǹ�����������sV>88789:<BOar|�����������������������������������������{`TNJFGYu���vhWD4./232..-+****+--,+,.//132/-..,*'''&'))(,+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
B������������������������������������������������������������������������������������������������hhijjjihklkkkjjkkklhmmnnlikkliklllljmoomlnonooonmkkjmmqsrppqpnoprqnmnoooqrqorooossrpqqrqtuuvusrtuuvtvrwywvurutvvvvwxyxvuwxywxxyy{|{zzzxuolh]XKNLHC=5,!
+
+
+
+
+
+
+
+
+
+
+
$)/4765455100.-+)-19;<;;<@DNX\\[]bf_UF86772:BD<96:>A@?;4+)(+'''/<]|t_G8=>KVhtusutspsrw{}~}zwruqrsssqmlejkhafjiedaaaa]ceb[OAGIv�����������������������������ǻ������������}kX@<467657;MZiv}�����������������������{�������������ykdb_\_d����~hNF>=<>?:3/&'%&&)**++'+-,*+--)(((&')(&(((&-+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
I������������������������������������������������������������������������������������������������gghiiiijhiklkklllmnpoompnjmnmjlmmmljknookmonoomonjjmnpsupqrqoponoponopopqrrrrppqrsrqqrstuuuuttsuvuwyvtvyxwvvvuuwvvwwwwwvuwywyz{zzzzz|}}}yxwtkbYTQOLHA:4-"
+
+
+
+
+
+
+
+
+
+
+
+
&.56655531/,-+)-03786678:>BGHHQUVRI at 5565219=;9;@DEDDA82/-,*(*3Fw��yP;;:>GUiqtutrstux{}~~~{zvrppppmkiihgedfiigc^Y[]]^^XOD?H]������������������������������Ž�������������}o^H>864437;KWglmkw���������������ŷ���sv~������qvgimxtrmqrnns������tUQMLLLLG>3'(((())+,**++*((,,++*))+,('(((',)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
O������������������������������������������������������������������������������������������������kiiijfiiihjllkkklmnopooomjmonkllmnlijlppnnnonlmoolopqqrrrqrqnoqmopqoqqpppoopqqposstpqqrsuqtrrsuwwuvxvtuuvwvuvutuvuvvutwvtsxvvxyyxuyx{z{||z{|xrmidXRMJGECA=5*
+
+
+
+
+
+
+
+
+
#)-15896//.-).+/11-,-./0257;??>;951334442999?EHHGGE?865530,7M{���Z?>;;<J]iqrssuusy{||}~ztplkigeegfcfehijibWRS[^\VLA<:Mf�����������������������������������������������xnaXPMKIFJO\`\W\ew��������������Ž��������������}sjv������wwx������oSOLLKKKF>3)***(**+(,,++**+,,--++,02.)('*))(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
W������������������������������������������������������������������������������������������������kkkkkjhiijimmljlllkmmonnmlmnolllmnkkjloponnppnnopqqqrrmopqqpmnqrqqqqrrnoppqqqqqqqqstsqlqsqtttuvwwuuvuttsrvvustsuwxxwvwwvuuvvvvwzyxwwyzz|{|{}}{zxrkd^UQQQQQKD;1#
+
+
+
+
+
+
+
+
+
+
+
+
+
+
%+27756631.-+)')))+--./12320/.,-/2359;:9:AHIKLKHB<<>?>:6<Kx���eKB=;7;O_joqsvtux{�����|tpnkhffgijifhikjh\LDISZWOB95:Ql�������������������������������Ŵ�����������������yrnkhfgihdWRQZgpuy������������¹���������������}����������������cLFECCCB?81,,,,,--,+,-,+,--,02/./14751./153(
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#^������������������������������������������������������������������������������������������������ijijkjjjjjkmlkllkjlmloonlkmonkklnlnnlloponnnoopppppprrpnpqrromqtsqrrstsrrrqrrqsrroqsusppqqtuvvvvuutssssttuutuutvxyzwxwwwvuvwxxyzzwwuxtz|}}~~}|{{zwtpkf`SQRPLKE<4+
+
+
+
+
+
+
+
+
+
+
&,0599751-%&''')+,,,,--0+,(,*.-37<?;3;EKLNNMJC;@AFFD>>Cm���rRE=;68>Q_hlswyzzz������{srokhhhiglmmkjjg`P67:EMKF=64:Om�������������������������������ʺ�������������������|zxxxtmaORTWX]bgn�������������������������������������������jS96223;<:20,++++./.*-.-+.//-352/12698436=A;)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
$b������������������������������������������������������������������������������������������������ijiijkllkklmjkklkjmmloonllmmlkkmnooonmnonnnnlppppnopppppqrrtrppttqqrrvvtstrqsusssqnrtvtsturttvutrtsrsttvutrstutwxxxwwwuwwvwxyyzzz{wuxzz}}}}~}{x|}}}|yungc_TRQQLIA9/$
+
+
+
+
"*157762,''&&&(()))*-//.,,-./27;=83:DLOPOMJDADFIKKFAAc���rYIA<638CS`kry~��������}yvuvsomljgmprrojaTA0,29>?<8448Ig�������������������������������˾���������������������~~{vlaWTSRXZ\dgu�����������������������������������������kI7/-,/5;961,+***-..-/232021.564012687546>B:&
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
&g������������������������������������������������������������������������������������������������jkkjkjklllmmlijikkmmonnmllllllmmmnopnklmnnonnoompoonnnprrqsttrrssnoorsssttrnrttttsrssttpuwwutptssvuutqvvusrpuuuwxxwuvuvwyyyxwuxyzzxuyz{{{||z{{zy}}}z}{wttqlc_SOLMIE?8*
+
+
+
+
+
+
+
"(+/11.*)('&((('*-/11.-..-13753,6 at GJNPNKGEHJKMMKHBVouo_QGB=7539AWit~�����}|{{zwqtswvtpmhppuurjY at 7*--13201./0 at _����������������������������ž���������������������v}~|}|yvpiaWO\eghffrnu|�������s~����������������������������}b>2))(19;84.-'+)((++/467652/674023444533681
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
.q������������������������������������������������������������������������������������������������klmllkilmnnnliiikmlmnnnnnmnokmnmmmlnonnnmmnnnnlmpqqoppoqppsttttutrrsqqlpstrpprtustssrsssuwwutuvstvvutvwxttttwyywyzxwxywyzzyxwwxxwxyyyxy{z{zzz{{||{z||y}}zvphb[PRQRLE;3-&
+
+
+
+
+
+
+
!(--,--+*))((*,-.//--..02531.19>CHMMJJJLMMMLMKFFWXQBBBA<6522:Oeu�����|vuwyzwtsswzxtpptwxxrhS:2..------//18W��������������������������������ı����������������~|||{}}|z||ysiZQ`iu}|xvphkfomiekoqy�����������������������������uT6))(,6:8521/+)())+/369753079403531231102*
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
6v������������������������������������������������������������������������������������������������jlnnllmmlmonljkilmmmmmmjnoppnlmmmmmlnookjklmnkmmpqrqqoqrppsssprrsstutpoorrttsstsrrutsstruuvrtvwtuutsuvxxvvvuvyyvyyxx{zzzzwxtyyytwxyxyz{wyxyvz{{||yyw~~|{~~~~|xtnh^\OSOJFC?7.%
+
+
+
+
+
+
%)-/10.+)*))*+,-*,-/0321,0467 at EGIJJMOONNNNJIFDBCCB@<77468G\o}��~|zsttz{yuurwxwtrsx|{wpdN81)..-+-,-+/19S��������������������������������ƶ���������������}z{z{w|y{|}zwn^R_gw����~wsqqomjhuy������������������������������~_:)(%.4453231-"())(./320///8;51352.10/+11'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@{������������������������������������������������������������������������������������������������hkmmllmmlnnmllmmmmkllmljmopomlmmlnnnoomjknponmnopqrrplorpprssrporstutqpqrrtutssrruvursuwvvvtvvwtvutsuvuvvwwttxxxwwy{{yxxwvxzzzyxwyyyz||zyxxyyzz{y{{~~|{}}}��~{wske`\OORMJE;1*
+
+
+
+
+
+
%*/242.,++++,---,..010-.235:>ADGILOPPPPOMHBABCCA>99:<<<=Pbt{~|{{|zz{{zywwwwssptx||zp_F71.----,,+,-19S��������������������������������ƹ����������������||}|{zz{||zyscZ\dq}�����|}}|yz�������������������������������}_>+((-3643211-(())-/110../19<82131.0/-,12%
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
K�������������������������������������������������������������������������������������������������ijiikmmmmonjmmmmmllkmmmkmllllnnlnonnnlmlmppnnnnnorsqonoqoorsssqprstutrpsrorrqrsqstuvutvwwvwsuuttwwusuvvvvvvuwxyyzzzzywwvwxzz{yzwy{{z{{}|zxyxz{{{|||~~{|~~{~���}wwvsnha\PROJFC@:3*
+
+
+
+
+
+
+
+
'-000..*-,/.,+,+.0/*/12159;=DGIMPRRPNMKEEDB@?<:7>ABCFFRbr{{{|~|x{z{zxyxwwtttvw{}r^D120-*+,,*-,-.7Q���������������������������������������������~wz}|vwuz{zyyufZWYboz������}�������������������������xxnnoqu{}zxkQA/+)-2744-.-+()',/0210//04;>:33/.-/.+(10!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
N�������������������������������������������������������������������������������������������������jkiijlmmmoolmmlklooommmlnmmkioppooknnmnnopqpoppplrrqpprrqqrrqroqrsttqsqtsqrsttuusstuuuvvuwwvuutuxwvtvvwwwvswxxxwyzywsvwxyy{zz{zwz|{z{}}|{{{zz||{|{y}}||}}}~~��}~~{xsmf]XQTTQPLD8-#
+
+
+
+
+
+
+
+
+
+
+
+
%),/01011/,*))+...0221135=@BEHLPPPQPMJGEA@===>@BEFECAVhuvz|~{xwxxyyzzxz{yxyy{}r_D110-++++--,--5F����������������������������������������������}~|vx{yvuvvwwvsm`SLHJ\n}������������������~�����������{utqkea`_\YZZTI:,**.7;84.+())+,--/10../2;>:320/.,+*+0.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Q�������������������������������������������������������������������������������������������������kkjjjkkjknolllklnnmlmnnmmmllmoppommnomnnnppoqqrppqpnoqqrssrrqrrrstsrrsuurorttrvwtousssvwwwwuvvuvvvvvvuwwwvswwvxvvxywvwwsvwwwyyywzzyy{}|y{}|||{}}|xz}~~~}|}~~}~~~���~zwqic][PSSROIB7'
+
+
+
+
+
+
+
#(-033/+(((*,--0110003;@?DAEHNOSSQNLIFA??@ABBB at DDHM^jsv{{ztsmvwzy{z|}}}|yz{rdQ620.,,,++,,,*29^��������������������������µ����������������y{|{uxxvsslppni`UL@<7<B[n|������������������{{fqsqpnmf^jkutnc`^^^[Y^_YL=+--;B@;3*(()'((*+-.--..7;8101/(+'))0,
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Z�������������������������������������������������������������������������������������������������ijklllllknnklmkkllijknnkmkjllmkoonmnonnonqpoqrqqqpnnopprsrrrrstsstrqqtuuqoorstwwutuvssuwwvuwwwuvvtvvwxxxvttwvxyyxyxxxxwusvwxyz{zyyxxz{{zz|||{~}{|~~~~}}}|{~~}~~~�����~{vqi_XVXZXULD9.!
+
+
+
+
+
+
+
+
+
+
+
"(-020-,++......0//29>CEDCGLOQRQNMLHECEEBA at AACDFJVdmuxzxtrsuxyzzzy{}}zywrl^L<6111/+,-../07=Wm�����������������������ů�����������������|{xyzzzxvssqomjaUH?565225B[n}�����������������wj`_adbbbbepwzskfdgjifgigbRB66AIHC8/,*(&&(')+,,--/465321/.+&).1,
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
^�������������������������������������������������������������������������������������������������ihjmlmnnonnkmnljmmklnnnkmkkkmnmnponmopppqrqopqpqqqopqqpqroqrstuutsrpsttusqppruwruuuvutuuwwxxwvvuursvxxwwvuuwxyyzxxxwwxxxwvvuxz|}yvyyzz{w{{zz}~||}~~~}}}}{|z|}}|~~}|������}{wqkfZ\TURNG?90#
+
+
+
+
+
+
+
+
+
+
"'*-/121/.,(+,-/24;AEGHIIHLOOMMLKIGGFDB at BCCBB?R_knttwutsvwxxwsvuz~|wxqqojcWFA;:9878:<>ACGKZb���������������������ƪ������������������zzxxvwyxsrqqpkaS>;33330.,7B[o{�~}~���|{{����}viVY^fnrtuy}zsoknnnnnonneWM at MSPI@40*)&*++(+(*(,,253-110.+%)/2)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
d�������������������������������������������������������������������������������������������������kjijlmmoppnnnonnmmloonmnnkmnmpnnnoonopqqqqnpqpnqqrprsqqqppqttuuuqsrprsttttsrrtuuuuutuvutuvvvtvwwwttwvuuvuuuwxyyyxyyxvxyzywxxyy||zxyz{{{{|}}}~~|{v|~~}}}}}}~~}~}|~���}|�}������ztohcYYZVQMG>3(
+
+
+
+
+
+
+
+
+
+
#(-010.-*()+/014<BGIJHFHJKKKLKHEDBCACFFD?;>Qainrvvuuwwwwxvrtvy{yxvtqqsrme\SQPOPQUXY\]\ZXX]t~�����������������§�g`r|��������������~|zywuwvurqqofWB842110/-,/8EaqxsoquvwuqmnqvvvvwzymYPUcqy|{|}|xvrnhnqrrqoib^^]YQI?72/011//.,***,041,/0/.+&)05(
+
+
+
+
+
+
+
+
+
+
+
+
j�������������������������������������������������������������������������������������������������mlklmlklmnnmnonmnnoponnnmknppoolnpqpnmqpppnnpqrrqqrtvsrqrrrstqutttrqrssttuussruuutspuuuuvuuutsvxwwwxwuuvxxvsxxyyxzzxy{{yyvy{{yz{{xz||}{z}}}}~~}{||~||}}}}}}}}}}}��|~~~������~}zvphdSUPPMIC;0'
+
+
+
+
+
+
+
+
%'+-,+))+++.0:AGHFBAACDGJJC?7<??BEFA:8<N]ejqvvswzzvxxxtttyywvusqmruvunheefhkmonpqmjfdecfkmn���������������scKZgrz��������������~zywtstqqnmmcP at 20-/,+,,-/4I[bgb]_aeifb_]_bdffgjjdXKATclopqwyxxwvsolkmprrpnmkgc\TPHC@@><:974.-+*'.11-//.*)',23&
+
+
+
+
+
+
+
+
+
+
+
+
+
$m�������������������������������������������������������������������������������������������������mmllmlllimkkmmlkkoqqponmlmprmmnoppoqnopoopnnooqqqqruvvutssqqsutssupqprsttuuvuutttsrsttsuvuuvuuwwvvwwvuuvwyyyyywyyyyxz}~|yvy{||{{{{||||{{|}|}{|{|}}{}{|||y}~~{|��~�}~����������~yrjd]RVVTNG>5+!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+!%())*)***-5=CEC?>?ACDGGB<98;=>AA;3/7GT^gnstvy||xwvwyyyxxwvurpnntwyxuttvz||zz{{xtomllmmjjmtz����������se[QNS_hox�������������}yvusrqqpommcQ?6/,-+(()+.<M[_]UVWYY[[YWVPTVUWWTUWQ@;@NW]`dhkmnnomjfddilmlmnmic^XUSRSQOJFB?9520-+-1/.--,+**.40
+
+
+
+
+
+
+
+
+
+
+
+
+
+
&p�������������������������������������������������������������������������������������������������mlllkillmmljmnonnopookopppqrnmnppoopqopppoooonpoonoruwusrrstvvuqstsrppstutwvuuutsrqrttttttuuvvxxvttuvuwvwvzzzzzyyywwy{{{{wxz{{||zz|}|{{y{|||}}|{|}}}z{zy~}~�}}~����}�����������|}{xsj`ZURPMID=6-$
+
+
+
+
+
+
+
+
+
+
+
+
#%'))++4:?BA<<<AEECB@<::999983,/0;CP[cjklmllnqsuvvuurqqssroqqprxzzz{~~z{yyxwmrmquusolnnroyvz~}ocba^TRINWacmux{ywxz��~x{xuppqplppolcTJ=3+,,+*)(/?P[]][ZZXYXY[\\WQWVWRPOPN?/58?EJOSVXZ]a`XRLSW\`__^^[YXTRQUUWVSPJC at 7531/-,+*)))*+*04-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
)r�������������������������������������������������������������������������������������������������mlkljjkkkmlimppppolonmprrrqponmnpqpqrqqspnoopqqplnortttsrssuvuusssssorrsuvwwsstuutqqtutuuuuuvwwwvwwxzyxxwxyyyzz{{yvvwwsxxwx|{{|}{yz}}}|xwzy|||{{|~~}|{xxz{|}~��~������~��������������|unga]VVURKF=4(
+
+
+
+
+
+
+
+
"%(-169??=;;BFDA?=:9876520-+-.05 at KSYYWTOMYhsttsssrrqqutsrqruyz}|~{{{ywwvtstzzvtsssstsqljjgXVZ\[XSMIQ\admpuvvvxyz{{yxwvsononmnpolcYPE7/,**+++1 at OWYZ[\ZXWY^cdc^[\]\[YWUN>0./37;>??@INQOKD at AFKNMMMNPPLIHJNSVWWUPGGD?:73,+*)'''()*/5+
+
+
+
+
+
/v�������������������������������������������������������������������������������������������������mmmmkmmlllljlnpponnonmoqrlqqpmmlprrrrstspmooqrrpoorsqqutsqsuvvuttsstssrrvvvvtstxxvtsuqtuuvwuuuwwwxwtyxxxxwxtyxyzzyxwwvutvvz}~||{zyz|~~}xx{}}}y||}|}y{yxy||}}~�y�����|���~�������������}xtpjc^STRPOI at 7-#
+
+
+
+
+
+
+
+
+
+
+
+
#*/5;?>==CDDA>8513320-++*,,-*34:>;952<B[monooqprrsuursntw|{�}|~~}~}{yzzzyyyzywvvutrutrolg]UY[[[WQLM[_ejmosuvsvvuusttppnmkklnpnjc\VNB3/)++++4>LRRRVXYYWY^`deb``^``^XQG7),)*+-01179<=<:7/02=BIHGGLCF<;;GLTTUURHMNI=;5.*)(('(%*)26)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
7|�������������������������������������������������������������������������������������������������lnnmlnomknmmmmnonnoonnlopqqppnmlnpqqrtsrppqrqpnppqsssuusrqqtuustsrruttrrvwvuttvyxvvuttvvtvwwvuvvwwwwutwyywxxxyxxwwyzyvvvvxz||||||{z|}~}{{}}}~~}|{{|{{}~~|}~|~�������~~��~}�������������zunf\YX_\WOG;.!
+
+
+
+
+
+
+
+
+
+
+
+
+
%+28=>?ADC@;51.-.-+*))*,-,+++)+-,)+2:Pekmnoooprstuttsuz���~}�~}}{x|~~~�|zxvstuuwwrjaWXZ[\ZTKLYcfilnprsrssssssqonnmkkklnkgda]YM>1+++*+6BKQPOPSVXVX[^accba__`\UH<2++,+)+,.0245532.+),5EKMJKLMJFBBFPTTTVSQQTNE>60,**+++++.46)
+
+
+
+
+
+
+
+
<��������������������������������������������������������������������������������������������������oonmnoomnoolnoonnoonnmllpqqpnlnoonnoqqtsqqqrrpppqpqrsttrrsrostsrsrsttsttvwvtvvvwvuuutuwwwuuvvtuuvvvvutxyyvyyyuxvuuy{zxxvvwyzzx|{}|{}|{|z|}||}}z{y~}~|~~x~}{|}~�����~~��~�~~������������~ztlf`aXZUPIB9.#
+
+
+
+
+
+
+
+
(/49=?A=80.+*''')(**,,+))%()*)**/5K^fjllnnonrprttssx}���}{||}}}|{z}���|{zyvstwxtnaQSW[][VOMXbfhkmnlnpqrqpstrnppollgghhbeda]TF6(*)+,7BILMMOPQRUV[[_]_a`^][WJ<//(*,,)*+./11210,,(),>KPNMLQUUPMLRXXSVVUPPRPGB61(*)./.+-.56'
+
+
+
+
+
+
+
+
+
+
+
+
+
+
A��������������������������������������������������������������������������������������������������oonnnolmoqpooponlooonnoppppomnppppppqqssoprssrpoppprotttuusrstsrqtuuutquvwwvvvvvutvvutuwwvruwxxywusuwxyxxxyyyyxxvxz{zyyxxxyyz|{z{||~}||}}}zy{}{x{��||}~}{{~������~}~~������~�������������������xrmha^YYUPJD?=:7-!
+
+
+
+
+
+
+
+
+
+
#+17::5/+)'&&')***++))''''&'))+6FYbikjmppqqorrqqpsz~~|z{{{}~~~}|z}�������yssyzuo_MKSZ^[VPNT]cfhkkjloponoprtuutqnkgbefgedb`ZM;*,,,,8CFGHKNQRTWYZ[[ZX[\\[YPA1,+*(*++*,-.021/..+'/8FPSQNPUX\\YX[^][YWTPQSPMG?6/,-.0/..066%
+
+
+
+
+
+
+
+
+
Q��������������������������������������������������������������������������������������������������nmnnnloopooppmnlkmnooonponpomoqpppppsqqrqoqrsrqqrssrsrssuvstuttssuvtuuttuvvuvwwvuvwwvvvswvvvwyyyxvuvyzywxxyzyxzyyy{|{yyz{zxw{||yz}}~w{{}~}xz{{y{��{|y~}}{}~���~�}|||}����������������������������~{uidYWVWUUVURG9(
+
+
+
+
+
+
+
+
+
#*.-+)&''((*'*(+*)''''&&'((2<JX`giiijpoqnonmjlmx}|z{{{|}|{}}}{y���������~zu}{taEJOW^[UPCNW]_eehikklhhiiiruwtpjhfffggedcaZN<,,,--8ADAEHLPTXZ[ZXWUUTUVWSK:0())((**,'-./11./,,(6BNUVVURWY][XW^a`^\XUQSQQPLE=110.,.-.-64"
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\��������������������������������������������������������������������������������������������������oponmloppoopomlkjkorponolnpplppplpoprqqprqpqssqrstsqrqqqsvtttttupvwvuuvvtvrtuwtwtvxxvwwwwwuwwxwwyywvyzxxxxyzxz||zyy{zyvz{|vy{{{yz}~~}|||}~~z{||}��|}|}~~��~~~{|}~}}}�����������������������������������~vlda^^`abaXL:&
+
+
+
+
+
+
+
+
##%'*+++**+++)&&('&&((/8DMV]bdfhlorpnmkiijlv{���{~}zvx|~|z����������~���yfPIKRYXTMCHPW\affghhgedeilnrtsooljlnmjedc`YM<-,,-/8?BCEHKLRWZZYWUTSRQTUTJ;/*)'&'()+,,.//00.*,/<LVZZZZZYY\[YX]aba^[WWWWUTOFA;861-,,,.51
+
+
+
+
+
+
+
+
+
+
%c��������������������������������������������������������������������������������������������������oponmknopppopnlkklprrmonkkpqqqppqpppooonpqqrrsrqqpplqrqrsutuuuuuuuvwvvwwxxvtuvwxxwwxyyyxxwxvwwwvyxwuwxyyxsxzz{||zxyzzxyy{||||}|wy||{~~}y{}~}z}~}~��|��~}~�~���z~~��~}���{��������������������������������zupji\a_ZSI>4'
+
+
+
+
+
+
+
+
+
+
+
+
+
%)++*,*+*(%%&&'**18AIOS[\]_hlompnmhifgjsw�����}xvu|}~}��������������~lSGDIMPPJCDJSZ]`dfjhgccbiijkprssokqonkgaeaYM<-+,.09>ABEGHILPTXWQROSQPQVWNB5,+&%%%%),,)//.,,*06FSYZ]_^\ZYZ[ZZ^`cdaYXW[[YTPIE==<6..+-/4/
+
+
+
+
+
+
+
+
+
#b��������������������������������������������������������������������������������������������������npnmmkmmmppnooknnnnpqrpnkmopoqppqoonppppqrrsrrqrrsrqqqqrtuvvvuvwvuvwxwuwyyvutvxxvvuwxzyyxxxwxyyzzwwvwxyyxwxzz{zzyx{{yzzy{}}|}}|zx||}}}}{z|~|z�}}~}}�~|��~�������}~������������������������������������������|vojeZWSPJC<4*
+
+
+
+
+
+
+
+
$'+,,**'&$%%)-06>FLPRYZ\^eilooomjifflqt{����}{w{|||}����������������pRA at EIKJF@>EOW[_ejjjifcchkkmoqstqqpmlkihebZN;/+-/08>@BDFFFGJNRTSRSSQPPSUOD91.+****)*,--.,*+-4EPWYX^b`\[YZ]_aaaadd`^\\\ZWTOJGEA:30/044,
+
+
+
+
+
+
+
+
+
+
+
!b��������������������������������������������������������������������������������������������������mlnkkmnmoppoooonnnonqqppqponoppooooopppqrqsutrqrrrssrrrsttvvtsuvwwvvxwvwxwvtttvvvuutxyyzxtxxyxy{{xwxxxxvxxyyzuwwwx}|z{|{||{y}||{{|}}|}~{|~~}}~}}|||}|||~��}�������|~~���������������������������������������������|xpg_VTSPME;1!
+
+
+
+
+
+
+
+
+
"%()+++)')+./7>FLOQUY[\bgghnnnlkjjmrrz��~}w~��}zxzv~���������������oOC at EHGBB;;:FPX`eijjjhgfjkjjlmpponmkjhihfaZP at 1/...7;A at ABFFFCHJOPSTTPOMKKLD?:64552-*),****'-2ERWVWV^`_[[WZ\`cddbcga`_\VZYVRPMJC:32/332)
+
+
+
+
+
+
+
+
+
+
+
$e��������������������������������������������������������������������������������������������������nnnlmoopooppopppnpqrqpmprrqpopqrqpppoooqpptvtsprqqrrrprtuuvuqrttvurssvwwvuwxvuuwwvvvwxxxwwwwttu{zwwyyxxyzyzzxwwxy{}|yz{|zz{}}{{{{||||~~}~||}~~}}|~}|{y{}}�������~�������������������������������������������������zqg`]][UOH at 7-!
+
+
+
+
+
+
+
+
!%'+,,.///6=DJMNSWY[_dfgmonppppprrx{|{{{~���|yz{{}��������������jJBCEFDBA><:;FR]bfijilnnlliijmlkkjghhghie_YRD92.,08 at DFDBDEDCFINPSVTQPMJIJIFDB@@>8.+)+*()**0 at Q]][XW]`^[YZ[[Zaddegghfc]UWXVUSPKC9422450$
+
+
+
+
+
+
+
)j��������������������������������������������������������������������������������������������������oonmoponmkopoprssrsrqpmoqorqppqqppppqrsrpnstsrssrnqppqqrtuuussutttssrwxwvtvwvvwxxyywvvyvwxxtuvxzzxzzzyyx{|{zxwyyz{||zy||~~}|{z{}}z}}|{}|~||}~|z}|~~}z{|~�}����������~���������������������������������������������������|wpk[XVUSOH at 9/
+
+
+
+
+
+
+
+
+
+
+
$*-//056?FKOSRZW^_demqsutsuqrrxzxvyy~���zyy{zv}|�����������y`B at BDCC?BA?=<:GRZ`eijlpqonmlllljhggff_cec[XULB8..18>ACB?@ACDHKQRPOOPRLKJKGJIIHEA8/-*,,**++;LW^_]ZY^][WXZ\[[]ccdfghhf^TUTYWVQOC:242680
+
+
+
+
+
+
+
+
+
/p��������������������������������������������������������������������������������������������������lomoppnljknqpqrsssrqoomnpqqrqqonoqpqrsstrqrsqrrttussturpptuuuuvtrsrrsyxwuvvuvwxwyyywvwyxuwwvvxxzz{{z{{zz{|yyxyzyy||||}}}�|{zxx~}}|}zz{|~}{~��}z|}~~~~~�~~������}}����������������������������������������������������zsmic`\[TNE<2)
+
+
+
+
+
+
+
+
+
+
+
%),1249AHNSWZ]]addmsvx{zwutuxzuvvw{��yxyyxz{}���������qQ@?ABBBCCAA>=<?GOW^diloqponmljmnliffc_`a`[YVRLB701468:;;;>CFILQQLIKOTTPONLKLKJGA6/-+--,+-1DSXZ\\\]\ZXVWZ\]]_beffefge_ZZ\^_\[UH<9768:0
+
+
+
+
+
+
+
4v��������������������������������������������������������������������������������������������������nnmnoonlllnoonpqroqqnmnopqrprsqnpqqqrrrssrsrqrstvvvtvvtssruuuuurrsttvvwwwvvuvvwwxxwwxxyxxxwwwwws{zyxyyyyz|{wz{zxy|}z{||||}}|{xz||||{{{{}~}}��}{|}~����~�~�����}~��������������������������������������������������������}yun`]QPNIE=5*
+
+
+
+
+
%(,3<BIPW[^adeclpuw{|ywuvy{zuutz||}zuwx{~�~�����|hK:=@@?BCCA@=<<=;@FQ[bimqqjkiiiknnjh``aa^`[[WWVOC:12-4388<?CCHMMMH at HOTVRQPMKFFFD=3+++,,,(.7IUTRUXXXYXVSWW\Y\]aeea_^^^]\]^ceghaPF=;989.
+
+
+
+
+
+
>~��������������������������������������������������������������������������������������������������nnkmonmmmnnnnnopqqpponnqoqrrqtsrqrrqprqqrrtsqrpqpvvuvvsutstvuttrstusquuvvuwxvusxyxvxxxzyxxwvwxxyzzxwuzzz{{{zz{{{z}|zzz{{z|y|{z{|z{zz}}z~}}}}~~~~|}���}}��������������������~�����������������������������������������������������}wof\ZZXSMB5%
+
+
+
+
+
'07?IRY]beebinqvyywvwwx}}{zyyy{}{xx|����}|}|��wfG9<>??@AA@?<8::88<EOYbjqpmkjgfiklljfdedc`_\Z[\XRF:468;=>>?AAHKJHD?FLQSRQOLJHGE at 80+++,,,*/;IQQNNOPRTVSVWYZ[[\^aa^\[[[\\_`eiosnaOGB<77-
+
+
+
+
+
+
+
+
G���������������������������������������������������������������������������������������������������nmmmnnmjopnmmoooqqpppppqrssrqrssroqrstsqsttsrsvuuvustsvwuttuussstuwuutttwtxxvvwwyyyyzzzywvutwxyzzwyyyz{wyzzyz{{z|||{{xzz|}}{|{|}}}}{}}~~~~z}}}|y~���~||~�}�����}���~�����|�������������}���������������������������������������������|tkfYVTRLD<3'
+
+
$*8DMU\ab`ffnputtsuv{��}}}z|}~z|~����~~x}����yiR;=<>?><<<<<;::789??KS_imnmlhbigghhhfdeab^^ZZ[ZWOD@>@CCBA@@AHHGEA?EIJKLLIHHED?8/.(*)+,,+1=EIIGHHHIQRVWWSYYZXXW][[Z[[[X_bbeqxtj]OL?=:,
+
+
+
+
+
+
P���������������������������������������������������������������������������������������������������onoppnonoqommoppoqpopoooqsrpprsrrppuuttstustsqrwtursssvxtsssuustsvxvvuuwy{ywvwxxxyyyzzyxxxxxwwz{xxzzwyzyxxyzyzzz|||~|{{{|~~{z|~|}~}|}~~~�}{z|�~|}~����������~�������������������������������������������������������������������}woe`[^YSLE<1!
+
+
+
"/8AKV\aeilprssuuv����~~|~�~~~�����}}�����zn\L?>>>=<<<<<=><9:<>?CFN_fkmmkjigcijlkifeba`^\\ZXTPKHGJJIIHGHHHEB@@CIIHHHEDCB?91-,+))*,,,3:>ACEDGIJPQUWURVYXWVVWZ[\\\\\_bbeqxunfaWK@=-
+
+
+
+
+
Z���������������������������������������������������������������������������������������������������oooppnoppppooprqqqqqqmonpnpmqsspqpqstrtttsstsprtststtsuwurrsvvtsvxxsuuvwxyywvvxxz{ywwwvwy{zyxwyzxzzwxzzyyxyyyy{{|x|}}y|||~~|||~}{|~{}~~|~��|}{~�}}~���~����������������������������������������������������������������������������}xrgcXVSOIA9-
+
+
+
+
!0<HRZchlqrrsux�����|}}��~xwwy|~�~{|�����}tlbWHA:=>?>????=;=>>@A at HO\fhijillkjklljhec`cc`[[WVURNNONMLKJJJKIDCAFJHCFBB=<<<61++*)&)+,'1579>??@ILPRTRRQSUVVVOPSYZ\[\\^`a_pwsije_RK?*
+
+
+
+
+
+
+
+
+
c���������������������������������������������������������������������������������������������������npnoonoqppppmqprqqnrsrqpqnoqqsrqqpmqssrsssqtsrqqosstuutwwutuvuttwywtsuuuuuuxwvy{{{xvwxvwy{{zwwwwwyzzz{{yyz{zyxz{{z||}|{z{|y|}}~~~}x~~{|}}~~~~}|~��}���~~�����������������������������������������������������������������������������������|tmc^[ZVRI at 5+
*6DQ[djmoor������~~~���{vrqvyzxww{����~{vj[I@=@@@?@@@??>?>>??BEO`gjiimpnkhijjhddeffc_][YWTVUTSSQONNNKMMJHHJIEDA@><;840-+*('(++,/2348:<>GKNPQPOONPRTUSRTV[[Z[^`b`]ltqmkiaTL?'
+
+
+
+
+
+
+
+
+
+
h���������������������������������������������������������������������������������������������������npponkqqpmonpqssrqqrsrrpsqqqroqrrqqrtusqrsrrroqpruusuvvvvutuusttwvwvwwuuvtwyxwyz{uuuwyzyyz{zxvvvvwxxy{{xzzzyxxzu{z|{}{|{|}}|~}~~~}}zzz}}~{}|}~~~�������������}���������������������������������������������������������������������������������{voa]ZXRMG>0(
+
+
",<GQY`fn��������~�����}wnqpqsrmqqx|�����~vndUKB@?=:>?@>>??>=>@@IVekiimlnkighedbddffc`_[YXYYXTUPTQPPOKNOMGHHJFFA@=<65/--,'((****-///47:=EIKMNJIHMHROXWTUY][XYZbc^ZellkljbUK=$
+
+
+
+
j���������������������������������������������������������������������������������������������������mqppknppnoomprsurpprqpqrsttusqorrrrssvtqrsqqqqpqswwuuvvwvsrttuuvvvvwxxuuvwxyyyxyzzxvsyzzzz{{ywxyxxyxvz{{zzyyz{zzzz||}|||~~{|{}~}}��~|||~~~~������������������}�����������}}������������������������������������������������������������������ysm_]\[SJA8,
+
+
",<FP_s�������������}xwupnnnnmmpy}�����~|wocWME=::=?@@AA><>??@M`kkjmolijjgcaacbccaa`]XZ[[YVUUTRRPOMNOMIHIJKHFB?=83.,,+**++++*+.--/47;AEHJLMLLNRTX\]UU[^[XYYbd][]befikdWJ:"
+
+
+
+
+
#n���������������������������������������������������������������������������������������������������npqqooppooomnnpssnpqpppprststrprsmrstvurqoqsssrruwwutstuurrtuvvwvruvvwvuvvvwxyxvz{yuvxyzyy{zzwzwyyyyyyz{{zzxz{|wzz|||{z{|}�}|{y|}}��~}}{~������}���������~�~�����������~}���������������������������������������������������������������������|un`^WRNE;1'
+
+
!&:HXgt���������}~{spnnmljqvxy��~~~{uoeQK?>=>?AA?9;=;6=H\hjjjjjejkgabbecb`a^a`^]\ZZWWTSSRQPPPIMIJGKLKFEB@:3+,,+*++,-,),-,*+-38;@EEKMOOSVY]`c_X^]YUYXab\PRVY]ekfXH5
+
+
+
+
+
(u���������������������������������������������������������������������������������������������������ppqqpppqpooonnkqrrpqqppqosuutqpqstssrstrnqrssrooqvvtssrrttrtuvvwvuuuuuvvuvvusyywyzywwvwxxyzz{|zyyzyxyzy|}}{{y{{{z||{z{zz~��~{|||}~��~|}}}�|~�������~�������~�������������������������������������������������������������������������������vke_\XQI at 7,!
+
+
+
$4FZgqv|��������wsqqokkqtsv{��~}}���wk]PD?<>>><858749IYcgjihiijjhceggfca_]`ca_^]ZXXYWVTRSTRPLKJGKNLHGGB:3/.,++*)+-,---+**).36;CHKOQSUX]djkhfc^XY]``_YQMSUX_ffXF/
2{���������������������������������������������������������������������������������������������������oqqpoooppoqqpmnqqqnnqqqprtuusqqprqttqqsssttsspsttvwvtssqtttuttwxxwuvwwxxuwwvuwxvwyxwvvyz{{{z|z{y{|zwxyx|~}{||{zz{}|{{{z{~}z~{}}x}��}{}}}}|����~}}���|�����~}~�������}~���������������������������������������������������������������������������������}vlgZVSLF?6+!
+
+
+
&2?Q`p~������|ywtsonmqssu|�zyw|�|vmf_XOD?::76466CMZ]bdgjjhgeccgjihe]]]abcba_\WYVVUTNTVUSOGHHILKIGE at 82..*++)%+*,-.-,++*-/47?FKNPRTVZgommlic_^bea]YUTSPLT\YTC,
+
+
+
+
+
+
+
+
+
+
;����������������������������������������������������������������������������������������������������oplooonpoopqonoqrqnoprqprttsqsssrsuuqrtttuvutsuutvwwuutsttuvttuwxvtvvwyxtwyyxxxvtxxxvxz{|}|||{{{{{zyzyv{{|z{}}yz|~{{{{{z{~||}}~}zz�~|{x}~}~~��||��������~����������������������������������������������������������������������������������������������zsjf[YTNF?6.!
+
+
#9J_q�����|yzxtoooprruz|wuttyz{ywuurng]SK>;;>@ENW[^_`chhgb``aejiifcbabcccb`]\YWUUSSUYYVOKJHJKJIGC>9/++,+*))+,++-,-----/14;AEHJMQUWgqtnonk_^`b]WWXXVMKKSRL>)
+
+
+
:����������������������������������������������������������������������������������������������������ooooqpnnnmmoonopqqrrrsrqqpsrrstsrsuutsttuvwwuttttvvuututstuvvtttvuuvwwyxwwyyzzywxyyzzz{||{||}y|xyy||{{zz{|{v|}|z~~|{yzy{}}|}}~}|z}}}|}~�}}}|~��~y�������~~��������������������������������������������������������������������������������������������������|tf_YVNLH?3(
!+<Pcox~�}wtooopjstyx{xtirsqoonqrrsqmgb]WTSVW[^_`^]^`bdcb`_echhfec\b`bbbca]ZVUUVSXZYVRNMJMMKGFB?:3***,)))-,+)-,,*,,-,/19:;<BGKN\ktrnmppgXSPNMNOX]YPQQLC:$
+
+
+
+
7��������������������������������������������������������������������������������������������������»opqqrqnnpqqqpoqqqooqssssrrssqssrqrruutrttwxxuurrsuttvwuurtuwvtstuuvuvvwxwwvyw{zyyz{{yz|}|{z|||{y{}}|{{||{}|zz|}}~~}|}|||}}|z~}|||}~~}}~~~~����~���~}���~����������������������������������������������������������������������������������������������������vod^\]UJ>5-#
!.FWeqy{yvrnqstx{{{{yspprjiijkmnpsurpokggjllkigdb]\]bcbabeffgedaaaa__cdc^ZVVUUWXYWURPOPOMKHEA?<61..,+*+---..-,*,,,+169999<CIL_ptrnkopkbSMHGGJU^]YVQGC7
9���������������������������������������������������������������������������������������������¿�����onqqqnoopsspqopqqmoqrsttssrssstrsnrtuuuvvsvwvtsorstuvvuuutuvvqttuuutuvxxwwyzzzyyyyzzyx{||{yw{x{{||~|{x|{{||{{{||~~z~~~}~~|{|~~{~z}|}}~�{~~�����~��~��~{����������������������������������������������������������������������������������������������������������}xtidUPJD>7.$
+
+
+
(3DVajnrstwy|}|yyxursrlfgfhgkmrponrqlmoorqnhhdb`acfgedgggfd^a_a[_^ddb]YUVONNVWTNNHOPNKKFGACA;431/+++-)-,,,,*,-,,5<=;84;<ILcsvrpkjjiibXOAEFOUWXWPJC5
+
+
+
+
<������������������������������������������������������������������������������������������������¾��oooooponoqsspoorqpprsssstspqstuvtstuuuuvvvuuvtsttttvwuruuuuvvvutsuuvvwxzvww{zxvxwxzyyz{||{ywyy{||~}{||{yz|}}{z{}~~~{}~~{z|~}}~���}�������������~�~���������������~������������������������������������������������������������������������������������������������xpf^TUNF=2'
+
+
)7KWbjpv{}|xvvwvtutokjhggjpqolmoqonnpqqnhheecddhkjihfbeca`_`abdfd`[WUTRQQSUQNMNONNLLLJJIFC?;722111/.,+,,,,--29@@:89<AJVhvwuqjbbfkjf[OIHIKMPPNIB3
+
K����������������������������������������������������������������������������������������������������poonnppmoostsrrrpoppqrqptqppsuvutstuuuuswwuswxvtvutvwwvuursswwvvvvvvvwxzyxyzzwxyxx{|||zx||{y{{||}�{|{||{z}}}wxy|{~~~}|{}~{v|}}|���~}}���������������{��������������������������������������������������������������������������������������������������������������������xobZRNJC;3,$
+
,9FS_ktxvsttxuyxurpkjelppplffgijjlmkhfgeddddinmmjeeed___abceec_YUSSTTPSOQLOQQNOLLLLKNNMJE>;89::871000/0146=A?987>CNZmxxvqd\T`hlni_YLK>=<DEEB1
+
+
+
+
+
+
+
+
+
Z����������������������������������������������������������������������������������������������������nnnonopppqrttsrrpnnpqqpstsrrstsssrsttssuwvuuwzwsttsvwwvuutuwwwwxwvvwwvxxyywy{zzzzyz{||yzz{}}||}~~~|zy{}~~~~||~~}{{|~{{|{{|}|{~���~}��~�������������������������������������������������������������������������������������������������������������������������������������|tnf`\UME9-
,;L[glsxyz{|zyutrnmopqpkca`aefffeddffbdgiloonkgfec`^`abccbb^XSSVUTSSTQNQTQPOMMLLMQSVTOJHGFEECA>:8789;=>?A?989>DO^pyxxpbVRZdkprsk`RD<:;=BA.
+
#`����������������������������������������������������������������������������������������������������poqpoooopoqrspqqploqrrstuutttsqorssrtsuvvtuvwywsttuvwwuuuuwvwwwwxwxxwxwwwvxzzwzzzyxxz{|{zz|}{y~~}}~~}xz}~}}}}}}}}{z{}}}z}}}{|{||���}}}���{��~}�����������������������������������������������������������������������������������������������������������������������������������~zth`XOF=6/(
"-9KZgpuz|yxvvsrqqqqqlca^bbbb`\acfgeefhkkjhihheca`__]]^][YWUTXVURUUSLQSRMPOMGLNQTUTPNNMMIJJHFC@>??@@?>?>889;<L`r|yvn_UP\didmrrmcQH><8BA,
+
+
+
+
#d����������������������������������������������������������������������������������������������������rrqqppoopqpprrqqqrrrtttutttuutqqqrssstuuvvuvxxwwvvvvvvsuvwvuvxxwwyywwxuwxxx{yzzzxxxxyyzzz{y{{{}~||||}|}~~~}||}|{z}~~~~~}~~|{~������������|~��������������~�����������������������������������������������������������������������������������������������������������������������{si_VQIA91(
+
4ET`kqvyz|}{urstrokihcddb\\_bbeddfiheddehhfd_^][ZYXXYWUVVZ[XXVTRNQSRQPPMJKNPQPMHJLMNOOLMKIFDBAA>=:=<6789:Ias|wri[PM\ef`^hoqnfYL@=DB*
+
+
+
+
+
$h����������������������������������������������������������������������������������������������������rrqpolonnqrrrrsrrstssttssrstuutqpputttusvvuuxyyywwwvvuuvwwuuwxxwxyywwwuwyyz{{{zywxwuxyxw{|zz}{|}{yz{||}~~~||{z{~�~|~~|{x��������������~����������������������������������������������������������������������������������������������������������������������������������������xqg]TOHC>5$
+
+
$1?N\hs|��zwvwrskrqmigdb^__a`aafifaabceffd_]ZYYUQRSSRUVZZXUUQPNPRSMMNNLLLOQNEEDHGJLKKMMKGF>BCC><<:56569KaqvrhbTKHYcc\WUbknng]O?HB&
+
+
+
+
+
+
*m����������������������������������������������������������������������������������������������������prnqnnonmortqpprqssrqsssststtvvtosvvxywvvuuvxxyyvwxyxuuvwvrxxwxxwyyxvvuxvzz{xxxxxzyvy{wy{||}}|x}|yy{zyz}|}~|||||}�~}~~~}||~��������������~���������������������������������������������������������������������������������������������������������������������������������������������wnc^[WK?5-!
"7FWhuzyxxyyyyywrlmlihhfebaafhd`^]_`cdb_[YYWQPPPQRTWYYWUSQMNOPRQNNPNNLOPMFEFFDEGHKLNLJGDDEEB>=:8776:Lcquoe\NCIW`_[PNTahnnhZLJ?"
+
+
+
+
0s�����������������������������������������������������������������������������½���������������������oqqrrpooooqrqpqrrrqprrrrtuttttuvttvuvvwvvuuvvvwxxxxyywuqvvwxxvxwxyyxwwwxz|{yxxxx|}|x{z{zz|}|}|||{zzzyzz||z~||}~}~~�|}~|~}}|~���~�}~�}���}�|���~~���������������������������������������������������������������������������������������������������������������������������������������zsg[RNG?7.
%<GU_irz���|wrlppmklkifcafcdYYUVX]`^YWTVWTSSSTUTTZYXVUPPQPPQQMKOOLKLLKHIIGBE=GCJLJHFBCDEB@:;:;:<>PdqupdYEDMWX^[QBRU^_ddZLJ<
+
+
+
+
+
+
+
+
+
+
8|����������������������������������������������������������������������������¾����������������������qqqssqmopqpqpolrsrrprsrrtvutpoqxvtssrtuuvvuvutvwtxxyywtquuswxyyxyxvwwxvx{}zwvxwy{{|}{{{{z|||||zzz{zzyzz||}}{|~}~{{}~������}~~~��|��~~�������������������������������������������������������������������������������������������������������������������������������������������������wne^TOD:0(
&;KYiu|}|wrkopnlmmljfghgc^XTSTX[YUTTUUTTUUY[[\\[[ZVPSVVUSPLLNOLHFIJIIJIHFGFEHIIGEA?ACBB@>>??@AUgpsndVBDOX^_]RLPXYXX[TJF7
+
+
>�����������������������������������������������������������������������������������������������������rrqpssqqrrpqpoqrssqortrqsuutsstwvorrsuurvwwvutuvvxyxwvtqvtvwxyxyxwwxvwvvz{zwwyyyxxxxyy{{{||||{zz{|{z{}}}}}}{}|~��~{|~}������}����{��~|}~��������������}�����������������������������������������������������������������������������������������������������������������������������������~ul^TLHA;4-
!(7HXbjnnlppojmjnnmljhd_ZOQPRTUNQRQNQSTTY[^_^\\YUQTXXYTKNMMJKGHHIJKJJLKGHFIJJHGB@?CCDDB at A=ADYjonldVAGPX\`_RFR\[WSMJGB+
+
+
+
+
+
+
+
F�������������������������������������������������������������������������������������ÿ������ÿ������rqoprsrssrqrsrssrsqqsurstuttuvuttttsrwvuvvwwuvrvvwwwsuvvwxwwxwxxvwxytwyzyzyxxxzz{zxxyy{zy{|{{{{zz}{{|}}}}~}{~�}||}~~��~�������������~�������������������������������������������������������������������������������������������������������������������������������������������������������|rh]XSMD:3.'
&7HT\ciopnnopqonljfaZVSOPRSROMJKNQTSVZ\]]\YWURQWZZUONNLKMNJGILLKLNNMJJIKKKIGEDEDIKJHD=@EZjmljdVBIPVYa`QKU`\XPJGD>(
+
+
N���������������������������������������������������������������������������������������������ÿ������rrqprttsqqrrrstsrrrsuutuvvupuvurstutvvvsuuutwxwvwwwwxwxxwvwwvuuwxyyxwxz{{zzxytz||zyxxy{yy{{w{z{{}}}||w}�|~}}{{{|}}{}~~~~��}x�����~��������~{����~}}�}����������������������������������������������������������������������������������������������������������������������������������������������zmf]UOLIC9-
%1=LYcilmqrolonkc`\XQRSTTQMKHNPQSSSXXXXVTTQSX[[VRQPOLNNLHMOMKLLMJLHIDHJIGGIHDJLOMF=?EXfjghfWAJRUWa_RK[daYQFDB<&
+
+
Y���������������������������������������������������������������������������������������������¿������ssqpsutspqosqrpqqrstttsuwwvttvssuuvvwxwvvurtwxwwvxtxxxyzuvxyxwwxx{zwwxzzyyyzzzz||{zzy{{zy{{z{}||~~}|{{}}~}{|}|��~|}}}~~���}|~~~���}~�������}������������������������������������������������������������������������������������������������������������������������������������������������������������yqg^]YPC8.%
+
%6GS[bhmnmpqmifa]YUSTTQNMLNQPOMORTTTSRRRTW[ZXVTTRPNMLLOQOKKKMOMJGFGHHGLNKGHKNMF>>EWdghkhVGLUW\_[TV`gd\TJ at C8
+
+
+
+
+
c�����������������������������������������������������������������������������������������������������rrppsuuvtsstsqoostsqttsrvutssrtsuvvrxxxwwvuvyyxwwwvvvvz{zwyzzyxxz|{yyuyvvwzyz{zy{{z{|{{{||zx{|}||}}z|{}~}~~|{��}��}~|��~}{~������������}��������������������������������������������������������������������������������������������������������������������������������������������������������������zoj]VNF?8,$
)3?MX`fjnmjhf`\XTTPSONLPOMJMNNOSPTSSNUVZYXVVRTQOKLMSTQJJKONNIGCGDFHOQLEEFHG at 6<FZegjjgUFQY^`^MOS`fc^WOJC4
+
+
+
+
h�����������������������������������������������������������������������������������������������������qqoqsuvxvstuqqpsuvrqsutttrqssuutuwvvvwvxwvvyzzxvtvvwwwx|{yxyzyz{||{{{vyxxz{yv{zyz{y{{yz{{zyzzz{{xz|~}}|}}}}~||��~~|���|~��~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������yoeZXQI?6-"
+
':EOX`ejjhb\YWWXVUTRQPKJKMOQSTVXXWWYZYXXVUTTRRUXYXUQNMOROLHGEDDHNPJC>??<86;N`jgjibSIMW^b\LGO]d`\VPID2
+
+
+
+
+
+
!k�����������������������������������������������������������������������������������������������������qrrqrrsuurstsqrtvuqssrtuurrstuusuvvvustuwvwyzwvvwxwvwvyzyyyzzt{|{vxzzvxyyy{yy{|y||{zzwz{zxyz{{{xz{|~~}}~~~}||y~�y}}~��z����~}��������������������~}������������������������������������������������������������������������������������������������������������������������������������������������������������������wjeURNG?8-#
%2?KW_c`ZZW[[YXWUTSPFKJPOSSWXZYXWXUUVVTTTUWY\\[XSRKOPNFECBADGHHE<:650.- at Vfomjf\J6AFT]XMILY`]WTJID/
+
+
+
+
+
+
+
+
#o��������������������������������������������������������������¾�������������������������������������nrrrqposqrstsppssrqssqquvuttqvvusttwustwwwwxyxvxz{yvvxyxuxy{zy{|vvvzzwvzzz{zyz|~}}|{{z{}{zzz|}{z{|{}~|y��}||}~~}}|}�}~��~}~��������������}�������������������������������������������������������������������������������������������������������������������������������������������������������������������������}vlb\WPH>4+!
'9EOSVXZ\][YXWWUUSONNQSTTUVXVUVVUVUSTUVVWYZ\ZXUSPNKHD@@ADEEDA;61.,,,DZksojaTA68<FUSKHIT[ZWQKKE-
%r�����������������������������������������������������������������������������������������������������prqqqqrsrssrrrrsrnopqqsuutuvxwuutstutruwwwxxxxyzzxytxyzzyuyyyyzzwxyz{yxxzy|xyu}~}|||||}~}}}{~~}||z|~}|~���{~~~�}�z}|~}~~~~}���������~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������~wib\TMGA:2(
'1;EMTWWTTUUUWVQLKJMOOMMNPTVVTTTPRQRQPOPQVWUTOHIGFA at ADBA??:4,+&+-E^mrma\L?47:HQL>CCHMPQK?KF+
+
+
+
+
+
(u�����������������������������������������������������������������������������������������������������rqprsstuqsssststsrpoorstssuwyxusqrouvsuvxxxwwxxyzzwvxyy{zxxxy{zzwz{zxzyzzz||zz||{{|}}}}~y�~|}}{|{{}�~~~}�����~}�������~~}}}~}}}~~~~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wme[YSJ?4(
'4>EIMPQPSUUQJHGFHJIHGKOQQPPQPNLLJFFHJNQQOLFGGGFDEEB@=:61,*)*-F`mpicXI?98=KQKC@?>>?IE<IE'
+
+
+x��������������������������������������������������������������������������������������������½�������srrstsvwvsssttrrtssqrrssssttxwutsstvxvtuwuwwxzyxyvwwyvxxyzyuz||zz{zzzyxyzz{{|z{z{zz||w~~~}y||}{{{}~}~~�}~~���~{{{}z~~~|~��������}��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wlfYSLD<4(
"+7 at EJQSRRJHADEE??>CEEEEGHGFEEDCBA at BCEEEEDEHIJIFB>64-,()(*/JcmpgbWF?<>CQVMF@=<9AGE;HA#
.|�����������������������������������������������������������������������������������������������������sqqtutuwwuprttrstuttssuvutuvwwtuuvvvxxvvvtvyyzzxyxwwxxvwy{ywy}{yyzyyzzxyyzyy{}|zz{z{|}~�~|{{|{~|}~}z~~~}}~����}~~��~{}|~���|��~��}�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������}tkc\WNE;3(
'19DJPROIDCEB;;<;>@@@ABA@@AA?><;>@@?@AACFHHHF@:4/+*((''3OfoofaUB>=?GTTKD@><=BFEDF=
+
;����������������������������������������������������������������������������¿������������������������sqqrsmswwtqqrostttttsptuurvuvvvuutvvwvvuttvyyyxuyzwwwwxuxzzyxxzxyyxwywwwyxyw}|wwy|}}|~~|x{|}|}|}~}|~}y{|~|��}~��}�~����}����������}���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wi`VSMH?5'
$2<CFEDFGD>=<;;<<<9=><:=<<655:=<9:::<>?@C@<5.,+*))(,7Ukrog`T>909GJJA7<?AAEGFAE5
+
J������������������������������������������������������������������������������������������������������srqqrrtvusqqqsuvttutrrsuttvwuuvvvvvwttvutsuz{yxvzzwvtwxwvyzzwxzyzyvxzzyyyz|}}~}y{z{~}{}|zy{}}|z}}{{}||�|yw|~~}}���~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������{qgebZPE<3'
*26;@EDDA>;;<=<:;<;;:;96448:988889;;==:40.,+****/@\prnicS=403EJC948BIKIFCFB/
+
T������������������������������������������������������������������������������������������������������rqrprsuutttrrsuwvuurtuvuutvxwsuvxxyxttvuuuuz{wxuyyyvvxyxxy{{yyyy{zzy{|{{z{|x|||z{{z{|{}|{{~|{y{yyz{{~~~~����~|~~��}~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wmcZUNG at 9,!
-38;;<>@@><::;;46697436795867566774---,+*+++4JbsqlgbQ<209FI>5-5CMOG?AE?+
Z������������������������������������������������������������������������������������������¾����ļ����rttsqsuuttttsspwvsttuwwvvwvwwwuvwyyxuuvvvvvyyyyxvyywxyzyw{{{zxwy|{{y{~}|yz{{zzxy{zyy{}}|y|~��}}|{{yw|~������~�����~|�����������������������~�����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������}ukf_ZSJ?4'
")-39 at A?::;<:64476434689998655431-,-,*)*+,9Odonjc\M711;GF92-3BLMD<<B;%
"^������������������������������������������������������������������������������������������������������ttttttuutrrquuttuqstvvwwvuuuvwvtvvutuvwxxuwyz{{zxxxwxvyzz{{{zyyy{||y|~~}|||zyyyy{zzv{||zzz~~~�}~z{|~~~~}�������������~�����������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wkc]XPF;1#
+
+
(179:;<>=96555615699;::7521//..-+&)**,<Q[abaYPI32-=ID53.1=FHA8:@5
+
+
$a������������������������������������������������������������������������������������������������������usptvvvvtsqtvwurtrutwvuvtsqssuuvwwwtuvxxxxwwx{zyvvvvxyyzzzzyy{yy{{{|~�z}~}zxxz{{{zzz{{zz{|}~~~��~}{{|}|~~�~~~��}���������������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wni]TJB8.!
#*/47:<=??=:99:<<<;;:9620.///,+**+,-=OWYXUOLG?75 at JC31/09AD>69>1
&e������������������������������������������������������������������������������������������¾����������trqsvvvvuuuuuuutsrtuvvustuttvwwwwywuutuvwwwtyzxvvwxvxxz{zxzx{{{xwwy|~~}|{{zz{||y|||||xy{{{}|{{��~~{{{}}}~�����|�������������������������������|������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wf`[SIA8/#
%-39 at DC@>=@A@<=7:7531---.++)+*-->NPRQIHFJKD8BH at 1/.17>@?7??/
+
+
0p����������������������������������������������������������������������������������½������ž����������rpptuuvvvwwvttsvursttvusvxuwwxwvwywuvuuvxvvwyywusxyzzz|}zz{|{|{ywvxzz{{|}zz{w{{{{|}}}||{{{|z{{}}~zy|y{|}~~���{����������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������|tha[SKC<4%
"+4;>@AADEC@><;9740.---,+**+,. at MONKE@BIPLDBB;/./16<@@AC at -
:z������������������������������������������������������������������������������������������������������rpqturuvvvwvuttvvsssuuttwwxxwwvuxxxvwwvvzzxvxyyuwxyz{{||{{||{{{yxxzzzyy{{{}|yyyx{{|}|{{z|}}{|}~~}|~y|}yx||}~�����~���������~����������������������������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������zqf_YWSKB9)
+27;BHF??:<<83/*-,--,*+),. at LLIGB>:AHKIE=6.-+279:><E?)
+
?�������������������������������������������������������������������������������������������������������rsqsuuuvwvwvvusvwvuttttvwvxxwvwvxxxwyxvw{}{yyz{zzyz||{{|||||{z{|{{zywyy{||}}{x{{||{}}{z|~~~~��|}~z|~~}~z~}�~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wplid[QG;0("
$+6?A@?>><82.*,-.--+,,,1 at HHGC?;89>DHD=3.-.2898::C=#
+
D�������������������������������������������������������������������������������������������������������tsstuuuuvvwvvusuwvvuuruvvuwwvuuvxywwyywvyz{zzx{|{w{|}||z~}|{|||{{xzyyz{|}zz|{y}}}{{}~||}~~|�~��|}~���~~~��{������������������|��������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������~uc^[TLF at 6)
$+159::820+,----+,,,3 at HFA@<9443:<<;5.//599779A;!
+
J���������������������������������������������������������������������������������������û¾������������utstuuquvvwxwvttvwvvwxxvvuvvvtsvyzwwzzyxxxvy{zy{{z{|{|}~}~|z|||{y{{z{||}|yz||z~~||}~~~}z}�����}~�~�����~}����������������~~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������{rgc^YPG=4+"
+.232221--..,,,,4 at FC?=;710/4898630/7;:9:>A9
R�������������������������������������������������������������������������������������������������������usrquutuuquuuuuquruvxzyxwvwwwvuuyzxxz{zvyxww{|yyzzz{||}zzy{z{{|}~~|{||{{zy|~}z~�z}|~~||~��~}z}~~|�����}�}~}��}���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������yoe^YVRMF>0$ [...]
&+032/./.--./5?BA<;:6/..369:863/8>=9:>B5
Z�����������������������������������������������������������������������������������¿��������ſ��������qssstuvvrrssttvwvuuvuyzzyyxxxxruvxxyz{|{zxwx{|zywyzz||{yyzzzzzz~}|||zz}}|}|}~�~z}~~~}}~~~~{||}}~~~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������zqkie_WNC:1&
!'*+,.00/007>@?=<:61..036:973/9=<;:AA2
^������������������������������������������������������������������������¿�����������������������������srtvutvutssorsvuvwvvvwy{zvwxyyyxxvvvz|{{zvvuy{zvww{z|yzz|}}}|z{}~}}|||{z|||}y}~~~�}{~~~}{}}|~}}�����~��������~~}|�����~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������|rgb`[TOIB9+
!%+04269=???>;62/(++14542/7897=D at .
+
d���������������������������������������������������������������������������¿������������ý������������tsvwvwvttutpqttsuvvvvwxyxuvxz{{zzvuvz{vxxuvvxyyxx{{{zz{}{~~}|||}}}|{{{{}}||}��{�}}}}~}|{~���}~��~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������wjfda[SE9- [...]
&+/27<@BA>;72/,,-///1225887 at G@+
j�������������������������������������������������������������������������������������������������������trvvuuuqsvtprsttttwxxxvuwuwyzzzzzwvuyxwxxwxxxvy{|{zxyv|}}}|yxx~~}||wyx{|||}x{}������}{{{~}�~||��������~�����������}~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������{pgb^Y [...]
#*2:?A=770//120../114588CJ?'
+
n�������������������������������������������������������������¿����������¿��������������ǿ������������sttupttsrutsttvvutwzzxvuwxwywwwwxwwwyxvvwxyyxxy{{yz{z{||}||{x{}~{{||{z{||||yz}������~~~}|~~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������xmggeb [...]
)1655558<>:40//115899EK>#
+
$q�������������������������������������������������������������������������������������������������������rrtvvttrrttssuvvvtwzyxwvyyyyxuwxwxxwwwuvvvvwwuz|yw{|{||||}~~||{|{z{||}}}}z}z|}��~}}{~���}~~~~~�����������~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
"(,3=FIE9111129;;:FJ:
)u���������������������������������������������������������������ÿ������������Ľ������������������������rttuutsrotutvvvwwvxyxwwwz{yyxxxxxxyxwvvxxwwxww{|yz{{|}}|{}}~}|{|{yw|}}|}�~~|��~~}{}~}����~�������}���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������~ [...]
(3>DC<88889<@@@HI6
.{�������������������������������������������������������������������������������������������������������uquusrtsttvsvvvwxvxuwxxyzzxvxxxwyzyxxxzzzuxzzy{|{z{{|}~~}z{}||||yy{|{|��~}~{��~}|~~~���}~�}���������������������������~��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
!(027=A@<ADC at LK4
3����������������������������������������������������������ú��������¾������¿������Ľþ����������������utttrrrvtuvvwvsxwyywwwz|xyyxxwxyzz{ywz{{yyz||{{}{z{{z|~}z}~~|yz{}z|�}|~~~��~~���~|{{}~���������|������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
*3:=?BEHMTN3
;�����������������������������������������������������������������������������ſ�������¿����������������usurstuvuuvwxuvwxyxvvwz{zyxxwwwwz{{yyy{wxz{xyz||{w{{yz|~}z~~~}~~}y{|}|}}~}}}|�|~�~{||{zxyz�������~���~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
$,4=GR[S1
D������������������������������������������������������������������������¾������Ź��º������������������tttsrwvuuttwwxxwwxuuvxwyxxtxvvuuy{zyyzzxy|{xwy{}{yz{yz{}}|}}||z~}y|}~}{{|���~|}�{{|}~~zz|��~���������}�����������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
*6CUH.
J���������������������������������������������������������������þ���������������������������������������srvuuuuqututvxxvxxwwwxyxwyzzxxwuwzywzz{x{|{yxy}~|zyvz{||}{{{|z}}}z~~~||}~���~~~}|~�~}|��}|~~��~~~����������������~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
%*
Q��������������������������������������������������������������������������������������������������������stvvutstuvvvvvvvwzuxxxxyyzzzyzxwsxxwz|{|||{yx|~}z{yuz{yzz{z||{{|~�}{|{y|���~~}}{|��~}}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
\����������������������������������������������������������������¾��������������������������������������tuvuuttuwvvwuutuxyyxxwxzyyxx{wwxxxyy{{{}~}zwy}~|{zyu{{yyz|~~|wzz}|{z{y{|~���{||}~���~}|~�����������~��������{���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
#b�������������������������������������������������������¿�����������ü����������������������������������tvwurutvwvtuuvuvxzwwwxxxxxz|{yyxv{z{{z{}}}zy|~z||{{{|{zzy��}yy|}|{|{{|~}}z�~~~~~����~}}������~}~~~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
)j�������������������������������������������������������¿�����������������������������������������������uyxuuvtvwvttvwwxyyxvvuvwxvz||xwxzzzz|zzw|||z}}{y}{{{|x|}~~}zz}~~~}z||~~�}~}}}~������}~���~}~��}��������������������������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
/q��������������������������������������������������������������������������������������������������������wzxtuwuwxwtuvwxywyxwutvywvy}zxyzzzy|}|yy{|||{}{{{{{}}|}~}|y||{{|{~��~}{���}~~}}~��������~������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
4y��������������������������������������������������������������������������������������������������������vxwtvxxwwwvvvvwwyxwwwrvxyx{|yv{|{zz|}}z|{{|}}}|||x{|}}|||{{{{zz|}~~��~|�}�|��~������������������������������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
+
<���������������������������������������������������������������������������������������������������������uwuuwxvvwxxvvuuxyxuvwwvwyzzzvx{}|zz{||{~|z~}|{z{y{|}}|{}~~|x|{}}~~}~~~������~~�������������}~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
C���������������������������������������������������������������������������������������������������������vvuvxwvuvxxwvtvyywurwyzyyuywyyzy{{|zz{z}|z~�}yzxzwz{}z||}~~|}}}}~~~~}~~�~}�|||����{��~��~���~~�|���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
+
H�������������������������������������������������������û��������������ľ��������������������������������vvuwxwsvvwvxuuwyxvtuwzzyyxxyyzzxyz{ywyz{zz|~}|z{zvy{~~}|}}y}}~|}~}~}~~~~�}~���������}}�~}����������������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
M����������������������������������������������������������ý���������������������������������������������utvwxxwvvvwwvvxxxvwwy{zyxxzyyyzyxvzyyxxxwy{||{||}x|{}~|{~}}~}}~~~~���������}�����~}}~�}���}���|��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
\�������������������������������������������������������������������������������������������������������ƿvwwvwxuvvxwwvwwxvwxwz{zyyzzyx{|{yyz{|{vttx{}~{{|}|||{z|}~}~��}y|}~~~�������~{~z�}���������|�����������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
f���������������������������������������������������������������������������������������������������������wxwuxyxvwwvqvvwyywxwxzzzzzzvz||{zy{||{xvwx|}}{{y|}}|{u{||}}y~}~zyz{|}}~~����������~�����~���������}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
k���������������������������������������������������������������������������������������������������������svvuwxxwuwsuwxyzzyyxwyyzyxxy{|{{{z{|}{yy{{}}zz{|z{{|{y{}z~~~~~}{y||{|~~~}���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
o���������������������������������������������������������������������������������������������������������vuusvuwwvxzxz{zxzxxxxy{|{||||zyzzzz}~zyz||||yx{{||{|{z{}~}�|�~}{|}~�������������������~�����}����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
!r�����������������������������������������������������������������¾��������������������������������������wvwwutwxxz{{||xyzxuyy{||{~}}|zx{{{y{}}yz{|yyy{|{|}{||{z|��~}���~|}~����}���}����������������}~���������������������~��������������������~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
)w���������������������������������������������������������������������Ŀ����������������������������������wvwwwtyxyzz{||zzyxwz|||xz{{xzzz{|||z|}}{{{{zy}}|||{{{y{}��z����������������������������}������������������~���������}�����������}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
3~�������������������������������������������������������������������������������ƿ������������������������xxwxxzzzwzzzzzzzywvy{||zyyzzxyz{z}}|{|||{{zxx}|||||{yxz}}��~|}���������}�����������~����������~����������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
;������������������������������������������������������������������������¼��������������������������������wwwwz{zyxyyxww{zxxwt{||uvx{{zyyz|||x{{|{{{{y{}{|}}}{{xz{|�}|~����������������������������|����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
@������������������������������������������������������������������������Ľ��������������������������������wvw{{zyxwxzzyxxxyzyzz|zwvxy|{zzz{}{{{{||{|~~}||z|~~z{{y�~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
M������������������������������������������������������¾��������������������������������������������������xyzzzzyvyyz{zwvvyyyxyyzyxyzzz{{wzw|~}z{{|~�~~~{{|}{}~������|������|������������|�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
+
Z������������������������������������������������������þ��������������������������������������������������xzzxyzxyzzxzzyxwvxyxxxy{yxxyzzyzzz{~}|{z|}~~~{{|~{z{��|�~����}���������������}~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
#a��������������������������������������������������¿������������������������������������������������������xyxvyzxwwxxxyyyxxwxxyzzzywyzzyyy{|{z}||xz{|}}}||}}~}{|�~~~����}~}�{��|�~~�����}�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
+g���������������������������������������������������¿�¾��þ����Ľ¿����¾��������������������������������xywwz{wvqwxwvyyyyyyyy{zzzyz{{{xzz}||}~~|x{zz|~~|y}|~~}{~���}~}���~}zz������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
4n������������������������������������������������������������������������¾��������������������������������xyxuz{wvwwxyyyzzyxyyz|}}zzzwz|{yz}}|}{~}{x{}~}||~~{}~|}}~~~~}}~|~��|}~�����������~�����������~�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
3s������������������������������������������������������������������������ľ��������������������������������uwwvz{wyxxxyzzwyxz{zz{||z|{yz|{y{|}}}~�{zz}~~|~}~~~}~~||~�~~~�~����~����~��~����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
2w����������������������������������������������������������������������������������������������������������tvwwyyyxyxy{{{{yy||{zwzxx{|zz{zy|}}~}~~||||}~}~}}~~~~��~�~��~}}|~~����}||���~����������{}���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
0w������������������������������������������¼����������¾��������������������������������������������������uwyywyxxxxyyz|}|z|}|yzzxuzzzz|{{|}}}}}}}|{|||}~~|}|y}{{}������}��}}}}~~~~~~����~��~�����������|~~}������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
.w�����������������������������������������¿���������������������������������������������������������������xvy{{yzxxxyyyy||zz{||||zyzzy{}|zzxzz|x}~}y{z}~~~~~|}~}z~����~���~}|~~{��������}�~�����������}����������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
;�����������������������������������������������������������û��ļ������ü����������������������������������yuy}{zyxwwxyzy|{wzz{{{zzzzzyz|yyyxz{zz|}}{{|}~��}}�~�~���������~���~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
Y�����������������������������������������������¿��½������ù������ǿ��������������������������������������z{yxz{zzzzzzyyxzzxw{}|{{zz{||}~|xy{|}~z{|||~}}���~~~~|{|��������~~~~}������~����}~���������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� [...]
$8r�����������������������������������������������������������������û����������������������������������������yzz{zz||{zyxz|zzzzyz{{yxw}~|z}|||}|{{}~~z~���}|~���}}}~�����~}~}����������}��������������~������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������ [...]
\ No newline at end of file
diff --git a/tutorial/tracking/template-tracker/tutorial-template-tracker.cpp b/tutorial/tracking/template-tracker/tutorial-template-tracker.cpp
new file mode 100644
index 0000000..4f00ddf
--- /dev/null
+++ b/tutorial/tracking/template-tracker/tutorial-template-tracker.cpp
@@ -0,0 +1,51 @@
+/*! \example tutorial-template-tracker.cpp */
+#include <visp/vpDisplayGDI.h>
+#include <visp/vpDisplayX.h>
+#include <visp/vpImageIo.h>
+#include <visp/vpTemplateTrackerSSDInverseCompositional.h>
+#include <visp/vpTemplateTrackerWarpHomography.h>
+
+int main()
+{
+#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
+ vpImage<unsigned char> I;
+
+ vpImageIo::readPGM(I, "pattern-template-tracker.pgm");
+
+#ifdef VISP_HAVE_X11
+ vpDisplayX display;
+#else
+ vpDisplayGDI display;
+#endif
+
+ display.init(I, 100, 100, "Template tracker");
+ vpDisplay::display(I);
+ vpDisplay::flush(I);
+
+ vpTemplateTrackerWarpHomography warp;
+
+ vpTemplateTrackerSSDInverseCompositional tracker(&warp);
+
+ tracker.setSampling(2,2);
+ tracker.setLambda(0.001);
+ tracker.setIterationMax(200);
+ tracker.setPyramidal(2, 1);
+
+ tracker.initClick(I);
+
+ while(1){
+ vpDisplay::display(I);
+ tracker.track(I);
+
+ vpColVector p = tracker.getp();
+
+ tracker.display(I, vpColor::red);
+
+ if (vpDisplay::getClick(I, false))
+ break;
+
+ vpDisplay::flush(I);
+ vpTime::wait(40);
+ }
+#endif
+}
diff --git a/tutorial/visual-servo/ibvs/CMakeLists.txt b/tutorial/visual-servo/ibvs/CMakeLists.txt
index a7134b8..42a4bd9 100644
--- a/tutorial/visual-servo/ibvs/CMakeLists.txt
+++ b/tutorial/visual-servo/ibvs/CMakeLists.txt
@@ -3,31 +3,31 @@ project(tutorial-visual-servo-ibvs)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
-if(VISP_FOUND)
- include(${VISP_USE_FILE})
-endif(VISP_FOUND)
-# build the examples
-add_executable(tutorial-ibvs-4pts tutorial-ibvs-4pts.cpp)
-add_executable(tutorial-ibvs-4pts-display tutorial-ibvs-4pts-display.cpp)
-add_executable(tutorial-ibvs-4pts-image-tracking tutorial-ibvs-4pts-image-tracking.cpp)
-add_executable(tutorial-ibvs-4pts-ogre tutorial-ibvs-4pts-ogre.cpp)
-add_executable(tutorial-ibvs-4pts-ogre-tracking tutorial-ibvs-4pts-ogre-tracking.cpp)
-add_executable(tutorial-ibvs-4pts-plotter tutorial-ibvs-4pts-plotter.cpp)
-add_executable(tutorial-ibvs-4pts-wireframe-camera tutorial-ibvs-4pts-wireframe-camera.cpp)
-add_executable(tutorial-ibvs-4pts-wireframe-robot-afma6 tutorial-ibvs-4pts-wireframe-robot-afma6.cpp)
-add_executable(tutorial-ibvs-4pts-wireframe-robot-viper tutorial-ibvs-4pts-wireframe-robot-viper.cpp)
+# set the list of source files
+set(tutorial_cpp
+ tutorial-ibvs-4pts.cpp
+ tutorial-ibvs-4pts-display.cpp
+ tutorial-ibvs-4pts-image-tracking.cpp
+ tutorial-ibvs-4pts-ogre.cpp
+ tutorial-ibvs-4pts-ogre-tracking.cpp
+ tutorial-ibvs-4pts-plotter.cpp
+ tutorial-ibvs-4pts-plotter-gain-adaptive.cpp
+ tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp
+ tutorial-ibvs-4pts-wireframe-camera.cpp
+ tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
+ tutorial-ibvs-4pts-wireframe-robot-viper.cpp
+)
-# copy the Ogre3D data
-get_target_property(target_location tutorial-ibvs-4pts-ogre LOCATION)
-get_filename_component(target_location "${target_location}" PATH)
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/sphere/Sphere.mesh" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/sphere/Sphere.material" )
-list(APPEND data2copy "${CMAKE_CURRENT_SOURCE_DIR}/target_square.pgm" )
-foreach(data ${data2copy})
- add_custom_command(
- TARGET tutorial-ibvs-4pts-ogre
- POST_BUILD
- COMMAND ${CMAKE_COMMAND} -E copy "${data}" "${target_location}"
- )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/sphere/Sphere.mesh" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/sphere/Sphere.material" )
+list(APPEND tutorial_data "${CMAKE_CURRENT_SOURCE_DIR}/target_square.pgm" )
+
+foreach(cpp ${tutorial_cpp})
+ visp_add_target(${cpp})
+endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+ visp_copy_data(tutorial-ibvs-4pts-ogre.cpp ${data})
endforeach()
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-display.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-display.cpp
index e46daed..29aae8c 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-display.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-display.cpp
@@ -8,6 +8,9 @@
#include <visp/vpServoDisplay.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
+ const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
+
+void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
{
static std::vector<vpImagePoint> traj[4];
@@ -27,83 +30,88 @@ void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &p
int main()
{
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1.,
- vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1.,
+ vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
- vpImage<unsigned char> Iint(480, 640, 255) ;
- vpImage<unsigned char> Iext(480, 640, 255) ;
+ vpImage<unsigned char> Iint(480, 640, 255) ;
+ vpImage<unsigned char> Iext(480, 640, 255) ;
#if defined(VISP_HAVE_X11)
- vpDisplayX displayInt(Iint, 0, 0, "Internal view");
- vpDisplayX displayExt(Iext, 670, 0, "External view");
+ vpDisplayX displayInt(Iint, 0, 0, "Internal view");
+ vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
- vpDisplayGDI displayExt(Iext, 670, 0, "External view");
+ vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
+ vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
#if defined(VISP_HAVE_DISPLAY)
- vpProjectionDisplay externalview;
- for (int i = 0 ; i < 4 ; i++)
- externalview.insert(point[i]) ;
+ vpProjectionDisplay externalview;
+ for (unsigned int i = 0 ; i < 4 ; i++)
+ externalview.insert(point[i]) ;
#endif
- vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
- vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
+ vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
+ vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
- while(1) {
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- }
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ while(1) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
- display_trajectory(Iint, point, cMo, cam);
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+ display_trajectory(Iint, point, cMo, cam);
- vpServoDisplay::display(task, cam, Iint, vpColor::green, vpColor::red);
+ vpServoDisplay::display(task, cam, Iint, vpColor::green, vpColor::red);
#if defined(VISP_HAVE_DISPLAY)
- externalview.display(Iext, cextMo, cMo, cam, vpColor::red, true);
+ externalview.display(Iext, cextMo, cMo, cam, vpColor::red, true);
#endif
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
- // A click to exit
- if (vpDisplay::getClick(Iint, false) || vpDisplay::getClick(Iext, false))
- break;
+ // A click to exit
+ if (vpDisplay::getClick(Iint, false) || vpDisplay::getClick(Iext, false))
+ break;
- vpTime::wait( robot.getSamplingTime() * 1000);
+ vpTime::wait( robot.getSamplingTime() * 1000);
+ }
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
- task.kill();
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-image-tracking.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-image-tracking.cpp
index a0c9d8a..6d225b9 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-image-tracking.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-image-tracking.cpp
@@ -8,6 +8,8 @@
#include <visp/vpServoDisplay.h>
#include <visp/vpSimulatorCamera.h>
+void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot);
+
/*!
Given an image of a target, this class provided virtual
framegrabbing capabilities in order to retrieve an image of a
@@ -79,91 +81,96 @@ void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot
int main()
{
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
- vpImage<unsigned char> I(480, 640, 255);
- vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
+ vpImage<unsigned char> I(480, 640, 255);
+ vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
- vpVirtualGrabber g("./target_square.pgm", cam);
- g.acquire(I, cMo);
+ vpVirtualGrabber g("./target_square.pgm", cam);
+ g.acquire(I, cMo);
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Current camera view");
+ vpDisplayX d(I, 0, 0, "Current camera view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Current camera view");
+ vpDisplayGDI d(I, 0, 0, "Current camera view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, 10, 10,
- "Click in the 4 dots to initialise the tracking and start the servo",
- vpColor::red);
- vpDisplay::flush(I);
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 10, 10,
+ "Click in the 4 dots to initialise the tracking and start the servo",
+ vpColor::red);
+ vpDisplay::flush(I);
- vpFeaturePoint p[4], pd[4];
- std::vector<vpDot2> dot(4);
+ vpFeaturePoint p[4], pd[4];
+ std::vector<vpDot2> dot(4);
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
- dot[i].setGraphics(true);
- dot[i].initTracking(I);
- vpDisplay::flush(I);
- vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
-
- task.addFeature(p[i], pd[i]);
- }
+ dot[i].setGraphics(true);
+ dot[i].initTracking(I);
+ vpDisplay::flush(I);
+ vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
+ task.addFeature(p[i], pd[i]);
+ }
- for (; ; ) {
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
+ wMo = wMc * cMo;
- g.acquire(I, cMo);
+ for (; ; ) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
- vpDisplay::display(I);
+ g.acquire(I, cMo);
- for (int i = 0 ; i < 4 ; i++) {
- dot[i].track(I);
- vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
+ vpDisplay::display(I);
- vpColVector cP;
- point[i].changeFrame(cMo, cP) ;
- p[i].set_Z(cP[2]);
- }
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ dot[i].track(I);
+ vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
- vpColVector v = task.computeControlLaw();
+ vpColVector cP;
+ point[i].changeFrame(cMo, cP) ;
+ p[i].set_Z(cP[2]);
+ }
- display_trajectory(I, dot);
- vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red) ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ vpColVector v = task.computeControlLaw();
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+ display_trajectory(I, dot);
+ vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red) ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false))
+ break;
- vpTime::wait( robot.getSamplingTime() * 1000);
+ vpTime::wait( robot.getSamplingTime() * 1000);
+ }
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
- task.kill();
#endif
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
index 183aa06..912adff 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre-tracking.cpp
@@ -8,6 +8,12 @@
#include <visp/vpServoDisplay.h>
#include <visp/vpSimulatorCamera.h>
+void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot, unsigned int thickness);
+#if defined(VISP_HAVE_OGRE)
+void ogre_get_render_image(vpAROgre &ogre, const vpImage<unsigned char> &background,
+ const vpHomogeneousMatrix &cMo, vpImage<unsigned char> &I);
+#endif
+
void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot, unsigned int thickness)
{
static std::vector<vpImagePoint> traj[4];
@@ -23,10 +29,7 @@ void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot
#if defined(VISP_HAVE_OGRE)
void ogre_get_render_image(vpAROgre &ogre, const vpImage<unsigned char> &background,
- #if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
- const
- #endif
- vpHomogeneousMatrix &cMo, vpImage<unsigned char> &I)
+ const vpHomogeneousMatrix &cMo, vpImage<unsigned char> &I)
{
static vpImage<vpRGBa> Irender; // Image from ogre scene rendering
ogre.display(background, cMo);
@@ -41,139 +44,110 @@ void ogre_get_render_image(vpAROgre &ogre, const vpImage<unsigned char> &backgro
int main()
{
#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
- unsigned int thickness = 3;
-
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
-
- // Color image used as background texture.
- vpImage<unsigned char> background(480, 640, 255);
-
- // Parameters of our camera
- vpCameraParameters cam(840, 840, background.getWidth()/2, background.getHeight()/2);
-
- // Define the target as 4 points
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- // Our object
- // A simulator with the camera parameters defined above,
- // and the background image size
- vpAROgre ogre;
- ogre.setCameraParameters(cam);
- ogre.setShowConfigDialog(false);
- ogre.addResource("./"); // Add the path to the Sphere.mesh resource
- ogre.init(background, false, true);
- //ogre.setWindowPosition(680, 400);
-
- // Create the scene that contains 4 spheres
- // Sphere.mesh contains a sphere with 1 meter radius
- std::vector<std::string> name(4);
- for (int i=0; i<4; i++) {
- std::ostringstream s; s << "Sphere" << i; name[i] = s.str();
- ogre.load(name[i], "Sphere.mesh");
- ogre.setScale(name[i], 0.02f, 0.02f, 0.02f); // Rescale the sphere to 2 cm radius
- // Set the position of each sphere in the object frame
- ogre.setPosition(name[i], vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
- ogre.setRotation(name[i], vpRotationMatrix(M_PI/2, 0, 0));
- }
+ try {
+ unsigned int thickness = 3;
+
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ // Color image used as background texture.
+ vpImage<unsigned char> background(480, 640, 255);
+
+ // Parameters of our camera
+ vpCameraParameters cam(840, 840, background.getWidth()/2, background.getHeight()/2);
+
+ // Define the target as 4 points
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ // Our object
+ // A simulator with the camera parameters defined above,
+ // and the background image size
+ vpAROgre ogre;
+ ogre.setCameraParameters(cam);
+ ogre.setShowConfigDialog(false);
+ ogre.addResource("./"); // Add the path to the Sphere.mesh resource
+ ogre.init(background, false, true);
+ //ogre.setWindowPosition(680, 400);
+
+ // Create the scene that contains 4 spheres
+ // Sphere.mesh contains a sphere with 1 meter radius
+ std::vector<std::string> name(4);
+ for (int i=0; i<4; i++) {
+ std::ostringstream s; s << "Sphere" << i; name[i] = s.str();
+ ogre.load(name[i], "Sphere.mesh");
+ ogre.setScale(name[i], 0.02f, 0.02f, 0.02f); // Rescale the sphere to 2 cm radius
+ // Set the position of each sphere in the object frame
+ ogre.setPosition(name[i], vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
+ ogre.setRotation(name[i], vpRotationMatrix(M_PI/2, 0, 0));
+ }
- // Add an optional point light source
- Ogre::Light * light = ogre.getSceneManager()->createLight();
- light->setDiffuseColour(1, 1, 1); // scaled RGB values
- light->setSpecularColour(1, 1, 1); // scaled RGB values
- light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
- light->setType(Ogre::Light::LT_POINT);
+ // Add an optional point light source
+ Ogre::Light * light = ogre.getSceneManager()->createLight();
+ light->setDiffuseColour(1, 1, 1); // scaled RGB values
+ light->setSpecularColour(1, 1, 1); // scaled RGB values
+ light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+ light->setType(Ogre::Light::LT_POINT);
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
- // Image used for the image processing
- vpImage<unsigned char> I;
+ // Image used for the image processing
+ vpImage<unsigned char> I;
- // Render the scene at the desired position
- ogre_get_render_image(ogre, background, cdMo, I);
+ // Render the scene at the desired position
+ ogre_get_render_image(ogre, background, cdMo, I);
- // Display the image in which we will do the tracking
+ // Display the image in which we will do the tracking
#if defined(VISP_HAVE_X11)
- vpDisplayX d(I, 0, 0, "Camera view at desired position");
+ vpDisplayX d(I, 0, 0, "Camera view at desired position");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI d(I, 0, 0, "Camera view at desired position");
+ vpDisplayGDI d(I, 0, 0, "Camera view at desired position");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpDisplay::display(I);
- vpDisplay::displayCharString(I, 10, 10, "Click in the 4 dots to learn their positions", vpColor::red);
- vpDisplay::flush(I);
-
- std::vector<vpDot2> dot(4);
- vpFeaturePoint p[4], pd[4];
-
- for (int i = 0 ; i < 4 ; i++) {
- // Compute the desired feature at the desired position
- dot[i].setGraphics(true);
- dot[i].setGraphicsThickness(thickness);
- dot[i].initTracking(I);
- vpDisplay::flush(I);
- vpFeatureBuilder::create(pd[i], cam, dot[i].getCog());
- }
-
- // Render the scene at the initial position
- ogre_get_render_image(ogre, background, cMo, I);
-
- vpDisplay::display(I);
- vpDisplay::setTitle(I, "Current camera view");
- vpDisplay::displayCharString(I, 10, 10, "Click in the 4 dots to initialise the tracking and start the servo", vpColor::red);
- vpDisplay::flush(I);
-
- for (int i = 0 ; i < 4 ; i++) {
- // We notice that if we project the scene at a given pose, the pose estimated from
- // the rendered image differs a little. That's why we cannot simply compute the desired
- // feature from the desired pose using the next two lines. We will rather compute the
- // desired position of the features from a learning stage.
- // point[i].project(cdMo);
- // vpFeatureBuilder::create(pd[i], point[i]);
-
- // Compute the current feature at the initial position
- dot[i].setGraphics(true);
- dot[i].initTracking(I);
+ vpDisplay::display(I);
+ vpDisplay::displayCharString(I, 10, 10, "Click in the 4 dots to learn their positions", vpColor::red);
vpDisplay::flush(I);
- vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
- }
-
- for (int i = 0 ; i < 4 ; i++) {
- // Set the feature Z coordinate from the pose
- vpColVector cP;
- point[i].changeFrame(cMo, cP) ;
- p[i].set_Z(cP[2]);
-
- task.addFeature(p[i], pd[i]);
- }
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
+ std::vector<vpDot2> dot(4);
+ vpFeaturePoint p[4], pd[4];
- for (; ; ) {
- // From the camera position in the world frame we retrieve the object position
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
+ for (int i = 0 ; i < 4 ; i++) {
+ // Compute the desired feature at the desired position
+ dot[i].setGraphics(true);
+ dot[i].setGraphicsThickness(thickness);
+ dot[i].initTracking(I);
+ vpDisplay::flush(I);
+ vpFeatureBuilder::create(pd[i], cam, dot[i].getCog());
+ }
- // Update the scene from the new camera position
+ // Render the scene at the initial position
ogre_get_render_image(ogre, background, cMo, I);
vpDisplay::display(I);
+ vpDisplay::setTitle(I, "Current camera view");
+ vpDisplay::displayCharString(I, 10, 10, "Click in the 4 dots to initialise the tracking and start the servo", vpColor::red);
+ vpDisplay::flush(I);
for (int i = 0 ; i < 4 ; i++) {
- dot[i].track(I);
+ // We notice that if we project the scene at a given pose, the pose estimated from
+ // the rendered image differs a little. That's why we cannot simply compute the desired
+ // feature from the desired pose using the next two lines. We will rather compute the
+ // desired position of the features from a learning stage.
+ // point[i].project(cdMo);
+ // vpFeatureBuilder::create(pd[i], point[i]);
+
+ // Compute the current feature at the initial position
+ dot[i].setGraphics(true);
+ dot[i].initTracking(I);
+ vpDisplay::flush(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
}
@@ -182,21 +156,59 @@ int main()
vpColVector cP;
point[i].changeFrame(cMo, cP) ;
p[i].set_Z(cP[2]);
+
+ task.addFeature(p[i], pd[i]);
}
- vpColVector v = task.computeControlLaw();
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ for (; ; ) {
+ // From the camera position in the world frame we retrieve the object position
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
- display_trajectory(I, dot, thickness);
- vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red, thickness+2) ;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ // Update the scene from the new camera position
+ ogre_get_render_image(ogre, background, cMo, I);
- vpDisplay::flush(I);
- if (vpDisplay::getClick(I, false))
- break;
+ vpDisplay::display(I);
- vpTime::wait( robot.getSamplingTime() * 1000);
+ for (int i = 0 ; i < 4 ; i++) {
+ dot[i].track(I);
+ vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
+ }
+
+ for (int i = 0 ; i < 4 ; i++) {
+ // Set the feature Z coordinate from the pose
+ vpColVector cP;
+ point[i].changeFrame(cMo, cP) ;
+ p[i].set_Z(cP[2]);
+ }
+
+ vpColVector v = task.computeControlLaw();
+
+ display_trajectory(I, dot, thickness);
+ vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red, thickness+2) ;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+ vpDisplay::flush(I);
+ if (vpDisplay::getClick(I, false))
+ break;
+
+ vpTime::wait( robot.getSamplingTime() * 1000);
+ }
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch a ViSP exception: " << e << std::endl;
+ }
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
+ return 1;
}
- task.kill();
#endif
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
index 742eb1c..0328d7a 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-ogre.cpp
@@ -1,4 +1,5 @@
/*! \example tutorial-ibvs-4pts-ogre.cpp */
+
#include <visp/vpAROgre.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpServo.h>
@@ -6,86 +7,94 @@
int main()
{
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
- // Define the target as 4 points
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
+ // Define the target as 4 points
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
#if defined(VISP_HAVE_OGRE)
- // Color image used as background texture.
- vpImage<unsigned char> background(480, 640, 255);
+ // Color image used as background texture.
+ vpImage<unsigned char> background(480, 640, 255);
- // Parameters of our camera
- vpCameraParameters cam(840, 840, background.getWidth()/2, background.getHeight()/2);
+ // Parameters of our camera
+ vpCameraParameters cam(840, 840, background.getWidth()/2, background.getHeight()/2);
- // Our object
- // A simulator with the camera parameters defined above,
- // and the background image size
- vpAROgre ogre;
- ogre.setShowConfigDialog(false);
- ogre.setCameraParameters(cam);
- ogre.addResource("./"); // Add the path to the Sphere.mesh resource
- ogre.init(background, false, true);
+ // Our object
+ // A simulator with the camera parameters defined above,
+ // and the background image size
+ vpAROgre ogre;
+ ogre.setShowConfigDialog(false);
+ ogre.setCameraParameters(cam);
+ ogre.addResource("./"); // Add the path to the Sphere.mesh resource
+ ogre.init(background, false, true);
- // Create the scene that contains 4 spheres
- // Sphere.mesh contains a sphere with 1 meter radius
- std::vector<std::string> name(4);
- for (int i=0; i<4; i++) {
- std::ostringstream s; s << "Sphere" << i; name[i] = s.str();
- ogre.load(name[i], "Sphere.mesh");
- ogre.setScale(name[i], 0.02f, 0.02f, 0.02f); // Rescale the sphere to 2 cm radius
- // Set the position of each sphere in the object frame
- ogre.setPosition(name[i], vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
- }
+ // Create the scene that contains 4 spheres
+ // Sphere.mesh contains a sphere with 1 meter radius
+ std::vector<std::string> name(4);
+ for (int i=0; i<4; i++) {
+ std::ostringstream s; s << "Sphere" << i; name[i] = s.str();
+ ogre.load(name[i], "Sphere.mesh");
+ ogre.setScale(name[i], 0.02f, 0.02f, 0.02f); // Rescale the sphere to 2 cm radius
+ // Set the position of each sphere in the object frame
+ ogre.setPosition(name[i], vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
+ }
- // Add an optional point light source
- Ogre::Light * light = ogre.getSceneManager()->createLight();
- light->setDiffuseColour(1, 1, 1); // scaled RGB values
- light->setSpecularColour(1, 1, 1); // scaled RGB values
- light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
- light->setType(Ogre::Light::LT_POINT);
+ // Add an optional point light source
+ Ogre::Light * light = ogre.getSceneManager()->createLight();
+ light->setDiffuseColour(1, 1, 1); // scaled RGB values
+ light->setSpecularColour(1, 1, 1); // scaled RGB values
+ light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
+ light->setType(Ogre::Light::LT_POINT);
#endif
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
-
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
-
- for (unsigned int iter=0; iter < 150; iter ++) {
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
+ vpFeaturePoint p[4], pd[4] ;
for (int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
}
+
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ for (unsigned int iter=0; iter < 150; iter ++) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
#if defined(VISP_HAVE_OGRE)
- // Update the scene from the new camera position
- ogre.display(background, cMo);
+ // Update the scene from the new camera position
+ ogre.display(background, cMo);
#endif
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpTime::wait( robot.getSamplingTime() * 1000);
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ vpTime::wait( robot.getSamplingTime() * 1000);
+ }
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+ catch(...) {
+ std::cout << "Catch an exception " << std::endl;
}
- task.kill();
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp
new file mode 100644
index 0000000..beef4d0
--- /dev/null
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp
@@ -0,0 +1,102 @@
+/*! \example tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp */
+#include <visp/vpFeatureBuilder.h>
+#include <visp/vpServo.h>
+#include <visp/vpSimulatorCamera.h>
+#include <visp/vpPlot.h>
+
+int main()
+{
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+
+ vpAdaptiveGain lambda(4, 0.4, 30);
+ task.setLambda(lambda);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
+
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+#ifdef VISP_HAVE_DISPLAY
+ vpPlot plotter(2, 250*2, 500, 100, 200, "Real time curves plotter");
+ plotter.setTitle(0, "Visual features error");
+ plotter.setTitle(1, "Camera velocities");
+
+ plotter.initGraph(0, 8);
+ plotter.initGraph(1, 6);
+
+ plotter.setLegend(0, 0, "x1");
+ plotter.setLegend(0, 1, "y1");
+ plotter.setLegend(0, 2, "x2");
+ plotter.setLegend(0, 3, "y2");
+ plotter.setLegend(0, 4, "x3");
+ plotter.setLegend(0, 5, "y3");
+ plotter.setLegend(0, 6, "x4");
+ plotter.setLegend(0, 7, "y4");
+
+ plotter.setLegend(1, 0, "v_x");
+ plotter.setLegend(1, 1, "v_y");
+ plotter.setLegend(1, 2, "v_z");
+ plotter.setLegend(1, 3, "w_x");
+ plotter.setLegend(1, 4, "w_y");
+ plotter.setLegend(1, 5, "w_z");
+#endif
+
+ unsigned int iter = 0;
+ while(1) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw(iter*robot.getSamplingTime());
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+#ifdef VISP_HAVE_DISPLAY
+ plotter.plot(0, iter, task.getError());
+ plotter.plot(1, iter, v);
+#endif
+ if (( task.getError() ).sumSquare() < 0.0001)
+ break;
+
+ iter++;
+ }
+ std::cout << "Convergence in " << iter << " iterations" << std::endl;
+
+ task.kill();
+
+#ifdef VISP_HAVE_DISPLAY
+ plotter.saveData(0, "error.dat");
+ plotter.saveData(1, "vc.dat");
+
+ vpDisplay::getClick(plotter.I);
+#endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+}
+
+
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-gain-adaptive.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-gain-adaptive.cpp
new file mode 100644
index 0000000..d3d0a7b
--- /dev/null
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter-gain-adaptive.cpp
@@ -0,0 +1,102 @@
+/*! \example tutorial-ibvs-4pts-plotter-gain-adaptive.cpp */
+#include <visp/vpFeatureBuilder.h>
+#include <visp/vpServo.h>
+#include <visp/vpSimulatorCamera.h>
+#include <visp/vpPlot.h>
+
+int main()
+{
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+
+ vpAdaptiveGain lambda(4, 0.4, 30);
+ task.setLambda(lambda);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
+
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+#ifdef VISP_HAVE_DISPLAY
+ vpPlot plotter(2, 250*2, 500, 100, 200, "Real time curves plotter");
+ plotter.setTitle(0, "Visual features error");
+ plotter.setTitle(1, "Camera velocities");
+
+ plotter.initGraph(0, 8);
+ plotter.initGraph(1, 6);
+
+ plotter.setLegend(0, 0, "x1");
+ plotter.setLegend(0, 1, "y1");
+ plotter.setLegend(0, 2, "x2");
+ plotter.setLegend(0, 3, "y2");
+ plotter.setLegend(0, 4, "x3");
+ plotter.setLegend(0, 5, "y3");
+ plotter.setLegend(0, 6, "x4");
+ plotter.setLegend(0, 7, "y4");
+
+ plotter.setLegend(1, 0, "v_x");
+ plotter.setLegend(1, 1, "v_y");
+ plotter.setLegend(1, 2, "v_z");
+ plotter.setLegend(1, 3, "w_x");
+ plotter.setLegend(1, 4, "w_y");
+ plotter.setLegend(1, 5, "w_z");
+#endif
+
+ unsigned int iter = 0;
+ while(1) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+#ifdef VISP_HAVE_DISPLAY
+ plotter.plot(0, iter, task.getError());
+ plotter.plot(1, iter, v);
+#endif
+ if (( task.getError() ).sumSquare() < 0.0001)
+ break;
+
+ iter++;
+ }
+ std::cout << "Convergence in " << iter << " iterations" << std::endl;
+
+ task.kill();
+
+#ifdef VISP_HAVE_DISPLAY
+ plotter.saveData(0, "error.dat");
+ plotter.saveData(1, "vc.dat");
+
+ vpDisplay::getClick(plotter.I);
+#endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
+}
+
+
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter.cpp
index 54afccf..df01839 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-plotter.cpp
@@ -6,84 +6,95 @@
int main()
{
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
-
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
-
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
#ifdef VISP_HAVE_DISPLAY
- vpPlot plotter(2, 250*2, 500, 100, 200, "Real time curves plotter");
- plotter.setTitle(0, "Visual features error");
- plotter.setTitle(1, "Camera velocities");
-
- plotter.initGraph(0, 8);
- plotter.initGraph(1, 6);
-
- plotter.setLegend(0, 0, "x1");
- plotter.setLegend(0, 1, "y1");
- plotter.setLegend(0, 2, "x2");
- plotter.setLegend(0, 3, "y2");
- plotter.setLegend(0, 4, "x3");
- plotter.setLegend(0, 5, "y3");
- plotter.setLegend(0, 6, "x4");
- plotter.setLegend(0, 7, "y4");
-
- plotter.setLegend(1, 0, "v_x");
- plotter.setLegend(1, 1, "v_y");
- plotter.setLegend(1, 2, "v_z");
- plotter.setLegend(1, 3, "w_x");
- plotter.setLegend(1, 4, "w_y");
- plotter.setLegend(1, 5, "w_z");
+ vpPlot plotter(2, 250*2, 500, 100, 200, "Real time curves plotter");
+ plotter.setTitle(0, "Visual features error");
+ plotter.setTitle(1, "Camera velocities");
+
+ plotter.initGraph(0, 8);
+ plotter.initGraph(1, 6);
+
+ plotter.setLegend(0, 0, "x1");
+ plotter.setLegend(0, 1, "y1");
+ plotter.setLegend(0, 2, "x2");
+ plotter.setLegend(0, 3, "y2");
+ plotter.setLegend(0, 4, "x3");
+ plotter.setLegend(0, 5, "y3");
+ plotter.setLegend(0, 6, "x4");
+ plotter.setLegend(0, 7, "y4");
+
+ plotter.setLegend(1, 0, "v_x");
+ plotter.setLegend(1, 1, "v_y");
+ plotter.setLegend(1, 2, "v_z");
+ plotter.setLegend(1, 3, "w_x");
+ plotter.setLegend(1, 4, "w_y");
+ plotter.setLegend(1, 5, "w_z");
#endif
- for (unsigned int iter=0; iter < 150; iter ++) {
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- }
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ unsigned int iter = 0;
+ while(1) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
#ifdef VISP_HAVE_DISPLAY
- plotter.plot(0, iter, task.getError());
- plotter.plot(1, iter, v);
+ plotter.plot(0, iter, task.getError());
+ plotter.plot(1, iter, v);
#endif
- }
+ if (( task.getError() ).sumSquare() < 0.0001)
+ break;
- task.kill();
+ iter++;
+ }
+ std::cout << "Convergence in " << iter << " iterations" << std::endl;
+
+ task.kill();
#ifdef VISP_HAVE_DISPLAY
- plotter.saveData(0, "error.dat");
- plotter.saveData(1, "vc.dat");
+ plotter.saveData(0, "error.dat");
+ plotter.saveData(1, "vc.dat");
- vpDisplay::getClick(plotter.I);
+ vpDisplay::getClick(plotter.I);
#endif
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-camera.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-camera.cpp
index e9e96e4..af31073 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-camera.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-camera.cpp
@@ -9,6 +9,9 @@
#include <visp/vpWireFrameSimulator.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
+ const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
+
+void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
{
static std::vector<vpImagePoint> traj[4];
@@ -28,85 +31,90 @@ void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &p
int main()
{
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
-
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
-
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
- vpImage<unsigned char> Iint(480, 640, 0) ;
- vpImage<unsigned char> Iext(480, 640, 0) ;
+ vpImage<unsigned char> Iint(480, 640, 0) ;
+ vpImage<unsigned char> Iext(480, 640, 0) ;
#if defined VISP_HAVE_X11
- vpDisplayX displayInt(Iint, 0, 0, "Internal view");
- vpDisplayX displayExt(Iext, 670, 0, "External view");
+ vpDisplayX displayInt(Iint, 0, 0, "Internal view");
+ vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_GDI
- vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
- vpDisplayGDI displayExt(Iext, 670, 0, "External view");
+ vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
+ vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
- vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
-
- vpWireFrameSimulator sim;
- sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
- sim.setCameraPositionRelObj(cMo);
- sim.setDesiredCameraPosition(cdMo);
- sim.setExternalCameraPosition(cextMo);
- sim.setInternalCameraParameters(cam);
- sim.setExternalCameraParameters(cam);
-
- while(1) {
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- }
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
+ vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
+ vpWireFrameSimulator sim;
+ sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
sim.setCameraPositionRelObj(cMo);
-
- vpDisplay::display(Iint) ;
- vpDisplay::display(Iext) ;
-
- sim.getInternalImage(Iint);
- sim.getExternalImage(Iext);
-
- display_trajectory(Iint, point, cMo, cam);
- vpDisplay::flush(Iint);
- vpDisplay::flush(Iext);
-
- // A click in the internal view to exit
- if (vpDisplay::getClick(Iint, false))
- break;
- vpTime::wait(1000*robot.getSamplingTime());
+ sim.setDesiredCameraPosition(cdMo);
+ sim.setExternalCameraPosition(cextMo);
+ sim.setInternalCameraParameters(cam);
+ sim.setExternalCameraParameters(cam);
+
+ while(1) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+
+ sim.setCameraPositionRelObj(cMo);
+
+ vpDisplay::display(Iint) ;
+ vpDisplay::display(Iext) ;
+
+ sim.getInternalImage(Iint);
+ sim.getExternalImage(Iext);
+
+ display_trajectory(Iint, point, cMo, cam);
+ vpDisplay::flush(Iint);
+ vpDisplay::flush(Iext);
+
+ // A click in the internal view to exit
+ if (vpDisplay::getClick(Iint, false))
+ break;
+ vpTime::wait(1000*robot.getSamplingTime());
+ }
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
- task.kill();
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-afma6.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
index 590aa30..ab10745 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-afma6.cpp
@@ -6,9 +6,12 @@
#include <visp/vpSimulatorAfma6.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
+ const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
+
+void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
{
- int thickness = 3;
+ unsigned int thickness = 3;
static std::vector<vpImagePoint> traj[4];
vpImagePoint cog;
for (unsigned int i=0; i<4; i++) {
@@ -27,10 +30,11 @@ void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &p
int main()
{
#if defined(VISP_HAVE_PTHREAD)
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(-0.15, 0.1, 1., vpMath::rad(-10), vpMath::rad(10), vpMath::rad(50));
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(-0.15, 0.1, 1., vpMath::rad(-10), vpMath::rad(10), vpMath::rad(50));
- /*
+ /*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame :
@@ -53,102 +57,106 @@ int main()
c_x <--
*/
- vpHomogeneousMatrix wMo(0, 0, 1., 0, 0, 0);
-
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
-
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
+ vpHomogeneousMatrix wMo(0, 0, 1., 0, 0, 0);
+
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
- vpSimulatorAfma6 robot(true);
- robot.setVerbose(true);
+ vpSimulatorAfma6 robot(true);
+ robot.setVerbose(true);
- // Get the default joint limits
- vpColVector qmin = robot.getJointMin();
- vpColVector qmax = robot.getJointMax();
+ // Get the default joint limits
+ vpColVector qmin = robot.getJointMin();
+ vpColVector qmax = robot.getJointMax();
- std::cout << "Robot joint limits: " << std::endl;
- for (unsigned int i=0; i< 3; i ++)
- std::cout << "Joint " << i << ": min " << qmin[i] << " max " << qmax[i] << " (m)" << std::endl;
- for (unsigned int i=3; i< qmin.size(); i ++)
- std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
+ std::cout << "Robot joint limits: " << std::endl;
+ for (unsigned int i=0; i< 3; i ++)
+ std::cout << "Joint " << i << ": min " << qmin[i] << " max " << qmax[i] << " (m)" << std::endl;
+ for (unsigned int i=3; i< qmin.size(); i ++)
+ std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
- robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
- robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
- robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
- robot.set_fMo(wMo);
- bool ret = true;
+ robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
+ robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
+ robot.set_fMo(wMo);
+ bool ret = true;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
- ret =
-#endif
- robot.initialiseCameraRelativeToObject(cMo);
- if (ret == false)
- return 0; // Not able to set the position
- robot.setDesiredCameraPosition(cdMo);
-
- vpImage<unsigned char> Iint(480, 640, 255);
+ ret =
+ #endif
+ robot.initialiseCameraRelativeToObject(cMo);
+ if (ret == false)
+ return 0; // Not able to set the position
+ robot.setDesiredCameraPosition(cdMo);
+
+ vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
- vpDisplayX displayInt(Iint, 700, 0, "Internal view");
+ vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
+ vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
- robot.setCameraParameters(cam);
-
- bool start = true;
- for ( ; ; )
- {
- cMo = robot.get_cMo();
-
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- }
+ vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
+ robot.setCameraParameters(cam);
+
+ bool start = true;
+ for ( ; ; )
+ {
+ cMo = robot.get_cMo();
+
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+
+ vpDisplay::display(Iint);
+ robot.getInternalView(Iint);
+ if (!start) {
+ display_trajectory(Iint, point, cMo, cam);
+ vpDisplay::displayCharString(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
+ }
+ vpDisplay::flush(Iint);
- vpDisplay::display(Iint);
- robot.getInternalView(Iint);
- if (!start) {
- display_trajectory(Iint, point, cMo, cam);
- vpDisplay::displayCharString(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
- }
- vpDisplay::flush(Iint);
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ // A click to exit
+ if (vpDisplay::getClick(Iint, false))
+ break;
- // A click to exit
- if (vpDisplay::getClick(Iint, false))
- break;
+ if (start) {
+ start = false;
+ v = 0;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ vpDisplay::displayCharString(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
+ vpDisplay::flush(Iint);
+ vpDisplay::getClick(Iint);
+ }
- if (start) {
- start = false;
- v = 0;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpDisplay::displayCharString(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
- vpDisplay::flush(Iint);
- vpDisplay::getClick(Iint);
+ vpTime::wait(1000*robot.getSamplingTime());
}
-
- vpTime::wait(1000*robot.getSamplingTime());
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
- task.kill();
#endif
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-viper.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-viper.cpp
index f0a3b37..3ad1147 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-viper.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-wireframe-robot-viper.cpp
@@ -6,9 +6,12 @@
#include <visp/vpSimulatorViper850.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
+ const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
+
+void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point,
const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
{
- int thickness = 3;
+ unsigned int thickness = 3;
static std::vector<vpImagePoint> traj[4];
vpImagePoint cog;
for (unsigned int i=0; i<4; i++) {
@@ -27,11 +30,11 @@ void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &p
int main()
{
#if defined(VISP_HAVE_PTHREAD)
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
-
- /*
+ /*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame : --> w_y
@@ -53,114 +56,118 @@ int main()
c_x <--
*/
- vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15),
- vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI/2.)));
-
- std::vector<vpPoint> point(4) ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
-
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
+ vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15),
+ vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI/2.)));
+
+ std::vector<vpPoint> point(4) ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
+ }
- vpSimulatorViper850 robot(true);
- robot.setVerbose(true);
-
- // Enlarge the default joint limits
- vpColVector qmin = robot.getJointMin();
- vpColVector qmax = robot.getJointMax();
- qmin[0] = -vpMath::rad(180);
- qmax[0] = vpMath::rad(180);
- qmax[1] = vpMath::rad(0);
- qmax[2] = vpMath::rad(270);
- qmin[4] = -vpMath::rad(180);
- qmax[4] = vpMath::rad(180);
-
- robot.setJointLimit(qmin, qmax);
-
- std::cout << "Robot joint limits: " << std::endl;
- for (unsigned int i=0; i< qmin.size(); i ++)
- std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
-
- robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
- robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
- robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
- robot.set_fMo(wMo);
- bool ret = true;
+ vpSimulatorViper850 robot(true);
+ robot.setVerbose(true);
+
+ // Enlarge the default joint limits
+ vpColVector qmin = robot.getJointMin();
+ vpColVector qmax = robot.getJointMax();
+ qmin[0] = -vpMath::rad(180);
+ qmax[0] = vpMath::rad(180);
+ qmax[1] = vpMath::rad(0);
+ qmax[2] = vpMath::rad(270);
+ qmin[4] = -vpMath::rad(180);
+ qmax[4] = vpMath::rad(180);
+
+ robot.setJointLimit(qmin, qmax);
+
+ std::cout << "Robot joint limits: " << std::endl;
+ for (unsigned int i=0; i< qmin.size(); i ++)
+ std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
+
+ robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
+ robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
+ robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
+ robot.set_fMo(wMo);
+ bool ret = true;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
- ret =
-#endif
- robot.initialiseCameraRelativeToObject(cMo);
- if (ret == false)
- return 0; // Not able to set the position
- robot.setDesiredCameraPosition(cdMo);
- // We modify the default external camera position
- robot.setExternalCameraPosition(vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2),
- vpRotationMatrix(vpRxyzVector(M_PI/2,0,0))));
-
- vpImage<unsigned char> Iint(480, 640, 255);
+ ret =
+ #endif
+ robot.initialiseCameraRelativeToObject(cMo);
+ if (ret == false)
+ return 0; // Not able to set the position
+ robot.setDesiredCameraPosition(cdMo);
+ // We modify the default external camera position
+ robot.setExternalCameraPosition(vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2),
+ vpRotationMatrix(vpRxyzVector(M_PI/2,0,0))));
+
+ vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
- vpDisplayX displayInt(Iint, 700, 0, "Internal view");
+ vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
- vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
+ vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#else
- std::cout << "No image viewer is available..." << std::endl;
+ std::cout << "No image viewer is available..." << std::endl;
#endif
- vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
- // Modify the camera parameters to match those used in the other simulations
- robot.setCameraParameters(cam);
-
- bool start = true;
- //for ( ; ; )
- for (int iter =0; iter < 275; iter ++)
- {
- cMo = robot.get_cMo();
-
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- }
+ vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
+ // Modify the camera parameters to match those used in the other simulations
+ robot.setCameraParameters(cam);
+
+ bool start = true;
+ //for ( ; ; )
+ for (int iter =0; iter < 275; iter ++)
+ {
+ cMo = robot.get_cMo();
+
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+
+ vpDisplay::display(Iint);
+ robot.getInternalView(Iint);
+ if (!start) {
+ display_trajectory(Iint, point, cMo, cam);
+ vpDisplay::displayCharString(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
+ }
+ vpDisplay::flush(Iint);
- vpDisplay::display(Iint);
- robot.getInternalView(Iint);
- if (!start) {
- display_trajectory(Iint, point, cMo, cam);
- vpDisplay::displayCharString(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
- }
- vpDisplay::flush(Iint);
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ // A click to exit
+ if (vpDisplay::getClick(Iint, false))
+ break;
- // A click to exit
- if (vpDisplay::getClick(Iint, false))
- break;
+ if (start) {
+ start = false;
+ v = 0;
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ vpDisplay::displayCharString(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
+ vpDisplay::flush(Iint);
+ //vpDisplay::getClick(Iint);
+ }
- if (start) {
- start = false;
- v = 0;
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- vpDisplay::displayCharString(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
- vpDisplay::flush(Iint);
- //vpDisplay::getClick(Iint);
+ vpTime::wait(1000*robot.getSamplingTime());
}
-
- vpTime::wait(1000*robot.getSamplingTime());
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
}
- task.kill();
#endif
}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts.cpp
index 0ecad7c..1d676a7 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts.cpp
@@ -5,47 +5,52 @@
int main()
{
- vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
- vpHomogeneousMatrix cMo(0.15, -0.1, 1.,
- vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
-
- vpPoint point[4] ;
- point[0].setWorldCoordinates(-0.1,-0.1, 0);
- point[1].setWorldCoordinates( 0.1,-0.1, 0);
- point[2].setWorldCoordinates( 0.1, 0.1, 0);
- point[3].setWorldCoordinates(-0.1, 0.1, 0);
-
- vpServo task ;
- task.setServo(vpServo::EYEINHAND_CAMERA);
- task.setInteractionMatrixType(vpServo::CURRENT);
- task.setLambda(0.5);
-
- vpFeaturePoint p[4], pd[4] ;
- for (int i = 0 ; i < 4 ; i++) {
- point[i].track(cdMo);
- vpFeatureBuilder::create(pd[i], point[i]);
- point[i].track(cMo);
- vpFeatureBuilder::create(p[i], point[i]);
- task.addFeature(p[i], pd[i]);
- }
-
- vpHomogeneousMatrix wMc, wMo;
- vpSimulatorCamera robot;
- robot.setSamplingTime(0.040);
- robot.getPosition(wMc);
- wMo = wMc * cMo;
-
- for (unsigned int iter=0; iter < 150; iter ++) {
- robot.getPosition(wMc);
- cMo = wMc.inverse() * wMo;
- for (int i = 0 ; i < 4 ; i++) {
+ try {
+ vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
+ vpHomogeneousMatrix cMo(0.15, -0.1, 1.,
+ vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
+
+ vpPoint point[4] ;
+ point[0].setWorldCoordinates(-0.1,-0.1, 0);
+ point[1].setWorldCoordinates( 0.1,-0.1, 0);
+ point[2].setWorldCoordinates( 0.1, 0.1, 0);
+ point[3].setWorldCoordinates(-0.1, 0.1, 0);
+
+ vpServo task ;
+ task.setServo(vpServo::EYEINHAND_CAMERA);
+ task.setInteractionMatrixType(vpServo::CURRENT);
+ task.setLambda(0.5);
+
+ vpFeaturePoint p[4], pd[4] ;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cdMo);
+ vpFeatureBuilder::create(pd[i], point[i]);
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
+ task.addFeature(p[i], pd[i]);
}
- vpColVector v = task.computeControlLaw();
- robot.setVelocity(vpRobot::CAMERA_FRAME, v);
- }
- task.kill();
+ vpHomogeneousMatrix wMc, wMo;
+ vpSimulatorCamera robot;
+ robot.setSamplingTime(0.040);
+ robot.getPosition(wMc);
+ wMo = wMc * cMo;
+
+ for (unsigned int iter=0; iter < 150; iter ++) {
+ robot.getPosition(wMc);
+ cMo = wMc.inverse() * wMo;
+ for (unsigned int i = 0 ; i < 4 ; i++) {
+ point[i].track(cMo);
+ vpFeatureBuilder::create(p[i], point[i]);
+ }
+ vpColVector v = task.computeControlLaw();
+ robot.setVelocity(vpRobot::CAMERA_FRAME, v);
+ }
+
+ task.kill();
+ }
+ catch(vpException e) {
+ std::cout << "Catch an exception: " << e << std::endl;
+ }
}
--
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/debian-science/packages/visp.git
More information about the debian-science-commits
mailing list