Visual Servoing Platform  version 3.2.0
tutorial-ibvs-4pts-wireframe-camera.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/robot/vpWireFrameSimulator.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/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];
for (unsigned int i = 0; i < 4; i++) {
// Project the point at the given camera position
point[i].project(cMo);
vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
traj[i].push_back(cog);
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 1; j < traj[i].size(); j++) {
vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green);
}
}
}
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));
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.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]);
}
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
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");
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
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);
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]);
}
sim.getInternalImage(Iint);
sim.getExternalImage(Iext);
display_trajectory(Iint, point, cMo, cam);
// A click in the internal view to exit
if (vpDisplay::getClick(Iint, false))
break;
vpTime::wait(1000 * robot.getSamplingTime());
}
task.kill();
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
vpWireFrameSimulator::setExternalCameraPosition
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
Definition: vpWireFrameSimulator.h:547
vpWireFrameSimulator::D_STANDARD
Definition: vpWireFrameSimulator.h:212
vpServo::kill
void kill()
Definition: vpServo.cpp:191
vpTime::wait
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:149
vpServo::CURRENT
Definition: vpServo.h:185
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:101
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpServo::setLambda
void setLambda(double c)
Definition: vpServo.h:405
vpWireFrameSimulator::PLATE
Definition: vpWireFrameSimulator.h:165
vpRobotSimulator::getSamplingTime
double getSamplingTime() const
Definition: vpRobotSimulator.h:81
vpWireFrameSimulator::getExternalImage
void getExternalImage(vpImage< unsigned char > &I)
Definition: vpWireFrameSimulator.cpp:1074
vpWireFrameSimulator
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
Definition: vpWireFrameSimulator.h:154
vpServo::EYEINHAND_CAMERA
Definition: vpServo.h:158
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpFeatureBuilder::create
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Definition: vpFeatureBuilderPoint.cpp:92
vpWireFrameSimulator::setDesiredCameraPosition
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
Definition: vpWireFrameSimulator.h:514
vpSimulatorCamera
Class that defines the simplest robot: a free flying camera.
Definition: vpSimulatorCamera.h:106
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpWireFrameSimulator::setInternalCameraParameters
void setInternalCameraParameters(const vpCameraParameters &cam)
Definition: vpWireFrameSimulator.h:567
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpServo::setServo
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:222
vpWireFrameSimulator::initScene
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
Definition: vpWireFrameSimulator.cpp:261
vpSimulatorCamera::getPosition
vpHomogeneousMatrix getPosition() const
Definition: vpSimulatorCamera.cpp:118
vpColor::green
static const vpColor green
Definition: vpColor.h:182
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:676
vpWireFrameSimulator::setCameraPositionRelObj
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
Definition: vpWireFrameSimulator.h:457
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:177
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpWireFrameSimulator::setExternalCameraParameters
void setExternalCameraParameters(const vpCameraParameters &cam)
Definition: vpWireFrameSimulator.h:536
vpRobot::CAMERA_FRAME
Definition: vpRobot.h:81
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:180
vpServo::setInteractionMatrixType
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:573
vpServo
Definition: vpServo.h:149
vpServo::computeControlLaw
vpColVector computeControlLaw()
Definition: vpServo.cpp:934
vpServo::addFeature
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:496
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpRobotSimulator::setSamplingTime
virtual void setSamplingTime(const double &delta_t)
Definition: vpRobotSimulator.h:90
vpHomogeneousMatrix::inverse
vpHomogeneousMatrix inverse() const
Definition: vpHomogeneousMatrix.cpp:642
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpDisplay::displayLine
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
Definition: vpDisplay_uchar.cpp:391
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpSimulatorCamera::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpSimulatorCamera.cpp:197
vpMeterPixelConversion::convertPoint
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Definition: vpMeterPixelConversion.h:106
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpWireFrameSimulator::getInternalImage
void getInternalImage(vpImage< unsigned char > &I)
Definition: vpWireFrameSimulator.cpp:1000
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:238