Visual Servoing Platform version 3.5.0
tutorial-ibvs-4pts-image-tracking.cpp
1
2#include <visp3/gui/vpDisplayGDI.h>
3#include <visp3/gui/vpDisplayOpenCV.h>
4#include <visp3/gui/vpDisplayX.h>
5#include <visp3/io/vpImageIo.h>
6#include <visp3/robot/vpImageSimulator.h>
7#include <visp3/robot/vpSimulatorCamera.h>
8#include <visp3/visual_features/vpFeatureBuilder.h>
9#include <visp3/vs/vpServo.h>
10#include <visp3/vs/vpServoDisplay.h>
11
12void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot);
13
20{
21public:
27 vpVirtualGrabber(const std::string &filename, const vpCameraParameters &cam) : sim_(), target_(), cam_()
28 {
29 // The target is a square 20cm by 2cm square
30 // Initialise the 3D coordinates of the target corners
31 for (int i = 0; i < 4; i++)
32 X_[i].resize(3);
33 // Top left Top right Bottom right Bottom left
34 X_[0][0] = -0.1;
35 X_[1][0] = 0.1;
36 X_[2][0] = 0.1;
37 X_[3][0] = -0.1;
38 X_[0][1] = -0.1;
39 X_[1][1] = -0.1;
40 X_[2][1] = 0.1;
41 X_[3][1] = 0.1;
42 X_[0][2] = 0;
43 X_[1][2] = 0;
44 X_[2][2] = 0;
45 X_[3][2] = 0;
46
47 vpImageIo::read(target_, filename);
48
49 // Initialize the image simulator
50 cam_ = cam;
52 sim_.init(target_, X_);
53 }
54
64 {
65 sim_.setCleanPreviousImage(true);
66 sim_.setCameraPosition(cMo);
67 sim_.getImage(I, cam_);
68 }
69
70private:
71 vpColVector X_[4]; // 3D coordinates of the target corners
73 vpImage<unsigned char> target_; // image of the target
75};
76
77void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot)
78{
79 static std::vector<vpImagePoint> traj[4];
80 for (unsigned int i = 0; i < 4; i++) {
81 traj[i].push_back(dot[i].getCog());
82 }
83 for (unsigned int i = 0; i < 4; i++) {
84 for (unsigned int j = 1; j < traj[i].size(); j++) {
85 vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green);
86 }
87 }
88}
89
90int main()
91{
92#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
93 try {
94 vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
95 vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
96
97 vpImage<unsigned char> I(480, 640, 255);
98 vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
99
100 std::vector<vpPoint> point;
101 point.push_back(vpPoint(-0.1, -0.1, 0));
102 point.push_back(vpPoint(0.1, -0.1, 0));
103 point.push_back(vpPoint(0.1, 0.1, 0));
104 point.push_back(vpPoint(-0.1, 0.1, 0));
105
106 vpServo task;
109 task.setLambda(0.5);
110
111 vpVirtualGrabber g("./target_square.pgm", cam);
112 g.acquire(I, cMo);
113
114#if defined(VISP_HAVE_X11)
115 vpDisplayX d(I, 0, 0, "Current camera view");
116#elif defined(VISP_HAVE_GDI)
117 vpDisplayGDI d(I, 0, 0, "Current camera view");
118#elif defined(VISP_HAVE_OPENCV)
119 vpDisplayOpenCV d(I, 0, 0, "Current camera view");
120#else
121 std::cout << "No image viewer is available..." << std::endl;
122#endif
123
125 vpDisplay::displayText(I, 10, 10, "Click in the 4 dots to initialise the tracking and start the servo",
128
129 vpFeaturePoint p[4], pd[4];
130 std::vector<vpDot2> dot(4);
131
132 for (unsigned int i = 0; i < 4; i++) {
133 point[i].track(cdMo);
134 vpFeatureBuilder::create(pd[i], point[i]);
135
136 dot[i].setGraphics(true);
137 dot[i].initTracking(I);
139 vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
140
141 task.addFeature(p[i], pd[i]);
142 }
143
144 vpHomogeneousMatrix wMc, wMo;
145 vpSimulatorCamera robot;
146 robot.setSamplingTime(0.040);
147 robot.getPosition(wMc);
148 wMo = wMc * cMo;
149
150 for (;;) {
151 robot.getPosition(wMc);
152 cMo = wMc.inverse() * wMo;
153
154 g.acquire(I, cMo);
155
157
158 for (unsigned int i = 0; i < 4; i++) {
159 dot[i].track(I);
160 vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
161
162 vpColVector cP;
163 point[i].changeFrame(cMo, cP);
164 p[i].set_Z(cP[2]);
165 }
166
168
169 display_trajectory(I, dot);
172
174 if (vpDisplay::getClick(I, false))
175 break;
176
177 vpTime::wait(robot.getSamplingTime() * 1000);
178 }
179 } catch (const vpException &e) {
180 std::cout << "Catch an exception: " << e << std::endl;
181 }
182#endif
183}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void set_Z(double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void getImage(vpImage< unsigned char > &I, const vpCameraParameters &cam)
void init(const vpImage< unsigned char > &I, vpColVector *X)
void setCleanPreviousImage(const bool &clean, const vpColor &color=vpColor::white)
void setInterpolationType(const vpInterpolationType interplt)
void setCameraPosition(const vpHomogeneousMatrix &cMt)
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static double rad(double deg)
Definition: vpMath.h:110
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
@ EYEINHAND_CAMERA
Definition: vpServo.h:155
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
@ CURRENT
Definition: vpServo.h:182
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:490
Class that defines the simplest robot: a free flying camera.
vpVirtualGrabber(const std::string &filename, const vpCameraParameters &cam)
void acquire(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
VISP_EXPORT int wait(double t0, double t)