Visual Servoing Platform version 3.5.0
tutorial-ibvs-4pts-wireframe-camera.cpp
1
2#include <visp3/gui/vpDisplayGDI.h>
3#include <visp3/gui/vpDisplayOpenCV.h>
4#include <visp3/gui/vpDisplayX.h>
5#include <visp3/gui/vpProjectionDisplay.h>
6#include <visp3/robot/vpSimulatorCamera.h>
7#include <visp3/robot/vpWireFrameSimulator.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, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
13 const vpCameraParameters &cam);
14
15void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
16 const vpCameraParameters &cam)
17{
18 static std::vector<vpImagePoint> traj[4];
19 vpImagePoint cog;
20 for (unsigned int i = 0; i < 4; i++) {
21 // Project the point at the given camera position
22 point[i].project(cMo);
23 vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
24 traj[i].push_back(cog);
25 }
26 for (unsigned int i = 0; i < 4; i++) {
27 for (unsigned int j = 1; j < traj[i].size(); j++) {
28 vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green);
29 }
30 }
31}
32
33int main()
34{
35 try {
36 vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
37 vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
38
39 std::vector<vpPoint> point(4);
40 point[0].setWorldCoordinates(-0.1, -0.1, 0);
41 point[1].setWorldCoordinates(0.1, -0.1, 0);
42 point[2].setWorldCoordinates(0.1, 0.1, 0);
43 point[3].setWorldCoordinates(-0.1, 0.1, 0);
44
45 vpServo task;
48 task.setLambda(0.5);
49
50 vpFeaturePoint p[4], pd[4];
51 for (unsigned int i = 0; i < 4; i++) {
52 point[i].track(cdMo);
53 vpFeatureBuilder::create(pd[i], point[i]);
54 point[i].track(cMo);
55 vpFeatureBuilder::create(p[i], point[i]);
56 task.addFeature(p[i], pd[i]);
57 }
58
59 vpHomogeneousMatrix wMc, wMo;
61 robot.setSamplingTime(0.040);
62 robot.getPosition(wMc);
63 wMo = wMc * cMo;
64
65 vpImage<unsigned char> Iint(480, 640, 0);
66 vpImage<unsigned char> Iext(480, 640, 0);
67#if defined VISP_HAVE_X11
68 vpDisplayX displayInt(Iint, 0, 0, "Internal view");
69 vpDisplayX displayExt(Iext, 670, 0, "External view");
70#elif defined VISP_HAVE_GDI
71 vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
72 vpDisplayGDI displayExt(Iext, 670, 0, "External view");
73#elif defined VISP_HAVE_OPENCV
74 vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
75 vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
76#else
77 std::cout << "No image viewer is available..." << std::endl;
78#endif
79
80 vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
81 vpHomogeneousMatrix cextMo(0, 0, 3, 0, 0, 0);
82
87 sim.setExternalCameraPosition(cextMo);
90
91 while (1) {
92 robot.getPosition(wMc);
93 cMo = wMc.inverse() * wMo;
94 for (unsigned int i = 0; i < 4; i++) {
95 point[i].track(cMo);
96 vpFeatureBuilder::create(p[i], point[i]);
97 }
100
102
103 vpDisplay::display(Iint);
104 vpDisplay::display(Iext);
105
106 sim.getInternalImage(Iint);
107 sim.getExternalImage(Iext);
108
109 display_trajectory(Iint, point, cMo, cam);
110 vpDisplay::flush(Iint);
111 vpDisplay::flush(Iext);
112
113 // A click in the internal view to exit
114 if (vpDisplay::getClick(Iint, false))
115 break;
116 vpTime::wait(1000 * robot.getSamplingTime());
117 }
118 } catch (const vpException &e) {
119 std::cout << "Catch an exception: " << e << std::endl;
120 }
121}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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)
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...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static double rad(double deg)
Definition: vpMath.h:110
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ CAMERA_FRAME
Definition: vpRobot.h:82
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.
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void getInternalImage(vpImage< unsigned char > &I)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
void setInternalCameraParameters(const vpCameraParameters &cam)
void setExternalCameraParameters(const vpCameraParameters &cam)
void getExternalImage(vpImage< unsigned char > &I)
VISP_EXPORT int wait(double t0, double t)