tutorial-ibvs-4pts-ogre.cpp

#include <visp/vpAROgre.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorCamera.h>

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));

  // 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);

  // 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);

  // 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);
#endif

  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++) {
      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);
#endif
    vpColVector v = task.computeControlLaw();
    robot.setVelocity(vpRobot::CAMERA_FRAME, v);
    vpTime::wait( robot.getSamplingTime() * 1000);
  }
  task.kill();
}