tutorial-ibvs-4pts-plotter.cpp

#include <visp/vpFeatureBuilder.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorCamera.h>
#include <visp/vpPlot.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));

  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;

#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

  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);

#ifdef VISP_HAVE_DISPLAY
    plotter.plot(0, iter, task.getError());
    plotter.plot(1, iter, v);
#endif
  }

  task.kill();

#ifdef VISP_HAVE_DISPLAY
  plotter.saveData(0, "error.dat");
  plotter.saveData(1, "vc.dat");

  vpDisplay::getClick(plotter.I);
#endif
}