ViSP  2.8.0
tutorial-ibvs-4pts-wireframe-camera.cpp
#include <visp/vpFeatureBuilder.h>
#include <visp/vpServo.h>
#include <visp/vpSimulatorCamera.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpProjectionDisplay.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpWireFrameSimulator.h>
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()
{
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 (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");
#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 (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;
}
task.kill();
}