tutorial-ibvs-4pts.cpp

#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));

  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;

  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);
  }

  task.kill();
}