Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
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 
12 void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
13  const vpCameraParameters &cam);
14 
15 void 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 
33 int 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;
60  vpSimulatorCamera robot;
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 
85  sim.setCameraPositionRelObj(cMo);
86  sim.setDesiredCameraPosition(cdMo);
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  }
98  vpColVector v = task.computeControlLaw();
100 
101  sim.setCameraPositionRelObj(cMo);
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  task.kill();
119  } catch (const vpException &e) {
120  std::cout << "Catch an exception: " << e << std::endl;
121  }
122 }
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:497
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
vpHomogeneousMatrix getPosition() const
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
static const vpColor green
Definition: vpColor.h:182
static void flush(const vpImage< unsigned char > &I)
virtual void setSamplingTime(const double &delta_t)
void kill()
Definition: vpServo.cpp:192
vpColVector computeControlLaw()
Definition: vpServo.cpp:935
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
void setLambda(double c)
Definition: vpServo.h:406
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
double getSamplingTime() const
void getExternalImage(vpImage< unsigned char > &I)
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:574
static double rad(double deg)
Definition: vpMath.h:108
void setExternalCameraParameters(const vpCameraParameters &cam)
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void getInternalImage(vpImage< unsigned char > &I)
unsigned int getHeight() const
Definition: vpImage.h:186
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void setInternalCameraParameters(const vpCameraParameters &cam)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
unsigned int getWidth() const
Definition: vpImage.h:244
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:223
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)