Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
tutorial-ibvs-4pts-display.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/visual_features/vpFeatureBuilder.h>
8 #include <visp3/vs/vpServo.h>
9 #include <visp3/vs/vpServoDisplay.h>
10 
11 void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
12  const vpCameraParameters &cam);
13 
14 void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
15  const vpCameraParameters &cam)
16 {
17  static std::vector<vpImagePoint> traj[4];
18  vpImagePoint cog;
19  for (unsigned int i = 0; i < 4; i++) {
20  // Project the point at the given camera position
21  point[i].project(cMo);
22  vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
23  traj[i].push_back(cog);
24  }
25  for (unsigned int i = 0; i < 4; i++) {
26  for (unsigned int j = 1; j < traj[i].size(); j++) {
27  vpDisplay::displayLine(I, traj[i][j - 1], traj[i][j], vpColor::green);
28  }
29  }
30 }
31 
32 int main()
33 {
34  try {
35  vpHomogeneousMatrix cdMo(0, 0, 0.75, 0, 0, 0);
36  vpHomogeneousMatrix cMo(0.15, -0.1, 1., vpMath::rad(10), vpMath::rad(-10), vpMath::rad(50));
37 
38  std::vector<vpPoint> point;
39  point.push_back(vpPoint(-0.1, -0.1, 0));
40  point.push_back(vpPoint(0.1, -0.1, 0));
41  point.push_back(vpPoint(0.1, 0.1, 0));
42  point.push_back(vpPoint(-0.1, 0.1, 0));
43 
44  vpServo task;
47  task.setLambda(0.5);
48 
49  vpFeaturePoint p[4], pd[4];
50  for (unsigned int i = 0; i < 4; i++) {
51  point[i].track(cdMo);
52  vpFeatureBuilder::create(pd[i], point[i]);
53  point[i].track(cMo);
54  vpFeatureBuilder::create(p[i], point[i]);
55  task.addFeature(p[i], pd[i]);
56  }
57 
58  vpHomogeneousMatrix wMc, wMo;
59  vpSimulatorCamera robot;
60  robot.setSamplingTime(0.040);
61  robot.getPosition(wMc);
62  wMo = wMc * cMo;
63 
64  vpImage<unsigned char> Iint(480, 640, 255);
65  vpImage<unsigned char> Iext(480, 640, 255);
66 #if defined(VISP_HAVE_X11)
67  vpDisplayX displayInt(Iint, 0, 0, "Internal view");
68  vpDisplayX displayExt(Iext, 670, 0, "External view");
69 #elif defined(VISP_HAVE_GDI)
70  vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
71  vpDisplayGDI displayExt(Iext, 670, 0, "External view");
72 #elif defined(VISP_HAVE_OPENCV)
73  vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
74  vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
75 #else
76  std::cout << "No image viewer is available..." << std::endl;
77 #endif
78 
79 #if defined(VISP_HAVE_DISPLAY)
80  vpProjectionDisplay externalview;
81  for (unsigned int i = 0; i < 4; i++)
82  externalview.insert(point[i]);
83 #endif
84  vpCameraParameters cam(840, 840, Iint.getWidth() / 2, Iint.getHeight() / 2);
85  vpHomogeneousMatrix cextMo(0, 0, 3, 0, 0, 0);
86 
87  while (1) {
88  robot.getPosition(wMc);
89  cMo = wMc.inverse() * wMo;
90  for (unsigned int i = 0; i < 4; i++) {
91  point[i].track(cMo);
92  vpFeatureBuilder::create(p[i], point[i]);
93  }
94  vpColVector v = task.computeControlLaw();
96 
97  vpDisplay::display(Iint);
98  vpDisplay::display(Iext);
99  display_trajectory(Iint, point, cMo, cam);
100 
102 #if defined(VISP_HAVE_DISPLAY)
103  externalview.display(Iext, cextMo, cMo, cam, vpColor::red, true);
104 #endif
105  vpDisplay::flush(Iint);
106  vpDisplay::flush(Iext);
107 
108  // A click to exit
109  if (vpDisplay::getClick(Iint, false) || vpDisplay::getClick(Iext, false))
110  break;
111 
112  vpTime::wait(robot.getSamplingTime() * 1000);
113  }
114  } catch (const vpException &e) {
115  std::cout << "Catch an exception: " << e << std::endl;
116  }
117 }
void display(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cextMo, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color, const bool &displayTraj=false, unsigned int thickness=1)
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:490
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:134
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...
vpHomogeneousMatrix getPosition() const
static const vpColor green
Definition: vpColor.h:220
static void flush(const vpImage< unsigned char > &I)
static const vpColor red
Definition: vpColor.h:217
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
virtual void setSamplingTime(const double &delta_t)
vpColVector computeControlLaw()
Definition: vpServo.cpp:929
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:404
void insert(vpForwardProjection &fp)
double getSamplingTime() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:567
static double rad(double deg)
Definition: vpMath.h:110
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
interface with the image for feature display
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:218
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)