Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpImageSimulator.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot);
vpVirtualGrabber(const std::string &filename, const vpCameraParameters &cam) : sim_(), target_(), cam_()
// The target is a square 20cm by 2cm square
// Initialise the 3D coordinates of the target corners
for (int i = 0; i < 4; i++)
// Top left Top right Bottom right Bottom left
X_[0][0] = -0.1;
X_[1][0] = 0.1;
X_[2][0] = 0.1;
X_[3][0] = -0.1;
X_[0][1] = -0.1;
X_[1][1] = -0.1;
X_[2][1] = 0.1;
X_[3][1] = 0.1;
X_[0][2] = 0;
X_[1][2] = 0;
X_[2][2] = 0;
X_[3][2] = 0;
vpImageIo::read(target_, filename);
// Initialize the image simulator
cam_ = cam;
sim_.init(target_, X_);
sim_.getImage(I, cam_);
vpColVector X_[4]; // 3D coordinates of the target corners
vpImage<unsigned char> target_; // image of the target
void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot)
static std::vector<vpImagePoint> traj[4];
for (unsigned int i = 0; i < 4; i++) {
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()
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
try {
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));
vpImage<unsigned char> I(480, 640, 255);
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.1, -0.1, 0));
point.push_back(vpPoint(0.1, -0.1, 0));
point.push_back(vpPoint(0.1, 0.1, 0));
point.push_back(vpPoint(-0.1, 0.1, 0));
vpServo task;
vpVirtualGrabber g("./target_square.pgm", cam);
g.acquire(I, cMo);
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Current camera view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, 0, 0, "Current camera view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d(I, 0, 0, "Current camera view");
std::cout << "No image viewer is available..." << std::endl;
vpDisplay::displayText(I, 10, 10, "Click in the 4 dots to initialise the tracking and start the servo",
vpFeaturePoint p[4], pd[4];
std::vector<vpDot2> dot(4);
for (unsigned int i = 0; i < 4; i++) {
vpFeatureBuilder::create(pd[i], point[i]);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
task.addFeature(p[i], pd[i]);
wMo = wMc * cMo;
for (;;) {
cMo = wMc.inverse() * wMo;
g.acquire(I, cMo);
for (unsigned int i = 0; i < 4; i++) {
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
point[i].changeFrame(cMo, cP);
display_trajectory(I, dot);
if (vpDisplay::getClick(I, false))
vpTime::wait(robot.getSamplingTime() * 1000);
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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 flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void set_Z(double Z)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:148
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void getImage(vpImage< unsigned char > &I, const vpCameraParameters &cam)
void init(const vpImage< unsigned char > &I, vpColVector *X)
void setCleanPreviousImage(const bool &clean, const vpColor &color=vpColor::white)
void setInterpolationType(const vpInterpolationType interplt)
void setCameraPosition(const vpHomogeneousMatrix &cMt)
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static double rad(double deg)
Definition: vpMath.h:117
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Definition: vpRobot.h:83
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Definition: vpServo.cpp:564
Definition: vpServo.h:155
void setLambda(double c)
Definition: vpServo.h:404
void setServo(const vpServoType &servo_type)
Definition: vpServo.cpp:215
vpColVector computeControlLaw()
Definition: vpServo.cpp:926
Definition: vpServo.h:182
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Definition: vpServo.cpp:487
Class that defines the simplest robot: a free flying camera.
vpVirtualGrabber(const std::string &filename, const vpCameraParameters &cam)
void acquire(vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
VISP_EXPORT int wait(double t0, double t)