#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpProjectionDisplay.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/robot/vpWireFrameSimulator.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
{
static std::vector<vpImagePoint> traj[4];
for (unsigned int i = 0; i < 4; i++) {
point[i].project(cMo);
traj[i].push_back(cog);
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 1; j < traj[i].size(); j++) {
}
}
}
int main()
{
try {
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);
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cdMo);
point[i].track(cMo);
}
robot.setSamplingTime(0.040);
wMo = wMc * cMo;
#if defined VISP_HAVE_X11
vpDisplayX displayInt(Iint, 0, 0,
"Internal view");
vpDisplayX displayExt(Iext, 670, 0,
"External view");
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
while (1) {
robot.getPosition(wMc);
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cMo);
}
display_trajectory(Iint, point, cMo, cam);
break;
}
std::cout << "Catch an exception: " << e << std::endl;
}
}
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
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...
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)
error that can be emited by ViSP classes.
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...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double rad(double deg)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines the simplest robot: a free flying camera.
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
void getInternalImage(vpImage< unsigned char > &I)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
void setInternalCameraParameters(const vpCameraParameters &cam)
void setExternalCameraParameters(const vpCameraParameters &cam)
void getExternalImage(vpImage< unsigned char > &I)
VISP_EXPORT int wait(double t0, double t)