int main()
{
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));
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);
vpServo task ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4] ;
for (unsigned 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;
vpImage<unsigned char> Iint(480, 640, 0) ;
vpImage<unsigned char> Iext(480, 640, 0) ;
#if defined VISP_HAVE_X11
vpDisplayX displayInt(Iint, 0, 0, "Internal view");
vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_GDI
vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
vpWireFrameSimulator sim;
sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
sim.setCameraPositionRelObj(cMo);
sim.setDesiredCameraPosition(cdMo);
sim.setExternalCameraPosition(cextMo);
sim.setInternalCameraParameters(cam);
sim.setExternalCameraParameters(cam);
while(1) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
for (unsigned 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);
sim.setCameraPositionRelObj(cMo);
vpDisplay::display(Iint) ;
vpDisplay::display(Iext) ;
sim.getInternalImage(Iint);
sim.getExternalImage(Iext);
display_trajectory(Iint, point, cMo, cam);
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
// A click in the internal view to exit
if (vpDisplay::getClick(Iint, false))
break;
vpTime::wait(1000*robot.getSamplingTime());
}
task.kill();
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
int main()
{
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));
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 ;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpFeaturePoint p[4], pd[4] ;
for (unsigned 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;
vpImage<unsigned char> Iint(480, 640, 255) ;
vpImage<unsigned char> Iext(480, 640, 255) ;
#if defined(VISP_HAVE_X11)
vpDisplayX displayInt(Iint, 0, 0, "Internal view");
vpDisplayX displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI displayInt(Iint, 0, 0, "Internal view");
vpDisplayGDI displayExt(Iext, 670, 0, "External view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV displayInt(Iint, 0, 0, "Internal view");
vpDisplayOpenCV displayExt(Iext, 670, 0, "External view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
#if defined(VISP_HAVE_DISPLAY)
vpProjectionDisplay externalview;
for (unsigned int i = 0 ; i < 4 ; i++)
externalview.insert(point[i]) ;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
vpHomogeneousMatrix cextMo(0,0,3, 0,0,0);
while(1) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
for (unsigned 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);
vpDisplay::display(Iint) ;
vpDisplay::display(Iext) ;
display_trajectory(Iint, point, cMo, cam);
vpServoDisplay::display(task, cam, Iint, vpColor::green, vpColor::red);
#if defined(VISP_HAVE_DISPLAY)
externalview.display(Iext, cextMo, cMo, cam, vpColor::red, true);
#endif
vpDisplay::flush(Iint);
vpDisplay::flush(Iext);
// A click to exit
if (vpDisplay::getClick(Iint, false) || vpDisplay::getClick(Iext, false))
break;
vpTime::wait( robot.getSamplingTime() * 1000);
}
task.kill();
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
