int main()
{
#if defined(VISP_HAVE_PTHREAD)
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));
/*
Top view of the world frame, the camera frame and the object frame
world, also robot base frame : --> w_y
|
\|/
w_x
object :
o_y
/|\
|
o_x <--
camera :
c_y
/|\
|
c_x <--
*/
vpHomogeneousMatrix wMo(vpTranslationVector(0.40, 0, -0.15),
vpRotationMatrix(vpRxyzVector(-M_PI, 0, M_PI/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 ;
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]);
}
vpSimulatorViper850 robot(true);
robot.setVerbose(true);
// Enlarge the default joint limits
vpColVector qmin = robot.getJointMin();
vpColVector qmax = robot.getJointMax();
qmin[0] = -vpMath::rad(180);
qmax[0] = vpMath::rad(180);
qmax[1] = vpMath::rad(0);
qmax[2] = vpMath::rad(270);
qmin[4] = -vpMath::rad(180);
qmax[4] = vpMath::rad(180);
robot.setJointLimit(qmin, qmax);
std::cout << "Robot joint limits: " << std::endl;
for (unsigned int i=0; i< qmin.size(); i ++)
std::cout << "Joint " << i << ": min " << vpMath::deg(qmin[i]) << " max " << vpMath::deg(qmax[i]) << " (deg)" << std::endl;
robot.init(vpViper850::TOOL_PTGREY_FLEA2_CAMERA, vpCameraParameters::perspectiveProjWithoutDistortion);
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
robot.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
robot.set_fMo(wMo);
bool ret = true;
#if VISP_VERSION_INT > VP_VERSION_INT(2,7,0)
ret =
#endif
robot.initialiseCameraRelativeToObject(cMo);
if (ret == false)
return 0; // Not able to set the position
robot.setDesiredCameraPosition(cdMo);
// We modify the default external camera position
robot.setExternalCameraPosition(vpHomogeneousMatrix(vpTranslationVector(-0.4, 0.4, 2),
vpRotationMatrix(vpRxyzVector(M_PI/2,0,0))));
vpImage<unsigned char> Iint(480, 640, 255);
#if defined(VISP_HAVE_X11)
vpDisplayX displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI displayInt(Iint, 700, 0, "Internal view");
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV displayInt(Iint, 700, 0, "Internal view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpCameraParameters cam(840, 840, Iint.getWidth()/2, Iint.getHeight()/2);
// Modify the camera parameters to match those used in the other simulations
robot.setCameraParameters(cam);
bool start = true;
//for ( ; ; )
for (int iter =0; iter < 275; iter ++)
{
cMo = robot.get_cMo();
for (unsigned int i = 0 ; i < 4 ; i++) {
point[i].track(cMo);
vpFeatureBuilder::create(p[i], point[i]);
}
vpDisplay::display(Iint);
robot.getInternalView(Iint);
if (!start) {
display_trajectory(Iint, point, cMo, cam);
vpDisplay::displayText(Iint, 40, 120, "Click to stop the servo...", vpColor::red);
}
vpDisplay::flush(Iint);
vpColVector v = task.computeControlLaw();
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
// A click to exit
if (vpDisplay::getClick(Iint, false))
break;
if (start) {
start = false;
v = 0;
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::displayText(Iint, 40, 120, "Click to start the servo...", vpColor::blue);
vpDisplay::flush(Iint);
//vpDisplay::getClick(Iint);
}
vpTime::wait(1000*robot.getSamplingTime());
}
task.kill();
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif
}
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;
}
}
