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/*! \example tutorial-ibvs-4pts-display.cpp */
#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/visual_features/vpFeatureBuilder.h>
#include <visp3/vs/vpServo.h>
#include <visp3/vs/vpServoDisplay.h>
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam);
void display_trajectory(const vpImage<unsigned char> &I, std::vector<vpPoint> &point, const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam)
{
static std::vector<vpImagePoint> traj[4];
vpImagePoint cog;
for (unsigned int i = 0; i < 4; i++) {
// Project the point at the given camera position
point[i].project(cMo);
vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), cog);
traj[i].push_back(cog);
}
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()
{
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(HAVE_OPENCV_HIGHGUI)
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);
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
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