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/*! \example tutorial-ibvs-4pts-image-tracking.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.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>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
/*!
Given an image of a target, this class provided virtual
framegrabbing capabilities in order to retrieve an image of a
virtual camera depending on its 3D position.
*/
class vpVirtualGrabber
{
public:
/*!
Initialize the grabber with a target.
\param filename : File name corresponding to an image of a target.
\param cam : Intrinsic camera parameters.
*/
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++)
X_[i].resize(3);
// 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_.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION);
sim_.init(target_, X_);
}
/*!
Compute the image of the virtual camera from its position with
respect to the object.
\param I : Image provided by the virtual camera.
\param cMo : Pose of the camera with respect to the object frame.
*/
void acquire(vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo)
{
sim_.setCleanPreviousImage(true);
sim_.setCameraPosition(cMo);
sim_.getImage(I, cam_);
}
private:
vpColVector X_[4]; // 3D coordinates of the target corners
vpImageSimulator sim_;
vpImage<unsigned char> target_; // image of the target
vpCameraParameters cam_;
};
void display_trajectory(const vpImage<unsigned char> &I, const std::vector<vpDot2> &dot)
{
VP_ATTRIBUTE_NO_DESTROY static std::vector<vpImagePoint> traj[4];
for (unsigned int i = 0; i < 4; i++) {
traj[i].push_back(dot[i].getCog());
}
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_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
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;
task.setServo(vpServo::EYEINHAND_CAMERA);
task.setInteractionMatrixType(vpServo::CURRENT);
task.setLambda(0.5);
vpVirtualGrabber g("./target_square.jpg", cam);
g.acquire(I, cMo);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I, 0, 0, "Current camera view");
#else
display = vpDisplayFactory::allocateDisplay(I, 0, 0, "Current camera view");
#endif
vpDisplay::display(I);
vpDisplay::displayText(I, 10, 10, "Click in the 4 dots to initialise the tracking and start the servo",
vpColor::red);
vpDisplay::flush(I);
vpFeaturePoint p[4], pd[4];
std::vector<vpDot2> dot(4);
for (unsigned int i = 0; i < 4; i++) {
point[i].track(cdMo);
vpFeatureBuilder::create(pd[i], point[i]);
dot[i].setGraphics(true);
dot[i].initTracking(I);
vpDisplay::flush(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
task.addFeature(p[i], pd[i]);
}
vpHomogeneousMatrix wMc, wMo;
vpSimulatorCamera robot;
robot.setSamplingTime(0.040);
robot.getPosition(wMc);
wMo = wMc * cMo;
for (;;) {
robot.getPosition(wMc);
cMo = wMc.inverse() * wMo;
g.acquire(I, cMo);
vpDisplay::display(I);
for (unsigned int i = 0; i < 4; i++) {
dot[i].track(I);
vpFeatureBuilder::create(p[i], cam, dot[i].getCog());
vpColVector cP;
point[i].changeFrame(cMo, cP);
p[i].set_Z(cP[2]);
}
vpColVector v = task.computeControlLaw();
display_trajectory(I, dot);
vpServoDisplay::display(task, cam, I, vpColor::green, vpColor::red);
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
vpTime::wait(robot.getSamplingTime() * 1000);
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#endif
}
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