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Visual Servoing Platform
version 3.3.0
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2 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/gui/vpProjectionDisplay.h>
6 #include <visp3/robot/vpSimulatorCamera.h>
7 #include <visp3/robot/vpWireFrameSimulator.h>
8 #include <visp3/visual_features/vpFeatureBuilder.h>
9 #include <visp3/vs/vpServo.h>
10 #include <visp3/vs/vpServoDisplay.h>
18 static std::vector<vpImagePoint> traj[4];
20 for (
unsigned int i = 0; i < 4; i++) {
22 point[i].project(cMo);
24 traj[i].push_back(cog);
26 for (
unsigned int i = 0; i < 4; i++) {
27 for (
unsigned int j = 1; j < traj[i].size(); j++) {
39 std::vector<vpPoint> point(4);
40 point[0].setWorldCoordinates(-0.1, -0.1, 0);
41 point[1].setWorldCoordinates(0.1, -0.1, 0);
42 point[2].setWorldCoordinates(0.1, 0.1, 0);
43 point[3].setWorldCoordinates(-0.1, 0.1, 0);
51 for (
unsigned int i = 0; i < 4; i++) {
67 #if defined VISP_HAVE_X11
68 vpDisplayX displayInt(Iint, 0, 0,
"Internal view");
69 vpDisplayX displayExt(Iext, 670, 0,
"External view");
70 #elif defined VISP_HAVE_GDI
73 #elif defined VISP_HAVE_OPENCV
77 std::cout <<
"No image viewer is available..." << std::endl;
94 for (
unsigned int i = 0; i < 4; i++) {
109 display_trajectory(Iint, point, cMo, cam);
120 std::cout <<
"Catch an exception: " << e << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void setExternalCameraPosition(const vpHomogeneousMatrix &cam_Mf)
VISP_EXPORT int wait(double t0, double t)
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 double rad(double deg)
Generic class defining intrinsic camera parameters.
double getSamplingTime() const
void getExternalImage(vpImage< unsigned char > &I)
Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require thir...
Display for windows using GDI (available on any windows 32 platform).
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
unsigned int getHeight() const
void setDesiredCameraPosition(const vpHomogeneousMatrix &cdMo_)
Class that defines the simplest robot: a free flying camera.
Implementation of column vector and the associated operations.
void setInternalCameraParameters(const vpCameraParameters &cam)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
void initScene(const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
unsigned int getWidth() const
vpHomogeneousMatrix getPosition() const
static void display(const vpImage< unsigned char > &I)
void setCameraPositionRelObj(const vpHomogeneousMatrix &cMo_)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void setExternalCameraParameters(const vpCameraParameters &cam)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static const vpColor green
vpColVector computeControlLaw()
static void flush(const vpImage< unsigned char > &I)
virtual void setSamplingTime(const double &delta_t)
vpHomogeneousMatrix inverse() const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
error that can be emited by ViSP classes.
void getInternalImage(vpImage< unsigned char > &I)