2 #include <visp/vpDisplayX.h>
3 #include <visp/vpDisplayGDI.h>
4 #include <visp/vpFeatureBuilder.h>
5 #include <visp/vpImageIo.h>
6 #include <visp/vpImageSimulator.h>
7 #include <visp/vpServo.h>
8 #include <visp/vpServoDisplay.h>
9 #include <visp/vpSimulatorCamera.h>
28 for (
int i = 0; i < 4; i++) X_[i].resize(3);
30 X_[0][0] = -0.1; X_[1][0] = 0.1; X_[2][0] = 0.1; X_[3][0] = -0.1;
31 X_[0][1] = -0.1; X_[1][1] = -0.1; X_[2][1] = 0.1; X_[3][1] = 0.1;
32 X_[0][2] = 0; X_[1][2] = 0; X_[2][2] = 0; X_[3][2] = 0;
39 sim_.
init(target_, X_);
67 static std::vector<vpImagePoint> traj[4];
68 for (
unsigned int i=0; i<4; i++) {
69 traj[i].push_back(dot[i].getCog());
71 for (
unsigned int i=0; i<4; i++) {
72 for (
unsigned int j=1; j<traj[i].size(); j++) {
81 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
88 std::vector<vpPoint> point(4) ;
89 point[0].setWorldCoordinates(-0.1,-0.1, 0);
90 point[1].setWorldCoordinates( 0.1,-0.1, 0);
91 point[2].setWorldCoordinates( 0.1, 0.1, 0);
92 point[3].setWorldCoordinates(-0.1, 0.1, 0);
102 #if defined(VISP_HAVE_X11)
104 #elif defined(VISP_HAVE_GDI)
107 std::cout <<
"No image viewer is available..." << std::endl;
112 "Click in the 4 dots to initialise the tracking and start the servo",
117 std::vector<vpDot2> dot(4);
119 for (
int i = 0 ; i < 4 ; i++) {
120 point[i].track(cdMo);
123 dot[i].setGraphics(
true);
124 dot[i].initTracking(I);
145 for (
int i = 0 ; i < 4 ; i++) {
150 point[i].changeFrame(cMo, cP) ;
156 display_trajectory(I, dot);