#include #include #include #include #include #include #include #include int main() { //Image to display the internal view vpImage Iint(480,640,255); //Display initialisation #if defined VISP_HAVE_X11 vpDisplayX display; #elif defined VISP_HAVE_OPENCV vpDisplayOpenCV display; #elif defined VISP_HAVE_GDI vpDisplayGDI display; #endif // Display size is automatically defined by the image (I) size display.init(Iint, 100, 100,"The internal view") ; vpDisplay::setWindowPosition (Iint, 700, 0); vpDisplay::display(Iint); vpDisplay::flush(Iint); //Initialisation of the visual servoing task vpServo task; //cMo initial vpPoseVector cMoi(0,0.0,0.7,vpMath::rad(0),vpMath::rad(0),0); vpHomogeneousMatrix cMo(cMoi); //The four point used as visual features vpPoint point[4] ; point[0].setWorldCoordinates(-0.045,-0.045,0) ; point[3].setWorldCoordinates(-0.045,0.045,0) ; point[2].setWorldCoordinates(0.045,0.045,0) ; point[1].setWorldCoordinates(0.045,-0.045,0) ; // Projection of the points for (int i = 0 ; i