The project is a simple comparison between classical and most famous approaches to visual servoing: Image Based and Position Based. In order to do that, a Pinhole camera model has been used.
The files are organized as follows:
- reference_systems.m : script that shows the reference systems world frame and camera frame;
- camera.m : It is the main matlab sript. It simulates the projection in the image plane of a point and a rectangle, located in front of the camera at a fixed distance and creates the relative plots;
- proj.m : function that executes the projection in the image plane;
- rot.m : function that executes the rototraslation from world frame to camera frame;
- take_photo : function that returns the projection in another 2D plot (like a photograph);
- the directory IBVS contains the Simulink model of the Image Based control
- the directory PBVS contains the Simulink model of the Position Based control
- O, which is the position of the world frame;
- C, which is the position of the camera frame;
- f, focal distance of the camera, which is a fundamental parameter of the camera.
After the execution of the script two plots will appear: one for the projection of a generic point and one for the projection in the image plane of an inclined rectangle.
The second plot also contains the projection in a separate chart (as a photograph).
