66 #include <visp3/core/vpConfig.h>
67 #include <visp3/core/vpDebug.h>
69 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
71 #include <visp3/sensor/vp1394TwoGrabber.h>
72 #include <visp3/core/vpImage.h>
73 #include <visp3/core/vpImagePoint.h>
74 #include <visp3/core/vpDisplay.h>
75 #include <visp3/gui/vpDisplayX.h>
76 #include <visp3/gui/vpDisplayOpenCV.h>
77 #include <visp3/gui/vpDisplayGTK.h>
79 #include <visp3/core/vpMath.h>
80 #include <visp3/core/vpTranslationVector.h>
81 #include <visp3/core/vpRxyzVector.h>
82 #include <visp3/core/vpRotationMatrix.h>
83 #include <visp3/core/vpHomogeneousMatrix.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/core/vpPoint.h>
86 #include <visp3/vs/vpServo.h>
87 #include <visp3/visual_features/vpFeatureBuilder.h>
88 #include <visp3/blob/vpDot.h>
89 #include <visp3/robot/vpRobotAfma6.h>
90 #include <visp3/vs/vpServoDisplay.h>
91 #include <visp3/vision/vpPose.h>
92 #include <visp3/core/vpIoTools.h>
95 #include <visp3/core/vpException.h>
97 #define L 0.05 // to deal with a 10cm by 10cm square
136 for (
int i=0; i < ndot; i ++) {
190 if (residual_lagrange < residual_dementhon)
232 std::string username;
237 std::string logdirname;
238 logdirname =
"/tmp/" + username;
247 std::cerr << std::endl
248 <<
"ERROR:" << std::endl;
249 std::cerr <<
" Cannot create " << logdirname << std::endl;
253 std::string logfilename;
254 logfilename = logdirname +
"/log.dat";
257 std::ofstream flog(logfilename.c_str());
272 vpDisplayX display(I,100,100,
"Current image") ;
273 #elif defined(VISP_HAVE_OPENCV)
275 #elif defined(VISP_HAVE_GTK)
284 std::cout << std::endl ;
285 std::cout <<
"-------------------------------------------------------" << std::endl ;
286 std::cout <<
" Test program for vpServo " <<std::endl ;
287 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
288 std::cout <<
" Use of the Afma6 robot " << std::endl ;
289 std::cout <<
" Interaction matrix computed with the current features " << std::endl ;
290 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
291 std::cout <<
"-------------------------------------------------------" << std::endl ;
292 std::cout << std::endl ;
298 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
300 for (i=0 ; i < 4 ; i++) {
321 for (i=0 ; i < 4 ; i++)
342 for (
int i=0; i < 4; i ++) {
360 std::cout << std::endl ;
361 for (i=0 ; i < 4 ; i++)
378 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
388 for (i=0 ; i < 4 ; i++) {
401 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
403 for (i=0 ; i < 4 ; i++) {
429 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
430 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
440 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
441 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
451 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
452 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
457 flog << ( task.
getError() ).t()<<
" ";
461 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
462 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
490 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void set_x(const double x)
Set the point x coordinate in the image plane.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
vpImagePoint getCog() const
void set_x(const double x)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
vpCameraParametersProjType
bool computePose(vpPoseMethodType methode, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
compute the pose for a given method
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Class used for pose computation from N points (pose from point only).
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void extract(vpRotationMatrix &R) const
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Implementation of a rotation vector as Euler angle minimal representation.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
void addPoint(const vpPoint &P)
Add a new point in this array.
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
static const vpColor blue