51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
59 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394))
61 #include <visp3/sensor/vp1394TwoGrabber.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/gui/vpDisplayGTK.h>
64 #include <visp3/gui/vpDisplayX.h>
65 #include <visp3/gui/vpDisplayOpenCV.h>
66 #include <visp3/blob/vpDot2.h>
67 #include <visp3/visual_features/vpFeatureBuilder.h>
68 #include <visp3/visual_features/vpFeaturePoint.h>
69 #include <visp3/core/vpHomogeneousMatrix.h>
70 #include <visp3/core/vpImage.h>
71 #include <visp3/core/vpIoTools.h>
72 #include <visp3/core/vpMath.h>
73 #include <visp3/core/vpPoint.h>
74 #include <visp3/vision/vpPose.h>
75 #include <visp3/robot/vpRobotViper850.h>
76 #include <visp3/vs/vpServo.h>
77 #include <visp3/vs/vpServoDisplay.h>
79 #define L 0.05 // to deal with a 10cm by 10cm square
118 for (
int i=0; i < ndot; i ++) {
139 if (residual_lagrange < residual_dementhon)
164 std::string username;
169 std::string logdirname;
170 logdirname =
"/tmp/" + username;
179 std::cerr << std::endl
180 <<
"ERROR:" << std::endl;
181 std::cerr <<
" Cannot create " << logdirname << std::endl;
185 std::string logfilename;
186 logfilename = logdirname +
"/log.dat";
189 std::ofstream flog(logfilename.c_str());
213 vpDisplayX display(I,100,100,
"Current image") ;
214 #elif defined(VISP_HAVE_OPENCV)
216 #elif defined(VISP_HAVE_GTK)
223 std::cout << std::endl ;
224 std::cout <<
"-------------------------------------------------------" << std::endl ;
225 std::cout <<
" Test program for vpServo " <<std::endl ;
226 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
227 std::cout <<
" Use of the Afma6 robot " << std::endl ;
228 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
229 std::cout <<
"-------------------------------------------------------" << std::endl ;
230 std::cout << std::endl ;
236 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
239 for (i=0 ; i < 4 ; i++) {
257 for (i=0 ; i < 4 ; i++)
278 for (
int i=0; i < 4; i ++) {
289 for (i=0 ; i < 4 ; i++)
319 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
329 for (i=0 ; i < 4 ; i++) {
340 vpTRACE(
"Error detected while tracking visual features") ;
348 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
350 for (i=0 ; i < 4 ; i++) {
380 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
381 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
391 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
392 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
402 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
403 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
408 flog << ( task.
getError() ).t() << std::endl;
416 std::cout <<
"Display task information: " << std::endl;
434 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
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...
Implementation of an homogeneous matrix and operations on such kind of matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
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...
void get_eJe(vpMatrix &eJe)
static const vpColor green
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)
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)
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
Implementation of a velocity twist matrix and operations on such kind of matrices.
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void setWorldCoordinates(const double oX, const double oY, const double oZ)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
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 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)
void setGraphics(const bool activate)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
static const vpColor blue