64 #include <visp3/core/vpConfig.h> 65 #include <visp3/core/vpDebug.h> 67 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 69 #include <visp3/sensor/vp1394TwoGrabber.h> 70 #include <visp3/core/vpImage.h> 71 #include <visp3/core/vpImagePoint.h> 72 #include <visp3/core/vpMath.h> 73 #include <visp3/core/vpHomogeneousMatrix.h> 74 #include <visp3/visual_features/vpFeaturePoint.h> 75 #include <visp3/core/vpPoint.h> 76 #include <visp3/vs/vpServo.h> 77 #include <visp3/visual_features/vpFeatureBuilder.h> 78 #include <visp3/robot/vpRobotAfma6.h> 79 #include <visp3/core/vpIoTools.h> 80 #include <visp3/core/vpException.h> 81 #include <visp3/vs/vpServoDisplay.h> 82 #include <visp3/blob/vpDot.h> 83 #include <visp3/core/vpDisplay.h> 84 #include <visp3/gui/vpDisplayX.h> 85 #include <visp3/gui/vpDisplayOpenCV.h> 86 #include <visp3/gui/vpDisplayGTK.h> 102 std::string logdirname;
103 logdirname =
"/tmp/" + username;
112 std::cerr << std::endl
113 <<
"ERROR:" << std::endl;
114 std::cerr <<
" Cannot create " << logdirname << std::endl;
118 std::string logfilename;
119 logfilename = logdirname +
"/log.dat";
122 std::ofstream flog(logfilename.c_str());
138 vpDisplayX display(I,100,100,
"Current image") ;
139 #elif defined(VISP_HAVE_OPENCV) 141 #elif defined(VISP_HAVE_GTK) 151 std::cout <<
"Click on a dot..." << std::endl;
189 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
222 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 223 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
233 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 234 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
244 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 245 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
250 flog << ( task.
getError() ).t() << std::endl;
280 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)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void track(const vpImage< unsigned char > &I)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
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
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void buildFrom(const double x, const double y, const double Z)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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 setServo(const vpServoType &servo_type)
void initTracking(const vpImage< unsigned char > &I)
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)
static const vpColor blue