58 #include <visp3/core/vpConfig.h> 59 #include <visp3/core/vpDebug.h> 61 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 63 #include <visp3/sensor/vp1394TwoGrabber.h> 64 #include <visp3/core/vpImage.h> 65 #include <visp3/core/vpDisplay.h> 66 #include <visp3/gui/vpDisplayX.h> 67 #include <visp3/gui/vpDisplayOpenCV.h> 68 #include <visp3/gui/vpDisplayGTK.h> 70 #include <visp3/core/vpMath.h> 71 #include <visp3/core/vpHomogeneousMatrix.h> 72 #include <visp3/visual_features/vpFeatureLine.h> 73 #include <visp3/core/vpLine.h> 74 #include <visp3/me/vpMeLine.h> 75 #include <visp3/vs/vpServo.h> 76 #include <visp3/visual_features/vpFeatureBuilder.h> 78 #include <visp3/robot/vpRobotAfma6.h> 81 #include <visp3/core/vpException.h> 82 #include <visp3/vs/vpServoDisplay.h> 100 vpDisplayX display(I,100,100,
"Current image") ;
101 #elif defined(VISP_HAVE_OPENCV) 103 #elif defined(VISP_HAVE_GTK) 114 std::cout << std::endl ;
115 std::cout <<
"-------------------------------------------------------" << std::endl ;
116 std::cout <<
" Test program for vpServo " <<std::endl ;
117 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
118 std::cout <<
" Simulation " << std::endl ;
119 std::cout <<
" task : servo a line " << std::endl ;
120 std::cout <<
"-------------------------------------------------------" << std::endl ;
121 std::cout << std::endl ;
147 vpTRACE(
"sets the current position of the visual feature ") ;
151 vpTRACE(
"sets the desired position of the visual feature ") ;
163 vpTRACE(
"\t we want an eye-in-hand control law") ;
164 vpTRACE(
"\t robot is controlled in the camera frame") ;
167 vpTRACE(
"\t we want to see a point on a point..") ;
168 std::cout << std::endl ;
175 vpTRACE(
"Display task information " ) ;
181 unsigned int iter=0 ;
186 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
221 vpTRACE(
"Display task information " ) ;
236 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2)
void setSampleStep(const double &s)
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 > &Im)
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
static void display(const vpImage< unsigned char > &I)
Class that tracks in an image a line moving edges.
The vpDisplayOpenCV allows to display image using the opencv library.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
static double rad(double deg)
void setRho(const double rho)
void setTheta(const double theta)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void setThreshold(const double &t)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setRange(const unsigned int &r)
void setServo(const vpServoType &servo_type)