53 #include <visp3/core/vpConfig.h> 54 #include <visp3/core/vpDebug.h> 62 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394)) 64 #include <visp3/sensor/vp1394TwoGrabber.h> 65 #include <visp3/core/vpImage.h> 66 #include <visp3/core/vpMath.h> 67 #include <visp3/core/vpHomogeneousMatrix.h> 68 #include <visp3/visual_features/vpFeaturePoint.h> 69 #include <visp3/core/vpPoint.h> 70 #include <visp3/vs/vpServo.h> 71 #include <visp3/visual_features/vpFeatureBuilder.h> 72 #include <visp3/robot/vpRobotViper850.h> 73 #include <visp3/core/vpIoTools.h> 74 #include <visp3/core/vpException.h> 75 #include <visp3/vs/vpServoDisplay.h> 76 #include <visp3/io/vpImageIo.h> 77 #include <visp3/blob/vpDot2.h> 78 #include <visp3/vs/vpAdaptiveGain.h> 79 #include <visp3/core/vpLinearKalmanFilterInstantiation.h> 80 #include <visp3/core/vpDisplay.h> 81 #include <visp3/gui/vpDisplayX.h> 82 #include <visp3/gui/vpDisplayOpenCV.h> 83 #include <visp3/gui/vpDisplayGTK.h> 99 std::string logdirname;
100 logdirname =
"/tmp/" + username;
109 std::cerr << std::endl
110 <<
"ERROR:" << std::endl;
111 std::cerr <<
" Cannot create " << logdirname << std::endl;
115 std::string logfilename;
116 logfilename = logdirname +
"/log.dat";
119 std::ofstream flog(logfilename.c_str());
128 unsigned int nsignal = 2;
132 unsigned int state_size = 0;
136 sigma_state.
resize(state_size*nsignal);
137 sigma_state = 0.00001;
138 sigma_measure = 0.05;
140 kalman.
initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
160 double Tloop = 1./80.f;
174 #elif defined(VISP_HAVE_OPENCV) 176 #elif defined(VISP_HAVE_GTK) 188 for (
int i=0; i< 10; i++)
191 std::cout <<
"Click on a dot..." << std::endl;
218 task.addFeature(p,pd) ;
223 task.setLambda(lambda) ;
231 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
238 dc1394video_frame_t *frame = NULL;
247 Tv = (double)(t_0 - t_1) / 1000.0;
255 frame = g.dequeue(I);
273 v1 = task.computeControlLaw() ;
276 err = task.getError();
284 vpMatrix J1 = task.getTaskJacobian();
285 dedt_mes = (err - err_1)/(Tv) - J1 *vm;
294 for (
unsigned int i=0; i < nsignal; i++) {
295 dedt_filt[i] = kalman.
Xest[i*state_size];
300 vpMatrix J1p = task.getTaskJacobianPseudoInverse();
301 v2 = - J1p*dedt_filt;
319 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
331 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 332 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
342 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 343 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
353 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 354 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
359 flog << ( task.getError() ).t() << std::endl;
389 vpERROR_TRACE(
"You do not have a Viper 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.
VISP_EXPORT int wait(double t0, double t)
Adaptive gain computation.
unsigned int getStateSize()
unsigned int getWidth() const
void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt)
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 filter(vpColVector &z)
Define the X11 console to display images.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
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)
vpImagePoint getCog() const
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
Initialize the velocity controller.
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.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
VISP_EXPORT double measureTimeMs()
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
This class provides an implementation of some specific linear Kalman filters.
void setStateModel(vpStateModel model)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
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)
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)
static const vpColor blue
void resize(const unsigned int i, const bool flagNullify=true)