52 #include <visp3/core/vpConfig.h> 53 #include <visp3/core/vpDebug.h> 61 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394)) 63 #include <visp3/sensor/vp1394TwoGrabber.h> 64 #include <visp3/core/vpImage.h> 65 #include <visp3/core/vpMath.h> 66 #include <visp3/core/vpHomogeneousMatrix.h> 67 #include <visp3/visual_features/vpFeaturePoint.h> 68 #include <visp3/core/vpPoint.h> 69 #include <visp3/vs/vpServo.h> 70 #include <visp3/visual_features/vpFeatureBuilder.h> 71 #include <visp3/robot/vpRobotViper850.h> 72 #include <visp3/core/vpIoTools.h> 73 #include <visp3/core/vpException.h> 74 #include <visp3/vs/vpServoDisplay.h> 75 #include <visp3/io/vpImageIo.h> 76 #include <visp3/blob/vpDot2.h> 77 #include <visp3/core/vpDisplay.h> 78 #include <visp3/gui/vpDisplayX.h> 79 #include <visp3/gui/vpDisplayOpenCV.h> 80 #include <visp3/gui/vpDisplayGTK.h> 97 std::string logdirname;
98 logdirname =
"/tmp/" + username;
107 std::cerr << std::endl
108 <<
"ERROR:" << std::endl;
109 std::cerr <<
" Cannot create " << logdirname << std::endl;
113 std::string logfilename;
114 logfilename = logdirname +
"/log.dat";
117 std::ofstream flog(logfilename.c_str());
140 #elif defined(VISP_HAVE_OPENCV) 142 #elif defined(VISP_HAVE_GTK) 154 for (
int i=0; i< 10; i++)
157 std::cout <<
"Click on a dot..." << std::endl;
194 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
226 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
236 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 237 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
247 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 248 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
258 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 259 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
264 flog << ( task.
getError() ).t() << std::endl;
292 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)
unsigned int getWidth() const
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Control of Irisa's Viper S850 robot named Viper850.
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)
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
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.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
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)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
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)
void setServo(const vpServoType &servo_type)
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