62 #include <visp3/core/vpConfig.h> 63 #include <visp3/core/vpDebug.h> 69 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 71 #include <visp3/sensor/vp1394TwoGrabber.h> 72 #include <visp3/core/vpImage.h> 73 #include <visp3/core/vpImagePoint.h> 74 #include <visp3/core/vpDisplay.h> 75 #include <visp3/gui/vpDisplayX.h> 76 #include <visp3/gui/vpDisplayOpenCV.h> 77 #include <visp3/gui/vpDisplayGTK.h> 79 #include <visp3/core/vpMath.h> 80 #include <visp3/core/vpHomogeneousMatrix.h> 81 #include <visp3/visual_features/vpFeaturePoint.h> 82 #include <visp3/core/vpPoint.h> 83 #include <visp3/vs/vpServo.h> 84 #include <visp3/visual_features/vpFeatureBuilder.h> 85 #include <visp3/core/vpIoTools.h> 86 #include <visp3/robot/vpRobotAfma6.h> 89 #include <visp3/core/vpException.h> 90 #include <visp3/vs/vpServoDisplay.h> 92 #include <visp3/blob/vpDot.h> 103 std::string username;
108 std::string logdirname;
109 logdirname =
"/tmp/" + username;
118 std::cerr << std::endl
119 <<
"ERROR:" << std::endl;
120 std::cerr <<
" Cannot create " << logdirname << std::endl;
124 std::string logfilename;
125 logfilename = logdirname +
"/log.dat";
128 std::ofstream flog(logfilename.c_str());
151 vpDisplayX display(I,100,100,
"Current image") ;
152 #elif defined(VISP_HAVE_OPENCV) 154 #elif defined(VISP_HAVE_GTK) 161 std::cout << std::endl ;
162 std::cout <<
"-------------------------------------------------------" << std::endl ;
163 std::cout <<
" Test program for vpServo " <<std::endl ;
164 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
165 std::cout <<
" Use of the Afma6 robot " << std::endl ;
166 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
167 std::cout <<
"-------------------------------------------------------" << std::endl ;
168 std::cout << std::endl ;
174 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." 177 for (i=0 ; i < 4 ; i++) {
193 for (i=0 ; i < 4 ; i++)
205 std::cout << std::endl ;
206 for (i=0 ; i < 4 ; i++)
236 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
246 for (i=0 ; i < 4 ; i++) {
258 vpTRACE(
"Error detected while tracking visual features") ;
264 for (i=0 ; i < 4 ; i++)
287 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 288 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
298 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 299 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
309 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 310 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
315 flog << ( task.
getError() ).t() << std::endl;
323 vpTRACE(
"Display task information " ) ;
341 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)
Implementation of a matrix and operations on matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void get_eJe(vpMatrix &_eJe)
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)
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)
Implementation of a velocity twist matrix and operations on such kind of matrices.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void buildFrom(const double x, const double y, const double Z)
Implementation of column vector and the associated operations.
void set_cVe(const vpVelocityTwistMatrix &cVe_)
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
void get_cVe(vpVelocityTwistMatrix &_cVe) const