51 #include <visp3/core/vpConfig.h> 52 #include <visp3/core/vpDebug.h> 59 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394)) 61 #include <visp3/sensor/vp1394TwoGrabber.h> 62 #include <visp3/core/vpDisplay.h> 63 #include <visp3/gui/vpDisplayGTK.h> 64 #include <visp3/gui/vpDisplayX.h> 65 #include <visp3/gui/vpDisplayOpenCV.h> 66 #include <visp3/blob/vpDot2.h> 67 #include <visp3/visual_features/vpFeatureBuilder.h> 68 #include <visp3/visual_features/vpFeaturePoint.h> 69 #include <visp3/core/vpHomogeneousMatrix.h> 70 #include <visp3/core/vpImage.h> 71 #include <visp3/core/vpIoTools.h> 72 #include <visp3/core/vpMath.h> 73 #include <visp3/core/vpPoint.h> 74 #include <visp3/vision/vpPose.h> 75 #include <visp3/robot/vpRobotViper850.h> 76 #include <visp3/vs/vpServo.h> 77 #include <visp3/vs/vpServoDisplay.h> 93 std::string logdirname;
94 logdirname =
"/tmp/" + username;
103 std::cerr << std::endl
104 <<
"ERROR:" << std::endl;
105 std::cerr <<
" Cannot create " << logdirname << std::endl;
109 std::string logfilename;
110 logfilename = logdirname +
"/log.dat";
113 std::ofstream flog(logfilename.c_str());
145 vpDisplayX display(I,100,100,
"Current image") ;
146 #elif defined(VISP_HAVE_OPENCV) 148 #elif defined(VISP_HAVE_GTK) 155 std::cout << std::endl ;
156 std::cout <<
"-------------------------------------------------------" << std::endl ;
157 std::cout <<
" Test program for vpServo " <<std::endl ;
158 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
159 std::cout <<
" Use of the Afma6 robot " << std::endl ;
160 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
161 std::cout <<
"-------------------------------------------------------" << std::endl ;
162 std::cout << std::endl ;
168 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." 171 for (i=0 ; i < 4 ; i++) {
188 for (i=0 ; i < 4 ; i++)
200 std::cout << std::endl ;
201 for (i=0 ; i < 4 ; i++)
231 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
241 for (i=0 ; i < 4 ; i++) {
252 vpTRACE(
"Error detected while tracking visual features") ;
258 for (i=0 ; i < 4 ; i++)
281 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 282 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
292 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 293 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
303 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 304 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
309 flog << ( task.
getError() ).t() << std::endl;
317 std::cout <<
"Display task information: " << std::endl;
335 vpERROR_TRACE(
"You do not have an afma6 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.
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 set_eJe(const vpMatrix &eJe_)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void track(const vpImage< unsigned char > &I)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void get_eJe(vpMatrix &eJe)
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector computeControlLaw()
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Implementation of a velocity twist matrix and operations on such kind of matrices.
Perspective projection with distortion model.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void buildFrom(const double x, const double y, const double Z)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void setGraphics(const bool activate)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
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...
vpColVector getError() const
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)
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