65 #include <visp3/core/vpConfig.h> 66 #include <visp3/core/vpDebug.h> 68 #if (defined (VISP_HAVE_AFMA4) && defined (VISP_HAVE_DC1394)) 70 #include <visp3/sensor/vp1394TwoGrabber.h> 71 #include <visp3/core/vpImage.h> 72 #include <visp3/core/vpImagePoint.h> 73 #include <visp3/core/vpDisplay.h> 74 #include <visp3/gui/vpDisplayX.h> 75 #include <visp3/gui/vpDisplayOpenCV.h> 76 #include <visp3/gui/vpDisplayGTK.h> 78 #include <visp3/core/vpMath.h> 79 #include <visp3/core/vpHomogeneousMatrix.h> 80 #include <visp3/visual_features/vpFeaturePoint.h> 81 #include <visp3/core/vpPoint.h> 82 #include <visp3/vs/vpServo.h> 83 #include <visp3/visual_features/vpFeatureBuilder.h> 84 #include <visp3/robot/vpRobotAfma4.h> 85 #include <visp3/core/vpIoTools.h> 88 #include <visp3/core/vpException.h> 89 #include <visp3/vs/vpServoDisplay.h> 91 #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());
144 vpDisplayX display(I,100,100,
"Current image") ;
145 #elif defined(VISP_HAVE_OPENCV) 147 #elif defined(VISP_HAVE_GTK) 154 std::cout << std::endl ;
155 std::cout <<
"-------------------------------------------------------" << std::endl ;
156 std::cout <<
" Test program for vpServo " <<std::endl ;
157 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
158 std::cout <<
" Simulation " << std::endl ;
159 std::cout <<
" task : servo a point " << std::endl ;
160 std::cout <<
"-------------------------------------------------------" << std::endl ;
161 std::cout << std::endl ;
165 std::cout <<
"Click on a dot..." << std::endl;
177 vpTRACE(
"sets the current position of the visual feature ") ;
181 vpTRACE(
"sets the desired position of the visual feature ") ;
186 vpTRACE(
"\t we want an eye-in-hand control law") ;
187 vpTRACE(
"\t robot is controlled in the camera frame") ;
190 vpTRACE(
"\t we want to see a point on a point..") ;
191 std::cout << std::endl ;
198 vpTRACE(
"Display task information " ) ;
204 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
237 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 238 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
248 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 249 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
259 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 260 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
265 flog << task.
getError() << std::endl;
283 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
293 vpERROR_TRACE(
"You do not have an afma4 robot or a firewire framegrabber connected to your computer...");
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)
error that can be emited by ViSP classes.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector computeControlLaw()
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...
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)
Implementation of column vector and the associated operations.
Control of Irisa's cylindrical robot named Afma4.
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