59 #include <visp3/core/vpConfig.h> 60 #include <visp3/core/vpDebug.h> 64 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 66 #include <visp3/sensor/vp1394TwoGrabber.h> 67 #include <visp3/core/vpImage.h> 68 #include <visp3/core/vpImagePoint.h> 69 #include <visp3/io/vpImageIo.h> 70 #include <visp3/core/vpDisplay.h> 71 #include <visp3/gui/vpDisplayX.h> 72 #include <visp3/gui/vpDisplayOpenCV.h> 73 #include <visp3/gui/vpDisplayGTK.h> 75 #include <visp3/core/vpMath.h> 76 #include <visp3/core/vpHomogeneousMatrix.h> 77 #include <visp3/visual_features/vpFeatureLine.h> 78 #include <visp3/visual_features/vpFeaturePoint.h> 79 #include <visp3/visual_features/vpFeatureDepth.h> 80 #include <visp3/visual_features/vpGenericFeature.h> 81 #include <visp3/core/vpLine.h> 82 #include <visp3/vs/vpServo.h> 83 #include <visp3/visual_features/vpFeatureBuilder.h> 84 #include <visp3/vision/vpPose.h> 86 #include <visp3/robot/vpRobotAfma6.h> 89 #include <visp3/core/vpException.h> 90 #include <visp3/vs/vpServoDisplay.h> 92 #include <visp3/blob/vpDot2.h> 93 #include <visp3/core/vpPoint.h> 94 #include <visp3/core/vpHomogeneousMatrix.h> 112 vpDisplayX display(I,100,100,
"Current image") ;
113 #elif defined(VISP_HAVE_OPENCV) 115 #elif defined(VISP_HAVE_GTK) 132 std::cout << std::endl ;
133 std::cout <<
"-------------------------------------------------------" << std::endl ;
134 std::cout <<
" Test program for vpServo " <<std::endl ;
135 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
136 std::cout <<
" Simulation " << std::endl ;
137 std::cout <<
" task : servo a line " << std::endl ;
138 std::cout <<
"-------------------------------------------------------" << std::endl ;
139 std::cout << std::endl ;
145 vpTRACE(
"sets the desired position of the visual feature ") ;
171 vpTRACE(
"Initialization of the tracking") ;
183 for (i=0 ; i < nbline ; i++)
194 for (i=0 ; i < nbline ; i++)
219 for (i=0 ; i < nbline ; i++)
228 vpTRACE(
"sets the current position of the visual feature ") ;
232 double xc = (point[0].
get_x()+point[2].
get_x())/2;
233 double yc = (point[0].
get_y()+point[2].
get_y())/2;
251 vpTRACE(
"\t we want an eye-in-hand control law") ;
252 vpTRACE(
"\t robot is controlled in the camera frame") ;
256 vpTRACE(
"\t we want to see a point on a point..") ;
257 std::cout << std::endl ;
267 vpTRACE(
"Display task information " ) ;
272 unsigned int iter=0 ;
276 double lambda_av =0.05;
277 double alpha = 0.05 ;
282 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
291 for (i=0 ; i < nbline ; i++)
326 for (i = 0; i < nbpoint; i++) pointd[i].display(I, cam,
vpColor::red);
338 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
342 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
376 vpTRACE(
"Display task information " ) ;
391 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setSampleStep(const double &s)
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
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)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
void track(const vpImage< unsigned char > &Im)
void set_x(const double x)
Set the point x coordinate in the image plane.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static void display(const vpImage< unsigned char > &I)
Class that tracks in an image a line moving edges.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void initTracking(const vpImage< unsigned char > &I)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
double get_x() const
Get the point x coordinate in the image plane.
void setFramerate(vp1394TwoFramerateType fps)
double get_y() const
Get the point y coordinate in the image plane.
void setVideoMode(vp1394TwoVideoModeType videomode)
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
void setThreshold(const double &t)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)
vpColVector getError() const
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 setRange(const unsigned int &r)
double get_Z() const
Get the point Z coordinate in the camera frame.
void addPoint(const vpPoint &P)
void setServo(const vpServoType &servo_type)