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Visual Servoing Platform
version 3.2.0
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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/blob/vpDot2.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpPoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/robot/vpRobotViper850.h>
72 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/vision/vpPose.h>
74 #include <visp3/visual_features/vpFeatureBuilder.h>
75 #include <visp3/visual_features/vpFeaturePoint.h>
76 #include <visp3/vs/vpServo.h>
77 #include <visp3/vs/vpServoDisplay.h>
92 std::string logdirname;
93 logdirname =
"/tmp/" + username;
101 std::cerr << std::endl <<
"ERROR:" << std::endl;
102 std::cerr <<
" Cannot create " << logdirname << std::endl;
106 std::string logfilename;
107 logfilename = logdirname +
"/log.dat";
110 std::ofstream flog(logfilename.c_str());
141 vpDisplayX display(I, 100, 100,
"Current image");
142 #elif defined(VISP_HAVE_OPENCV)
144 #elif defined(VISP_HAVE_GTK)
151 std::cout << std::endl;
152 std::cout <<
"-------------------------------------------------------" << std::endl;
153 std::cout <<
" Test program for vpServo " << std::endl;
154 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
155 std::cout <<
" Use of the Afma6 robot " << std::endl;
156 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout << std::endl;
163 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
165 for (i = 0; i < 4; i++) {
176 robot.getCameraParameters(cam, I);
182 for (i = 0; i < 4; i++)
194 std::cout << std::endl;
195 for (i = 0; i < 4; i++)
225 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
235 for (i = 0; i < 4; i++) {
245 vpTRACE(
"Error detected while tracking visual features");
251 for (i = 0; i < 4; i++)
274 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
284 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
294 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
299 flog << (task.
getError()).t() << std::endl;
308 std::cout <<
"Display task information: " << std::endl;
316 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
324 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void get_cVe(vpVelocityTwistMatrix &cVe) const
void buildFrom(const double x, const double y, const double Z)
Generic class defining intrinsic camera parameters.
Control of Irisa's Viper S850 robot named Viper850.
void set_eJe(const vpMatrix &eJe_)
void track(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
vpCameraParametersProjType
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
static const vpColor green
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void setGraphics(const bool activate)
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void get_eJe(vpMatrix &eJe)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
const char * getMessage(void) const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static const vpColor blue
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static void flush(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void initTracking(const vpImage< unsigned char > &I)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
error that can be emited by ViSP classes.
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.