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Visual Servoing Platform
version 3.2.0
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52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpDebug.h>
54 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
56 #include <visp3/blob/vpDot.h>
57 #include <visp3/core/vpDisplay.h>
58 #include <visp3/core/vpException.h>
59 #include <visp3/core/vpHomogeneousMatrix.h>
60 #include <visp3/core/vpImage.h>
61 #include <visp3/core/vpImagePoint.h>
62 #include <visp3/core/vpIoTools.h>
63 #include <visp3/core/vpMath.h>
64 #include <visp3/core/vpPoint.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/gui/vpDisplayOpenCV.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/robot/vpRobotAfma6.h>
69 #include <visp3/sensor/vp1394TwoGrabber.h>
70 #include <visp3/visual_features/vpFeatureBuilder.h>
71 #include <visp3/visual_features/vpFeatureSegment.h>
72 #include <visp3/vs/vpServo.h>
73 #include <visp3/vs/vpServoDisplay.h>
88 std::string logdirname;
89 logdirname =
"/tmp/" + username;
97 std::cerr << std::endl <<
"ERROR:" << std::endl;
98 std::cerr <<
" Cannot create " << logdirname << std::endl;
102 std::string logfilename;
103 logfilename = logdirname +
"/log.dat";
106 std::ofstream flog(logfilename.c_str());
121 vpDisplayX display(I, 100, 100,
"Current image");
122 #elif defined(VISP_HAVE_OPENCV)
124 #elif defined(VISP_HAVE_GTK)
131 std::vector<vpDot> dot_d(2), dot(2);
138 robot.getCameraParameters(cam, I);
139 std::cout <<
"define the initial segment" << std::endl;
141 for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
142 std::cout <<
"Click on a dot..." << std::endl;
151 std::cout <<
"define the destination segment" << std::endl;
152 for (std::vector<vpDot>::iterator i = dot_d.begin(); i != dot_d.end(); ++i) {
182 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
191 for (std::vector<vpDot>::iterator i = dot.begin(); i != dot.end(); ++i) {
210 flog << (task.
getError()).t() << std::endl;
228 std::cout <<
"Test failed with exception: " << e << std::endl;
236 std::cout <<
"You do not have an afma6 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 setVideoMode(vp1394TwoVideoModeType videomode)
Generic class defining intrinsic camera parameters.
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
void setZ2(const double val)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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 setZ1(const double val)
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 ...
void acquire(vpImage< unsigned char > &I)
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 open(vpImage< unsigned char > &I)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const