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Visual Servoing Platform
version 3.2.0
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40 #include <visp3/core/vpConfig.h>
42 #include <visp3/robot/vpRobotPioneer.h>
43 #include <visp3/blob/vpDot2.h>
44 #include <visp3/core/vpCameraParameters.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpImage.h>
47 #include <visp3/core/vpImageConvert.h>
48 #include <visp3/core/vpVelocityTwistMatrix.h>
49 #include <visp3/gui/vpDisplayGDI.h>
50 #include <visp3/gui/vpDisplayX.h>
51 #include <visp3/sensor/vp1394CMUGrabber.h>
52 #include <visp3/sensor/vp1394TwoGrabber.h>
53 #include <visp3/sensor/vpOpenCVGrabber.h>
54 #include <visp3/sensor/vpV4l2Grabber.h>
55 #include <visp3/visual_features/vpFeatureBuilder.h>
56 #include <visp3/visual_features/vpFeatureDepth.h>
57 #include <visp3/visual_features/vpFeaturePoint.h>
58 #include <visp3/vs/vpServo.h>
60 #if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394) || \
61 (VISP_HAVE_OPENCV_VERSION >= 0x020100)
62 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
63 #if defined(VISP_HAVE_PIONEER)
64 #define TEST_COULD_BE_ACHIEVED
69 #undef VISP_HAVE_OPENCV // To use a firewire camera
70 #undef VISP_HAVE_V4L2 // To use a firewire camera
94 #ifdef TEST_COULD_BE_ACHIEVED
95 int main(
int argc,
char **argv)
101 double coef = 1. / 6.77;
105 ArArgumentParser parser(&argc, argv);
106 parser.loadDefaultArguments();
110 ArRobotConnector robotConnector(&parser, &robot);
111 if (!robotConnector.connectRobot()) {
112 ArLog::log(ArLog::Terse,
"Could not connect to the robot.");
113 if (parser.checkHelpAndWarnUnparsed()) {
118 if (!Aria::parseArgs()) {
130 std::cout <<
"Robot connected" << std::endl;
137 #if defined(VISP_HAVE_OPENCV)
139 std::cout <<
"Use device: " << device << std::endl;
140 cv::VideoCapture g(device);
141 g.set(CV_CAP_PROP_FRAME_WIDTH, 640);
142 g.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
151 #elif defined(VISP_HAVE_V4L2)
161 #elif defined(VISP_HAVE_DC1394)
169 #elif defined(VISP_HAVE_CMU1394)
181 #if defined(VISP_HAVE_OPENCV)
189 #if defined(VISP_HAVE_X11)
191 #elif defined(VISP_HAVE_GDI)
217 std::cout <<
"cVe: \n" << cVe << std::endl;
222 std::cout <<
"eJe: \n" << eJe << std::endl;
249 std::cout <<
"Z " << Z << std::endl;
262 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
292 std::cout <<
"Send velocity to the pionner: " << v[0] <<
" m/s " <<
vpMath::deg(v[1]) <<
" deg/s" << std::endl;
307 std::cout <<
"Ending robot thread..." << std::endl;
311 robot.waitForRunExit();
318 std::cout <<
"Catch an exception: " << e << std::endl;
325 std::cout <<
"You don't have the right 3rd party libraries to run this example..." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void open(vpImage< unsigned char > &I)
void setInput(unsigned input=vpV4l2Grabber::DEFAULT_INPUT)
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
void setDevice(const std::string &devname)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void buildFrom(const double x, const double y, const double Z)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void acquire(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
void open(vpImage< unsigned char > &I)
void track(const vpImage< unsigned char > &I)
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void set_eJe(const vpMatrix &eJe_)
static double deg(double rad)
Display for windows using GDI (available on any windows 32 platform).
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setVideoMode(unsigned long format, unsigned long mode)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void setEllipsoidBadPointsPercentage(const double &percentage=0.0)
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
void setFramerate(vpV4l2FramerateType framerate)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
void setGrayLevelPrecision(const double &grayLevelPrecision)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void get_eJe(vpMatrix &eJe)
void setComputeMoments(const bool activate)
void setGraphics(const bool activate)
VISP_EXPORT void sleepMs(double t)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
Interface for Pioneer mobile robots based on Aria 3rd party library.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void setFramerate(unsigned long fps)
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static void flush(const vpImage< unsigned char > &I)
void setEllipsoidShapePrecision(const double &ellipsoidShapePrecision)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
error that can be emited by ViSP classes.
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)