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Visual Servoing Platform
version 3.2.0
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65 #include <visp3/core/vpConfig.h>
66 #include <visp3/core/vpDebug.h>
67 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
69 #include <visp3/core/vpDisplay.h>
70 #include <visp3/core/vpImage.h>
71 #include <visp3/core/vpImagePoint.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 #include <visp3/gui/vpDisplayOpenCV.h>
74 #include <visp3/gui/vpDisplayX.h>
75 #include <visp3/sensor/vp1394TwoGrabber.h>
77 #include <visp3/blob/vpDot.h>
78 #include <visp3/core/vpHomogeneousMatrix.h>
79 #include <visp3/core/vpIoTools.h>
80 #include <visp3/core/vpMath.h>
81 #include <visp3/core/vpPoint.h>
82 #include <visp3/core/vpRotationMatrix.h>
83 #include <visp3/core/vpRxyzVector.h>
84 #include <visp3/core/vpTranslationVector.h>
85 #include <visp3/robot/vpRobotAfma6.h>
86 #include <visp3/visual_features/vpFeatureBuilder.h>
87 #include <visp3/visual_features/vpFeaturePoint.h>
88 #include <visp3/vs/vpServo.h>
89 #include <visp3/vs/vpServoDisplay.h>
92 #include <visp3/core/vpException.h>
94 #define L 0.05 // to deal with a 10cm by 10cm square
104 std::string username;
109 std::string logdirname;
110 logdirname =
"/tmp/" + username;
118 std::cerr << std::endl <<
"ERROR:" << std::endl;
119 std::cerr <<
" Cannot create " << logdirname << std::endl;
123 std::string logfilename;
124 logfilename = logdirname +
"/log.dat";
127 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)
153 std::cout << std::endl;
154 std::cout <<
"-------------------------------------------------------" << std::endl;
155 std::cout <<
" Test program for vpServo " << std::endl;
156 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
157 std::cout <<
" Use of the Afma6 robot " << std::endl;
158 std::cout <<
" Interaction matrix computed with the desired features " << std::endl;
160 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
161 std::cout <<
"-------------------------------------------------------" << std::endl;
162 std::cout << std::endl;
167 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
168 for (i = 0; i < 4; i++) {
185 robot.getCameraParameters(cam, I);
189 for (i = 0; i < 4; i++)
211 for (
int i = 0; i < 4; i++) {
229 std::cout << std::endl;
230 for (i = 0; i < 4; i++)
242 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
252 for (i = 0; i < 4; i++) {
266 for (i = 0; i < 4; i++)
282 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
292 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
302 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
307 flog << (task.
getError()).t() << std::endl;
324 std::cout <<
"Test failed with exception: " << e << std::endl;
332 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...
vpImagePoint getCog() const
void setWorldCoordinates(const double oX, const double oY, const double oZ)
void setVideoMode(vp1394TwoVideoModeType videomode)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
void projection(const vpColVector &_cP, vpColVector &_p)
void track(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
void set_y(const double y)
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)
Class that consider the case of a translation vector.
vpCameraParametersProjType
void set_Z(const double Z)
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)
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...
Implementation of a rotation matrix and operations on such kind of matrices.
vpColVector getError() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
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)
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
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
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)
Class that defines what is a point.
Implementation of an homogeneous matrix and operations on such kind of matrices.
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.
void set_x(const double x)
Implementation of a rotation vector as Euler angle minimal representation.