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Visual Servoing Platform
version 3.3.0
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62 #include <visp3/core/vpConfig.h>
64 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
66 #include <visp3/blob/vpDot2.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/core/vpIoTools.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/robot/vpRobotViper650.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>
79 #define L 0.05 // to deal with a 10cm by 10cm square
99 void compute_pose(std::vector<vpPoint> &point, std::vector<vpDot2> &dot,
vpCameraParameters cam,
106 for (
size_t i = 0; i < point.size(); i++) {
125 if (residual_lagrange < residual_dementhon)
142 std::string username;
147 std::string logdirname;
148 logdirname =
"/tmp/" + username;
156 std::cerr << std::endl <<
"ERROR:" << std::endl;
157 std::cerr <<
" Cannot create " << logdirname << std::endl;
161 std::string logfilename;
162 logfilename = logdirname +
"/log.dat";
165 std::ofstream flog(logfilename.c_str());
175 std::cout <<
"Camera extrinsic parameters (eMc): \n" << eMc << std::endl;
189 vpDisplayX display(I, 100, 100,
"Current image");
193 std::vector<vpDot2> dot(4);
197 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
199 for (
size_t i = 0; i < dot.size(); i++) {
200 dot[i].setGraphics(
true);
201 dot[i].initTracking(I);
210 robot.getCameraParameters(cam, I);
211 std::cout <<
"Camera intrinsic parameters: \n" << cam << std::endl;
215 for (
size_t i = 0; i < dot.size(); i++)
220 std::vector<vpPoint> point(4);
221 point[0].setWorldCoordinates(-L, -L, 0);
222 point[1].setWorldCoordinates(L, -L, 0);
223 point[2].setWorldCoordinates(L, L, 0);
224 point[3].setWorldCoordinates(-L, L, 0);
228 compute_pose(point, dot, cam, cMo,
true);
229 std::cout <<
"Initial camera pose (cMo): \n" << cMo << std::endl;
238 for (
int i = 0; i < 4; i++) {
240 point[i].changeFrame(cMo_d, cP);
241 point[i].projection(cP, p);
249 for (
size_t i = 0; i < dot.size(); i++)
274 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
284 for (
size_t i = 0; i < dot.size(); i++) {
293 std::cout <<
"Error detected while tracking visual features.." << std::endl;
300 compute_pose(point, dot, cam, cMo,
false);
302 for (
size_t i = 0; i < dot.size(); i++) {
307 point[i].changeFrame(cMo, cP);
331 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
341 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
351 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
356 flog << (task.
getError()).t() << std::endl;
369 std::cout <<
"Display task information: " << std::endl;
376 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
384 std::cout <<
"You do not have an Viper 650 robot connected to your computer..." << std::endl;
@ STATE_VELOCITY_CONTROL
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
Generic class defining intrinsic camera parameters.
Control of Irisa's Viper S650 robot named Viper650.
void set_eJe(const vpMatrix &eJe_)
@ vpVIDEO_MODE_640x480_MONO8
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void addPoint(const vpPoint &P)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
Class that consider the case of a translation vector.
vpCameraParametersProjType
Implementation of column vector and the associated operations.
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Implementation of a rotation matrix and operations on such kind of matrices.
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
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
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the sum of squared residuals expressed in meter^2 for the pose matrix cMo.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
@ TOOL_PTGREY_FLEA2_CAMERA
static const vpColor blue
vpColVector computeControlLaw()
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)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ perspectiveProjWithDistortion
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.