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Visual Servoing Platform
version 3.3.0
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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/vision/vpPose.h>
87 #include <visp3/visual_features/vpFeatureBuilder.h>
88 #include <visp3/visual_features/vpFeaturePoint.h>
89 #include <visp3/vs/vpServo.h>
90 #include <visp3/vs/vpServoDisplay.h>
93 #include <visp3/core/vpException.h>
95 #define L 0.05 // to deal with a 10cm by 10cm square
130 for (
int i = 0; i < ndot; i++) {
184 if (residual_lagrange < residual_dementhon)
225 std::string username;
230 std::string logdirname;
231 logdirname =
"/tmp/" + username;
239 std::cerr << std::endl <<
"ERROR:" << std::endl;
240 std::cerr <<
" Cannot create " << logdirname << std::endl;
244 std::string logfilename;
245 logfilename = logdirname +
"/log.dat";
248 std::ofstream flog(logfilename.c_str());
262 vpDisplayX display(I, 100, 100,
"Current image");
263 #elif defined(VISP_HAVE_OPENCV)
265 #elif defined(VISP_HAVE_GTK)
274 std::cout << std::endl;
275 std::cout <<
"-------------------------------------------------------" << std::endl;
276 std::cout <<
" Test program for vpServo " << std::endl;
277 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
278 std::cout <<
" Use of the Afma6 robot " << std::endl;
279 std::cout <<
" Interaction matrix computed with the current features " << std::endl;
280 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
281 std::cout <<
"-------------------------------------------------------" << std::endl;
282 std::cout << std::endl;
287 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
288 for (i = 0; i < 4; i++) {
304 robot.getCameraParameters(cam, I);
308 for (i = 0; i < 4; i++)
330 for (
int i = 0; i < 4; i++) {
348 std::cout << std::endl;
349 for (i = 0; i < 4; i++)
366 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
376 for (i = 0; i < 4; i++) {
389 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
391 for (i = 0; i < 4; i++) {
417 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
427 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
437 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
442 flog << (task.
getError()).t() <<
" ";
446 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
447 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
466 std::cout <<
"Test failed with exception: " << e << std::endl;
474 std::cout <<
"You do not have an afma6 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...
vpImagePoint getCog() const
void setVideoMode(vp1394TwoVideoModeType videomode)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
void projection(const vpColVector &_cP, vpColVector &_p)
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
@ vpVIDEO_MODE_640x480_MONO8
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static const vpColor blue
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void addPoint(const vpPoint &P)
Class that consider the case of a translation vector.
vpCameraParametersProjType
Implementation of column vector and the associated operations.
void extract(vpRotationMatrix &R) const
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
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
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 setWorldCoordinates(double oX, double oY, double oZ)
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
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 set_y(double y)
Set the point y coordinate in the image plane.
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)
void acquire(vpImage< unsigned char > &I)
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)
static const vpColor green
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
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)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void open(vpImage< unsigned char > &I)
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Class that defines what is a point.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_x(double x)
Set the point x coordinate in the image plane.
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.
Implementation of a rotation vector as Euler angle minimal representation.