63 #include <visp3/core/vpConfig.h>
65 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
67 #include <visp3/blob/vpDot2.h>
68 #include <visp3/core/vpHomogeneousMatrix.h>
69 #include <visp3/core/vpIoTools.h>
70 #include <visp3/core/vpPoint.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/robot/vpRobotViper650.h>
73 #include <visp3/sensor/vp1394TwoGrabber.h>
74 #include <visp3/vision/vpPose.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeaturePoint.h>
77 #include <visp3/vs/vpServo.h>
78 #include <visp3/vs/vpServoDisplay.h>
93 std::string logdirname;
94 logdirname =
"/tmp/" + username;
102 std::cerr << std::endl <<
"ERROR:" << std::endl;
103 std::cerr <<
" Cannot create " << logdirname << std::endl;
107 std::string logfilename;
108 logfilename = logdirname +
"/log.dat";
111 std::ofstream flog(logfilename.c_str());
132 vpDisplayX display(I, 100, 100,
"Current image");
140 for (
int i = 0; i < 10; i++)
143 std::cout <<
"Click on a dot..." << std::endl;
152 robot.getCameraParameters(cam, I);
180 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
193 std::cout <<
"Error detected while tracking visual features.." << std::endl;
218 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
228 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
238 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
243 flog << (task.
getError()).t() << std::endl;
263 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
271 std::cout <<
"You do not have an Viper 650 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(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 void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setGraphics(bool activate)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emited by ViSP classes.
const char * getMessage() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Control of Irisa's Viper S650 robot named Viper650.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)