51 #include <visp3/core/vpConfig.h>
52 #include <visp3/core/vpDebug.h>
59 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
61 #include <visp3/blob/vpDot2.h>
62 #include <visp3/core/vpDisplay.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpMath.h>
67 #include <visp3/core/vpPoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/robot/vpRobotViper850.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>
92 std::string logdirname;
93 logdirname =
"/tmp/" + username;
101 std::cerr << std::endl <<
"ERROR:" << std::endl;
102 std::cerr <<
" Cannot create " << logdirname << std::endl;
106 std::string logfilename;
107 logfilename = logdirname +
"/log.dat";
110 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)
151 std::cout << std::endl;
152 std::cout <<
"-------------------------------------------------------" << std::endl;
153 std::cout <<
" Test program for vpServo " << std::endl;
154 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
155 std::cout <<
" Use of the Afma6 robot " << std::endl;
156 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
157 std::cout <<
"-------------------------------------------------------" << std::endl;
158 std::cout << std::endl;
163 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
165 for (i = 0; i < 4; i++) {
176 robot.getCameraParameters(cam, I);
182 for (i = 0; i < 4; i++)
194 std::cout << std::endl;
195 for (i = 0; i < 4; i++)
225 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
235 for (i = 0; i < 4; i++) {
245 vpTRACE(
"Error detected while tracking visual features");
251 for (i = 0; i < 4; i++)
274 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
284 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
294 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
299 flog << (task.
getError()).t() << std::endl;
308 std::cout <<
"Display task information: " << std::endl;
315 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
323 std::cout <<
"You do not have an Viper 850 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.
vpCameraParametersProjType
@ perspectiveProjWithDistortion
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
void setGraphics(bool activate)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
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 ...
Implementation of a matrix and operations on matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void get_eJe(vpMatrix &eJe)
@ 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 setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
vpVelocityTwistMatrix get_cVe() const
@ TOOL_PTGREY_FLEA2_CAMERA