70 #include <visp/vpConfig.h>
71 #include <visp/vpDebug.h>
73 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
75 #include <visp/vp1394TwoGrabber.h>
76 #include <visp/vpImage.h>
77 #include <visp/vpImagePoint.h>
78 #include <visp/vpDisplay.h>
79 #include <visp/vpDisplayX.h>
81 #include <visp/vpMath.h>
82 #include <visp/vpTranslationVector.h>
83 #include <visp/vpRxyzVector.h>
84 #include <visp/vpRotationMatrix.h>
85 #include <visp/vpHomogeneousMatrix.h>
86 #include <visp/vpFeaturePoint.h>
87 #include <visp/vpPoint.h>
88 #include <visp/vpServo.h>
89 #include <visp/vpFeatureBuilder.h>
90 #include <visp/vpDot.h>
91 #include <visp/vpRobotAfma6.h>
92 #include <visp/vpServoDisplay.h>
93 #include <visp/vpPose.h>
94 #include <visp/vpIoTools.h>
97 #include <visp/vpException.h>
98 #include <visp/vpMatrixException.h>
100 #define L 0.05 // to deal with a 10cm by 10cm square
139 for (
int i=0; i < ndot; i ++) {
193 if (residual_lagrange < residual_dementhon)
235 std::string username;
240 std::string logdirname;
241 logdirname =
"/tmp/" + username;
250 std::cerr << std::endl
251 <<
"ERROR:" << std::endl;
252 std::cerr <<
" Cannot create " << logdirname << std::endl;
256 std::string logfilename;
257 logfilename = logdirname +
"/log.dat";
260 std::ofstream flog(logfilename.c_str());
274 vpDisplayX display(I,100,100,
"Current image") ;
281 std::cout << std::endl ;
282 std::cout <<
"-------------------------------------------------------" << std::endl ;
283 std::cout <<
" Test program for vpServo " <<std::endl ;
284 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
285 std::cout <<
" Use of the Afma6 robot " << std::endl ;
286 std::cout <<
" Interaction matrix computed with the current features " << std::endl ;
287 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
288 std::cout <<
"-------------------------------------------------------" << std::endl ;
289 std::cout << std::endl ;
295 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
297 for (i=0 ; i < 4 ; i++) {
318 for (i=0 ; i < 4 ; i++)
339 for (
int i=0; i < 4; i ++) {
357 std::cout << std::endl ;
358 for (i=0 ; i < 4 ; i++)
375 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
385 for (i=0 ; i < 4 ; i++) {
398 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
400 for (i=0 ; i < 4 ; i++) {
426 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
427 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
437 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
438 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
448 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
449 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
454 flog << ( task.
getError() ).t()<<
" ";
458 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
459 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
487 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
static void display(vpServo &s, const vpCameraParameters &cam, vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
create a new ste of two visual features
void setLambda(double _lambda)
set the gain lambda
void set_x(const double x)
Set the point x coordinate in the image plane.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
static const vpColor green
void acquire(vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
The vpRotationMatrix considers the particular case of a rotation matrix.
vpImagePoint getCog() const
void set_x(const double x)
vpRotationMatrix buildFrom(const vpThetaUVector &v)
Transform a vector vpThetaUVector into an rotation matrix.
void open(vpImage< unsigned char > &I)
void kill()
destruction (memory deallocation if required)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
compute the desired control law
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Class used for pose computation from N points (pose from point only).
double computeResidual(vpHomogeneousMatrix &cMo)
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
void extract(vpRotationMatrix &R) const
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Set the type of the interaction matrix (current, mean, desired, user).
static double rad(double deg)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void computePose(vpPoseMethodType methode, vpHomogeneousMatrix &cMo)
compute the pose for a given method
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
Class required to compute the visual servoing control law.
void addPoint(const vpPoint &P)
Add a new point in this array.
void buildFrom(const double phi, const double theta, const double psi)
Class that consider the case of a translation vector.
void setServo(vpServoType _servo_type)
Choice of the visual servoing control law.
static const vpColor blue
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...