54 #include <visp/vpConfig.h>
55 #include <visp/vpDebug.h>
62 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
64 #include <visp/vp1394TwoGrabber.h>
65 #include <visp/vpImage.h>
66 #include <visp/vpDisplay.h>
67 #include <visp/vpDisplayX.h>
68 #include <visp/vpMath.h>
69 #include <visp/vpHomogeneousMatrix.h>
70 #include <visp/vpFeaturePoint.h>
71 #include <visp/vpPoint.h>
72 #include <visp/vpServo.h>
73 #include <visp/vpFeatureBuilder.h>
74 #include <visp/vpIoTools.h>
75 #include <visp/vpRobotViper850.h>
76 #include <visp/vpPose.h>
79 #include <visp/vpException.h>
80 #include <visp/vpMatrixException.h>
81 #include <visp/vpServoDisplay.h>
83 #include <visp/vpDot2.h>
84 #define L 0.05 // to deal with a 10cm by 10cm square
123 for (
int i=0; i < ndot; i ++) {
144 if (residual_lagrange < residual_dementhon)
169 std::string username;
174 std::string logdirname;
175 logdirname =
"/tmp/" + username;
184 std::cerr << std::endl
185 <<
"ERROR:" << std::endl;
186 std::cerr <<
" Cannot create " << logdirname << std::endl;
190 std::string logfilename;
191 logfilename = logdirname +
"/log.dat";
194 std::ofstream flog(logfilename.c_str());
217 vpDisplayX display(I, 100, 100,
"Camera view ") ;
223 std::cout << std::endl ;
224 std::cout <<
"-------------------------------------------------------" << std::endl ;
225 std::cout <<
" Test program for vpServo " <<std::endl ;
226 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
227 std::cout <<
" Use of the Afma6 robot " << std::endl ;
228 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
229 std::cout <<
"-------------------------------------------------------" << std::endl ;
230 std::cout << std::endl ;
236 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
239 for (i=0 ; i < 4 ; i++) {
256 for (i=0 ; i < 4 ; i++)
277 for (
int i=0; i < 4; i ++) {
288 for (i=0 ; i < 4 ; i++)
318 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
328 for (i=0 ; i < 4 ; i++) {
339 vpTRACE(
"Error detected while tracking visual features") ;
347 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
349 for (i=0 ; i < 4 ; i++) {
379 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
380 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
390 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
391 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
401 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
402 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
407 flog << ( task.
getError() ).t() << std::endl;
415 vpTRACE(
"Display task information " ) ;
433 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Definition of the vpMatrix class.
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...
Control of Irisa's Viper S850 robot named Viper850.
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
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
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...
void get_eJe(vpMatrix &eJe)
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
void set_cVe(vpVelocityTwistMatrix &_cVe)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
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 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)
void set_eJe(vpMatrix &_eJe)
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
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
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)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
void get_cVe(vpVelocityTwistMatrix &cVe)
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 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...