59 #include <visp3/core/vpConfig.h>
60 #include <visp3/core/vpDebug.h>
64 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
66 #include <visp3/sensor/vp1394TwoGrabber.h>
67 #include <visp3/core/vpImage.h>
68 #include <visp3/core/vpImagePoint.h>
69 #include <visp3/io/vpImageIo.h>
70 #include <visp3/core/vpDisplay.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/gui/vpDisplayOpenCV.h>
73 #include <visp3/gui/vpDisplayGTK.h>
75 #include <visp3/core/vpMath.h>
76 #include <visp3/core/vpHomogeneousMatrix.h>
77 #include <visp3/visual_features/vpFeatureLine.h>
78 #include <visp3/visual_features/vpFeaturePoint.h>
79 #include <visp3/visual_features/vpFeatureDepth.h>
80 #include <visp3/visual_features/vpGenericFeature.h>
81 #include <visp3/core/vpLine.h>
82 #include <visp3/vs/vpServo.h>
83 #include <visp3/visual_features/vpFeatureBuilder.h>
84 #include <visp3/vision/vpPose.h>
86 #include <visp3/robot/vpRobotAfma6.h>
89 #include <visp3/core/vpException.h>
90 #include <visp3/vs/vpServoDisplay.h>
92 #include <visp3/blob/vpDot2.h>
93 #include <visp3/core/vpPoint.h>
94 #include <visp3/core/vpHomogeneousMatrix.h>
112 vpDisplayX display(I,100,100,
"Current image") ;
113 #elif defined(VISP_HAVE_OPENCV)
115 #elif defined(VISP_HAVE_GTK)
132 std::cout << std::endl ;
133 std::cout <<
"-------------------------------------------------------" << std::endl ;
134 std::cout <<
" Test program for vpServo " <<std::endl ;
135 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
136 std::cout <<
" Simulation " << std::endl ;
137 std::cout <<
" task : servo a line " << std::endl ;
138 std::cout <<
"-------------------------------------------------------" << std::endl ;
139 std::cout << std::endl ;
145 vpTRACE(
"sets the desired position of the visual feature ") ;
171 vpTRACE(
"Initialization of the tracking") ;
183 for (i=0 ; i < nbline ; i++)
194 for (i=0 ; i < nbline ; i++)
219 for (i=0 ; i < nbline ; i++)
228 vpTRACE(
"sets the current position of the visual feature ") ;
232 double xc = (point[0].
get_x()+point[2].
get_x())/2;
233 double yc = (point[0].
get_y()+point[2].
get_y())/2;
251 vpTRACE(
"\t we want an eye-in-hand control law") ;
252 vpTRACE(
"\t robot is controlled in the camera frame") ;
256 vpTRACE(
"\t we want to see a point on a point..") ;
257 std::cout << std::endl ;
267 vpTRACE(
"Display task information " ) ;
272 unsigned int iter=0 ;
276 double lambda_av =0.05;
277 double alpha = 0.05 ;
282 std::cout <<
"---------------------------------------------" << iter <<std::endl ;
291 for (i=0 ; i < nbline ; i++)
326 for (i = 0; i < nbpoint; i++) pointd[i].display(I, cam,
vpColor::red);
338 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
342 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av ;
376 vpTRACE(
"Display task information " ) ;
391 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setPointsToTrack(const int &n)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setSampleStep(const double &s)
void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
void track(const vpImage< unsigned char > &Im)
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...
double get_y() const
Get the point y coordinate in the image plane.
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
static void display(const vpImage< unsigned char > &I)
Class that tracks in an image a line moving edges.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
double get_x() const
Get the point x coordinate in the image plane.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void initTracking(const vpImage< unsigned char > &I)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
double get_Z() const
Get the point Z coordinate in the camera frame.
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
vpHomogeneousMatrix inverse() const
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
Class that defines a 3D visual feature from a axis/angle parametrization that represent the rotatio...
void setThreshold(const double &t)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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 setRange(const unsigned int &r)
void addPoint(const vpPoint &P)
void setServo(const vpServoType &servo_type)