66 #include <visp3/core/vpConfig.h>
67 #include <visp3/core/vpDebug.h>
69 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
71 #include <visp3/sensor/vp1394TwoGrabber.h>
72 #include <visp3/core/vpImage.h>
73 #include <visp3/core/vpImagePoint.h>
74 #include <visp3/core/vpDisplay.h>
75 #include <visp3/gui/vpDisplayX.h>
76 #include <visp3/gui/vpDisplayOpenCV.h>
77 #include <visp3/gui/vpDisplayGTK.h>
79 #include <visp3/core/vpMath.h>
80 #include <visp3/core/vpTranslationVector.h>
81 #include <visp3/core/vpRxyzVector.h>
82 #include <visp3/core/vpRotationMatrix.h>
83 #include <visp3/core/vpHomogeneousMatrix.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/core/vpPoint.h>
86 #include <visp3/vs/vpServo.h>
87 #include <visp3/visual_features/vpFeatureBuilder.h>
88 #include <visp3/blob/vpDot.h>
89 #include <visp3/robot/vpRobotAfma6.h>
90 #include <visp3/vs/vpServoDisplay.h>
91 #include <visp3/vision/vpPose.h>
92 #include <visp3/core/vpIoTools.h>
95 #include <visp3/core/vpException.h>
97 #define L 0.05 // to deal with a 10cm by 10cm square
136 for (
int i=0; i < ndot; i ++) {
190 if (residual_lagrange < residual_dementhon)
232 std::string username;
237 std::string logdirname;
238 logdirname =
"/tmp/" + username;
247 std::cerr << std::endl
248 <<
"ERROR:" << std::endl;
249 std::cerr <<
" Cannot create " << logdirname << std::endl;
253 std::string logfilename;
254 logfilename = logdirname +
"/log.dat";
257 std::ofstream flog(logfilename.c_str());
272 vpDisplayX display(I,100,100,
"Current image") ;
273 #elif defined(VISP_HAVE_OPENCV)
275 #elif defined(VISP_HAVE_GTK)
284 std::cout << std::endl ;
285 std::cout <<
"-------------------------------------------------------" << std::endl ;
286 std::cout <<
" Test program for vpServo " <<std::endl ;
287 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
288 std::cout <<
" Use of the Afma6 robot " << std::endl ;
289 std::cout <<
" Interaction matrix computed with the current features " << std::endl ;
290 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
291 std::cout <<
"-------------------------------------------------------" << std::endl ;
292 std::cout << std::endl ;
298 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
300 for (i=0 ; i < 4 ; i++) {
321 for (i=0 ; i < 4 ; i++)
342 for (
int i=0; i < 4; i ++) {
360 std::cout << std::endl ;
361 for (i=0 ; i < 4 ; i++)
378 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
388 for (i=0 ; i < 4 ; i++) {
401 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
403 for (i=0 ; i < 4 ; i++) {
429 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
430 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
440 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
441 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
451 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
452 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
457 flog << ( task.
getError() ).t()<<
" ";
461 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
462 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
490 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)
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
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)
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.
Implementation of a rotation matrix and operations on such kind of matrices.
vpImagePoint getCog() const
void set_x(const double x)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
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)
void extract(vpRotationMatrix &R) const
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
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)
Implementation of a rotation vector as Euler angle minimal representation.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
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)
void addPoint(const vpPoint &P)
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
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)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
static const vpColor blue