55 #include <visp/vpConfig.h>
56 #include <visp/vpDebug.h>
63 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_DC1394_2))
65 #include <visp/vp1394TwoGrabber.h>
66 #include <visp/vpDisplay.h>
67 #include <visp/vpDisplayGTK.h>
68 #include <visp/vpDisplayX.h>
69 #include <visp/vpDisplayOpenCV.h>
70 #include <visp/vpDot2.h>
71 #include <visp/vpFeatureBuilder.h>
72 #include <visp/vpFeaturePoint.h>
73 #include <visp/vpHomogeneousMatrix.h>
74 #include <visp/vpImage.h>
75 #include <visp/vpIoTools.h>
76 #include <visp/vpMath.h>
77 #include <visp/vpPoint.h>
78 #include <visp/vpPose.h>
79 #include <visp/vpRobotViper850.h>
80 #include <visp/vpServo.h>
81 #include <visp/vpServoDisplay.h>
83 #define L 0.05 // to deal with a 10cm by 10cm square
122 for (
int i=0; i < ndot; i ++) {
143 if (residual_lagrange < residual_dementhon)
168 std::string username;
173 std::string logdirname;
174 logdirname =
"/tmp/" + username;
183 std::cerr << std::endl
184 <<
"ERROR:" << std::endl;
185 std::cerr <<
" Cannot create " << logdirname << std::endl;
189 std::string logfilename;
190 logfilename = logdirname +
"/log.dat";
193 std::ofstream flog(logfilename.c_str());
217 vpDisplayX display(I,100,100,
"Current image") ;
218 #elif defined(VISP_HAVE_OPENCV)
220 #elif defined(VISP_HAVE_GTK)
227 std::cout << std::endl ;
228 std::cout <<
"-------------------------------------------------------" << std::endl ;
229 std::cout <<
" Test program for vpServo " <<std::endl ;
230 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl ;
231 std::cout <<
" Use of the Afma6 robot " << std::endl ;
232 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
233 std::cout <<
"-------------------------------------------------------" << std::endl ;
234 std::cout << std::endl ;
240 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
243 for (i=0 ; i < 4 ; i++) {
261 for (i=0 ; i < 4 ; i++)
282 for (
int i=0; i < 4; i ++) {
293 for (i=0 ; i < 4 ; i++)
323 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
333 for (i=0 ; i < 4 ; i++) {
344 vpTRACE(
"Error detected while tracking visual features") ;
352 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
354 for (i=0 ; i < 4 ; i++) {
384 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
385 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
395 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
396 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
406 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
407 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
412 flog << ( task.
getError() ).t() << std::endl;
420 std::cout <<
"Display task information: " << std::endl;
438 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...
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) const
Control of Irisa's Viper S850 robot named Viper850.
void set_eJe(const vpMatrix &eJe_)
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
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)
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)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Build a rotation matrix from an homogeneous matrix.
vpCameraParametersProjType
bool computePose(vpPoseMethodType methode, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
compute the pose for a given method
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
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).
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+ library version 1.2.
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)
static double rad(double deg)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void get_cVe(vpVelocityTwistMatrix &cVe) const
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 set_cVe(const 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 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)
Add a new point in this array.
void buildFrom(const double phi, const double theta, const double psi)
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)
void setGraphics(const bool activate)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
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...