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>
80 #include <visp/vpDisplayOpenCV.h>
81 #include <visp/vpDisplayGTK.h>
83 #include <visp/vpMath.h>
84 #include <visp/vpTranslationVector.h>
85 #include <visp/vpRxyzVector.h>
86 #include <visp/vpRotationMatrix.h>
87 #include <visp/vpHomogeneousMatrix.h>
88 #include <visp/vpFeaturePoint.h>
89 #include <visp/vpPoint.h>
90 #include <visp/vpServo.h>
91 #include <visp/vpFeatureBuilder.h>
92 #include <visp/vpDot.h>
93 #include <visp/vpRobotAfma6.h>
94 #include <visp/vpServoDisplay.h>
95 #include <visp/vpPose.h>
96 #include <visp/vpIoTools.h>
99 #include <visp/vpException.h>
100 #include <visp/vpMatrixException.h>
102 #define L 0.05 // to deal with a 10cm by 10cm square
141 for (
int i=0; i < ndot; i ++) {
195 if (residual_lagrange < residual_dementhon)
237 std::string username;
242 std::string logdirname;
243 logdirname =
"/tmp/" + username;
252 std::cerr << std::endl
253 <<
"ERROR:" << std::endl;
254 std::cerr <<
" Cannot create " << logdirname << std::endl;
258 std::string logfilename;
259 logfilename = logdirname +
"/log.dat";
262 std::ofstream flog(logfilename.c_str());
277 vpDisplayX display(I,100,100,
"Current image") ;
278 #elif defined(VISP_HAVE_OPENCV)
280 #elif defined(VISP_HAVE_GTK)
289 std::cout << std::endl ;
290 std::cout <<
"-------------------------------------------------------" << std::endl ;
291 std::cout <<
" Test program for vpServo " <<std::endl ;
292 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
293 std::cout <<
" Use of the Afma6 robot " << std::endl ;
294 std::cout <<
" Interaction matrix computed with the current features " << std::endl ;
295 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
296 std::cout <<
"-------------------------------------------------------" << std::endl ;
297 std::cout << std::endl ;
303 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
305 for (i=0 ; i < 4 ; i++) {
326 for (i=0 ; i < 4 ; i++)
347 for (
int i=0; i < 4; i ++) {
365 std::cout << std::endl ;
366 for (i=0 ; i < 4 ; i++)
383 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
393 for (i=0 ; i < 4 ; i++) {
406 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
408 for (i=0 ; i < 4 ; i++) {
434 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
435 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
445 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
446 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
456 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
457 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
462 flog << ( task.
getError() ).t()<<
" ";
466 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
467 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
495 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...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Define the X11 console to display images.
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.
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)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
vpCameraParametersProjType
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
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)
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)
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)
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...