65 #include <visp3/core/vpConfig.h> 66 #include <visp3/core/vpDebug.h> 67 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394)) 69 #include <visp3/core/vpDisplay.h> 70 #include <visp3/core/vpImage.h> 71 #include <visp3/core/vpImagePoint.h> 72 #include <visp3/gui/vpDisplayGTK.h> 73 #include <visp3/gui/vpDisplayOpenCV.h> 74 #include <visp3/gui/vpDisplayX.h> 75 #include <visp3/io/vpImageIo.h> 76 #include <visp3/sensor/vp1394TwoGrabber.h> 78 #include <visp3/core/vpHomogeneousMatrix.h> 79 #include <visp3/core/vpLine.h> 80 #include <visp3/core/vpMath.h> 81 #include <visp3/vision/vpPose.h> 82 #include <visp3/visual_features/vpFeatureBuilder.h> 83 #include <visp3/visual_features/vpFeatureDepth.h> 84 #include <visp3/visual_features/vpFeatureLine.h> 85 #include <visp3/visual_features/vpFeaturePoint.h> 86 #include <visp3/visual_features/vpGenericFeature.h> 87 #include <visp3/vs/vpServo.h> 89 #include <visp3/robot/vpRobotAfma6.h> 92 #include <visp3/core/vpException.h> 93 #include <visp3/vs/vpServoDisplay.h> 95 #include <visp3/blob/vpDot2.h> 96 #include <visp3/core/vpHomogeneousMatrix.h> 97 #include <visp3/core/vpPoint.h> 112 vpDisplayX display(I, 100, 100,
"Current image");
113 #elif defined(VISP_HAVE_OPENCV) 115 #elif defined(VISP_HAVE_GTK) 131 std::cout << std::endl;
132 std::cout <<
"-------------------------------------------------------" << std::endl;
133 std::cout <<
" Test program for vpServo " << std::endl;
134 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
135 std::cout <<
" Simulation " << std::endl;
136 std::cout <<
" task : servo a line " << std::endl;
137 std::cout <<
"-------------------------------------------------------" << std::endl;
138 std::cout << std::endl;
143 vpTRACE(
"sets the desired position of the visual feature ");
170 vpTRACE(
"Initialization of the tracking");
182 for (i = 0; i < nbline; i++) {
192 for (i = 0; i < nbline; i++) {
215 for (i = 0; i < nbline; i++) {
222 vpTRACE(
"sets the current position of the visual feature ");
227 double xc = (point[0].
get_x() + point[2].
get_x()) / 2;
228 double yc = (point[0].
get_y() + point[2].
get_y()) / 2;
248 vpTRACE(
"\t we want an eye-in-hand control law");
249 vpTRACE(
"\t robot is controlled in the camera frame");
253 vpTRACE(
"\t we want to see a point on a point..");
254 std::cout << std::endl;
262 vpTRACE(
"Display task information ");
267 unsigned int iter = 0;
271 double lambda_av = 0.05;
276 std::cout <<
"---------------------------------------------" << iter << std::endl;
285 for (i = 0; i < nbline; i++) {
309 xc = (point[0].
get_x() + point[2].
get_x()) / 2;
310 yc = (point[0].
get_y() + point[2].
get_y()) / 2;
319 for (i = 0; i < nbpoint; i++)
332 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
335 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
367 vpTRACE(
"Display task information ");
373 std::cout <<
"Test failed with exception: " << e << std::endl;
381 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
void setWorldCoordinates(double oX, double oY, double oZ)
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 addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void setSampleStep(const double &s)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void buildFrom(double x, double y, double Z, double LogZoverZstar)
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
error that can be emited by ViSP classes.
void track(const vpImage< unsigned char > &Im)
vpHomogeneousMatrix inverse() const
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)
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 set_x(double x)
Set the point x coordinate in the image plane.
void set_y(double y)
Set the point y coordinate in the image plane.
void display(const vpImage< unsigned char > &I, vpColor col)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
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.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
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)
Implementation of column vector and the associated operations.
double get_x() const
Get the point x coordinate in the image plane.
void setFramerate(vp1394TwoFramerateType fps)
double get_y() const
Get the point y coordinate in the image plane.
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)
vpColVector getError() const
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)
double get_Z() const
Get the point Z coordinate in the camera frame.
void addPoint(const vpPoint &P)
void setServo(const vpServoType &servo_type)