50 #include <visp3/core/vpConfig.h> 51 #include <visp3/core/vpDebug.h> 59 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES)) 61 #include <visp3/core/vpDisplay.h> 62 #include <visp3/core/vpHomogeneousMatrix.h> 63 #include <visp3/core/vpImage.h> 64 #include <visp3/core/vpImageConvert.h> 65 #include <visp3/core/vpIoTools.h> 66 #include <visp3/core/vpMath.h> 67 #include <visp3/core/vpPoint.h> 68 #include <visp3/gui/vpDisplayGTK.h> 69 #include <visp3/gui/vpDisplayOpenCV.h> 70 #include <visp3/gui/vpDisplayX.h> 71 #include <visp3/robot/vpRobotViper850.h> 72 #include <visp3/sensor/vp1394TwoGrabber.h> 73 #include <visp3/sensor/vpKinect.h> 74 #include <visp3/vision/vpPose.h> 75 #include <visp3/visual_features/vpFeatureBuilder.h> 76 #include <visp3/visual_features/vpFeaturePoint.h> 77 #include <visp3/vs/vpServo.h> 80 #include <visp3/core/vpException.h> 81 #include <visp3/vs/vpServoDisplay.h> 83 #include <visp3/blob/vpDot2.h> 84 #define L 0.05 // to deal with a 10cm by 10cm square 119 for (
int i = 0; i < ndot; i++) {
139 if (residual_lagrange < residual_dementhon)
162 std::string username;
167 std::string logdirname;
168 logdirname =
"/tmp/" + username;
176 std::cerr << std::endl <<
"ERROR:" << std::endl;
177 std::cerr <<
" Cannot create " << logdirname << std::endl;
181 std::string logfilename;
182 logfilename = logdirname +
"/log.dat";
185 std::ofstream flog(logfilename.c_str());
200 #ifdef VISP_HAVE_LIBFREENECT_OLD 203 Freenect::Freenect<vpKinect> freenect;
204 vpKinect &kinect = freenect.createDevice(0);
206 Freenect::Freenect freenect;
215 vpDisplayX display(I, 100, 100,
"Current image");
216 #elif defined(VISP_HAVE_OPENCV) 218 #elif defined(VISP_HAVE_GTK) 225 std::cout << std::endl;
226 std::cout <<
"-------------------------------------------------------" << std::endl;
227 std::cout <<
" Test program for vpServo " << std::endl;
228 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl;
229 std::cout <<
" Use of the Viper850 robot " << std::endl;
230 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
231 std::cout <<
"-------------------------------------------------------" << std::endl;
232 std::cout << std::endl;
237 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
239 for (i = 0; i < 4; i++) {
256 for (i = 0; i < 4; i++)
277 for (
int i = 0; i < 4; i++) {
288 for (i = 0; i < 4; i++)
307 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
318 for (i = 0; i < 4; i++) {
328 vpTRACE(
"Error detected while tracking visual features");
337 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
339 for (i = 0; i < 4; i++) {
362 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
372 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
382 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
387 flog << (task.
getError()).t() << std::endl;
397 std::cout <<
"Display task information: " << std::endl;
405 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
413 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
void start(vpKinect::vpDMResolution res=DMAP_LOW_RES)
vpRxyzVector buildFrom(const vpRotationMatrix &R)
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
void projection(const vpColVector &_cP, vpColVector &_p)
void setWorldCoordinates(double oX, double oY, double oZ)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
error that can be emited by ViSP classes.
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)
void extract(vpRotationMatrix &R) const
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Driver for the Kinect-1 device.
static void flush(const vpImage< unsigned char > &I)
Class that defines what is a point.
void set_x(double x)
Set the point x coordinate in the image plane.
Implementation of a rotation matrix and operations on such kind of matrices.
void set_y(double y)
Set the point y coordinate in the image plane.
Initialize the velocity controller.
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.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
bool getRGB(vpImage< vpRGBa > &IRGB)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
const char * getMessage(void) const
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpImagePoint getCog() const
Implementation of a rotation vector as Euler angle minimal representation.
vpColVector getError() const
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)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the sum of squared residuals expressed in meter^2 for the pose matrix cMo...
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)
static const vpColor blue