51 #include <visp3/core/vpConfig.h> 52 #include <visp3/core/vpDebug.h> 59 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394)) 61 #include <visp3/blob/vpDot2.h> 62 #include <visp3/core/vpDisplay.h> 63 #include <visp3/core/vpHomogeneousMatrix.h> 64 #include <visp3/core/vpImage.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/vision/vpPose.h> 74 #include <visp3/visual_features/vpFeatureBuilder.h> 75 #include <visp3/visual_features/vpFeaturePoint.h> 76 #include <visp3/vs/vpServo.h> 77 #include <visp3/vs/vpServoDisplay.h> 79 #define L 0.05 // to deal with a 10cm by 10cm square 114 for (
int i = 0; i < ndot; i++) {
134 if (residual_lagrange < residual_dementhon)
157 std::string username;
162 std::string logdirname;
163 logdirname =
"/tmp/" + username;
171 std::cerr << std::endl <<
"ERROR:" << std::endl;
172 std::cerr <<
" Cannot create " << logdirname << std::endl;
176 std::string logfilename;
177 logfilename = logdirname +
"/log.dat";
180 std::ofstream flog(logfilename.c_str());
203 vpDisplayX display(I, 100, 100,
"Current image");
204 #elif defined(VISP_HAVE_OPENCV) 206 #elif defined(VISP_HAVE_GTK) 213 std::cout << std::endl;
214 std::cout <<
"-------------------------------------------------------" << std::endl;
215 std::cout <<
" Test program for vpServo " << std::endl;
216 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
217 std::cout <<
" Use of the Afma6 robot " << std::endl;
218 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
219 std::cout <<
"-------------------------------------------------------" << std::endl;
220 std::cout << std::endl;
225 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
227 for (i = 0; i < 4; i++) {
244 for (i = 0; i < 4; i++)
265 for (
int i = 0; i < 4; i++) {
276 for (i = 0; i < 4; i++)
306 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
316 for (i = 0; i < 4; i++) {
326 vpTRACE(
"Error detected while tracking visual features");
334 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
336 for (i = 0; i < 4; i++) {
366 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
376 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
386 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
391 flog << (task.
getError()).t() << std::endl;
400 std::cout <<
"Display task information: " << std::endl;
407 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
415 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Implementation of a matrix and operations on matrices.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
void set_eJe(const vpMatrix &eJe_)
void setGraphics(bool activate)
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 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.
static void flush(const vpImage< unsigned char > &I)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
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.
vpImagePoint getCog() const
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.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void extract(vpRotationMatrix &R) const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void projection(const vpColVector &_cP, vpColVector &_p) const
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
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 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)
Implementation of a rotation vector as Euler angle minimal representation.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
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 addPoint(const vpPoint &P)
const char * getMessage() const
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 sum of squared residuals expressed in meter^2 for the pose matrix cMo...
static const vpColor blue