52 #include <visp3/core/vpConfig.h> 53 #include <visp3/core/vpDebug.h> 60 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394)) 62 #include <visp3/blob/vpDot2.h> 63 #include <visp3/core/vpDisplay.h> 64 #include <visp3/core/vpHomogeneousMatrix.h> 65 #include <visp3/core/vpImage.h> 66 #include <visp3/core/vpIoTools.h> 67 #include <visp3/core/vpMath.h> 68 #include <visp3/core/vpPoint.h> 69 #include <visp3/gui/vpDisplayGTK.h> 70 #include <visp3/gui/vpDisplayOpenCV.h> 71 #include <visp3/gui/vpDisplayX.h> 72 #include <visp3/robot/vpRobotViper850.h> 73 #include <visp3/sensor/vp1394TwoGrabber.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> 78 #include <visp3/vs/vpServoDisplay.h> 80 #define L 0.05 // to deal with a 10cm by 10cm square 115 for (
int i = 0; i < ndot; i++) {
135 if (residual_lagrange < residual_dementhon)
158 std::string username;
163 std::string logdirname;
164 logdirname =
"/tmp/" + username;
172 std::cerr << std::endl <<
"ERROR:" << std::endl;
173 std::cerr <<
" Cannot create " << logdirname << std::endl;
177 std::string logfilename;
178 logfilename = logdirname +
"/log.dat";
181 std::ofstream flog(logfilename.c_str());
204 vpDisplayX display(I, 100, 100,
"Current image");
205 #elif defined(VISP_HAVE_OPENCV) 207 #elif defined(VISP_HAVE_GTK) 214 std::cout << std::endl;
215 std::cout <<
"-------------------------------------------------------" << std::endl;
216 std::cout <<
" Test program for vpServo " << std::endl;
217 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl;
218 std::cout <<
" Use of the Viper850 robot " << std::endl;
219 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
220 std::cout <<
"-------------------------------------------------------" << std::endl;
221 std::cout << std::endl;
226 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
228 for (i = 0; i < 4; i++) {
245 for (i = 0; i < 4; i++)
266 for (
int i = 0; i < 4; i++) {
277 for (i = 0; i < 4; i++)
296 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
306 for (i = 0; i < 4; i++) {
316 vpTRACE(
"Error detected while tracking visual features");
324 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
326 for (i = 0; i < 4; i++) {
349 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
359 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
369 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
374 flog << task.
getError() << std::endl;
383 std::cout <<
"Display task information: " << std::endl;
390 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
398 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
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 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)
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)
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)
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