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/sensor/vp1394TwoGrabber.h> 77 #include <visp3/blob/vpDot.h> 78 #include <visp3/core/vpHomogeneousMatrix.h> 79 #include <visp3/core/vpIoTools.h> 80 #include <visp3/core/vpMath.h> 81 #include <visp3/core/vpPoint.h> 82 #include <visp3/core/vpRotationMatrix.h> 83 #include <visp3/core/vpRxyzVector.h> 84 #include <visp3/core/vpTranslationVector.h> 85 #include <visp3/robot/vpRobotAfma6.h> 86 #include <visp3/visual_features/vpFeatureBuilder.h> 87 #include <visp3/visual_features/vpFeaturePoint.h> 88 #include <visp3/vs/vpServo.h> 89 #include <visp3/vs/vpServoDisplay.h> 92 #include <visp3/core/vpException.h> 94 #define L 0.05 // to deal with a 10cm by 10cm square 104 std::string username;
109 std::string logdirname;
110 logdirname =
"/tmp/" + username;
118 std::cerr << std::endl <<
"ERROR:" << std::endl;
119 std::cerr <<
" Cannot create " << logdirname << std::endl;
123 std::string logfilename;
124 logfilename = logdirname +
"/log.dat";
127 std::ofstream flog(logfilename.c_str());
141 vpDisplayX display(I, 100, 100,
"Current image");
142 #elif defined(VISP_HAVE_OPENCV) 144 #elif defined(VISP_HAVE_GTK) 153 std::cout << std::endl;
154 std::cout <<
"-------------------------------------------------------" << std::endl;
155 std::cout <<
" Test program for vpServo " << std::endl;
156 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
157 std::cout <<
" Use of the Afma6 robot " << std::endl;
158 std::cout <<
" Interaction matrix computed with the desired features " << std::endl;
160 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
161 std::cout <<
"-------------------------------------------------------" << std::endl;
162 std::cout << std::endl;
167 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
168 for (i = 0; i < 4; i++) {
189 for (i = 0; i < 4; i++)
211 for (
int i = 0; i < 4; i++) {
229 std::cout << std::endl;
230 for (i = 0; i < 4; i++)
242 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
252 for (i = 0; i < 4; i++) {
266 for (i = 0; i < 4; i++)
282 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
292 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
302 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
307 flog << (task.
getError()).t() << std::endl;
321 std::cout <<
"Test failed with exception: " << e << std::endl;
329 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void setWorldCoordinates(double oX, double oY, double oZ)
void projection(const vpColVector &_cP, vpColVector &_p) 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...
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 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.
static void flush(const vpImage< unsigned char > &I)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a rotation matrix and operations on such kind of matrices.
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
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...
Generic class defining intrinsic camera parameters.
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
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 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)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Implementation of column vector and the associated operations.
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)
vpImagePoint getCog() const
Implementation of a rotation vector as Euler angle minimal representation.
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 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