59 #include <visp3/core/vpConfig.h>
60 #include <visp3/core/vpDebug.h>
61 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
63 #include <visp3/core/vpDisplay.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/gui/vpDisplayOpenCV.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/sensor/vp1394TwoGrabber.h>
70 #include <visp3/core/vpHomogeneousMatrix.h>
71 #include <visp3/core/vpMath.h>
72 #include <visp3/visual_features/vpFeatureBuilder.h>
73 #include <visp3/visual_features/vpFeatureEllipse.h>
74 #include <visp3/vs/vpServo.h>
76 #include <visp3/robot/vpRobotAfma6.h>
79 #include <visp3/core/vpException.h>
80 #include <visp3/vs/vpServoDisplay.h>
82 #include <visp3/blob/vpDot.h>
98 #elif defined(HAVE_OPENCV_HIGHGUI)
100 #elif defined(VISP_HAVE_GTK)
107 std::cout << std::endl;
108 std::cout <<
"-------------------------------------------------------" << std::endl;
109 std::cout <<
" Test program for vpServo " << std::endl;
110 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
111 std::cout <<
" Simulation " << std::endl;
112 std::cout <<
" task : servo a point " << std::endl;
113 std::cout <<
"-------------------------------------------------------" << std::endl;
114 std::cout << std::endl;
121 std::cout <<
"Click on an ellipse..." << std::endl;
134 robot.getCameraParameters(cam, I);
136 vpTRACE(
"sets the current position of the visual feature ");
140 std::cout <<
" Learning 0/1 " << std::endl;
142 std::cin >> learning;
143 std::string name =
"dat/ellipse.dat";
146 vpTRACE(
"Save the location of the object in a file dat/ellipse.dat");
147 std::ofstream f(name.c_str());
153 vpTRACE(
"sets the desired position of the visual feature ");
155 std::ifstream f(
"dat/ellipse.dat");
156 double x, y, n20, n11, n02;
174 unsigned int iter = 0;
175 double lambda_av = 0.01;
179 std::cout <<
"alpha 0.7" << std::endl;
181 std::cout <<
"beta 5" << std::endl;
184 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
200 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
203 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
212 std::cout <<
"rank " << task.
getTaskRank() << std::endl;
221 vpTRACE(
"Display task information ");
225 std::cout <<
"Test failed with exception: " << e << std::endl;
233 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor blue
static const vpColor green
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void setMaxDotSize(double percentage)
void initTracking(const vpImage< unsigned char > &I)
void setComputeMoments(bool activate)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void setABC(double A, double B, double C)
void buildFrom(double x, double y, double n20, double n11, double n02)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Control of Irisa's gantry robot named Afma6.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
unsigned int getTaskRank() const
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.