61 #include <visp3/core/vpConfig.h>
62 #include <visp3/core/vpDebug.h>
63 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/core/vpImage.h>
67 #include <visp3/core/vpImagePoint.h>
68 #include <visp3/gui/vpDisplayGTK.h>
69 #include <visp3/gui/vpDisplayOpenCV.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/blob/vpDot.h>
74 #include <visp3/core/vpHomogeneousMatrix.h>
75 #include <visp3/core/vpIoTools.h>
76 #include <visp3/core/vpMath.h>
77 #include <visp3/core/vpPoint.h>
78 #include <visp3/core/vpRotationMatrix.h>
79 #include <visp3/core/vpRxyzVector.h>
80 #include <visp3/core/vpTranslationVector.h>
81 #include <visp3/robot/vpRobotAfma6.h>
82 #include <visp3/vision/vpPose.h>
83 #include <visp3/visual_features/vpFeatureBuilder.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/vs/vpServo.h>
86 #include <visp3/vs/vpServoDisplay.h>
89 #include <visp3/core/vpException.h>
119 for (
int i = 0; i < ndot; i++) {
151 std::string username;
156 std::string logdirname;
157 logdirname =
"/tmp/" + username;
165 std::cerr << std::endl <<
"ERROR:" << std::endl;
166 std::cerr <<
" Cannot create " << logdirname << std::endl;
170 std::string logfilename;
171 logfilename = logdirname +
"/log.dat";
174 std::ofstream flog(logfilename.c_str());
189 #elif defined(HAVE_OPENCV_HIGHGUI)
191 #elif defined(VISP_HAVE_GTK)
200 std::cout << std::endl;
201 std::cout <<
"-------------------------------------------------------" << std::endl;
202 std::cout <<
" Test program for vpServo " << std::endl;
203 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
204 std::cout <<
" Use of the Afma6 robot " << std::endl;
205 std::cout <<
" Interaction matrix computed with the current features " << std::endl;
206 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
207 std::cout <<
"-------------------------------------------------------" << std::endl;
208 std::cout << std::endl;
213 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
214 for (i = 0; i < 4; i++) {
230 robot.getCameraParameters(cam, I);
234 for (i = 0; i < 4; i++)
256 for (
int i = 0; i < 4; i++) {
274 std::cout << std::endl;
275 for (i = 0; i < 4; i++)
287 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
289 bool init_pose_from_linear_method =
true;
299 for (i = 0; i < 4; i++) {
311 compute_pose(point, dot, 4, cam, cMo, init_pose_from_linear_method);
312 if (init_pose_from_linear_method) {
313 init_pose_from_linear_method =
false;
316 for (i = 0; i < 4; i++) {
342 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
352 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
362 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
367 flog << (task.
getError()).t() <<
" ";
371 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
372 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
387 std::cout <<
"Test failed with exception: " << e << std::endl;
395 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)
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
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 blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void init(unsigned int h, unsigned int w, Type value)
static double rad(double deg)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
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.
void projection(const vpColVector &_cP, vpColVector &_p) const vp_override
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override
void setWorldCoordinates(double oX, double oY, double oZ)
void set_y(double y)
Set the point y coordinate in the image plane.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void addPoint(const vpPoint &P)
@ DEMENTHON_LAGRANGE_VIRTUAL_VS
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=nullptr)
Control of Irisa's gantry robot named Afma6.
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
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)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
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)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that consider the case of a translation vector.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.