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/blob/vpDot.h>
64 #include <visp3/core/vpDisplay.h>
65 #include <visp3/core/vpException.h>
66 #include <visp3/core/vpHomogeneousMatrix.h>
67 #include <visp3/core/vpImage.h>
68 #include <visp3/core/vpImagePoint.h>
69 #include <visp3/core/vpIoTools.h>
70 #include <visp3/core/vpMath.h>
71 #include <visp3/core/vpPoint.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 #include <visp3/gui/vpDisplayOpenCV.h>
74 #include <visp3/gui/vpDisplayX.h>
75 #include <visp3/io/vpImageIo.h>
76 #include <visp3/robot/vpRobotAfma6.h>
77 #include <visp3/sensor/vp1394TwoGrabber.h>
78 #include <visp3/vision/vpPose.h>
79 #include <visp3/visual_features/vpFeatureBuilder.h>
80 #include <visp3/visual_features/vpFeaturePoint.h>
81 #include <visp3/vs/vpServo.h>
82 #include <visp3/vs/vpServoDisplay.h>
92 std::string logdirname =
"/tmp/" + username;
99 std::cerr << std::endl <<
"ERROR:" << std::endl;
100 std::cerr <<
" Cannot create " << logdirname << std::endl;
120 #elif defined(HAVE_OPENCV_HIGHGUI)
122 #elif defined(VISP_HAVE_GTK)
129 std::cout << std::endl;
130 std::cout <<
"-------------------------------------------------------" << std::endl;
131 std::cout <<
" Test program for vpServo " << std::endl;
132 std::cout <<
" Eye-to-hand task control" << std::endl;
133 std::cout <<
" Simulation " << std::endl;
134 std::cout <<
" task : servo a point " << std::endl;
135 std::cout <<
"-------------------------------------------------------" << std::endl;
136 std::cout << std::endl;
143 for (i = 0; i < nbPoint; i++) {
164 robot.getCameraParameters(cam, I);
169 for (i = 0; i < nbPoint; i++) {
182 std::cout << cMo << std::endl;
190 std::cout <<
" Learning 0/1 " << std::endl;
191 std::string name =
"cdMo.dat";
193 std::cin >> learning;
196 vpTRACE(
"Save the location of the object in a file cdMo.dat");
197 std::ofstream f(name.c_str());
204 vpTRACE(
"Loading desired location from cdMo.dat");
205 std::ifstream f(
"cdMo.dat");
214 for (i = 0; i < nbPoint; i++) {
226 vpTRACE(
"\t we want an eye-in-hand control law");
227 vpTRACE(
"\t robot is controlled in the camera frame");
231 for (i = 0; i < nbPoint; i++) {
235 vpTRACE(
"Display task information ");
240 double convergence_threshold = 0.00;
245 unsigned int iter = 0;
252 oMcamrobot[0][3] = -0.05;
257 double lambda_av = 0.1;
261 std::cout <<
"alpha 0.7" << std::endl;
263 std::cout <<
"beta 5" << std::endl;
265 std::list<vpImagePoint> Lcog;
267 while (error > convergence_threshold) {
268 std::cout <<
"---------------------------------------------" << iter++ << std::endl;
279 for (i = 0; i < nbPoint; i++) {
281 Lcog.push_back(dot[i].getCog());
284 vpTRACE(
"Error detected while tracking visual features");
292 for (i = 0; i < nbPoint; i++) {
317 cMe = cMo * oMcamrobot * camrobotMe;
328 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
331 gain = alpha * exp(-beta * (task.
getError()).sumSquare()) + lambda_av;
338 vpTRACE(
"%f %f %f %f %f", alpha, beta, lambda_av, (task.
getError()).sumSquare(), gain);
344 for (std::list<vpImagePoint>::const_iterator it_cog = Lcog.begin(); it_cog != Lcog.end(); ++it_cog) {
350 error = (task.
getError()).sumSquare();
351 std::cout <<
"|| s - s* || = " << error << std::endl;
354 vpTRACE(
"Error detected while tracking visual features");
363 if ((SAVE == 1) && (iter % 3 == 0)) {
366 std::stringstream ss;
369 ss << std::setfill(
'0') << std::setw(4);
380 std::cout <<
"Test failed with exception: " << e << std::endl;
388 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.
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 bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
static void flush(const vpImage< unsigned char > &I)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
void setGraphics(bool activate)
vpImagePoint getCog() const
void track(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
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 load(std::ifstream &f)
void print() const
Print the matrix as a pose vector .
void save(std::ofstream &f) const
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Implementation of a matrix and operations on matrices.
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 display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) 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 get_eJe(vpMatrix &eJe) vp_override
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)
void set_cVe(const vpVelocityTwistMatrix &cVe_)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void set_eJe(const vpMatrix &eJe_)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
vpHomogeneousMatrix get_cMe() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.