59 #include <visp3/core/vpConfig.h>
61 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
63 #include <visp3/blob/vpDot2.h>
64 #include <visp3/core/vpHomogeneousMatrix.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpPoint.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/robot/vpRobotViper650.h>
69 #include <visp3/sensor/vp1394TwoGrabber.h>
70 #include <visp3/vision/vpPose.h>
71 #include <visp3/visual_features/vpFeatureBuilder.h>
72 #include <visp3/visual_features/vpFeaturePoint.h>
73 #include <visp3/vs/vpServo.h>
74 #include <visp3/vs/vpServoDisplay.h>
96 void compute_pose(std::vector<vpPoint> &point, std::vector<vpDot2> &dot,
vpCameraParameters cam,
101 for (
size_t i = 0; i < point.size(); i++) {
127 std::string username;
132 std::string logdirname;
133 logdirname =
"/tmp/" + username;
141 std::cerr << std::endl <<
"ERROR:" << std::endl;
142 std::cerr <<
" Cannot create " << logdirname << std::endl;
146 std::string logfilename;
147 logfilename = logdirname +
"/log.dat";
150 std::ofstream flog(logfilename.c_str());
160 std::cout <<
"Camera extrinsic parameters (eMc): \n" << eMc << std::endl;
178 std::vector<vpDot2> dot(4);
182 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
184 for (
size_t i = 0; i < dot.size(); i++) {
185 dot[i].setGraphics(
true);
186 dot[i].initTracking(I);
195 robot.getCameraParameters(cam, I);
196 std::cout <<
"Camera intrinsic parameters: \n" << cam << std::endl;
200 for (
size_t i = 0; i < dot.size(); i++)
205 std::vector<vpPoint> point(4);
206 point[0].setWorldCoordinates(-L, -L, 0);
207 point[1].setWorldCoordinates(L, -L, 0);
208 point[2].setWorldCoordinates(L, L, 0);
209 point[3].setWorldCoordinates(-L, L, 0);
213 compute_pose(point, dot, cam, cMo,
true);
214 std::cout <<
"Initial camera pose (cMo): \n" << cMo << std::endl;
223 for (
int i = 0; i < 4; i++) {
225 point[i].changeFrame(cMo_d, cP);
226 point[i].projection(cP, p);
234 for (
size_t i = 0; i < dot.size(); i++)
259 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
269 for (
size_t i = 0; i < dot.size(); i++) {
278 std::cout <<
"Error detected while tracking visual features.." << std::endl;
285 compute_pose(point, dot, cam, cMo,
false);
287 for (
size_t i = 0; i < dot.size(); i++) {
292 point[i].changeFrame(cMo, cP);
316 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
326 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
336 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
341 flog << (task.
getError()).t() << std::endl;
354 std::cout <<
"Display task information: " << std::endl;
360 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
368 std::cout <<
"You do not have an Viper 650 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
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
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 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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
const char * getMessage() const
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.
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)
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 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)
void get_eJe(vpMatrix &eJe) vp_override
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
Control of Irisa's Viper S650 robot named Viper650.
@ 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.
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()
Class that consider the case of a translation vector.
vpVelocityTwistMatrix get_cVe() const
@ TOOL_PTGREY_FLEA2_CAMERA
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.