62 #include <visp3/core/vpConfig.h>
64 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_REALSENSE) && defined(VISP_HAVE_X11)
66 #include <visp3/blob/vpDot2.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/core/vpIoTools.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/gui/vpDisplayX.h>
71 #include <visp3/robot/vpRobotViper650.h>
72 #include <visp3/sensor/vpRealSense.h>
73 #include <visp3/vision/vpPose.h>
74 #include <visp3/visual_features/vpFeatureBuilder.h>
75 #include <visp3/visual_features/vpFeaturePoint.h>
76 #include <visp3/vs/vpServo.h>
77 #include <visp3/vs/vpServoDisplay.h>
99 void compute_pose(std::vector<vpPoint> &point, std::vector<vpDot2> &dot,
vpCameraParameters cam,
104 for (
size_t i = 0; i < point.size(); i++) {
130 std::string username;
135 std::string logdirname;
136 logdirname =
"/tmp/" + username;
144 std::cerr << std::endl <<
"ERROR:" << std::endl;
145 std::cerr <<
" Cannot create " << logdirname << std::endl;
149 std::string logfilename;
150 logfilename = logdirname +
"/log.dat";
153 std::ofstream flog(logfilename.c_str());
163 std::cout <<
"Camera extrinsic parameters (eMc): \n" << eMc << std::endl;
182 std::cout <<
"Camera intrinsic parameters: \n" << cam << std::endl;
190 std::vector<vpDot2> dot(4);
192 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
194 for (
size_t i = 0; i < dot.size(); i++) {
195 dot[i].setGraphics(
true);
196 dot[i].initTracking(I);
204 for (
size_t i = 0; i < dot.size(); i++)
209 std::vector<vpPoint> point(4);
210 point[0].setWorldCoordinates(-L, -L, 0);
211 point[1].setWorldCoordinates(L, -L, 0);
212 point[2].setWorldCoordinates(L, L, 0);
213 point[3].setWorldCoordinates(-L, L, 0);
217 compute_pose(point, dot, cam, cMo,
true);
218 std::cout <<
"Initial camera pose (cMo): \n" << cMo << std::endl;
227 for (
int i = 0; i < 4; i++) {
229 point[i].changeFrame(cMo_d, cP);
230 point[i].projection(cP, p);
238 for (
size_t i = 0; i < dot.size(); i++)
254 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
264 for (
size_t i = 0; i < dot.size(); i++) {
273 std::cout <<
"Error detected while tracking visual features.." << std::endl;
280 compute_pose(point, dot, cam, cMo,
false);
282 for (
size_t i = 0; i < dot.size(); i++) {
287 point[i].changeFrame(cMo, cP);
304 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
314 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
324 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
329 flog << task.
getError() << std::endl;
342 std::cout <<
"Display task information: " << std::endl;
348 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
356 std::cout <<
"You do not have an Viper 650 robot connected to your computer..." << std::endl;
Generic class defining intrinsic camera parameters.
@ 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)
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 setStreamSettings(const rs::stream &stream, const rs::preset &preset)
vpCameraParameters getCameraParameters(const rs::stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion) const
void acquire(std::vector< vpColVector > &pointcloud)
void setEnableStream(const rs::stream &stream, bool status)
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 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.