60 #include <visp3/core/vpConfig.h>
62 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
64 #include <visp3/blob/vpDot2.h>
65 #include <visp3/core/vpHomogeneousMatrix.h>
66 #include <visp3/core/vpIoTools.h>
67 #include <visp3/core/vpPoint.h>
68 #include <visp3/gui/vpDisplayX.h>
69 #include <visp3/robot/vpRobotViper650.h>
70 #include <visp3/sensor/vp1394TwoGrabber.h>
71 #include <visp3/vision/vpPose.h>
72 #include <visp3/visual_features/vpFeatureBuilder.h>
73 #include <visp3/visual_features/vpFeaturePoint.h>
74 #include <visp3/vs/vpServo.h>
75 #include <visp3/vs/vpServoDisplay.h>
97 void compute_pose(std::vector<vpPoint> &point, std::vector<vpDot2> &dot,
vpCameraParameters cam,
102 for (
size_t i = 0; i < point.size(); i++) {
128 std::string username;
133 std::string logdirname;
134 logdirname =
"/tmp/" + username;
142 std::cerr << std::endl <<
"ERROR:" << std::endl;
143 std::cerr <<
" Cannot create " << logdirname << std::endl;
147 std::string logfilename;
148 logfilename = logdirname +
"/log.dat";
151 std::ofstream flog(logfilename.c_str());
161 std::cout <<
"Camera extrinsic parameters (eMc): \n" << eMc << std::endl;
179 std::vector<vpDot2> dot(4);
181 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
183 for (
size_t i = 0; i < dot.size(); i++) {
184 dot[i].setGraphics(
true);
185 dot[i].initTracking(I);
194 robot.getCameraParameters(cam, I);
195 std::cout <<
"Camera intrinsic parameters: \n" << cam << std::endl;
199 for (
size_t i = 0; i < dot.size(); i++)
204 std::vector<vpPoint> point(4);
205 point[0].setWorldCoordinates(-L, -L, 0);
206 point[1].setWorldCoordinates(L, -L, 0);
207 point[2].setWorldCoordinates(L, L, 0);
208 point[3].setWorldCoordinates(-L, L, 0);
212 compute_pose(point, dot, cam, cMo,
true);
213 std::cout <<
"Initial camera pose (cMo): \n" << cMo << std::endl;
222 for (
int i = 0; i < 4; i++) {
224 point[i].changeFrame(cMo_d, cP);
225 point[i].projection(cP, p);
233 for (
size_t i = 0; i < dot.size(); i++)
249 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
259 for (
size_t i = 0; i < dot.size(); i++) {
268 std::cout <<
"Error detected while tracking visual features.." << std::endl;
275 compute_pose(point, dot, cam, cMo,
false);
277 for (
size_t i = 0; i < dot.size(); i++) {
282 point[i].changeFrame(cMo, cP);
299 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
309 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
319 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
324 flog << task.
getError() << std::endl;
339 std::cout <<
"Display task information: " << std::endl;
345 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
353 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)
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 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.
@ TOOL_PTGREY_FLEA2_CAMERA
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.