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>
89 std::string logdirname;
90 logdirname =
"/tmp/" + username;
98 std::cerr << std::endl <<
"ERROR:" << std::endl;
99 std::cerr <<
" Cannot create " << logdirname << std::endl;
103 std::string logfilename;
104 logfilename = logdirname +
"/log.dat";
107 std::ofstream flog(logfilename.c_str());
136 for (
int i = 0; i < 10; i++)
139 std::cout <<
"Click on a dot..." << std::endl;
148 robot.getCameraParameters(cam, I);
176 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
189 std::cout <<
"Error detected while tracking visual features.." << std::endl;
214 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
224 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
234 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
239 flog << (task.
getError()).t() << std::endl;
259 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
267 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.
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)
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)
void setGraphics(bool activate)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
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...
void buildFrom(double x, double y, double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
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)
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 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()
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.