48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDebug.h>
56 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
58 #include <visp3/blob/vpDot2.h>
59 #include <visp3/core/vpDisplay.h>
60 #include <visp3/core/vpHomogeneousMatrix.h>
61 #include <visp3/core/vpImage.h>
62 #include <visp3/core/vpIoTools.h>
63 #include <visp3/core/vpMath.h>
64 #include <visp3/core/vpPoint.h>
65 #include <visp3/gui/vpDisplayGTK.h>
66 #include <visp3/gui/vpDisplayOpenCV.h>
67 #include <visp3/gui/vpDisplayX.h>
68 #include <visp3/robot/vpRobotViper850.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());
139 #elif defined(HAVE_OPENCV_HIGHGUI)
141 #elif defined(VISP_HAVE_GTK)
148 std::cout << std::endl;
149 std::cout <<
"-------------------------------------------------------" << std::endl;
150 std::cout <<
" Test program for vpServo " << std::endl;
151 std::cout <<
" Eye-in-hand task control, velocity computed in the joint space" << std::endl;
152 std::cout <<
" Use of the Afma6 robot " << std::endl;
153 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
154 std::cout <<
"-------------------------------------------------------" << std::endl;
155 std::cout << std::endl;
160 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
162 for (i = 0; i < 4; i++) {
173 robot.getCameraParameters(cam, I);
179 for (i = 0; i < 4; i++)
191 std::cout << std::endl;
192 for (i = 0; i < 4; i++)
222 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
232 for (i = 0; i < 4; i++) {
242 vpTRACE(
"Error detected while tracking visual features");
248 for (i = 0; i < 4; i++)
271 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
281 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
291 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
296 flog << (task.
getError()).t() << std::endl;
305 std::cout <<
"Display task information: " << std::endl;
311 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
319 std::cout <<
"You do not have an Viper 850 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
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 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)
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.
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 ...
Implementation of a matrix and operations on matrices.
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
@ 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()
vpVelocityTwistMatrix get_cVe() const
@ TOOL_PTGREY_FLEA2_CAMERA
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.