49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpDebug.h>
57 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
59 #include <visp3/blob/vpDot2.h>
60 #include <visp3/core/vpDisplay.h>
61 #include <visp3/core/vpHomogeneousMatrix.h>
62 #include <visp3/core/vpImage.h>
63 #include <visp3/core/vpIoTools.h>
64 #include <visp3/core/vpMath.h>
65 #include <visp3/core/vpPoint.h>
66 #include <visp3/gui/vpDisplayGTK.h>
67 #include <visp3/gui/vpDisplayOpenCV.h>
68 #include <visp3/gui/vpDisplayX.h>
69 #include <visp3/robot/vpRobotViper850.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>
105 for (
int i = 0; i < ndot; i++) {
131 std::string username;
136 std::string logdirname;
137 logdirname =
"/tmp/" + username;
145 std::cerr << std::endl <<
"ERROR:" << std::endl;
146 std::cerr <<
" Cannot create " << logdirname << std::endl;
150 std::string logfilename;
151 logfilename = logdirname +
"/log.dat";
154 std::ofstream flog(logfilename.c_str());
178 #elif defined(HAVE_OPENCV_HIGHGUI)
180 #elif defined(VISP_HAVE_GTK)
187 std::cout << std::endl;
188 std::cout <<
"-------------------------------------------------------" << std::endl;
189 std::cout <<
" Test program for vpServo " << std::endl;
190 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl;
191 std::cout <<
" Use of the Viper850 robot " << std::endl;
192 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
193 std::cout <<
"-------------------------------------------------------" << std::endl;
194 std::cout << std::endl;
199 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
201 for (i = 0; i < 4; i++) {
212 robot.getCameraParameters(cam, I);
218 for (i = 0; i < 4; i++)
239 for (
int i = 0; i < 4; i++) {
250 for (i = 0; i < 4; i++)
269 bool init_pose_from_linear_method =
true;
270 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
280 for (i = 0; i < 4; i++) {
290 vpTRACE(
"Error detected while tracking visual features");
298 compute_pose(point, dot, 4, cam, cMo, init_pose_from_linear_method);
299 if (init_pose_from_linear_method) {
300 init_pose_from_linear_method =
false;
303 for (i = 0; i < 4; i++) {
326 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
336 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
346 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
351 flog << task.
getError() << std::endl;
360 std::cout <<
"Display task information: " << std::endl;
366 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
374 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 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...
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
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 double rad(double deg)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void set_x(double x)
Set the point x coordinate in the image plane.
void projection(const vpColVector &_cP, vpColVector &_p) const vp_override
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override
void setWorldCoordinates(double oX, double oY, double oZ)
void set_y(double y)
Set the point y coordinate in the image plane.
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
@ 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.
Implementation of a rotation vector as Euler angle minimal representation.
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.