47 #include <visp3/core/vpConfig.h>
48 #include <visp3/core/vpDebug.h>
56 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES))
58 #include <visp3/core/vpDisplay.h>
59 #include <visp3/core/vpHomogeneousMatrix.h>
60 #include <visp3/core/vpImage.h>
61 #include <visp3/core/vpImageConvert.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/sensor/vpKinect.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>
77 #include <visp3/core/vpException.h>
78 #include <visp3/vs/vpServoDisplay.h>
80 #include <visp3/blob/vpDot2.h>
109 for (
int i = 0; i < ndot; i++) {
135 std::string username;
140 std::string logdirname;
141 logdirname =
"/tmp/" + username;
149 std::cerr << std::endl <<
"ERROR:" << std::endl;
150 std::cerr <<
" Cannot create " << logdirname << std::endl;
154 std::string logfilename;
155 logfilename = logdirname +
"/log.dat";
158 std::ofstream flog(logfilename.c_str());
173 #ifdef VISP_HAVE_LIBFREENECT_OLD
176 Freenect::Freenect<vpKinect> freenect;
177 vpKinect &kinect = freenect.createDevice(0);
179 Freenect::Freenect freenect;
189 #elif defined(HAVE_OPENCV_HIGHGUI)
191 #elif defined(VISP_HAVE_GTK)
198 std::cout << std::endl;
199 std::cout <<
"-------------------------------------------------------" << std::endl;
200 std::cout <<
" Test program for vpServo " << std::endl;
201 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl;
202 std::cout <<
" Use of the Viper850 robot " << std::endl;
203 std::cout <<
" task : servo 4 points on a square with dimension " << L <<
" meters" << std::endl;
204 std::cout <<
"-------------------------------------------------------" << std::endl;
205 std::cout << std::endl;
210 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
212 for (i = 0; i < 4; i++) {
223 robot.getCameraParameters(cam, I);
229 for (i = 0; i < 4; i++)
250 for (
int i = 0; i < 4; i++) {
261 for (i = 0; i < 4; i++)
280 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
291 for (i = 0; i < 4; i++) {
301 vpTRACE(
"Error detected while tracking visual features");
310 compute_pose(point, dot, 4, cam, cMo, init_pose_from_linear_method);
311 if (init_pose_from_linear_method) {
312 init_pose_from_linear_method =
false;
314 for (i = 0; i < 4; i++) {
337 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
347 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
357 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
362 flog << (task.
getError()).t() << std::endl;
372 std::cout <<
"Display task information: " << std::endl;
378 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
386 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
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)
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)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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)
Driver for the Kinect-1 device.
void start(vpKinect::vpDMResolution res=DMAP_LOW_RES)
bool getRGB(vpImage< vpRGBa > &IRGB)
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.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.