49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpDebug.h>
58 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
60 #include <visp3/blob/vpDot2.h>
61 #include <visp3/core/vpDisplay.h>
62 #include <visp3/core/vpException.h>
63 #include <visp3/core/vpHomogeneousMatrix.h>
64 #include <visp3/core/vpImage.h>
65 #include <visp3/core/vpIoTools.h>
66 #include <visp3/core/vpLinearKalmanFilterInstantiation.h>
67 #include <visp3/core/vpMath.h>
68 #include <visp3/core/vpPoint.h>
69 #include <visp3/gui/vpDisplayGTK.h>
70 #include <visp3/gui/vpDisplayOpenCV.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/io/vpImageIo.h>
73 #include <visp3/robot/vpRobotViper850.h>
74 #include <visp3/sensor/vp1394TwoGrabber.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeaturePoint.h>
77 #include <visp3/vs/vpAdaptiveGain.h>
78 #include <visp3/vs/vpServo.h>
79 #include <visp3/vs/vpServoDisplay.h>
94 std::string logdirname;
95 logdirname =
"/tmp/" + username;
103 std::cerr << std::endl <<
"ERROR:" << std::endl;
104 std::cerr <<
" Cannot create " << logdirname << std::endl;
108 std::string logfilename;
109 logfilename = logdirname +
"/log.dat";
112 std::ofstream flog(logfilename.c_str());
121 unsigned int nsignal = 2;
125 unsigned int state_size = 0;
129 sigma_state.
resize(state_size * nsignal);
130 sigma_state = 0.00001;
131 sigma_measure = 0.05;
133 kalman.
initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
152 double Tloop = 1. / 80.f;
175 #elif defined(HAVE_OPENCV_HIGHGUI)
177 #elif defined(VISP_HAVE_GTK)
189 for (
int i = 0; i < 10; i++)
192 std::cout <<
"Click on a dot..." << std::endl;
201 robot.getCameraParameters(cam, I);
232 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
239 dc1394video_frame_t *frame =
nullptr;
248 Tv = (double)(t_0 - t_1) / 1000.0;
256 frame = g.dequeue(I);
286 dedt_mes = (err - err_1) / (Tv)-J1 * vm;
295 for (
unsigned int i = 0; i < nsignal; i++) {
296 dedt_filt[i] = kalman.
Xest[i * state_size];
302 v2 = -J1p * dedt_filt;
319 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
329 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
339 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
349 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
354 flog << (task.
getError()).t() << std::endl;
368 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
376 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
Adaptive gain computation.
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
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...
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 ...
unsigned int getWidth() const
unsigned int getStateSize()
This class provides an implementation of some specific linear Kalman filters.
void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt)
void filter(vpColVector &z)
void setStateModel(vpStateModel model)
@ stateConstVelWithColoredNoise_MeasureVel
Implementation of a matrix and operations on matrices.
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpMatrix getTaskJacobian() const
vpColVector getError() const
vpColVector computeControlLaw()
vpMatrix getTaskJacobianPseudoInverse() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()