48 #include <visp3/core/vpConfig.h>
49 #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/vpException.h>
62 #include <visp3/core/vpHomogeneousMatrix.h>
63 #include <visp3/core/vpImage.h>
64 #include <visp3/core/vpIoTools.h>
65 #include <visp3/core/vpMath.h>
66 #include <visp3/core/vpPoint.h>
67 #include <visp3/gui/vpDisplayGTK.h>
68 #include <visp3/gui/vpDisplayOpenCV.h>
69 #include <visp3/gui/vpDisplayX.h>
70 #include <visp3/io/vpImageIo.h>
71 #include <visp3/robot/vpRobotViper850.h>
72 #include <visp3/sensor/vp1394TwoGrabber.h>
73 #include <visp3/visual_features/vpFeatureBuilder.h>
74 #include <visp3/visual_features/vpFeaturePoint.h>
75 #include <visp3/vs/vpServo.h>
76 #include <visp3/vs/vpServoDisplay.h>
91 std::string logdirname;
92 logdirname =
"/tmp/" + username;
100 std::cerr << std::endl <<
"ERROR:" << std::endl;
101 std::cerr <<
" Cannot create " << logdirname << std::endl;
105 std::string logfilename;
106 logfilename = logdirname +
"/log.dat";
109 std::ofstream flog(logfilename.c_str());
132 #elif defined(HAVE_OPENCV_HIGHGUI)
134 #elif defined(VISP_HAVE_GTK)
146 for (
int i = 0; i < 10; i++)
149 std::cout <<
"Click on a dot..." << std::endl;
158 robot.getCameraParameters(cam, I);
186 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
218 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
228 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
238 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
248 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
253 flog << (task.
getError()).t() << std::endl;
267 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
275 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.
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...
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
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 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.