47 #include <visp3/blob/vpDot.h>
48 #include <visp3/core/vpCameraParameters.h>
49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpDebug.h>
51 #include <visp3/core/vpImage.h>
52 #include <visp3/core/vpPixelMeterConversion.h>
53 #include <visp3/core/vpPoint.h>
54 #include <visp3/gui/vpDisplayGTK.h>
55 #include <visp3/gui/vpDisplayOpenCV.h>
56 #include <visp3/gui/vpDisplayX.h>
57 #include <visp3/robot/vpRobotViper850.h>
58 #include <visp3/sensor/vp1394TwoGrabber.h>
59 #include <visp3/vision/vpPose.h>
60 #if defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394)
78 #elif defined(HAVE_OPENCV_HIGHGUI)
80 #elif defined(VISP_HAVE_GTK)
108 for (
int i = 0; i < 4; i++) {
110 std::cout <<
"Click on dot " << i << std::endl;
118 std::cout <<
" Coordinates: " << dot[i].
getCog() << std::endl;
134 robot.getCameraParameters(cam, I);
139 for (
int i = 0; i < 4; i++) {
158 for (
int i = 0; i < 4; i++) {
170 std::cout <<
"Pose cMo: " << std::endl << cMo;
181 std::cout <<
"Robot pose in reference frame: " << p << std::endl;
191 std::cout <<
"Pose rMc: " << std::endl << rMc;
199 std::cout <<
"Robot pose in articular: " << p << std::endl;
201 robot.get_fMc(p, rMc);
202 std::cout <<
"Pose rMc from MGD: " << std::endl << rMc;
211 std::cout <<
"Pose rMo = rMc * cMo: " << std::endl << rMo;
219 std::cout <<
"Catch an exception: " << e << std::endl;
226 std::cout <<
"Sorry, test not valid. You should have an Viper850 robot..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
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 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
error that can be emitted by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void extract(vpRotationMatrix &R) const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double deg(double rad)
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 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)
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.
static const vpToolType defaultTool
Default tool attached to the robot end effector.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.