50#include <visp3/core/vpConfig.h>
51#include <visp3/core/vpDebug.h>
59#if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES))
61#include <visp3/core/vpDisplay.h>
62#include <visp3/core/vpHomogeneousMatrix.h>
63#include <visp3/core/vpImage.h>
64#include <visp3/core/vpImageConvert.h>
65#include <visp3/core/vpIoTools.h>
66#include <visp3/core/vpMath.h>
67#include <visp3/core/vpPoint.h>
68#include <visp3/gui/vpDisplayGTK.h>
69#include <visp3/gui/vpDisplayOpenCV.h>
70#include <visp3/gui/vpDisplayX.h>
71#include <visp3/robot/vpRobotViper850.h>
72#include <visp3/sensor/vp1394TwoGrabber.h>
73#include <visp3/sensor/vpKinect.h>
74#include <visp3/vision/vpPose.h>
75#include <visp3/visual_features/vpFeatureBuilder.h>
76#include <visp3/visual_features/vpFeaturePoint.h>
77#include <visp3/vs/vpServo.h>
80#include <visp3/core/vpException.h>
81#include <visp3/vs/vpServoDisplay.h>
83#include <visp3/blob/vpDot2.h>
119 for (
int i = 0; i < ndot; i++) {
139 if (residual_lagrange < residual_dementhon)
162 std::string username;
167 std::string logdirname;
168 logdirname =
"/tmp/" + username;
176 std::cerr << std::endl <<
"ERROR:" << std::endl;
177 std::cerr <<
" Cannot create " << logdirname << std::endl;
181 std::string logfilename;
182 logfilename = logdirname +
"/log.dat";
185 std::ofstream flog(logfilename.c_str());
200#ifdef VISP_HAVE_LIBFREENECT_OLD
203 Freenect::Freenect<vpKinect> freenect;
204 vpKinect &kinect = freenect.createDevice(0);
206 Freenect::Freenect freenect;
215 vpDisplayX display(I, 100, 100,
"Current image");
216#elif defined(VISP_HAVE_OPENCV)
218#elif defined(VISP_HAVE_GTK)
225 std::cout << std::endl;
226 std::cout <<
"-------------------------------------------------------" << std::endl;
227 std::cout <<
" Test program for vpServo " << std::endl;
228 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl;
229 std::cout <<
" Use of the Viper850 robot " << std::endl;
230 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
231 std::cout <<
"-------------------------------------------------------" << std::endl;
232 std::cout << std::endl;
237 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
239 for (i = 0; i < 4; i++) {
250 robot.getCameraParameters(cam, I);
256 for (i = 0; i < 4; i++)
277 for (
int i = 0; i < 4; i++) {
288 for (i = 0; i < 4; i++)
307 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
318 for (i = 0; i < 4; i++) {
328 vpTRACE(
"Error detected while tracking visual features");
337 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
339 for (i = 0; i < 4; i++) {
362 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
372 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
382 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
387 flog << (task.
getError()).t() << std::endl;
397 std::cout <<
"Display task information: " << std::endl;
404 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
412 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithDistortion
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 emited 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)
void extract(vpRotationMatrix &R) const
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
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const
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)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the sum of squared residuals expressed in meter^2 for the pose matrix cMo.
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ 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.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
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 print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that consider the case of a translation vector.