65#include <visp3/core/vpConfig.h>
66#include <visp3/core/vpDebug.h>
67#if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
69#include <visp3/core/vpDisplay.h>
70#include <visp3/core/vpImage.h>
71#include <visp3/core/vpImagePoint.h>
72#include <visp3/gui/vpDisplayGTK.h>
73#include <visp3/gui/vpDisplayOpenCV.h>
74#include <visp3/gui/vpDisplayX.h>
75#include <visp3/sensor/vp1394TwoGrabber.h>
77#include <visp3/blob/vpDot.h>
78#include <visp3/core/vpHomogeneousMatrix.h>
79#include <visp3/core/vpIoTools.h>
80#include <visp3/core/vpMath.h>
81#include <visp3/core/vpPoint.h>
82#include <visp3/core/vpRotationMatrix.h>
83#include <visp3/core/vpRxyzVector.h>
84#include <visp3/core/vpTranslationVector.h>
85#include <visp3/robot/vpRobotAfma6.h>
86#include <visp3/vision/vpPose.h>
87#include <visp3/visual_features/vpFeatureBuilder.h>
88#include <visp3/visual_features/vpFeaturePoint.h>
89#include <visp3/vs/vpServo.h>
90#include <visp3/vs/vpServoDisplay.h>
93#include <visp3/core/vpException.h>
130 for (
int i = 0; i < ndot; i++) {
184 if (residual_lagrange < residual_dementhon)
225 std::string username;
230 std::string logdirname;
231 logdirname =
"/tmp/" + username;
239 std::cerr << std::endl <<
"ERROR:" << std::endl;
240 std::cerr <<
" Cannot create " << logdirname << std::endl;
244 std::string logfilename;
245 logfilename = logdirname +
"/log.dat";
248 std::ofstream flog(logfilename.c_str());
262 vpDisplayX display(I, 100, 100,
"Current image");
263#elif defined(VISP_HAVE_OPENCV)
265#elif defined(VISP_HAVE_GTK)
274 std::cout << std::endl;
275 std::cout <<
"-------------------------------------------------------" << std::endl;
276 std::cout <<
" Test program for vpServo " << std::endl;
277 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
278 std::cout <<
" Use of the Afma6 robot " << std::endl;
279 std::cout <<
" Interaction matrix computed with the current features " << std::endl;
280 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl;
281 std::cout <<
"-------------------------------------------------------" << std::endl;
282 std::cout << std::endl;
287 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." << std::endl;
288 for (i = 0; i < 4; i++) {
304 robot.getCameraParameters(cam, I);
308 for (i = 0; i < 4; i++)
330 for (
int i = 0; i < 4; i++) {
348 std::cout << std::endl;
349 for (i = 0; i < 4; i++)
366 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
376 for (i = 0; i < 4; i++) {
389 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
391 for (i = 0; i < 4; i++) {
417 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
427 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
437 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
442 flog << (task.
getError()).t() <<
" ";
446 flog << cto[0] <<
" " << cto[1] <<
" " << cto[2] <<
" "
447 << cro[0] <<
" " << cro[1] <<
" " << cro[2] << std::endl;
463 std::cout <<
"Test failed with exception: " << e << std::endl;
471 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
void setVideoMode(vp1394TwoVideoModeType videomode)
@ vpVIDEO_MODE_640x480_MONO8
void setFramerate(vp1394TwoFramerateType fps)
void open(vpImage< unsigned char > &I)
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.
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
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)
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)
Control of Irisa's gantry robot named Afma6.
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.