66 #include <visp3/core/vpConfig.h>
67 #include <visp3/core/vpDebug.h>
69 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
71 #include <visp3/sensor/vp1394TwoGrabber.h>
72 #include <visp3/core/vpImage.h>
73 #include <visp3/core/vpImagePoint.h>
74 #include <visp3/core/vpDisplay.h>
75 #include <visp3/gui/vpDisplayX.h>
76 #include <visp3/gui/vpDisplayOpenCV.h>
77 #include <visp3/gui/vpDisplayGTK.h>
79 #include <visp3/core/vpMath.h>
80 #include <visp3/core/vpTranslationVector.h>
81 #include <visp3/core/vpRxyzVector.h>
82 #include <visp3/core/vpRotationMatrix.h>
83 #include <visp3/core/vpHomogeneousMatrix.h>
84 #include <visp3/visual_features/vpFeaturePoint.h>
85 #include <visp3/core/vpPoint.h>
86 #include <visp3/vs/vpServo.h>
87 #include <visp3/visual_features/vpFeatureBuilder.h>
88 #include <visp3/blob/vpDot.h>
89 #include <visp3/robot/vpRobotAfma6.h>
90 #include <visp3/vs/vpServoDisplay.h>
91 #include <visp3/core/vpIoTools.h>
94 #include <visp3/core/vpException.h>
96 #define L 0.05 // to deal with a 10cm by 10cm square
107 std::string username;
112 std::string logdirname;
113 logdirname =
"/tmp/" + username;
122 std::cerr << std::endl
123 <<
"ERROR:" << std::endl;
124 std::cerr <<
" Cannot create " << logdirname << std::endl;
128 std::string logfilename;
129 logfilename = logdirname +
"/log.dat";
132 std::ofstream flog(logfilename.c_str());
147 vpDisplayX display(I,100,100,
"Current image") ;
148 #elif defined(VISP_HAVE_OPENCV)
150 #elif defined(VISP_HAVE_GTK)
159 std::cout << std::endl ;
160 std::cout <<
"-------------------------------------------------------" << std::endl ;
161 std::cout <<
" Test program for vpServo " <<std::endl ;
162 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
163 std::cout <<
" Use of the Afma6 robot " << std::endl ;
164 std::cout <<
" Interaction matrix computed with the desired features " << std::endl ;
166 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
167 std::cout <<
"-------------------------------------------------------" << std::endl ;
168 std::cout << std::endl ;
174 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
176 for (i=0 ; i < 4 ; i++) {
198 for (i=0 ; i < 4 ; i++)
219 for (
int i=0; i < 4; i ++) {
237 std::cout << std::endl ;
238 for (i=0 ; i < 4 ; i++)
250 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
260 for (i=0 ; i < 4 ; i++) {
274 for (i=0 ; i < 4 ; i++)
290 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
291 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
301 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
302 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
312 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
313 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
318 flog << ( task.
getError() ).t() << std::endl;
345 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
void acquire(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)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
Control of Irisa's gantry robot named Afma6.
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
vpImagePoint getCog() const
void set_x(const double x)
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
Implementation of a rotation vector as Euler angle minimal representation.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
void set_Z(const double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
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)
static const vpColor blue