50 #include <visp3/core/vpConfig.h>
51 #include <visp3/core/vpDebug.h>
54 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394))
56 #include <visp3/sensor/vp1394TwoGrabber.h>
57 #include <visp3/core/vpImage.h>
58 #include <visp3/core/vpImagePoint.h>
59 #include <visp3/core/vpMath.h>
60 #include <visp3/core/vpHomogeneousMatrix.h>
61 #include <visp3/visual_features/vpFeatureSegment.h>
62 #include <visp3/core/vpPoint.h>
63 #include <visp3/vs/vpServo.h>
64 #include <visp3/visual_features/vpFeatureBuilder.h>
65 #include <visp3/robot/vpRobotAfma6.h>
66 #include <visp3/core/vpIoTools.h>
67 #include <visp3/core/vpException.h>
68 #include <visp3/vs/vpServoDisplay.h>
69 #include <visp3/blob/vpDot.h>
70 #include <visp3/core/vpDisplay.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/gui/vpDisplayOpenCV.h>
73 #include <visp3/gui/vpDisplayGTK.h>
89 std::string logdirname;
90 logdirname =
"/tmp/" + username;
99 std::cerr << std::endl
100 <<
"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());
125 vpDisplayX display(I,100,100,
"Current image") ;
126 #elif defined(VISP_HAVE_OPENCV)
128 #elif defined(VISP_HAVE_GTK)
135 std::vector<vpDot> dot_d(2), dot(2) ;
143 std::cout <<
"define the initial segment" << std::endl;
145 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
146 std::cout <<
"Click on a dot..." << std::endl;
155 std::cout <<
"define the destination segment" << std::endl;
156 for(std::vector<vpDot>::iterator i = dot_d.begin();i!=dot_d.end();i++){
186 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
195 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
215 flog << ( task.
getError() ).t() << std::endl;
245 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Define the X11 console to display images.
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void setZ1(const double val)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector getError() const
vpColVector computeControlLaw()
void setZ2(const double val)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
virtual bool getClick(bool blocking=true)=0
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 setServo(const vpServoType &servo_type)
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 display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static const vpColor blue