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Visual Servoing Platform
version 3.3.0
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52 #include <visp3/core/vpConfig.h>
53 #include <visp3/core/vpDebug.h>
61 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
63 #include <visp3/blob/vpDot2.h>
64 #include <visp3/core/vpDisplay.h>
65 #include <visp3/core/vpException.h>
66 #include <visp3/core/vpHomogeneousMatrix.h>
67 #include <visp3/core/vpImage.h>
68 #include <visp3/core/vpIoTools.h>
69 #include <visp3/core/vpMath.h>
70 #include <visp3/core/vpPoint.h>
71 #include <visp3/gui/vpDisplayGTK.h>
72 #include <visp3/gui/vpDisplayOpenCV.h>
73 #include <visp3/gui/vpDisplayX.h>
74 #include <visp3/io/vpImageIo.h>
75 #include <visp3/robot/vpRobotViper850.h>
76 #include <visp3/sensor/vp1394TwoGrabber.h>
77 #include <visp3/visual_features/vpFeatureBuilder.h>
78 #include <visp3/visual_features/vpFeaturePoint.h>
79 #include <visp3/vs/vpServo.h>
80 #include <visp3/vs/vpServoDisplay.h>
95 std::string logdirname;
96 logdirname =
"/tmp/" + username;
104 std::cerr << std::endl <<
"ERROR:" << std::endl;
105 std::cerr <<
" Cannot create " << logdirname << std::endl;
109 std::string logfilename;
110 logfilename = logdirname +
"/log.dat";
113 std::ofstream flog(logfilename.c_str());
136 #elif defined(VISP_HAVE_OPENCV)
138 #elif defined(VISP_HAVE_GTK)
150 for (
int i = 0; i < 10; i++)
153 std::cout <<
"Click on a dot..." << std::endl;
162 robot.getCameraParameters(cam, I);
190 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
222 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
232 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
242 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
252 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
257 flog << (task.
getError()).t() << std::endl;
275 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
283 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
vpImagePoint getCog() const
void buildFrom(double x, double y, double Z)
Generic class defining intrinsic camera parameters.
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Implementation of column vector and the associated operations.
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setServo(const vpServoType &servo_type)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
static const vpColor green
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpColVector getError() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
const char * getMessage(void) const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, 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 blue
vpColVector computeControlLaw()
static void flush(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)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
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)
error that can be emited by ViSP classes.
unsigned int getWidth() const
void setGraphics(bool activate)