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Visual Servoing Platform
version 3.3.0
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50 #include <visp3/blob/vpDot.h>
51 #include <visp3/core/vpCameraParameters.h>
52 #include <visp3/core/vpDebug.h>
53 #include <visp3/core/vpImage.h>
54 #include <visp3/core/vpPixelMeterConversion.h>
55 #include <visp3/core/vpPoint.h>
56 #include <visp3/gui/vpDisplayGTK.h>
57 #include <visp3/gui/vpDisplayOpenCV.h>
58 #include <visp3/gui/vpDisplayX.h>
59 #include <visp3/robot/vpRobotAfma6.h>
60 #include <visp3/sensor/vp1394TwoGrabber.h>
61 #include <visp3/vision/vpPose.h>
62 #if defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394)
78 vpDisplayX display(I, 100, 100,
"Current image");
79 #elif defined(VISP_HAVE_OPENCV)
81 #elif defined(VISP_HAVE_GTK)
109 for (
int i = 0; i < 4; i++) {
111 std::cout <<
"Click on dot " << i << std::endl;
119 std::cout <<
" Coordinates: " << dot[i].
getCog() << std::endl;
135 robot.getCameraParameters(cam, I);
140 for (
int i = 0; i < 4; i++) {
159 for (
int i = 0; i < 4; i++) {
172 std::cout <<
"Pose cMo: " << std::endl << cMo;
183 std::cout <<
"Robot pose in reference frame: " << p << std::endl;
193 std::cout <<
"Pose rMc: " << std::endl << rMc;
201 std::cout <<
"Robot pose in articular: " << p << std::endl;
203 robot.get_fMc(p, rMc);
204 std::cout <<
"Pose rMc from MGD: " << std::endl << rMc;
213 std::cout <<
"Pose rMo = rMc * cMo: " << std::endl << rMo;
221 std::cout <<
"Catch an exception: " << e << std::endl;
228 std::cout <<
"Sorry, test not valid. You should have an Afma6 robot..." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Generic class defining intrinsic camera parameters.
Control of Irisa's gantry robot named Afma6.
static double deg(double rad)
vpImagePoint getCog() const
void addPoint(const vpPoint &P)
Class that consider the case of a translation vector.
Implementation of column vector and the associated operations.
void extract(vpRotationMatrix &R) const
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
vpHomogeneousMatrix getPosition() const
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...
void setWorldCoordinates(double oX, double oY, double oZ)
Implementation of a rotation matrix and operations on such kind of matrices.
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_y(double y)
Set the point y coordinate in the image plane.
void acquire(vpImage< unsigned char > &I)
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
static void flush(const vpImage< unsigned char > &I)
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Class that defines what is a point.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void set_x(double x)
Set the point x coordinate in the image plane.
void initTracking(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
void setGraphics(bool activate)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Implementation of a rotation vector as Euler angle minimal representation.