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Visual Servoing Platform
version 3.3.0
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63 #include <visp3/core/vpConfig.h>
65 #if defined(VISP_HAVE_VIPER650) && defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_X11)
67 #include <visp3/blob/vpDot2.h>
68 #include <visp3/core/vpHomogeneousMatrix.h>
69 #include <visp3/core/vpIoTools.h>
70 #include <visp3/core/vpPoint.h>
71 #include <visp3/gui/vpDisplayX.h>
72 #include <visp3/robot/vpRobotViper650.h>
73 #include <visp3/sensor/vp1394TwoGrabber.h>
74 #include <visp3/vision/vpPose.h>
75 #include <visp3/visual_features/vpFeatureBuilder.h>
76 #include <visp3/visual_features/vpFeaturePoint.h>
77 #include <visp3/vs/vpServo.h>
78 #include <visp3/vs/vpServoDisplay.h>
93 std::string logdirname;
94 logdirname =
"/tmp/" + username;
102 std::cerr << std::endl <<
"ERROR:" << std::endl;
103 std::cerr <<
" Cannot create " << logdirname << std::endl;
107 std::string logfilename;
108 logfilename = logdirname +
"/log.dat";
111 std::ofstream flog(logfilename.c_str());
132 vpDisplayX display(I, 100, 100,
"Current image");
140 for (
int i = 0; i < 10; i++)
143 std::cout <<
"Click on a dot..." << std::endl;
152 robot.getCameraParameters(cam, I);
180 std::cout <<
"\nHit CTRL-C or click in the image to stop the loop...\n" << std::flush;
193 std::cout <<
"Error detected while tracking visual features.." << std::endl;
218 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
228 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
238 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
243 flog << (task.
getError()).t() << std::endl;
266 std::cout <<
"Catched an exception: " << e.
getMessage() << std::endl;
274 std::cout <<
"You do not have an Viper 650 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.
Control of Irisa's Viper S650 robot named Viper650.
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.
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
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)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=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.
void setGraphics(bool activate)