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Visual Servoing Platform
version 3.3.0
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53 #include <visp3/core/vpConfig.h>
54 #include <visp3/core/vpDebug.h>
62 #if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
64 #include <visp3/blob/vpDot2.h>
65 #include <visp3/core/vpDisplay.h>
66 #include <visp3/core/vpException.h>
67 #include <visp3/core/vpHomogeneousMatrix.h>
68 #include <visp3/core/vpImage.h>
69 #include <visp3/core/vpIoTools.h>
70 #include <visp3/core/vpLinearKalmanFilterInstantiation.h>
71 #include <visp3/core/vpMath.h>
72 #include <visp3/core/vpPoint.h>
73 #include <visp3/gui/vpDisplayGTK.h>
74 #include <visp3/gui/vpDisplayOpenCV.h>
75 #include <visp3/gui/vpDisplayX.h>
76 #include <visp3/io/vpImageIo.h>
77 #include <visp3/robot/vpRobotViper850.h>
78 #include <visp3/sensor/vp1394TwoGrabber.h>
79 #include <visp3/visual_features/vpFeatureBuilder.h>
80 #include <visp3/visual_features/vpFeaturePoint.h>
81 #include <visp3/vs/vpAdaptiveGain.h>
82 #include <visp3/vs/vpServo.h>
83 #include <visp3/vs/vpServoDisplay.h>
98 std::string logdirname;
99 logdirname =
"/tmp/" + username;
107 std::cerr << std::endl <<
"ERROR:" << std::endl;
108 std::cerr <<
" Cannot create " << logdirname << std::endl;
112 std::string logfilename;
113 logfilename = logdirname +
"/log.dat";
116 std::ofstream flog(logfilename.c_str());
125 unsigned int nsignal = 2;
129 unsigned int state_size = 0;
133 sigma_state.
resize(state_size * nsignal);
134 sigma_state = 0.00001;
135 sigma_measure = 0.05;
137 kalman.
initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
156 double Tloop = 1. / 80.f;
179 #elif defined(VISP_HAVE_OPENCV)
181 #elif defined(VISP_HAVE_GTK)
193 for (
int i = 0; i < 10; i++)
196 std::cout <<
"Click on a dot..." << std::endl;
205 robot.getCameraParameters(cam, I);
236 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
243 dc1394video_frame_t *frame = NULL;
252 Tv = (double)(t_0 - t_1) / 1000.0;
260 frame = g.dequeue(I);
290 dedt_mes = (err - err_1) / (Tv)-J1 * vm;
299 for (
unsigned int i = 0; i < nsignal; i++) {
300 dedt_filt[i] = kalman.
Xest[i * state_size];
306 v2 = -J1p * dedt_filt;
323 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
335 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
345 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
355 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
360 flog << (task.
getError()).t() << std::endl;
380 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
388 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
VISP_EXPORT int wait(double t0, double t)
void buildFrom(double x, double y, double Z)
Generic class defining intrinsic camera parameters.
vpMatrix getTaskJacobianPseudoInverse() const
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
vpMatrix getTaskJacobian() const
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...
Implementation of a matrix and operations on matrices.
void setServo(const vpServoType &servo_type)
VISP_EXPORT double measureTimeMs()
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
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...
Adaptive gain computation.
void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt)
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)
void setStateModel(vpStateModel model)
void resize(unsigned int i, bool flagNullify=true)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
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)
This class provides an implementation of some specific linear Kalman filters.
void filter(vpColVector &z)
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)
unsigned int getStateSize()