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Visual Servoing Platform
version 3.3.0
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62 #include <visp3/core/vpConfig.h>
63 #include <visp3/core/vpDebug.h>
64 #if (defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394))
66 #include <visp3/blob/vpDot.h>
67 #include <visp3/core/vpDisplay.h>
68 #include <visp3/core/vpException.h>
69 #include <visp3/core/vpHomogeneousMatrix.h>
70 #include <visp3/core/vpImage.h>
71 #include <visp3/core/vpImagePoint.h>
72 #include <visp3/core/vpIoTools.h>
73 #include <visp3/core/vpMath.h>
74 #include <visp3/core/vpPoint.h>
75 #include <visp3/gui/vpDisplayGTK.h>
76 #include <visp3/gui/vpDisplayOpenCV.h>
77 #include <visp3/gui/vpDisplayX.h>
78 #include <visp3/robot/vpRobotAfma6.h>
79 #include <visp3/sensor/vp1394TwoGrabber.h>
80 #include <visp3/visual_features/vpFeatureBuilder.h>
81 #include <visp3/visual_features/vpFeaturePoint.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());
131 vpDisplayX display(I, 100, 100,
"Current image");
132 #elif defined(VISP_HAVE_OPENCV)
134 #elif defined(VISP_HAVE_GTK)
144 std::cout <<
"Click on a dot..." << std::endl;
154 robot.getCameraParameters(cam, I);
182 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
215 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
225 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
235 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
240 flog << (task.
getError()).t() << std::endl;
257 std::cout <<
"Test failed with exception: " << e << std::endl;
265 std::cout <<
"You do not have an afma6 robot connected to your computer..." << std::endl;
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void setVideoMode(vp1394TwoVideoModeType videomode)
void buildFrom(double x, double y, double Z)
Generic class defining intrinsic camera parameters.
Control of Irisa's gantry robot named Afma6.
void setFramerate(vp1394TwoFramerateType fps)
@ vpVIDEO_MODE_640x480_MONO8
void track(const vpImage< unsigned char > &I)
vpImagePoint getCog() const
static const vpColor blue
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
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
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 ...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void acquire(vpImage< unsigned char > &I)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static const vpColor green
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 open(vpImage< unsigned char > &I)
void initTracking(const vpImage< unsigned char > &I)
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.
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.