50 #include <visp3/core/vpConfig.h> 51 #include <visp3/core/vpDebug.h> 54 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 56 #include <visp3/sensor/vp1394TwoGrabber.h> 57 #include <visp3/core/vpImage.h> 58 #include <visp3/core/vpImagePoint.h> 59 #include <visp3/core/vpMath.h> 60 #include <visp3/core/vpHomogeneousMatrix.h> 61 #include <visp3/visual_features/vpFeatureSegment.h> 62 #include <visp3/core/vpPoint.h> 63 #include <visp3/vs/vpServo.h> 64 #include <visp3/visual_features/vpFeatureBuilder.h> 65 #include <visp3/robot/vpRobotAfma6.h> 66 #include <visp3/core/vpIoTools.h> 67 #include <visp3/core/vpException.h> 68 #include <visp3/vs/vpServoDisplay.h> 69 #include <visp3/blob/vpDot.h> 70 #include <visp3/core/vpDisplay.h> 71 #include <visp3/gui/vpDisplayX.h> 72 #include <visp3/gui/vpDisplayOpenCV.h> 73 #include <visp3/gui/vpDisplayGTK.h> 89 std::string logdirname;
90 logdirname =
"/tmp/" + username;
99 std::cerr << std::endl
100 <<
"ERROR:" << std::endl;
101 std::cerr <<
" Cannot create " << logdirname << std::endl;
105 std::string logfilename;
106 logfilename = logdirname +
"/log.dat";
109 std::ofstream flog(logfilename.c_str());
125 vpDisplayX display(I,100,100,
"Current image") ;
126 #elif defined(VISP_HAVE_OPENCV) 128 #elif defined(VISP_HAVE_GTK) 135 std::vector<vpDot> dot_d(2), dot(2) ;
143 std::cout <<
"define the initial segment" << std::endl;
145 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end(); ++i){
146 std::cout <<
"Click on a dot..." << std::endl;
155 std::cout <<
"define the destination segment" << std::endl;
156 for(std::vector<vpDot>::iterator i = dot_d.begin();i!=dot_d.end(); ++i){
186 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
195 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end(); ++i){
215 flog << ( task.
getError() ).t() << std::endl;
245 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void setZ1(const double val)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
Initialize the velocity controller.
vpColVector computeControlLaw()
void setZ2(const double val)
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Implementation of column vector and the associated operations.
void setFramerate(vp1394TwoFramerateType fps)
void setVideoMode(vp1394TwoVideoModeType videomode)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
vpColVector getError() const
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
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)
static const vpColor blue