50 #include <visp3/core/vpConfig.h> 51 #include <visp3/core/vpDebug.h> 59 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES) ) 62 #include <visp3/sensor/vp1394TwoGrabber.h> 63 #include <visp3/core/vpImage.h> 64 #include <visp3/core/vpImageConvert.h> 65 #include <visp3/core/vpDisplay.h> 66 #include <visp3/gui/vpDisplayX.h> 67 #include <visp3/gui/vpDisplayOpenCV.h> 68 #include <visp3/gui/vpDisplayGTK.h> 69 #include <visp3/core/vpMath.h> 70 #include <visp3/core/vpHomogeneousMatrix.h> 71 #include <visp3/visual_features/vpFeaturePoint.h> 72 #include <visp3/core/vpPoint.h> 73 #include <visp3/vs/vpServo.h> 74 #include <visp3/visual_features/vpFeatureBuilder.h> 75 #include <visp3/core/vpIoTools.h> 76 #include <visp3/robot/vpRobotViper850.h> 77 #include <visp3/vision/vpPose.h> 78 #include <visp3/sensor/vpKinect.h> 81 #include <visp3/core/vpException.h> 82 #include <visp3/vs/vpServoDisplay.h> 84 #include <visp3/blob/vpDot2.h> 85 #define L 0.05 // to deal with a 10cm by 10cm square 124 for (
int i=0; i < ndot; i ++) {
143 if (residual_lagrange < residual_dementhon)
167 std::string username;
172 std::string logdirname;
173 logdirname =
"/tmp/" + username;
182 std::cerr << std::endl
183 <<
"ERROR:" << std::endl;
184 std::cerr <<
" Cannot create " << logdirname << std::endl;
188 std::string logfilename;
189 logfilename = logdirname +
"/log.dat";
192 std::ofstream flog(logfilename.c_str());
208 #ifdef VISP_HAVE_LIBFREENECT_OLD 210 Freenect::Freenect<vpKinect> freenect;
211 vpKinect & kinect = freenect.createDevice(0);
213 Freenect::Freenect freenect;
222 vpDisplayX display(I,100,100,
"Current image") ;
223 #elif defined(VISP_HAVE_OPENCV) 225 #elif defined(VISP_HAVE_GTK) 232 std::cout << std::endl ;
233 std::cout <<
"-------------------------------------------------------" << std::endl ;
234 std::cout <<
" Test program for vpServo " <<std::endl ;
235 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl ;
236 std::cout <<
" Use of the Viper850 robot " << std::endl ;
237 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
238 std::cout <<
"-------------------------------------------------------" << std::endl ;
239 std::cout << std::endl ;
244 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..." 247 for (i=0 ; i < 4 ; i++) {
264 for (i=0 ; i < 4 ; i++)
285 for (
int i=0; i < 4; i ++) {
296 for (i=0 ; i < 4 ; i++)
315 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
326 for (i=0 ; i < 4 ; i++) {
337 vpTRACE(
"Error detected while tracking visual features") ;
346 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
348 for (i=0 ; i < 4 ; i++) {
371 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " 372 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
382 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " 383 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
393 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " 394 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
399 flog << ( task.
getError() ).t() << std::endl;
408 std::cout <<
"Display task information: " << std::endl;
425 vpERROR_TRACE(
"You do not have a Viper robot or a kinect connected to your computer...");
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
void start(vpKinect::vpDMResolution res=DMAP_LOW_RES)
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void projection(const vpColVector &_cP, vpColVector &_p)
Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP...
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Control of Irisa's Viper S850 robot named Viper850.
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)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
void set_x(const double x)
Set the point x coordinate in the image plane.
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
void extract(vpRotationMatrix &R) const
static const vpColor green
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Driver for the Kinect-1 device.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
void set_y(const double y)
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
void set_x(const double x)
Initialize the velocity controller.
vpColVector computeControlLaw()
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
vpCameraParametersProjType
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(vpHomogeneousMatrix *)=NULL)
bool getRGB(vpImage< vpRGBa > &IRGB)
Perspective projection with distortion model.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
Implementation of column vector and the associated operations.
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
vpImagePoint getCog() const
Implementation of a rotation vector as Euler angle minimal representation.
vpColVector getError() const
void set_Z(const double Z)
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)
double computeResidual(const vpHomogeneousMatrix &cMo) const
Compute and return the residual expressed in meter for the pose matrix 'cMo'.
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &_cP)
void addPoint(const vpPoint &P)
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
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