61 #include <visp3/core/vpConfig.h> 62 #include <visp3/core/vpDebug.h> 66 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394)) 68 #include <visp3/sensor/vp1394TwoGrabber.h> 69 #include <visp3/core/vpImage.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> 75 #include <visp3/core/vpMath.h> 76 #include <visp3/core/vpHomogeneousMatrix.h> 77 #include <visp3/visual_features/vpFeatureEllipse.h> 78 #include <visp3/vs/vpServo.h> 79 #include <visp3/visual_features/vpFeatureBuilder.h> 81 #include <visp3/robot/vpRobotAfma6.h> 84 #include <visp3/core/vpException.h> 85 #include <visp3/vs/vpServoDisplay.h> 87 #include <visp3/blob/vpDot.h> 106 vpDisplayX display(I,100,100,
"Current image") ;
107 #elif defined(VISP_HAVE_OPENCV) 109 #elif defined(VISP_HAVE_GTK) 116 std::cout << std::endl ;
117 std::cout <<
"-------------------------------------------------------" << std::endl ;
118 std::cout <<
" Test program for vpServo " <<std::endl ;
119 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl ;
120 std::cout <<
" Simulation " << std::endl ;
121 std::cout <<
" task : servo a point " << std::endl ;
122 std::cout <<
"-------------------------------------------------------" << std::endl ;
123 std::cout << std::endl ;
131 std::cout <<
"Click on an ellipse..." << std::endl;
146 vpTRACE(
"sets the current position of the visual feature ") ;
151 std::cout <<
" Learning 0/1 " <<std::endl ;
153 std::cin >> learning ;
154 char name[FILENAME_MAX] ;
155 sprintf(name,
"dat/ellipse.dat") ;
159 vpTRACE(
"Save the location of the object in a file dat/ellipse.dat") ;
160 std::ofstream f(name) ;
167 vpTRACE(
"sets the desired position of the visual feature ") ;
169 std::ifstream f(
"dat/ellipse.dat") ;
170 double x,y,mu20,mu11,mu02 ;
171 f >> x ; f >> y ; f >> mu20 ; f >> mu11 ; f >> mu02 ;
184 unsigned int iter=0 ;
185 double lambda_av =0.01;
189 std::cout <<
"alpha 0.7" << std::endl;
191 std::cout <<
"beta 5" << std::endl;
195 std::cout <<
"---------------------------------------------" << iter++ <<std::endl ;
212 if (std::fabs(alpha) <= std::numeric_limits<double>::epsilon())
216 gain = alpha * exp (-beta * ( task.
getError() ).sumSquare() ) + lambda_av;
219 else gain = lambda_av ;
226 std::cout <<
"rank " << task.
getTaskRank() << std::endl ;
235 vpTRACE(
"Display task information " ) ;
251 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
unsigned int getTaskRank() const
void setMaxDotSize(double percentage)
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 track(const vpImage< unsigned char > &I)
static const vpColor green
void acquire(vpImage< unsigned char > &I)
vpColVector get_s(unsigned int select=FEATURE_ALL) const
Get the feature vector .
static void flush(const vpImage< unsigned char > &I)
Control of Irisa's gantry robot named Afma6.
void open(vpImage< unsigned char > &I)
vpImagePoint getCog() const
Initialize the velocity controller.
vpColVector computeControlLaw()
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 setABC(const double A, const double B, const double C)
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...
void setComputeMoments(const bool activate)
void buildFrom(const double x, const double y, const double mu20, const double mu11, const double mu02)
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 ...
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
void initTracking(const vpImage< unsigned char > &I)
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