50#include <visp3/blob/vpDot.h>
51#include <visp3/core/vpCameraParameters.h>
52#include <visp3/core/vpDebug.h>
53#include <visp3/core/vpImage.h>
54#include <visp3/core/vpPixelMeterConversion.h>
55#include <visp3/core/vpPoint.h>
56#include <visp3/gui/vpDisplayGTK.h>
57#include <visp3/gui/vpDisplayOpenCV.h>
58#include <visp3/gui/vpDisplayX.h>
59#include <visp3/robot/vpRobotAfma6.h>
60#include <visp3/sensor/vp1394TwoGrabber.h>
61#include <visp3/vision/vpPose.h>
62#if defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_DC1394)
78 vpDisplayX display(I, 100, 100,
"Current image");
79#elif defined(VISP_HAVE_OPENCV)
81#elif defined(VISP_HAVE_GTK)
109 for (
int i = 0; i < 4; i++) {
111 std::cout <<
"Click on dot " << i << std::endl;
119 std::cout <<
" Coordinates: " << dot[i].
getCog() << std::endl;
135 robot.getCameraParameters(cam, I);
140 for (
int i = 0; i < 4; i++) {
159 for (
int i = 0; i < 4; i++) {
172 std::cout <<
"Pose cMo: " << std::endl << cMo;
183 std::cout <<
"Robot pose in reference frame: " << p << std::endl;
193 std::cout <<
"Pose rMc: " << std::endl << rMc;
201 std::cout <<
"Robot pose in articular: " << p << std::endl;
203 robot.get_fMc(p, rMc);
204 std::cout <<
"Pose rMc from MGD: " << std::endl << rMc;
213 std::cout <<
"Pose rMo = rMc * cMo: " << std::endl << rMo;
221 std::cout <<
"Catch an exception: " << e << std::endl;
228 std::cout <<
"Sorry, test not valid. You should have an Afma6 robot..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void acquire(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Implementation of column vector and the associated operations.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
void initTracking(const vpImage< unsigned char > &I)
void setGraphics(bool activate)
vpImagePoint getCog() const
error that can be emited by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void extract(vpRotationMatrix &R) const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double deg(double rad)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void set_x(double x)
Set the point x coordinate in the image plane.
void setWorldCoordinates(double oX, double oY, double oZ)
void set_y(double y)
Set the point y coordinate in the image plane.
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
void addPoint(const vpPoint &P)
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Control of Irisa's gantry robot named Afma6.
Implementation of a rotation matrix and operations on such kind of matrices.
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Class that consider the case of a translation vector.