53#include <visp3/core/vpConfig.h>
54#include <visp3/core/vpDebug.h>
62#if (defined(VISP_HAVE_VIPER850) && defined(VISP_HAVE_DC1394))
64#include <visp3/blob/vpDot2.h>
65#include <visp3/core/vpDisplay.h>
66#include <visp3/core/vpException.h>
67#include <visp3/core/vpHomogeneousMatrix.h>
68#include <visp3/core/vpImage.h>
69#include <visp3/core/vpIoTools.h>
70#include <visp3/core/vpLinearKalmanFilterInstantiation.h>
71#include <visp3/core/vpMath.h>
72#include <visp3/core/vpPoint.h>
73#include <visp3/gui/vpDisplayGTK.h>
74#include <visp3/gui/vpDisplayOpenCV.h>
75#include <visp3/gui/vpDisplayX.h>
76#include <visp3/io/vpImageIo.h>
77#include <visp3/robot/vpRobotViper850.h>
78#include <visp3/sensor/vp1394TwoGrabber.h>
79#include <visp3/visual_features/vpFeatureBuilder.h>
80#include <visp3/visual_features/vpFeaturePoint.h>
81#include <visp3/vs/vpAdaptiveGain.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());
125 unsigned int nsignal = 2;
129 unsigned int state_size = 0;
133 sigma_state.
resize(state_size * nsignal);
134 sigma_state = 0.00001;
135 sigma_measure = 0.05;
137 kalman.
initFilter(nsignal, sigma_state, sigma_measure, rho, dummy);
156 double Tloop = 1. / 80.f;
179#elif defined(VISP_HAVE_OPENCV)
181#elif defined(VISP_HAVE_GTK)
193 for (
int i = 0; i < 10; i++)
196 std::cout <<
"Click on a dot..." << std::endl;
205 robot.getCameraParameters(cam, I);
236 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
243 dc1394video_frame_t *frame = NULL;
252 Tv = (double)(t_0 - t_1) / 1000.0;
260 frame = g.dequeue(I);
290 dedt_mes = (err - err_1) / (Tv)-J1 * vm;
299 for (
unsigned int i = 0; i < nsignal; i++) {
300 dedt_filt[i] = kalman.
Xest[i * state_size];
306 v2 = -J1p * dedt_filt;
323 std::cout <<
"Tracking failed... Stop the robot." << std::endl;
333 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" " << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
343 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" " << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
353 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" " << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
358 flog << (task.
getError()).t() << std::endl;
373 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
381 std::cout <<
"You do not have an Viper 850 robot connected to your computer..." << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
@ vpVIDEO_MODE_640x480_MONO8
Adaptive gain computation.
void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
static const vpColor blue
static const vpColor green
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 displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
void setGraphics(bool activate)
vpImagePoint getCog() const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
error that can be emited by ViSP classes.
const char * getMessage() const
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
void buildFrom(double x, double y, double Z)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getStateSize()
This class provides an implementation of some specific linear Kalman filters.
void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt)
void filter(vpColVector &z)
void setStateModel(vpStateModel model)
@ stateConstVelWithColoredNoise_MeasureVel
Implementation of a matrix and operations on matrices.
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity)
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpMatrix getTaskJacobian() const
vpColVector getError() const
vpColVector computeControlLaw()
vpMatrix getTaskJacobianPseudoInverse() const
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()