55 #include <visp/vpConfig.h>
56 #include <visp/vpDebug.h>
64 #if (defined (VISP_HAVE_VIPER850) && defined (VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES) )
67 #include <visp/vp1394TwoGrabber.h>
68 #include <visp/vpImage.h>
69 #include <visp/vpImageConvert.h>
70 #include <visp/vpDisplay.h>
71 #include <visp/vpDisplayX.h>
72 #include <visp/vpDisplayOpenCV.h>
73 #include <visp/vpDisplayGTK.h>
74 #include <visp/vpMath.h>
75 #include <visp/vpHomogeneousMatrix.h>
76 #include <visp/vpFeaturePoint.h>
77 #include <visp/vpPoint.h>
78 #include <visp/vpServo.h>
79 #include <visp/vpFeatureBuilder.h>
80 #include <visp/vpIoTools.h>
81 #include <visp/vpRobotViper850.h>
82 #include <visp/vpPose.h>
83 #include <visp/vpKinect.h>
86 #include <visp/vpException.h>
87 #include <visp/vpMatrixException.h>
88 #include <visp/vpServoDisplay.h>
90 #include <visp/vpDot2.h>
91 #define L 0.05 // to deal with a 10cm by 10cm square
130 for (
int i=0; i < ndot; i ++) {
149 if (residual_lagrange < residual_dementhon)
173 std::string username;
178 std::string logdirname;
179 logdirname =
"/tmp/" + username;
188 std::cerr << std::endl
189 <<
"ERROR:" << std::endl;
190 std::cerr <<
" Cannot create " << logdirname << std::endl;
194 std::string logfilename;
195 logfilename = logdirname +
"/log.dat";
198 std::ofstream flog(logfilename.c_str());
214 #ifdef VISP_HAVE_LIBFREENECT_OLD
216 Freenect::Freenect<vpKinect> freenect;
217 vpKinect & kinect = freenect.createDevice(0);
219 Freenect::Freenect freenect;
228 vpDisplayX display(I,100,100,
"Current image") ;
229 #elif defined(VISP_HAVE_OPENCV)
231 #elif defined(VISP_HAVE_GTK)
238 std::cout << std::endl ;
239 std::cout <<
"-------------------------------------------------------" << std::endl ;
240 std::cout <<
" Test program for vpServo " <<std::endl ;
241 std::cout <<
" Eye-in-hand task control, velocity computed in the camera space" << std::endl ;
242 std::cout <<
" Use of the Viper850 robot " << std::endl ;
243 std::cout <<
" task : servo 4 points on a square with dimention " << L <<
" meters" << std::endl ;
244 std::cout <<
"-------------------------------------------------------" << std::endl ;
245 std::cout << std::endl ;
250 std::cout <<
"Click on the 4 dots clockwise starting from upper/left dot..."
253 for (i=0 ; i < 4 ; i++) {
270 for (i=0 ; i < 4 ; i++)
291 for (
int i=0; i < 4; i ++) {
302 for (i=0 ; i < 4 ; i++)
321 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
332 for (i=0 ; i < 4 ; i++) {
343 vpTRACE(
"Error detected while tracking visual features") ;
352 compute_pose(point, dot, 4, cam, cMo, cto, cro,
false);
354 for (i=0 ; i < 4 ; i++) {
377 flog << v[0] <<
" " << v[1] <<
" " << v[2] <<
" "
378 << v[3] <<
" " << v[4] <<
" " << v[5] <<
" ";
388 flog << qvel[0] <<
" " << qvel[1] <<
" " << qvel[2] <<
" "
389 << qvel[3] <<
" " << qvel[4] <<
" " << qvel[5] <<
" ";
399 flog << q[0] <<
" " << q[1] <<
" " << q[2] <<
" "
400 << q[3] <<
" " << q[4] <<
" " << q[5] <<
" ";
405 flog << ( task.
getError() ).t() << std::endl;
414 std::cout <<
"Display task information: " << std::endl;
431 vpERROR_TRACE(
"You do not have a Viper robot or a kinect connected to your computer...");