54 #include <visp/vpConfig.h>
55 #include <visp/vpDebug.h>
58 #if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))
60 #include <visp/vp1394TwoGrabber.h>
61 #include <visp/vpImage.h>
62 #include <visp/vpImagePoint.h>
63 #include <visp/vpMath.h>
64 #include <visp/vpHomogeneousMatrix.h>
65 #include <visp/vpFeatureSegment.h>
66 #include <visp/vpPoint.h>
67 #include <visp/vpServo.h>
68 #include <visp/vpFeatureBuilder.h>
69 #include <visp/vpRobotAfma6.h>
70 #include <visp/vpIoTools.h>
71 #include <visp/vpException.h>
72 #include <visp/vpMatrixException.h>
73 #include <visp/vpServoDisplay.h>
74 #include <visp/vpDot.h>
75 #include <visp/vpDisplay.h>
76 #include <visp/vpDisplayX.h>
77 #include <visp/vpDisplayOpenCV.h>
78 #include <visp/vpDisplayGTK.h>
94 std::string logdirname;
95 logdirname =
"/tmp/" + username;
104 std::cerr << std::endl
105 <<
"ERROR:" << std::endl;
106 std::cerr <<
" Cannot create " << logdirname << std::endl;
110 std::string logfilename;
111 logfilename = logdirname +
"/log.dat";
114 std::ofstream flog(logfilename.c_str());
130 vpDisplayX display(I,100,100,
"Current image") ;
131 #elif defined(VISP_HAVE_OPENCV)
133 #elif defined(VISP_HAVE_GTK)
140 std::vector<vpDot> dot_d(2), dot(2) ;
148 std::cout <<
"define the initial segment" << std::endl;
150 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
151 std::cout <<
"Click on a dot..." << std::endl;
160 std::cout <<
"define the destination segment" << std::endl;
161 for(std::vector<vpDot>::iterator i = dot_d.begin();i!=dot_d.end();i++){
191 std::cout <<
"\nHit CTRL-C to stop the loop...\n" << std::flush;
200 for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
220 flog << ( task.
getError() ).t() << std::endl;
250 vpERROR_TRACE(
"You do not have an afma6 robot or a firewire framegrabber connected to your computer...");