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//! \example tutorial-franka-acquire-calib-data.cpp
#include <iostream>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpRobotFranka.h>
#include <visp3/sensor/vpRealSense2.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA)
int main(int argc, char **argv)
{
try {
std::string opt_robot_ip = "192.168.1.1";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
opt_robot_ip = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip " << opt_robot_ip << "] [--help] [-h]" << std::endl;
return EXIT_SUCCESS;
}
}
vpImage<unsigned char> I;
vpRobotFranka robot;
robot.connect(opt_robot_ip);
vpRealSense2 g;
rs2::config config;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
g.open(config);
g.acquire(I);
unsigned int width = I.getWidth();
unsigned int height = I.getHeight();
std::cout << "Image size: " << width << " x " << height << std::endl;
// Save intrinsics
vpCameraParameters cam;
vpXmlParserCamera xml_camera;
cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
xml_camera.save(cam, "franka_camera.xml", "Camera", width, height);
#if defined(VISP_HAVE_X11)
vpDisplayX dc(I, 10, 10, "Color image");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI dc(I, 10, 10, "Color image");
#endif
bool end = false;
unsigned cpt = 0;
while (!end) {
g.acquire(I);
vpDisplay::display(I);
vpDisplay::displayText(I, 15, 15, "Left click to acquire data", vpColor::red);
vpDisplay::displayText(I, 30, 15, "Right click to quit", vpColor::red);
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(I, button, false)) {
if (button == vpMouseButton::button1) {
cpt++;
vpPoseVector fPe;
robot.getPosition(vpRobot::END_EFFECTOR_FRAME, fPe);
std::stringstream ss_img, ss_pos;
ss_img << "franka_image-" << cpt << ".png";
ss_pos << "franka_pose_fPe_" << cpt << ".yaml";
std::cout << "Save: " << ss_img.str() << " and " << ss_pos.str() << std::endl;
vpImageIo::write(I, ss_img.str());
fPe.saveYAML(ss_pos.str(), fPe);
} else if (button == vpMouseButton::button3) {
end = true;
}
}
vpDisplay::flush(I);
}
} catch (const vpException &e) {
std::cerr << "ViSP exception " << e.what() << std::endl;
} catch (const std::exception &e) {
std::cerr << e.what() << std::endl;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense-2.x." << std::endl;
#endif
#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
#endif
#if !defined(VISP_HAVE_FRANKA)
std::cout << "Install libfranka." << std::endl;
#endif
std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake"
<< " and build ViSP again." << std::endl;
return EXIT_SUCCESS;
}
#endif
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