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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Interface for the Irisa's Afma6 robot.
*/
/*!
\example testRobotBebop2.cpp
Example to control Parrot Bebop2.
*/
#include <iostream>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotBebop2.h>
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#ifdef VISP_HAVE_ARSDK
try {
int stream_res = 0;
std::string ip_address = "192.168.42.1";
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
ip_address = std::string(argv[i + 1]);
i++;
}
else if (std::string(argv[i]) == "--hd-resolution") {
stream_res = 1;
}
else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
verbose = true;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage:\n"
<< " " << argv[0] << " [--ip <drone ip>] [--hd-resolution] [--verbose] [-v]"
<< " [--help] [-h]\n"
<< std::endl
<< "Description:\n"
<< " --ip <drone ip>\n"
<< " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
<< " --hd-resolution\n"
<< " Enables HD 720p video instead of default 480p.\n\n"
<< " --verbose, -v\n"
<< " Enables verbose (drone information messages are then displayed).\n\n"
<< " --help, -h\n"
<< " Print help message.\n\n"
<< std::endl;
return EXIT_SUCCESS;
}
else {
std::cout << "Error : unknown parameter " << argv[i] << std::endl
<< "See " << argv[0] << " --help" << std::endl;
return EXIT_FAILURE;
}
}
vpRobotBebop2 drone(
verbose, true, ip_address); // Create the drone with desired verbose level, settings reset, and corresponding IP
if (drone.isRunning()) {
drone.setVideoResolution(stream_res); // Set video resolution to 480p (default) or 720p
drone.startStreaming(); // Start video decoding and streaming
vpImage<vpRGBa> I(1u, 1u, vpRGBa(0));
drone.getRGBaImage(I); // Get color image from the drone video stream
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I);
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d(I);
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpDisplay::display(I);
vpDisplay::flush(I);
drone.doFlatTrim();
drone.takeOff(true);
vpColVector vel(4, 0.0);
vel[3] = vpMath::rad(10);
double delta_t = 0.040;
double t = vpTime::measureTimeMs();
do { // We make the drone rotate around Z axis for 10 seconds at 10 deg/s
drone.setVelocity(vel, 1);
drone.getRGBaImage(I);
vpDisplay::display(I);
vpDisplay::flush(I);
vpTime::wait(delta_t * 1000);
} while (vpTime::measureTimeMs() - t < 10 * 1000);
drone.land();
}
else {
std::cout << "Error : failed to setup drone control" << std::endl;
}
std::cout << "-- End of test --" << std::endl;
}
catch (const vpException &e) {
std::cout << "Caught an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install Parrot ARSDK, configure and build ViSP to use this example..." << std::endl;
#endif
}
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