Visual Servoing Platform version 3.5.0
tutorial-franka-acquire-calib-data.cpp
1
2#include <iostream>
3
4#include <visp3/core/vpCameraParameters.h>
5#include <visp3/core/vpXmlParserCamera.h>
6#include <visp3/gui/vpDisplayGDI.h>
7#include <visp3/gui/vpDisplayX.h>
8#include <visp3/io/vpImageIo.h>
9#include <visp3/sensor/vpRealSense2.h>
10#include <visp3/robot/vpRobotFranka.h>
11
12#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA)
13
14int main(int argc, char **argv)
15{
16 try {
17 std::string robot_ip = "192.168.1.1";
18
19 for (int i = 1; i < argc; i++) {
20 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
21 robot_ip = std::string(argv[i + 1]);
22 }
23 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
24 std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
25 << "\n";
26 return EXIT_SUCCESS;
27 }
28 }
29
31
32 vpRobotFranka robot;
33 robot.connect(robot_ip);
34
36 rs2::config config;
37 config.disable_stream(RS2_STREAM_DEPTH);
38 config.disable_stream(RS2_STREAM_INFRARED);
39 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
40 g.open(config);
41 g.acquire(I);
42
43 unsigned int width = I.getWidth();
44 unsigned int height = I.getHeight();
45
46 std::cout << "Image size: " << width << " x " << height << std::endl;
47 // Save intrinsics
49 vpXmlParserCamera xml_camera;
51 xml_camera.save(cam, "camera.xml", "Camera", width, height);
52
53#if defined(VISP_HAVE_X11)
54 vpDisplayX dc(I, 10, 10, "Color image");
55#elif defined(VISP_HAVE_GDI)
56 vpDisplayGDI dc(I, 10, 10, "Color image");
57#endif
58
59 bool end = false;
60 unsigned cpt = 0;
61 while (! end) {
62 g.acquire(I);
63
65
66 vpDisplay::displayText(I, 15, 15, "Left click to acquire data", vpColor::red);
67 vpDisplay::displayText(I, 30, 15, "Right click to quit", vpColor::red);
69 if (vpDisplay::getClick(I, button, false)) {
70 if (button == vpMouseButton::button1) {
71 cpt ++;
72
73 vpPoseVector fPe;
74 robot.getPosition(vpRobot::END_EFFECTOR_FRAME, fPe);
75
76 std::stringstream ss_img, ss_pos;
77
78 ss_img << "image-" << cpt << ".png";
79 ss_pos << "pose_fPe_" << cpt << ".yaml";
80 std::cout << "Save: " << ss_img.str() << " and " << ss_pos.str() << std::endl;
81 vpImageIo::write(I, ss_img.str());
82 fPe.saveYAML(ss_pos.str(), fPe);
83 }
84 else if (button == vpMouseButton::button3) {
85 end = true;
86 }
87 }
89
90 }
91 } catch (const vpException &e) {
92 std::cerr << "RealSense error " << e.what() << std::endl;
93 } catch (const std::exception &e) {
94 std::cerr << e.what() << std::endl;
95 }
96
97 return 0;
98}
99#else
100int main()
101{
102#if !defined(VISP_HAVE_REALSENSE2)
103 std::cout << "Install librealsense-2.x." << std::endl;
104#endif
105#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
106 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
107#endif
108#if !defined(VISP_HAVE_FRANKA)
109 std::cout << "Install libfranka." << std::endl;
110#endif
111
112 std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake"
113 << " and build ViSP again." << std::endl;
114 return 0;
115}
116#endif
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:830
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:293
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
XML parser to load and save intrinsic camera parameters.
int save(const vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, unsigned int image_width=0, unsigned int image_height=0, const std::string &additionalInfo="")