Visual Servoing Platform version 3.6.0
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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/robot/vpRobotFranka.h>
10#include <visp3/sensor/vpRealSense2.h>
11
12#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
13 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA)
14
15int main(int argc, char **argv)
16{
17 try {
18 std::string opt_robot_ip = "192.168.1.1";
19
20 for (int i = 1; i < argc; i++) {
21 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
22 opt_robot_ip = std::string(argv[i + 1]);
23 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
24 std::cout << argv[0] << " [--ip " << opt_robot_ip << "] [--help] [-h]" << std::endl;
25 return EXIT_SUCCESS;
26 }
27 }
28
30
31 vpRobotFranka robot;
32 robot.connect(opt_robot_ip);
33
35 rs2::config config;
36 config.disable_stream(RS2_STREAM_DEPTH);
37 config.disable_stream(RS2_STREAM_INFRARED);
38 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
39 g.open(config);
40 g.acquire(I);
41
42 unsigned int width = I.getWidth();
43 unsigned int height = I.getHeight();
44
45 std::cout << "Image size: " << width << " x " << height << std::endl;
46 // Save intrinsics
48 vpXmlParserCamera xml_camera;
50 xml_camera.save(cam, "franka_camera.xml", "Camera", width, height);
51
52#if defined(VISP_HAVE_X11)
53 vpDisplayX dc(I, 10, 10, "Color image");
54#elif defined(VISP_HAVE_GDI)
55 vpDisplayGDI dc(I, 10, 10, "Color image");
56#endif
57
58 bool end = false;
59 unsigned cpt = 0;
60 while (!end) {
61 g.acquire(I);
62
64
65 vpDisplay::displayText(I, 15, 15, "Left click to acquire data", vpColor::red);
66 vpDisplay::displayText(I, 30, 15, "Right click to quit", vpColor::red);
68 if (vpDisplay::getClick(I, button, false)) {
69 if (button == vpMouseButton::button1) {
70 cpt++;
71
72 vpPoseVector fPe;
73 robot.getPosition(vpRobot::END_EFFECTOR_FRAME, fPe);
74
75 std::stringstream ss_img, ss_pos;
76
77 ss_img << "franka_image-" << cpt << ".png";
78 ss_pos << "franka_pose_fPe_" << cpt << ".yaml";
79 std::cout << "Save: " << ss_img.str() << " and " << ss_pos.str() << std::endl;
80 vpImageIo::write(I, ss_img.str());
81 fPe.saveYAML(ss_pos.str(), fPe);
82 } else if (button == vpMouseButton::button3) {
83 end = true;
84 }
85 }
87 }
88 } catch (const vpException &e) {
89 std::cerr << "ViSP exception " << e.what() << std::endl;
90 } catch (const std::exception &e) {
91 std::cerr << e.what() << std::endl;
92 }
93
94 return EXIT_SUCCESS;
95}
96#else
97int main()
98{
99#if !defined(VISP_HAVE_REALSENSE2)
100 std::cout << "Install librealsense-2.x." << std::endl;
101#endif
102#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
103 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
104#endif
105#if !defined(VISP_HAVE_FRANKA)
106 std::cout << "Install libfranka." << std::endl;
107#endif
108
109 std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake"
110 << " and build ViSP again." << std::endl;
111 return EXIT_SUCCESS;
112}
113#endif
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition vpArray2D.h:877
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
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 emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
Implementation of a pose vector and operations on poses.
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:79
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="", bool verbose=true)