Visual Servoing Platform version 3.6.0
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tutorial-universal-robots-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/vpRobotUniversalRobots.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_UR_RTDE)
14
15int main(int argc, char **argv)
16{
17 try {
18 std::string opt_robot_ip = "192.168.0.100";
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
32
34 rs2::config config;
35 config.disable_stream(RS2_STREAM_DEPTH);
36 config.disable_stream(RS2_STREAM_INFRARED);
37 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
38 g.open(config);
39 g.acquire(I);
40
41 unsigned int width = I.getWidth();
42 unsigned int height = I.getHeight();
43
44 std::cout << "Image size: " << width << " x " << height << std::endl;
45 // Save intrinsics
47 vpXmlParserCamera xml_camera;
49 xml_camera.save(cam, "ur_camera.xml", "Camera", width, height);
50
51#if defined(VISP_HAVE_X11)
52 vpDisplayX dc(I, 10, 10, "Color image");
53#elif defined(VISP_HAVE_GDI)
54 vpDisplayGDI dc(I, 10, 10, "Color image");
55#endif
56
57 bool end = false;
58 unsigned cpt = 0;
59 while (!end) {
60 g.acquire(I);
61
63
64 vpDisplay::displayText(I, 15, 15, "Left click to acquire data", vpColor::red);
65 vpDisplay::displayText(I, 30, 15, "Right click to quit", vpColor::red);
67 if (vpDisplay::getClick(I, button, false)) {
68 if (button == vpMouseButton::button1) {
69 cpt++;
70
71 vpPoseVector fPe;
72 std::cout << "Connect to robot to get its position..." << std::endl;
73 robot.connect(opt_robot_ip);
74 robot.getPosition(vpRobot::END_EFFECTOR_FRAME, fPe);
75 robot.disconnect();
76
77 std::stringstream ss_img, ss_pos;
78
79 ss_img << "ur_image-" << cpt << ".png";
80 ss_pos << "ur_pose_fPe_" << cpt << ".yaml";
81 std::cout << "Save: " << ss_img.str() << " and " << ss_pos.str() << std::endl;
82 vpImageIo::write(I, ss_img.str());
83 fPe.saveYAML(ss_pos.str(), fPe);
84 } else if (button == vpMouseButton::button3) {
85 end = true;
86 }
87 }
89 }
90 } catch (const vpException &e) {
91 std::cerr << "ViSP exception " << e.what() << std::endl;
92 } catch (const std::exception &e) {
93 std::cerr << e.what() << std::endl;
94 }
95
96 return EXIT_SUCCESS;
97}
98#else
99int main()
100{
101#if !defined(VISP_HAVE_REALSENSE2)
102 std::cout << "Install librealsense-2.x." << std::endl;
103#endif
104#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
105 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
106#endif
107#if !defined(VISP_HAVE_UR_RTDE)
108 std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
109 << 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 EXIT_SUCCESS;
115}
116#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)