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Fix build when libfranka and ur_rtde available
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@fspindle
fspindle committed Oct 3, 2023
1 parent 7fa4c0f commit a86f58d
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Showing 2 changed files with 60 additions and 61 deletions.
117 changes: 58 additions & 59 deletions apps/calibration/visp-acquire-franka-calib-data.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA) && \
defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional

void usage(const char *argv[], int error, const std::string &robot_ip)
void usage(const char **argv, int error, const std::string &robot_ip)
{
std::cout << "Synopsis" << std::endl
<< " " << argv[0] << " [--ip <address>] [--help, -h]" << std::endl
Expand All @@ -64,7 +64,7 @@ void usage(const char *argv[], int error, const std::string &robot_ip)
}
}

int main(int argc, char **argv)
int main(int argc, const char **argv)
{
try {
std::string opt_robot_ip = "192.168.1.1";
Expand All @@ -83,77 +83,76 @@ int main(int argc, char **argv)
return EXIT_FAILURE;
}
}
}

vpImage<unsigned char> I;
vpImage<unsigned char> I;

vpRobotFranka robot;
robot.connect(opt_robot_ip);
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);
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();
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);
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");
vpDisplayX dc(I, 10, 10, "Color image");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI dc(I, 10, 10, "Color image");
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;
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);
}
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;
}
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;
return EXIT_SUCCESS;
}
#else
int main()
Expand Down
4 changes: 2 additions & 2 deletions apps/calibration/visp-acquire-universal-robots-calib-data.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_UR_RTDE) && \
defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional

void usage(const char *argv[], int error, const std::string &robot_ip)
void usage(const char **argv, int error, const std::string &robot_ip)
{
std::cout << "Synopsis" << std::endl
<< " " << argv[0] << " [--ip <address>] [--help, -h]" << std::endl
Expand All @@ -64,7 +64,7 @@ void usage(const char *argv[], int error, const std::string &robot_ip)
}
}

int main(int argc, char **argv)
int main(int argc, const char **argv)
{
try {
std::string opt_robot_ip = "192.168.0.100";
Expand Down

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