Visual Servoing Platform version 3.6.0
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testVirtuoseWithGlove.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for Virtuose + Glove SDK wrapper.
33 *
34 *
35*****************************************************************************/
36
44#include <stdlib.h>
45
46#include <iostream>
47#include <sstream>
48#include <vector>
49
50#include <visp3/core/vpCameraParameters.h>
51#include <visp3/core/vpImage.h>
52#include <visp3/core/vpMeterPixelConversion.h>
53#include <visp3/gui/vpDisplayGDI.h>
54#include <visp3/gui/vpDisplayX.h>
55#include <visp3/robot/vpVirtuose.h>
56
57#if defined(VISP_HAVE_VIRTUOSE) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
58
59int main()
60{
61 int port = 53210;
62 std::string ip = "localhost";
63
64 std::vector<vpVirtuose> virtuose(4); // 0: virtuose, 1: thumb, 2: index, 3: middle
65 std::vector<vpHomogeneousMatrix> wMd(4);
66
67 // Position of the external camera with respect of the virtuose world frame
68 vpHomogeneousMatrix wMc(0.3, 0, 1.2, vpMath::rad(180), 0, 0);
69
70 // Open device
71 for (size_t device = 0; device < virtuose.size(); device++) {
72 std::cout << "Try to connect to " << ip << " port " << (port + device) << std::endl;
73 virtuose[device].setIpAddressAndPort(ip, port + static_cast<int>(device));
74 virtuose[device].init();
75 }
76
77 std::cout << "After init" << std::endl;
78#if 0
79 // Get joint position
80 for (size_t device=0; device < virtuose.size(); device ++) {
81 std::cout << "Number of joints: " << virtuose[device].getJointsNumber()
82 << " Joint position: " << virtuose[device].getArticularPosition().t() << std::endl
83 << " Cartesian position: " << virtuose[device].getAvatarPosition().t() << std::endl;
84 // std::cout << "Joint velocity: " << virtuose.getArticularVelocity().t() << std::endl;
85 }
86#endif
87 bool end = false;
88 vpImage<unsigned char> I(480, 640, 0);
90
91#if defined(VISP_HAVE_X11)
92 vpDisplayX d(I);
93#elif defined(VISP_HAVE_GDI)
94 vpDisplayGDI d(I);
95#endif
96
97 while (!end) {
99 // Get joint position
100 for (size_t device = 0; device < virtuose.size(); device++) {
101 vpPoseVector wpd = virtuose[device].getAvatarPosition();
102 std::cout << "Device #" << device << " has position: " << wpd.t() << std::endl;
103 wMd[device].buildFrom(wpd);
104
105 vpHomogeneousMatrix cMd = wMc.inverse() * wMd[device];
106 vpDisplay::displayFrame(I, cMd, cam, 0.1);
107
108 std::stringstream ss;
109 ss << device;
110 double X = cMd[0][3];
111 double Y = cMd[1][3];
112 double Z = cMd[2][3];
113 vpImagePoint pos;
114 vpMeterPixelConversion::convertPoint(cam, X / Z, Y / Z, pos);
115 vpDisplay::displayText(I, pos + vpImagePoint(10, 10), ss.str(), vpColor::white);
116 vpDisplay::displayText(I, 10, 10, "Click to quit...", vpColor::red);
117 }
118 if (vpDisplay::getClick(I, false)) {
119 end = true;
120 }
122 }
123
124 // Close device
125 for (size_t device = 0; device < virtuose.size(); device++) {
126 virtuose[device].close();
127 }
128 std::cout << "The end" << std::endl;
129}
130
131#else
132int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
133#endif
Generic class defining intrinsic camera parameters.
static const vpColor white
Definition vpColor.h:206
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 displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
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)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
static double rad(double deg)
Definition vpMath.h:116
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
Implementation of a pose vector and operations on poses.
vpRowVector t() const