Visual Servoing Platform version 3.5.0
testVirtuoseWithGlove.cpp
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30 *
31 * Description:
32 * Test for Virtuose + Glove SDK wrapper.
33 *
34 * Author:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <stdlib.h>
47
48#include <iostream>
49#include <sstream>
50#include <vector>
51
52#include <visp3/robot/vpVirtuose.h>
53#include <visp3/core/vpImage.h>
54#include <visp3/core/vpCameraParameters.h>
55#include <visp3/core/vpMeterPixelConversion.h>
56#include <visp3/gui/vpDisplayX.h>
57#include <visp3/gui/vpDisplayGDI.h>
58
59#if defined(VISP_HAVE_VIRTUOSE) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
60
61int main()
62{
63 int port = 53210;
64 std::string ip = "localhost";
65
66 std::vector<vpVirtuose> virtuose(4); // 0: virtuose, 1: thumb, 2: index, 3: middle
67 std::vector<vpHomogeneousMatrix> wMd(4);
68
69 // Position of the external camera with respect of the virtuose world frame
70 vpHomogeneousMatrix wMc(0.3, 0, 1.2, vpMath::rad(180), 0, 0);
71
72 // Open device
73 for (size_t device=0; device < virtuose.size(); device ++) {
74 std::cout << "Try to connect to " << ip << " port " << (port + device) << std::endl;
75 virtuose[device].setIpAddressAndPort(ip, port + static_cast<int>(device));
76 virtuose[device].init();
77 }
78
79 std::cout << "After init" << std::endl;
80#if 0
81 // Get joint position
82 for (size_t device=0; device < virtuose.size(); device ++) {
83 std::cout << "Number of joints: " << virtuose[device].getJointsNumber()
84 << " Joint position: " << virtuose[device].getArticularPosition().t() << std::endl
85 << " Cartesian position: " << virtuose[device].getAvatarPosition().t() << std::endl;
86 // std::cout << "Joint velocity: " << virtuose.getArticularVelocity().t() << std::endl;
87 }
88#endif
89 bool end = false;
90 vpImage<unsigned char> I(480, 640, 0);
92
93#if defined(VISP_HAVE_X11)
94 vpDisplayX d(I);
95#elif defined(VISP_HAVE_GDI)
96 vpDisplayGDI d(I);
97#endif
98
99 while(!end) {
101 // Get joint position
102 for (size_t device=0; device < virtuose.size(); device ++) {
103 vpPoseVector wpd = virtuose[device].getAvatarPosition();
104 std::cout << "Device #" << device << " has position: " << wpd.t() << std::endl;
105 wMd[device].buildFrom(wpd);
106
107 vpHomogeneousMatrix cMd = wMc.inverse() * wMd[device];
108 vpDisplay::displayFrame(I, cMd, cam, 0.1);
109
110 std::stringstream ss;
111 ss << device;
112 double X = cMd[0][3];
113 double Y = cMd[1][3];
114 double Z = cMd[2][3];
115 vpImagePoint pos;
116 vpMeterPixelConversion::convertPoint(cam, X/Z, Y/Z, pos);
117 vpDisplay::displayText(I, pos + vpImagePoint(10, 10), ss.str(), vpColor::white);
118 vpDisplay::displayText(I, 10, 10, "Click to quit...", vpColor::red);
119 }
120 if(vpDisplay::getClick(I, false)) {
121 end = true;
122 }
124
125 }
126
127 // Close device
128 for (size_t device=0; device < virtuose.size(); device ++) {
129 virtuose[device].close();
130 }
131 std::cout << "The end" << std::endl;
132}
133
134#else
135int main() { std::cout << "You should install Virtuose API to use this binary..." << std::endl; }
136#endif
Generic class defining intrinsic camera parameters.
static const vpColor white
Definition: vpColor.h:212
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 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))
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: vpImagePoint.h:88
static double rad(double deg)
Definition: vpMath.h:110
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.
Definition: vpPoseVector.h:152
vpRowVector t() const