Visual Servoing Platform version 3.6.0
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testRobotBebop2.cpp

Example to control Parrot Bebop2.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Interface for the Irisa's Afma6 robot.
*
* Authors:
* Gatien Gaumerais
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/robot/vpRobotBebop2.h>
int main(int argc, char **argv)
{
#ifdef VISP_HAVE_ARSDK
try {
int stream_res = 0;
std::string ip_address = "192.168.42.1";
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
ip_address = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--hd-resolution") {
stream_res = 1;
} else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
verbose = true;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage:\n"
<< " " << argv[0] << " [--ip <drone ip>] [--hd-resolution] [--verbose] [-v]"
<< " [--help] [-h]\n"
<< std::endl
<< "Description:\n"
<< " --ip <drone ip>\n"
<< " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
<< " --hd-resolution\n"
<< " Enables HD 720p video instead of default 480p.\n\n"
<< " --verbose, -v\n"
<< " Enables verbose (drone information messages are then displayed).\n\n"
<< " --help, -h\n"
<< " Print help message.\n\n"
<< std::endl;
return EXIT_SUCCESS;
} else {
std::cout << "Error : unknown parameter " << argv[i] << std::endl
<< "See " << argv[0] << " --help" << std::endl;
return EXIT_FAILURE;
}
}
verbose, true, ip_address); // Create the drone with desired verbose level, settings reset, and corresponding IP
if (drone.isRunning()) {
drone.setVideoResolution(stream_res); // Set video resolution to 480p (default) or 720p
drone.startStreaming(); // Start video decoding and streaming
vpImage<vpRGBa> I(1, 1, 0);
drone.getRGBaImage(I); // Get color image from the drone video stream
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
drone.doFlatTrim();
drone.takeOff(true);
vpColVector vel(4, 0.0);
vel[3] = vpMath::rad(10);
double delta_t = 0.040;
double t = vpTime::measureTimeMs();
do { // We make the drone rotate around Z axis for 10 seconds at 10 deg/s
drone.setVelocity(vel, 1);
drone.getRGBaImage(I);
vpTime::wait(delta_t * 1000);
} while (vpTime::measureTimeMs() - t < 10 * 1000);
drone.land();
} else {
std::cout << "Error : failed to setup drone control" << std::endl;
}
std::cout << "-- End of test --" << std::endl;
} catch (const vpException &e) {
std::cout << "Caught an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install Parrot ARSDK, configure and build ViSP to use this example..." << std::endl;
#endif
}
Implementation of column vector and the associated operations.
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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 void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
Definition of the vpImage class member functions.
Definition vpImage.h:135
static double rad(double deg)
Definition vpMath.h:116
void setVelocity(const vpColVector &vel, double delta_t)
static void land()
void getRGBaImage(vpImage< vpRGBa > &I)
void takeOff(bool blocking=true)
void setVideoResolution(int mode)
VISP_EXPORT double measureTimeMs()
VISP_EXPORT int wait(double t0, double t)