Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
testRobotBebop2.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 * Interface for the Irisa's Afma6 robot.
33 *
34 * Authors:
35 * Gatien Gaumerais
36 *
37*****************************************************************************/
38
45#include <iostream>
46
47#include <visp3/core/vpTime.h>
48#include <visp3/gui/vpDisplayX.h>
49#include <visp3/robot/vpRobotBebop2.h>
50
51int main(int argc, char **argv)
52{
53#ifdef VISP_HAVE_ARSDK
54 try {
55 int stream_res = 0;
56 std::string ip_address = "192.168.42.1";
57 bool verbose = false;
58
59 for (int i = 1; i < argc; i++) {
60 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
61 ip_address = std::string(argv[i + 1]);
62 i++;
63 } else if (std::string(argv[i]) == "--hd-resolution") {
64 stream_res = 1;
65 } else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
66 verbose = true;
67 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
68 std::cout << "\nUsage:\n"
69 << " " << argv[0] << " [--ip <drone ip>] [--hd-resolution] [--verbose] [-v]"
70 << " [--help] [-h]\n"
71 << std::endl
72 << "Description:\n"
73 << " --ip <drone ip>\n"
74 << " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
75 << " --hd-resolution\n"
76 << " Enables HD 720p video instead of default 480p.\n\n"
77 << " --verbose, -v\n"
78 << " Enables verbose (drone information messages are then displayed).\n\n"
79 << " --help, -h\n"
80 << " Print help message.\n\n"
81 << std::endl;
82 return EXIT_SUCCESS;
83 } else {
84 std::cout << "Error : unknown parameter " << argv[i] << std::endl
85 << "See " << argv[0] << " --help" << std::endl;
86 return EXIT_FAILURE;
87 }
88 }
89
90 vpRobotBebop2 drone(
91 verbose, true, ip_address); // Create the drone with desired verbose level, settings reset, and corresponding IP
92
93 if (drone.isRunning()) {
94
95 drone.setVideoResolution(stream_res); // Set video resolution to 480p (default) or 720p
96
97 drone.startStreaming(); // Start video decoding and streaming
98
99 vpImage<vpRGBa> I(1, 1, 0);
100 drone.getRGBaImage(I); // Get color image from the drone video stream
101
102#ifdef VISP_HAVE_X11
103 vpDisplayX d(I);
104#elif defined(VISP_HAVE_GDI)
105 vpDisplayGDI d(I);
106#elif defined(HAVE_OPENCV_HIGHGUI)
107 vpDisplayOpenCV d(I);
108#else
109 std::cout << "No image viewer is available..." << std::endl;
110#endif
113
114 drone.doFlatTrim();
115 drone.takeOff(true);
116
117 vpColVector vel(4, 0.0);
118 vel[3] = vpMath::rad(10);
119
120 double delta_t = 0.040;
121 double t = vpTime::measureTimeMs();
122
123 do { // We make the drone rotate around Z axis for 10 seconds at 10 deg/s
124 drone.setVelocity(vel, 1);
125
126 drone.getRGBaImage(I);
129
130 vpTime::wait(delta_t * 1000);
131 } while (vpTime::measureTimeMs() - t < 10 * 1000);
132
133 drone.land();
134
135 } else {
136 std::cout << "Error : failed to setup drone control" << std::endl;
137 }
138
139 std::cout << "-- End of test --" << std::endl;
140 } catch (const vpException &e) {
141 std::cout << "Caught an exception: " << e << std::endl;
142 }
143#else
144 (void)argc;
145 (void)argv;
146 std::cout << "Install Parrot ARSDK, configure and build ViSP to use this example..." << std::endl;
147#endif
148}
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
VISP_EXPORT double measureTimeMs()
VISP_EXPORT int wait(double t0, double t)