Visual Servoing Platform version 3.5.0
testRobotBebop2.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * Fabien Spindler
37 *
38 *****************************************************************************/
39
46#include <iostream>
47
48#include <visp3/core/vpTime.h>
49#include <visp3/gui/vpDisplayX.h>
50#include <visp3/robot/vpRobotBebop2.h>
51
52int main(int argc, char **argv)
53{
54#ifdef VISP_HAVE_ARSDK
55 try {
56 int stream_res = 0;
57 std::string ip_address = "192.168.42.1";
58 bool verbose = false;
59
60 for (int i = 1; i < argc; i++) {
61 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
62 ip_address = std::string(argv[i + 1]);
63 i++;
64 } else if (std::string(argv[i]) == "--hd_resolution") {
65 stream_res = 1;
66 } else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
67 verbose = true;
68 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
69 std::cout << "\nUsage:\n"
70 << " " << argv[0] << " [--ip <drone ip>] [--hd_resolution] [--verbose] [-v]"
71 << " [--help] [-h]\n"
72 << std::endl
73 << "Description:\n"
74 << " --ip <drone ip>\n"
75 << " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
76 << " --hd_resolution\n"
77 << " Enables HD 720p video instead of default 480p.\n\n"
78 << " --verbose, -v\n"
79 << " Enables verbose (drone information messages are then displayed).\n\n"
80 << "--help, -h\n"
81 << " Print help message.\n\n"
82 << std::endl;
83 return 0;
84 } else {
85 std::cout << "Error : unknown parameter " << argv[i] << std::endl
86 << "See " << argv[0] << " --help" << std::endl;
87 return 0;
88 }
89 }
90
91 vpRobotBebop2 drone(
92 verbose, true, ip_address); // Create the drone with desired verbose level, settings reset, and corresponding IP
93
94 if (drone.isRunning()) {
95
96 drone.setVideoResolution(stream_res); // Set video resolution to 480p (default) or 720p
97
98 drone.startStreaming(); // Start video decoding and streaming
99
100 vpImage<vpRGBa> I(1, 1, 0);
101 drone.getRGBaImage(I); // Get color image from the drone video stream
102
103#ifdef VISP_HAVE_X11
104 vpDisplayX d(I);
105#elif defined(VISP_HAVE_GDI)
106 vpDisplayGDI d(I);
107#elif defined(VISP_HAVE_OPENCV)
108 vpDisplayOpenCV d(I);
109#else
110 std::cout << "No image viewer is available..." << std::endl;
111#endif
114
115 drone.doFlatTrim();
116 drone.takeOff(true);
117
118 vpColVector vel(4, 0.0);
119 vel[3] = vpMath::rad(10);
120
121 double delta_t = 0.040;
122 double t = vpTime::measureTimeMs();
123
124 do { // We make the drone rotate around Z axis for 10 seconds at 10 deg/s
125 drone.setVelocity(vel, 1);
126
127 drone.getRGBaImage(I);
130
131 vpTime::wait(delta_t * 1000);
132 } while (vpTime::measureTimeMs() - t < 10 * 1000);
133
134 drone.land();
135
136 } else {
137 std::cout << "Error : failed to setup drone control" << std::endl;
138 }
139
140 std::cout << "-- End of test --" << std::endl;
141 } catch (const vpException &e) {
142 std::cout << "Caught an exception: " << e << std::endl;
143 }
144#else
145 (void) argc;
146 (void) argv;
147 std::cout << "Install Parrot ARSDK, configure and build ViSP to use this example..." << std::endl;
148#endif
149}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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:135
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static double rad(double deg)
Definition: vpMath.h:110
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()