44#include <visp3/core/vpDebug.h>
45#include <visp3/core/vpMath.h>
46#include <visp3/core/vpXmlParserCamera.h>
47#include <visp3/robot/vpViper850.h>
49static const char *opt_viper850[] = {
"CAMERA",
"eMc_ROT_XYZ",
"eMc_TRANS_XYZ", NULL};
51#ifdef VISP_HAVE_VIPER850_DATA
53 std::string(VISP_VIPER850_DATA_PATH) +
54 std::string(
"/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf");
57 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf");
60 std::string(VISP_VIPER850_DATA_PATH) +
61 std::string(
"/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf");
64 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf");
67 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/"
68 "const_eMc_schunk_gripper_without_distortion_Viper850."
72 std::string(VISP_VIPER850_DATA_PATH) +
73 std::string(
"/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf");
76 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_generic_without_distortion_Viper850.cnf");
79 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_generic_with_distortion_Viper850.cnf");
82 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_camera_Viper850.xml");
110 c56 = -341.33 / 9102.22;
182#ifdef VISP_HAVE_VIPER850_DATA
184 std::string filename_eMc;
196 "Feature TOOL_MARLIN_F033C_CAMERA is not implemented for Kannala-Brandt projection model yet.");
211 "Feature TOOL_PTGREY_FLEA2_CAMERA is not implemented for Kannala-Brandt projection model yet.");
227 "Feature TOOL_SCHUNK_GRIPPER_CAMERA is not implemented for Kannala-Brandt projection model yet.");
242 "Feature TOOL_GENERIC_CAMERA is not implemented for Kannala-Brandt projection model yet.");
249 "No predefined file available for a custom tool"
250 "You should use init(vpViper850::vpToolType, const std::string&) or"
251 "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
259 this->
init(filename_eMc);
285 "Feature TOOL_MARLIN_F033C_CAMERA is not implemented for Kannala-Brandt projection model yet.");
311 "Feature TOOL_PTGREY_FLEA2_CAMERA is not implemented for Kannala-Brandt projection model yet.");
330 "Feature TOOL_GENERIC_CAMERA is not implemented for Kannala-Brandt projection model yet.");
337 "No predefined parameters available for a custom tool"
338 "You should use init(vpViper850::vpToolType, const std::string&) or"
339 "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
420 std::ifstream fdconfig(filename.c_str(), std::ios::in);
422 if (!fdconfig.is_open()) {
429 bool get_erc =
false;
430 bool get_etc =
false;
433 while (std::getline(fdconfig, line)) {
435 if ((line.compare(0, 1,
"#") == 0) || line.empty()) {
438 std::istringstream ss(line);
442 for (code = 0; NULL != opt_viper850[code]; ++code) {
443 if (key.compare(opt_viper850[code]) == 0) {
453 ss >> erc_[0] >> erc_[1] >> erc_[2];
456 erc_ = erc_ * M_PI / 180.0;
462 ss >> etc_[0] >> etc_[1] >> etc_[2];
469 filename.c_str(), lineNum));
476 if (get_etc && get_erc) {
480 "Could not read translation and rotation "
481 "parameters from config file %s",
556 const unsigned int &image_height)
const
558#if defined(VISP_HAVE_VIPER850_DATA)
621 if (image_width == 640 && image_height == 480) {
633 "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
637 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "
646 if (image_width == 640 && image_height == 480) {
658 "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
662 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "
670 if (image_width == 640 && image_height == 480) {
682 "Feature getCameraParameters is not implemented for Kannala-Brandt projection model yet.");
686 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
vpCameraParametersProjType
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
@ ProjWithKannalaBrandtDistortion
Projection with Kannala-Brandt distortion model.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu)
error that can be emitted by ViSP classes.
@ badValue
Used to indicate that a value is not in the allowed range.
@ notImplementedError
Not implemented.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition of the vpImage class member functions.
unsigned int getWidth() const
unsigned int getHeight() const
static double rad(double deg)
Error that can be emitted by the vpRobot class and its derivatives.
@ readingParametersError
Cannot parse parameters.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper 850 robot.
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
void setToolType(vpViper850::vpToolType tool)
Set the current tool type.
static const std::string CONST_CAMERA_FILENAME
static const vpToolType defaultTool
Default tool attached to the robot end effector.
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
void parseConfigFile(const std::string &filename)
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
static const char *const CONST_GENERIC_CAMERA_NAME
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
vpCameraParameters::vpCameraParametersProjType projModel
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
vpToolType getToolType() const
Get the current tool type.
vpToolType
List of possible tools that can be attached to the robot end-effector.
@ TOOL_SCHUNK_GRIPPER_CAMERA
@ TOOL_PTGREY_FLEA2_CAMERA
@ TOOL_MARLIN_F033C_CAMERA
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
double c56
Mechanical coupling between joint 5 and joint 6.
vpHomogeneousMatrix eMc
End effector to camera transformation.
XML parser to load and save intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0, bool verbose=true)