Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testMocapVicon.cpp
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30  *
31  * Description:
32  * Test Vicon Motion Capture System.
33  *
34 *****************************************************************************/
35 
40 #include <visp3/sensor/vpMocapVicon.h>
41 
42 #include <iostream>
43 
44 #if defined(VISP_HAVE_VICON) && defined(VISP_HAVE_THREADS)
45 
46 #include <mutex>
47 #include <signal.h>
48 #include <thread>
49 
50 #include <visp3/sensor/vpMocapVicon.h>
51 
52 #include <visp3/core/vpTime.h>
53 
54 bool g_quit = false;
55 
60 void quitHandler(int sig)
61 {
62  std::cout << std::endl << "TERMINATING AT USER REQUEST" << std::endl << std::endl;
63 
64  g_quit = true;
65  (void)sig;
66 }
67 
68 void usage(const char *argv[], int error)
69 {
70  std::cout << "SYNOPSIS" << std::endl
71  << " " << argv[0] << " [--server-address <address>]"
72  << " [--only-body]"
73  << " [--all-bodies]"
74  << " [--verbose] [-v]"
75  << " [--help] [-h]" << std::endl
76  << std::endl;
77  std::cout << "DESCRIPTION" << std::endl
78  << " --server-address <address>" << std::endl
79  << " Server address." << std::endl
80  << " Default: 192.168.30.1." << std::endl
81  << std::endl
82  << " --only-body <name>" << std::endl
83  << " Name of the specific body you want to be displayed." << std::endl
84  << " Default: ''" << std::endl
85  << std::endl
86  << " --all-bodies" << std::endl
87  << " When used, get all bodies pose including non visible bodies." << std::endl
88  << std::endl
89  << " --verbose, -v" << std::endl
90  << " Enable verbose mode." << std::endl
91  << std::endl
92  << " --help, -h" << std::endl
93  << " Print this helper message." << std::endl
94  << std::endl;
95  std::cout << "USAGE" << std::endl
96  << " Example to test Vicon connection:" << std::endl
97  << " " << argv[0] << " --server-address 127.0.0.1 --verbose" << std::endl
98  << std::endl;
99 
100  if (error) {
101  std::cout << "Error" << std::endl
102  << " "
103  << "Unsupported parameter " << argv[error] << std::endl;
104  }
105 }
106 
107 void mocap_loop(std::mutex &lock, bool opt_verbose, bool opt_all_bodies, std::string &opt_serverAddress,
108  std::string &opt_onlyBody, std::map<std::string, vpHomogeneousMatrix> &current_bodies_pose)
109 {
110  vpMocapVicon vicon;
111  vicon.setVerbose(opt_verbose);
112  vicon.setServerAddress(opt_serverAddress);
113  vicon.connect();
114  while (!g_quit) {
115  std::map<std::string, vpHomogeneousMatrix> bodies_pose;
116 
117  if (opt_onlyBody == "") {
118  vicon.getBodiesPose(bodies_pose, opt_all_bodies);
119  }
120  else {
121  vpHomogeneousMatrix pose;
122  vicon.getSpecificBodyPose(opt_onlyBody, pose);
123  bodies_pose[opt_onlyBody] = pose;
124  }
125 
126  lock.lock();
127  current_bodies_pose = bodies_pose;
128  lock.unlock();
129 
130  vpTime::sleepMs(5);
131  }
132 }
133 
134 void display_loop(std::mutex &lock, const std::map<std::string, vpHomogeneousMatrix> &current_bodies_pose, bool verbose)
135 {
136  std::map<std::string, vpHomogeneousMatrix> bodies_pose;
137 
138  while (!g_quit) {
139 
140  lock.lock();
141  bodies_pose = current_bodies_pose;
142  lock.unlock();
143  for (std::map<std::string, vpHomogeneousMatrix>::iterator it = bodies_pose.begin(); it != bodies_pose.end(); ++it) {
144  vpRxyzVector rxyz(it->second.getRotationMatrix());
145  std::cout << "Found body: " << it->first << std::endl;
146  if (verbose) {
147  std::cout << " Translation [m]: " << it->second.getTranslationVector().t() << std::endl
148  << " Quaternion: " << vpQuaternionVector(it->second.getRotationMatrix()).t() << std::endl;
149  std::cout << " Roll/pitch/yaw [deg]: ";
150  for (unsigned int i = 0; i < 3; i++) {
151  std::cout << vpMath::deg(rxyz[i]) << " ";
152  }
153  std::cout << std::endl;
154  }
155  }
156 
157  vpTime::sleepMs(200);
158  }
159 }
160 
161 int main(int argc, const char *argv[])
162 {
163  bool opt_verbose = false;
164  std::string opt_serverAddress = "192.168.30.1";
165  std::string opt_onlyBody = "";
166  bool opt_all_bodies = false;
167 
168  // Map containig all the current poses of the drones
169  std::map<std::string, vpHomogeneousMatrix> current_bodies_pose;
170 
171  signal(SIGINT, quitHandler);
172 
173  for (int i = 1; i < argc; i++) {
174  if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
175  opt_verbose = true;
176  }
177  else if (std::string(argv[i]) == "--server-address") {
178  opt_serverAddress = std::string(argv[i + 1]);
179  i++;
180  }
181  else if (std::string(argv[i]) == "--only-body") {
182  opt_onlyBody = std::string(argv[i + 1]);
183  i++;
184  }
185  else if (std::string(argv[i]) == "--all-bodies") {
186  opt_all_bodies = true;
187  }
188  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
189  usage(argv, 0);
190  return EXIT_SUCCESS;
191  }
192  else {
193  usage(argv, i);
194  return EXIT_FAILURE;
195  }
196  }
197 
198  std::mutex lock;
199  std::thread mocap_thread(
200  [&lock, &opt_verbose, &opt_all_bodies, &opt_serverAddress, &opt_onlyBody, &current_bodies_pose]() {
201  mocap_loop(lock, opt_verbose, opt_all_bodies, opt_serverAddress, opt_onlyBody, current_bodies_pose);
202  });
203  std::thread display_thread(
204  [&lock, &current_bodies_pose, &opt_verbose]() { display_loop(lock, current_bodies_pose, opt_verbose); });
205 
206  mocap_thread.join();
207  display_thread.join();
208 
209  return EXIT_SUCCESS;
210 }
211 #else
212 int main()
213 {
214  std::cout << "Install Vicon Datastream SDK to be able to test Vicon Mocap System using ViSP" << std::endl;
215 
216  return EXIT_SUCCESS;
217 }
218 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double deg(double rad)
Definition: vpMath.h:117
bool getBodiesPose(std::map< std::string, vpHomogeneousMatrix > &bodies_pose, bool all_bodies=false)
void setVerbose(bool verbose)
void setServerAddress(const std::string &serverAddr)
bool getSpecificBodyPose(const std::string &body_name, vpHomogeneousMatrix &body_pose)
Implementation of a rotation vector as quaternion angle minimal representation.
vpRowVector t() const
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
VISP_EXPORT void sleepMs(double t)