47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpXmlParserCamera.h>
50 #include <visp3/robot/vpViper850.h>
52 static const char *opt_viper850[] = {
"CAMERA",
"eMc_ROT_XYZ",
"eMc_TRANS_XYZ", NULL};
54 #ifdef VISP_HAVE_VIPER850_DATA
56 std::string(VISP_VIPER850_DATA_PATH) +
57 std::string(
"/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf");
60 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf");
63 std::string(VISP_VIPER850_DATA_PATH) +
64 std::string(
"/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf");
67 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf");
70 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/"
71 "const_eMc_schunk_gripper_without_distortion_Viper850."
75 std::string(VISP_VIPER850_DATA_PATH) +
76 std::string(
"/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf");
79 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_generic_without_distortion_Viper850.cnf");
82 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_eMc_generic_with_distortion_Viper850.cnf");
85 std::string(VISP_VIPER850_DATA_PATH) + std::string(
"/include/const_camera_Viper850.xml");
87 #endif // VISP_HAVE_VIPER850_DATA
113 c56 = -341.33 / 9102.22;
185 #ifdef VISP_HAVE_VIPER850_DATA
187 std::string filename_eMc;
235 "No predefined file available for a custom tool"
236 "You should use init(vpViper850::vpToolType, const std::string&) or"
237 "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
253 this->
init(filename_eMc);
255 #else // VISP_HAVE_VIPER850_DATA
319 "No predefined parameters available for a custom tool"
320 "You should use init(vpViper850::vpToolType, const std::string&) or"
321 "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
326 #endif // VISP_HAVE_VIPER850_DATA
402 std::ifstream fdconfig(filename.c_str(), std::ios::in);
404 if (!fdconfig.is_open()) {
411 bool get_erc =
false;
412 bool get_etc =
false;
415 while (std::getline(fdconfig, line)) {
417 if ((line.compare(0, 1,
"#") == 0) || line.empty()) {
420 std::istringstream ss(line);
424 for (code = 0; NULL != opt_viper850[code]; ++code) {
425 if (key.compare(opt_viper850[code]) == 0) {
451 filename.c_str(), lineNum));
458 if (get_etc && get_erc) {
462 "Could not read translation and rotation "
463 "parameters from config file %s",
541 const unsigned int &image_height)
const
543 #if defined(VISP_HAVE_XML2) && defined(VISP_HAVE_VIPER850_DATA)
606 if (image_width == 640 && image_height == 480) {
618 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "
627 if (image_width == 640 && image_height == 480) {
639 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "
647 if (image_width == 640 && image_height == 480) {
659 vpTRACE(
"Cannot get default intrinsic camera parameters for this image "