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Fix command line options management
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@fspindle
fspindle committed Nov 28, 2024
1 parent a08f929 commit f9d886d
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Showing 2 changed files with 29 additions and 26 deletions.
29 changes: 15 additions & 14 deletions example/servo-franka/servoFrankaIBVS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,14 +116,17 @@ int main(int argc, char **argv)
double convergence_threshold = 0.00005;

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
if ((std::string(argv[i]) == "--tag_size") && (i + 1 < argc)) {
opt_tagSize = std::stod(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--ip") && (i + 1 < argc)) {
opt_robot_ip = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--eMc" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--eMc") && (i + 1 < argc)) {
opt_eMc_filename = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--verbose") {
opt_verbose = true;
Expand All @@ -137,19 +140,20 @@ int main(int argc, char **argv)
else if (std::string(argv[i]) == "--task_sequencing") {
opt_task_sequencing = true;
}
else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--quad_decimate") && (i + 1 < argc)) {
opt_quad_decimate = std::stoi(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--no-convergence-threshold") {
convergence_threshold = 0.;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout
<< argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
<< opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
<< "[--quad_decimate <decimation; default " << opt_quad_decimate
<< ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
<< "\n";
<< std::endl;
return EXIT_SUCCESS;
}
}
Expand Down Expand Up @@ -182,16 +186,14 @@ int main(int argc, char **argv)
ePc.loadYAML(opt_eMc_filename, ePc);
}
else {
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values."
<< "\n";
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values." << std::endl;
}
vpHomogeneousMatrix eMc(ePc);
std::cout << "eMc:\n" << eMc << "\n";
std::cout << "eMc:\n" << eMc << std::endl;

// Get camera intrinsics
vpCameraParameters cam =
rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << "\n";
vpCameraParameters cam = rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << std::endl;

vpImage<unsigned char> I(height, width);

Expand Down Expand Up @@ -394,8 +396,7 @@ int main(int argc, char **argv)

if (error < convergence_threshold) {
has_converged = true;
std::cout << "Servo task has converged"
<< "\n";
std::cout << "Servo task has converged" << std::endl;
vpDisplay::displayText(I, 100, 20, "Servo task has converged", vpColor::red);
}
if (first_time) {
Expand Down
26 changes: 14 additions & 12 deletions example/servo-franka/servoFrankaPBVS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -114,14 +114,17 @@ int main(int argc, char **argv)
double convergence_threshold_tu = 0.5; // Value in [deg]

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
if ((std::string(argv[i]) == "--tag_size") && (i + 1 < argc)) {
opt_tagSize = std::stod(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--ip") && (i + 1 < argc)) {
opt_robot_ip = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--eMc" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--eMc") && (i + 1 < argc)) {
opt_eMc_filename = std::string(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--verbose") {
opt_verbose = true;
Expand All @@ -135,20 +138,21 @@ int main(int argc, char **argv)
else if (std::string(argv[i]) == "--task_sequencing") {
opt_task_sequencing = true;
}
else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
else if ((std::string(argv[i]) == "--quad_decimate") && (i + 1 < argc)) {
opt_quad_decimate = std::stoi(argv[i + 1]);
++i;
}
else if (std::string(argv[i]) == "--no-convergence-threshold") {
convergence_threshold_t = 0.;
convergence_threshold_tu = 0.;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout
<< argv[0] << " [--ip <default " << opt_robot_ip << ">] [--tag_size <marker size in meter; default "
<< opt_tagSize << ">] [--eMc <eMc extrinsic file>] "
<< "[--quad_decimate <decimation; default " << opt_quad_decimate
<< ">] [--adaptive_gain] [--plot] [--task_sequencing] [--no-convergence-threshold] [--verbose] [--help] [-h]"
<< "\n";
<< std::endl;
return EXIT_SUCCESS;
}
}
Expand Down Expand Up @@ -181,16 +185,14 @@ int main(int argc, char **argv)
ePc.loadYAML(opt_eMc_filename, ePc);
}
else {
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values."
<< "\n";
std::cout << "Warning, opt_eMc_filename is empty! Use hard coded values." << std::endl;
}
vpHomogeneousMatrix eMc(ePc);
std::cout << "eMc:\n" << eMc << "\n";
std::cout << "eMc:\n" << eMc << std::endl;

// Get camera intrinsics
vpCameraParameters cam =
rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << "\n";
vpCameraParameters cam = rs.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "cam:\n" << cam << std::endl;

vpImage<unsigned char> I(height, width);

Expand Down

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