VS-Vrep-813Vrep.rar

#include <stdio.h> #include <stdlib.h> #include <vector> #include <iostream> #include <process.h> #include <Windows.h> #include <time.h> #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> extern "C" { #include "extApi.h" } using namespace std; using namespace cv; int main() { //开始连接 int clientID = simxStart("127.0.0.1", 3000, true, true, 2000, 5); if (clientID != -1) { printf("V-rep connect success\r\n"); } else { printf("connect error\r\n"); } //开启仿真 simxStartSimulation(clientID, simx_opmode_oneshot); printf("StartSimulation\r\n"); int IRB140;//机械臂句柄 simxInt camera;//视觉传感器句柄 float position[3] = { 0,0,0 }; float positionmove[3] = { 0,0,0 }; float orientation[3] = { 0,0,0 }; float orientationmove[3] = { 0,0,0 }; simxInt resolution[2]; simxUChar * image = 0; simxGetObjectHandle(clientID, "Vision_sensor", &camera, simx_opmode_blocking);//第二个参数要与V-rep文件中的命名一直 printf("simxGetObjectHandle1\r\n"); simxGetObjectHandle(clientID, "IRB140_manipulationSphere", &IRB140, simx_opmode_blocking);//使用阻塞模式 printf("simxGetObjectHandle2\r\n"); simxGetVisionSensorImage(clientID, camera, resolution, &image, 0, simx_opmode_blocking); for (int i = 0; i < 14; i++) { simxGetVisionSensorImage(clientID, camera, resolution, &image, 0, simx_opmode_blocking); Mat channel(resolution[0], resolution[1], CV_8UC3, image);//chanel里存放了图片的数据 //读回来的图像数据是垂直翻转的,问题应该是在cvMat 和 v-rep 垂直坐标轴的方向相反,flip一下就正常了 flip(channel, channel, 0); //读回来的图像数据时rgb通道分布的，而cvMat 默认bgr cvtColor(channel, channel, COLOR_RGB2BGR); imshow("opencv test", channel); waitKey(10); switch (i) { case 0: imwrite("test1.jpg", channel); break; case 1: imwrite("test2.jpg", channel); break; case 2: imwrite("test3.jpg", channel); break; case 3: imwrite("test4.jpg", channel); break; case 4: imwrite("test5.jpg", channel); break; case 5: imwrite("test6.jpg", channel); break; case 6: imwrite("test7.jpg", channel); break; case 7: imwrite("test8.jpg", channel); break; case 8: imwrite("test9.jpg", channel); break; case 9: imwrite("test10.jpg", channel); break; case 10: imwrite("test11.jpg", channel); break; case 11: imwrite("test12.jpg", channel); break; case 12: imwrite("test13.jpg", channel); break; case 13: imwrite("test14.jpg", channel); break; default: break; } //simxGetObjectPosition(clientID, IRB140, -1, position, simx_opmode_blocking); //printf("position (%f,%f,%f)\r\n", position[0], position[1], position[2]); //positionmove[0] = position[0]; //positionmove[1] = position[1] ; //positionmove[2] = position[2]; ////printf("(%f,%f,%f)\r\n", positionmove[0], positionmove[1], positionmove[2]); //simxSetObjectPosition(clientID, IRB140, -1, positionmove, simx_opmode_blocking); simxGetObjectOrientation(clientID, IRB140, IRB140, orientation, simx_opmode_blocking); printf("orientation(%f,%f,%f)\r\n", orientation[0], orientation[1], orientation[2]); orientationmove[0] = orientation[0]+0.1; orientationmove[1] = orientation[1]; orientationmove[2] = orientation[2]; //printf("(%f,%f,%f)\r\n", orientationmove[0], orientationmove[1], orientationmove[2]); simxSetObjectOrientation(clientID, IRB140, IRB140, orientationmove, simx_opmode_blocking); } while (1) { int j; } simxStopSimulation(clientID, simx_opmode_oneshot); simxFinish(clientID); return 0; }