Visual Servoing Platform  version 3.2.0 under development (2018-10-20)
manGeometricFeatures.cpp

Geometric features projection example.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Geometric features example.
*
* Authors:
* Anthony Saunier
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/io/vpImageIo.h>
// For 2D image
#include <visp3/core/vpImage.h>
// Video device interface
#include <visp3/core/vpDisplay.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
// For frame transformation and projection
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
// Needed geometric features
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpSphere.h>
#include <iostream>
int main()
{
try {
std::cout << "ViSP geometric features display example" << std::endl;
unsigned int height = 288;
unsigned int width = 384;
vpImage<unsigned char> I(height, width);
I = 255; // I is a white image
// create a display window
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#else
std::cout << "Please install X11, GDI, OpenCV or GTK to see the result of this example" << std::endl;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
// initialize a display attached to image I
display.init(I, 100, 100, "ViSP geometric features display");
#endif
// camera parameters to digitalize the image plane
vpCameraParameters cam(600, 600, width / 2, height / 2); // px,py,u0,v0
// pose of the camera with reference to the scene
vpTranslationVector t(0, 0, 1);
vpRxyzVector rxyz(-M_PI / 4, 0, 0);
// scene building, geometric features definition
vpPoint point;
point.setWorldCoordinates(0, 0, 0); // (X0=0,Y0=0,Z0=0)
vpLine line;
line.setWorldCoordinates(1, 1, 0, 0, 0, 0, 1, 0); // planes:(X+Y=0)&(Z=0)
vpCylinder cylinder;
cylinder.setWorldCoordinates(1, -1, 0, 0, 0, 0,
0.1); // alpha=1,beta=-1,gamma=0,
// X0=0,Y0=0,Z0=0,R=0.1
vpCircle circle;
circle.setWorldCoordinates(0, 0, 1, 0, 0, 0,
0.1); // plane:(Z=0),X0=0,Y0=0,Z=0,R=0.1
vpSphere sphere;
sphere.setWorldCoordinates(0, 0, 0, 0.1); // X0=0,Y0=0,Z0=0,R=0.1
// change frame to be the camera frame and project features in the image
// plane
point.project(cMo);
line.project(cMo);
cylinder.project(cMo);
circle.project(cMo);
sphere.project(cMo);
// display the scene
vpDisplay::display(I); // display I
// draw the projections of the 3D geometric features in the image plane.
point.display(I, cam, vpColor::black); // draw a black cross over I
line.display(I, cam, vpColor::blue); // draw a blue line over I
cylinder.display(I, cam, vpColor::red); // draw two red lines over I
circle.display(I, cam, vpColor::orange); // draw an orange ellipse over I
sphere.display(I, cam, vpColor::black); // draw a black ellipse over I
vpDisplay::flush(I); // flush the display buffer
vpDisplay::displayText(I, 10, 10, "Click in the display to exit", vpColor::red);
vpDisplay::getClick(I); // wait for a click in the display to exit
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
// save the drawing
std::cout << "ViSP creates \"./geometricFeatures.ppm\" image" << std::endl;
vpImageIo::write(Ic, "./geometricFeatures.ppm");
#endif
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}