Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
manGeometricFeatures.cpp

Geometric features projection example.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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* Campus Universitaire de Beaulieu
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*
* Description:
* Geometric features example.
*
*****************************************************************************/
#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)
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#elif defined(VISP_HAVE_GTK)
#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;
}
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:86
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpCircle.cpp:311
void setWorldCoordinates(const vpColVector &oP) vp_override
Definition: vpCircle.cpp:57
static const vpColor red
Definition: vpColor.h:211
static const vpColor black
Definition: vpColor.h:205
static const vpColor orange
Definition: vpColor.h:221
static const vpColor blue
Definition: vpColor.h:217
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:99
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpCylinder.cpp:404
void setWorldCoordinates(const vpColVector &oP) vp_override
Definition: vpCylinder.cpp:62
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:128
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:138
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:287
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:101
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:82
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpLine.cpp:462
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpPoint.cpp:419
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:110
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:78
void setWorldCoordinates(const vpColVector &oP) vp_override
Definition: vpSphere.cpp:59
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) vp_override
Definition: vpSphere.cpp:281
Class that consider the case of a translation vector.
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.