Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
tutorial-image-simulator.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpImageSimulator.h>
int main()
{
try {
vpImageIo::read(target, "./target_square.pgm");
for (int i = 0; i < 4; i++)
X[i].resize(3);
// Top left Top right Bottom right Bottom left
X[0][0] = -0.1;
X[1][0] = 0.1;
X[2][0] = 0.1;
X[3][0] = -0.1;
X[0][1] = -0.1;
X[1][1] = -0.1;
X[2][1] = 0.1;
X[3][1] = 0.1;
X[0][2] = 0;
X[1][2] = 0;
X[2][2] = 0;
X[3][2] = 0;
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
sim.init(target, X);
// Get the new image of the projected planar image target
sim.getImage(I, cam);
try {
vpImageIo::write(I, "./rendered_image.jpg");
} catch (...) {
std::cout << "Unsupported image format" << std::endl;
}
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpDisplay::setTitle(I, "Planar image projection");
std::cout << "A click to quit..." << std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}