manGeometricFeatures.cpp

Geometric features projection example.

/****************************************************************************
 *
 * $Id: manGeometricFeatures.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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 <visp/vpDebug.h>
#include <visp/vpImageIo.h>
// For 2D image 
#include <visp/vpImage.h>
// Video device interface
#include <visp/vpDisplay.h>
#include <visp/vpDisplayGTK.h>

// For frame transformation and projection
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>

// Needed geometric features
#include <visp/vpPoint.h>
#include <visp/vpLine.h>
#include <visp/vpCylinder.h>
#include <visp/vpCircle.h>
#include <visp/vpSphere.h>

#include <iostream>

int main()
{
#ifdef VISP_HAVE_GTK
  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
    vpDisplayGTK display;
    // initialize a display attached to image I
    display.init(I,100,100,"ViSP geometric features display");
    // 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);
    vpRotationMatrix R(rxyz);
    vpHomogeneousMatrix cMo(t, R);

    // 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
    std::cout << "A click in the display to exit" << std::endl;
    vpDisplay::getClick(I); // wait for a click in the display to exit

    // save the drawing
    vpImage<vpRGBa> Ic;
    vpDisplay::getImage(I,Ic);
    std::cout << "ViSP creates \"./geometricFeatures.ppm\" B&W image "<< std::endl;
    vpImageIo::write(Ic, "./geometricFeatures.ppm");
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }

#endif
}