Visual Servoing Platform  version 3.0.0

Geometric features projection example.

* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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 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
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* 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/vpDisplayGTK.h>
// For frame transformation and projection
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpCameraParameters.h>
// Needed geometric features
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpCircle.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
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
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
// 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
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;