Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
tutorial-pose-from-points-image.cpp
1 
2 #include <visp3/io/vpImageIo.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 
8 #include "pose_helper.h"
10 
11 int main()
12 {
13  try {
16  vpImageIo::read(I, "square.pgm");
18 
19 #if defined(VISP_HAVE_X11)
20  vpDisplayX d(I);
21 #elif defined(VISP_HAVE_GDI)
22  vpDisplayGDI d(I);
23 #elif defined(VISP_HAVE_OPENCV)
24  vpDisplayOpenCV d(I);
25 #endif
26 
28  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
31  std::vector<vpDot2> dot(4);
32  std::vector<vpImagePoint> ip(4);
33  dot[0].initTracking(I, vpImagePoint(193, 157));
34  dot[1].initTracking(I, vpImagePoint(203, 366));
35  dot[2].initTracking(I, vpImagePoint(313, 402));
36  dot[3].initTracking(I, vpImagePoint(304, 133));
39  std::vector<vpPoint> point;
40  point.push_back(vpPoint(-0.06, -0.06, 0));
41  point.push_back(vpPoint( 0.06, -0.06, 0));
42  point.push_back(vpPoint( 0.06, 0.06, 0));
43  point.push_back(vpPoint(-0.06, 0.06, 0));
45 
49  bool init = true;
50 
51  while (1) {
53  vpImageIo::read(I, "square.pgm");
55  for (unsigned int i = 0; i < dot.size(); i++) {
56  dot[i].setGraphics(true);
57  dot[i].track(I);
58  ip[i] = dot[i].getCog();
59  }
62  computePose(point, ip, cam, init, cMo);
65  vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none);
68 
70  if (init)
71  init = false; // turn off pose initialisation
73 
75  if (vpDisplay::getClick(I, false))
76  break;
78 
80  vpTime::wait(40);
82  }
83  } catch (const vpException &e) {
84  std::cout << "Catch an exception: " << e.getMessage() << std::endl;
85  }
86 }
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:150
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
unsigned int getWidth() const
Definition: vpImage.h:239
Implementation of an homogeneous matrix and operations on such kind of matrices.
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
static const vpColor none
Definition: vpColor.h:192
error that can be emited by ViSP classes.
Definition: vpException.h:71
static void flush(const vpImage< unsigned char > &I)
Class that defines what is a point.
Definition: vpPoint.h:58
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
const char * getMessage(void) const
Definition: vpException.cpp:90
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:207
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
unsigned int getHeight() const
Definition: vpImage.h:178
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88