Visual Servoing Platform  version 3.4.0
AROgreBasic.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Implementation of a simple augmented reality application using the vpAROgre
33  * class.
34  *
35  * Authors:
36  * Bertrand Delabarre
37  *
38  *****************************************************************************/
39 
45 #include <iostream>
46 #include <visp3/core/vpConfig.h>
47 
48 //#if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) ||
49 // defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK)
50 //|| (defined(VISP_HAVE_X11) && ! defined(APPLE)))
51 #if defined(VISP_HAVE_OGRE) && \
52  (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || \
53  (defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))))
54 
55 //#if defined(VISP_HAVE_X11) && ! defined(APPLE)
56 #if defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))
57 // produce an error on OSX: ‘typedef int Cursor’
58 // /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
59 // declaration as ‘typedef XID Cursor’. That's why it should not be
60 // used on APPLE platforms
61 #include <visp3/gui/vpDisplayX.h>
62 #endif
63 #include <visp3/ar/vpAROgre.h>
64 #include <visp3/blob/vpDot2.h>
65 #include <visp3/core/vpDebug.h>
66 #include <visp3/core/vpImagePoint.h>
67 #include <visp3/core/vpIoTools.h>
68 #include <visp3/core/vpPixelMeterConversion.h>
69 #include <visp3/core/vpPoint.h>
70 #include <visp3/gui/vpDisplayD3D.h>
71 #include <visp3/gui/vpDisplayGDI.h>
72 #include <visp3/gui/vpDisplayGTK.h>
73 #include <visp3/gui/vpDisplayOpenCV.h>
74 #include <visp3/io/vpParseArgv.h>
75 #include <visp3/io/vpVideoReader.h>
76 #include <visp3/vision/vpPose.h>
77 
78 // List of allowed command line options
79 #define GETOPTARGS "ci:p:h"
80 
91 void usage(const char *name, const char *badparam, std::string ipath, std::string ppath)
92 {
93  fprintf(stdout, "\n\
94 Test augmented reality using the vpAROgre class.\n\
95 \n\
96 SYNOPSIS\n\
97  %s [-i <test image path>] [-p <personal image path>]\n\
98  [-c] [-h]\n", name);
99 
100  fprintf(stdout, "\n\
101 OPTIONS: Default\n\
102  -i <input image path> %s\n\
103  Set image input path.\n\
104  From this path read images \n\
105  \"mire-2/image.%%04d.pgm\". These \n\
106  images come from ViSP-images-x.y.z.tar.gz available \n\
107  on the ViSP website.\n\
108  Setting the VISP_INPUT_IMAGE_PATH environment\n\
109  variable produces the same behaviour than using\n\
110  this option.\n\
111  \n\
112  -p <personal image path> %s\n\
113  Specify a personal sequence containing images \n\
114  to process.\n\
115  By image sequence, we mean one file per image.\n\
116  The following image file formats PNM (PGM P5, PPM P6)\n\
117  are supported. The format is selected by analysing \n\
118  the filename extension.\n\
119  Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
120  %%04d is for the image numbering.\n\
121 \n\
122  -c\n\
123  Disable the mouse click. Useful to automaze the \n\
124  execution of this program without humain intervention.\n\
125 \n\
126  -h\n\
127  Print the help.\n", ipath.c_str(), ppath.c_str());
128 
129  if (badparam)
130  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
131 }
145 bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, bool &click_allowed)
146 {
147  const char *optarg_;
148  int c;
149  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
150 
151  switch (c) {
152  case 'c':
153  click_allowed = false;
154  break;
155  case 'i':
156  ipath = optarg_;
157  break;
158  case 'p':
159  ppath = optarg_;
160  break;
161  case 'h':
162  usage(argv[0], NULL, ipath, ppath);
163  return false;
164  break;
165 
166  default:
167  usage(argv[0], optarg_, ipath, ppath);
168  return false;
169  break;
170  }
171  }
172 
173  if ((c == 1) || (c == -1)) {
174  // standalone param or error
175  usage(argv[0], NULL, ipath, ppath);
176  std::cerr << "ERROR: " << std::endl;
177  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
178  return false;
179  }
180 
181  return true;
182 }
183 
190 void computeInitialPose(vpCameraParameters *mcam, vpImage<unsigned char> &I, vpPose *mPose, vpDot2 *md,
191  vpImagePoint *mcog, vpHomogeneousMatrix *cMo, vpPoint *mP, const bool &opt_click_allowed)
192 {
193  // ---------------------------------------------------
194  // Code inspired from ViSP example of camera pose
195  // ----------------------------------------------------
196  bool opt_display = true;
197 
198 //#if defined(VISP_HAVE_X11) && ! defined(APPLE)
199 #if defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))
200  // produce an error on OSX: ‘typedef int Cursor’
201  // /usr/X11R6/include/X11/X.h:108: error: ‘Cursor’ has a previous
202  // declaration as ‘typedef XID Cursor’. That's why it should not be
203  // used on APPLE platforms
204  vpDisplayX display;
205 #elif defined VISP_HAVE_GTK
206  vpDisplayGTK display;
207 #elif defined VISP_HAVE_GDI
208  vpDisplayGDI display;
209 #elif defined VISP_HAVE_OPENCV
210  vpDisplayOpenCV display;
211 #elif defined VISP_HAVE_D3D9
212  vpDisplayD3D display;
213 #endif
214 
215  for (unsigned int i = 0; i < 4; i++) {
216  if (opt_display) {
217  md[i].setGraphics(true);
218  } else {
219  md[i].setGraphics(false);
220  }
221  }
222 
223  if (opt_display) {
224  try {
225  // Display size is automatically defined by the image (I) size
226  display.init(I, 100, 100, "Preliminary Pose Calculation");
227  // display the image
228  // The image class has a member that specify a pointer toward
229  // the display that has been initialized in the display declaration
230  // therefore is is no longuer necessary to make a reference to the
231  // display variable.
233  // Flush the display
234  vpDisplay::flush(I);
235 
236  } catch (...) {
237  vpERROR_TRACE("Error while displaying the image");
238  return;
239  }
240  }
241 
242  std::cout << "*************************************************************"
243  "***********************"
244  << std::endl;
245  std::cout << "*************************** Preliminary Pose Calculation "
246  "***************************"
247  << std::endl;
248  std::cout << "****************************** Click on the 4 dots "
249  "*******************************"
250  << std::endl;
251  std::cout << "********Dot1 : (-x,-y,0), Dot2 : (x,-y,0), Dot3 : (x,y,0), "
252  "Dot4 : (-x,y,0)**********"
253  << std::endl;
254  std::cout << "*************************************************************"
255  "***********************"
256  << std::endl;
257 
258  try {
259  vpImagePoint ip[4];
260  if (!opt_click_allowed) {
261  ip[0].set_i(265);
262  ip[0].set_j(93);
263  ip[1].set_i(248);
264  ip[1].set_j(242);
265  ip[2].set_i(166);
266  ip[2].set_j(215);
267  ip[3].set_i(178);
268  ip[3].set_j(85);
269  }
270 
271  for (unsigned int i = 0; i < 4; i++) {
272  // by using setGraphics, we request to see the edges of the dot
273  // in red on the screen.
274  // It uses the overlay image plane.
275  // The default of this setting is that it is time consumming
276 
277  md[i].setGraphics(true);
278  md[i].setGrayLevelPrecision(0.7);
279  md[i].setSizePrecision(0.5);
280 
281  for (unsigned int j = 0; j < i; j++)
282  md[j].display(I);
283 
284  // flush the display buffer
285  vpDisplay::flush(I);
286  try {
287  if (opt_click_allowed) {
288  md[i].initTracking(I);
289  // std::cout << "click " << i << " " << md[i] << std::endl;
290  } else {
291  md[i].initTracking(I, ip[i]);
292  }
293  } catch (...) {
294  }
295 
296  mcog[i] = md[i].getCog();
297  // an expcetion is thrown by the track method if
298  // - dot is lost
299  // - the number of pixel is too small
300  // - too many pixels are detected (this is usual when a "big"
301  // specularity
302  // occurs. The threshold can be modified using the
303  // setNbMaxPoint(int) method
304  if (opt_display) {
305  md[i].display(I);
306  // flush the display buffer
307  vpDisplay::flush(I);
308  }
309  }
310  } catch (const vpException &e) {
311  vpERROR_TRACE("Error while tracking dots");
312  vpCTRACE << e;
313  return;
314  }
315 
316  if (opt_display) {
317  // display a red cross (size 10) in the image at the dot center
318  // of gravity location
319  //
320  // WARNING
321  // in the vpDisplay class member's when pixel coordinates
322  // are considered the first element is the row index and the second
323  // is the column index:
324  // vpDisplay::displayCross(Image, row index, column index, size, color)
325  // therefore u and v are inverted wrt to the vpDot specification
326  // Alternatively, to avoid this problem another set of member have
327  // been defined in the vpDisplay class.
328  // If the method name is postfixe with _uv the specification is :
329  // vpDisplay::displayCross_uv(Image, column index, row index, size,
330  // color)
331 
332  for (unsigned int i = 0; i < 4; i++)
333  vpDisplay::displayCross(I, mcog[i], 10, vpColor::red);
334 
335  // flush the X11 buffer
336  vpDisplay::flush(I);
337  }
338 
339  // --------------------------------------------------------
340  // Now we will compute the pose
341  // --------------------------------------------------------
342 
343  // the list of point is cleared (if that's not done before)
344  mPose->clearPoint();
345 
346  // we set the 3D points coordinates (in meter !) in the object/world frame
347  double l = 0.06;
348  double L = 0.07;
349  mP[0].setWorldCoordinates(-L, -l, 0); // (X,Y,Z)
350  mP[1].setWorldCoordinates(L, -l, 0);
351  mP[2].setWorldCoordinates(L, l, 0);
352  mP[3].setWorldCoordinates(-L, l, 0);
353 
354  // pixel-> meter conversion
355  for (unsigned int i = 0; i < 4; i++) {
356  // u[i]. v[i] are expressed in pixel
357  // conversion in meter is achieved using
358  // x = (u-u0)/px
359  // y = (v-v0)/py
360  // where px, py, u0, v0 are the intrinsic camera parameters
361  double x = 0, y = 0;
362  vpPixelMeterConversion::convertPoint(*mcam, mcog[i], x, y);
363  mP[i].set_x(x);
364  mP[i].set_y(y);
365  }
366 
367  // The pose structure is build, we put in the point list the set of point
368  // here both 2D and 3D world coordinates are known
369  for (unsigned int i = 0; i < 4; i++) {
370  mPose->addPoint(mP[i]); // and added to the pose computation point list
371  }
372 
373  // compute the initial pose using Dementhon method followed by a non linear
374  // minimisation method
375 
376  // Pose by Lagrange it provides an initialization of the pose
377  mPose->computePose(vpPose::LAGRANGE, *cMo);
378  // the pose is now refined using the virtual visual servoing approach
379  // Warning: cMo needs to be initialized otherwise it may diverge
380  mPose->computePose(vpPose::VIRTUAL_VS, *cMo);
381 
382  // Display breifly just to have a glimpse a the ViSP pose
383  // while(cpt<500){
384  if (opt_display) {
385  // Display the computed pose
386  mPose->display(I, *cMo, *mcam, 0.05, vpColor::red);
387  vpDisplay::flush(I);
388  vpTime::wait(1000);
389  }
390 }
391 
392 int main(int argc, const char **argv)
393 {
394  try {
395  std::string env_ipath;
396  std::string opt_ipath;
397  std::string ipath;
398  std::string opt_ppath;
399  std::string dirname;
400  std::string filename;
401  bool opt_click_allowed = true;
402 
403  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
404  // environment variable value
405  env_ipath = vpIoTools::getViSPImagesDataPath();
406 
407  // Set the default input path
408  if (!env_ipath.empty())
409  ipath = env_ipath;
410 
411  // Read the command line options
412  if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
413  exit(-1);
414  }
415 
416  // Get the option values
417  if (!opt_ipath.empty())
418  ipath = opt_ipath;
419 
420  // Compare ipath and env_ipath. If they differ, we take into account
421  // the input path comming from the command line option
422  if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
423  if (ipath != env_ipath) {
424  std::cout << std::endl << "WARNING: " << std::endl;
425  std::cout << " Since -i <visp image path=" << ipath << "> "
426  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
427  << " we skip the environment variable." << std::endl;
428  }
429  }
430 
431  // Test if an input path is set
432  if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
433  usage(argv[0], NULL, ipath, opt_ppath);
434  std::cerr << std::endl << "ERROR:" << std::endl;
435  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
436  << " environment variable to specify the location of the " << std::endl
437  << " image path where test images are located." << std::endl
438  << " Use -p <personal image path> option if you want to " << std::endl
439  << " use personal images." << std::endl
440  << std::endl;
441 
442  exit(-1);
443  }
444 
445  // Declare an image, this is a gray level image (unsigned char)
446  // it size is not defined yet, it will be defined when the image will
447  // read on the disk
448  // vpImage<unsigned char> I ;
449 
450  // unsigned iter = 0;
451  std::ostringstream s;
452  // char cfilename[FILENAME_MAX];
453 
454  if (opt_ppath.empty()) {
455  // Set the path location of the image sequence
456  dirname = vpIoTools::createFilePath(ipath, "mire-2");
457 
458  // Build the name of the image file
459 
460  s.setf(std::ios::right, std::ios::adjustfield);
461  s << "image.%04d.pgm";
462  filename = vpIoTools::createFilePath(dirname, s.str());
463  } else {
464  filename = opt_ppath;
465  }
466 
467  // We will read a sequence of images
468  vpVideoReader grabber;
469  grabber.setFirstFrameIndex(1);
470  grabber.setFileName(filename.c_str());
471  // Grey level image associated to a display in the initial pose
472  // computation
473  vpImage<unsigned char> Idisplay;
474  // Grey level image to track points
476  // RGBa image to get background
477  vpImage<vpRGBa> IC;
478  // Matrix representing camera parameters
480 
481  // Variables used for pose computation purposes
482  vpPose mPose;
483  vpDot2 md[4];
484  vpImagePoint mcog[4];
485  vpPoint mP[4];
486 
487  // CameraParameters we got from calibration
488  // Keep u0 and v0 as center of the screen
489  vpCameraParameters mcam;
490 
491  // Read the PGM image named "filename" on the disk, and put the
492  // bitmap into the image structure I. I is initialized to the
493  // correct size
494  //
495  // exception readPGM may throw various exception if, for example,
496  // the file does not exist, or if the memory cannot be allocated
497  try {
498  vpCTRACE << "Load: " << filename << std::endl;
499  grabber.open(Idisplay);
500  grabber.acquire(Idisplay);
501  vpCameraParameters mcamTmp(592, 570, grabber.getWidth() / 2, grabber.getHeight() / 2);
502  // Compute the initial pose of the camera
503  computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP, opt_click_allowed);
504  // Close the framegrabber
505  grabber.close();
506 
507  // Associate the grabber to the RGBa image
508  grabber.open(IC);
509  mcam.init(mcamTmp);
510  } catch (...) {
511  // an exception is thrown if an exception from readPGM has been caught
512  // here this will result in the end of the program
513  // Note that another error message has been printed from readPGM
514  // to give more information about the error
515  std::cerr << std::endl << "ERROR:" << std::endl;
516  std::cerr << " Cannot read " << filename << std::endl;
517  std::cerr << " Check your -i " << ipath << " option " << std::endl
518  << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
519  exit(-1);
520  }
521 
522  // Create a vpRAOgre object with color background
523  vpAROgre ogre(mcam, grabber.getWidth(), grabber.getHeight());
524  // Initialize it
525  ogre.init(IC);
526  ogre.load("Robot", "robot.mesh");
527  ogre.setScale("Robot", 0.001f, 0.001f, 0.001f);
528  ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI / 2, -M_PI / 2, 0)));
529 
530  // Add an optional point light source
531  Ogre::Light *light = ogre.getSceneManager()->createLight();
532  light->setDiffuseColour(1, 1, 1); // scaled RGB values
533  light->setSpecularColour(1, 1, 1); // scaled RGB values
534  light->setPosition(-5, -5, 10);
535  light->setType(Ogre::Light::LT_POINT);
536 
537  // Rendering loop
538  while (ogre.continueRendering() && !grabber.end()) {
539  // Acquire a frame
540  grabber.acquire(IC);
541 
542  // Convert it to a grey level image for tracking purpose
544 
545  // kill the point list
546  mPose.clearPoint();
547 
548  // track the dot
549  for (int i = 0; i < 4; i++) {
550  // track the point
551  md[i].track(I, mcog[i]);
552  md[i].setGrayLevelPrecision(0.90);
553  // pixel->meter conversion
554  {
555  double x = 0, y = 0;
556  vpPixelMeterConversion::convertPoint(mcam, mcog[i], x, y);
557  mP[i].set_x(x);
558  mP[i].set_y(y);
559  }
560 
561  // and added to the pose computation point list
562  mPose.addPoint(mP[i]);
563  }
564  // the pose structure has been updated
565 
566  // the pose is now updated using the virtual visual servoing approach
567  // Dementhon or lagrange is no longuer necessary, pose at the
568  // previous iteration is sufficient
569  mPose.computePose(vpPose::VIRTUAL_VS, cMo);
570 
571  // Display with ogre
572  ogre.display(IC, cMo);
573 
574  // Wait so that the video does not go too fast
575  vpTime::wait(15);
576  }
577  // Close the grabber
578  grabber.close();
579  return EXIT_SUCCESS;
580  } catch (const vpException &e) {
581  std::cout << "Catch a ViSP exception: " << e << std::endl;
582  return EXIT_FAILURE;
583  } catch (Ogre::Exception &e) {
584  std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
585  return EXIT_FAILURE;
586  } catch (...) {
587  std::cout << "Catch an exception " << std::endl;
588  return EXIT_FAILURE;
589  }
590 }
591 #else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
592 int main()
593 {
594 #if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
595  std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
596  std::cout << "Tip if you are on a unix-like system:" << std::endl;
597  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
598  std::cout << "Tip if you are on a windows-like system:" << std::endl;
599  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
600 #else
601  std::cout << "You do not have Ogre functionalities" << std::endl;
602  std::cout << "Tip:" << std::endl;
603  std::cout << "- Install Ogre3D, configure again ViSP using cmake and build again this example" << std::endl;
604 #endif
605  return EXIT_SUCCESS;
606 }
607 #endif
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
bool computePose(vpPoseMethodType method, vpHomogeneousMatrix &cMo, bool(*func)(const vpHomogeneousMatrix &)=NULL)
Definition: vpPose.cpp:374
void init()
basic initialization with the default parameters
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1202
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Implementation of an homogeneous matrix and operations on such kind of matrices.
#define vpERROR_TRACE
Definition: vpDebug.h:393
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
void setGraphics(bool activate)
Definition: vpDot2.h:314
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
error that can be emited by ViSP classes.
Definition: vpException.h:71
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Implementation of an augmented reality viewer using Ogre3D 3rd party.
Definition: vpAROgre.h:90
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:126
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
static const vpColor red
Definition: vpColor.h:217
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
void set_x(double x)
Set the point x coordinate in the image plane.
Definition: vpPoint.cpp:497
Implementation of a rotation matrix and operations on such kind of matrices.
void set_y(double y)
Set the point y coordinate in the image plane.
Definition: vpPoint.cpp:499
vpImagePoint getCog() const
Definition: vpDot2.h:180
void open(vpImage< vpRGBa > &I)
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
Definition: vpDisplayD3D.h:106
void setGrayLevelPrecision(const double &grayLevelPrecision)
Definition: vpDot2.cpp:735
static void display(vpImage< unsigned char > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)
Definition: vpPose.cpp:489
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1446
void set_i(double ii)
Definition: vpImagePoint.h:166
virtual void init(vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false)
Definition: vpAROgre.cpp:115
unsigned int getWidth() const
Return the number of columns in the image.
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void display(const vpImage< unsigned char > &I, vpColor color=vpColor::red, unsigned int thickness=1) const
Definition: vpDot2.cpp:212
Class used for pose computation from N points (pose from point only). Some of the algorithms implemen...
Definition: vpPose.h:80
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
void acquire(vpImage< vpRGBa > &I)
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:441
void set_j(double jj)
Definition: vpImagePoint.h:177
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
void setSizePrecision(const double &sizePrecision)
Definition: vpDot2.cpp:763
#define vpCTRACE
Definition: vpDebug.h:338
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:253
void setFileName(const std::string &filename)
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void setFirstFrameIndex(const long first_frame)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
void addPoint(const vpPoint &P)
Definition: vpPose.cpp:149
unsigned int getHeight() const
Return the number of rows in the image.
void clearPoint()
Definition: vpPose.cpp:134